+ python -m lidar_slam --no-model /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c Lidar SLAM 0.0.11 ===================================================== The recording path: /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c 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 0.019072329 Adjusted end_distance from 9.223372036854776e+18 to 452.009072329 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019072329 meters 0.24400757632653697 Centerline is valid? [0, False] SLAMing on 0.079072329 meters 0.2404758455629862 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99997350e-01 4.35101565e-04 -2.26065828e-03 2.99166470e-03] [-4.38014348e-04 9.99999074e-01 -1.28813156e-03 1.35411913e-02] [ 2.26009572e-03 1.28911835e-03 9.99996615e-01 2.68876693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139072329 meters 0.22883041220131742 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:0.00 [[ 0.99998967 -0.00134486 -0.00434183 0.00735257] [ 0.00131883 0.99998117 -0.00599324 0.03674894] [ 0.0043498 0.00598745 0.99997261 0.00221105] [ 0. 0. 0. 1. ]] SLAMing on 0.199072329 meters 0.22945273529067642 Centerline is valid? [False, False] Translation: X:0.01, Y:0.07, Z:-0.00 [[ 9.99976741e-01 -2.59017252e-04 -6.81545708e-03 1.34040363e-02] [ 1.72708224e-04 9.99919828e-01 -1.26612608e-02 6.75184342e-02] [ 6.81819016e-03 1.26597892e-02 9.99896616e-01 -4.58484323e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.259072329 meters 0.22766063739209624 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:0.00 [[ 0.99990916 -0.00372933 -0.01295262 0.02623103] [ 0.0036222 0.99995912 -0.0082846 0.09420938] [ 0.01298298 0.00823693 0.99988179 0.00380642] [ 0. 0. 0. 1. ]] SLAMing on 0.319072329 meters 0.2277447638051358 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:0.01 [[ 0.99990413 -0.00647049 -0.01224198 0.02292384] [ 0.00627643 0.99985508 -0.01582468 0.12669185] [ 0.0123426 0.01574632 0.99979984 0.00507127] [ 0. 0. 0. 1. ]] SLAMing on 0.379072329 meters 0.23063869275444313 Centerline is valid? [False, False] Translation: X:0.04, Y:0.16, Z:0.00 [[ 9.99745131e-01 -1.56450404e-02 -1.62758976e-02 4.08583982e-02] [ 1.53980772e-02 9.99766057e-01 -1.51898034e-02 1.60834931e-01] [ 1.65097351e-02 1.49353145e-02 9.99752152e-01 7.57300262e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.439072329 meters 0.23287765663263327 Centerline is valid? [False, False] Translation: X:0.06, Y:0.18, Z:-0.01 [[ 0.99972553 -0.02008304 -0.0120642 0.05739815] [ 0.01999172 0.99977093 -0.00764307 0.18224015] [ 0.01221493 0.00739979 0.99989801 -0.00976276] [ 0. 0. 0. 1. ]] SLAMing on 0.499072329 meters 0.2351876757609999 Centerline is valid? [False, False] Translation: X:0.08, Y:0.21, Z:-0.02 [[ 0.99958421 -0.02426224 -0.01558041 0.07778772] [ 0.02423255 0.99970416 -0.00209141 0.21427291] [ 0.01562655 0.00171299 0.99987643 -0.0174612 ] [ 0. 0. 0. 1. ]] SLAMing on 0.559072329 meters 0.24081510480799356 Centerline is valid? [False, False] Translation: X:0.11, Y:0.24, Z:-0.02 [[ 9.99400263e-01 -2.79288332e-02 -2.04718010e-02 1.09341286e-01] [ 2.79130084e-02 9.99609796e-01 -1.05840168e-03 2.44320224e-01] [ 2.04933727e-02 4.86337368e-04 9.99789870e-01 -2.44649067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.619072329 meters 0.24062913535359245 Centerline is valid? [False, False] Translation: X:0.11, Y:0.26, Z:-0.02 [[ 9.99422255e-01 -2.58606851e-02 -2.20540347e-02 1.11941533e-01] [ 2.58507075e-02 9.99665543e-01 -7.37437527e-04 2.56903417e-01] [ 2.20657292e-02 1.66899076e-04 9.99756508e-01 -2.34539541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6790723289999999 meters 0.2445910365260545 Centerline is valid? [False, False] Translation: X:0.13, Y:0.28, Z:-0.02 [[ 9.99353884e-01 -3.07561934e-02 -1.85975956e-02 1.29472246e-01] [ 3.07782584e-02 9.99525831e-01 9.01318015e-04 2.79854900e-01] [ 1.85610561e-02 -1.47313726e-03 9.99826644e-01 -2.25984222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.739072329 meters 0.2484596697529947 Centerline is valid? [False, False] Translation: X:0.14, Y:0.30, Z:-0.02 [[ 9.99315276e-01 -3.00252620e-02 -2.16208655e-02 1.35678831e-01] [ 3.00346638e-02 9.99548852e-01 1.10184156e-04 2.95408005e-01] [ 2.16078030e-02 -7.59484138e-04 9.99766236e-01 -2.24367267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.799072329 meters 0.2526100374495136 Centerline is valid? [False, False] Translation: X:0.17, Y:0.30, Z:-0.02 [[ 0.99948259 -0.02288749 -0.02259885 0.16597957] [ 0.02277814 0.99972762 -0.00508424 0.30152325] [ 0.02270906 0.00456685 0.99973169 -0.01818441] [ 0. 0. 0. 1. ]] SLAMing on 0.859072329 meters 0.2549982296434757 Centerline is valid? [False, False] Translation: X:0.18, Y:0.31, Z:-0.01 [[ 0.99940998 -0.02952219 -0.01755394 0.17871929] [ 0.02947182 0.99956074 -0.00312146 0.31389103] [ 0.01763838 0.00260227 0.99984105 -0.01470037] [ 0. 0. 0. 1. ]] SLAMing on 0.9190723289999999 meters 0.25675380462146424 Centerline is valid? [False, False] Translation: X:0.18, Y:0.32, Z:-0.01 [[ 0.99930952 -0.03159697 -0.0195476 0.18184976] [ 0.03150788 0.99949174 -0.00484869 0.31837633] [ 0.01969087 0.00422944 0.99979717 -0.01326606] [ 0. 0. 0. 1. ]] SLAMing on 0.979072329 meters 0.2608188124760589 Centerline is valid? [False, False] Translation: X:0.19, Y:0.32, Z:-0.02 [[ 0.9990569 -0.03839106 -0.02028375 0.18553972] [ 0.03816626 0.99920688 -0.01135578 0.32213563] [ 0.02070362 0.01057091 0.99972977 -0.01565986] [ 0. 0. 0. 1. ]] SLAMing on 1.0390723290000001 meters 0.2597874243705314 Centerline is valid? [False, False] Translation: X:0.19, Y:0.33, Z:-0.01 [[ 0.99896791 -0.03976666 -0.02194839 0.18784817] [ 0.03948186 0.99913229 -0.01326059 0.32923969] [ 0.02245667 0.01238034 0.99967116 -0.01339269] [ 0. 0. 0. 1. ]] SLAMing on 1.0990723290000002 meters 0.26175668184281786 Centerline is valid? [False, False] Translation: X:0.19, Y:0.33, Z:-0.02 [[ 0.9989506 -0.03972264 -0.02279933 0.1915768 ] [ 0.03942285 0.99913207 -0.01345137 0.33132146] [ 0.02331387 0.01253844 0.99964956 -0.01574022] [ 0. 0. 0. 1. ]] SLAMing on 1.1590723289999998 meters 0.26092173543590474 Centerline is valid? [False, False] Translation: X:0.19, Y:0.33, Z:-0.02 [[ 0.99894003 -0.03947175 -0.02368134 0.19426587] [ 0.03916455 0.99914428 -0.01329867 0.33234057] [ 0.02418599 0.0123571 0.9996311 -0.0165434 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2190723289999998 meters 0.2601830966609765 Centerline is valid? [False, False] Translation: X:0.20, Y:0.33, Z:-0.02 [[ 0.99892403 -0.03926678 -0.02467612 0.19730002] [ 0.0389501 0.99915416 -0.01318565 0.33379905] [ 0.02517301 0.01221032 0.99960854 -0.01753751] [ 0. 0. 0. 1. ]] SLAMing on 1.279072329 meters 0.25801278593271143 Centerline is valid? [False, False] Translation: X:0.20, Y:0.34, Z:-0.02 [[ 0.99873781 -0.04344591 -0.02520382 0.20098733] [ 0.04301265 0.99892151 -0.01748514 0.33507446] [ 0.02593629 0.01637899 0.99952941 -0.02018056] [ 0. 0. 0. 1. ]] SLAMing on 1.339072329 meters 0.2556298487997156 Centerline is valid? [False, False] Translation: X:0.20, Y:0.33, Z:-0.02 [[ 0.99875064 -0.04279886 -0.02579553 0.20371734] [ 0.04239483 0.99897262 -0.01601173 0.33147295] [ 0.02645431 0.01489813 0.999539 -0.02227546] [ 0. 0. 0. 1. ]] SLAMing on 1.399072329 meters 0.2517064656377433 Centerline is valid? [False, False] Translation: X:0.21, Y:0.33, Z:-0.02 [[ 0.99867028 -0.04354107 -0.02760159 0.20596229] [ 0.04312586 0.99894996 -0.01546416 0.32975603] [ 0.02824593 0.01425326 0.99949938 -0.02010393] [ 0. 0. 0. 1. ]] SLAMing on 1.459072329 meters 0.24550527652214268 Centerline is valid? [False, False] Translation: X:0.21, Y:0.32, Z:-0.02 [[ 0.99822886 -0.0524759 -0.02802534 0.20786329] [ 0.0518839 0.99842275 -0.02144924 0.32041776] [ 0.0291067 0.01995718 0.99937706 -0.02088773] [ 0. 0. 0. 1. ]] SLAMing on 1.519072329 meters 0.23761882545190283 Centerline is valid? [False, False] Translation: X:0.21, Y:0.31, Z:-0.02 [[ 0.99816795 -0.05309212 -0.02901683 0.20878952] [ 0.05252309 0.99841874 -0.02003347 0.31477257] [ 0.03003457 0.01847272 0.99937815 -0.01962757] [ 0. 0. 0. 1. ]] SLAMing on 1.5790723290000002 meters 0.2321331255867648 Centerline is valid? [False, False] Translation: X:0.21, Y:0.31, Z:-0.02 [[ 0.99767606 -0.06151557 -0.0292971 0.21134516] [ 0.06076299 0.99781559 -0.02592117 0.30585877] [ 0.03082766 0.02408075 0.99923459 -0.02101172] [ 0. 0. 0. 1. ]] SLAMing on 1.6390723289999998 meters 0.22251020751035716 Centerline is valid? [False, False] Translation: X:0.21, Y:0.29, Z:-0.02 [[ 0.99719869 -0.06881918 -0.02930334 0.2105096 ] [ 0.06797086 0.99726503 -0.02902447 0.29124844] [ 0.03122064 0.02695139 0.99914909 -0.01883714] [ 0. 0. 0. 1. ]] SLAMing on 1.6990723289999998 meters 0.2176858242426905 Centerline is valid? [False, False] Translation: X:0.21, Y:0.28, Z:-0.02 [[ 0.99722344 -0.06755656 -0.03132912 0.21271677] [ 0.06681427 0.99747276 -0.02416503 0.27962595] [ 0.03288245 0.0220047 0.99921696 -0.01709063] [ 0. 0. 0. 1. ]] SLAMing on 1.7590723289999999 meters 0.21365066439542152 Centerline is valid? [False, False] Translation: X:0.23, Y:0.27, Z:-0.02 [[ 0.99768581 -0.05927184 -0.03331488 0.22951562] [ 0.05807249 0.99766724 -0.0358839 0.27076536] [ 0.03536407 0.03386618 0.99880051 -0.01708037] [ 0. 0. 0. 1. ]] SLAMing on 1.819072329 meters 0.20886947602628286 Centerline is valid? [False, False] Translation: X:0.23, Y:0.26, Z:-0.02 [[ 0.9975267 -0.06202636 -0.03306368 0.23317857] [ 0.06083045 0.99749776 -0.0360261 0.26009606] [ 0.03521552 0.03392572 0.99880374 -0.02310348] [ 0. 0. 0. 1. ]] SLAMing on 1.879072329 meters 0.20701148983630577 Centerline is valid? [False, False] Translation: X:0.24, Y:0.25, Z:-0.03 [[ 0.99780798 -0.05671701 -0.03409411 0.23677121] [ 0.0557549 0.99803657 -0.02853771 0.25225938] [ 0.03564574 0.02657424 0.99901111 -0.02675184] [ 0. 0. 0. 1. ]] SLAMing on 1.939072329 meters 0.19984628010586464 Centerline is valid? [False, False] Translation: X:0.23, Y:0.24, Z:-0.03 [[ 0.99801701 -0.05627012 -0.02820863 0.22990324] [ 0.0553237 0.99791375 -0.03327816 0.23603979] [ 0.03002235 0.03165156 0.99904797 -0.03361825] [ 0. 0. 0. 1. ]] SLAMing on 1.999072329 meters 0.19554197869519505 Centerline is valid? [False, False] Translation: X:0.23, Y:0.22, Z:-0.04 [[ 0.99805446 -0.05574944 -0.02791587 0.23066629] [ 0.05493578 0.99806541 -0.02911197 0.22271668] [ 0.02948484 0.02752175 0.99918627 -0.03681162] [ 0. 0. 0. 1. ]] SLAMing on 2.059072329 meters 0.1914006651324234 Centerline is valid? [False, False] Translation: X:0.23, Y:0.21, Z:-0.04 [[ 0.99805319 -0.0553046 -0.028831 0.2333411 ] [ 0.05462233 0.99822009 -0.02393838 0.20816966] [ 0.03010359 0.02231695 0.99929762 -0.04005861] [ 0. 0. 0. 1. ]] SLAMing on 2.119072329 meters 0.19008568471225534 Centerline is valid? [False, False] Translation: X:0.24, Y:0.20, Z:-0.04 [[ 0.99833458 -0.04982684 -0.02907479 0.24369393] [ 0.04881223 0.99820777 -0.03462087 0.19542625] [ 0.03074773 0.03314401 0.9989775 -0.0435775 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1790723290000003 meters 0.18459196513133697 Centerline is valid? [False, False] Translation: X:0.25, Y:0.17, Z:-0.04 [[ 0.9974757 -0.05712357 -0.04217966 0.24594073] [ 0.0553051 0.99753928 -0.04308977 0.17214303] [ 0.04453731 0.04064825 0.99818042 -0.04166858] [ 0. 0. 0. 1. ]] SLAMing on 2.239072329 meters 0.17772418456944367 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-0.04 [[ 0.99753055 -0.05638508 -0.04187501 0.2424575 ] [ 0.05484802 0.99780929 -0.03699062 0.15353159] [ 0.04386899 0.03460251 0.99843787 -0.03826893] [ 0. 0. 0. 1. ]] SLAMing on 2.299072329 meters 0.17106270265172938 Centerline is valid? [False, False] Translation: X:0.25, Y:0.13, Z:-0.04 [[ 0.99714924 -0.06307669 -0.04140917 0.24529304] [ 0.06149709 0.99736936 -0.03837284 0.13485358] [ 0.04372067 0.0357169 0.99840513 -0.04402021] [ 0. 0. 0. 1. ]] SLAMing on 2.359072329 meters 0.16643897968738086 Centerline is valid? [False, False] Translation: X:0.25, Y:0.12, Z:-0.06 [[ 0.99695526 -0.0655995 -0.04215354 0.25296848] [ 0.06413698 0.99732155 -0.03515933 0.1175984 ] [ 0.04434707 0.03234868 0.99849231 -0.05667542] [ 0. 0. 0. 1. ]] SLAMing on 2.419072329 meters 0.1636740361538985 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:-0.06 [[ 0.99696428 -0.06497065 -0.04290733 0.25523541] [ 0.06385745 0.99759842 -0.02682572 0.0945094 ] [ 0.04454717 0.02400433 0.99871885 -0.06046948] [ 0. 0. 0. 1. ]] SLAMing on 2.479072329 meters 0.16499524311799046 Centerline is valid? [False, False] Translation: X:0.28, Y:0.08, Z:-0.06 [[ 0.99675204 -0.0696069 -0.04049998 0.28252873] [ 0.06869923 0.9973632 -0.02338932 0.0782525 ] [ 0.04202125 0.02053104 0.99890575 -0.06248974] [ 0. 0. 0. 1. ]] SLAMing on 2.539072329 meters 0.16190772660960043 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:-0.07 [[ 0.99640902 -0.07466169 -0.03993361 0.28558132] [ 0.07379206 0.99701237 -0.02282666 0.05483469] [ 0.04151858 0.0197979 0.99894157 -0.06751144] [ 0. 0. 0. 1. ]] SLAMing on 2.599072329 meters 0.1578578555990288 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.06 [[ 0.99611322 -0.06729755 -0.05682854 0.29440974] [ 0.06646398 0.99765346 -0.01643515 0.03632928] [ 0.05780124 0.01259421 0.99824867 -0.06368167] [ 0. 0. 0. 1. ]] SLAMing on 2.659072329 meters 0.1594488519933341 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.07 [[ 0.99599579 -0.06473946 -0.06165384 0.31874113] [ 0.06373647 0.99780261 -0.01810022 0.01901379] [ 0.06269016 0.01409814 0.99793346 -0.06784877] [ 0. 0. 0. 1. ]] SLAMing on 2.719072329 meters 0.15436891260292612 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:-0.08 [[ 0.99669028 -0.06421298 -0.0498515 0.32634954] [ 0.06341706 0.99783562 -0.01738828 0.00591183] [ 0.05086016 0.0141693 0.99860527 -0.07560492] [ 0. 0. 0. 1. ]] SLAMing on 2.779072329 meters 0.1513027713785047 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:-0.08 [[ 0.996849 -0.06201328 -0.04946139 0.32635036] [ 0.06148507 0.99803427 -0.01213167 -0.00914196] [ 0.05011649 0.00905231 0.99870235 -0.07650624] [ 0. 0. 0. 1. ]] SLAMing on 2.839072329 meters 0.15474581252372172 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.08 [[ 0.9969295 -0.05648081 -0.0542355 0.34841781] [ 0.05587503 0.99835798 -0.01262277 -0.01972526] [ 0.05485939 0.0095536 0.99844838 -0.07832767] [ 0. 0. 0. 1. ]] SLAMing on 2.899072329 meters 0.15546398457532032 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 0.99685812 -0.0523972 -0.0594005 0.36796989] [ 0.05164097 0.9985648 -0.01419659 -0.03539218] [ 0.06005911 0.01108448 0.99813328 -0.07572592] [ 0. 0. 0. 1. ]] SLAMing on 2.959072329 meters 0.15141723286326092 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 0.99772634 -0.0494404 -0.04580183 0.37012101] [ 0.04900036 0.99874164 -0.01068147 -0.04451755] [ 0.04627229 0.00841288 0.99889344 -0.07982451] [ 0. 0. 0. 1. ]] SLAMing on 3.019072329 meters 0.15407879914034367 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.08 [[ 0.99825835 -0.04630916 -0.03654773 0.37776444] [ 0.04587871 0.99886843 -0.01253018 -0.05500306] [ 0.03708664 0.01083159 0.99925335 -0.08203767] [ 0. 0. 0. 1. ]] SLAMing on 3.079072329 meters 0.1547111569629709 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.06, Z:-0.08 [[ 0.99829984 -0.04511493 -0.03690636 0.38031632] [ 0.04476122 0.99894404 -0.01035529 -0.06015257] [ 0.03733456 0.00868571 0.99926507 -0.08457243] [ 0. 0. 0. 1. ]] SLAMing on 3.139072329 meters 0.16148884747144407 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.09 [[ 0.99811156 -0.04606484 -0.04063684 0.39621315] [ 0.04556446 0.99887477 -0.01315544 -0.0721934 ] [ 0.04119712 0.011279 0.99908737 -0.08875641] [ 0. 0. 0. 1. ]] SLAMing on 3.199072329 meters 0.16592809387671245 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.09 [[ 0.99812716 -0.04554821 -0.04083534 0.39703049] [ 0.04517691 0.99892925 -0.00997009 -0.08165861] [ 0.04124573 0.0081066 0.99911615 -0.08873647] [ 0. 0. 0. 1. ]] SLAMing on 3.259072329 meters 0.16320960631094877 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.09 [[ 0.99779174 -0.05286717 -0.04020829 0.39694263] [ 0.05231274 0.99852227 -0.014719 -0.09263661] [ 0.04092703 0.01258309 0.9990829 -0.0885362 ] [ 0. 0. 0. 1. ]] SLAMing on 3.319072329 meters 0.15968121841722788 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.10 [[ 0.99777145 -0.05228778 -0.04145026 0.40385962] [ 0.05185758 0.99858956 -0.01138771 -0.10230916] [ 0.04198724 0.00921282 0.99907567 -0.09572209] [ 0. 0. 0. 1. ]] SLAMing on 3.379072329 meters 0.16253516467541798 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.11, Z:-0.10 [[ 0.99774049 -0.05132564 -0.0433542 0.41126004] [ 0.05107788 0.99867149 -0.00680416 -0.11273139] [ 0.04364583 0.00457435 0.99903659 -0.10317823] [ 0. 0. 0. 1. ]] SLAMing on 3.439072329 meters 0.16496708022169457 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.11 [[ 0.99763228 -0.05768572 -0.03744574 0.42747051] [ 0.0575948 0.9983339 -0.0035033 -0.12004459] [ 0.03758544 0.00133832 0.99929252 -0.10699209] [ 0. 0. 0. 1. ]] SLAMing on 3.499072329 meters 0.1644668522143681 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:-0.12 [[ 0.99781701 -0.05700948 -0.03333373 0.423407 ] [ 0.05670715 0.99834131 -0.00994674 -0.12576747] [ 0.0338455 0.00803476 0.99939478 -0.11577479] [ 0. 0. 0. 1. ]] SLAMing on 3.559072329 meters 0.16799927778638823 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.13, Z:-0.12 [[ 0.99777759 -0.0568166 -0.03481025 0.43139836] [ 0.05658673 0.99836911 -0.00755449 -0.13300398] [ 0.0351827 0.00556791 0.99936539 -0.12405109] [ 0. 0. 0. 1. ]] SLAMing on 3.6190723289999998 meters 0.1769768533300982 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.13 [[ 0.99761728 -0.05895515 -0.0358338 0.43723013] [ 0.05868271 0.99823957 -0.00860874 -0.13744319] [ 0.03627825 0.00648541 0.99932068 -0.12928198] [ 0. 0. 0. 1. ]] SLAMing on 3.679072329 meters 0.1750303699748682 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.13 [[ 0.99765993 -0.05823225 -0.03582836 0.43804926] [ 0.05802491 0.99829197 -0.00680054 -0.14277583] [ 0.03616317 0.00470568 0.99933482 -0.13033453] [ 0. 0. 0. 1. ]] SLAMing on 3.739072329 meters 0.17611004355873075 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:-0.14 [[ 0.99762422 -0.05828346 -0.0367281 0.44367667] [ 0.05815593 0.99829722 -0.00453204 -0.15057544] [ 0.0369297 0.00238532 0.99931502 -0.13633928] [ 0. 0. 0. 1. ]] SLAMing on 3.799072329 meters 0.17772319281326707 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.14 [[ 9.97639826e-01 -5.77428351e-02 -3.71556476e-02 4.45855629e-01] [ 5.77054667e-02 9.98331488e-01 -2.07824783e-03 -1.57797548e-01] [ 3.72136568e-02 -7.07411828e-05 9.99307329e-01 -1.38579918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.859072329 meters 0.1831273311092861 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.14 [[ 9.97409144e-01 -6.10427434e-02 -3.80628769e-02 4.50706764e-01] [ 6.09902045e-02 9.98135130e-01 -2.54103122e-03 -1.66278764e-01] [ 3.81470061e-02 2.12985129e-04 9.99272115e-01 -1.43801843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.919072329 meters 0.19665840711888657 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.18, Z:-0.15 [[ 0.99680054 -0.06967549 -0.03916636 0.45800668] [ 0.06943938 0.99755903 -0.00735861 -0.17529309] [ 0.03958348 0.00461538 0.99920561 -0.1520098 ] [ 0. 0. 0. 1. ]] SLAMing on 3.979072329 meters 0.20700696836650703 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.19, Z:-0.16 [[ 0.99615514 -0.07847752 -0.03893864 0.46324872] [ 0.07817142 0.99689632 -0.0093248 -0.19137696] [ 0.03954958 0.00624506 0.99919809 -0.16256137] [ 0. 0. 0. 1. ]] SLAMing on 4.039072329 meters 0.2138817389292443 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.20, Z:-0.17 [[ 0.99619759 -0.07791945 -0.03897347 0.46463913] [ 0.07774852 0.99695564 -0.00588454 -0.20075752] [ 0.03931334 0.00283203 0.99922292 -0.16534827] [ 0. 0. 0. 1. ]] SLAMing on 4.099072329 meters 0.22757785679158532 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.21, Z:-0.17 [[ 9.95588186e-01 -8.82197489e-02 -3.19599847e-02 4.77511804e-01] [ 8.81798056e-02 9.96101022e-01 -2.65986970e-03 -2.10683778e-01] [ 3.20700265e-02 -1.70090388e-04 9.99485610e-01 -1.71259050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159072329 meters 0.24190539293131522 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.22, Z:-0.18 [[ 0.99490705 -0.09730608 -0.02629628 0.47398234] [ 0.09700828 0.99520663 -0.01237549 -0.2244175 ] [ 0.02737444 0.0097615 0.99957759 -0.18189566] [ 0. 0. 0. 1. ]] SLAMing on 4.219072329 meters 0.2643618541974145 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.24, Z:-0.19 [[ 0.99387786 -0.10785556 -0.02395764 0.47440502] [ 0.1075437 0.9941025 -0.01394906 -0.24439787] [ 0.02532083 0.01128717 0.99961565 -0.19045554] [ 0. 0. 0. 1. ]] SLAMing on 4.279072329 meters 0.30113156146424935 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.19 [[ 0.99088776 -0.13358468 -0.01722143 0.47869436] [ 0.1335268 0.99103511 -0.00447326 -0.2668765 ] [ 0.0176646 0.00213298 0.99984169 -0.1912349 ] [ 0. 0. 0. 1. ]] SLAMing on 4.339072329 meters 0.28974273092214436 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.29, Z:-0.19 [[ 0.98829741 -0.15211482 -0.01137158 0.47211683] [ 0.15197749 0.98830986 -0.01210225 -0.28782703] [ 0.01307957 0.0102324 0.9998621 -0.19242504] [ 0. 0. 0. 1. ]] SLAMing on 4.399072329 meters 0.34889629093956454 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.33, Z:-0.20 [[ 0.97798956 -0.20860366 -0.00457459 0.46111517] [ 0.20856151 0.97797402 -0.00830198 -0.32657391] [ 0.00620565 0.00716517 0.99995507 -0.19651299] [ 0. 0. 0. 1. ]] SLAMing on 4.459072329 meters 0.270068740441876 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.36, Z:-0.20 [[ 9.67695056e-01 -2.52109698e-01 -2.64186862e-03 4.48910951e-01] [ 2.52108772e-01 9.67698662e-01 -6.83189428e-04 -3.58382801e-01] [ 2.72877141e-03 -4.91922179e-06 9.99996277e-01 -2.01887712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.519072329 meters 0.29881274333629676 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.41, Z:-0.20 [[ 0.94301598 -0.33272689 0.00369807 0.38564635] [ 0.3327099 0.9430183 0.00453974 -0.40856257] [-0.00499784 -0.00305066 0.99998286 -0.20430432] [ 0. 0. 0. 1. ]] SLAMing on 4.579072329 meters 0.5094735429712415 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.46, Z:-0.21 [[ 0.90696472 -0.42110179 0.00939583 0.28412656] [ 0.42105697 0.90701146 0.00642171 -0.45603516] [-0.01122632 -0.00186808 0.99993524 -0.20652782] [ 0. 0. 0. 1. ]] SLAMing on 4.639072329 meters 0.4846510778335203 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.47, Z:-0.21 [[ 0.87738282 -0.47939848 0.01940331 0.1220574 ] [ 0.47951446 0.87753262 -0.00154308 -0.47396115] [-0.01628729 0.01065804 0.99981055 -0.21222651] [ 0. 0. 0. 1. ]] SLAMing on 4.699072329 meters 0.4945872594577279 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.51, Z:-0.22 [[ 0.82158729 -0.56900489 0.03503929 -0.08313952] [ 0.5698915 0.82135074 -0.02463017 -0.50886464] [-0.01476486 0.04020443 0.99908238 -0.21897892] [ 0. 0. 0. 1. ]] SLAMing on 4.759072329 meters 0.670278498337675 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.52, Z:-0.24 [[ 0.77317482 -0.63212728 0.05114492 -0.37671035] [ 0.63413079 0.77171003 -0.0483918 -0.5194682 ] [-0.00887927 0.06984789 0.99751814 -0.23940254] [ 0. 0. 0. 1. ]] SLAMing on 4.819072329 meters 0.6746411709579975 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.49, Z:-0.26 [[ 0.7601428 -0.6464071 0.0658846 -0.71451607] [ 0.64975444 0.75644872 -0.07486327 -0.48885031] [-0.00144617 0.09971559 0.99501493 -0.25570512] [ 0. 0. 0. 1. ]] SLAMing on 4.8790723289999995 meters 0.6489554490463452 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.47, Z:-0.26 [[ 0.76327165 -0.64008566 0.08778802 -1.07595956] [ 0.64606492 0.75703209 -0.09748094 -0.46848339] [-0.00406219 0.1311212 0.99135802 -0.25577937] [ 0. 0. 0. 1. ]] SLAMing on 4.939072329 meters 0.6091930703621883 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.44, Z:-0.24 [[ 0.80435055 -0.58219361 0.11862038 -1.41582767] [ 0.59333161 0.79757237 -0.10879305 -0.44430194] [-0.03126972 0.15788897 0.98696164 -0.24006442] [ 0. 0. 0. 1. ]] SLAMing on 4.999072329 meters 0.5894755058690069 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.39, Z:-0.21 [[ 0.82664069 -0.54276993 0.14854621 -1.70595572] [ 0.55962124 0.82062404 -0.11575948 -0.39332451] [-0.05906982 0.1788211 0.9821068 -0.21168587] [ 0. 0. 0. 1. ]] SLAMing on 5.059072329 meters 0.33493658031298823 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.36, Z:-0.17 [[ 0.86989605 -0.46192009 0.17294709 -1.94534084] [ 0.48348087 0.86794459 -0.11365933 -0.36209238] [-0.09760696 0.18248841 0.97835109 -0.17444386] [ 0. 0. 0. 1. ]] SLAMing on 5.119072329 meters 0.26804403533341464 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.36, Z:-0.14 [[ 0.93280213 -0.31704122 0.17136232 -2.08119086] [ 0.33630589 0.93667025 -0.09770977 -0.35512699] [-0.12953196 0.14877404 0.98035083 -0.13500845] [ 0. 0. 0. 1. ]] SLAMing on 5.179072329 meters 0.3120119220839034 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.36, Z:-0.11 [[ 0.96625825 -0.20601583 0.15460421 -2.08985429] [ 0.22024313 0.97206049 -0.08118723 -0.36387629] [-0.13355879 0.11249835 0.98463504 -0.10734666] [ 0. 0. 0. 1. ]] SLAMing on 5.239072329 meters 0.2713522449145422 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.38, Z:-0.09 [[ 0.99507307 -0.02620901 0.09561732 -2.01353452] [ 0.03190242 0.99777699 -0.05850915 -0.37551027] [-0.09387129 0.06127131 0.99369714 -0.09174353] [ 0. 0. 0. 1. ]] SLAMing on 5.2990723289999995 meters 0.13160677421046618 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.38, Z:-0.08 [[ 0.9889163 0.14634826 0.02503484 -1.8942796 ] [-0.14516068 0.98842698 -0.04405084 -0.38487634] [-0.03119188 0.03992852 0.99871557 -0.07882595] [ 0. 0. 0. 1. ]] SLAMing on 5.359072329 meters 0.08943189172837442 Centerline is valid? [False, True] Translation: X:-1.86, Y:-0.38, Z:-0.06 [[ 0.97075608 0.24004843 0.00306326 -1.85791949] [-0.239737 0.97000861 -0.04011827 -0.38002678] [-0.01260171 0.03821068 0.99919024 -0.06343531] [ 0. 0. 0. 1. ]] SLAMing on 5.419072329 meters 0.187529301574277 Centerline is valid? [True, False] Translation: X:-1.87, Y:-0.36, Z:-0.05 [[ 0.94019739 0.34028634 0.0152993 -1.87388764] [-0.33966293 0.93996396 -0.03311876 -0.3566986 ] [-0.02565065 0.02594157 0.99933432 -0.05058476] [ 0. 0. 0. 1. ]] SLAMing on 5.479072329 meters 0.166379907913637 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.32, Z:-0.05 [[ 0.92189131 0.38602561 0.03317591 -1.95422757] [-0.3852823 0.92241201 -0.02671374 -0.32168353] [-0.04091404 0.01184507 0.99909246 -0.04534549] [ 0. 0. 0. 1. ]] SLAMing on 5.539072329 meters 0.1738597696672372 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.05 [[ 0.917783 0.39537204 0.03681462 -2.03688074] [-0.3948071 0.91850458 -0.02183314 -0.29446739] [-0.04244661 0.00550341 0.99908358 -0.0484324 ] [ 0. 0. 0. 1. ]] SLAMing on 5.599072329 meters 0.1766693570271821 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.26, Z:-0.05 [[ 9.17435037e-01 3.94941535e-01 4.83128953e-02 -2.13615556e+00] [-3.94360969e-01 9.18706063e-01 -2.14148362e-02 -2.61200233e-01] [-5.28429581e-02 5.94000804e-04 9.98602658e-01 -5.15832285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659072329 meters 0.18158360285004338 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.23, Z:-0.05 [[ 9.20763950e-01 3.86415780e-01 5.36338895e-02 -2.23181635e+00] [-3.85731269e-01 9.22324569e-01 -2.29951674e-02 -2.30817881e-01] [-5.83535495e-02 4.84852866e-04 9.98295862e-01 -5.40795516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719072329 meters 0.1876967410668931 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.21, Z:-0.06 [[ 0.9234324 0.37935346 0.05799611 -2.31610481] [-0.37876606 0.92524882 -0.02123402 -0.20680988] [-0.06171603 -0.00235878 0.99809096 -0.05614188] [ 0. 0. 0. 1. ]] SLAMing on 5.779072329 meters 0.19356962578798317 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.17, Z:-0.06 [[ 0.92527882 0.37373991 0.06463422 -2.40662403] [-0.37389282 0.92741616 -0.01016984 -0.17475779] [-0.06374369 -0.01475633 0.9978572 -0.05947397] [ 0. 0. 0. 1. ]] SLAMing on 5.8390723289999995 meters 0.20211825244072043 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.15, Z:-0.06 [[ 0.92590496 0.37120733 0.07003659 -2.48546014] [-0.37166486 0.92834158 -0.00686584 -0.14947192] [-0.06756653 -0.01967303 0.99752079 -0.05976803] [ 0. 0. 0. 1. ]] SLAMing on 5.899072329 meters 0.21438194798232585 Centerline is valid? [False, False] Translation: X:-2.58, Y:-0.11, Z:-0.06 [[ 0.92597328 0.37169014 0.06648242 -2.58260728] [-0.37188141 0.92822706 -0.00993644 -0.1147665 ] [-0.06540406 -0.0155227 0.99773812 -0.059392 ] [ 0. 0. 0. 1. ]] SLAMing on 5.959072329 meters 0.2136174479197408 Centerline is valid? [False, False] Translation: X:-2.67, Y:-0.08, Z:-0.06 [[ 0.92782093 0.36535972 0.07523687 -2.67245414] [-0.36620119 0.93053153 -0.00278606 -0.08343106] [-0.07102819 -0.02496687 0.9971618 -0.06337165] [ 0. 0. 0. 1. ]] SLAMing on 6.019072329 meters 0.2215272099963343 Centerline is valid? [False, False] Translation: X:-2.76, Y:-0.04, Z:-0.06 [[ 9.28488794e-01 3.61300113e-01 8.58532899e-02 -2.76199807e+00] [-3.62778785e-01 9.31873651e-01 1.74695294e-03 -3.85268251e-02] [-7.93732444e-02 -3.27677785e-02 9.96306259e-01 -6.41812937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079072329 meters 0.22773454026555423 Centerline is valid? [False, False] Translation: X:-2.84, Y:0.00, Z:-0.06 [[ 9.28536234e-01 3.58113048e-01 9.78545233e-02 -2.84461541e+00] [-3.59327146e-01 9.33195275e-01 -5.52993591e-03 2.58347824e-04] [-9.32977210e-02 -3.00270408e-02 9.95185366e-01 -5.99237915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139072329 meters 0.20436611111021077 Centerline is valid? [False, False] Translation: X:-2.95, Y:0.04, Z:-0.05 [[ 9.27594516e-01 3.55607509e-01 1.14506394e-01 -2.95007264e+00] [-3.57669557e-01 9.33844297e-01 -2.70486625e-03 4.03178510e-02] [-1.07893014e-01 -3.84464321e-02 9.93418829e-01 -5.02868031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199072329 meters 0.20862959471555362 Centerline is valid? [False, False] Translation: X:-3.05, Y:0.10, Z:-0.04 [[ 9.26699957e-01 3.52249354e-01 1.30948778e-01 -3.05256919e+00] [-3.55009039e-01 9.34859736e-01 -2.41985494e-03 9.62186878e-02] [-1.23271132e-01 -4.42455203e-02 9.91386182e-01 -3.72166687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259072329 meters 0.213278322411308 Centerline is valid? [False, False] Translation: X:-3.14, Y:0.15, Z:-0.03 [[ 0.92934437 0.34051965 0.14270744 -3.14487208] [-0.34347279 0.93915335 -0.00417408 0.14788232] [-0.13544553 -0.04513696 0.98975611 -0.02564655] [ 0. 0. 0. 1. ]] SLAMing on 6.319072329 meters 0.21311108516483762 Centerline is valid? [False, False] Translation: X:-3.21, Y:0.20, Z:-0.02 [[ 0.93691608 0.3209749 0.13843185 -3.21163347] [-0.32366393 0.94616653 -0.00324899 0.19510156] [-0.13202243 -0.04176136 0.99036663 -0.01618928] [ 0. 0. 0. 1. ]] SLAMing on 6.3790723289999995 meters 0.23904760108324613 Centerline is valid? [False, False] Translation: X:-3.26, Y:0.23, Z:-0.01 [[ 9.42576988e-01 3.03180704e-01 1.40107397e-01 -3.26375794e+00] [-3.06251278e-01 9.51950637e-01 3.73588574e-04 2.27467726e-01] [-1.33262061e-01 -4.32602054e-02 9.90136242e-01 -1.03551109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439072329 meters 0.20776512398015412 Centerline is valid? [False, False] Translation: X:-3.32, Y:0.27, Z:-0.00 [[ 9.47887512e-01 2.84754616e-01 1.42912819e-01 -3.31553575e+00] [-2.87368514e-01 9.57816969e-01 -2.44748729e-03 2.69772872e-01] [-1.37581257e-01 -3.87487019e-02 9.89732255e-01 -1.85217012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499072329 meters 0.21803196188856186 Centerline is valid? [False, False] Translation: X:-3.36, Y:0.29, Z:0.00 [[ 9.52000709e-01 2.70787151e-01 1.42719895e-01 -3.35662736e+00] [-2.73051832e-01 9.61991620e-01 -3.84972501e-03 2.94916955e-01] [-1.38337799e-01 -3.53049877e-02 9.89755632e-01 1.01409658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559072329 meters 0.21068106970299802 Centerline is valid? [False, False] Translation: X:-3.39, Y:0.33, Z:0.01 [[ 0.96001285 0.24012454 0.14392892 -3.3916817 ] [-0.24314532 0.96998351 0.00351418 0.3253545 ] [-0.13876484 -0.0383693 0.98958179 0.01474432] [ 0. 0. 0. 1. ]] SLAMing on 6.619072329 meters 0.18785854695249352 Centerline is valid? [False, False] Translation: X:-3.39, Y:0.34, Z:0.02 [[ 0.97011547 0.20528294 0.12936341 -3.39161924] [-0.20767381 0.97818471 0.00512464 0.3376771 ] [-0.12548931 -0.03183688 0.99158401 0.02409445] [ 0. 0. 0. 1. ]] SLAMing on 6.679072329 meters 0.14975065905091234 Centerline is valid? [False, False] Translation: X:-3.37, Y:0.34, Z:0.02 [[ 0.9845061 0.14001328 0.10556524 -3.36714009] [-0.14125988 0.98996282 0.0043885 0.34468858] [-0.10389121 -0.01923263 0.9944027 0.02359144] [ 0. 0. 0. 1. ]] SLAMing on 6.739072329 meters 0.12374915257921155 Centerline is valid? [False, False] Translation: X:-3.32, Y:0.35, Z:0.03 [[ 0.99207939 0.09686096 0.07997774 -3.3196744 ] [-0.09778067 0.99517855 0.00765507 0.35063385] [-0.07885065 -0.01541472 0.99676726 0.02791656] [ 0. 0. 0. 1. ]] SLAMing on 6.7990723289999995 meters 0.0889533644588092 Centerline is valid? [False, True] Translation: X:-3.28, Y:0.36, Z:0.03 [[ 0.99788775 0.03343196 0.05569873 -3.27730986] [-0.03401812 0.99937502 0.00960878 0.35749512] [-0.05534267 -0.01148325 0.99840138 0.03496659] [ 0. 0. 0. 1. ]] SLAMing on 6.859072329 meters 0.0810161583861587 Centerline is valid? [True, True] Translation: X:-3.22, Y:0.34, Z:0.04 [[ 9.98252450e-01 1.46711187e-02 5.72433781e-02 -3.21649110e+00] [-1.46964323e-02 9.99892001e-01 2.12298959e-05 3.35567102e-01] [-5.72368844e-02 -8.62466226e-04 9.98360253e-01 3.65994282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919072329 meters 0.08507189406923248 Centerline is valid? [True, True] Translation: X:-3.16, Y:0.28, Z:0.04 [[ 9.97199749e-01 -3.54455432e-02 6.58503937e-02 -3.15616581e+00] [ 3.55209095e-02 9.99368933e-01 2.63120657e-05 2.79052392e-01] [-6.58097703e-02 2.31282749e-03 9.97829507e-01 3.62370962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979072329 meters 0.0975146436567923 Centerline is valid? [True, True] Translation: X:-3.09, Y:0.26, Z:0.04 [[ 9.95514134e-01 -6.91546265e-02 6.45697055e-02 -3.09480740e+00] [ 6.92980760e-02 9.97595999e-01 1.80351676e-05 2.56130416e-01] [-6.44157271e-02 4.45660210e-03 9.97913199e-01 3.51330101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039072329 meters 0.1115165774530538 Centerline is valid? [True, False] Translation: X:-3.06, Y:0.26, Z:0.04 [[ 9.96185816e-01 -8.03804084e-02 3.39530658e-02 -3.05540563e+00] [ 8.04400757e-02 9.96759369e-01 -3.92815281e-04 2.56499568e-01] [-3.38114617e-02 3.12250419e-03 9.99423351e-01 3.80734061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099072329 meters 0.1093132139705007 Centerline is valid? [False, False] Translation: X:-3.04, Y:0.26, Z:0.04 [[ 9.96211857e-01 -8.57644610e-02 1.43663989e-02 -3.04274136e+00] [ 8.58039986e-02 9.96309700e-01 -2.15756189e-03 2.61377174e-01] [-1.41283405e-02 3.38208321e-03 9.99894470e-01 4.21575391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159072329 meters 0.10760285775119706 Centerline is valid? [False, False] Translation: X:-3.04, Y:0.27, Z:0.04 [[ 9.97692498e-01 -6.34820408e-02 2.40771818e-02 -3.03857068e+00] [ 6.35721377e-02 9.97972753e-01 -2.99444704e-03 2.73332229e-01] [-2.38382778e-02 4.51817527e-03 9.99705618e-01 4.48754452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219072328999999 meters 0.09700618633670803 Centerline is valid? [False, True] Translation: X:-3.05, Y:0.28, Z:0.04 [[ 0.99868341 -0.04128421 0.03044784 -3.04779812] [ 0.04151472 0.99911353 -0.00697765 0.28103917] [-0.03013278 0.0082325 0.999512 0.04343731] [ 0. 0. 0. 1. ]] SLAMing on 7.279072329 meters 0.0832623849701306 Centerline is valid? [True, True] Translation: X:-2.99, Y:0.32, Z:0.04 [[ 9.99458205e-01 -1.82312451e-02 2.74028853e-02 -2.98687391e+00] [ 1.82491426e-02 9.99833389e-01 -4.03159106e-04 3.24569115e-01] [-2.73909696e-02 9.03019837e-04 9.99624389e-01 4.03935939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3390723289999995 meters 0.08137064201225006 Centerline is valid? [True, True] Translation: X:-2.93, Y:0.34, Z:0.03 [[ 9.99727613e-01 -7.57724623e-03 2.20745135e-02 -2.92505205e+00] [ 7.58602409e-03 9.99971176e-01 -3.13933842e-04 3.42959173e-01] [-2.20714985e-02 4.81306122e-04 9.99756279e-01 2.92871321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399072329 meters 0.08058759280238786 Centerline is valid? [True, True] Translation: X:-2.86, Y:0.36, Z:0.03 [[ 9.99768726e-01 -3.71534498e-03 2.11823396e-02 -2.86274474e+00] [ 3.72281890e-03 9.99993021e-01 -3.13414376e-04 3.57727832e-01] [-2.11810273e-02 3.92199906e-04 9.99775580e-01 2.67236837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459072329 meters 0.08186915410751626 Centerline is valid? [True, True] Translation: X:-2.80, Y:0.35, Z:0.03 [[ 9.99519989e-01 -1.57535333e-02 2.66761801e-02 -2.80064643e+00] [ 1.57695639e-02 9.99875576e-01 -3.90652834e-04 3.46769448e-01] [-2.66667068e-02 8.11137042e-04 9.99644051e-01 2.90342472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.519072329 meters 0.08648694521113459 Centerline is valid? [True, True] Translation: X:-2.74, Y:0.33, Z:0.03 [[ 9.99143412e-01 -2.49892585e-02 3.29845397e-02 -2.73941170e+00] [ 2.50192246e-02 9.99686847e-01 -4.96001484e-04 3.33676402e-01] [-3.29618158e-02 1.32082422e-03 9.99455739e-01 2.77936982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579072329 meters 0.09313058649263088 Centerline is valid? [True, True] Translation: X:-2.68, Y:0.30, Z:0.02 [[ 9.98589155e-01 -4.28432755e-02 3.13712190e-02 -2.67933705e+00] [ 4.28795959e-02 9.99080129e-01 -4.85609629e-04 3.04808881e-01] [-3.13215564e-02 1.83010970e-03 9.99507684e-01 2.36264226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.639072329 meters 0.10082421859690842 Centerline is valid? [True, False] Translation: X:-2.67, Y:0.30, Z:0.03 [[ 9.98330095e-01 -5.57534298e-02 1.51187327e-02 -2.66937390e+00] [ 5.57855123e-02 9.98441314e-01 -1.70834585e-03 2.96800514e-01] [-1.49999212e-02 2.54889932e-03 9.99884246e-01 2.71361982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699072329 meters 0.11462112975413068 Centerline is valid? [False, False] Translation: X:-2.67, Y:0.29, Z:0.03 [[ 0.99803534 -0.06038324 0.01671285 -2.67343289] [ 0.0604453 0.99816628 -0.00323273 0.288899 ] [-0.016487 0.00423659 0.9998551 0.0294625 ] [ 0. 0. 0. 1. ]] SLAMing on 7.759072328999999 meters 0.1225520887275044 Centerline is valid? [False, False] Translation: X:-2.68, Y:0.28, Z:0.04 [[ 0.99777852 -0.06411972 0.01807456 -2.67865565] [ 0.06421986 0.99792317 -0.00501499 0.27951349] [-0.01771546 0.0061646 0.99982406 0.035566 ] [ 0. 0. 0. 1. ]] SLAMing on 7.819072329 meters 0.11779838924217666 Centerline is valid? [False, False] Translation: X:-2.67, Y:0.27, Z:0.03 [[ 0.99843471 -0.05499804 0.01016587 -2.66652724] [ 0.05516884 0.99832608 -0.01736193 0.27446638] [-0.00919398 0.01789559 0.99979759 0.03436993] [ 0. 0. 0. 1. ]] SLAMing on 7.8790723289999995 meters 0.11130220161599083 Centerline is valid? [False, False] Translation: X:-2.66, Y:0.28, Z:0.03 [[ 0.99927347 -0.03575837 0.01318582 -2.66118593] [ 0.03597943 0.99920916 -0.01692747 0.2761912 ] [-0.0125701 0.01738959 0.99976977 0.02721592] [ 0. 0. 0. 1. ]] SLAMing on 7.939072329 meters 0.10756791878789392 Centerline is valid? [False, False] Translation: X:-2.66, Y:0.27, Z:0.03 [[ 9.99730036e-01 -2.30413562e-02 2.99166647e-03 -2.65683314e+00] [ 2.30936870e-02 9.99555998e-01 -1.88278674e-02 2.71864460e-01] [-2.55651856e-03 1.88918732e-02 9.99818264e-01 2.57453277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999072329 meters 0.1035883900693184 Centerline is valid? [False, False] Translation: X:-2.66, Y:0.27, Z:0.03 [[ 0.999902 -0.01371513 0.00280986 -2.6566047 ] [ 0.01373921 0.99986745 -0.00873571 0.26744222] [-0.00268968 0.00877345 0.9999579 0.02530558] [ 0. 0. 0. 1. ]] SLAMing on 8.059072329 meters 0.09402612825285867 Centerline is valid? [False, True] Translation: X:-2.66, Y:0.27, Z:0.03 [[ 9.99983008e-01 -5.28300103e-03 2.46454366e-03 -2.65675991e+00] [ 5.28579440e-03 9.99985394e-01 -1.12828980e-03 2.70699338e-01] [-2.45854691e-03 1.14129770e-03 9.99996326e-01 2.67837235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119072329 meters 0.09404312730393122 Centerline is valid? [True, True] Translation: X:-2.60, Y:0.27, Z:0.02 [[ 9.99973613e-01 3.77181198e-03 6.20854912e-03 -2.59759979e+00] [-3.76973573e-03 9.99992835e-01 -3.46086639e-04 2.68674787e-01] [-6.20981000e-03 3.22672918e-04 9.99980667e-01 2.26956240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179072329 meters 0.08504375268540146 Centerline is valid? [True, True] Translation: X:-2.54, Y:0.29, Z:0.01 [[ 9.99760768e-01 2.16542668e-02 -3.08206557e-03 -2.53646155e+00] [-2.16538413e-02 9.99765513e-01 1.71369863e-04 2.90289369e-01] [ 3.08505375e-03 -1.04590308e-04 9.99995236e-01 8.85490248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239072328999999 meters 0.07909946263768239 Centerline is valid? [True, True] Translation: X:-2.47, Y:0.31, Z:0.01 [[ 9.99329612e-01 3.66055338e-02 6.01274369e-04 -2.47422939e+00] [-3.66055202e-02 9.99329793e-01 -3.35599155e-05 3.13414622e-01] [-6.02099869e-04 1.15274563e-05 9.99999819e-01 1.32941720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299072329 meters 0.07527540762384273 Centerline is valid? [True, True] Translation: X:-2.41, Y:0.34, Z:0.02 [[ 9.98394941e-01 5.61875805e-02 7.10615197e-03 -2.41240369e+00] [-5.61861878e-02 9.98420230e-01 -3.95623195e-04 3.35908127e-01] [-7.11715499e-03 -4.27939210e-06 9.99974673e-01 2.38914130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359072329 meters 0.07659095184125049 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.34, Z:0.02 [[ 9.97667228e-01 6.79228062e-02 6.82602517e-03 -2.35334090e+00] [-6.79217870e-02 9.97690576e-01 -3.81290644e-04 3.43379707e-01] [-6.83615931e-03 -8.32346481e-05 9.99976630e-01 2.02329185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419072329 meters 0.08040293777894693 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.35, Z:0.01 [[ 9.97178577e-01 7.50658656e-02 -3.42969973e-05 -2.29385255e+00] [-7.50658656e-02 9.97178578e-01 2.83815481e-06 3.51330767e-01] [ 3.44132796e-05 -2.55613386e-07 9.99999999e-01 1.19845624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479072329 meters 0.08036029681627811 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.34, Z:0.01 [[ 9.96923560e-01 7.83667998e-02 -1.43549302e-03 -2.23464946e+00] [-7.83667683e-02 9.96924593e-01 7.82904949e-05 3.37922317e-01] [ 1.43721367e-03 3.44453097e-05 9.99998967e-01 1.17687342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539072329 meters 0.08255513626195163 Centerline is valid? [True, True] Translation: X:-2.18, Y:0.34, Z:0.01 [[ 9.95970296e-01 8.94395433e-02 6.61349781e-03 -2.17644479e+00] [-8.94390543e-02 9.95992228e-01 -3.70259021e-04 3.40244128e-01] [-6.62010822e-03 -2.22738003e-04 9.99978062e-01 1.49791349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599072329 meters 0.091088068647428 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.36, Z:0.02 [[ 9.94381423e-01 1.05725068e-01 5.27211390e-03 -2.11419684e+00] [-1.05725000e-01 9.94395363e-01 -2.92225618e-04 3.63695523e-01] [-5.27346119e-03 -2.66810518e-04 9.99986060e-01 1.65763624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659072329 meters 0.09933362890687253 Centerline is valid? [True, True] Translation: X:-2.06, Y:0.36, Z:0.00 [[ 9.93574378e-01 1.13179017e-01 -6.82122564e-04 -2.05524620e+00] [-1.13179018e-01 9.93574611e-01 3.71598534e-05 3.62215341e-01] [ 6.81945377e-04 4.02808835e-05 9.99999767e-01 3.00696640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719072329 meters 0.09952179858292744 Centerline is valid? [True, True] Translation: X:-2.00, Y:0.35, Z:0.00 [[ 9.92923000e-01 1.18757148e-01 -8.09552984e-04 -1.99581137e+00] [-1.18757151e-01 9.92923329e-01 4.41406233e-05 3.50607984e-01] [ 8.09066059e-04 5.23119662e-05 9.99999671e-01 3.53870298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779072329 meters 0.10294050448291774 Centerline is valid? [True, False] Translation: X:-1.99, Y:0.35, Z:0.00 [[ 9.93071916e-01 1.17134159e-01 9.36795025e-03 -1.99351537e+00] [-1.17237006e-01 9.93039598e-01 1.13066580e-02 3.45547464e-01] [-7.97834967e-03 -1.23265950e-02 9.99892195e-01 8.58777876e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839072329 meters 0.10825788708808921 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.34, Z:0.01 [[ 0.99271874 0.11992947 0.01124413 -2.0004831 ] [-0.12009487 0.99264277 0.01541289 0.33855781] [-0.00931294 -0.01665103 0.99981799 0.00638566] [ 0. 0. 0. 1. ]] SLAMing on 8.899072329 meters 0.10947448838668497 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.33, Z:0.01 [[ 0.99313462 0.11645687 0.01101948 -2.00158305] [-0.11659473 0.99309676 0.01282526 0.33347165] [-0.00944982 -0.01402202 0.99985703 0.00703766] [ 0. 0. 0. 1. ]] SLAMing on 8.959072329 meters 0.11701800961028859 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.33, Z:0.01 [[ 0.99353206 0.11304103 0.01075962 -2.0020611 ] [-0.11314332 0.99353396 0.00942596 0.33175295] [-0.00962453 -0.01058237 0.99989769 0.00722841] [ 0. 0. 0. 1. ]] SLAMing on 9.019072329 meters 0.1152594637187096 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.33, Z:0.00 [[ 0.99336892 0.11452732 0.01008426 -1.99844795] [-0.11463212 0.9933524 0.01051115 0.33184663] [-0.00881341 -0.01159743 0.99989391 0.00382416] [ 0. 0. 0. 1. ]] SLAMing on 9.079072329 meters 0.11965370854901623 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.33, Z:0.00 [[ 0.99431304 0.10576169 0.01249158 -1.99816283] [-0.10599559 0.99416864 0.01984072 0.33347071] [-0.01032034 -0.02105194 0.99972512 0.00288478] [ 0. 0. 0. 1. ]] SLAMing on 9.139072329 meters 0.11470084069110484 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.34, Z:0.00 [[ 9.95497673e-01 9.35946640e-02 1.49807385e-02 -1.99501553e+00] [-9.39331431e-02 9.95294969e-01 2.37589875e-02 3.37224686e-01] [-1.26865392e-02 -2.50592046e-02 9.99605466e-01 5.52040284e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199072329 meters 0.12245506723632119 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.34, Z:-0.00 [[ 9.95923969e-01 8.90757641e-02 1.41758718e-02 -1.99350487e+00] [-8.93281000e-02 9.95834281e-01 1.82913914e-02 3.40626617e-01] [-1.24874994e-02 -1.94831388e-02 9.99732199e-01 -7.74323661e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259072329 meters 0.11991453507561452 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.35, Z:-0.00 [[ 9.96342553e-01 8.34923869e-02 1.81807261e-02 -2.00423308e+00] [-8.37702083e-02 9.96370750e-01 1.50957120e-02 3.51717521e-01] [-1.68543667e-02 -1.65635035e-02 9.99720751e-01 -5.83764087e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319072328999999 meters 0.11247050831329039 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.36, Z:0.00 [[ 9.96580484e-01 8.07362699e-02 1.75782398e-02 -2.00372496e+00] [-8.09212969e-02 9.96669512e-01 1.00810096e-02 3.63431700e-01] [-1.67057925e-02 -1.14689914e-02 9.99794668e-01 8.54925371e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379072329 meters 0.10981727368585735 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.37, Z:-0.00 [[ 0.99765686 0.06783384 0.00890842 -1.99470684] [-0.06794403 0.99760816 0.01271112 0.3715767 ] [-0.00802487 -0.01328661 0.99987953 -0.00492006] [ 0. 0. 0. 1. ]] SLAMing on 9.439072329 meters 0.09787327076532705 Centerline is valid? [False, True] Translation: X:-1.98, Y:0.38, Z:-0.00 [[ 9.99026870e-01 4.40734367e-02 -1.68672571e-03 -1.98451975e+00] [-4.40465318e-02 9.98937060e-01 1.35887037e-02 3.79806526e-01] [ 2.28383369e-03 -1.35011857e-02 9.99906247e-01 -1.60790700e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499072329 meters 0.0873116635019406 Centerline is valid? [True, True] Translation: X:-1.92, Y:0.38, Z:0.02 [[ 9.99510088e-01 2.98614871e-02 9.37419796e-03 -1.92369459e+00] [-2.98637803e-02 9.99553972e-01 1.04721048e-04 3.77306770e-01] [-9.36688968e-03 -3.84618733e-04 9.99956056e-01 1.59274501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559072329 meters 0.07940418244349697 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.36, Z:0.01 [[ 9.99884845e-01 1.10544399e-02 1.03969222e-02 -1.86373060e+00] [-1.10562454e-02 9.99938871e-01 1.16196099e-04 3.55253716e-01] [-1.03950022e-02 -2.31133642e-04 9.99945944e-01 1.20351138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619072329 meters 0.07714351515055433 Centerline is valid? [True, True] Translation: X:-1.80, Y:0.34, Z:0.00 [[ 9.99983056e-01 -3.32944275e-03 4.77528173e-03 -1.80278637e+00] [ 3.32919642e-03 9.99994456e-01 5.95316985e-05 3.40564385e-01] [-4.77545346e-03 -4.36328390e-05 9.99988597e-01 1.55322675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679072329 meters 0.07676719649010609 Centerline is valid? [True, True] Translation: X:-1.74, Y:0.36, Z:0.01 [[ 9.99964354e-01 -5.36363371e-03 6.52097814e-03 -1.74061282e+00] [ 5.36326986e-03 9.99985615e-01 7.32825037e-05 3.59421670e-01] [-6.52127739e-03 -3.83061259e-05 9.99978736e-01 7.20751894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739072328999999 meters 0.07728397903009009 Centerline is valid? [True, True] Translation: X:-1.68, Y:0.37, Z:0.01 [[ 9.99972240e-01 -1.73812715e-03 7.24559277e-03 -1.67830643e+00] [ 1.73758807e-03 9.99998487e-01 8.06947081e-05 3.71961925e-01] [-7.24572206e-03 -6.81026125e-05 9.99973747e-01 5.15121593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799072329 meters 0.08060232257692922 Centerline is valid? [True, True] Translation: X:-1.62, Y:0.39, Z:-0.01 [[ 9.99980991e-01 5.66343119e-03 2.43777257e-03 -1.61888643e+00] [-5.66351380e-03 9.99983962e-01 2.69821165e-05 3.89922312e-01] [-2.43758066e-03 -4.07879622e-05 9.99997028e-01 -8.49953254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859072329 meters 0.08034046381033666 Centerline is valid? [True, True] Translation: X:-1.56, Y:0.40, Z:-0.00 [[ 9.99932033e-01 1.15953162e-02 -1.21610353e-03 -1.55846221e+00] [-1.15953412e-02 9.99932772e-01 -1.35584259e-05 4.03292599e-01] [ 1.21586456e-03 2.76586398e-05 9.99999260e-01 -4.95577024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919072329 meters 0.0846298224252326 Centerline is valid? [True, True] Translation: X:-1.50, Y:0.44, Z:-0.01 [[ 9.99749000e-01 2.20481848e-02 -3.97671877e-03 -1.49963168e+00] [-2.20485356e-02 9.99756901e-01 -4.43994732e-05 4.39205559e-01] [ 3.97477311e-03 1.32069154e-04 9.99992092e-01 -6.11405113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979072329 meters 0.08809253580400263 Centerline is valid? [True, True] Translation: X:-1.44, Y:0.46, Z:-0.00 [[ 9.99491669e-01 3.17632013e-02 2.73914734e-03 -1.44133518e+00] [-3.17633951e-02 9.99495416e-01 2.72700773e-05 4.59912051e-01] [-2.73689902e-03 -1.14260834e-04 9.99996248e-01 -3.01804580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039072329 meters 0.08958687928533089 Centerline is valid? [True, True] Translation: X:-1.38, Y:0.47, Z:-0.00 [[ 9.99317897e-01 3.60171562e-02 8.15511801e-03 -1.38285078e+00] [-3.60190672e-02 9.99351099e-01 8.75337896e-05 4.67946475e-01] [-8.14667342e-03 -3.81213826e-04 9.99966743e-01 -1.45404527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099072329 meters 0.0955784463455334 Centerline is valid? [True, True] Translation: X:-1.32, Y:0.50, Z:-0.00 [[ 9.98900610e-01 4.62065349e-02 7.90743472e-03 -1.32276706e+00] [-4.62086672e-02 9.98931805e-01 8.70773110e-05 4.96542972e-01] [-7.89496450e-03 -4.52373598e-04 9.99968732e-01 -1.77605134e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159072328999999 meters 0.10632848732354228 Centerline is valid? [True, False] Translation: X:-1.32, Y:0.51, Z:-0.00 [[ 0.99849378 0.05446787 0.00658995 -1.3167435 ] [-0.05450838 0.99849448 0.0061327 0.50510827] [-0.006246 -0.00648267 0.99995948 -0.00481017] [ 0. 0. 0. 1. ]] SLAMing on 10.219072329 meters 0.11076832358504982 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.51, Z:-0.00 [[ 9.98718671e-01 5.02642327e-02 5.87559292e-03 -1.31594570e+00] [-5.02690063e-02 9.98735491e-01 6.67512185e-04 5.09040788e-01] [-5.83461119e-03 -9.62017100e-04 9.99982516e-01 -4.33228192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279072329 meters 0.11103030072261794 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.51, Z:-0.00 [[ 9.98772462e-01 4.91490121e-02 6.15992577e-03 -1.31830894e+00] [-4.91407711e-02 9.98790763e-01 -1.48220880e-03 5.13277275e-01] [-6.22532606e-03 1.17768583e-03 9.99979929e-01 -1.00815153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339072329 meters 0.1126103773611039 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.52, Z:0.00 [[ 9.98607280e-01 5.23997592e-02 6.14529718e-03 -1.31867662e+00] [-5.24028558e-02 9.98625967e-01 3.43845766e-04 5.20437020e-01] [-6.11883590e-03 -6.65398007e-04 9.99981058e-01 5.60786624e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399072329 meters 0.13276065981502902 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.52, Z:-0.00 [[ 0.99875842 0.04950878 0.00552249 -1.31545919] [-0.0494966 0.9987716 -0.00232047 0.51795594] [-0.00563059 0.00204424 0.99998206 -0.00310075] [ 0. 0. 0. 1. ]] SLAMing on 10.459072329 meters 0.11829192262325984 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.52, Z:-0.01 [[ 0.99930524 0.03723104 0.00170121 -1.31006735] [-0.03723688 0.9993002 0.00354033 0.51590856] [-0.00156821 -0.00360122 0.99999229 -0.00605189] [ 0. 0. 0. 1. ]] SLAMing on 10.519072329 meters 0.12199522109551798 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.52, Z:0.00 [[ 0.9994499 0.03302804 -0.00300659 -1.30332878] [-0.03300138 0.99941897 0.00852219 0.51521168] [ 0.00328632 -0.00841828 0.99995917 0.00138645] [ 0. 0. 0. 1. ]] SLAMing on 10.579072328999999 meters 0.11671728628687945 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.51, Z:0.01 [[ 0.99959258 0.02838685 0.00297611 -1.2903553 ] [-0.02840908 0.99956661 0.00771523 0.51245375] [-0.0027558 -0.00779663 0.99996581 0.00663858] [ 0. 0. 0. 1. ]] SLAMing on 10.639072329 meters 0.1104681461610553 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.50, Z:0.01 [[ 0.99987027 0.01535021 -0.00488025 -1.293284 ] [-0.01528786 0.99980416 0.01256654 0.50418774] [ 0.0050722 -0.0124903 0.99990913 0.0118395 ] [ 0. 0. 0. 1. ]] SLAMing on 10.699072329 meters 0.10971881987246275 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.50, Z:0.01 [[ 0.9999638 0.00677451 -0.00514861 -1.29290927] [-0.006754 0.99996923 0.00399122 0.50434905] [ 0.00517549 -0.0039563 0.99997878 0.01178883] [ 0. 0. 0. 1. ]] SLAMing on 10.759072329 meters 0.10706187613778653 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.49, Z:0.01 [[ 9.99984197e-01 4.76870724e-05 -5.62176403e-03 -1.29110895e+00] [-3.94840230e-05 9.99998934e-01 1.45926129e-03 4.89988933e-01] [ 5.62182763e-03 -1.45901626e-03 9.99983133e-01 8.60351029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819072328999999 meters 0.10231221868118902 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.48, Z:0.01 [[ 9.99978839e-01 -3.54312964e-03 -5.45604347e-03 -1.29138007e+00] [ 3.54170497e-03 9.99993691e-01 -2.70757314e-04 4.82708826e-01] [ 5.45696838e-03 2.51427888e-04 9.99985079e-01 8.92369746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879072329 meters 0.0950648788804792 Centerline is valid? [False, True] Translation: X:-1.29, Y:0.47, Z:0.01 [[ 9.99963917e-01 -6.97376980e-03 -4.85088119e-03 -1.29372429e+00] [ 6.97129563e-03 9.99975561e-01 -5.26766586e-04 4.70027544e-01] [ 4.85443619e-03 4.92930652e-04 9.99988096e-01 1.07773309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939072329 meters 0.09528761383368294 Centerline is valid? [True, True] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 9.99922735e-01 -9.36330819e-03 -8.17638211e-03 -1.23383078e+00] [ 9.35912130e-03 9.99956051e-01 -5.50184507e-04 4.62671047e-01] [ 8.18117432e-03 4.73618245e-04 9.99966421e-01 3.59573043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999072329 meters 0.10493607012766898 Centerline is valid? [True, False] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 0.99995658 -0.00439681 -0.00821583 -1.23342584] [ 0.0044384 0.99997739 0.00505138 0.45913315] [ 0.00819344 -0.00508762 0.99995349 0.00296561] [ 0. 0. 0. 1. ]] SLAMing on 11.059072329 meters 0.10625118839941454 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 0.99995635 -0.0040498 -0.00842002 -1.23295765] [ 0.00409656 0.99997624 0.00554433 0.457856 ] [ 0.00839736 -0.00557858 0.99994918 0.00282695] [ 0. 0. 0. 1. ]] SLAMing on 11.119072329 meters 0.10367114949716891 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.46, Z:0.00 [[ 0.99998679 -0.00313779 -0.00407029 -1.22447718] [ 0.00312505 0.99999021 -0.00313308 0.45600356] [ 0.00408008 0.00312032 0.99998681 0.00302966] [ 0. 0. 0. 1. ]] SLAMing on 11.179072329 meters 0.10391197709827302 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.46, Z:0.00 [[ 9.99992215e-01 6.54661813e-04 -3.89123635e-03 -1.22490232e+00] [-6.54091428e-04 9.99999775e-01 1.47852794e-04 4.59048431e-01] [ 3.89133227e-03 -1.45306419e-04 9.99992418e-01 3.18500462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239072328999999 meters 0.10353637854486859 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.46, Z:0.00 [[ 9.99992057e-01 7.77087328e-04 -3.90919513e-03 -1.22465537e+00] [-7.75318423e-04 9.99999596e-01 4.53993660e-04 4.58160663e-01] [ 3.90954635e-03 -4.50959183e-04 9.99992256e-01 2.76316724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299072329 meters 0.10170321045043378 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 9.99993383e-01 7.71091189e-04 -3.55517760e-03 -1.22516765e+00] [-7.67349073e-04 9.99999150e-01 1.05382611e-03 4.55572575e-01] [ 3.55598717e-03 -1.05109107e-03 9.99993125e-01 2.50740089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359072329 meters 0.09455493368233986 Centerline is valid? [False, True] Translation: X:-1.23, Y:0.46, Z:0.00 [[ 9.99993499e-01 -6.14413583e-06 -3.60574181e-03 -1.22518769e+00] [ 5.29174077e-06 9.99999972e-01 -2.36408855e-04 4.59035807e-01] [ 3.60574316e-03 2.36388238e-04 9.99993471e-01 2.73717426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419072329 meters 0.08966354928030476 Centerline is valid? [True, True] Translation: X:-1.17, Y:0.45, Z:-0.00 [[ 9.99879715e-01 -1.54960296e-02 -6.54964409e-04 -1.16577040e+00] [ 1.54960108e-02 9.99879929e-01 -3.37014766e-05 4.51568697e-01] [ 6.55408006e-04 2.35480872e-05 9.99999785e-01 -4.29447349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479072329 meters 0.08316345094398248 Centerline is valid? [True, True] Translation: X:-1.10, Y:0.44, Z:-0.00 [[ 9.99496055e-01 -3.16150696e-02 2.85010056e-03 -1.10437172e+00] [ 3.16147913e-02 9.99500117e-01 1.42686162e-04 4.42361300e-01] [-2.85318688e-03 -5.25089214e-05 9.99995928e-01 -2.88046333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539072329 meters 0.08118185617064465 Centerline is valid? [True, True] Translation: X:-1.04, Y:0.44, Z:-0.01 [[ 9.99051946e-01 -4.34313059e-02 2.98840847e-03 -1.04231027e+00] [ 4.34310434e-02 9.99056415e-01 1.52696228e-04 4.36957900e-01] [-2.99222045e-03 -2.27617653e-05 9.99995523e-01 -5.97974765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599072329 meters 0.08085730696147712 Centerline is valid? [True, True] Translation: X:-0.98, Y:0.43, Z:-0.01 [[ 9.98198079e-01 -6.00002217e-02 7.53692168e-04 -9.80159733e-01] [ 6.00002091e-02 9.98198364e-01 3.92575830e-05 4.28035937e-01] [-7.54689753e-04 6.03484378e-06 9.99999715e-01 -6.92418766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659072328999999 meters 0.08338801021048609 Centerline is valid? [True, True] Translation: X:-0.92, Y:0.43, Z:-0.01 [[ 9.97286327e-01 -7.36053347e-02 -1.49532475e-03 -9.19660090e-01] [ 7.36053085e-02 9.97287448e-01 -7.26276934e-05 4.27636877e-01] [ 1.49661439e-03 -3.76332341e-05 9.99998879e-01 -1.16879972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719072329 meters 0.08402236298634824 Centerline is valid? [True, True] Translation: X:-0.86, Y:0.44, Z:-0.01 [[ 9.96997362e-01 -7.74181071e-02 1.64233772e-03 -8.57790753e-01] [ 7.74180720e-02 9.96998714e-01 8.49850092e-05 4.35061269e-01] [-1.64398797e-03 4.24167901e-05 9.99998648e-01 -1.37921184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779072329 meters 0.08640538235048399 Centerline is valid? [True, True] Translation: X:-0.80, Y:0.44, Z:-0.02 [[ 9.96555030e-01 -8.29340369e-02 -1.34639649e-04 -7.98067502e-01] [ 8.29340368e-02 9.96555039e-01 -6.38297156e-06 4.42027139e-01] [ 1.34705186e-04 -4.80522717e-06 9.99999991e-01 -2.31057556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839072329 meters 0.09338805585972355 Centerline is valid? [True, True] Translation: X:-0.74, Y:0.43, Z:-0.03 [[ 9.95017448e-01 -9.96962246e-02 -9.70489537e-04 -7.36991227e-01] [ 9.96962249e-02 9.95017920e-01 -4.81698549e-05 4.32277707e-01] [ 9.70456833e-04 -4.88242971e-05 9.99999528e-01 -2.81811795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899072329 meters 0.10154771200311427 Centerline is valid? [True, False] Translation: X:-0.74, Y:0.43, Z:-0.03 [[ 9.94818265e-01 -1.01668980e-01 -1.95350433e-04 -7.39957391e-01] [ 1.01668545e-01 9.94817060e-01 -1.58860748e-03 4.32657471e-01] [ 3.55850045e-04 1.56051474e-03 9.99998719e-01 -2.50177635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959072329 meters 0.11571298183422479 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.43, Z:-0.02 [[ 0.99315449 -0.11675982 0.00336306 -0.74692484] [ 0.11679805 0.99303645 -0.01538931 0.42963784] [-0.00154279 0.01567676 0.99987592 -0.01858187] [ 0. 0. 0. 1. ]] SLAMing on 12.019072329 meters 0.1284661518521737 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.42, Z:-0.02 [[ 0.99143785 -0.13045059 0.00579982 -0.74879506] [ 0.13056078 0.99106895 -0.02713327 0.42435042] [-0.00220847 0.02765818 0.999615 -0.0176414 ] [ 0. 0. 0. 1. ]] SLAMing on 12.079072328999999 meters 0.15174342995087586 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.42, Z:-0.02 [[ 0.99087261 -0.1346507 0.0063772 -0.74820863] [ 0.13478027 0.99044847 -0.02908792 0.41732998] [-0.00239958 0.02968195 0.99955651 -0.0192477 ] [ 0. 0. 0. 1. ]] SLAMing on 12.139072329 meters 0.15844095646116324 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.40, Z:-0.02 [[ 0.9897022 -0.14286021 0.00897298 -0.75118594] [ 0.14307948 0.98917468 -0.03258412 0.40302737] [-0.00422087 0.03353242 0.99942872 -0.01927024] [ 0. 0. 0. 1. ]] SLAMing on 12.199072329 meters 0.15337993742354952 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.40, Z:-0.02 [[ 0.98967802 -0.14296322 0.00994658 -0.75334577] [ 0.14320476 0.98921894 -0.03063137 0.39502468] [-0.00546018 0.03173959 0.99948126 -0.01780231] [ 0. 0. 0. 1. ]] SLAMing on 12.259072329 meters 0.1537897313267277 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.38, Z:-0.02 [[ 0.99040376 -0.13729449 0.01583097 -0.74055163] [ 0.13770782 0.99005055 -0.02892177 0.3840618 ] [-0.01170266 0.03082428 0.99945631 -0.02498994] [ 0. 0. 0. 1. ]] SLAMing on 12.319072328999999 meters 0.14075768597177898 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.38, Z:-0.03 [[ 0.99185119 -0.12661037 0.01417844 -0.74472048] [ 0.12698739 0.99145256 -0.02993382 0.37785989] [-0.01026732 0.03149037 0.99945132 -0.03108325] [ 0. 0. 0. 1. ]] SLAMing on 12.379072329 meters 0.13404962170360338 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.37, Z:-0.03 [[ 0.9943662 -0.10435005 0.01862583 -0.74440964] [ 0.10480745 0.99416426 -0.02555034 0.3720859 ] [-0.01585095 0.02735852 0.9995 -0.03349519] [ 0. 0. 0. 1. ]] SLAMing on 12.439072329 meters 0.12158350942083794 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.37, Z:-0.04 [[ 0.99716642 -0.07113163 0.0244832 -0.74057835] [ 0.07171939 0.99713537 -0.02402882 0.36763983] [-0.02270386 0.02571665 0.99941142 -0.03549682] [ 0. 0. 0. 1. ]] SLAMing on 12.499072329 meters 0.11041628810073921 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.36, Z:-0.04 [[ 0.99905059 -0.04155448 0.01308234 -0.73677361] [ 0.04191722 0.99870604 -0.02879563 0.3597619 ] [-0.01186882 0.02931667 0.99949971 -0.03513388] [ 0. 0. 0. 1. ]] SLAMing on 12.559072329 meters 0.1022591843333758 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.35, Z:-0.04 [[ 0.99955312 -0.02721546 0.01236456 -0.73521316] [ 0.02737759 0.99953882 -0.01313852 0.35296246] [-0.01200129 0.01347116 0.99983724 -0.03702646] [ 0. 0. 0. 1. ]] SLAMing on 12.619072329 meters 0.09542929144579251 Centerline is valid? [False, True] Translation: X:-0.74, Y:0.35, Z:-0.04 [[ 0.99992949 -0.01125217 0.00379513 -0.73574231] [ 0.01129556 0.99986878 -0.01161199 0.34915456] [-0.00366397 0.01165404 0.99992538 -0.0351114 ] [ 0. 0. 0. 1. ]] SLAMing on 12.679072329 meters 0.09132628617680164 Centerline is valid? [True, True] Translation: X:-0.68, Y:0.34, Z:-0.04 [[ 9.99994192e-01 -1.66974944e-03 2.97131496e-03 -6.75876144e-01] [ 1.67017262e-03 9.99998595e-01 -1.39944968e-04 3.41523491e-01] [-2.97107711e-03 1.44906764e-04 9.99995576e-01 -4.20595039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739072328999999 meters 0.0880277208216081 Centerline is valid? [True, True] Translation: X:-0.62, Y:0.33, Z:-0.05 [[ 9.99968580e-01 7.70143255e-03 1.87804709e-03 -6.16874556e-01] [-7.70127859e-03 9.99970341e-01 -8.91975386e-05 3.34646135e-01] [-1.87867834e-03 7.47313722e-05 9.99998232e-01 -4.64584043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799072329 meters 0.08138067340081141 Centerline is valid? [True, True] Translation: X:-0.56, Y:0.34, Z:-0.04 [[ 9.99833973e-01 1.80121953e-02 2.75440380e-03 -5.55778060e-01] [-1.80119059e-02 9.99837764e-01 -1.29833792e-04 3.39609422e-01] [-2.75629553e-03 8.02001741e-05 9.99996198e-01 -3.96085863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859072329 meters 0.08214648912252126 Centerline is valid? [True, True] Translation: X:-0.50, Y:0.33, Z:-0.05 [[ 9.99703455e-01 2.41180482e-02 3.36478127e-03 -4.97462840e-01] [-2.41176467e-02 9.99709114e-01 -1.59847614e-04 3.28281097e-01] [-3.36765771e-03 7.86496060e-05 9.99994326e-01 -4.96801995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919072329 meters 0.07902758548594062 Centerline is valid? [True, True] Translation: X:-0.44, Y:0.33, Z:-0.05 [[ 9.99458357e-01 3.27417373e-02 3.31216016e-03 -4.37305630e-01] [-3.27413979e-02 9.99463844e-01 -1.56644500e-04 3.29581063e-01] [-3.31551314e-03 4.81149013e-05 9.99994503e-01 -4.54985425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979072329 meters 0.07835930203430694 Centerline is valid? [True, True] Translation: X:-0.38, Y:0.32, Z:-0.05 [[ 9.99374966e-01 3.53502510e-02 1.91453323e-04 -3.78239178e-01] [-3.53502497e-02 9.99374985e-01 -1.03363364e-05 3.22141851e-01] [-1.91699054e-04 3.56195310e-06 9.99999982e-01 -4.54485450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039072329 meters 0.07963871770293322 Centerline is valid? [True, True] Translation: X:-0.32, Y:0.30, Z:-0.05 [[ 9.99566594e-01 2.94190794e-02 -1.06860997e-03 -3.21031910e-01] [-2.94190448e-02 9.99567165e-01 4.80621194e-05 2.96682306e-01] [ 1.06956138e-03 -1.66038043e-05 9.99999428e-01 -5.13809189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099072329 meters 0.08217749331823904 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.27, Z:-0.05 [[ 9.99798201e-01 1.99350091e-02 2.48039271e-03 -2.64299999e-01] [-1.99347753e-02 9.99801276e-01 -1.18948759e-04 2.66785722e-01] [-2.48227104e-03 6.94786837e-05 9.99996917e-01 -5.27601392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159072328999999 meters 0.08606899229387296 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.23, Z:-0.06 [[ 9.99941899e-01 1.03641478e-02 2.96365848e-03 -2.06279305e-01] [-1.03637796e-02 9.99946285e-01 -1.39552505e-04 2.33410645e-01] [-2.96494563e-03 1.08829693e-04 9.99995599e-01 -5.57404375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219072329 meters 0.09099834309887848 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.20, Z:-0.06 [[ 9.99998819e-01 -2.39646132e-04 -1.51800975e-03 -1.47331309e-01] [ 2.39754772e-04 9.99999969e-01 7.13858003e-05 2.04372851e-01] [ 1.51799259e-03 -7.17496661e-05 9.99998845e-01 -5.93296324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279072329 meters 0.09498326306217095 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.18, Z:-0.06 [[ 9.99975571e-01 -6.77746074e-03 -1.71003613e-03 -8.82602417e-02] [ 6.77760837e-03 9.99977029e-01 8.05529274e-05 1.82110789e-01] [ 1.70945090e-03 -9.21409147e-05 9.99998535e-01 -6.14370185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339072329 meters 0.0931441799065014 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.17, Z:-0.06 [[ 9.99941980e-01 -1.06916468e-02 1.31371303e-03 -2.85565365e-02] [ 1.06917378e-02 9.99942840e-01 -6.22724602e-05 1.67900760e-01] [-1.31297214e-03 7.63147223e-05 9.99999135e-01 -5.63057008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399072329 meters 0.10252981535687501 Centerline is valid? [True, False] Translation: X:-0.03, Y:0.16, Z:-0.06 [[ 0.99990843 -0.01347301 0.00127136 -0.02806629] [ 0.0134747 0.99990833 -0.00133097 0.16009007] [-0.00125331 0.00134798 0.99999831 -0.05698852] [ 0. 0. 0. 1. ]] SLAMing on 13.459072329 meters 0.1042633136972693 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.15, Z:-0.06 [[ 9.99926994e-01 -1.20561508e-02 8.09341711e-04 -2.67172742e-02] [ 1.20528885e-02 9.99919672e-01 3.92138408e-03 1.46044544e-01] [-8.56553496e-04 -3.91134289e-03 9.99991984e-01 -5.89556206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519072329 meters 0.1045594786978484 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.14, Z:-0.06 [[ 9.99888426e-01 -1.49185389e-02 7.56814775e-04 -2.64172592e-02] [ 1.49167282e-02 9.99885991e-01 2.34420194e-03 1.38809235e-01] [-7.91700560e-04 -2.33265119e-03 9.99996966e-01 -5.91254181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579072328999999 meters 0.10067597828063667 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.13, Z:-0.06 [[ 9.99856972e-01 -1.69002926e-02 6.45167829e-04 -2.56151773e-02] [ 1.68988522e-02 9.99854836e-01 2.17637462e-03 1.27924678e-01] [-6.81855542e-04 -2.16516074e-03 9.99997424e-01 -5.98789979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639072329 meters 0.09569255663576065 Centerline is valid? [False, True] Translation: X:-0.01, Y:0.12, Z:-0.06 [[ 0.99992708 -0.01169618 -0.00300445 -0.01241786] [ 0.01169933 0.99993103 0.00103047 0.11851011] [ 0.00299219 -0.00106554 0.99999496 -0.0591622 ] [ 0. 0. 0. 1. ]] SLAMing on 13.699072329 meters 0.09566150735176661 Centerline is valid? [True, True] Translation: X:0.05, Y:0.11, Z:-0.06 [[ 9.99953410e-01 -9.29609786e-03 -2.60021433e-03 4.57018807e-02] [ 9.29643985e-03 9.99956780e-01 1.19469246e-04 1.09044615e-01] [ 2.59899135e-03 -1.43636416e-04 9.99996612e-01 -6.16873028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759072329 meters 0.09867404367543102 Centerline is valid? [True, True] Translation: X:0.10, Y:0.09, Z:-0.07 [[ 9.99950310e-01 -9.39879937e-03 -3.32278425e-03 1.02535655e-01] [ 9.39935515e-03 9.99955814e-01 1.51688446e-04 8.58658184e-02] [ 3.32121173e-03 -1.82912938e-04 9.99994468e-01 -6.76426134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819072328999999 meters 0.09727956311734712 Centerline is valid? [True, True] Translation: X:0.16, Y:0.07, Z:-0.07 [[ 9.99908362e-01 -1.31855295e-02 -3.06734248e-03 1.62555826e-01] [ 1.31860297e-02 9.99913050e-01 1.42893186e-04 6.89339019e-02] [ 3.06519166e-03 -1.83326161e-04 9.99995285e-01 -6.54758270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879072329 meters 0.10127148067784487 Centerline is valid? [True, False] Translation: X:0.16, Y:0.06, Z:-0.06 [[ 0.99991797 -0.01251707 -0.00271676 0.16162117] [ 0.01252753 0.99991405 0.00386663 0.05764598] [ 0.00266812 -0.00390034 0.99998883 -0.06467152] [ 0. 0. 0. 1. ]] SLAMing on 13.939072329 meters 0.1110700426401472 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.06 [[ 0.99978418 -0.02049788 -0.00338027 0.16298025] [ 0.02051782 0.99977165 0.00597264 0.03540071] [ 0.00325707 -0.00604071 0.99997645 -0.06187982] [ 0. 0. 0. 1. ]] SLAMing on 13.999072328999999 meters 0.12475906094457935 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.07 [[ 0.99943252 -0.03353731 -0.00314463 0.16478092] [ 0.03354877 0.99943036 0.00366588 0.01099638] [ 0.00301989 -0.00376929 0.99998834 -0.06733937] [ 0. 0. 0. 1. ]] SLAMing on 14.059072329 meters 0.132386710204972 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:-0.07 [[ 9.99205605e-01 -3.97436311e-02 -2.93300313e-03 1.65007844e-01] [ 3.97461430e-02 9.99209487e-01 8.03156927e-04 -2.80749914e-03] [ 2.89876418e-03 -9.19094465e-04 9.99995376e-01 -6.72627038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119072329 meters 0.14208943013373232 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.06 [[ 9.98901232e-01 -4.68620128e-02 -5.30195988e-04 1.58921711e-01] [ 4.68630427e-02 9.98899045e-01 2.13361752e-03 -2.47789507e-02] [ 4.29626655e-04 -2.15611976e-03 9.99997583e-01 -5.86732874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179072329 meters 0.14711468004426237 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.06 [[ 9.98826370e-01 -4.84339200e-02 -1.96463699e-04 1.57814329e-01] [ 4.84343173e-02 9.98819001e-01 3.83662342e-03 -3.97378807e-02] [ 1.04089645e-05 -3.84163623e-03 9.99992621e-01 -5.69338456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239072328999999 meters 0.1524754090994319 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:-0.06 [[ 0.99889659 -0.0468866 0.00269076 0.15226897] [ 0.04687487 0.99889165 0.00426855 -0.06241482] [-0.00288791 -0.00413771 0.99998727 -0.06036248] [ 0. 0. 0. 1. ]] SLAMing on 14.299072329 meters 0.12714950748866954 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:-0.06 [[ 0.99900282 -0.04459377 0.00218158 0.15286939] [ 0.04456971 0.99895568 0.01005421 -0.07914274] [-0.00262766 -0.00994695 0.99994708 -0.05955561] [ 0. 0. 0. 1. ]] SLAMing on 14.359072329 meters 0.1289432603175193 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:-0.06 [[ 9.99291506e-01 -3.61168527e-02 1.05857554e-02 1.41778258e-01] [ 3.61186586e-02 9.99347508e-01 2.05903327e-05 -9.77543628e-02] [-1.05795920e-02 3.61767542e-04 9.99943969e-01 -5.76297276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419072328999999 meters 0.12353106059563934 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:-0.06 [[ 9.99636519e-01 -2.69385229e-02 1.07034612e-03 1.44871642e-01] [ 2.69430802e-02 9.99626842e-01 -4.49975706e-03 -1.08035088e-01] [-9.48729900e-04 4.52695991e-03 9.99989303e-01 -5.74381883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479072329 meters 0.12089546643022762 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:-0.06 [[ 9.99649742e-01 -2.64467794e-02 9.80283773e-04 1.44997205e-01] [ 2.64500524e-02 9.99644039e-01 -3.49151209e-03 -1.10753734e-01] [-8.87595580e-04 3.51621772e-03 9.99993424e-01 -5.73408210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539072329 meters 0.1195352890906158 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.13, Z:-0.05 [[ 0.99994071 -0.01024682 -0.00368634 0.16148563] [ 0.01023266 0.99994027 -0.00384039 -0.12626248] [ 0.00372547 0.00380244 0.99998583 -0.0508172 ] [ 0. 0. 0. 1. ]] SLAMing on 14.599072329 meters 0.10904210805235616 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.14, Z:-0.05 [[ 9.99993454e-01 -3.59550465e-03 4.06200348e-04 1.50264203e-01] [ 3.59533213e-03 9.99993447e-01 4.24650857e-04 -1.38668031e-01] [-4.07724520e-04 -4.23187652e-04 9.99999827e-01 -5.05732479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659072328999999 meters 0.10403313269115556 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.14, Z:-0.05 [[ 9.99996056e-01 -2.78737947e-03 3.43159450e-04 1.49720473e-01] [ 2.78676903e-03 9.99994556e-01 1.76671091e-03 -1.41876327e-01] [-3.48082075e-04 -1.76574763e-03 9.99998380e-01 -4.93567409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719072329 meters 0.09469397511250197 Centerline is valid? [False, True] Translation: X:0.15, Y:-0.14, Z:-0.05 [[ 9.99996839e-01 2.51357915e-03 6.00130616e-05 1.50024618e-01] [-2.51395129e-03 9.99970016e-01 7.32445554e-03 -1.44498316e-01] [-4.16006634e-05 -7.32458326e-03 9.99973174e-01 -4.89815244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779072329 meters 0.0841164820632991 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.12, Z:-0.06 [[ 9.99641505e-01 2.67004612e-02 -1.98678639e-03 2.11090612e-01] [-2.67002930e-02 9.99643477e-01 1.11114429e-04 -1.17073003e-01] [ 1.98904486e-03 -5.80268165e-05 9.99998020e-01 -5.63064807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839072329 meters 0.07899738446328165 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.10, Z:-0.06 [[ 9.99070016e-01 4.31141665e-02 -5.20668441e-04 2.72541574e-01] [-4.31141572e-02 9.99070152e-01 2.91727597e-05 -9.94387809e-02] [ 5.21442057e-04 -6.69744856e-06 9.99999864e-01 -5.73239781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899072329 meters 0.07596230218339288 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.07, Z:-0.05 [[ 9.97834060e-01 6.57807517e-02 2.85561173e-04 3.36333487e-01] [-6.57807526e-02 9.97834101e-01 -6.09869928e-06 -7.45313841e-02] [-2.85343853e-04 -1.26989390e-05 9.99999959e-01 -5.05946373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959072329 meters 0.07913041269754119 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.05, Z:-0.06 [[ 9.96448414e-01 8.40845018e-02 -4.51162380e-03 3.98190526e-01] [-8.40842094e-02 9.96458620e-01 2.54785505e-04 -4.95982652e-02] [ 4.51706993e-03 1.25475708e-04 9.99989790e-01 -6.11829885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019072329 meters 0.0809620772230763 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.04, Z:-0.06 [[ 9.95674247e-01 9.27965125e-02 -4.64761548e-03 4.59246547e-01] [-9.27962977e-02 9.95685080e-01 2.62310740e-04 -3.97092259e-02] [ 4.65190291e-03 1.70105460e-04 9.99989165e-01 -6.36421428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079072328999999 meters 0.08193991262326004 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.03, Z:-0.06 [[ 9.94892573e-01 1.00936188e-01 -8.08408153e-04 5.21086753e-01] [-1.00936184e-01 9.94892901e-01 4.63283935e-05 -2.97266312e-02] [ 8.08955744e-04 3.55058593e-05 9.99999672e-01 -6.11121722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139072329 meters 0.0831680207448262 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.02, Z:-0.07 [[ 9.94740447e-01 1.02409405e-01 -1.93817035e-03 5.83012084e-01] [-1.02409368e-01 9.94742332e-01 1.18873212e-04 -2.25647560e-02] [ 1.94015382e-03 8.02388080e-05 9.99998115e-01 -6.73894678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199072329 meters 0.08560083525311972 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.01, Z:-0.08 [[ 9.94982587e-01 9.99472533e-02 -4.49412131e-03 6.44264619e-01] [-9.99470755e-02 9.94992720e-01 2.64695376e-04 -1.11921375e-02] [ 4.49807356e-03 1.85806992e-04 9.99989866e-01 -7.85521802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259072329 meters 0.08193078577158977 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.02, Z:-0.08 [[ 9.95605809e-01 9.35050112e-02 -5.08784378e-03 7.04558932e-01] [-9.35047464e-02 9.95618792e-01 2.90408104e-04 -2.36089161e-02] [ 5.09270749e-03 1.86605547e-04 9.99987015e-01 -7.61323029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319072328999999 meters 0.07816018915458707 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.03, Z:-0.08 [[ 9.96672707e-01 8.14994573e-02 -1.16315991e-03 7.65047054e-01] [-8.14994347e-02 9.96673386e-01 6.68827382e-05 -2.95549522e-02] [ 1.16474143e-03 2.81366750e-05 9.99999321e-01 -7.55545964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379072329 meters 0.0765352876130213 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.03, Z:-0.07 [[ 9.97295352e-01 7.33705942e-02 4.32862127e-03 8.25876581e-01] [-7.33702176e-02 9.97304743e-01 -2.45952845e-04 -3.34423801e-02] [-4.33500023e-03 -7.23042548e-05 9.99990601e-01 -7.48539480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439072329 meters 0.07615596717551695 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.05, Z:-0.08 [[ 9.98262541e-01 5.88126472e-02 3.60157916e-03 8.86367269e-01] [-5.88122963e-02 9.98269038e-01 -2.03348178e-04 -5.45136895e-02] [-3.60730441e-03 -8.82227127e-06 9.99993494e-01 -7.75211705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499072328999999 meters 0.07764783167666556 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.07, Z:-0.08 [[ 9.98909543e-01 4.66812046e-02 7.67897522e-04 9.46770131e-01] [-4.66811858e-02 9.98909838e-01 -4.24571717e-05 -6.91914901e-02] [-7.69042342e-04 6.56450706e-06 9.99999704e-01 -8.33683848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559072329 meters 0.08265389645602682 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.08, Z:-0.09 [[ 9.99541506e-01 2.99193425e-02 -4.64879282e-03 1.00630920e+00] [-2.99184315e-02 9.99552308e-01 2.65394823e-04 -8.33251804e-02] [ 4.65465203e-03 -1.26188552e-04 9.99989159e-01 -9.30998393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619072329 meters 0.0850225508178868 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.09, Z:-0.09 [[ 9.99756913e-01 2.19551178e-02 2.02178604e-03 1.06842734e+00] [-2.19549488e-02 9.99758955e-01 -1.05753828e-04 -9.18693905e-02] [-2.02362054e-03 6.13399113e-05 9.99997951e-01 -8.80978250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679072329 meters 0.08659825628300016 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.10, Z:-0.09 [[ 9.99813013e-01 1.89812782e-02 3.69468638e-03 1.13010538e+00] [-1.89806554e-02 9.99819830e-01 -2.03569020e-04 -9.83729680e-02] [-3.69788471e-03 1.33403387e-04 9.99993154e-01 -8.76452676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739072328999999 meters 0.08702775053838296 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.09, Z:-0.09 [[ 9.99886717e-01 1.50515166e-02 -6.70135764e-05 1.19087830e+00] [-1.50515163e-02 9.99886720e-01 4.00185669e-06 -9.12409398e-02] [ 6.70662191e-05 -2.99274741e-06 9.99999998e-01 -9.21368792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799072329 meters 0.0874884135025576 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.08, Z:-0.09 [[ 9.99879826e-01 1.53781091e-02 1.96171014e-03 1.25296744e+00] [-1.53779337e-02 9.99881747e-01 -1.04476838e-04 -8.12895841e-02] [-1.96308482e-03 7.42972336e-05 9.99998070e-01 -9.46686644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859072329 meters 0.088122435903109 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.08, Z:-0.10 [[ 9.99878825e-01 1.54065290e-02 2.23050984e-03 1.31625334e+00] [-1.54063017e-02 9.99881309e-01 -1.19063756e-04 -7.64825111e-02] [-2.23207946e-03 8.46854206e-05 9.99997505e-01 -9.63664274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919072328999999 meters 0.08925466315035917 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.07, Z:-0.10 [[ 9.99868586e-01 1.61269173e-02 -1.65300174e-03 1.37762241e+00] [-1.61267780e-02 9.99869950e-01 9.75526976e-05 -6.62866701e-02] [ 1.65436000e-03 -7.08822857e-05 9.99998629e-01 -1.03153462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979072329 meters 0.08484746206336007 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.04, Z:-0.10 [[ 9.99803436e-01 1.98046428e-02 9.30318444e-04 1.44044015e+00] [-1.98046016e-02 9.99803868e-01 -5.34687752e-05 -4.05920489e-02] [-9.31194909e-04 3.50336790e-05 9.99999566e-01 -9.99045364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039072329 meters 0.08439641376507485 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.03, Z:-0.10 [[ 9.99785428e-01 2.06012723e-02 2.16450327e-03 1.50303293e+00] [-2.06010675e-02 9.99787769e-01 -1.16890035e-04 -2.88634481e-02] [-2.16645197e-03 7.22738756e-05 9.99997651e-01 -1.01454311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099072329 meters 0.08261060577505754 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.01, Z:-0.10 [[ 9.99719326e-01 2.33638374e-02 3.92439051e-03 1.56560593e+00] [-2.33631209e-02 9.99727019e-01 -2.28313786e-04 -7.92121991e-03] [-3.92865351e-03 1.36563694e-04 9.99992273e-01 -1.01122347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159072329 meters 0.08358292340081554 Centerline is valid? [True, True] Translation: X:1.63, Y:0.00, Z:-0.11 [[ 9.99741508e-01 2.26869839e-02 1.48896955e-03 1.62812291e+00] [-2.26868832e-02 9.99742616e-01 -8.44865751e-05 2.60629988e-04] [-1.49050305e-03 5.06846578e-05 9.99998888e-01 -1.06958845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219072329 meters 0.08619076799052475 Centerline is valid? [True, True] Translation: X:1.69, Y:0.01, Z:-0.11 [[ 9.99807697e-01 1.96102955e-02 -7.47043220e-05 1.68812271e+00] [-1.96102950e-02 9.99807700e-01 7.49943715e-06 6.37556841e-03] [ 7.48370225e-05 -6.03302120e-06 9.99999997e-01 -1.13052394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279072328999998 meters 0.0854182834542181 Centerline is valid? [True, True] Translation: X:1.75, Y:0.01, Z:-0.11 [[ 9.99829948e-01 1.84028601e-02 1.18748611e-03 1.75033952e+00] [-1.84027918e-02 9.99830652e-01 -6.83927924e-05 1.36206478e-02] [-1.18854363e-03 4.65281023e-05 9.99999293e-01 -1.11697782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339072329 meters 0.08316016335163536 Centerline is valid? [True, True] Translation: X:1.81, Y:0.04, Z:-0.11 [[ 9.99753075e-01 2.17017855e-02 4.77718082e-03 1.81311431e+00] [-2.17006948e-02 9.99764473e-01 -2.80049506e-04 4.00979442e-02] [-4.78213324e-03 1.76312212e-04 9.99988550e-01 -1.10020006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399072329 meters 0.0828818419278598 Centerline is valid? [True, True] Translation: X:1.88, Y:0.04, Z:-0.11 [[ 9.99708268e-01 2.36948046e-02 4.68348799e-03 1.87551025e+00] [-2.36938130e-02 9.99719227e-01 -2.67105764e-04 4.46728607e-02] [-4.68850201e-03 1.56058152e-04 9.99988997e-01 -1.13736065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459072328999998 meters 0.0849518296390157 Centerline is valid? [True, True] Translation: X:1.94, Y:0.05, Z:-0.12 [[ 9.99767481e-01 2.14689762e-02 2.01659758e-03 1.93602161e+00] [-2.14687810e-02 9.99769512e-01 -1.18403101e-04 4.77493929e-02] [-2.01867477e-03 7.50816785e-05 9.99997960e-01 -1.21446767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519072329 meters 0.08864698179587241 Centerline is valid? [True, True] Translation: X:2.00, Y:0.05, Z:-0.12 [[ 9.99913821e-01 1.28214025e-02 2.82191539e-03 1.99624561e+00] [-1.28209837e-02 9.99917794e-01 -1.66450398e-04 4.72805386e-02] [-2.82381754e-03 1.30256323e-04 9.99996005e-01 -1.23746385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579072329 meters 0.091731804998249 Centerline is valid? [True, True] Translation: X:2.06, Y:0.05, Z:-0.13 [[ 9.99972578e-01 7.09707842e-03 2.11527430e-03 2.05671845e+00] [-7.09683029e-03 9.99974809e-01 -1.24788792e-04 4.81322102e-02] [-2.11610665e-03 1.09773627e-04 9.99997755e-01 -1.26630237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639072329 meters 0.09457807397582473 Centerline is valid? [True, True] Translation: X:2.12, Y:0.05, Z:-0.13 [[ 9.99995140e-01 1.16955605e-03 2.89005337e-03 2.11745462e+00] [-1.16906801e-03 9.99999302e-01 -1.70551710e-04 5.35642394e-02] [-2.89025082e-03 1.67172213e-04 9.99995809e-01 -1.28309176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699072329 meters 0.09372502699276218 Centerline is valid? [True, True] Translation: X:2.18, Y:0.05, Z:-0.13 [[ 9.99979129e-01 -4.47924509e-03 4.65598143e-03 2.17837570e+00] [ 4.48057305e-03 9.99989924e-01 -2.74823766e-04 5.39360847e-02] [-4.65470352e-03 2.95679495e-04 9.99989123e-01 -1.25123528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759072329 meters 0.09760808515810017 Centerline is valid? [True, True] Translation: X:2.24, Y:0.06, Z:-0.13 [[ 9.99925229e-01 -1.03994902e-02 6.43332179e-03 2.23811155e+00] [ 1.04021479e-02 9.99945824e-01 -3.79788336e-04 5.50477902e-02] [-6.42902365e-03 4.46680303e-04 9.99979234e-01 -1.25403583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819072329 meters 0.10320825328720494 Centerline is valid? [True, False] Translation: X:2.24, Y:0.07, Z:-0.13 [[ 9.99946909e-01 -8.12903421e-03 6.33225791e-03 2.23981352e+00] [ 8.12788730e-03 9.99966947e-01 2.06836039e-04 6.56384221e-02] [-6.33372999e-03 -1.55357180e-04 9.99979930e-01 -1.27356857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879072329 meters 0.09320889612732063 Centerline is valid? [False, True] Translation: X:2.23, Y:0.08, Z:-0.12 [[ 9.99986356e-01 -4.78303596e-03 -2.10024880e-03 2.22909254e+00] [ 4.77362631e-03 9.99978648e-01 -4.46264312e-03 7.96570731e-02] [ 2.12154893e-03 4.45255643e-03 9.99987837e-01 -1.24396186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939072329 meters 0.0938468871335394 Centerline is valid? [True, True] Translation: X:2.29, Y:0.09, Z:-0.13 [[ 9.99978848e-01 -6.49441668e-03 3.55501770e-04 2.28970280e+00] [ 6.49442512e-03 9.99978911e-01 -2.25776199e-05 8.80293018e-02] [-3.55347644e-04 2.48859220e-05 9.99999937e-01 -1.25653375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999072329 meters 0.09551476553471351 Centerline is valid? [True, True] Translation: X:2.35, Y:0.09, Z:-0.13 [[ 9.99964523e-01 -8.36731881e-03 -9.69813262e-04 2.35157775e+00] [ 8.36738332e-03 9.99964991e-01 6.24793947e-05 9.34362639e-02] [ 9.69256525e-04 -7.05919774e-05 9.99999528e-01 -1.29125415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059072329 meters 0.10291937995820521 Centerline is valid? [True, False] Translation: X:2.35, Y:0.11, Z:-0.13 [[ 9.99942634e-01 -1.06814062e-02 -7.97439190e-04 2.35185243e+00] [ 1.06780467e-02 9.99934564e-01 -4.10455284e-03 1.05020981e-01] [ 8.41229404e-04 4.09580228e-03 9.99991258e-01 -1.29569981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119072328999998 meters 0.1027199555832055 Centerline is valid? [False, False] Translation: X:2.34, Y:0.12, Z:-0.13 [[ 9.99932364e-01 -1.14075637e-02 2.26613543e-03 2.34418443e+00] [ 1.14183348e-02 9.99923296e-01 -4.79840715e-03 1.17770683e-01] [-2.21122347e-03 4.82395810e-03 9.99985920e-01 -1.28336801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179072329 meters 0.10754807108143491 Centerline is valid? [False, False] Translation: X:2.34, Y:0.12, Z:-0.13 [[ 0.99992322 -0.01214814 0.00244483 2.34436911] [ 0.01216354 0.99990565 -0.00638325 0.12234738] [-0.00236705 0.0064125 0.99997664 -0.1290232 ] [ 0. 0. 0. 1. ]] SLAMing on 17.239072329 meters 0.11569739735133859 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:-0.13 [[ 0.99991016 -0.01312075 0.00274273 2.34429372] [ 0.01314252 0.999881 -0.0080785 0.12674088] [-0.00263641 0.00811382 0.99996361 -0.12973426] [ 0. 0. 0. 1. ]] SLAMing on 17.299072329 meters 0.12192974487152065 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:-0.13 [[ 0.99994334 -0.01024326 0.00289531 2.34394834] [ 0.01026199 0.99992604 -0.00652808 0.13440404] [-0.00282823 0.00655742 0.9999745 -0.1294455 ] [ 0. 0. 0. 1. ]] SLAMing on 17.359072329 meters 0.12536005480971935 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 0.99997295 -0.00659544 0.0032572 2.34300133] [ 0.00660647 0.99997243 -0.00338938 0.13711076] [-0.00323475 0.0034108 0.99998895 -0.12904154] [ 0. 0. 0. 1. ]] SLAMing on 17.419072329 meters 0.1294058672220843 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 0.99997091 -0.00676605 0.00352023 2.3427356 ] [ 0.00677931 0.99996992 -0.0037679 0.13820934] [-0.00349463 0.00379166 0.99998671 -0.12941256] [ 0. 0. 0. 1. ]] SLAMing on 17.479072329 meters 0.12512939930707911 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 9.99981408e-01 -3.98377871e-03 4.61658383e-03 2.33925981e+00] [ 3.98846898e-03 9.99991539e-01 -1.00719931e-03 1.39093497e-01] [-4.61253231e-03 1.02559368e-03 9.99988836e-01 -1.27237898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539072329 meters 0.14129458861413347 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 9.99980240e-01 -4.29813796e-03 4.58745597e-03 2.33992459e+00] [ 4.30629233e-03 9.99989163e-01 -1.76914169e-03 1.41780887e-01] [-4.57980224e-03 1.78886166e-03 9.99987913e-01 -1.28042663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599072329 meters 0.13591460242751663 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 9.99975522e-01 -4.82510561e-03 5.06690436e-03 2.33770780e+00] [ 4.83527356e-03 9.99986317e-01 -1.99640980e-03 1.40018534e-01] [-5.05720214e-03 2.02086080e-03 9.99985170e-01 -1.26346451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659072329 meters 0.12002072157508129 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:-0.13 [[ 0.99997443 -0.00506815 0.00504533 2.33749605] [ 0.00508072 0.99998401 -0.00248223 0.14129096] [-0.00503267 0.0025078 0.99998419 -0.1258156 ] [ 0. 0. 0. 1. ]] SLAMing on 17.719072329 meters 0.12585380495754203 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:-0.13 [[ 9.99988780e-01 -1.48996509e-03 4.49668484e-03 2.33836548e+00] [ 1.48983633e-03 9.99998890e-01 3.19841957e-05 1.46831745e-01] [-4.49672750e-03 -2.52845124e-05 9.99989889e-01 -1.25269155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779072328999998 meters 0.11794344898642561 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:-0.12 [[ 9.99946388e-01 -8.38380207e-04 -1.03207808e-02 2.33765727e+00] [ 8.13240996e-04 9.99996693e-01 -2.43974160e-03 1.45940498e-01] [ 1.03227921e-02 2.43121752e-03 9.99943763e-01 -1.18842743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839072329 meters 0.11737648221976872 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:-0.12 [[ 0.99997173 0.00633635 -0.00404788 2.34692899] [-0.00635678 0.99996702 -0.00505456 0.14889155] [ 0.00401572 0.00508015 0.99997903 -0.12079438] [ 0. 0. 0. 1. ]] SLAMing on 17.899072329 meters 0.11552380069752223 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:-0.12 [[ 9.99934597e-01 1.06480906e-02 -4.17368684e-03 2.34719690e+00] [-1.06516092e-02 9.99942932e-01 -8.21724948e-04 1.49065455e-01] [ 4.16469886e-03 8.66127686e-04 9.99990953e-01 -1.20718957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959072328999998 meters 0.11444468549979668 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:-0.12 [[ 0.9999674 0.00671783 -0.00447959 2.3475131 ] [-0.00673729 0.99996788 -0.00434177 0.14672433] [ 0.00445027 0.00437181 0.99998054 -0.12053267] [ 0. 0. 0. 1. ]] SLAMing on 18.019072329 meters 0.11455117816022212 Centerline is valid? [False, False] Translation: X:2.36, Y:0.14, Z:-0.13 [[ 0.99998913 0.00396515 0.00245417 2.35989677] [-0.00397354 0.99998625 0.00342322 0.14095644] [-0.00244057 -0.00343294 0.99999113 -0.12584489] [ 0. 0. 0. 1. ]] SLAMing on 18.079072329 meters 0.12042522918673253 Centerline is valid? [False, False] Translation: X:2.36, Y:0.14, Z:-0.13 [[ 9.99996947e-01 3.24316655e-04 2.44964232e-03 2.36013357e+00] [-3.25827078e-04 9.99999757e-01 6.16215158e-04 1.37089821e-01] [-2.44944188e-03 -6.17011437e-04 9.99996810e-01 -1.26390240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139072329 meters 0.1251381758171222 Centerline is valid? [False, False] Translation: X:2.36, Y:0.13, Z:-0.13 [[ 0.99997468 -0.0065814 0.00270783 2.35847123] [ 0.00659387 0.99996757 -0.00462336 0.12752321] [-0.00267731 0.0046411 0.99998565 -0.12503807] [ 0. 0. 0. 1. ]] SLAMing on 18.199072329 meters 0.13129053507514 Centerline is valid? [False, False] Translation: X:2.35, Y:0.12, Z:-0.12 [[ 0.99993533 -0.01052541 0.00430747 2.35323826] [ 0.01055459 0.99992111 -0.00680978 0.12063368] [-0.00423545 0.0068548 0.99996754 -0.12128452] [ 0. 0. 0. 1. ]] SLAMing on 18.259072329 meters 0.13596759344721238 Centerline is valid? [False, False] Translation: X:2.35, Y:0.11, Z:-0.12 [[ 0.99994695 -0.00926476 0.00450136 2.35332534] [ 0.00928245 0.99994922 -0.00392432 0.11327419] [-0.00446477 0.00396589 0.99998217 -0.12245893] [ 0. 0. 0. 1. ]] SLAMing on 18.319072329 meters 0.1401524500046863 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.12 [[ 0.99992669 -0.01125238 0.00447129 2.35395503] [ 0.01127001 0.99992874 -0.00393703 0.10210041] [-0.00442667 0.00398713 0.99998225 -0.12383559] [ 0. 0. 0. 1. ]] SLAMing on 18.379072329 meters 0.14291501815895927 Centerline is valid? [False, False] Translation: X:2.35, Y:0.09, Z:-0.12 [[ 9.99938728e-01 -9.95893196e-03 4.83320857e-03 2.35347089e+00] [ 9.95938296e-03 9.99950402e-01 -6.92547227e-05 9.22102041e-02] [-4.83227915e-03 1.17386254e-04 9.99988318e-01 -1.24656570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439072329 meters 0.13857402493732426 Centerline is valid? [False, False] Translation: X:2.35, Y:0.09, Z:-0.13 [[ 0.99995093 -0.00866312 0.00480399 2.3539433 ] [ 0.00865046 0.99995907 0.00265126 0.08552994] [-0.00482676 -0.00260958 0.99998495 -0.1254439 ] [ 0. 0. 0. 1. ]] SLAMing on 18.499072329 meters 0.14761313595612824 Centerline is valid? [False, False] Translation: X:2.35, Y:0.07, Z:-0.12 [[ 0.99981916 -0.01846861 0.00453509 2.35290526] [ 0.01849176 0.99981592 -0.00511633 0.07117995] [-0.00443976 0.00519927 0.99997663 -0.12340875] [ 0. 0. 0. 1. ]] SLAMing on 18.559072329 meters 0.1367654856704361 Centerline is valid? [False, False] Translation: X:2.35, Y:0.07, Z:-0.12 [[ 9.99897128e-01 -1.34413606e-02 5.00634872e-03 2.35164758e+00] [ 1.34347996e-02 9.99908849e-01 1.34187693e-03 6.50104188e-02] [-5.02392904e-03 -1.27447960e-03 9.99986568e-01 -1.22829739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619072328999998 meters 0.14080898985234333 Centerline is valid? [False, False] Translation: X:2.35, Y:0.06, Z:-0.13 [[ 9.99964167e-01 -7.52517566e-03 -3.87774927e-03 2.34939385e+00] [ 7.51643247e-03 9.99969187e-01 -2.26436959e-03 5.91497448e-02] [ 3.89466956e-03 2.23514161e-03 9.99989918e-01 -1.25213726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679072329 meters 0.1431233525599697 Centerline is valid? [False, False] Translation: X:2.35, Y:0.05, Z:-0.13 [[ 9.99977607e-01 -5.22066249e-03 -4.18698586e-03 2.35006723e+00] [ 5.22777485e-03 9.99984908e-01 1.68953978e-03 4.71899038e-02] [ 4.17810215e-03 -1.71139057e-03 9.99989807e-01 -1.25734089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739072329 meters 0.14194374444894714 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.12 [[ 9.99997112e-01 1.70322709e-03 1.69582464e-03 2.33446465e+00] [-1.70246820e-03 9.99998450e-01 -4.48847206e-04 4.72273330e-02] [-1.69658650e-03 4.45958822e-04 9.99998461e-01 -1.24937454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799072328999998 meters 0.1371970010473029 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99994070e-01 3.31447444e-03 9.34688068e-04 2.33565121e+00] [-3.31480338e-03 9.99994445e-01 3.50594286e-04 4.83294602e-02] [-9.33520839e-04 -3.53690514e-04 9.99999502e-01 -1.24016424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859072329 meters 0.1283122163909295 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99962749e-01 8.62792706e-03 2.42358373e-04 2.33704372e+00] [-8.62916618e-03 9.99946592e-01 5.68777966e-03 4.63597082e-02] [-1.93271681e-04 -5.68965914e-03 9.99983795e-01 -1.24028343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919072329 meters 0.12267564494101402 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99954879e-01 9.49618327e-03 -2.50016851e-04 2.33797641e+00] [-9.49469985e-03 9.99940429e-01 5.38418137e-03 4.99126765e-02] [ 3.01131130e-04 -5.38156460e-03 9.99985474e-01 -1.23694497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979072329 meters 0.11715025806851859 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99894778e-01 1.44794627e-02 -8.81840579e-04 2.33925158e+00] [-1.44705671e-02 9.99851358e-01 9.37357414e-03 5.25335169e-02] [ 1.01743382e-03 -9.35982710e-03 9.99955678e-01 -1.23465227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039072329 meters 0.11116092119969495 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.12 [[ 9.99889064e-01 1.48221054e-02 -1.47126475e-03 2.34033411e+00] [-1.48085117e-02 9.99851127e-01 8.85619564e-03 5.48754136e-02] [ 1.60231319e-03 -8.83342593e-03 9.99959701e-01 -1.23197730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099072329 meters 0.10212556162418521 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.12 [[ 9.99804082e-01 1.97371168e-02 -1.49771670e-03 2.34030419e+00] [-1.97175162e-02 9.99731958e-01 1.21339307e-02 5.96189962e-02] [ 1.73680405e-03 -1.21020222e-02 9.99925259e-01 -1.22123487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159072329 meters 0.08934983120054674 Centerline is valid? [False, True] Translation: X:2.34, Y:0.07, Z:-0.12 [[ 9.99622388e-01 2.74161267e-02 -1.85408497e-03 2.34160157e+00] [-2.73778476e-02 9.99459047e-01 1.82227224e-02 6.69175595e-02] [ 2.35267846e-03 -1.81650804e-02 9.99832233e-01 -1.22576129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219072329 meters 0.09390995883047326 Centerline is valid? [True, True] Translation: X:2.40, Y:0.07, Z:-0.14 [[ 9.99391002e-01 3.47561298e-02 -3.10437250e-03 2.40131953e+00] [-3.47555592e-02 9.99395815e-01 2.37583648e-04 6.93598066e-02] [ 3.11075437e-03 -1.29544758e-04 9.99995153e-01 -1.37955880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279072328999998 meters 0.08747465853753521 Centerline is valid? [True, True] Translation: X:2.46, Y:0.09, Z:-0.13 [[ 9.99252254e-01 3.83974570e-02 -4.53527254e-03 2.46203821e+00] [-3.83962910e-02 9.99262531e-01 3.43900475e-04 8.62413054e-02] [ 4.54513282e-03 -1.69505681e-04 9.99989656e-01 -1.29662749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339072329 meters 0.08801884029829471 Centerline is valid? [True, True] Translation: X:2.52, Y:0.09, Z:-0.13 [[ 9.99325348e-01 3.66420385e-02 -2.49182236e-03 2.52098263e+00] [-3.66416850e-02 9.99328450e-01 1.87398855e-04 8.84238065e-02] [ 2.49701566e-03 -9.59678558e-05 9.99996878e-01 -1.31122857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399072329 meters 0.08933490405472981 Centerline is valid? [True, True] Translation: X:2.58, Y:0.09, Z:-0.13 [[ 9.99385139e-01 3.50619326e-02 -6.91381941e-05 2.57923174e+00] [-3.50619325e-02 9.99385141e-01 2.27288156e-06 8.61444379e-02] [ 6.91753755e-05 1.52634646e-07 9.99999998e-01 -1.33819607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459072328999998 meters 0.09281119976971904 Centerline is valid? [True, True] Translation: X:2.64, Y:0.08, Z:-0.14 [[ 9.99606506e-01 2.80505331e-02 -1.91693834e-05 2.63946500e+00] [-2.80505331e-02 9.99606506e-01 1.46607475e-06 8.25718294e-02] [ 1.92029645e-05 -9.27786431e-07 1.00000000e+00 -1.36793056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519072329 meters 0.10118144545839496 Centerline is valid? [True, False] Translation: X:2.65, Y:0.09, Z:-0.14 [[ 9.99911431e-01 1.15186119e-02 -6.66723002e-03 2.64611423e+00] [-1.15173648e-02 9.99933648e-01 2.25414106e-04 9.00546402e-02] [ 6.66938409e-03 -1.48605221e-04 9.99977748e-01 -1.41030102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579072329 meters 0.09660941319373839 Centerline is valid? [False, True] Translation: X:2.65, Y:0.09, Z:-0.14 [[ 9.99997354e-01 2.04817154e-04 2.29142704e-03 2.64690308e+00] [-2.12247662e-04 9.99994719e-01 3.24296931e-03 9.31006440e-02] [-2.29075072e-03 -3.24344708e-03 9.99992116e-01 -1.43723979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639072329 meters 0.10796937444066297 Centerline is valid? [True, False] Translation: X:2.65, Y:0.10, Z:-0.14 [[ 9.99995423e-01 -1.34524096e-03 2.70989010e-03 2.64564165e+00] [ 1.34389829e-03 9.99998973e-01 4.97232220e-04 1.00548415e-01] [-2.71055622e-03 -4.93588128e-04 9.99996205e-01 -1.42732033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699072329 meters 0.10907958149252253 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.14 [[ 9.99993793e-01 -2.10136545e-03 2.82797595e-03 2.64533631e+00] [ 2.10423639e-03 9.99997273e-01 -1.01260143e-03 1.04527234e-01] [-2.82584039e-03 1.01854588e-03 9.99995489e-01 -1.42512577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759072329 meters 0.11135420211342971 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.14 [[ 9.99996073e-01 4.79887101e-04 2.76122140e-03 2.64680603e+00] [-4.79833988e-04 9.99999885e-01 -1.98976054e-05 1.13649772e-01] [-2.76123063e-03 1.85725994e-05 9.99996188e-01 -1.44246756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819072329 meters 0.10841418441844458 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.15 [[ 9.99992421e-01 3.33848440e-03 2.00288287e-03 2.64978747e+00] [-3.33931405e-03 9.99994340e-01 4.11024210e-04 1.25858351e-01] [-2.00149934e-03 -4.17709350e-04 9.99997910e-01 -1.46554612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879072329 meters 0.09943365377315254 Centerline is valid? [False, True] Translation: X:2.65, Y:0.13, Z:-0.14 [[ 9.99978464e-01 6.18282100e-03 2.20112271e-03 2.64864260e+00] [-6.18619355e-03 9.99979697e-01 1.52869849e-03 1.33480030e-01] [-2.19162635e-03 -1.54228213e-03 9.99996409e-01 -1.44940852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939072329 meters 0.09131007879407696 Centerline is valid? [True, True] Translation: X:2.71, Y:0.16, Z:-0.14 [[ 9.99792933e-01 1.89563755e-02 7.39909836e-03 2.71157935e+00] [-1.89525883e-02 9.99820214e-01 -5.81626125e-04 1.59065236e-01] [-7.40879363e-03 4.41273624e-04 9.99972457e-01 -1.41204126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999072329 meters 0.08445355658745506 Centerline is valid? [True, True] Translation: X:2.77, Y:0.19, Z:-0.14 [[ 9.99466988e-01 3.20855341e-02 6.02144946e-03 2.77440937e+00] [-3.20832612e-02 9.99485087e-01 -4.73706075e-04 1.88405758e-01] [-6.03354805e-03 2.80265849e-04 9.99981759e-01 -1.42963736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059072329 meters 0.08292766740508822 Centerline is valid? [True, True] Translation: X:2.84, Y:0.20, Z:-0.15 [[ 9.99236011e-01 3.88664829e-02 4.09776799e-03 2.83559576e+00] [-3.88654855e-02 9.99244399e-01 -3.22801062e-04 1.97084863e-01] [-4.10721785e-03 1.63292704e-04 9.99991552e-01 -1.48610967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119072328999998 meters 0.08081549983896431 Centerline is valid? [True, True] Translation: X:2.90, Y:0.21, Z:-0.15 [[ 9.98928864e-01 4.53612820e-02 9.13672483e-03 2.89597428e+00] [-4.53565961e-02 9.98970601e-01 -7.19527985e-04 2.10802919e-01] [-9.15995821e-03 3.04346534e-04 9.99958000e-01 -1.48762429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179072329 meters 0.07983406702613456 Centerline is valid? [True, True] Translation: X:2.96, Y:0.22, Z:-0.15 [[ 9.98807161e-01 4.70068268e-02 1.32141694e-02 2.95714072e+00] [-4.69971942e-02 9.98894481e-01 -1.03871418e-03 2.18450828e-01] [-1.32483875e-02 4.16446272e-04 9.99912150e-01 -1.47142684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239072329 meters 0.08001614045991678 Centerline is valid? [True, True] Translation: X:3.01, Y:0.22, Z:-0.15 [[ 9.98831529e-01 4.63972419e-02 1.35230570e-02 3.01489598e+00] [-4.63870817e-02 9.98922973e-01 -1.06418750e-03 2.20064244e-01] [-1.35578677e-02 4.35648878e-04 9.99907993e-01 -1.50309262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299072328999998 meters 0.08110070128388902 Centerline is valid? [True, True] Translation: X:3.07, Y:0.22, Z:-0.15 [[ 9.99009696e-01 4.29015367e-02 1.17934422e-02 3.07475525e+00] [-4.28935880e-02 9.99079217e-01 -9.26225456e-04 2.18844510e-01] [-1.18223195e-02 4.19445159e-04 9.99930026e-01 -1.54982657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359072329 meters 0.08129966260390152 Centerline is valid? [True, True] Translation: X:3.14, Y:0.22, Z:-0.16 [[ 9.99326698e-01 3.50930680e-02 1.07063743e-02 3.13603336e+00] [-3.50860813e-02 9.99383941e-01 -8.39765079e-04 2.21590364e-01] [-1.07292485e-02 4.63554945e-04 9.99942333e-01 -1.55915047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419072329 meters 0.08259282247841526 Centerline is valid? [True, True] Translation: X:3.19, Y:0.22, Z:-0.15 [[ 9.99443046e-01 2.94184307e-02 1.57528647e-02 3.19476765e+00] [-2.94025798e-02 9.99566885e-01 -1.23693454e-03 2.22258965e-01] [-1.57824306e-02 7.73070764e-04 9.99875151e-01 -1.53846265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479072329 meters 0.08372130187816665 Centerline is valid? [True, True] Translation: X:3.26, Y:0.22, Z:-0.16 [[ 9.99509104e-01 2.62184782e-02 1.71505888e-02 3.25516919e+00] [-2.61992645e-02 9.99655837e-01 -1.34405645e-03 2.23294428e-01] [-1.71799253e-02 8.94063850e-04 9.99852014e-01 -1.55522524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539072329 meters 0.08556979732883532 Centerline is valid? [True, True] Translation: X:3.31, Y:0.22, Z:-0.16 [[ 9.99613951e-01 2.35847134e-02 1.46871116e-02 3.31485770e+00] [-2.35703481e-02 9.99721519e-01 -1.15044262e-03 2.15731839e-01] [-1.47101543e-02 8.03818161e-04 9.99891477e-01 -1.62359435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599072329 meters 0.08531947017182603 Centerline is valid? [True, True] Translation: X:3.38, Y:0.22, Z:-0.16 [[ 9.99683260e-01 1.93856532e-02 1.60491501e-02 3.37593789e+00] [-1.93679549e-02 9.99811633e-01 -1.25746422e-03 2.17650976e-01] [-1.60705038e-02 9.46226714e-04 9.99870413e-01 -1.60676436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659072329 meters 0.08530181479189133 Centerline is valid? [True, True] Translation: X:3.44, Y:0.22, Z:-0.16 [[ 9.99644424e-01 1.85980035e-02 1.91086427e-02 3.43836321e+00] [-1.85728278e-02 9.99826394e-01 -1.49413888e-03 2.19739734e-01] [-1.91331133e-02 1.13870607e-03 9.99816297e-01 -1.58135895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719072329 meters 0.08544034325730052 Centerline is valid? [True, True] Translation: X:3.50, Y:0.21, Z:-0.16 [[ 9.99597320e-01 2.02485202e-02 1.98795050e-02 3.49814831e+00] [-2.02214236e-02 9.99794304e-01 -1.56313623e-03 2.13786265e-01] [-1.99070671e-02 1.16051489e-03 9.99801161e-01 -1.64111999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779072328999998 meters 0.0851400363264129 Centerline is valid? [True, True] Translation: X:3.56, Y:0.21, Z:-0.17 [[ 9.99578777e-01 2.22722864e-02 1.86068448e-02 3.56003237e+00] [-2.22489581e-02 9.99751395e-01 -1.45984621e-03 2.09771206e-01] [-1.86347332e-02 1.04524838e-03 9.99825812e-01 -1.68113283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839072329 meters 0.08484334473254429 Centerline is valid? [True, True] Translation: X:3.62, Y:0.21, Z:-0.17 [[ 9.99559180e-01 2.46494975e-02 1.65483463e-02 3.62056796e+00] [-2.46312522e-02 9.99695752e-01 -1.30548590e-03 2.11496225e-01] [-1.65754911e-02 8.97303925e-04 9.99862214e-01 -1.69650677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899072329 meters 0.08130786602191149 Centerline is valid? [True, True] Translation: X:3.68, Y:0.22, Z:-0.16 [[ 9.99417835e-01 2.77442653e-02 1.98556443e-02 3.68249599e+00] [-2.77185968e-02 9.99614538e-01 -1.56685487e-03 2.18538250e-01] [-1.98914620e-02 1.01557210e-03 9.99801630e-01 -1.64627431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959072328999998 meters 0.08088061701816032 Centerline is valid? [True, True] Translation: X:3.74, Y:0.21, Z:-0.17 [[ 9.99291606e-01 2.99832820e-02 2.27439799e-02 3.74320258e+00] [-2.99501677e-02 9.99549781e-01 -1.79527624e-03 2.13258236e-01] [-2.27875684e-02 1.11281847e-03 9.99739710e-01 -1.65965102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019072329 meters 0.07897612933034107 Centerline is valid? [True, True] Translation: X:3.80, Y:0.21, Z:-0.17 [[ 9.99164409e-01 3.32648689e-02 2.37472606e-02 3.80380273e+00] [-3.32296820e-02 9.99445983e-01 -1.87490969e-03 2.10479731e-01] [-2.37964729e-02 1.08422911e-03 9.99716236e-01 -1.68728359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079072329 meters 0.07704449816740443 Centerline is valid? [True, True] Translation: X:3.86, Y:0.22, Z:-0.17 [[ 9.99064625e-01 3.67296512e-02 2.28211992e-02 3.86492967e+00] [-3.66980445e-02 9.99324775e-01 -1.80237190e-03 2.16006633e-01] [-2.28719902e-02 9.63192618e-04 9.99737938e-01 -1.69180986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139072328999998 meters 0.07628991928334115 Centerline is valid? [True, True] Translation: X:3.92, Y:0.21, Z:-0.17 [[ 9.98949234e-01 4.00031059e-02 2.23646825e-02 3.92436980e+00] [-3.99735610e-02 9.99199176e-01 -1.76672966e-03 2.12183044e-01] [-2.24174470e-02 8.70877245e-04 9.99748318e-01 -1.72167446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199072329 meters 0.07391065159696233 Centerline is valid? [True, True] Translation: X:3.98, Y:0.21, Z:-0.18 [[ 9.98608581e-01 4.77240695e-02 2.24347002e-02 3.98498895e+00] [-4.76963107e-02 9.98860313e-01 -1.77109010e-03 2.10763302e-01] [-2.24936553e-02 6.98573340e-04 9.99746742e-01 -1.76720121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259072329 meters 0.07150181309879255 Centerline is valid? [True, True] Translation: X:4.05, Y:0.22, Z:-0.18 [[ 9.98320486e-01 5.33367039e-02 2.26142237e-02 4.04584381e+00] [-5.33099350e-02 9.98576418e-01 -1.78535904e-03 2.15042360e-01] [-2.26772557e-02 5.76797703e-04 9.99742672e-01 -1.77156893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319072329 meters 0.07004590696098363 Centerline is valid? [True, True] Translation: X:4.11, Y:0.22, Z:-0.18 [[ 9.97671957e-01 6.49548286e-02 2.07734506e-02 4.10578126e+00] [-6.49347583e-02 9.97888164e-01 -1.63993927e-03 2.24848498e-01] [-2.08361025e-02 2.87202428e-04 9.99782864e-01 -1.81644328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379072329 meters 0.06926985409932034 Centerline is valid? [True, True] Translation: X:4.16, Y:0.23, Z:-0.19 [[ 9.97119967e-01 7.36159825e-02 1.82334211e-02 4.16499983e+00] [-7.36019664e-02 9.97286658e-01 -1.43948728e-03 2.28750911e-01] [-1.82899168e-02 9.33258660e-05 9.99832721e-01 -1.86762852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439072329 meters 0.06866676427574396 Centerline is valid? [True, True] Translation: X:4.22, Y:0.23, Z:-0.19 [[ 9.96593873e-01 7.99570268e-02 2.01872853e-02 4.22442177e+00] [-7.99411811e-02 9.96798311e-01 -1.59199235e-03 2.30463836e-01] [-2.02499429e-02 -2.72256127e-05 9.99794949e-01 -1.87665525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499072329 meters 0.06906135173688814 Centerline is valid? [True, True] Translation: X:4.28, Y:0.24, Z:-0.19 [[ 9.95720596e-01 9.01517213e-02 2.03263978e-02 4.28427310e+00] [-9.01377579e-02 9.95928015e-01 -1.60396751e-03 2.42455536e-01] [-2.03882295e-02 -2.35072443e-04 9.99792111e-01 -1.86542919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559072329 meters 0.07008905088549007 Centerline is valid? [True, True] Translation: X:4.34, Y:0.24, Z:-0.19 [[ 9.95364478e-01 9.43550986e-02 1.86191291e-02 4.34344029e+00] [-9.43442501e-02 9.95538560e-01 -1.46214074e-03 2.42610759e-01] [-1.86740214e-02 -3.01244816e-04 9.99825580e-01 -1.91572882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619072328999998 meters 0.07096427655836744 Centerline is valid? [True, True] Translation: X:4.40, Y:0.24, Z:-0.20 [[ 9.94993022e-01 9.87585156e-02 1.53506132e-02 4.40280327e+00] [-9.87516785e-02 9.95111378e-01 -1.20461562e-03 2.39797455e-01] [-1.53945359e-02 -3.17314676e-04 9.99881447e-01 -1.98468571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679072329 meters 0.07186612673744311 Centerline is valid? [True, True] Translation: X:4.46, Y:0.24, Z:-0.20 [[ 9.94678852e-01 1.01989939e-01 1.45613409e-02 4.46187618e+00] [-1.01984135e-01 9.94785369e-01 -1.14255171e-03 2.42753406e-01] [-1.46019377e-02 -3.48553739e-04 9.99893325e-01 -1.99171095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739072329 meters 0.07101116374219044 Centerline is valid? [True, True] Translation: X:4.52, Y:0.24, Z:-0.20 [[ 9.94594040e-01 1.02702486e-01 1.53262577e-02 4.52063833e+00] [-1.02696092e-01 9.94712048e-01 -1.20566840e-03 2.36822516e-01] [-1.53690383e-02 -3.74796174e-04 9.99881819e-01 -1.98169209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799072328999998 meters 0.0713163814713606 Centerline is valid? [True, True] Translation: X:4.58, Y:0.23, Z:-0.20 [[ 9.94476443e-01 1.03796778e-01 1.55830851e-02 4.57888567e+00] [-1.03790422e-01 9.94598444e-01 -1.21824052e-03 2.34431441e-01] [-1.56253617e-02 -4.05863485e-04 9.99877834e-01 -2.00906742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859072329 meters 0.07111247161051926 Centerline is valid? [True, True] Translation: X:4.64, Y:0.23, Z:-0.20 [[ 9.94463055e-01 1.03936225e-01 1.55078731e-02 4.63727105e+00] [-1.03929920e-01 9.94583882e-01 -1.21410781e-03 2.31543250e-01] [-1.55500704e-02 -4.04346650e-04 9.99879009e-01 -2.01821358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919072329 meters 0.07041264644952254 Centerline is valid? [True, True] Translation: X:4.70, Y:0.23, Z:-0.20 [[ 9.94675411e-01 1.01624826e-01 1.71237345e-02 4.69558714e+00] [-1.01616948e-01 9.94822709e-01 -1.33180034e-03 2.25894249e-01] [-1.71704239e-02 -4.15352586e-04 9.99852491e-01 -2.01858795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979072329 meters 0.069457646465839 Centerline is valid? [True, True] Translation: X:4.75, Y:0.22, Z:-0.20 [[ 9.95170272e-01 9.65080274e-02 1.79535839e-02 4.75319741e+00] [-9.64985565e-02 9.95332147e-01 -1.39511853e-03 2.19343831e-01] [-1.80044193e-02 -3.44114446e-04 9.99837848e-01 -2.03418178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039072329 meters 0.06889707330486364 Centerline is valid? [True, True] Translation: X:4.81, Y:0.21, Z:-0.21 [[ 9.95583866e-01 9.20668775e-02 1.83427084e-02 4.81147554e+00] [-9.20562758e-02 9.95752789e-01 -1.42329696e-03 2.10582387e-01] [-1.83958416e-02 -2.71549932e-04 9.99830745e-01 -2.07252200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099072329 meters 0.06844045464704201 Centerline is valid? [True, True] Translation: X:4.87, Y:0.20, Z:-0.21 [[ 9.95798588e-01 8.96626054e-02 1.85954127e-02 4.86970239e+00] [-8.96512642e-02 9.95972171e-01 -1.44430178e-03 2.04207071e-01] [-1.86500134e-02 -2.28868585e-04 9.99826047e-01 -2.08948530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159072329 meters 0.06796251485990515 Centerline is valid? [True, True] Translation: X:4.93, Y:0.20, Z:-0.21 [[ 9.96345862e-01 8.33302092e-02 1.87349687e-02 4.92690012e+00] [-8.33177044e-02 9.96521983e-01 -1.44837789e-03 1.96134851e-01] [-1.87905018e-02 -1.17869271e-04 9.99823436e-01 -2.12201226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219072329 meters 0.06812636415365678 Centerline is valid? [True, True] Translation: X:4.98, Y:0.19, Z:-0.22 [[ 9.96635290e-01 7.95385278e-02 1.97919532e-02 4.98411610e+00] [-7.95238932e-02 9.96831791e-01 -1.52661784e-03 1.88912986e-01] [-1.98506731e-02 -5.24519602e-05 9.99802955e-01 -2.15908608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279072328999998 meters 0.06826922545055163 Centerline is valid? [True, True] Translation: X:5.04, Y:0.18, Z:-0.22 [[ 9.96703467e-01 7.88652773e-02 1.90385421e-02 5.04240420e+00] [-7.88516480e-02 9.96885283e-01 -1.46666764e-03 1.83888479e-01] [-1.90949115e-02 -3.93876972e-05 9.99817675e-01 -2.19529568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339072329 meters 0.06812220415809082 Centerline is valid? [True, True] Translation: X:5.10, Y:0.19, Z:-0.22 [[ 9.96580792e-01 7.99310644e-02 2.09224513e-02 5.10168449e+00] [-7.99148256e-02 9.96800392e-01 -1.61243379e-03 1.86648295e-01] [-2.09843912e-02 -6.50935001e-05 9.99779801e-01 -2.17770118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399072329 meters 0.0682339922147552 Centerline is valid? [True, True] Translation: X:5.16, Y:0.18, Z:-0.22 [[ 9.96477436e-01 8.09083254e-02 2.20581547e-02 5.16013803e+00] [-8.08906920e-02 9.96721542e-01 -1.69195850e-03 1.84164516e-01] [-2.21227315e-02 -9.83009279e-05 9.99755258e-01 -2.19260043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459072328999998 meters 0.0686755328874378 Centerline is valid? [True, True] Translation: X:5.22, Y:0.19, Z:-0.22 [[ 9.96195734e-01 8.41388371e-02 2.26873400e-02 5.21852327e+00] [-8.41210539e-02 9.96454026e-01 -1.73876113e-03 1.85333033e-01] [-2.27531886e-02 -1.76336533e-04 9.99741097e-01 -2.22995554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519072329 meters 0.06929029848049975 Centerline is valid? [True, True] Translation: X:5.28, Y:0.19, Z:-0.23 [[ 9.96055769e-01 8.63477562e-02 2.04198453e-02 5.27719837e+00] [-8.63337962e-02 9.96265037e-01 -1.56586382e-03 1.86911551e-01] [-2.04787867e-02 -2.03235065e-04 9.99790267e-01 -2.25710631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579072329 meters 0.07048818665052714 Centerline is valid? [True, True] Translation: X:5.34, Y:0.18, Z:-0.23 [[ 9.95936283e-01 8.86170277e-02 1.60605816e-02 5.33656153e+00] [-8.86087870e-02 9.96065751e-01 -1.22538111e-03 1.82748610e-01] [-1.61059849e-02 -2.02707141e-04 9.99870270e-01 -2.33702799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639072328999998 meters 0.07082403692724634 Centerline is valid? [True, True] Translation: X:5.39, Y:0.18, Z:-0.24 [[ 9.95719522e-01 9.06567379e-02 1.79997168e-02 5.39350706e+00] [-9.06467083e-02 9.95882165e-01 -1.37398764e-03 1.77101636e-01] [-1.80501582e-02 -2.63508759e-04 9.99837048e-01 -2.35500891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699072329 meters 0.07116382626079111 Centerline is valid? [True, True] Translation: X:5.45, Y:0.18, Z:-0.23 [[ 9.95234116e-01 9.45498286e-02 2.38617542e-02 5.45164066e+00] [-9.45334388e-02 9.95520030e-01 -1.81649573e-03 1.78306296e-01] [-2.39266036e-02 -4.47895156e-04 9.99713618e-01 -2.29324080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759072329 meters 0.07357628728362627 Centerline is valid? [True, True] Translation: X:5.51, Y:0.18, Z:-0.23 [[ 9.94568110e-01 1.01764256e-01 2.18703206e-02 5.51164149e+00] [-1.01752287e-01 9.94808378e-01 -1.66227576e-03 1.79737401e-01] [-2.19259384e-02 -5.72108676e-04 9.99759434e-01 -2.32077462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819072329 meters 0.07425513535659728 Centerline is valid? [True, True] Translation: X:5.57, Y:0.17, Z:-0.24 [[ 9.94290670e-01 1.05454086e-01 1.62941235e-02 5.57057364e+00] [-1.05447939e-01 9.94424054e-01 -1.23833656e-03 1.67033188e-01] [-1.63338560e-02 -4.86915252e-04 9.99866475e-01 -2.40717000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879072329 meters 0.07544412625857454 Centerline is valid? [True, True] Translation: X:5.63, Y:0.16, Z:-0.24 [[ 9.94053446e-01 1.07660086e-01 1.63417377e-02 5.62789415e+00] [-1.07654184e-01 9.94187624e-01 -1.24298469e-03 1.57975845e-01] [-1.63805732e-02 -5.23663233e-04 9.99865692e-01 -2.44256834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939072329 meters 0.07603019273722476 Centerline is valid? [True, True] Translation: X:5.69, Y:0.15, Z:-0.24 [[ 9.93764282e-01 1.10005289e-01 1.82040869e-02 5.68621916e+00] [-1.09998347e-01 9.93930805e-01 -1.38526590e-03 1.53268559e-01] [-1.82459893e-02 -6.25791695e-04 9.99833332e-01 -2.41606431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999072329 meters 0.07771986033488433 Centerline is valid? [True, True] Translation: X:5.74, Y:0.14, Z:-0.25 [[ 9.93479251e-01 1.12626813e-01 1.77251117e-02 5.74390585e+00] [-1.12620790e-01 9.93637137e-01 -1.34081345e-03 1.40427714e-01] [-1.77633408e-02 -6.64145739e-04 9.99841999e-01 -2.47024009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059072329 meters 0.07956483739152537 Centerline is valid? [True, True] Translation: X:5.80, Y:0.13, Z:-0.25 [[ 9.93366032e-01 1.14185453e-01 1.36238519e-02 5.80180628e+00] [-1.14182039e-01 9.93459310e-01 -1.03070731e-03 1.32624493e-01] [-1.36524343e-02 -5.31729559e-04 9.99906660e-01 -2.54659288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119072328999998 meters 0.08557466265728007 Centerline is valid? [True, True] Translation: X:5.86, Y:0.13, Z:-0.26 [[ 9.92929772e-01 1.18193921e-01 1.09847456e-02 5.86027629e+00] [-1.18191961e-01 9.92990419e-01 -8.29703305e-04 1.31254422e-01] [-1.10058130e-02 -4.74471514e-04 9.99939322e-01 -2.62692302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179072329 meters 0.0837923791866334 Centerline is valid? [True, True] Translation: X:5.92, Y:0.11, Z:-0.26 [[ 9.92494192e-01 1.21705262e-01 1.19627329e-02 5.91848160e+00] [-1.21703194e-01 9.92566127e-01 -9.03446942e-04 1.12936228e-01] [-1.19837577e-02 -5.59236957e-04 9.99928036e-01 -2.61355780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239072329 meters 0.08295247719585955 Centerline is valid? [True, True] Translation: X:5.98, Y:0.10, Z:-0.26 [[ 9.92647636e-01 1.20280258e-01 1.35399306e-02 5.97608951e+00] [-1.20277484e-01 9.92739786e-01 -1.02195016e-03 9.94706059e-02] [-1.35645482e-02 -6.14112377e-04 9.99907809e-01 -2.62238255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299072328999998 meters 0.07900995767890877 Centerline is valid? [True, True] Translation: X:6.03, Y:0.07, Z:-0.26 [[ 9.93281032e-01 1.15223043e-01 1.07908701e-02 6.03403494e+00] [-1.15220994e-01 9.93339550e-01 -8.13383515e-04 7.42757126e-02] [-1.08127186e-02 -4.35416366e-04 9.99941446e-01 -2.62893134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359072329 meters 0.07742193160110543 Centerline is valid? [True, True] Translation: X:6.09, Y:0.06, Z:-0.27 [[ 9.94162937e-01 1.07339423e-01 1.08767554e-02 6.09351785e+00] [-1.07336883e-01 9.94222371e-01 -8.18692179e-04 5.62789553e-02] [-1.09017915e-02 -3.53563597e-04 9.99940511e-01 -2.65721247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419072329 meters 0.07688443758725384 Centerline is valid? [True, True] Translation: X:6.15, Y:0.04, Z:-0.27 [[ 9.94722587e-01 1.02008769e-01 1.10084721e-02 6.15103960e+00] [-1.02005829e-01 9.94783455e-01 -8.29631991e-04 4.05436472e-02] [-1.10356756e-02 -2.97674642e-04 9.99939061e-01 -2.71351568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479072329 meters 0.0754975054706663 Centerline is valid? [True, True] Translation: X:6.21, Y:0.02, Z:-0.27 [[ 9.95289354e-01 9.64597088e-02 9.72757149e-03 6.20851669e+00] [-9.64571476e-02 9.95336868e-01 -7.33201614e-04 2.21029905e-02] [-9.75293495e-03 -2.08546038e-04 9.99952417e-01 -2.74004554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539072329 meters 0.07618324330322783 Centerline is valid? [True, True] Translation: X:6.27, Y:0.02, Z:-0.27 [[ 9.95163664e-01 9.76726128e-02 1.04566903e-02 6.26793276e+00] [-9.76696845e-02 9.95218572e-01 -7.91570274e-04 2.42161572e-02] [-1.04840071e-02 -2.33559663e-04 9.99945014e-01 -2.72548248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599072329 meters 0.07724070747018238 Centerline is valid? [True, True] Translation: X:6.33, Y:0.02, Z:-0.28 [[ 9.94980960e-01 9.96714546e-02 8.85947232e-03 6.32620447e+00] [-9.96694866e-02 9.95020378e-01 -6.64480344e-04 2.15182805e-02] [-8.88158521e-03 -2.21873767e-04 9.99960533e-01 -2.77537444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659072329 meters 0.07771827678798893 Centerline is valid? [True, True] Translation: X:6.38, Y:0.02, Z:-0.28 [[ 9.94979000e-01 9.96654498e-02 9.14265790e-03 6.38223914e+00] [-9.96633261e-02 9.95020978e-01 -6.88733812e-04 1.51182253e-02] [-9.16577937e-03 -2.25912016e-04 9.99957968e-01 -2.83251841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719072329 meters 0.07727226727780337 Centerline is valid? [True, True] Translation: X:6.44, Y:0.01, Z:-0.28 [[ 9.95146089e-01 9.78714668e-02 1.02682880e-02 6.44030464e+00] [-9.78687390e-02 9.95199035e-01 -7.69014772e-04 1.42185567e-02] [-1.02942549e-02 -2.39662352e-04 9.99946984e-01 -2.83083218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779072328999998 meters 0.07651276502634917 Centerline is valid? [True, True] Translation: X:6.50, Y:0.01, Z:-0.28 [[ 9.95506172e-01 9.41482588e-02 1.01768024e-02 6.49947208e+00] [-9.41453730e-02 9.95558168e-01 -7.63326457e-04 1.05647315e-02] [-1.02034646e-02 -1.98202655e-04 9.99947924e-01 -2.83350814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839072329 meters 0.07521949892175207 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.00, Z:-0.29 [[ 9.96100046e-01 8.79185993e-02 7.41744335e-03 6.55784372e+00] [-8.79169074e-02 9.96127657e-01 -5.54490381e-04 -3.63682636e-03] [-7.43747049e-03 -9.97907864e-05 9.99972337e-01 -2.86048601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899072329 meters 0.07446280209261612 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.01, Z:-0.29 [[ 9.96838811e-01 7.89197172e-02 9.16855933e-03 6.61599604e+00] [-7.89167950e-02 9.96880974e-01 -6.80637729e-04 -1.26196419e-02] [-9.19367810e-03 -4.50672124e-05 9.99957736e-01 -2.89565331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959072328999998 meters 0.07423627384288602 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.02, Z:-0.29 [[ 9.97191820e-01 7.43056507e-02 9.33514954e-03 6.67450608e+00] [-7.43024203e-02 9.97235514e-01 -6.92866564e-04 -1.64876307e-02] [-9.36082655e-03 -2.70333477e-06 9.99956186e-01 -2.89291097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019072329 meters 0.07426051984413713 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.02, Z:-0.29 [[ 9.97406536e-01 7.12074471e-02 1.04738818e-02 6.73276524e+00] [-7.12032214e-02 9.97461527e-01 -7.76274524e-04 -1.95896529e-02] [-1.05025707e-02 2.84871593e-05 9.99944846e-01 -2.90778299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079072329 meters 0.07426583992942722 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.02, Z:-0.29 [[ 9.97493900e-01 7.00310031e-02 1.00785773e-02 6.79130864e+00] [-7.00270370e-02 9.97544815e-01 -7.46312769e-04 -1.90309375e-02] [-1.01060975e-02 3.86695295e-05 9.99948931e-01 -2.94292116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139072328999998 meters 0.07424551868283855 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.01, Z:-0.30 [[ 9.97284297e-01 7.29877590e-02 9.83964445e-03 6.85002066e+00] [-7.29841204e-02 9.97332837e-01 -7.28843418e-04 -9.46381582e-03] [-9.86659716e-03 8.72629982e-06 9.99951324e-01 -2.97714347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199072329 meters 0.07427544317822012 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.00, Z:-0.30 [[ 9.96980647e-01 7.68610380e-02 1.10440009e-02 6.90969166e+00] [-7.68567199e-02 9.97041814e-01 -8.15506884e-04 -3.81393239e-04] [-1.10740114e-02 -3.57611016e-05 9.99938681e-01 -2.98886194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259072329 meters 0.07463777477795874 Centerline is valid? [True, True] Translation: X:6.97, Y:0.02, Z:-0.30 [[ 9.96332387e-01 8.50510055e-02 9.38623479e-03 6.97119872e+00] [-8.50482601e-02 9.96376593e-01 -6.91972759e-04 1.89893732e-02] [-9.41107762e-03 -1.08848068e-04 9.99955709e-01 -2.97343653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319072329 meters 0.07557802309123754 Centerline is valid? [True, True] Translation: X:7.03, Y:0.04, Z:-0.30 [[ 9.96104536e-01 8.79098889e-02 6.89967467e-03 7.03124676e+00] [-8.79084699e-02 9.96128426e-01 -5.09260746e-04 3.58722664e-02] [-6.91773113e-03 -9.92629044e-05 9.99976067e-01 -3.01318495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379072329 meters 0.07539198328627969 Centerline is valid? [True, True] Translation: X:7.09, Y:0.04, Z:-0.30 [[ 9.96279363e-01 8.58194924e-02 7.90219079e-03 7.09056031e+00] [-8.58175280e-02 9.96310698e-01 -5.87957558e-04 3.92961858e-02] [-7.92349544e-03 -9.23764985e-05 9.99968604e-01 -3.03766502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439072329 meters 0.07432267141415409 Centerline is valid? [True, True] Translation: X:7.15, Y:0.04, Z:-0.30 [[ 9.96793471e-01 7.93283130e-02 1.04783023e-02 7.14960445e+00] [-7.93246132e-02 9.96848541e-01 -7.68885649e-04 4.49143774e-02] [-1.05062748e-02 -6.47670813e-05 9.99944805e-01 -3.03367787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499072329 meters 0.07394770191548955 Centerline is valid? [True, True] Translation: X:7.21, Y:0.05, Z:-0.30 [[ 9.97269744e-01 7.28684797e-02 1.19683776e-02 7.20832579e+00] [-7.28631459e-02 9.97341559e-01 -8.81680237e-04 4.50724787e-02] [-1.20008071e-02 7.21938056e-06 9.99927988e-01 -3.03971084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559072329 meters 0.07435983116762829 Centerline is valid? [True, True] Translation: X:7.27, Y:0.05, Z:-0.31 [[ 9.97734199e-01 6.67099372e-02 8.73223539e-03 7.26816032e+00] [-6.67069096e-02 9.97772410e-01 -6.37842199e-04 4.97969684e-02] [-8.75533396e-03 5.38965393e-05 9.99961670e-01 -3.07877461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619072328999998 meters 0.07439123868282084 Centerline is valid? [True, True] Translation: X:7.33, Y:0.06, Z:-0.31 [[ 9.97803084e-01 6.58072120e-02 7.64312023e-03 7.32758634e+00] [-6.58048205e-02 9.97832354e-01 -5.64228982e-04 5.85170711e-02] [-7.66368299e-03 6.00352629e-05 9.99970632e-01 -3.07782181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679072329 meters 0.07408764728135213 Centerline is valid? [True, True] Translation: X:7.39, Y:0.08, Z:-0.31 [[ 9.97461189e-01 7.03746342e-02 1.08897565e-02 7.38720765e+00] [-7.03701732e-02 9.97520632e-01 -7.92749582e-04 7.62959929e-02] [-1.09185463e-02 2.44228873e-05 9.99940391e-01 -3.10316280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739072329 meters 0.07397432404764535 Centerline is valid? [True, True] Translation: X:7.45, Y:0.09, Z:-0.31 [[ 9.97066956e-01 7.56109704e-02 1.18518109e-02 7.44761526e+00] [-7.56060213e-02 9.97137393e-01 -8.65717228e-04 9.13233878e-02] [-1.18833416e-02 -3.28902269e-05 9.99929390e-01 -3.09888616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799072328999998 meters 0.07443019456210109 Centerline is valid? [True, True] Translation: X:7.51, Y:0.11, Z:-0.31 [[ 9.96577201e-01 8.20203301e-02 1.03222049e-02 7.50799761e+00] [-8.20169344e-02 9.96630652e-01 -7.52568300e-04 1.11017736e-01] [-1.03491517e-02 -9.66031933e-05 9.99946441e-01 -3.13857429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859072329 meters 0.07426191910392956 Centerline is valid? [True, True] Translation: X:7.57, Y:0.12, Z:-0.31 [[ 9.96230765e-01 8.58428039e-02 1.24609430e-02 7.56654366e+00] [-8.58382062e-02 9.96308679e-01 -9.04328812e-04 1.23070927e-01] [-1.24925758e-02 -1.68704809e-04 9.99921950e-01 -3.12588225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919072329 meters 0.07436361297188104 Centerline is valid? [True, True] Translation: X:7.63, Y:0.14, Z:-0.31 [[ 9.96073579e-01 8.73960984e-02 1.41190603e-02 7.62525603e+00] [-8.73904325e-02 9.96173616e-01 -1.01894476e-03 1.37859015e-01] [-1.41540872e-02 -2.18926835e-04 9.99899802e-01 -3.13708227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979072329 meters 0.07346518694023468 Centerline is valid? [True, True] Translation: X:7.68, Y:0.14, Z:-0.32 [[ 9.96727497e-01 7.96545853e-02 1.37638261e-02 7.68425734e+00] [-7.96485803e-02 9.96822519e-01 -9.84774329e-04 1.40327215e-01] [-1.37985336e-02 -1.14717557e-04 9.99904789e-01 -3.18502014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039072329 meters 0.07290798618944268 Centerline is valid? [True, True] Translation: X:7.74, Y:0.14, Z:-0.32 [[ 9.97721098e-01 6.57919951e-02 1.49674614e-02 7.74227971e+00] [-6.57833000e-02 9.97833356e-01 -1.07306298e-03 1.35986002e-01] [-1.50056312e-02 8.60085690e-05 9.99887405e-01 -3.22367467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099072329 meters 0.07387481906693705 Centerline is valid? [True, True] Translation: X:7.80, Y:0.13, Z:-0.33 [[ 9.98273899e-01 5.67545317e-02 1.51044643e-02 7.79896133e+00] [-5.67447455e-02 9.98388139e-01 -1.07603413e-03 1.28680798e-01] [-1.51411878e-02 2.17077806e-04 9.99885342e-01 -3.30072342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159072329 meters 0.07438443987964012 Centerline is valid? [True, True] Translation: X:7.86, Y:0.13, Z:-0.33 [[ 9.98824718e-01 4.49832215e-02 1.80469681e-02 7.85997711e+00] [-4.49674082e-02 9.98987633e-01 -1.28127980e-03 1.32989586e-01] [-1.80863340e-02 4.68248556e-04 9.99836319e-01 -3.28044950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219072329 meters 0.07488494155588563 Centerline is valid? [True, True] Translation: X:7.92, Y:0.14, Z:-0.33 [[ 9.98997928e-01 3.95459336e-02 2.09584951e-02 7.91941762e+00] [-3.95233877e-02 9.99217536e-01 -1.48903267e-03 1.36465587e-01] [-2.10009810e-02 6.59189820e-04 9.99779238e-01 -3.27586411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279072328999998 meters 0.07780110878608404 Centerline is valid? [True, True] Translation: X:7.98, Y:0.14, Z:-0.34 [[ 9.99191723e-01 3.57565517e-02 1.83676480e-02 7.97785379e+00] [-3.57386245e-02 9.99360321e-01 -1.30344601e-03 1.38061946e-01] [-1.84025053e-02 6.45957987e-04 9.99830451e-01 -3.38616697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339072329 meters 0.07806987977770256 Centerline is valid? [True, True] Translation: X:8.04, Y:0.15, Z:-0.34 [[ 9.99150061e-01 3.62560436e-02 1.96126148e-02 8.03656600e+00] [-3.62357144e-02 9.99342303e-01 -1.39103509e-03 1.53922156e-01] [-1.96501491e-02 6.79175682e-04 9.99806686e-01 -3.39295256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399072329 meters 0.07711044447914205 Centerline is valid? [True, True] Translation: X:8.10, Y:0.17, Z:-0.34 [[ 9.98944158e-01 3.97135494e-02 2.30955296e-02 8.09741995e+00] [-3.96863516e-02 9.99210849e-01 -1.63496469e-03 1.67017953e-01] [-2.31422340e-02 7.16661117e-04 9.99731926e-01 -3.37161298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459072328999998 meters 0.07523227175714503 Centerline is valid? [True, True] Translation: X:8.16, Y:0.18, Z:-0.34 [[ 9.98704389e-01 4.42660333e-02 2.51010127e-02 8.15854760e+00] [-4.42353697e-02 9.99019559e-01 -1.77583172e-03 1.83662429e-01] [-2.51550117e-02 6.63178361e-04 9.99683343e-01 -3.40601641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519072329 meters 0.07460801692326727 Centerline is valid? [True, True] Translation: X:8.22, Y:0.19, Z:-0.34 [[ 9.98584750e-01 4.65094153e-02 2.57948078e-02 8.21792354e+00] [-4.64777811e-02 9.98917657e-01 -1.82489289e-03 1.93557083e-01] [-2.58517637e-02 6.23424774e-04 9.99665593e-01 -3.41683180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579072329 meters 0.0741156321354563 Centerline is valid? [True, True] Translation: X:8.28, Y:0.21, Z:-0.34 [[ 9.98226048e-01 5.19124152e-02 2.91523123e-02 8.27850551e+00] [-5.18743878e-02 9.98651493e-01 -2.05972836e-03 2.09320233e-01] [-2.92199257e-02 5.43816145e-04 9.99572859e-01 -3.39631735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639072328999998 meters 0.07295089981946193 Centerline is valid? [True, True] Translation: X:8.34, Y:0.23, Z:-0.35 [[ 9.97800278e-01 6.03187605e-02 2.75000588e-02 8.33824607e+00] [-6.02881379e-02 9.98179127e-01 -1.94206476e-03 2.27958877e-01] [-2.75671276e-02 2.79865415e-04 9.99619915e-01 -3.46121619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699072329 meters 0.07282583059476494 Centerline is valid? [True, True] Translation: X:8.40, Y:0.23, Z:-0.35 [[ 9.97472906e-01 6.48856776e-02 2.89421889e-02 8.39791451e+00] [-6.48536865e-02 9.97892691e-01 -2.04367238e-03 2.34444291e-01] [-2.90138038e-02 1.61500185e-04 9.99578998e-01 -3.50614376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759072329 meters 0.071968277790935 Centerline is valid? [True, True] Translation: X:8.46, Y:0.25, Z:-0.35 [[ 9.96800291e-01 7.23937805e-02 3.38868818e-02 8.45756596e+00] [-7.23545657e-02 9.97376125e-01 -2.38370024e-03 2.50327026e-01] [-3.39705319e-02 -7.57975215e-05 9.99422832e-01 -3.48312154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819072329 meters 0.07188108398873426 Centerline is valid? [True, True] Translation: X:8.52, Y:0.26, Z:-0.35 [[ 9.96416609e-01 7.73194480e-02 3.42876639e-02 8.51643882e+00] [-7.72825106e-02 9.97006338e-01 -2.40327077e-03 2.57029781e-01] [-3.43708378e-02 -2.55177833e-04 9.99409116e-01 -3.50284289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879072329 meters 0.07297339616704426 Centerline is valid? [True, True] Translation: X:8.58, Y:0.26, Z:-0.35 [[ 9.95767364e-01 8.46809598e-02 3.57280383e-02 8.57534259e+00] [-8.46459070e-02 9.96407971e-01 -2.49528591e-03 2.61669803e-01] [-3.58110054e-02 -5.39507932e-04 9.99358435e-01 -3.52600641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939072329 meters 0.07313494280005645 Centerline is valid? [True, True] Translation: X:8.63, Y:0.26, Z:-0.35 [[ 9.95520436e-01 8.67494037e-02 3.75979176e-02 8.63399882e+00] [-8.67121890e-02 9.96229953e-01 -2.62243931e-03 2.60085427e-01] [-3.76836667e-02 -6.49505808e-04 9.99289507e-01 -3.53407015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999072329 meters 0.07341950056154854 Centerline is valid? [True, True] Translation: X:8.69, Y:0.26, Z:-0.35 [[ 9.94662890e-01 9.30122276e-02 4.46593884e-02 8.69441075e+00] [-9.29664708e-02 9.95664399e-01 -3.10495024e-03 2.57817173e-01] [-4.47545614e-02 -1.06344695e-03 9.98997447e-01 -3.49970967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059072329 meters 0.07388911845365939 Centerline is valid? [True, True] Translation: X:8.75, Y:0.25, Z:-0.35 [[ 9.94318635e-01 9.54685170e-02 4.70766956e-02 8.75370947e+00] [-9.54204746e-02 9.95431679e-01 -3.27189907e-03 2.50600382e-01] [-4.71739975e-02 -1.23877042e-03 9.98885919e-01 -3.49171235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119072328999998 meters 0.07259533282686972 Centerline is valid? [True, True] Translation: X:8.81, Y:0.23, Z:-0.35 [[ 9.94645633e-01 9.14434591e-02 4.81472575e-02 8.81125213e+00] [-9.13886052e-02 9.95809691e-01 -3.34402533e-03 2.28454892e-01] [-4.82512948e-02 -1.07399052e-03 9.98834651e-01 -3.51783118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179072329 meters 0.07212448112224525 Centerline is valid? [True, True] Translation: X:8.87, Y:0.21, Z:-0.36 [[ 9.94925661e-01 8.79023340e-02 4.89500737e-02 8.86894809e+00] [-8.78416560e-02 9.96128670e-01 -3.39360985e-03 2.08437812e-01] [-4.90588781e-02 -9.23466019e-04 9.98795461e-01 -3.55641357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239072329 meters 0.07160794486391336 Centerline is valid? [True, True] Translation: X:8.93, Y:0.17, Z:-0.36 [[ 9.95538215e-01 7.98084847e-02 5.03415080e-02 8.92545838e+00] [-7.97344528e-02 9.96810064e-01 -3.48034750e-03 1.71928015e-01] [-5.04586831e-02 -5.49133654e-04 9.98725998e-01 -3.57685155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299072328999998 meters 0.07147402667274179 Centerline is valid? [True, True] Translation: X:8.98, Y:0.13, Z:-0.36 [[ 9.96407027e-01 6.85623038e-02 4.97216982e-02 8.98167455e+00] [-6.84764081e-02 9.97646836e-01 -3.43092308e-03 1.32955558e-01] [-4.98399269e-02 1.38325757e-05 9.98757218e-01 -3.60908198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359072329 meters 0.07203569752208377 Centerline is valid? [True, True] Translation: X:9.04, Y:0.10, Z:-0.36 [[ 9.96928617e-01 6.16473807e-02 4.83004491e-02 9.03682584e+00] [-6.15587607e-02 9.98097934e-01 -3.32156761e-03 1.02540421e-01] [-4.84133444e-02 3.38050013e-04 9.98827329e-01 -3.62635896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419072329 meters 0.07298973540423812 Centerline is valid? [True, True] Translation: X:9.09, Y:0.06, Z:-0.37 [[ 9.97607703e-01 5.44859400e-02 4.25459002e-02 9.09300204e+00] [-5.44109463e-02 9.98514359e-01 -2.91953719e-03 6.18102476e-02] [-4.26417659e-02 5.97590100e-04 9.99090248e-01 -3.68088712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479072328999997 meters 0.07408530755840359 Centerline is valid? [True, True] Translation: X:9.15, Y:0.04, Z:-0.37 [[ 9.97889023e-01 5.27032218e-02 3.79455889e-02 9.15012863e+00] [-5.26423859e-02 9.98610040e-01 -2.60128909e-03 3.70683061e-02] [-3.80299424e-02 5.98251500e-04 9.99276421e-01 -3.71257185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539072329 meters 0.07521396162868019 Centerline is valid? [True, True] Translation: X:9.21, Y:0.00, Z:-0.38 [[ 9.98193394e-01 5.18691358e-02 3.03239492e-02 9.20519587e+00] [-5.18299573e-02 9.98653764e-01 -2.07713095e-03 3.50022362e-03] [-3.03908650e-02 5.01689399e-04 9.99537965e-01 -3.76833880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599072329 meters 0.07564145447220874 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.03, Z:-0.38 [[ 9.98350741e-01 5.08405779e-02 2.66652201e-02 9.26222932e+00] [-5.08099769e-02 9.98706673e-01 -1.82433627e-03 -2.50132877e-02] [-2.67234835e-02 4.66468250e-04 9.99642755e-01 -3.83337079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659072329 meters 0.07635295070966222 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.05, Z:-0.39 [[ 9.98504906e-01 4.84404116e-02 2.53274430e-02 9.31919459e+00] [-4.84120771e-02 9.98825948e-01 -1.73106719e-03 -4.88257833e-02] [-2.53815608e-02 5.02324955e-04 9.99677710e-01 -3.88071021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719072329 meters 0.07763514886850698 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.08, Z:-0.39 [[ 9.98808631e-01 4.37325954e-02 2.16512894e-02 9.37575160e+00] [-4.37108169e-02 9.99043132e-01 -1.47833494e-03 -8.16489236e-02] [-2.16952234e-02 5.30178153e-04 9.99764490e-01 -3.94687276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779072328999998 meters 0.07890981572665053 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.11, Z:-0.40 [[ 9.99003288e-01 4.17316994e-02 1.58396970e-02 9.43257197e+00] [-4.17197991e-02 9.99128765e-01 -1.08113582e-03 -1.09947224e-01] [-1.58710145e-02 4.19229262e-04 9.99873960e-01 -4.03994126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839072329 meters 0.0787187963505219 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.13, Z:-0.41 [[ 9.99104183e-01 3.99060990e-02 1.40831101e-02 9.49039057e+00] [-3.98965120e-02 9.99203355e-01 -9.61146973e-04 -1.27057135e-01] [-1.41102464e-02 3.98418991e-04 9.99900366e-01 -4.06490391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899072329 meters 0.07987424943720448 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.16, Z:-0.41 [[ 9.99250343e-01 3.74089504e-02 9.96605624e-03 9.54630813e+00] [-3.74040258e-02 9.99299993e-01 -6.80131691e-04 -1.55324903e-01] [-9.98452294e-03 3.06851201e-04 9.99950106e-01 -4.14492722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959072328999998 meters 0.08024328845169768 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.17, Z:-0.42 [[ 9.99238906e-01 3.82933658e-02 7.43149608e-03 9.60328107e+00] [-3.82906479e-02 9.99266515e-01 -5.07707200e-04 -1.71223597e-01] [-7.44548701e-03 2.22763987e-04 9.99972257e-01 -4.19459527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019072329 meters 0.07953152655692043 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.18, Z:-0.42 [[ 9.99052428e-01 4.33238929e-02 4.15774909e-03 9.66109240e+00] [-4.33230838e-02 9.99061074e-01 -2.84496616e-04 -1.81851266e-01] [-4.16617078e-03 1.04100522e-04 9.99991316e-01 -4.23657214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079072329 meters 0.07934695401118252 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.19, Z:-0.43 [[ 9.98871295e-01 4.74898016e-02 9.24089414e-04 9.71877826e+00] [-4.74897611e-02 9.98871723e-01 -6.56805282e-05 -1.85558626e-01] [-9.26165940e-04 2.17216088e-05 9.99999571e-01 -4.27407403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139072328999998 meters 0.07898965591653678 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.19, Z:-0.43 [[ 9.98586523e-01 5.31331150e-02 -1.35225503e-03 9.77728292e+00] [-5.31330431e-02 9.98587438e-01 8.90426961e-05 -1.88532428e-01] [ 1.35507600e-03 -1.70674116e-05 9.99999082e-01 -4.31671043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199072329 meters 0.07877556769271235 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.19, Z:-0.44 [[ 9.98417006e-01 5.61397287e-02 -3.43708489e-03 9.83524127e+00] [-5.61392937e-02 9.98422921e-01 2.22973984e-04 -1.94225279e-01] [ 3.44418204e-03 -2.96654989e-05 9.99994068e-01 -4.37053070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259072329 meters 0.07898708901252721 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.19, Z:-0.44 [[ 9.98337872e-01 5.72794394e-02 -6.36868489e-03 9.89523435e+00] [-5.72778756e-02 9.98358183e-01 4.27816338e-04 -1.93591446e-01] [ 6.38273376e-03 -6.23205116e-05 9.99979628e-01 -4.41771683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319072329 meters 0.07992390133330045 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.20, Z:-0.45 [[ 9.98410459e-01 5.58005728e-02 -7.92791825e-03 9.95233536e+00] [-5.57981266e-02 9.98441931e-01 5.29575392e-04 -1.96075287e-01] [ 7.94511661e-03 -8.63706238e-05 9.99968433e-01 -4.48114179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379072329 meters 0.07969381244046592 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.20, Z:-0.45 [[ 9.98690519e-01 5.05969846e-02 -7.56254598e-03 1.00111390e+01] [-5.05946632e-02 9.98719146e-01 4.98084551e-04 -2.03628696e-01] [ 7.57806104e-03 -1.14807852e-04 9.99971279e-01 -4.46525724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439072329 meters 0.08038021015452235 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.21, Z:-0.45 [[ 9.98878592e-01 4.65835355e-02 -8.45769872e-03 1.00704392e+01] [-4.65804190e-02 9.98914383e-01 5.65192942e-04 -2.13989678e-01] [ 8.47484558e-03 -1.70595980e-04 9.99964073e-01 -4.51068498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499072329 meters 0.08212021468048185 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.23, Z:-0.45 [[ 9.99343546e-01 3.55668108e-02 -6.89043190e-03 1.01300221e+01] [-3.55644804e-02 9.99367278e-01 4.60475341e-04 -2.25973513e-01] [ 6.90244981e-03 -2.15118430e-04 9.99976155e-01 -4.50146582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559072329 meters 0.08587242666764905 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.24, Z:-0.45 [[ 9.99645656e-01 2.61620499e-02 -4.91011207e-03 1.01883451e+01] [-2.61607548e-02 9.99657695e-01 3.27814666e-04 -2.43576013e-01] [ 4.91700762e-03 -1.99246269e-04 9.99987892e-01 -4.53110913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619072328999998 meters 0.08907099034388836 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.26, Z:-0.45 [[ 9.99949684e-01 8.82984946e-03 -4.76054562e-03 1.02476007e+01] [-8.82843290e-03 9.99960978e-01 3.18496953e-04 -2.64319496e-01] [ 4.76317213e-03 -2.76452770e-04 9.99988618e-01 -4.50689949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679072329 meters 0.1026427188066926 Centerline is valid? [True, False] Translation: X:10.25, Y:-0.27, Z:-0.45 [[ 9.99991348e-01 5.61627075e-04 -4.12175869e-03 1.02465548e+01] [-5.81889930e-04 9.99987745e-01 -4.91651873e-03 -2.74275346e-01] [ 4.11894692e-03 4.91887460e-03 9.99979419e-01 -4.52273347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739072329 meters 0.10018130509268121 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.28, Z:-0.45 [[ 9.99992668e-01 5.32581817e-04 -3.79226657e-03 1.02455466e+01] [-5.49354569e-04 9.99990067e-01 -4.42321585e-03 -2.76105891e-01] [ 3.78987318e-03 4.42526672e-03 9.99983027e-01 -4.51539335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799072328999998 meters 0.10276907181123532 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.28, Z:-0.45 [[ 9.99993050e-01 1.30669054e-03 -3.49171803e-03 1.02449610e+01] [-1.31489212e-03 9.99996380e-01 -2.34760482e-03 -2.82579605e-01] [ 3.48863779e-03 2.35217974e-03 9.99991148e-01 -4.51498918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859072329 meters 0.10476270069289269 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.29, Z:-0.45 [[ 9.99992366e-01 1.80757425e-03 -3.46419871e-03 1.02451132e+01] [-1.81215709e-03 9.99997487e-01 -1.32023437e-03 -2.85429257e-01] [ 3.46180359e-03 1.32650196e-03 9.99993128e-01 -4.51923882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919072329 meters 0.12190165592016261 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.29, Z:-0.45 [[ 9.99991388e-01 2.52156025e-03 -3.29643905e-03 1.02449950e+01] [-2.52000806e-03 9.99996712e-01 4.74935319e-04 -2.91091728e-01] [ 3.29762579e-03 -4.66624176e-04 9.99994454e-01 -4.52477014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979072328999997 meters 0.10278764799199899 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.29, Z:-0.45 [[ 9.99992755e-01 -1.19825709e-03 -3.61312812e-03 1.02457398e+01] [ 1.18839604e-03 9.99995567e-01 -2.73014048e-03 -2.93992288e-01] [ 3.61638351e-03 2.72582687e-03 9.99989746e-01 -4.52678416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039072329 meters 0.10152076739605993 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.30, Z:-0.45 [[ 9.99992439e-01 -1.11792199e-03 -3.72447409e-03 1.02450407e+01] [ 1.10912548e-03 9.99996593e-01 -2.36304255e-03 -2.95804799e-01] [ 3.72710310e-03 2.35889378e-03 9.99990272e-01 -4.51271467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099072329 meters 0.10270712109358598 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.30, Z:-0.45 [[ 9.99992408e-01 -8.14595943e-04 -3.81065319e-03 1.02451877e+01] [ 8.07878657e-04 9.99998118e-01 -1.76397222e-03 -2.97515847e-01] [ 3.81208294e-03 1.76088028e-03 9.99991184e-01 -4.51255484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159072329 meters 0.10514112373805704 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.30, Z:-0.45 [[ 9.99991563e-01 -4.80869855e-04 -4.07943542e-03 1.02456866e+01] [ 4.76048794e-04 9.99999187e-01 -1.18268478e-03 -2.98979059e-01] [ 4.08000082e-03 1.18073280e-03 9.99990980e-01 -4.51149043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219072329 meters 0.0986022709715569 Centerline is valid? [False, True] Translation: X:10.25, Y:-0.30, Z:-0.45 [[ 9.99991130e-01 -6.92699839e-04 -4.15461137e-03 1.02452369e+01] [ 6.86697947e-04 9.99998719e-01 -1.44588640e-03 -2.98804589e-01] [ 4.15560761e-03 1.44302061e-03 9.99990324e-01 -4.50170814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279072328999998 meters 0.09895309655420245 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.31, Z:-0.45 [[ 9.99986801e-01 -5.13026749e-03 -2.80335255e-04 1.03052851e+01] [ 5.13027450e-03 9.99986840e-01 2.43145263e-05 -3.08088927e-01] [ 2.80206826e-04 -2.57524022e-05 9.99999960e-01 -4.47427658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339072329 meters 0.10946106666845283 Centerline is valid? [True, False] Translation: X:10.31, Y:-0.31, Z:-0.45 [[ 9.99987419e-01 -5.01491413e-03 -1.10308698e-04 1.03051825e+01] [ 5.01494715e-03 9.99987380e-01 3.01079288e-04 -3.08595462e-01] [ 1.08797419e-04 -3.01628692e-04 9.99999949e-01 -4.47734223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399072329 meters 0.10912069910228583 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.31, Z:-0.45 [[ 9.99989183e-01 -4.64839962e-03 1.60692386e-04 1.03051440e+01] [ 4.64815439e-03 9.99988081e-01 1.49419901e-03 -3.12377682e-01] [-1.67636104e-04 -1.49343593e-03 9.99998871e-01 -4.48734018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459072328999998 meters 0.12068186704698869 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.31, Z:-0.45 [[ 9.99989681e-01 -4.53854470e-03 2.01253286e-04 1.03054003e+01] [ 4.53819306e-03 9.99988232e-01 1.71454707e-03 -3.12700984e-01] [-2.09032466e-04 -1.71361605e-03 9.99998510e-01 -4.49275809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519072329 meters 0.10954969562276541 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.31, Z:-0.45 [[ 9.99998673e-01 -1.47780307e-03 6.85564004e-04 1.03029495e+01] [ 1.47489231e-03 9.99989978e-01 4.22705318e-03 -3.09201723e-01] [-6.91803886e-04 -4.22603644e-03 9.99990831e-01 -4.47020411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579072329 meters 0.11097618824839188 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.44 [[ 9.99995630e-01 -2.87855042e-03 6.74185934e-04 1.03018371e+01] [ 2.87748700e-03 9.99994623e-01 1.57303525e-03 -3.02459093e-01] [-6.78710370e-04 -1.57108841e-03 9.99998536e-01 -4.44956106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639072328999998 meters 0.11537758964279571 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99996681e-01 -2.51738367e-03 5.48911357e-04 1.03028164e+01] [ 2.51627775e-03 9.99994822e-01 2.00622031e-03 -3.02966334e-01] [-5.53958941e-04 -2.00483243e-03 9.99997837e-01 -4.46097435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699072329 meters 0.11468263774270135 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99994895e-01 -3.08718026e-03 8.24682125e-04 1.03020930e+01] [ 3.08633522e-03 9.99994713e-01 1.02400060e-03 -3.00559021e-01] [-8.27839040e-04 -1.02145012e-03 9.99999136e-01 -4.45780526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759072329 meters 0.1236149791805863 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.44 [[ 9.99992105e-01 -3.87130371e-03 8.96000658e-04 1.03014255e+01] [ 3.87167428e-03 9.99992420e-01 -4.12214525e-04 -2.96027941e-01] [-8.94398059e-04 4.15680293e-04 9.99999514e-01 -4.44767050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819072328999997 meters 0.11493772491341349 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99993241e-01 -3.60150818e-03 7.40235894e-04 1.03019096e+01] [ 3.60150833e-03 9.99993515e-01 1.14053595e-06 -2.97010725e-01] [-7.40235201e-04 1.52543750e-06 9.99999726e-01 -4.45054213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879072329 meters 0.1260548994381744 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99994536e-01 -3.22908024e-03 7.07699895e-04 1.03024414e+01] [ 3.22865727e-03 9.99994609e-01 5.98003426e-04 -2.98205175e-01] [-7.09627080e-04 -5.95715238e-04 9.99999571e-01 -4.45818147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939072329 meters 0.1280570295201385 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99995783e-01 -2.87899644e-03 3.82118362e-04 1.03042569e+01] [ 2.87869715e-03 9.99995551e-01 7.81507704e-04 -2.96872032e-01] [-3.84366620e-04 -7.80404405e-04 9.99999622e-01 -4.47398623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999072329 meters 0.11334981702413198 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99996652e-01 -2.56754526e-03 3.23346825e-04 1.03047502e+01] [ 2.56712042e-03 9.99995850e-01 1.30749821e-03 -2.98229007e-01] [-3.26702544e-04 -1.30666376e-03 9.99999093e-01 -4.48086440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059072329 meters 0.1208767950341062 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.30, Z:-0.45 [[ 9.99996951e-01 -2.44579026e-03 3.40733768e-04 1.03044361e+01] [ 2.44526632e-03 9.99995840e-01 1.52969160e-03 -2.99154075e-01] [-3.44473656e-04 -1.52885375e-03 9.99998772e-01 -4.47640075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119072328999998 meters 0.10926714832286645 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.29, Z:-0.45 [[ 9.99996160e-01 -2.76563438e-03 -1.77121406e-04 1.03050573e+01] [ 2.76565548e-03 9.99996168e-01 1.18981019e-04 -2.93835834e-01] [ 1.76791669e-04 -1.19470419e-04 9.99999977e-01 -4.46478188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179072329 meters 0.10224823265771461 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.29, Z:-0.45 [[ 9.99998908e-01 1.46930377e-03 -1.59859950e-04 1.03047481e+01] [-1.46860223e-03 9.99989662e-01 4.30344497e-03 -2.93899233e-01] [ 1.66181365e-04 -4.30320550e-03 9.99990727e-01 -4.46085475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239072329 meters 0.09834474147662665 Centerline is valid? [False, True] Translation: X:10.30, Y:-0.29, Z:-0.44 [[ 9.99999193e-01 1.14498009e-03 -5.51178037e-04 1.03048253e+01] [-1.14343629e-03 9.99995445e-01 2.79312333e-03 -2.89981097e-01] [ 5.54373597e-04 -2.79249084e-03 9.99995947e-01 -4.44561782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299072328999998 meters 0.10314580820605124 Centerline is valid? [True, False] Translation: X:10.31, Y:-0.29, Z:-0.44 [[ 9.99998376e-01 1.17528765e-03 -1.36646461e-03 1.03062853e+01] [-1.17273860e-03 9.99997574e-01 1.86474487e-03 -2.86097514e-01] [ 1.36865290e-03 -1.86313934e-03 9.99997328e-01 -4.44070607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359072329 meters 0.09410509183555064 Centerline is valid? [False, True] Translation: X:10.31, Y:-0.29, Z:-0.44 [[ 9.99997814e-01 1.13407791e-03 -1.75694311e-03 1.03065633e+01] [-1.13146812e-03 9.99998256e-01 1.48569770e-03 -2.85136417e-01] [ 1.75862494e-03 -1.48370653e-03 9.99997353e-01 -4.43203726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419072329 meters 0.0916965592769863 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.29, Z:-0.44 [[ 9.99975871e-01 6.89512409e-03 -8.45394188e-04 1.03672936e+01] [-6.89507026e-03 9.99976227e-01 6.65698201e-05 -2.87627374e-01] [ 8.45833098e-04 -6.07391615e-05 9.99999640e-01 -4.41957678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479072328999997 meters 0.09284857788620403 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.30, Z:-0.44 [[ 9.99968487e-01 7.85272706e-03 1.16579405e-03 1.04248757e+01] [-7.85262497e-03 9.99969163e-01 -9.21229338e-05 -2.97645374e-01] [-1.16648152e-03 8.29654873e-05 9.99999316e-01 -4.41168046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539072329 meters 0.09173637002020746 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.31, Z:-0.44 [[ 9.99984911e-01 4.76345727e-03 2.73628966e-03 1.04842322e+01] [-4.76288635e-03 9.99988634e-01 -2.15127619e-04 -3.09559428e-01] [-2.73728331e-03 2.02091736e-04 9.99996233e-01 -4.42692692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599072329 meters 0.09922164753555293 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.33, Z:-0.44 [[ 9.99994660e-01 1.35106347e-03 2.97573841e-03 1.05422526e+01] [-1.35037388e-03 9.99999061e-01 -2.33733399e-04 -3.33614507e-01] [-2.97605140e-03 2.29713791e-04 9.99995545e-01 -4.44047550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659072329 meters 0.09368559192620816 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.34, Z:-0.45 [[ 9.99988162e-01 -4.84455984e-03 4.53168317e-04 1.06027439e+01] [ 4.84457645e-03 9.99988264e-01 -3.55615206e-05 -3.36489067e-01] [-4.52990718e-04 3.77565082e-05 9.99999897e-01 -4.45146642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719072329 meters 0.0964214870008173 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.35, Z:-0.45 [[ 9.99972958e-01 -7.27351673e-03 1.08594824e-03 1.06614723e+01] [ 7.27361368e-03 9.99973543e-01 -8.53527037e-05 -3.49821867e-01] [-1.08529870e-03 9.32491636e-05 9.99999407e-01 -4.45746317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779072328999998 meters 0.10143437986735786 Centerline is valid? [True, False] Translation: X:10.66, Y:-0.36, Z:-0.45 [[ 9.99956098e-01 -9.33654942e-03 7.94110725e-04 1.06639276e+01] [ 9.33641900e-03 9.99956401e-01 1.67778499e-04 -3.60706982e-01] [-7.95642574e-04 -1.60356983e-04 9.99999671e-01 -4.49457423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839072329 meters 0.10226439845417794 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.37, Z:-0.45 [[ 9.99964838e-01 -8.33334324e-03 9.36806763e-04 1.06644924e+01] [ 8.33113341e-03 9.99962561e-01 2.33855384e-03 -3.66349425e-01] [-9.56259662e-04 -2.33066695e-03 9.99996827e-01 -4.51186928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899072329 meters 0.10496177905397888 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.37, Z:-0.45 [[ 9.99939313e-01 -1.09885433e-02 7.88405727e-04 1.06658631e+01] [ 1.09875214e-02 9.99938805e-01 1.28899216e-03 -3.74543199e-01] [-8.02521626e-04 -1.28025131e-03 9.99998858e-01 -4.53121604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959072328999998 meters 0.10427147680756359 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.38, Z:-0.46 [[ 9.99955848e-01 -9.37598402e-03 6.26940717e-04 1.06672687e+01] [ 9.37319240e-03 9.99946754e-01 4.31657040e-03 -3.82086261e-01] [-6.67379430e-04 -4.31050338e-03 9.99990487e-01 -4.55070490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019072329 meters 0.10419726251832546 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.39, Z:-0.46 [[ 9.99994040e-01 -3.27852389e-03 1.08248730e-03 1.06616282e+01] [ 3.27984624e-03 9.99993875e-01 -1.22207923e-03 -3.90703492e-01] [-1.07847406e-03 1.22562233e-03 9.99998667e-01 -4.61246446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079072329 meters 0.10319924526742666 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.39, Z:-0.46 [[ 9.99996522e-01 -2.54772325e-03 6.82686648e-04 1.06630182e+01] [ 2.54779836e-03 9.99996748e-01 -1.09182964e-04 -3.93003474e-01] [-6.82406260e-04 1.10921933e-04 9.99999761e-01 -4.62187992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139072328999998 meters 0.10133068509086199 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.39, Z:-0.46 [[ 9.99998650e-01 -1.62413004e-03 -2.47889733e-04 1.06654553e+01] [ 1.62436026e-03 9.99998247e-01 9.31340697e-04 -3.94649646e-01] [ 2.46376680e-04 -9.31742102e-04 9.99999536e-01 -4.63257366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199072329 meters 0.09894586379297349 Centerline is valid? [False, True] Translation: X:10.67, Y:-0.40, Z:-0.47 [[ 9.99999062e-01 -7.07179248e-04 -1.17309490e-03 1.06684415e+01] [ 7.09272284e-04 9.99998156e-01 1.78474450e-03 -3.95468774e-01] [ 1.17183060e-03 -1.78557487e-03 9.99997719e-01 -4.65315303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259072329 meters 0.09355233367423188 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.39, Z:-0.46 [[ 9.99997841e-01 2.07731610e-03 -5.95380481e-05 1.07294599e+01] [-2.07731585e-03 9.99997842e-01 4.36931045e-06 -3.88382139e-01] [ 5.95469961e-05 -4.24562169e-06 9.99999998e-01 -4.62339000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319072328999997 meters 0.0930859562934846 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.39, Z:-0.46 [[ 9.99981703e-01 5.32105010e-03 2.87763515e-03 1.07890616e+01] [-5.32044112e-03 9.99985822e-01 -2.19239800e-04 -3.88191593e-01] [-2.87876093e-03 2.03925501e-04 9.99995836e-01 -4.62651448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379072329 meters 0.09354194842384705 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.39, Z:-0.46 [[ 9.99983384e-01 5.74141722e-03 5.17135666e-04 1.08494235e+01] [-5.74139766e-03 9.99983517e-01 -3.92964221e-05 -3.86693459e-01] [-5.17352760e-04 3.63266876e-05 9.99999866e-01 -4.64752434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439072329 meters 0.10077059958114024 Centerline is valid? [True, False] Translation: X:10.85, Y:-0.38, Z:-0.47 [[ 9.99989257e-01 4.61081459e-03 4.75484451e-04 1.08509580e+01] [-4.60975212e-03 9.99986929e-01 -2.21189530e-03 -3.79600909e-01] [-4.85676875e-04 2.20967967e-03 9.99997441e-01 -4.66506875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499072329 meters 0.10444239798834086 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.37, Z:-0.46 [[ 9.99996377e-01 2.36551828e-03 1.28431546e-03 1.08481408e+01] [-2.35809071e-03 9.99980663e-01 -5.75432806e-03 -3.71081564e-01] [-1.29790259e-03 5.75127868e-03 9.99982619e-01 -4.64449074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559072329 meters 0.10346721661273406 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.36, Z:-0.47 [[ 9.99959598e-01 -3.64512571e-03 8.21676516e-03 1.08541388e+01] [ 3.64331436e-03 9.99993335e-01 2.35403860e-04 -3.62985432e-01] [-8.21756848e-03 -2.05458090e-04 9.99966214e-01 -4.66635984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619072328999998 meters 0.10585802362697183 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.35, Z:-0.47 [[ 9.99951518e-01 -3.13531343e-03 9.33446418e-03 1.08520921e+01] [ 3.14494618e-03 9.99994537e-01 -1.01745609e-03 -3.46699868e-01] [-9.33122314e-03 1.04676314e-03 9.99955915e-01 -4.66980323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679072329 meters 0.1031483861767536 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.34, Z:-0.47 [[ 9.99954540e-01 -1.01520806e-03 9.48093604e-03 1.08520248e+01] [ 1.02408231e-03 9.99999042e-01 -9.31201519e-04 -3.35116244e-01] [-9.47998159e-03 9.40868445e-04 9.99954621e-01 -4.66698533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739072329 meters 0.10311596344645675 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.31, Z:-0.46 [[ 9.99994867e-01 1.06564461e-03 3.02178727e-03 1.08615841e+01] [-1.06752808e-03 9.99999237e-01 6.21750698e-04 -3.06195003e-01] [-3.02112240e-03 -6.24973349e-04 9.99995241e-01 -4.56049676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799072328999998 meters 0.10261277186271948 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.28, Z:-0.45 [[ 9.99973940e-01 6.87159375e-03 2.21383864e-03 1.08627689e+01] [-6.87038194e-03 9.99976245e-01 -5.54522582e-04 -2.83107178e-01] [-2.21759650e-03 5.39298214e-04 9.99997396e-01 -4.51345978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859072329 meters 0.09484662725492833 Centerline is valid? [False, True] Translation: X:10.87, Y:-0.25, Z:-0.45 [[ 9.99885425e-01 1.50290199e-02 -1.80714698e-03 1.08714788e+01] [-1.50392945e-02 9.99870005e-01 -5.81315448e-03 -2.49698609e-01] [ 1.71954605e-03 5.83966665e-03 9.99981471e-01 -4.50173018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919072329 meters 0.08797838302336657 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.22, Z:-0.45 [[ 9.99823789e-01 1.87494319e-02 -9.21403991e-04 1.09344407e+01] [-1.87493653e-02 9.99824212e-01 8.08447508e-05 -2.23299667e-01] [ 9.22757812e-04 -6.35547650e-05 9.99999572e-01 -4.50479562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979072328999997 meters 0.08518657398540766 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.19, Z:-0.45 [[ 9.99708834e-01 2.39808054e-02 2.67740581e-03 1.09983255e+01] [-2.39802593e-02 9.99712404e-01 -2.35885558e-04 -1.86586168e-01] [-2.68229253e-03 1.71611990e-04 9.99996388e-01 -4.48054854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039072329 meters 0.08331731612114088 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.15, Z:-0.45 [[ 9.99608551e-01 2.79449414e-02 1.35089825e-03 1.10616534e+01] [-2.79448055e-02 9.99609461e-01 -1.19377126e-04 -1.53332035e-01] [-1.35370665e-03 8.15798072e-05 9.99999080e-01 -4.51032627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099072329 meters 0.08401823345416272 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.13, Z:-0.46 [[ 9.99552125e-01 2.99225760e-02 -4.34105799e-04 1.11213461e+01] [-2.99225632e-02 9.99552219e-01 3.59893514e-05 -1.34791578e-01] [ 4.34988309e-04 -2.29836745e-05 9.99999905e-01 -4.57790624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159072329 meters 0.0804461678870891 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.09, Z:-0.46 [[ 9.99429646e-01 3.33086305e-02 5.56045040e-03 1.11865402e+01] [-3.33064342e-02 9.99445068e-01 -4.87141051e-04 -8.89893357e-02] [-5.57359073e-03 3.01664433e-04 9.99984422e-01 -4.57694764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219072329 meters 0.08087403229008241 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.07, Z:-0.46 [[ 9.99243850e-01 3.77404319e-02 9.34820180e-03 1.12482801e+01] [-3.77344094e-02 9.99287467e-01 -8.19850401e-04 -6.96533462e-02] [-9.37248240e-03 4.66481597e-04 9.99955969e-01 -4.59218083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279072328999998 meters 0.07927524241469242 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.03, Z:-0.46 [[ 9.99025337e-01 4.33921637e-02 8.09299302e-03 1.13117542e+01] [-4.33878378e-02 9.99058052e-01 -7.09417899e-04 -3.43288946e-02] [-8.11615302e-03 3.57588987e-04 9.99967000e-01 -4.62739446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339072329 meters 0.07988647910823482 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.02, Z:-0.47 [[ 9.98973207e-01 4.50508572e-02 4.79087161e-03 1.13709654e+01] [-4.50493492e-02 9.98984673e-01 -4.22257207e-04 -1.64520291e-02] [-4.80503036e-03 2.05997987e-04 9.99988435e-01 -4.67175292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399072329 meters 0.08042033014645049 Centerline is valid? [True, True] Translation: X:11.43, Y:0.01, Z:-0.47 [[ 9.98908159e-01 4.60197371e-02 8.04205564e-03 1.14326999e+01] [-4.60155462e-02 9.98940475e-01 -7.05480153e-04 9.96168751e-03] [-8.06600089e-03 3.34650298e-04 9.99967413e-01 -4.68654739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459072328999998 meters 0.07914061520708601 Centerline is valid? [True, True] Translation: X:11.50, Y:0.04, Z:-0.47 [[ 9.98742799e-01 4.90669471e-02 1.02594431e-02 1.14952234e+01] [-4.90603166e-02 9.98795415e-01 -8.97107807e-04 4.07873114e-02] [-1.02911031e-02 3.92648436e-04 9.99946968e-01 -4.70303189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519072329 meters 0.07980213559449864 Centerline is valid? [True, True] Translation: X:11.55, Y:0.06, Z:-0.47 [[ 9.98644596e-01 5.07440238e-02 1.15764788e-02 1.15547943e+01] [-5.07356955e-02 9.98711602e-01 -1.01214805e-03 5.50808355e-02] [-1.16129242e-02 4.23435475e-04 9.99932478e-01 -4.72033599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579072329 meters 0.07955276024000696 Centerline is valid? [True, True] Translation: X:11.62, Y:0.08, Z:-0.47 [[ 9.98520549e-01 5.14397493e-02 1.76257087e-02 1.16161477e+01] [-5.14205866e-02 9.98675901e-01 -1.53897846e-03 8.02187308e-02] [-1.76815352e-02 6.30377340e-04 9.99843471e-01 -4.66282478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639072328999998 meters 0.0797200994782296 Centerline is valid? [True, True] Translation: X:11.67, Y:0.08, Z:-0.47 [[ 9.98523263e-01 5.09606346e-02 1.88230500e-02 1.16745367e+01] [-5.09387049e-02 9.98700430e-01 -1.64297848e-03 8.45747530e-02] [-1.88823153e-02 6.81730447e-04 9.99821481e-01 -4.66364657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699072329 meters 0.08179370999812023 Centerline is valid? [True, True] Translation: X:11.73, Y:0.10, Z:-0.47 [[ 9.98656717e-01 4.81287999e-02 1.91932589e-02 1.17349534e+01] [-4.81055929e-02 9.98840861e-01 -1.66925603e-03 1.03486620e-01] [-1.92513506e-02 7.43710650e-04 9.99814399e-01 -4.69154600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759072329 meters 0.08354717398264368 Centerline is valid? [True, True] Translation: X:11.79, Y:0.11, Z:-0.47 [[ 9.98754662e-01 4.57889821e-02 1.98114885e-02 1.17944037e+01] [-4.57638163e-02 9.98950803e-01 -1.72201185e-03 1.12214519e-01] [-1.98695516e-02 8.13218037e-04 9.99802250e-01 -4.72370731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819072328999997 meters 0.07333548340220176 Centerline is valid? [True, True] Translation: X:11.86, Y:0.18, Z:-0.47 [[ 9.97148322e-01 7.27893923e-02 1.99230428e-02 1.18612354e+01] [-7.27693390e-02 9.97347296e-01 -1.73062447e-03 1.77661332e-01] [-1.99961639e-02 2.75902639e-04 9.99800019e-01 -4.68716272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879072329 meters 0.07312063003978367 Centerline is valid? [True, True] Translation: X:11.92, Y:0.18, Z:-0.47 [[ 9.97055566e-01 7.38105151e-02 2.07895627e-02 1.19191843e+01] [-7.37889002e-02 9.97272248e-01 -1.80593921e-03 1.78322896e-01] [-2.08661512e-02 2.66582772e-04 9.99782243e-01 -4.66407064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939072329 meters 0.07351749092035524 Centerline is valid? [True, True] Translation: X:11.98, Y:0.16, Z:-0.47 [[ 9.97015954e-01 7.33536586e-02 2.40505173e-02 1.19753941e+01] [-7.33246575e-02 9.97305941e-01 -2.08669570e-03 1.63783494e-01] [-2.41387905e-02 3.16972964e-04 9.99708567e-01 -4.73363673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999072329 meters 0.07371632730372679 Centerline is valid? [True, True] Translation: X:12.03, Y:0.15, Z:-0.48 [[ 9.96922828e-01 7.41782838e-02 2.53467260e-02 1.20325197e+01] [-7.41465157e-02 9.97244949e-01 -2.19218692e-03 1.51434801e-01] [-2.54395072e-02 3.06069764e-04 9.99676317e-01 -4.81151680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059072328999996 meters 0.07338856302684255 Centerline is valid? [True, True] Translation: X:12.09, Y:0.15, Z:-0.47 [[ 9.96918183e-01 7.36449869e-02 2.70287182e-02 1.20901835e+01] [-7.36088316e-02 9.97284465e-01 -2.33154423e-03 1.51308939e-01] [-2.71270273e-02 3.34806478e-04 9.99631938e-01 -4.74432898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119072329 meters 0.07245687545513842 Centerline is valid? [True, True] Translation: X:12.15, Y:0.16, Z:-0.47 [[ 9.96606294e-01 7.72669903e-02 2.83849953e-02 1.21501273e+01] [-7.72286762e-02 9.97010407e-01 -2.44525960e-03 1.58568768e-01] [-2.84890736e-02 2.44825494e-04 9.99594074e-01 -4.69952407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17907232899999 meters 0.07277825093785015 Centerline is valid? [True, True] Translation: X:12.21, Y:0.15, Z:-0.47 [[ 9.96456104e-01 7.79650991e-02 3.15701651e-02 1.22083681e+01] [-7.79183049e-02 9.96956060e-01 -2.71165816e-03 1.48361845e-01] [-3.16854821e-02 2.42154576e-04 9.99497860e-01 -4.74317769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239072328999995 meters 0.07290985241467886 Centerline is valid? [True, True] Translation: X:12.27, Y:0.14, Z:-0.47 [[ 9.96289014e-01 7.83328767e-02 3.56673608e-02 1.22665139e+01] [-7.82737015e-02 9.96927228e-01 -3.05457835e-03 1.41434795e-01] [-3.57970370e-02 2.51426505e-04 9.99359049e-01 -4.73497856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299072329 meters 0.07271050580152709 Centerline is valid? [True, True] Translation: X:12.32, Y:0.14, Z:-0.47 [[ 9.96094330e-01 7.91336716e-02 3.91656326e-02 1.23247779e+01] [-7.90633141e-02 9.96863986e-01 -3.34447210e-03 1.37957479e-01] [-3.93074690e-02 2.34844982e-04 9.99227135e-01 -4.71661675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35907232899999 meters 0.07276836855717395 Centerline is valid? [True, True] Translation: X:12.38, Y:0.14, Z:-0.47 [[ 9.95846162e-01 8.08981456e-02 4.17841146e-02 1.23833865e+01] [-8.08200435e-02 9.96722360e-01 -3.55782312e-03 1.37018914e-01] [-4.19349826e-02 1.66050540e-04 9.99120328e-01 -4.69693836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419072328999995 meters 0.07317550462633704 Centerline is valid? [True, True] Translation: X:12.44, Y:0.13, Z:-0.47 [[ 9.95439372e-01 8.38838359e-02 4.54308198e-02 1.24414707e+01] [-8.37950053e-02 9.96475540e-01 -3.85956462e-03 1.33031598e-01] [-4.55944558e-02 3.50867957e-05 9.98960031e-01 -4.70338699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479072329 meters 0.07340811336746525 Centerline is valid? [True, True] Translation: X:12.50, Y:0.13, Z:-0.47 [[ 9.95185871e-01 8.51351815e-02 4.85498067e-02 1.25003072e+01] [-8.50356640e-02 9.96369409e-01 -4.11534496e-03 1.29688108e-01] [-4.87239029e-02 -3.29318900e-05 9.98812285e-01 -4.69497082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53907232899999 meters 0.07376675548201475 Centerline is valid? [True, True] Translation: X:12.56, Y:0.12, Z:-0.47 [[ 9.95058042e-01 8.54051854e-02 5.06502491e-02 1.25575056e+01] [-8.52976211e-02 9.96346301e-01 -4.28540305e-03 1.24106412e-01] [-5.08311840e-02 -5.61209831e-05 9.98707258e-01 -4.69904063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599072328999995 meters 0.07384443083655255 Centerline is valid? [True, True] Translation: X:12.62, Y:0.12, Z:-0.47 [[ 9.94860326e-01 8.65117941e-02 5.26178825e-02 1.26156808e+01] [-8.63977394e-02 9.96250819e-01 -4.44264491e-03 1.19471251e-01] [-5.28049497e-02 -1.26254937e-04 9.98604837e-01 -4.73776892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659072329 meters 0.0744814503246774 Centerline is valid? [True, True] Translation: X:12.67, Y:0.11, Z:-0.47 [[ 9.94757299e-01 8.66836581e-02 5.42573529e-02 1.26734235e+01] [-8.65630968e-02 9.96235876e-01 -4.57261052e-03 1.14435518e-01] [-5.44494921e-02 -1.48046796e-04 9.98516515e-01 -4.71662625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71907232899999 meters 0.07499484478165064 Centerline is valid? [True, True] Translation: X:12.73, Y:0.11, Z:-0.47 [[ 9.94663963e-01 8.78499895e-02 5.40923259e-02 1.27300930e+01] [-8.77321907e-02 9.96133692e-01 -4.55306357e-03 1.11988014e-01] [-5.42831749e-02 -2.16869994e-04 9.98525558e-01 -4.72527579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779072328999995 meters 0.07546017060443146 Centerline is valid? [True, True] Translation: X:12.79, Y:0.10, Z:-0.48 [[ 9.94617195e-01 8.84310267e-02 5.40054586e-02 1.27870995e+01] [-8.83150718e-02 9.96082269e-01 -4.53451759e-03 1.02050054e-01] [-5.41948717e-02 -2.59386787e-04 9.98530344e-01 -4.81758571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839072329 meters 0.0758630680553627 Centerline is valid? [True, True] Translation: X:12.84, Y:0.09, Z:-0.49 [[ 9.94700286e-01 8.79161796e-02 5.33112229e-02 1.28439827e+01] [-8.78029867e-02 9.96127847e-01 -4.46620236e-03 9.27973157e-02] [-5.34974451e-02 -2.38351833e-04 9.98567958e-01 -4.85338071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89907232899999 meters 0.07550586733965789 Centerline is valid? [True, True] Translation: X:12.90, Y:0.09, Z:-0.49 [[ 9.94719947e-01 8.79097836e-02 5.29537300e-02 1.29020027e+01] [-8.77986859e-02 9.96128410e-01 -4.42516120e-03 9.16593834e-02] [-5.31377298e-02 -2.47471792e-04 9.98587162e-01 -4.85177780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959072328999994 meters 0.07623738241059315 Centerline is valid? [True, True] Translation: X:12.96, Y:0.08, Z:-0.49 [[ 9.94821591e-01 8.77021067e-02 5.13648057e-02 1.29595153e+01] [-8.75977417e-02 9.96146718e-01 -4.28388656e-03 8.46687675e-02] [-5.15425885e-02 -2.37738140e-04 9.98670769e-01 -4.91343133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019072329 meters 0.07642960573953529 Centerline is valid? [True, True] Translation: X:13.02, Y:0.07, Z:-0.50 [[ 9.95019556e-01 8.61421684e-02 5.01558478e-02 1.30170737e+01] [-8.60410982e-02 9.96282842e-01 -4.17476770e-03 7.48702522e-02] [-5.03290341e-02 -1.61488718e-04 9.98732678e-01 -4.98058392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079072329 meters 0.07630898095471071 Centerline is valid? [True, True] Translation: X:13.08, Y:0.07, Z:-0.50 [[ 9.95208482e-01 8.46259803e-02 4.89747046e-02 1.30752818e+01] [-8.45283520e-02 9.96412783e-01 -4.06486907e-03 6.73088475e-02] [-4.91430152e-02 -9.43588924e-05 9.98791748e-01 -5.02144818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139072328999994 meters 0.07624623069033364 Centerline is valid? [True, True] Translation: X:13.13, Y:0.06, Z:-0.51 [[ 9.95839847e-01 8.17370842e-02 4.02746681e-02 1.31329911e+01] [-8.16689321e-02 9.96653926e-01 -3.33730981e-03 5.74598205e-02] [-4.04126880e-02 3.42369571e-05 9.99183073e-01 -5.10927199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199072328999996 meters 0.07663961937611358 Centerline is valid? [True, True] Translation: X:13.19, Y:0.05, Z:-0.52 [[ 9.96254578e-01 7.94159795e-02 3.42040549e-02 1.31913170e+01] [-7.93655812e-02 9.96841558e-01 -2.83080634e-03 4.63728975e-02] [-3.43208347e-02 1.05579077e-04 9.99410861e-01 -5.21248371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259072329 meters 0.07744393645979503 Centerline is valid? [True, True] Translation: X:13.25, Y:0.03, Z:-0.54 [[ 9.96601959e-01 7.78014971e-02 2.70455696e-02 1.32487037e+01] [-7.77695306e-02 9.96968862e-01 -2.23339777e-03 3.04964425e-02] [-2.71373524e-02 1.22487338e-04 9.99631707e-01 -5.37066754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319072328999994 meters 0.07758925227169951 Centerline is valid? [True, True] Translation: X:13.31, Y:0.02, Z:-0.54 [[ 9.96616853e-01 7.88227071e-02 2.32772396e-02 1.33068454e+01] [-7.87994191e-02 9.96888647e-01 -1.91744418e-03 2.12256621e-02] [-2.33559541e-02 7.67242225e-05 9.99727210e-01 -5.43276928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379072328999996 meters 0.07739504424799082 Centerline is valid? [True, True] Translation: X:13.36, Y:0.01, Z:-0.55 [[ 9.96481576e-01 8.08622144e-02 2.20402109e-02 1.33624041e+01] [-8.08419484e-02 9.96725289e-01 -1.81041321e-03 6.76195737e-03] [-2.21144296e-02 2.22698101e-05 9.99755446e-01 -5.48319478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439072329 meters 0.07757768451181095 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.01, Z:-0.56 [[ 9.96437033e-01 8.21572407e-02 1.90637891e-02 1.34190928e+01] [-8.21423418e-02 9.96619380e-01 -1.56458574e-03 -8.77616600e-03] [-1.91278837e-02 -6.93310368e-06 9.99817045e-01 -5.55437855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.49907232899999 meters 0.07780021981486236 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.03, Z:-0.56 [[ 9.96650105e-01 8.02313956e-02 1.58584820e-02 1.34762605e+01] [-8.02208953e-02 9.96776265e-01 -1.29817686e-03 -3.30359361e-02] [-1.59115130e-02 2.16464800e-05 9.99873404e-01 -5.60509100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559072328999996 meters 0.07800987794838327 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.05, Z:-0.56 [[ 9.96791770e-01 7.87365331e-02 1.43779805e-02 1.35338394e+01] [-7.87277882e-02 9.96895459e-01 -1.17408789e-03 -4.50533678e-02] [-1.44257871e-02 3.83745351e-05 9.99895942e-01 -5.63022440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619072329 meters 0.07905700731082466 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.08, Z:-0.57 [[ 9.97319880e-01 7.26893670e-02 8.32549187e-03 1.35908789e+01] [-7.26862460e-02 9.97354626e-01 -6.77248687e-04 -7.56078623e-02] [-8.35269662e-03 7.02848291e-05 9.99965113e-01 -5.69552407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67907232899999 meters 0.0801352840322074 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.10, Z:-0.58 [[ 9.97649228e-01 6.84854858e-02 2.39919804e-03 1.36483200e+01] [-6.84852125e-02 9.97652112e-01 -1.96009904e-04 -9.76120935e-02] [-2.40698882e-03 3.12395416e-05 9.99997103e-01 -5.77599020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739072328999995 meters 0.08095494392542525 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.12, Z:-0.59 [[ 9.97653039e-01 6.84317797e-02 -2.34638291e-03 1.37046254e+01] [-6.84315253e-02 9.97655798e-01 1.88660841e-04 -1.23863940e-01] [ 2.35379291e-03 -2.76515006e-05 9.99997229e-01 -5.88626048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799072329 meters 0.07945921204285976 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.13, Z:-0.58 [[ 9.97304391e-01 7.33356678e-02 -2.41485759e-03 1.37628215e+01] [-7.33354226e-02 9.97307315e-01 1.90022435e-04 -1.29095529e-01] [ 2.42229056e-03 -1.24156064e-05 9.99997066e-01 -5.84013059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85907232899999 meters 0.07854432529386868 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.13, Z:-0.58 [[ 9.97073901e-01 7.64429337e-02 -3.38187475e-04 1.38218814e+01] [-7.64429307e-02 9.97073958e-01 2.18005923e-05 -1.31511957e-01] [ 3.38864425e-04 4.11524009e-06 9.99999943e-01 -5.77518767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919072328999995 meters 0.07867437180328117 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.15, Z:-0.58 [[ 9.96851814e-01 7.92835820e-02 -7.57575142e-04 1.38781986e+01] [-7.92835633e-02 9.96852102e-01 5.46882069e-05 -1.47904885e-01] [ 7.59526250e-04 5.54721851e-06 9.99999712e-01 -5.80876685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979072329 meters 0.07895584183518939 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.16, Z:-0.58 [[ 9.96966667e-01 7.76173395e-02 -5.74576981e-03 1.39363841e+01] [-7.76159794e-02 9.96983224e-01 4.59665610e-04 -1.61850714e-01] [ 5.76411413e-03 -1.23077405e-05 9.99983387e-01 -5.84170620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03907232899999 meters 0.07966176922089838 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.17, Z:-0.59 [[ 9.97129776e-01 7.49148481e-02 -1.09533151e-02 1.39959606e+01] [-7.49097119e-02 9.97189933e-01 8.79012897e-04 -1.72288485e-01] [ 1.09883867e-02 -5.59802543e-05 9.99939624e-01 -5.85340379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099072328999995 meters 0.0801851179589346 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.18, Z:-0.59 [[ 9.97181121e-01 7.39722091e-02 -1.25667609e-02 1.40537218e+01] [-7.39654767e-02 9.97260301e-01 1.00029572e-03 -1.84737303e-01] [ 1.26063259e-02 -6.79695477e-05 9.99920535e-01 -5.90432527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159072329 meters 0.08069031174439852 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.19, Z:-0.60 [[ 9.97052778e-01 7.54122950e-02 -1.40976638e-02 1.41107714e+01] [-7.54039223e-02 9.97152437e-01 1.12525808e-03 -1.92706689e-01] [ 1.41423781e-02 -5.89225488e-05 9.99899990e-01 -5.96790191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21907232899999 meters 0.08056063571502554 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.19, Z:-0.60 [[ 9.96949876e-01 7.67582626e-02 -1.41107430e-02 1.41685574e+01] [-7.67501245e-02 9.97049732e-01 1.11815532e-03 -1.92242825e-01] [ 1.41549402e-02 -3.17435265e-05 9.99899813e-01 -5.98358764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279072328999995 meters 0.08049128376448776 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.19, Z:-0.60 [[ 9.96817768e-01 7.86406434e-02 -1.30379244e-02 1.42277765e+01] [-7.86338942e-02 9.96903029e-01 1.03028591e-03 -1.90107962e-01] [ 1.30785687e-02 -1.78453508e-06 9.99914472e-01 -5.99585843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339072329 meters 0.08043599143213029 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.19, Z:-0.60 [[ 9.96849024e-01 7.85292271e-02 -1.11885933e-02 1.42862937e+01] [-7.85242290e-02 9.96911812e-01 8.85995735e-04 -1.85425725e-01] [ 1.12236174e-02 -4.62831792e-06 9.99937013e-01 -5.98946076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39907232899999 meters 0.08007891988900717 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.19, Z:-0.59 [[ 9.97031929e-01 7.62274411e-02 -1.08032441e-02 1.43442340e+01] [-7.62227305e-02 9.97090456e-01 8.47705495e-04 -1.87195181e-01] [ 1.08364300e-02 -2.17366796e-05 9.99941284e-01 -5.94611911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459072328999994 meters 0.0808584270931626 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.19, Z:-0.60 [[ 9.97297517e-01 7.25264658e-02 -1.17292135e-02 1.44014490e+01] [-7.25206269e-02 9.97366486e-01 9.22922972e-04 -1.90070505e-01] [ 1.17652607e-02 -6.98188749e-05 9.99930784e-01 -6.01230562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519072329 meters 0.0809446557371038 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.19, Z:-0.60 [[ 9.97389092e-01 7.08997074e-02 -1.37197223e-02 1.44610584e+01] [-7.08915427e-02 9.97483444e-01 1.08114210e-03 -1.87216230e-01] [ 1.37618485e-02 -1.05707059e-04 9.99905296e-01 -5.99606492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579072329 meters 0.08200243667496293 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.19, Z:-0.60 [[ 9.97658769e-01 6.67267657e-02 -1.49839605e-02 1.45197484e+01] [-6.67166768e-02 9.97771271e-01 1.17273453e-03 -1.87573175e-01] [ 1.50288181e-02 -1.70308837e-04 9.99887046e-01 -6.04620763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639072328999994 meters 0.0835026829274894 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.20, Z:-0.61 [[ 9.98174508e-01 5.89459258e-02 -1.31540703e-02 1.45769217e+01] [-5.89374508e-02 9.98261145e-01 1.03134620e-03 -1.95525778e-01] [ 1.31919909e-02 -2.54196112e-04 9.99912950e-01 -6.11253150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699072328999996 meters 0.08398343582497647 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.20, Z:-0.60 [[ 9.98615789e-01 5.17426953e-02 -9.44458667e-03 1.46353432e+01] [-5.17380634e-02 9.98660420e-01 7.34260379e-04 -2.00112108e-01] [ 9.46992750e-03 -2.44599383e-04 9.99955129e-01 -6.04247320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759072329 meters 0.08619586168966481 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.21, Z:-0.60 [[ 9.99055014e-01 4.27690268e-02 -7.73877473e-03 1.46948232e+01] [-4.27656173e-02 9.99084949e-01 6.05588778e-04 -2.11630552e-01] [ 7.75759380e-03 -2.74063027e-04 9.99969872e-01 -6.02131694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819072328999994 meters 0.09465137731973257 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.24, Z:-0.61 [[ 9.99650880e-01 2.41045419e-02 -1.08207990e-02 1.47517380e+01] [-2.40967786e-02 9.99709271e-01 8.47262468e-04 -2.39875701e-01] [ 1.08380759e-02 -5.86220274e-04 9.99941094e-01 -6.08318205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879072328999996 meters 0.0981449721939078 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.25, Z:-0.61 [[ 9.99819162e-01 1.17391936e-02 -1.49611339e-02 1.48112345e+01] [-1.17229758e-02 9.99930598e-01 1.17123824e-03 -2.49891821e-01] [ 1.49738449e-02 -9.95637423e-04 9.99887390e-01 -6.07315423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939072329 meters 0.10120611205413813 Centerline is valid? [True, False] Translation: X:14.81, Y:-0.25, Z:-0.61 [[ 9.99939637e-01 1.09289712e-02 1.13153692e-03 1.48092973e+01] [-1.09318715e-02 9.99936892e-01 2.58954424e-03 -2.46358193e-01] [-1.10316446e-03 -2.60175774e-03 9.99996007e-01 -6.13457610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.99907232899999 meters 0.09573012511915421 Centerline is valid? [False, True] Translation: X:14.81, Y:-0.23, Z:-0.60 [[ 9.99938571e-01 1.10559729e-02 -7.87645674e-04 1.48123557e+01] [-1.10593850e-02 9.99928861e-01 -4.46800367e-03 -2.33066955e-01] [ 7.38191514e-04 4.47644008e-03 9.99989708e-01 -6.01896186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059072328999996 meters 0.09101293633350928 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.22, Z:-0.60 [[ 9.99779311e-01 2.01871561e-02 5.81452574e-03 1.48737694e+01] [-2.01851781e-02 9.99796179e-01 -3.98657206e-04 -2.21812635e-01] [-5.82138838e-03 2.81201989e-04 9.99983016e-01 -5.97758989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119072329 meters 0.08495839763972823 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.20, Z:-0.60 [[ 9.99445716e-01 3.27486456e-02 5.98220123e-03 1.49358760e+01] [-3.27467767e-02 9.99463596e-01 -4.10115206e-04 -1.97366068e-01] [-5.99242307e-03 2.13990077e-04 9.99982022e-01 -5.97202260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17907232899999 meters 0.08451872009713894 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.19, Z:-0.61 [[ 9.99328030e-01 3.66014670e-02 1.95486085e-03 1.49943539e+01] [-3.66012605e-02 9.99329939e-01 -1.41277431e-04 -1.94373912e-01] [-1.95872193e-03 6.96321259e-05 9.99998079e-01 -6.06661159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239072328999995 meters 0.08546836204247273 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.19, Z:-0.61 [[ 9.99392197e-01 3.48565946e-02 -5.05173725e-04 1.50534978e+01] [-3.48565824e-02 9.99392324e-01 3.28283757e-05 -1.87251470e-01] [ 5.06011028e-04 -1.51997930e-05 9.99999872e-01 -6.08708212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299072329 meters 0.08761282687395845 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.19, Z:-0.61 [[ 9.99551192e-01 2.99437631e-02 -8.86300790e-04 1.51142405e+01] [-2.99437212e-02 9.99551584e-01 6.04816398e-05 -1.86603278e-01] [ 8.87714407e-04 -3.39153513e-05 9.99999605e-01 -6.11658410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35907232899999 meters 0.09062397616068985 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.19, Z:-0.61 [[ 9.99746709e-01 2.25046343e-02 2.42251477e-04 1.51746430e+01] [-2.25046309e-02 9.99746739e-01 -1.65840578e-05 -1.93997533e-01] [-2.42563343e-04 1.11280771e-05 9.99999971e-01 -6.14290914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419072328999995 meters 0.09537261646133476 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.21, Z:-0.62 [[ 9.99918159e-01 1.22619137e-02 3.64989987e-03 1.52340830e+01] [-1.22610844e-02 9.99924799e-01 -2.49496295e-04 -2.05443577e-01] [-3.65268470e-03 2.04724146e-04 9.99993308e-01 -6.15235294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479072329 meters 0.09401373762989934 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.21, Z:-0.62 [[ 9.99862667e-01 1.59969420e-02 4.32957639e-03 1.52946305e+01] [-1.59958121e-02 9.99872015e-01 -2.95494413e-04 -2.05328873e-01] [-4.33374927e-03 2.26198741e-04 9.99990584e-01 -6.18144783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53907232899999 meters 0.09256370132792462 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.20, Z:-0.62 [[ 9.99805021e-01 1.82570880e-02 7.52315732e-03 1.53552494e+01] [-1.82537387e-02 9.99833255e-01 -5.13623102e-04 -2.03565149e-01] [-7.53128013e-03 3.76197209e-04 9.99971569e-01 -6.17584898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599072328999995 meters 0.09022035652217615 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.20, Z:-0.61 [[ 9.99786096e-01 1.91304024e-02 7.86065302e-03 1.54141467e+01] [-1.91267641e-02 9.99816922e-01 -5.37764248e-04 -2.00523049e-01] [-7.86950155e-03 3.87300362e-04 9.99968960e-01 -6.14979946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659072329 meters 0.09232056771858996 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.21, Z:-0.62 [[ 9.99830421e-01 1.74435153e-02 5.90363051e-03 1.54715929e+01] [-1.74414331e-02 9.99847805e-01 -4.04000141e-04 -2.08228341e-01] [-5.90977919e-03 3.00963855e-04 9.99982492e-01 -6.18821593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71907232899999 meters 0.09576621469308626 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.22, Z:-0.63 [[ 9.99854007e-01 1.61932045e-02 5.45381117e-03 1.55280279e+01] [-1.61914080e-02 9.99868841e-01 -3.73391280e-04 -2.23233676e-01] [-5.45914225e-03 2.85031886e-04 9.99985058e-01 -6.26159510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779072328999995 meters 0.09115583822119108 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.22, Z:-0.62 [[ 9.99820151e-01 1.71473014e-02 8.10155532e-03 1.55887955e+01] [-1.71433961e-02 9.99852889e-01 -5.51246455e-04 -2.19339608e-01] [-8.10981588e-03 4.12259142e-04 9.99967030e-01 -6.20986545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839072329 meters 0.09063792765256197 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.22, Z:-0.62 [[ 9.99756696e-01 1.96945080e-02 9.93351358e-03 1.56477887e+01] [-1.96887614e-02 9.99805929e-01 -6.75972740e-04 -2.21858421e-01] [-9.94489872e-03 4.80229695e-04 9.99950433e-01 -6.18798283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89907232899999 meters 0.08900032148056554 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.22, Z:-0.62 [[ 9.99726658e-01 2.10335909e-02 1.02077214e-02 1.57071755e+01] [-2.10275921e-02 9.99778654e-01 -6.94649495e-04 -2.21545064e-01] [-1.02200729e-02 4.79815817e-04 9.99947659e-01 -6.16962419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959072328999994 meters 0.08949705366156624 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.23, Z:-0.62 [[ 9.99734722e-01 2.09867259e-02 9.48914501e-03 1.57650122e+01] [-2.09815399e-02 9.99779655e-01 -6.45752465e-04 -2.28855595e-01] [-9.50060635e-03 4.46484286e-04 9.99954769e-01 -6.21572211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019072329 meters 0.08988571083078307 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.24, Z:-0.63 [[ 9.99762106e-01 1.99930549e-02 8.71827307e-03 1.58229134e+01] [-1.99886321e-02 9.99800031e-01 -5.94146372e-04 -2.35645207e-01] [-8.72840848e-03 4.19738675e-04 9.99961819e-01 -6.26583667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07907232899999 meters 0.09220841816696473 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.25, Z:-0.63 [[ 9.99832391e-01 1.74709899e-02 5.47312780e-03 1.58815312e+01] [-1.74692201e-02 9.99847333e-01 -3.71013449e-04 -2.47822570e-01] [-5.47877421e-03 2.75339990e-04 9.99984953e-01 -6.33994763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139072328999994 meters 0.09364968959767422 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.26, Z:-0.63 [[ 9.99889250e-01 1.34899311e-02 6.28566498e-03 1.59410126e+01] [-1.34875194e-02 9.99908949e-01 -4.25912188e-04 -2.59516801e-01] [-6.29083818e-03 3.41086990e-04 9.99980154e-01 -6.33395822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199072328999996 meters 0.09043437517594062 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.26, Z:-0.63 [[ 9.99820147e-01 1.58318258e-02 1.04415840e-02 1.60016619e+01] [-1.58253043e-02 9.99874522e-01 -7.06900727e-04 -2.59970331e-01] [-1.04514653e-02 5.41532345e-04 9.99945235e-01 -6.27214923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259072329 meters 0.0908649976090063 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.27, Z:-0.63 [[ 9.99802916e-01 1.59260343e-02 1.18528376e-02 1.60600887e+01] [-1.59176264e-02 9.99872984e-01 -8.03363440e-04 -2.68254274e-01] [-1.18641265e-02 6.14536070e-04 9.99929430e-01 -6.28535420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319072328999994 meters 0.09168394575189585 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.28, Z:-0.63 [[ 9.99833740e-01 1.41587109e-02 1.14900981e-02 1.61187927e+01] [-1.41507093e-02 9.99899571e-01 -7.77396093e-04 -2.80327782e-01] [-1.14999511e-02 6.14673805e-04 9.99933684e-01 -6.30923395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379072328999996 meters 0.09273288088732248 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.29, Z:-0.63 [[ 9.99866680e-01 1.26769341e-02 1.02916046e-02 1.61774620e+01] [-1.26704354e-02 9.99919484e-01 -6.96419498e-04 -2.88749768e-01] [-1.02996044e-02 5.65927541e-04 9.99946798e-01 -6.32678985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439072329 meters 0.0915826362126474 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.29, Z:-0.63 [[ 9.99797870e-01 1.59184294e-02 1.22809778e-02 1.62377149e+01] [-1.59094408e-02 9.99873093e-01 -8.29266475e-04 -2.91456546e-01] [-1.22926199e-02 6.33715366e-04 9.99924242e-01 -6.31852414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49907232899999 meters 0.09146218816264161 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.30, Z:-0.63 [[ 9.99743912e-01 1.72721771e-02 1.46212900e-02 1.62972767e+01] [-1.72595750e-02 9.99850555e-01 -9.87657992e-04 -2.95507553e-01] [-1.46361639e-02 7.35047813e-04 9.99892615e-01 -6.33380623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559072328999996 meters 0.09285505502227427 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.30, Z:-0.64 [[ 9.99743831e-01 1.59872990e-02 1.60211824e-02 1.63545837e+01] [-1.59720009e-02 9.99871854e-01 -1.08237720e-03 -3.02888371e-01] [-1.60364336e-02 8.26209592e-04 9.99871067e-01 -6.36033906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619072329 meters 0.09567330765486287 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.32, Z:-0.64 [[ 9.99765206e-01 1.36151666e-02 1.68570252e-02 1.64124391e+01] [-1.35979274e-02 9.99906898e-01 -1.13687545e-03 -3.15479249e-01] [-1.68709346e-02 9.07387917e-04 9.99857264e-01 -6.39921277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67907232899999 meters 0.0993116956380661 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.32, Z:-0.64 [[ 9.99858160e-01 8.91687111e-03 1.42880869e-02 1.64722069e+01] [-8.90402843e-03 9.99959895e-01 -9.62201585e-04 -3.24599838e-01] [-1.42960937e-02 8.34843574e-04 9.99897457e-01 -6.43730467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739072328999995 meters 0.09457382758337766 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.32, Z:-0.65 [[ 9.99895071e-01 6.92842917e-03 1.27218168e-02 1.65342543e+01] [-6.91809326e-03 9.99975703e-01 -8.56283050e-04 -3.18332317e-01] [-1.27274404e-02 7.68182485e-04 9.99918708e-01 -6.45240324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799072329 meters 0.09859762077501273 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.34, Z:-0.65 [[ 9.99855894e-01 1.40628675e-03 1.69178310e-02 1.65926769e+01] [-1.38719179e-03 9.99998388e-01 -1.14037042e-03 -3.37432599e-01] [-1.69194074e-02 1.11673781e-03 9.99856233e-01 -6.48209677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85907232899999 meters 0.10250191342219607 Centerline is valid? [True, False] Translation: X:16.60, Y:-0.34, Z:-0.64 [[ 9.99959052e-01 -5.95487657e-03 6.81423407e-03 1.66044677e+01] [ 5.95081401e-03 9.99982104e-01 6.16308143e-04 -3.37103007e-01] [-6.81778217e-03 -5.75732667e-04 9.99976593e-01 -6.37424601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919072328999995 meters 0.10067164136471653 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.34, Z:-0.64 [[ 9.99964794e-01 -5.01314002e-03 6.72905085e-03 1.66059359e+01] [ 4.99682116e-03 9.99984540e-01 2.43976123e-03 -3.41933807e-01] [-6.74117768e-03 -2.40605147e-03 9.99974383e-01 -6.39768677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979072329 meters 0.09919696069161754 Centerline is valid? [False, True] Translation: X:16.61, Y:-0.34, Z:-0.64 [[ 9.99966634e-01 -4.91277955e-03 6.52650023e-03 1.66063765e+01] [ 4.89742171e-03 9.99985206e-01 2.36705315e-03 -3.41840878e-01] [-6.53803249e-03 -2.33501114e-03 9.99975901e-01 -6.39562489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03907232899999 meters 0.09733859548159775 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.34, Z:-0.64 [[ 9.99966200e-01 3.69889553e-03 7.34280157e-03 1.66666774e+01] [-3.69546934e-03 9.99993056e-01 -4.80117122e-04 -3.36071800e-01] [-7.34452649e-03 4.52965796e-04 9.99972926e-01 -6.37024406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099072328999995 meters 0.09409836497847128 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.33, Z:-0.64 [[ 9.99911434e-01 1.23526847e-02 4.95340017e-03 1.67267624e+01] [-1.23512318e-02 9.99923668e-01 -3.23798955e-04 -3.31358708e-01] [-4.95702186e-03 2.62589683e-04 9.99987679e-01 -6.44489249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159072329 meters 0.09176423368621317 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.33, Z:-0.64 [[ 9.99862271e-01 1.57151262e-02 5.33617924e-03 1.67871053e+01] [-1.57134878e-02 9.99876475e-01 -3.48830100e-04 -3.25290000e-01] [-5.34100199e-03 2.64932069e-04 9.99985702e-01 -6.44394213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21907232899999 meters 0.08857106698146947 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.31, Z:-0.64 [[ 9.99839292e-01 1.72932111e-02 4.72594090e-03 1.68467025e+01] [-1.72919399e-02 9.99850435e-01 -3.09713265e-04 -3.10495578e-01] [-4.73059000e-03 2.27942806e-04 9.99988785e-01 -6.42320525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279072328999995 meters 0.09093281923630961 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.32, Z:-0.65 [[ 9.99879637e-01 1.48106908e-02 4.62123582e-03 1.69044633e+01] [-1.48094502e-02 9.99890288e-01 -3.02560306e-04 -3.18610495e-01] [-4.62520995e-03 2.34085927e-04 9.99989276e-01 -6.48161684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339072329 meters 0.09074097800183423 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.32, Z:-0.65 [[ 9.99903996e-01 1.25596905e-02 5.85263490e-03 1.69634456e+01] [-1.25576679e-02 9.99921076e-01 -3.82210040e-04 -3.21852602e-01] [-5.85697343e-03 3.08677900e-04 9.99982800e-01 -6.48570585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39907232899999 meters 0.09616058422400521 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.33, Z:-0.65 [[ 9.99970104e-01 4.50764395e-03 6.28267233e-03 1.70216073e+01] [-4.50516096e-03 9.99989768e-01 -4.09309258e-04 -3.32591833e-01] [-6.28445307e-03 3.80992571e-04 9.99980180e-01 -6.50853873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459072328999994 meters 0.09618200600481437 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.33, Z:-0.65 [[ 9.99958251e-01 3.63000397e-03 8.38565479e-03 1.70819844e+01] [-3.62555194e-03 9.99993279e-01 -5.46050527e-04 -3.31225543e-01] [-8.38758059e-03 5.15625103e-04 9.99964691e-01 -6.47194935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519072329 meters 0.09705090546853139 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.33, Z:-0.65 [[ 9.99959095e-01 4.44820853e-03 7.87541001e-03 1.71434954e+01] [-4.44432817e-03 9.99989994e-01 -5.10151517e-04 -3.34653529e-01] [-7.87760047e-03 4.75129743e-04 9.99968858e-01 -6.49292656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57907232899999 meters 0.09335111686629068 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.33, Z:-0.66 [[ 9.99952546e-01 7.40322675e-03 6.33234194e-03 1.72050424e+01] [-7.40075814e-03 9.99972529e-01 -4.13186353e-04 -3.29561951e-01] [-6.33522689e-03 3.66302614e-04 9.99979865e-01 -6.55493787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639072328999994 meters 0.09495332480534421 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.34, Z:-0.66 [[ 9.99958369e-01 7.52145666e-03 5.16607339e-03 1.72631087e+01] [-7.51980833e-03 9.99971669e-01 -3.38419249e-04 -3.35723663e-01] [-5.16847243e-03 2.99557278e-04 9.99986598e-01 -6.59164163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699072328999996 meters 0.09826596050168322 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.34, Z:-0.66 [[ 9.99952375e-01 8.34956568e-03 5.05302567e-03 1.73203521e+01] [-8.34799796e-03 9.99965100e-01 -3.31265271e-04 -3.44609262e-01] [-5.05561524e-03 2.89066846e-04 9.99987179e-01 -6.62731998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759072329 meters 0.09418881491568129 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.34, Z:-0.66 [[ 9.99938221e-01 9.62647340e-03 5.55753297e-03 1.73794177e+01] [-9.62460139e-03 9.99953616e-01 -3.63488709e-04 -3.39567946e-01] [-5.56077431e-03 3.09977213e-04 9.99984491e-01 -6.62882623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819072328999994 meters 0.09230066381873385 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.34, Z:-0.66 [[ 9.99928201e-01 1.01720338e-02 6.33416083e-03 1.74386212e+01] [-1.01696166e-02 9.99948203e-01 -4.13714008e-04 -3.38805572e-01] [-6.33804105e-03 3.49268317e-04 9.99979853e-01 -6.62767471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879072328999996 meters 0.0925200989487121 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.34, Z:-0.66 [[ 9.99925500e-01 1.05992930e-02 6.05389289e-03 1.74973718e+01] [-1.05970949e-02 9.99943771e-01 -3.95052468e-04 -3.38189584e-01] [-6.05773976e-03 3.30869359e-04 9.99981597e-01 -6.59942215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939072329 meters 0.09292400816383466 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.34, Z:-0.67 [[ 9.99931970e-01 1.09347819e-02 4.06022339e-03 1.75558992e+01] [-1.09337952e-02 9.99940189e-01 -2.65137236e-04 -3.42406721e-01] [-4.06287976e-03 2.20725548e-04 9.99991722e-01 -6.65635028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99907232899999 meters 0.09278230981934087 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.35, Z:-0.67 [[ 9.99934343e-01 1.14524327e-02 3.89843770e-04 1.76146208e+01] [-1.14524232e-02 9.99934418e-01 -2.66730933e-05 -3.47419170e-01] [-3.90123675e-04 2.22066862e-05 9.99999924e-01 -6.72793626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059072328999996 meters 0.09246356279746933 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.35, Z:-0.67 [[ 9.99923273e-01 1.20622536e-02 2.81967706e-03 1.76739141e+01] [-1.20617800e-02 9.99927237e-01 -1.84919129e-04 -3.47225163e-01] [-2.82170243e-03 1.50894616e-04 9.99996008e-01 -6.68217662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119072329 meters 0.09321742312213958 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.35, Z:-0.66 [[ 9.99914190e-01 1.15426084e-02 6.19527341e-03 1.77326185e+01] [-1.15403364e-02 9.99933327e-01 -4.02344999e-04 -3.51485171e-01] [-6.19950446e-03 3.30814934e-04 9.99980728e-01 -6.64697946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17907232899999 meters 0.09344855508914046 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.36, Z:-0.67 [[ 9.99919284e-01 1.17246058e-02 4.89471508e-03 1.77905385e+01] [-1.17231900e-02 9.99931231e-01 -3.17846489e-04 -3.59692932e-01] [-4.89810510e-03 2.60439159e-04 9.99987970e-01 -6.72824921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239072328999995 meters 0.09517629092337197 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.37, Z:-0.67 [[ 9.99965866e-01 8.04817886e-03 1.86914964e-03 1.78503179e+01] [-8.04796677e-03 9.99967607e-01 -1.20960155e-04 -3.67011905e-01] [-1.87006260e-03 1.05913171e-04 9.99998246e-01 -6.74173277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299072329 meters 0.09577074984632326 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.37, Z:-0.67 [[ 9.99971719e-01 7.08916651e-03 2.51097459e-03 1.79084286e+01] [-7.08877740e-03 9.99974861e-01 -1.63827894e-04 -3.72328064e-01] [-2.51207287e-03 1.46023521e-04 9.99996834e-01 -6.74125230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35907232899999 meters 0.09761756974304335 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.38, Z:-0.67 [[ 9.99945004e-01 8.43626628e-03 6.23048234e-03 1.79667644e+01] [-8.43391827e-03 9.99964353e-01 -4.03036729e-04 -3.79295001e-01] [-6.23366036e-03 3.50467185e-04 9.99980509e-01 -6.71537565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419072328999995 meters 0.09839375910348425 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.39, Z:-0.67 [[ 9.99939564e-01 7.83308686e-03 7.71433577e-03 1.80250031e+01] [-7.82947267e-03 9.99969225e-01 -4.98593019e-04 -3.86862151e-01] [-7.71800388e-03 4.38163705e-04 9.99970120e-01 -6.74390037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479072329 meters 0.09664373020527536 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.39, Z:-0.67 [[ 9.99963615e-01 4.71519107e-03 7.10888158e-03 1.80848063e+01] [-4.71205070e-03 9.99988793e-01 -4.58437778e-04 -3.89428420e-01] [-7.11096354e-03 4.24923688e-04 9.99974626e-01 -6.73853160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53907232899999 meters 0.09691663981786279 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.40, Z:-0.67 [[ 9.99979879e-01 2.15157272e-03 5.96767693e-03 1.81453677e+01] [-2.14931676e-03 9.99997616e-01 -3.84417187e-04 -3.95779207e-01] [-5.96848980e-03 3.71583024e-04 9.99982119e-01 -6.73910604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599072328999995 meters 0.0967117645762141 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.40, Z:-0.68 [[ 9.99982429e-01 -9.21940783e-04 5.85588136e-03 1.82059353e+01] [ 9.24165975e-04 9.99999502e-01 -3.77298139e-04 -4.02956460e-01] [-5.85553060e-03 3.82703315e-04 9.99982783e-01 -6.76130892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659072329 meters 0.09911041045507013 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.41, Z:-0.68 [[ 9.99991026e-01 -2.69065903e-03 3.27224470e-03 1.82655101e+01] [ 2.69136296e-03 9.99996356e-01 -2.10739340e-04 -4.14742290e-01] [-3.27166575e-03 2.19544247e-04 9.99994624e-01 -6.81353521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71907232899999 meters 0.09881891995334356 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.42, Z:-0.68 [[ 9.99981940e-01 -1.52151620e-03 5.81422233e-03 1.83266738e+01] [ 1.52371965e-03 9.99998769e-01 -3.74565333e-04 -4.20198214e-01] [-5.81364527e-03 3.83417813e-04 9.99983027e-01 -6.78253006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779072328999995 meters 0.09734564345995035 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.42, Z:-0.68 [[ 9.99977647e-01 -6.50693931e-04 6.65441849e-03 1.83891899e+01] [ 6.53559989e-04 9.99999695e-01 -4.28534531e-04 -4.22678818e-01] [-6.65413761e-03 4.32874014e-04 9.99977767e-01 -6.76545415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839072329 meters 0.09830470085445404 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.43, Z:-0.68 [[ 9.99989915e-01 1.19264667e-03 4.32989724e-03 1.84490984e+01] [-1.19144771e-03 9.99999251e-01 -2.79472340e-04 -4.25507666e-01] [-4.33022731e-03 2.74310675e-04 9.99990587e-01 -6.79004947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89907232899999 meters 0.10001829427272821 Centerline is valid? [True, False] Translation: X:18.45, Y:-0.43, Z:-0.68 [[ 9.99988567e-01 2.00474664e-03 4.34139285e-03 1.84504348e+01] [-2.00956794e-03 9.99997369e-01 1.10646554e-03 -4.29086057e-01] [-4.33916324e-03 -1.11517721e-03 9.99989964e-01 -6.81244047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959072328999994 meters 0.10217223030167792 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.43, Z:-0.68 [[ 9.99989026e-01 -1.71693058e-03 4.35899013e-03 1.84508210e+01] [ 1.72605620e-03 9.99996325e-01 -2.09061906e-03 -4.33234156e-01] [-4.35538467e-03 2.09811997e-03 9.99988314e-01 -6.81930634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019072329 meters 0.10324092378015917 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.43, Z:-0.68 [[ 9.99989916e-01 -1.69164133e-03 4.15998493e-03 1.84510117e+01] [ 1.70032899e-03 9.99996379e-01 -2.08573902e-03 -4.33437634e-01] [-4.15644155e-03 2.09279133e-03 9.99989172e-01 -6.81408912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07907232899999 meters 0.10032804750899928 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.44, Z:-0.68 [[ 9.99990433e-01 -1.59663248e-03 4.07235458e-03 1.84508060e+01] [ 1.60387684e-03 9.99997136e-01 -1.77626734e-03 -4.35180060e-01] [-4.06950687e-03 1.78278190e-03 9.99990130e-01 -6.80747735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139072328999994 meters 0.10871612447076066 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.44, Z:-0.68 [[ 9.99982424e-01 -4.50156164e-03 3.85850444e-03 1.84532472e+01] [ 4.51701861e-03 9.99981772e-01 -4.00663988e-03 -4.41003403e-01] [-3.84039797e-03 4.02399839e-03 9.99984529e-01 -6.83576289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199072328999996 meters 0.10463896981735771 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.45, Z:-0.69 [[ 9.99984879e-01 -3.67779781e-03 4.08844321e-03 1.84538788e+01] [ 3.68645902e-03 9.99990973e-01 -2.11294847e-03 -4.46665489e-01] [-4.08063531e-03 2.12798839e-03 9.99989410e-01 -6.85862148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259072329 meters 0.10582298413276893 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.45, Z:-0.69 [[ 9.99986876e-01 -3.18999455e-03 4.00896198e-03 1.84541597e+01] [ 3.19474976e-03 9.99994200e-01 -1.18030011e-03 -4.50200535e-01] [-4.00517358e-03 1.19309225e-03 9.99991268e-01 -6.85986698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319072328999994 meters 0.10234295778593197 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.45, Z:-0.68 [[ 9.99988726e-01 -3.21049147e-03 3.49858084e-03 1.84545645e+01] [ 3.21581803e-03 9.99993677e-01 -1.51793093e-03 -4.49777305e-01] [-3.49368541e-03 1.52916461e-03 9.99992728e-01 -6.84428971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379072328999996 meters 0.10273653277886394 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.45, Z:-0.69 [[ 9.99991874e-01 -2.51292218e-03 3.15234637e-03 1.84560564e+01] [ 2.51471916e-03 9.99996678e-01 -5.66210993e-04 -4.52263417e-01] [-3.15091306e-03 5.74133658e-04 9.99994871e-01 -6.85393219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439072329 meters 0.10288996509614655 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.46, Z:-0.69 [[ 9.99987613e-01 -4.46504063e-03 2.19917609e-03 1.84608018e+01] [ 4.47063655e-03 9.99986765e-01 -2.54624402e-03 -4.60733979e-01] [-2.18777790e-03 2.55604420e-03 9.99994340e-01 -6.87476423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49907232899999 meters 0.10263131812769477 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.46, Z:-0.69 [[ 9.99992527e-01 -3.77605497e-03 8.29184183e-04 1.84634929e+01] [ 3.77814756e-03 9.99989645e-01 -2.53678099e-03 -4.60790752e-01] [-8.19596573e-04 2.53989482e-03 9.99996439e-01 -6.86104980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559072328999996 meters 0.09465815263491612 Centerline is valid? [False, True] Translation: X:18.47, Y:-0.46, Z:-0.69 [[ 9.99995320e-01 -3.00760871e-03 -5.61244342e-04 1.84665527e+01] [ 3.00624311e-03 9.99992557e-01 -2.41834347e-03 -4.60122135e-01] [ 5.68513596e-04 2.41664491e-03 9.99996918e-01 -6.85443253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619072329 meters 0.0893433959163675 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.46, Z:-0.69 [[ 9.99965388e-01 7.97084069e-03 -2.38507825e-03 1.85273630e+01] [-7.97054820e-03 9.99968226e-01 1.32115531e-04 -4.58006913e-01] [ 2.38605554e-03 -1.13100577e-04 9.99997147e-01 -6.90636796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67907232899999 meters 0.08475889781231816 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.45, Z:-0.70 [[ 9.99751682e-01 2.15891278e-02 -5.52128446e-03 1.85873543e+01] [-2.15877717e-02 9.99766910e-01 3.05105593e-04 -4.50212726e-01] [ 5.52658447e-03 -1.85837602e-04 9.99984711e-01 -6.99983531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739072328999995 meters 0.08076868103781276 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.44, Z:-0.70 [[ 9.99373044e-01 3.49928587e-02 -5.38684826e-03 1.86461995e+01] [-3.49917661e-02 9.99387557e-01 2.96961852e-04 -4.43653339e-01] [ 5.39394066e-03 -1.08280335e-04 9.99985447e-01 -7.04825063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799072329 meters 0.07753091357428746 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.43, Z:-0.69 [[ 9.99050972e-01 4.34416841e-02 -3.15848971e-03 1.87070354e+01] [-4.34413504e-02 9.99055964e-01 1.74219475e-04 -4.32572215e-01] [ 3.16307637e-03 -3.68450774e-05 9.99994997e-01 -6.93897858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85907232899999 meters 0.0765178820651616 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.42, Z:-0.69 [[ 9.98575164e-01 5.32183824e-02 -3.93019554e-03 1.87658960e+01] [-5.32179623e-02 9.98582898e-01 2.11465984e-04 -4.22823154e-01] [ 3.93587993e-03 -2.00768096e-06 9.99992254e-01 -6.89535345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919072328999995 meters 0.07723311331899975 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.43, Z:-0.70 [[ 9.98225074e-01 5.90553092e-02 -7.69227593e-03 1.88249325e+01] [-5.90538114e-02 9.98254712e-01 4.21901071e-04 -4.27051600e-01] [ 7.70376619e-03 3.31059840e-05 9.99970325e-01 -6.98811056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979072329 meters 0.07744959586410421 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.44, Z:-0.70 [[ 9.98229813e-01 5.89329809e-02 -8.00902452e-03 1.88827830e+01] [-5.89313999e-02 9.98261941e-01 4.33461550e-04 -4.35283888e-01] [ 8.02064954e-03 3.92887848e-05 9.99967833e-01 -7.00466780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03907232899999 meters 0.07669122809797059 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.44, Z:-0.70 [[ 9.98474322e-01 5.47188714e-02 -7.40764358e-03 1.89410080e+01] [-5.47174190e-02 9.98501800e-01 3.98747247e-04 -4.41864109e-01] [ 7.41836445e-03 7.18825070e-06 9.99972484e-01 -6.95158757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099072328999995 meters 0.07671618831371542 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.46, Z:-0.70 [[ 9.98819295e-01 4.80789382e-02 -6.95934041e-03 1.89983143e+01] [-4.80775166e-02 9.98843538e-01 3.71511659e-04 -4.59602189e-01] [ 6.96915409e-03 -3.64852090e-05 9.99975714e-01 -6.96074892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159072329 meters 0.07743361031683293 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.48, Z:-0.70 [[ 9.99088724e-01 4.21333860e-02 -6.81909331e-03 1.90554808e+01] [-4.21318603e-02 9.99111991e-01 3.67304475e-04 -4.75383660e-01] [ 6.82851368e-03 -7.96686727e-05 9.99976682e-01 -6.99659655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21907232899999 meters 0.07864932118519984 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.49, Z:-0.70 [[ 9.99326849e-01 3.59030260e-02 -7.53800996e-03 1.91128024e+01] [-3.59009840e-02 9.99355269e-01 4.06080726e-04 -4.89791087e-01] [ 7.54772950e-03 -1.35185397e-04 9.99971506e-01 -7.02728390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279072328999995 meters 0.07938186707905545 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.51, Z:-0.70 [[ 9.99628633e-01 2.64211942e-02 -6.67208968e-03 1.91724332e+01] [-2.64193750e-02 9.99650882e-01 3.60661156e-04 -5.08711465e-01] [ 6.67928943e-03 -1.84254779e-04 9.99977676e-01 -6.98858035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339072329 meters 0.08170389760527201 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.53, Z:-0.70 [[ 9.99839277e-01 1.66897689e-02 -6.54769838e-03 1.92306319e+01] [-1.66878116e-02 9.99860686e-01 3.53455138e-04 -5.31749272e-01] [ 6.55268528e-03 -2.44131573e-04 9.99978501e-01 -6.99151548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39907232899999 meters 0.08363130110227228 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.55, Z:-0.70 [[ 9.99910223e-01 1.09387233e-02 -7.73893735e-03 1.92900669e+01] [-1.09358148e-02 9.99940115e-01 4.18036874e-04 -5.46243534e-01] [ 7.74304669e-03 -3.33367758e-04 9.99969967e-01 -7.00634363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459072328999994 meters 0.08509181867797679 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.56, Z:-0.70 [[ 9.99951086e-01 4.67997850e-03 -8.71339640e-03 1.93492352e+01] [-4.67605770e-03 9.99988957e-01 4.70291918e-04 -5.64153091e-01] [ 8.71550113e-03 -4.29524570e-04 9.99961927e-01 -7.02599511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519072329 meters 0.08785778035431713 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.59, Z:-0.70 [[ 9.99976083e-01 -6.79929706e-04 -6.88266033e-03 1.94068009e+01] [ 6.82498072e-04 9.99999698e-01 3.70822891e-04 -5.85438809e-01] [ 6.88240612e-03 -3.75511425e-04 9.99976245e-01 -7.03587324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57907232899999 meters 0.08843679600779784 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.60, Z:-0.71 [[ 9.99966603e-01 -1.62454390e-03 -8.00963550e-03 1.94661490e+01] [ 1.62805132e-03 9.99998582e-01 4.31399332e-04 -5.96513998e-01] [ 8.00892331e-03 -4.44425022e-04 9.99967829e-01 -7.05144838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639072328999994 meters 0.0873216482807109 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.61, Z:-0.71 [[ 9.99965778e-01 2.18380199e-04 -8.27008608e-03 1.95244793e+01] [-2.14713928e-04 9.99999878e-01 4.44202407e-04 -6.05092899e-01] [ 8.27018208e-03 -4.42411503e-04 9.99965704e-01 -7.06054375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699072328999996 meters 0.0851938235693175 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.61, Z:-0.71 [[ 9.99940443e-01 2.07004215e-03 -1.07156773e-02 1.95835535e+01] [-2.06404953e-03 9.99997707e-01 5.70267063e-04 -6.08363286e-01] [ 1.07168332e-02 -5.48115411e-04 9.99942423e-01 -7.07999640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759072329 meters 0.08456707716245786 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.62, Z:-0.71 [[ 9.99954965e-01 4.16919553e-03 -8.52561862e-03 1.96433579e+01] [-4.16545116e-03 9.99991220e-01 4.56900823e-04 -6.18981163e-01] [ 8.52744867e-03 -4.21367198e-04 9.99963552e-01 -7.08358385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819072328999994 meters 0.0836600362331728 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.63, Z:-0.71 [[ 9.99961931e-01 6.45712980e-03 -5.86878477e-03 1.97027535e+01] [-6.45539869e-03 9.99979114e-01 3.13864289e-04 -6.26251787e-01] [ 5.87068886e-03 -2.75966995e-04 9.99982729e-01 -7.07114694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879072328999996 meters 0.08227165632967971 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.63, Z:-0.71 [[ 9.99954267e-01 8.73448192e-03 -3.89530808e-03 1.97630021e+01] [-8.73373637e-03 9.99961838e-01 2.08366342e-04 -6.30094663e-01] [ 3.89697940e-03 -1.74336219e-04 9.99992392e-01 -7.06784771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939072329 meters 0.08102664722426227 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.63, Z:-0.71 [[ 9.99903505e-01 1.33989210e-02 -3.66726620e-03 1.98232361e+01] [-1.33982917e-02 9.99910220e-01 1.96090686e-04 -6.27725024e-01] [ 3.66956435e-03 -1.46936662e-04 9.99993256e-01 -7.06568396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.99907232899999 meters 0.07812923890392699 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.62, Z:-0.70 [[ 9.99835784e-01 1.80043490e-02 -2.06131227e-03 1.98837183e+01] [-1.80041604e-02 9.99837906e-01 1.10008138e-04 -6.20790934e-01] [ 2.06295877e-03 -7.28778758e-05 9.99997869e-01 -7.04356944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059072328999996 meters 0.07754399182827583 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.62, Z:-0.71 [[ 9.99759064e-01 2.18229931e-02 -2.36039207e-03 1.99428206e+01] [-2.18227574e-02 9.99761847e-01 1.25581325e-04 -6.18311457e-01] [ 2.36257050e-03 -7.40408045e-05 9.99997206e-01 -7.08042545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119072329 meters 0.07667822879467726 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.60, Z:-0.71 [[ 9.99657882e-01 2.61169671e-02 -1.42255650e-03 2.00022247e+01] [-2.61168863e-02 9.99658893e-01 7.53342668e-05 -6.04369163e-01] [ 1.42403876e-03 -3.81557472e-05 9.99998985e-01 -7.06923157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17907232899999 meters 0.07680915073668788 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.60, Z:-0.71 [[ 9.99652912e-01 2.63090923e-02 -1.37387426e-03 2.00611935e+01] [-2.63090182e-02 9.99653855e-01 7.19573927e-05 -6.04054491e-01] [ 1.37529184e-03 -3.57871342e-05 9.99999054e-01 -7.08282309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239072328999995 meters 0.07754282990910251 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.60, Z:-0.71 [[ 9.99735412e-01 2.29869322e-02 -8.40255960e-04 2.01196932e+01] [-2.29869049e-02 9.99735765e-01 4.21126566e-05 -6.02239986e-01] [ 8.41001976e-04 -2.27866302e-05 9.99999646e-01 -7.10665338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299072329 meters 0.07848700290357914 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.60, Z:-0.71 [[ 9.99836551e-01 1.80755512e-02 3.81252211e-04 2.01792124e+01] [-1.80755442e-02 9.99836624e-01 -2.18189489e-05 -5.98834129e-01] [-3.81584313e-04 1.49240414e-05 9.99999927e-01 -7.09835212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35907232899999 meters 0.08357566337119209 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.61, Z:-0.72 [[ 9.99981698e-01 6.03831875e-03 3.78210541e-04 2.02383280e+01] [-6.03831150e-03 9.99981769e-01 -2.03030995e-05 -6.09127624e-01] [-3.78326242e-04 1.80189748e-05 9.99999928e-01 -7.17051952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419072328999995 meters 0.08849096906752364 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.62, Z:-0.72 [[ 9.99993187e-01 -3.33905580e-03 1.57358446e-03 2.02975068e+01] [ 3.33919184e-03 9.99994421e-01 -8.38350150e-05 -6.15229101e-01] [-1.57329575e-03 8.90889443e-05 9.99998758e-01 -7.19248335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479072329 meters 0.09160868110385763 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.61, Z:-0.72 [[ 9.99965049e-01 -7.70805485e-03 3.23817361e-03 2.03572685e+01] [ 7.70865141e-03 9.99970273e-01 -1.71786836e-04 -6.12356230e-01] [-3.23675320e-03 1.96742784e-04 9.99994742e-01 -7.15403297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53907232899999 meters 0.09902086110459005 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.63, Z:-0.72 [[ 9.99860189e-01 -1.65960251e-02 2.04328646e-03 2.04155323e+01] [ 1.65962806e-02 9.99862266e-01 -1.08164607e-04 -6.26603997e-01] [-2.04120993e-03 1.42060440e-04 9.99997907e-01 -7.23364734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599072328999995 meters 0.10130628429939854 Centerline is valid? [True, False] Translation: X:20.41, Y:-0.62, Z:-0.72 [[ 9.99896382e-01 -1.40199196e-02 3.26593264e-03 2.04115088e+01] [ 1.40121531e-02 9.99898971e-01 2.38890320e-03 -6.21623872e-01] [-3.29909491e-03 -2.34289292e-03 9.99991813e-01 -7.21905418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659072329 meters 0.09555553368107025 Centerline is valid? [False, True] Translation: X:20.41, Y:-0.61, Z:-0.72 [[ 9.99939983e-01 -1.05355693e-02 3.00547257e-03 2.04119521e+01] [ 1.05211012e-02 9.99933180e-01 4.78977139e-03 -6.12782895e-01] [-3.05573471e-03 -4.75786304e-03 9.99984012e-01 -7.21843641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71907232899999 meters 0.09797662577045756 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.61, Z:-0.74 [[ 9.99977753e-01 -6.13468332e-03 -2.61904511e-03 2.04719923e+01] [ 6.13513015e-03 9.99981167e-01 1.62608352e-04 -6.13133049e-01] [ 2.61799824e-03 -1.78672917e-04 9.99996557e-01 -7.35639554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779072328999995 meters 0.0946369811006342 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.60, Z:-0.73 [[ 9.99990880e-01 -4.27010344e-03 -7.84258216e-05 2.05338307e+01] [ 4.27010386e-03 9.99990883e-01 5.11207702e-06 -6.01753830e-01] [ 7.84032775e-05 -5.44691681e-06 9.99999997e-01 -7.34768526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839072329 meters 0.09056158553282401 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.58, Z:-0.73 [[ 9.99999929e-01 2.24286061e-04 3.03730145e-04 2.05954373e+01] [-2.24280361e-04 9.99999975e-01 -1.88009861e-05 -5.82996094e-01] [-3.03734354e-04 1.87328640e-05 9.99999954e-01 -7.28243065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89907232899999 meters 0.09024797069451838 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.58, Z:-0.74 [[ 9.99984999e-01 4.64681540e-03 -2.89984728e-03 2.06555381e+01] [-4.64631256e-03 9.99989190e-01 1.80115843e-04 -5.80513335e-01] [ 2.90065289e-03 -1.66639545e-04 9.99995779e-01 -7.39477546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959072328999994 meters 0.09106608262736224 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.58, Z:-0.74 [[ 9.99986990e-01 5.09699824e-03 1.99461774e-04 2.07134136e+01] [-5.09699563e-03 9.99987010e-01 -1.35707227e-05 -5.83809351e-01] [-1.99528353e-04 1.25538903e-05 9.99999980e-01 -7.41166870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019072329 meters 0.09104937466954752 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.58, Z:-0.74 [[ 9.99974516e-01 6.96297992e-03 1.57611894e-03 2.07726514e+01] [-6.96283380e-03 9.99975754e-01 -9.81743345e-05 -5.76736597e-01] [-1.57676431e-03 8.71975784e-05 9.99998753e-01 -7.37449063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07907232899999 meters 0.09006955721153248 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.56, Z:-0.73 [[ 9.99946796e-01 9.65921561e-03 3.62010859e-03 2.08331359e+01] [-9.65846467e-03 9.99953331e-01 -2.24859597e-04 -5.64577657e-01] [-3.62211160e-03 1.89882943e-04 9.99993422e-01 -7.34166179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139072328999994 meters 0.08947774176249851 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.56, Z:-0.74 [[ 9.99914048e-01 1.28045697e-02 2.81765603e-03 2.08924969e+01] [-1.28041272e-02 9.99918008e-01 -1.75022837e-04 -5.57733905e-01] [-2.81966610e-03 1.38930167e-04 9.99996015e-01 -7.39696163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199072328999996 meters 0.08891498393077078 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.55, Z:-0.75 [[ 9.99894611e-01 1.44082890e-02 1.77964760e-03 2.09518476e+01] [-1.44081141e-02 9.99896192e-01 -1.11056547e-04 -5.53488586e-01] [-1.78106300e-03 8.54034770e-05 9.99998410e-01 -7.45075169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25907232899999 meters 0.08321690210595475 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.53, Z:-0.75 [[ 9.99688956e-01 2.49259940e-02 -8.27831972e-04 2.10136450e+01] [-2.49259602e-02 9.99689299e-01 5.10468841e-05 -5.26842102e-01] [ 8.28847158e-04 -3.03964995e-05 9.99999656e-01 -7.45620591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319072328999994 meters 0.08072177880433153 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.51, Z:-0.74 [[ 9.99412991e-01 3.42039801e-02 1.93949516e-03 2.10736189e+01] [-3.42038106e-02 9.99414871e-01 -1.20532680e-04 -5.11632219e-01] [-1.94248300e-03 5.41238013e-05 9.99998112e-01 -7.42792164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379072328999996 meters 0.07702497757253295 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.49, Z:-0.74 [[ 9.98889371e-01 4.67934673e-02 5.51328146e-03 2.11351720e+01] [-4.67922977e-02 9.98904582e-01 -3.41013374e-04 -4.87311509e-01] [-5.52319931e-03 8.26555274e-05 9.99984744e-01 -7.42919280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439072329 meters 0.07646104922981278 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.48, Z:-0.75 [[ 9.98628333e-01 5.21545598e-02 4.62101072e-03 2.11933019e+01] [-5.21537923e-02 9.98639024e-01 -2.86511306e-04 -4.80492290e-01] [-4.62966450e-03 4.51150743e-05 9.99989282e-01 -7.46675311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49907232899999 meters 0.07701921893759792 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.49, Z:-0.75 [[ 9.98771580e-01 4.95494255e-02 4.31257629e-04 2.12513444e+01] [-4.95494181e-02 9.98771673e-01 -2.78096580e-05 -4.85749281e-01] [-4.32105856e-04 6.40693145e-06 9.99999907e-01 -7.51144072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559072328999996 meters 0.07796502130499133 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.50, Z:-0.76 [[ 9.98818218e-01 4.85996920e-02 -4.87350136e-04 2.13090163e+01] [-4.85996848e-02 9.98818337e-01 2.65600378e-05 -4.96478166e-01] [ 4.88065062e-04 -2.84358657e-06 9.99999881e-01 -7.57965113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619072329 meters 0.07845071387985587 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.51, Z:-0.76 [[ 9.99066303e-01 4.31672627e-02 1.76344442e-03 2.13664191e+01] [-4.31671369e-02 9.99067859e-01 -1.09364733e-04 -5.12632219e-01] [-1.76652161e-03 3.31397733e-05 9.99998439e-01 -7.56410947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67907232899999 meters 0.07945880055252455 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.52, Z:-0.75 [[ 9.99318313e-01 3.66366197e-02 4.54609744e-03 2.14254831e+01] [-3.66357284e-02 9.99328647e-01 -2.79195421e-04 -5.24890691e-01] [-4.55327419e-03 1.12455506e-04 9.99989627e-01 -7.48052166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739072328999995 meters 0.08148555687465046 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.54, Z:-0.75 [[ 9.99485375e-01 3.18089163e-02 4.14469855e-03 2.14836819e+01] [-3.18081337e-02 9.99493961e-01 -2.54613201e-04 -5.42639688e-01] [-4.15070014e-03 1.22647045e-04 9.99991378e-01 -7.51915727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799072329 meters 0.0855256386601223 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.57, Z:-0.76 [[ 9.99731368e-01 2.31772782e-02 -8.05462268e-05 2.15417486e+01] [-2.31772779e-02 9.99731371e-01 4.81426166e-06 -5.65978996e-01] [ 8.06361712e-05 -2.94612610e-06 9.99999997e-01 -7.58751541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85907232899999 meters 0.09062938470836746 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.59, Z:-0.76 [[ 9.99907047e-01 1.35464941e-02 -1.54570463e-03 2.15991018e+01] [-1.35463641e-02 9.99908239e-01 9.45743038e-05 -5.92212284e-01] [ 1.54684395e-03 -7.36268352e-05 9.99998801e-01 -7.60865610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919072328999995 meters 0.09333495424394386 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.61, Z:-0.75 [[ 9.99945642e-01 9.59102292e-03 4.08966238e-03 2.16568819e+01] [-9.59007654e-03 9.99953983e-01 -2.50955896e-04 -6.09812661e-01] [-4.09188111e-03 2.11722079e-04 9.99991606e-01 -7.53179120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979072329 meters 0.0895382863294606 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.61, Z:-0.76 [[ 9.99956463e-01 9.24963923e-03 1.23149386e-03 2.17151490e+01] [-9.24955192e-03 9.99957219e-01 -7.65788195e-05 -6.09612766e-01] [-1.23214951e-03 6.51847190e-05 9.99999239e-01 -7.56844134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03907232899999 meters 0.09020645241756402 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.62, Z:-0.77 [[ 9.99941045e-01 8.98811129e-03 -6.09258559e-03 2.17741555e+01] [-8.98601337e-03 9.99959556e-01 3.71626519e-04 -6.20809316e-01] [ 6.09567940e-03 -3.16856554e-04 9.99981371e-01 -7.65524729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099072328999995 meters 0.08859855896968696 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.62, Z:-0.77 [[ 9.99924508e-01 1.06517750e-02 -6.12525168e-03 2.18327871e+01] [-1.06496914e-02 9.99943221e-01 3.72693431e-04 -6.22553407e-01] [ 6.12887374e-03 -3.07433256e-04 9.99981171e-01 -7.65526716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159072329 meters 0.08617351787141461 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.62, Z:-0.76 [[ 9.99779764e-01 2.08395616e-02 -2.47725714e-03 2.18923786e+01] [-2.08392518e-02 9.99782828e-01 1.50782870e-04 -6.23190674e-01] [ 2.47986140e-03 -9.91254771e-05 9.99996920e-01 -7.62590175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21907232899999 meters 0.08138968178908129 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.61, Z:-0.76 [[ 9.99417299e-01 3.41175530e-02 -1.02705163e-03 2.19539591e+01] [-3.41175067e-02 9.99417826e-01 6.25853836e-05 -6.12115938e-01] [ 1.02858897e-03 -2.75084743e-05 9.99999471e-01 -7.59701054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279072328999995 meters 0.07972400208742386 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.61, Z:-0.76 [[ 9.99144559e-01 4.13021049e-02 -2.07024708e-03 2.20136672e+01] [-4.13019331e-02 9.99146703e-01 1.25717878e-04 -6.08895133e-01] [ 2.07367295e-03 -4.01051274e-05 9.99997849e-01 -7.63347952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339072329 meters 0.07895827516670821 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.60, Z:-0.77 [[ 9.98847348e-01 4.76788330e-02 -5.54122800e-03 2.20725448e+01] [-4.76777190e-02 9.98862715e-01 3.33039637e-04 -6.04600479e-01] [ 5.55080499e-03 -6.84626464e-05 9.99984592e-01 -7.67948562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39907232899999 meters 0.07880348387073599 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.61, Z:-0.77 [[ 9.98819962e-01 4.83557651e-02 -4.51692065e-03 2.21309262e+01] [-4.83550396e-02 9.98830174e-01 2.69756911e-04 -6.07916761e-01] [ 4.52468094e-03 -5.10227106e-05 9.99989762e-01 -7.67695145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459072328999994 meters 0.07857435867561335 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.61, Z:-0.76 [[ 9.98798806e-01 4.89613778e-02 -1.93082478e-03 2.21892695e+01] [-4.89612509e-02 9.98800672e-01 1.12942878e-04 -6.09830566e-01] [ 1.93403893e-03 -1.82716153e-05 9.99998130e-01 -7.64344716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519072329 meters 0.08054215740379717 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.63, Z:-0.77 [[ 9.99111935e-01 4.19488778e-02 -3.95385141e-03 2.22472391e+01] [-4.19482671e-02 9.99119756e-01 2.37284902e-04 -6.25361773e-01] [ 3.96032489e-03 -7.12169632e-05 9.99992155e-01 -7.69556872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57907232899999 meters 0.0836791153112597 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.64, Z:-0.77 [[ 9.99486060e-01 3.11643125e-02 -7.51015813e-03 2.23067255e+01] [-3.11617973e-02 9.99514251e-01 4.51723390e-04 -6.38619217e-01] [ 7.52058773e-03 -2.17461206e-04 9.99971696e-01 -7.70913988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639072328999994 meters 0.08698304870944983 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.65, Z:-0.77 [[ 9.99694910e-01 2.41755466e-02 -5.06260929e-03 2.23646258e+01] [-2.41743147e-02 9.99707712e-01 3.04402244e-04 -6.54035505e-01] [ 5.06848864e-03 -1.81924264e-04 9.99987139e-01 -7.73238437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699072328999996 meters 0.09062311820952955 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.67, Z:-0.77 [[ 9.99869119e-01 1.61230848e-02 -1.33854912e-03 2.24246241e+01] [-1.61229915e-02 9.99870013e-01 8.05106254e-05 -6.70382254e-01] [ 1.33967321e-03 -5.89186720e-05 9.99999101e-01 -7.71798122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75907232899999 meters 0.08971331437934807 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.67, Z:-0.77 [[ 9.99920083e-01 1.22043178e-02 -3.29877715e-03 2.24851255e+01] [-1.22037303e-02 9.99925512e-01 1.98168680e-04 -6.66162965e-01] [ 3.30094995e-03 -1.57895457e-04 9.99994539e-01 -7.70593600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819072328999994 meters 0.09444693693646188 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.68, Z:-0.78 [[ 9.99927185e-01 1.07204206e-02 -5.54046564e-03 2.25431724e+01] [-1.07187438e-02 9.99942497e-01 3.32251257e-04 -6.79425596e-01] [ 5.54370893e-03 -2.72840232e-04 9.99984596e-01 -7.77014673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879072328999996 meters 0.09432731034507641 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.68, Z:-0.77 [[ 9.99925585e-01 1.12515904e-02 -4.71452449e-03 2.26022866e+01] [-1.12503848e-02 9.99936673e-01 2.82164570e-04 -6.77028889e-01] [ 4.71740073e-03 -2.29103358e-04 9.99988847e-01 -7.73546366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939072329 meters 0.09138894499704642 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.67, Z:-0.78 [[ 9.99919342e-01 1.22402326e-02 -3.38927526e-03 2.26614600e+01] [-1.22396170e-02 9.99925073e-01 2.02318313e-04 -6.72022258e-01] [ 3.39149773e-03 -1.60818564e-04 9.99994236e-01 -7.75156743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99907232899999 meters 0.09082272127527895 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.67, Z:-0.78 [[ 9.99887710e-01 1.44570633e-02 -3.94482232e-03 2.27205526e+01] [-1.44562470e-02 9.99895475e-01 2.35385549e-04 -6.71015169e-01] [ 3.94781297e-03 -1.78331792e-04 9.99992191e-01 -7.79750577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059072328999996 meters 0.08994271241096405 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.66, Z:-0.78 [[ 9.99835022e-01 1.72429871e-02 -5.71032080e-03 2.27788760e+01] [-1.72413233e-02 9.99851299e-01 3.40474089e-04 -6.60556301e-01] [ 5.71534246e-03 -2.41964431e-04 9.99983638e-01 -7.79347430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119072329 meters 0.0899613322951754 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.66, Z:-0.78 [[ 9.99814258e-01 1.86359557e-02 -4.91441447e-03 2.28370068e+01] [-1.86347428e-02 9.99826315e-01 2.92485342e-04 -6.57949834e-01] [ 4.91901166e-03 -2.00852166e-04 9.99987881e-01 -7.82009444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17907232899999 meters 0.09080495293876248 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.66, Z:-0.79 [[ 9.99817052e-01 1.83795220e-02 -5.29674289e-03 2.28952628e+01] [-1.83781110e-02 9.99831059e-01 3.14941359e-04 -6.59634724e-01] [ 5.30163653e-03 -2.17539612e-04 9.99985923e-01 -7.85637463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239072328999995 meters 0.09171529067928876 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.66, Z:-0.79 [[ 9.99832256e-01 1.77547879e-02 -4.49757412e-03 2.29533517e+01] [-1.77537665e-02 9.99842354e-01 2.66927011e-04 -6.61332189e-01] [ 4.50160432e-03 -1.87033355e-04 9.99989850e-01 -7.87344640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299072329 meters 0.08794112276780203 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.64, Z:-0.78 [[ 9.99702560e-01 2.43413804e-02 -1.51263724e-03 2.30148050e+01] [-2.43412724e-02 9.99703703e-01 8.97766417e-05 -6.41936205e-01] [ 1.51437434e-03 -5.29304234e-05 9.99998852e-01 -7.75920417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35907232899999 meters 0.08505430931455944 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.63, Z:-0.78 [[ 9.99520948e-01 3.06615281e-02 -4.21246539e-03 2.30751343e+01] [-3.06607439e-02 9.99529817e-01 2.50637118e-04 -6.32837590e-01] [ 4.21816968e-03 -1.21359728e-04 9.99991096e-01 -7.83963454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419072328999995 meters 0.08709066141891979 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.65, Z:-0.80 [[ 9.99463386e-01 3.23240774e-02 -5.30039242e-03 2.31318800e+01] [-3.23228660e-02 9.99477430e-01 3.14082750e-04 -6.45126061e-01] [ 5.30777503e-03 -1.42590335e-04 9.99985903e-01 -7.95623522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479072329 meters 0.08530539290088412 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.64, Z:-0.79 [[ 9.99341693e-01 3.57283704e-02 -6.29799304e-03 2.31900890e+01] [-3.57267320e-02 9.99361527e-01 3.72491683e-04 -6.35990951e-01] [ 6.30728047e-03 -1.47239759e-04 9.99980098e-01 -7.91845835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53907232899999 meters 0.08352238270141339 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.63, Z:-0.79 [[ 9.99359972e-01 3.56318481e-02 -3.16496800e-03 2.32488827e+01] [-3.56314444e-02 9.99364982e-01 1.83852754e-04 -6.34193177e-01] [ 3.16950920e-03 -7.09627022e-05 9.99994975e-01 -7.87325988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599072328999995 meters 0.08467125940487695 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.65, Z:-0.79 [[ 9.99445125e-01 3.32031913e-02 -2.64390075e-03 2.33057935e+01] [-3.32028975e-02 9.99448620e-01 1.54981329e-04 -6.45119446e-01] [ 2.64758883e-03 -6.71101679e-05 9.99996493e-01 -7.91416925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659072329 meters 0.08455390691872275 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.65, Z:-0.79 [[ 9.99474159e-01 3.23311415e-02 -2.47035291e-03 2.33648464e+01] [-3.23308890e-02 9.99477210e-01 1.42084099e-04 -6.47594412e-01] [ 2.47365517e-03 -6.21406797e-05 9.99996939e-01 -7.88594313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71907232899999 meters 0.08495297368343495 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.65, Z:-0.79 [[ 9.99508770e-01 3.13108107e-02 -1.36086511e-03 2.34223479e+01] [-3.13107362e-02 9.99509696e-01 7.60348334e-05 -6.52338133e-01] [ 1.36257858e-03 -3.33877944e-05 9.99999071e-01 -7.87109692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779072328999995 meters 0.08593891970113846 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.66, Z:-0.79 [[ 9.99498253e-01 3.15468064e-02 -2.83555102e-03 2.34791908e+01] [-3.15464667e-02 9.99502273e-01 1.64479901e-04 -6.60295553e-01] [ 2.83932851e-03 -7.49457581e-05 9.99995966e-01 -7.91607712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839072329 meters 0.08667202111122502 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.67, Z:-0.80 [[ 9.99541528e-01 2.99935252e-02 -4.13797094e-03 2.35371173e+01] [-2.99927892e-02 9.99550086e-01 2.39832972e-04 -6.68392882e-01] [ 4.14330265e-03 -1.15613725e-04 9.99991410e-01 -7.95515347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89907232899999 meters 0.08744191604376188 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.68, Z:-0.79 [[ 9.99708024e-01 2.39481288e-02 -3.21761028e-03 2.35967287e+01] [-2.39476492e-02 9.99713196e-01 1.87512340e-04 -6.79443414e-01] [ 3.22117803e-03 -1.10403389e-04 9.99994806e-01 -7.92543810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959072328999994 meters 0.0877703375678185 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.68, Z:-0.79 [[ 9.99751128e-01 2.20117576e-02 -3.62840759e-03 2.36548697e+01] [-2.20111492e-02 9.99757704e-01 2.07543877e-04 -6.84867704e-01] [ 3.63209685e-03 -1.27626805e-04 9.99993396e-01 -7.92286340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019072329 meters 0.09262410050864436 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.71, Z:-0.80 [[ 9.99835640e-01 1.75838164e-02 -4.41625644e-03 2.37131372e+01] [-1.75828553e-02 9.99845377e-01 2.56363802e-04 -7.05963418e-01] [ 4.42008144e-03 -1.78671268e-04 9.99990215e-01 -7.97740485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07907232899999 meters 0.09175632567252626 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.71, Z:-0.80 [[ 9.99902916e-01 1.36714211e-02 -2.69258478e-03 2.37724278e+01] [-1.36710508e-02 9.99906535e-01 1.55895145e-04 -7.13088277e-01] [ 2.69446442e-03 -1.19069547e-04 9.99996363e-01 -7.95166529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139072328999994 meters 0.09501721176442782 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.73, Z:-0.79 [[ 9.99965597e-01 8.12326471e-03 1.67829387e-03 2.38309816e+01] [-8.12311188e-03 9.99967002e-01 -9.78635026e-05 -7.30522026e-01] [-1.67903346e-03 8.42271670e-05 9.99998587e-01 -7.91973946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199072328999996 meters 0.09439279006444748 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.74, Z:-0.80 [[ 9.99993545e-01 3.32373473e-03 -1.36513582e-03 2.38907245e+01] [-3.32363003e-03 9.99994474e-01 7.89584804e-05 -7.36124377e-01] [ 1.36539071e-03 -7.44207643e-05 9.99999065e-01 -7.95476347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25907232899999 meters 0.09947628190768347 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.76, Z:-0.80 [[ 9.99985475e-01 -4.12694344e-03 -3.46658155e-03 2.39490349e+01] [ 4.12766527e-03 9.99991461e-01 2.01096125e-04 -7.57296795e-01] [ 3.46572204e-03 -2.15402093e-04 9.99993971e-01 -7.98974367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319072328999994 meters 0.10105370834938529 Centerline is valid? [True, False] Translation: X:23.95, Y:-0.76, Z:-0.80 [[ 9.99987209e-01 -4.12959221e-03 -2.92037573e-03 2.39474221e+01] [ 4.13297551e-03 9.99990794e-01 1.15343210e-03 -7.61927083e-01] [ 2.91558564e-03 -1.16548719e-03 9.99995070e-01 -7.98608188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379072328999996 meters 0.10769084755285492 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.77, Z:-0.80 [[ 9.99968300e-01 -7.38504374e-03 -2.97667357e-03 2.39486552e+01] [ 7.38154784e-03 9.99972055e-01 -1.18371239e-03 -7.68343872e-01] [ 2.98533216e-03 1.16170241e-03 9.99994869e-01 -8.00403159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439072329 meters 0.10556263562213283 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.77, Z:-0.80 [[ 9.99972767e-01 -6.82565773e-03 -2.80626733e-03 2.39489512e+01] [ 6.82646098e-03 9.99976661e-01 2.76754249e-04 -7.72633172e-01] [ 2.80431281e-03 -2.95903587e-04 9.99996024e-01 -8.01924995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49907232899999 meters 0.10979111312045939 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.78, Z:-0.80 [[ 9.99970723e-01 -7.38207198e-03 -2.01437970e-03 2.39457427e+01] [ 7.38388694e-03 9.99972338e-01 8.95060687e-04 -7.77301149e-01] [ 2.00771658e-03 -9.09908435e-04 9.99997571e-01 -7.99741627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559072328999996 meters 0.11565070827324168 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.79, Z:-0.80 [[ 9.99943509e-01 -1.04953346e-02 -1.68131023e-03 2.39461181e+01] [ 1.04943156e-02 9.99944745e-01 -6.13751954e-04 -7.87321521e-01] [ 1.68765886e-03 5.96073082e-04 9.99998398e-01 -8.01754174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619072329 meters 0.11750083995823042 Centerline is valid? [False, False] Translation: X:23.95, Y:-0.80, Z:-0.80 [[ 9.99952946e-01 -9.60976527e-03 -1.32631954e-03 2.39463396e+01] [ 9.61221522e-03 9.99952084e-01 1.85333144e-03 -7.95274590e-01] [ 1.30844591e-03 -1.86599310e-03 9.99997403e-01 -8.04133583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67907232899999 meters 0.11474474264042045 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.80, Z:-0.80 [[ 9.99906695e-01 -1.36244977e-02 -9.87163099e-04 2.39445475e+01] [ 1.36236752e-02 9.99906845e-01 -8.35258331e-04 -8.03065188e-01] [ 9.98451114e-04 8.21731608e-04 9.99999164e-01 -8.02509530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739072328999995 meters 0.12400074082887325 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.82, Z:-0.80 [[ 9.99853933e-01 -1.70912915e-02 2.06971254e-05 2.39422529e+01] [ 1.70913025e-02 9.99852600e-01 -1.63277028e-03 -8.17371272e-01] [ 7.21207821e-06 1.63288553e-03 9.99998667e-01 -8.02107561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799072329 meters 0.11942553139638815 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.83, Z:-0.80 [[ 9.99864971e-01 -1.64131195e-02 8.05977599e-04 2.39411906e+01] [ 1.64120526e-02 9.99864451e-01 1.31294636e-03 -8.28029245e-01] [-8.27417895e-04 -1.29954133e-03 9.99998813e-01 -8.03908369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85907232899999 meters 0.11848646634414547 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.84, Z:-0.81 [[ 9.99882239e-01 -1.30884999e-02 8.01241823e-03 2.39329937e+01] [ 1.30871407e-02 9.99914335e-01 2.22039721e-04 -8.44731481e-01] [-8.01463802e-03 -1.17153929e-04 9.99967875e-01 -8.11757505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919072328999995 meters 0.12232136508391912 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.85, Z:-0.81 [[ 9.99906600e-01 -1.15117512e-02 7.36688092e-03 2.39345837e+01] [ 1.14887985e-02 9.99929039e-01 3.15043125e-03 -8.54535834e-01] [-7.40262514e-03 -3.06550039e-03 9.99967901e-01 -8.12174495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979072329 meters 0.11946318547779325 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.86, Z:-0.81 [[ 9.99920439e-01 -1.06045166e-02 6.83087379e-03 2.39359205e+01] [ 1.05739010e-02 9.99933958e-01 4.50258295e-03 -8.59214158e-01] [-6.87817038e-03 -4.42999574e-03 9.99966532e-01 -8.12240555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03907232899999 meters 0.1166084824077842 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.87, Z:-0.81 [[ 9.99976624e-01 -6.72686434e-03 -1.22503515e-03 2.39328873e+01] [ 6.71991890e-03 9.99961807e-01 -5.58809187e-03 -8.67608816e-01] [ 1.26257870e-03 5.57972911e-03 9.99983636e-01 -8.08467338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099072328999995 meters 0.10733356315372232 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.87, Z:-0.81 [[ 9.99982063e-01 -5.72519631e-03 -1.75947073e-03 2.39346250e+01] [ 5.71787273e-03 9.99975085e-01 -4.13959310e-03 -8.72016824e-01] [ 1.78312688e-03 4.12945842e-03 9.99989884e-01 -8.09287184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159072329 meters 0.10994526547057265 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.87, Z:-0.81 [[ 9.99996233e-01 -1.00275184e-03 -2.55521881e-03 2.39357291e+01] [ 1.00393524e-03 9.99999389e-01 4.61887941e-04 -8.73059794e-01] [ 2.55475409e-03 -4.64451475e-04 9.99996629e-01 -8.08046224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21907232899999 meters 0.10272686481885707 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.88, Z:-0.81 [[ 9.99995487e-01 -3.91802492e-05 -3.00399179e-03 2.39373426e+01] [ 4.45764592e-05 9.99998386e-01 1.79630057e-03 -8.77326781e-01] [ 3.00391656e-03 -1.79642637e-03 9.99993875e-01 -8.08940888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279072328999995 meters 0.10286446542317318 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.88, Z:-0.81 [[ 9.99995187e-01 3.60605585e-04 -3.08146028e-03 2.39373750e+01] [-3.52376633e-04 9.99996372e-01 2.67059713e-03 -8.80852419e-01] [ 3.08241213e-03 -2.66949844e-03 9.99991686e-01 -8.08824420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339072329 meters 0.10607640881356518 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.89, Z:-0.81 [[ 9.99989510e-01 -3.25550474e-03 -3.22216085e-03 2.39376830e+01] [ 3.25472525e-03 9.99994673e-01 -2.47129025e-04 -8.86080343e-01] [ 3.22294821e-03 2.36639185e-04 9.99994778e-01 -8.08865600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39907232899999 meters 0.10347645924344544 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.89, Z:-0.81 [[ 9.99973570e-01 -6.59301950e-03 -3.06446693e-03 2.39380760e+01] [ 6.58532751e-03 9.99975158e-01 -2.51340738e-03 -8.93715293e-01] [ 3.08096175e-03 2.49316043e-03 9.99992146e-01 -8.10215787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459072328999994 meters 0.10568209598384551 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.90, Z:-0.81 [[ 9.99970101e-01 -7.32818006e-03 -2.46891884e-03 2.39348946e+01] [ 7.32174905e-03 9.99969806e-01 -2.60383609e-03 -8.95837435e-01] [ 2.48792567e-03 2.58568143e-03 9.99993562e-01 -8.07256032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519072329 meters 0.1096274998301604 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.91, Z:-0.81 [[ 9.99977382e-01 -6.41134342e-03 -2.03213532e-03 2.39346300e+01] [ 6.41131341e-03 9.99979447e-01 -2.12788007e-05 -9.05143901e-01] [ 2.03222998e-03 8.24966293e-06 9.99997935e-01 -8.08698671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57907232899999 meters 0.11086617955028866 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.91, Z:-0.81 [[ 9.99954066e-01 -9.45013832e-03 -1.60053791e-03 2.39351400e+01] [ 9.44829394e-03 9.99954696e-01 -1.15602076e-03 -9.14643882e-01] [ 1.61138995e-03 1.14084531e-03 9.99998051e-01 -8.11679641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639072328999994 meters 0.11411808807372423 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.92, Z:-0.81 [[ 9.99953594e-01 -9.60471141e-03 -7.48294660e-04 2.39327798e+01] [ 9.60487519e-03 9.99953849e-01 2.15596721e-04 -9.20302064e-01] [ 7.46189381e-04 -2.22773993e-04 9.99999697e-01 -8.10934393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699072328999996 meters 0.11597611512366403 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.93, Z:-0.81 [[ 9.99961444e-01 -8.77651799e-03 -2.89048753e-04 2.39323052e+01] [ 8.77727120e-03 9.99957789e-01 2.71670348e-03 -9.28848120e-01] [ 2.65193355e-04 -2.71913579e-03 9.99996268e-01 -8.12208551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75907232899999 meters 0.12020122437635239 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.94, Z:-0.81 [[ 9.99969424e-01 -7.81627923e-03 2.40059843e-04 2.39323680e+01] [ 7.81484097e-03 9.99954339e-01 5.49990537e-03 -9.37214105e-01] [-2.83037678e-04 -5.49786117e-03 9.99984847e-01 -8.14942947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819072328999994 meters 0.12594039434706455 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.94, Z:-0.81 [[ 9.99922115e-01 -1.24543269e-02 8.09065787e-04 2.39296187e+01] [ 1.24529665e-02 9.99921072e-01 1.66517977e-03 -9.41509403e-01] [-8.29740623e-04 -1.65497480e-03 9.99998286e-01 -8.12444468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879072328999996 meters 0.12068345796656892 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.94, Z:-0.81 [[ 9.99926197e-01 -1.21224870e-02 8.03432372e-04 2.39298792e+01] [ 1.21205770e-02 9.99923803e-01 2.34092410e-03 -9.43342015e-01] [-8.31748975e-04 -2.33101327e-03 9.99996937e-01 -8.12866561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939072329 meters 0.12479940460320721 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.95, Z:-0.82 [[ 9.99936781e-01 -7.48110907e-03 8.39451025e-03 2.39180652e+01] [ 7.48671668e-03 9.99971771e-01 -6.36783491e-04 -9.49598878e-01] [-8.38950944e-03 6.99590554e-04 9.99964563e-01 -8.16582233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99907232899999 meters 0.11643161067339804 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.95, Z:-0.82 [[ 9.99942670e-01 -6.66961824e-03 8.37696213e-03 2.39186802e+01] [ 6.66198438e-03 9.99977368e-01 9.38866308e-04 -9.54274974e-01] [-8.38303442e-03 -8.83005291e-04 9.99964472e-01 -8.17681274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059072328999996 meters 0.1182401107420619 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.96, Z:-0.82 [[ 9.99921923e-01 -9.50918285e-03 8.10700541e-03 2.39203231e+01] [ 9.51636293e-03 9.99954359e-01 -8.47548447e-04 -9.61615438e-01] [-8.09857590e-03 9.24631478e-04 9.99966779e-01 -8.19374413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119072329 meters 0.12269444257648447 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.97, Z:-0.82 [[ 9.99930205e-01 -8.61447418e-03 8.08552174e-03 2.39210201e+01] [ 8.60543616e-03 9.99962309e-01 1.15192832e-03 -9.67270534e-01] [-8.09514024e-03 -1.08226848e-03 9.99966648e-01 -8.20760143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17907232899999 meters 0.1221195616322311 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.97, Z:-0.82 [[ 9.99929634e-01 -8.89864917e-03 7.84483745e-03 2.39197049e+01] [ 8.89199095e-03 9.99960075e-01 8.83210324e-04 -9.68682782e-01] [-7.85238363e-03 -8.13391952e-04 9.99968839e-01 -8.17798974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239072328999995 meters 0.11758299357227764 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.98, Z:-0.82 [[ 9.99945519e-01 -7.09944803e-03 7.65230684e-03 2.39211713e+01] [ 7.07095198e-03 9.99967990e-01 3.74449508e-03 -9.78621838e-01] [-7.67864573e-03 -3.69018198e-03 9.99963710e-01 -8.19246667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299072329 meters 0.11152784992159598 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.98, Z:-0.82 [[ 9.99944886e-01 -6.70442934e-03 8.07927095e-03 2.39198671e+01] [ 6.66291128e-03 9.99964516e-01 5.15484255e-03 -9.84645098e-01] [-8.11354454e-03 -5.10072699e-03 9.99954075e-01 -8.18985120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35907232899999 meters 0.11950955939098173 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.99, Z:-0.82 [[ 9.99947540e-01 -6.47000258e-03 7.94078875e-03 2.39201605e+01] [ 6.42522785e-03 9.99963390e-01 5.65119275e-03 -9.86111599e-01] [-7.97706126e-03 -5.59987491e-03 9.99952503e-01 -8.18972979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419072328999995 meters 0.11842133972128105 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.99, Z:-0.82 [[ 9.99999529e-01 -9.21608038e-04 3.05538725e-04 2.39169703e+01] [ 9.22484708e-04 9.99995423e-01 -2.88164383e-03 -9.87952166e-01] [-3.02881581e-04 2.88192433e-03 9.99995801e-01 -8.16420026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479072329 meters 0.10738839271662882 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.99, Z:-0.82 [[ 9.99999865e-01 5.05795206e-04 1.15234628e-04 2.39188367e+01] [-5.05736156e-04 9.99999741e-01 -5.11884034e-04 -9.94225384e-01] [-1.15493507e-04 5.11825687e-04 9.99999862e-01 -8.18856699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53907232899999 meters 0.10581591449068947 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.98, Z:-0.82 [[ 9.99993359e-01 3.63532032e-03 -2.59356693e-04 2.39179688e+01] [-3.63505065e-03 9.99992860e-01 1.03277820e-03 -9.84668781e-01] [ 2.63109320e-04 -1.03182857e-03 9.99999433e-01 -8.15749577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599072328999995 meters 0.10478161434281202 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.98, Z:-0.82 [[ 9.99997598e-01 1.84963234e-03 -1.17552642e-03 2.39218333e+01] [-1.85103935e-03 9.99997570e-01 -1.19695802e-03 -9.82634856e-01] [ 1.17330963e-03 1.19913109e-03 9.99998593e-01 -8.18478128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659072329 meters 0.10281695680285242 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.99, Z:-0.82 [[ 9.99997593e-01 -1.28974064e-04 -2.19012527e-03 2.39272553e+01] [ 1.22849920e-04 9.99996083e-01 -2.79615721e-03 -9.88056782e-01] [ 2.19047733e-03 2.79588142e-03 9.99993692e-01 -8.23169545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71907232899999 meters 0.10124164218986158 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.98, Z:-0.82 [[ 9.99989517e-01 3.61097607e-03 -2.81547599e-03 2.39284804e+01] [-3.61175077e-03 9.99993441e-01 -2.70118461e-04 -9.78972381e-01] [ 2.81448213e-03 2.80284426e-04 9.99996000e-01 -8.22675808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779072328999995 meters 0.09933601732494969 Centerline is valid? [False, True] Translation: X:23.93, Y:-0.98, Z:-0.82 [[ 9.99993512e-01 1.56504601e-04 -3.59879244e-03 2.39308818e+01] [-1.70318541e-04 9.99992618e-01 -3.83850707e-03 -9.79561370e-01] [ 3.59816513e-03 3.83909511e-03 9.99986157e-01 -8.23890411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839072329 meters 0.10034054937169588 Centerline is valid? [True, False] Translation: X:23.93, Y:-0.98, Z:-0.82 [[ 9.99992879e-01 3.49967214e-04 -3.75750198e-03 2.39315917e+01] [-3.63456769e-04 9.99993490e-01 -3.58995035e-03 -9.79901591e-01] [ 3.75622115e-03 3.59129048e-03 9.99986497e-01 -8.24606330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89907232899999 meters 0.10239679280371523 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.82 [[ 9.99985198e-01 3.94651814e-03 -3.74537283e-03 2.39316334e+01] [-3.94915024e-03 9.99991960e-01 -6.95625802e-04 -9.74018637e-01] [ 3.74259741e-03 7.10406546e-04 9.99992744e-01 -8.24440580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959072328999994 meters 0.1009898358537033 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.98, Z:-0.83 [[ 9.99992808e-01 5.40476977e-04 -3.75383311e-03 2.39329239e+01] [-5.53791477e-04 9.99993557e-01 -3.54677443e-03 -9.77628724e-01] [ 3.75189198e-03 3.54882776e-03 9.99986664e-01 -8.26534770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019072329 meters 0.10334095697912944 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.98, Z:-0.83 [[ 9.99994180e-01 1.31272206e-04 -3.40931339e-03 2.39318186e+01] [-1.45068317e-04 9.99991802e-01 -4.04666296e-03 -9.76873707e-01] [ 3.40875422e-03 4.04713399e-03 9.99986000e-01 -8.25920673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07907232899999 meters 0.10254950709303248 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99986958e-01 3.71434648e-03 -3.50534701e-03 2.39323679e+01] [-3.71907706e-03 9.99992181e-01 -1.34398062e-03 -9.69949076e-01] [ 3.50032759e-03 1.35699975e-03 9.99992953e-01 -8.26056625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139072328999994 meters 0.10265361088218919 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99985177e-01 3.98890731e-03 -3.70587282e-03 2.39336903e+01] [-3.99396781e-03 9.99991100e-01 -1.35914068e-03 -9.68606893e-01] [ 3.70041835e-03 1.37392167e-03 9.99992210e-01 -8.27341461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199072328999996 meters 0.10229392548388067 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.83 [[ 9.99983996e-01 3.63871538e-03 -4.33209653e-03 2.39353938e+01] [-3.65138221e-03 9.99989071e-01 -2.91963925e-03 -9.60504278e-01] [ 4.32142545e-03 2.93541067e-03 9.99986354e-01 -8.27453598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25907232899999 meters 0.10338844189578987 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.83 [[ 9.99984388e-01 3.23804292e-03 -4.55393137e-03 2.39355338e+01] [-3.25630330e-03 9.99986666e-01 -4.00812273e-03 -9.56902217e-01] [ 4.54089217e-03 4.02288914e-03 9.99981598e-01 -8.26594689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319072328999994 meters 0.10461688217967575 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.83 [[ 9.99982822e-01 3.75612901e-03 -4.49972088e-03 2.39364596e+01] [-3.77043818e-03 9.99987849e-01 -3.17576128e-03 -9.58320882e-01] [ 4.48773763e-03 3.19267264e-03 9.99984833e-01 -8.28340778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379072328999996 meters 0.10929271285468874 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.83 [[ 9.99983824e-01 4.00270842e-03 -4.04109690e-03 2.39362753e+01] [-4.01208915e-03 9.99989270e-01 -2.31589974e-03 -9.60327820e-01] [ 4.03178367e-03 2.33207552e-03 9.99989153e-01 -8.29844151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439072329 meters 0.11599792980632806 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.96, Z:-0.83 [[ 9.99990496e-01 3.06929797e-03 -3.09622269e-03 2.39326580e+01] [-3.07790815e-03 9.99991399e-01 -2.77994535e-03 -9.61552247e-01] [ 3.08766358e-03 2.78944882e-03 9.99991343e-01 -8.27167358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49907232899999 meters 0.11374969916484964 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99989540e-01 3.66765301e-03 -2.73294428e-03 2.39324611e+01] [-3.67096800e-03 9.99992531e-01 -1.20894555e-03 -9.66547343e-01] [ 2.72848987e-03 1.21896546e-03 9.99995535e-01 -8.28350278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559072328999996 meters 0.10958754886100952 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99996752e-01 -6.85959391e-05 -2.54791384e-03 2.39327893e+01] [ 5.84348259e-05 9.99992047e-01 -3.98787326e-03 -9.70822333e-01] [ 2.54816713e-03 3.98771142e-03 9.99988802e-01 -8.29964308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619072329 meters 0.1117500558789798 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99996852e-01 8.42164916e-05 -2.50776521e-03 2.39331340e+01] [-9.33896356e-05 9.99993305e-01 -3.65800349e-03 -9.71093961e-01] [ 2.50744036e-03 3.65822618e-03 9.99990165e-01 -8.30619655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67907232899999 meters 0.11382605605412427 Centerline is valid? [False, False] Translation: X:23.93, Y:-0.97, Z:-0.83 [[ 9.99997193e-01 4.41287390e-04 -2.32792618e-03 2.39324928e+01] [-4.47648227e-04 9.99996166e-01 -2.73259165e-03 -9.74767167e-01] [ 2.32671139e-03 2.73362607e-03 9.99993557e-01 -8.30325315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739072328999995 meters 0.11387395836032076 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.97, Z:-0.83 [[ 9.99994531e-01 1.03192368e-03 -3.14206714e-03 2.39353848e+01] [-1.04012647e-03 9.99996053e-01 -2.61012126e-03 -9.72484307e-01] [ 3.13936130e-03 2.61337514e-03 9.99991657e-01 -8.31994290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799072329 meters 0.1134249345932206 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.97, Z:-0.83 [[ 9.99991976e-01 1.51461722e-03 -3.70860531e-03 2.39377488e+01] [-1.52362257e-03 9.99995895e-01 -2.42661151e-03 -9.70756610e-01] [ 3.70491470e-03 2.43224255e-03 9.99990179e-01 -8.33574196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85907232899999 meters 0.11043725441857023 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.97, Z:-0.84 [[ 9.99968354e-01 6.49745331e-03 -4.59067220e-03 2.39410887e+01] [-6.48969993e-03 9.99977494e-01 1.70182469e-03 -9.67596186e-01] [ 4.60162640e-03 -1.67197874e-03 9.99988015e-01 -8.35640207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919072328999995 meters 0.10227964053047535 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.96, Z:-0.84 [[ 9.99913179e-01 1.16841397e-02 -6.09221800e-03 2.39449892e+01] [-1.16601266e-02 9.99924168e-01 3.96234649e-03 -9.58653109e-01] [ 6.13805262e-03 -3.89096645e-03 9.99973592e-01 -8.35849542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979072329 meters 0.09384150768527788 Centerline is valid? [False, True] Translation: X:23.95, Y:-0.95, Z:-0.84 [[ 9.99840119e-01 1.63226679e-02 -7.30119746e-03 2.39481379e+01] [-1.62756788e-02 9.99846741e-01 6.44958370e-03 -9.50909002e-01] [ 7.40535290e-03 -6.32972058e-03 9.99952547e-01 -8.36211965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03907232899999 meters 0.08696506344644993 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.92, Z:-0.83 [[ 9.99297662e-01 3.69478300e-02 -6.24828212e-03 2.40113183e+01] [-3.69455411e-02 9.99317164e-01 4.81400136e-04 -9.15965546e-01] [ 6.26180226e-03 -2.50215866e-04 9.99980363e-01 -8.30835685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099072328999995 meters 0.0835992772037609 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.90, Z:-0.83 [[ 9.98763528e-01 4.92768722e-02 -6.57302852e-03 2.40728507e+01] [-4.92746111e-02 9.98785141e-01 5.05595635e-04 -8.99697355e-01] [ 6.58995739e-03 -1.81087055e-04 9.99978270e-01 -8.34444273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159072329 meters 0.08213165557132221 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.89, Z:-0.84 [[ 9.98204662e-01 5.95154794e-02 -6.73494807e-03 2.41328286e+01] [-5.95133388e-02 9.98227376e-01 5.17989421e-04 -8.86766072e-01] [ 6.75383793e-03 -1.16240209e-04 9.99977186e-01 -8.42296150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21907232899999 meters 0.081404394023193 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.88, Z:-0.84 [[ 9.97879679e-01 6.44994282e-02 -8.71606359e-03 2.41925486e+01] [-6.44960877e-02 9.97917739e-01 6.64089143e-04 -8.75709537e-01] [ 8.74074784e-03 -1.00529059e-04 9.99961794e-01 -8.41452765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279072328999995 meters 0.0811728856727454 Centerline is valid? [True, True] Translation: X:24.25, Y:-0.86, Z:-0.84 [[ 9.97435739e-01 7.10586018e-02 -8.52183177e-03 2.42515775e+01] [-7.10556286e-02 9.97472142e-01 6.51529125e-04 -8.61662828e-01] [ 8.54658654e-03 -4.43343210e-05 9.99963476e-01 -8.39450859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339072329 meters 0.08120447870442109 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.86, Z:-0.84 [[ 9.97227476e-01 7.40758071e-02 -7.08070390e-03 2.43105079e+01] [-7.40738657e-02 9.97252613e-01 5.36405584e-04 -8.61071146e-01] [ 7.10098515e-03 -1.04232766e-05 9.99974788e-01 -8.41980924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39907232899999 meters 0.08140739695549212 Centerline is valid? [True, True] Translation: X:24.37, Y:-0.86, Z:-0.84 [[ 9.97188218e-01 7.47328143e-02 -5.53753104e-03 2.43689627e+01] [-7.47316496e-02 9.97203593e-01 4.17236498e-04 -8.58061225e-01] [ 5.55322711e-03 -2.23449123e-06 9.99984581e-01 -8.43180622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459072328999994 meters 0.08267043421013524 Centerline is valid? [True, True] Translation: X:24.43, Y:-0.86, Z:-0.86 [[ 9.97074816e-01 7.58173995e-02 -9.67126372e-03 2.44274400e+01] [-7.58138350e-02 9.97121719e-01 7.35184657e-04 -8.56437148e-01] [ 9.69916689e-03 1.81484958e-07 9.99952962e-01 -8.55295236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519072329 meters 0.08181860345579815 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.86, Z:-0.85 [[ 9.96869930e-01 7.86269608e-02 -8.25490153e-03 2.44869414e+01] [-7.86245046e-02 9.96904108e-01 6.22159395e-04 -8.56680006e-01] [ 8.27826374e-03 2.88255502e-05 9.99965734e-01 -8.48278455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57907232899999 meters 0.08149808146990517 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.85, Z:-0.84 [[ 9.96514094e-01 8.32495203e-02 -5.40170238e-03 2.45457920e+01] [-8.32485541e-02 9.96528733e-01 4.03858748e-04 -8.52365386e-01] [ 5.41657267e-03 4.72329790e-05 9.99985329e-01 -8.44314465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639072328999994 meters 0.082594843236759 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.84, Z:-0.84 [[ 9.95497573e-01 9.47095281e-02 -3.83251590e-03 2.46065540e+01] [-9.47091168e-02 9.95504947e-01 2.89082315e-04 -8.39306830e-01] [ 3.84266739e-03 7.51934530e-05 9.99992614e-01 -8.41549980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699072328999996 meters 0.08339379234998809 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.84, Z:-0.84 [[ 9.94965246e-01 1.00158103e-01 -3.53742626e-03 2.46661550e+01] [-1.00157788e-01 9.94971530e-01 2.66633270e-04 -8.44484476e-01] [ 3.54634390e-03 8.90099514e-05 9.99993708e-01 -8.44831152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75907232899999 meters 0.08487164252212 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.85, Z:-0.85 [[ 9.94292669e-01 1.06388799e-01 -7.96940975e-03 2.47252196e+01] [-1.06387391e-01 9.94324575e-01 6.01598204e-04 -8.47453293e-01] [ 7.98818327e-03 2.49680023e-04 9.99968063e-01 -8.49952385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819072328999994 meters 0.08629133002299558 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.85, Z:-0.85 [[ 9.93807874e-01 1.10767402e-01 -8.74603203e-03 2.47851708e+01] [-1.10765876e-01 9.93846308e-01 6.60224178e-04 -8.46074354e-01] [ 8.76534297e-03 3.12625914e-04 9.99961535e-01 -8.50646978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879072328999996 meters 0.08756314011686052 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.86, Z:-0.85 [[ 9.93509923e-01 1.13447746e-01 -8.22444258e-03 2.48445360e+01] [-1.13446493e-01 9.93543914e-01 6.20235728e-04 -8.55323176e-01] [ 8.24170922e-03 3.16823816e-04 9.99965986e-01 -8.53358469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939072329 meters 0.08765104510172807 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.87, Z:-0.85 [[ 9.93119050e-01 1.16780000e-01 -8.77401782e-03 2.49028148e+01] [-1.16778710e-01 9.93157740e-01 6.60902296e-04 -8.69792741e-01] [ 8.79116388e-03 3.68263826e-04 9.99961289e-01 -8.53130988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99907232899999 meters 0.08882588866614449 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.87, Z:-0.85 [[ 9.92880070e-01 1.18678307e-01 -1.02286446e-02 2.49626156e+01] [-1.18676654e-01 9.92932655e-01 7.70621599e-04 -8.72844882e-01] [ 1.02478113e-02 4.48766479e-04 9.99947389e-01 -8.53137302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059072328999996 meters 0.0907990678029762 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.89, Z:-0.86 [[ 9.92746286e-01 1.19540754e-01 -1.28381890e-02 2.50203317e+01] [-1.19538241e-01 9.92829127e-01 9.65717677e-04 -8.87083981e-01] [ 1.28615706e-02 5.75941889e-04 9.99917121e-01 -8.58244117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119072329 meters 0.08951599089741032 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.91, Z:-0.86 [[ 9.93073819e-01 1.16664193e-01 -1.39232055e-02 2.50778431e+01] [-1.16660965e-01 9.93171246e-01 1.04659441e-03 -9.05753016e-01] [ 1.39502275e-02 5.84949089e-04 9.99902520e-01 -8.59557903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17907232899999 meters 0.08747094164912535 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.92, Z:-0.85 [[ 9.93432336e-01 1.13849561e-01 -1.14223891e-02 2.51369901e+01] [-1.13847203e-01 9.93497900e-01 8.58594071e-04 -9.16531542e-01] [ 1.14458701e-02 4.47451930e-04 9.99934394e-01 -8.53163207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239072328999995 meters 0.08784900869888987 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.93, Z:-0.86 [[ 9.94221938e-01 1.06608043e-01 -1.25484280e-02 2.51949157e+01] [-1.06604624e-01 9.94301043e-01 9.42894641e-04 -9.33134309e-01] [ 1.25774353e-02 4.00273922e-04 9.99920821e-01 -8.60420387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299072329 meters 0.08542995005588061 Centerline is valid? [True, True] Translation: X:25.25, Y:-0.96, Z:-0.86 [[ 9.94728157e-01 1.01028080e-01 -1.75846585e-02 2.52521513e+01] [-1.01020645e-01 9.94883463e-01 1.31288443e-03 -9.58559611e-01] [ 1.76273242e-02 4.70450436e-04 9.99844516e-01 -8.61526625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35907232899999 meters 0.08495060542778456 Centerline is valid? [True, True] Translation: X:25.31, Y:-0.97, Z:-0.86 [[ 9.95340757e-01 9.49263135e-02 -1.69048115e-02 2.53103617e+01] [-9.49185049e-02 9.95484242e-01 1.26548133e-03 -9.70576445e-01] [ 1.69486010e-02 3.44994288e-04 9.99856303e-01 -8.62594957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419072328999995 meters 0.08392532789355438 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.98, Z:-0.86 [[ 9.95772255e-01 9.08815592e-02 -1.33475949e-02 2.53699552e+01] [-9.08763281e-02 9.95861684e-01 9.99171184e-04 -9.81635552e-01] [ 1.33831646e-02 2.18033469e-04 9.99910418e-01 -8.58849765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479072329 meters 0.08362880885520793 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.01, Z:-0.86 [[ 9.96374659e-01 8.38216107e-02 -1.45421970e-02 2.54268596e+01] [-8.38147616e-02 9.96480766e-01 1.08087611e-03 -1.00584282e+00] [ 1.45816204e-02 1.41893212e-04 9.99893672e-01 -8.64013902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53907232899999 meters 0.08356146148077329 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.02, Z:-0.87 [[ 9.96831191e-01 7.77008970e-02 -1.70336865e-02 2.54843252e+01] [-7.76906642e-02 9.96976713e-01 1.26265148e-03 -1.01915489e+00] [ 1.70802979e-02 6.47080376e-05 9.99854119e-01 -8.65976957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599072328999995 meters 0.083592900953242 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.04, Z:-0.87 [[ 9.97590693e-01 6.72962399e-02 -1.68530715e-02 2.55415792e+01] [-6.72848065e-02 9.97733033e-01 1.24515987e-03 -1.03935166e+00] [ 1.68986607e-02 -1.08204245e-04 9.99857202e-01 -8.65652215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659072329 meters 0.08446080703564429 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.07, Z:-0.86 [[ 9.98357569e-01 5.49000581e-02 -1.63752210e-02 2.55991874e+01] [-5.48875538e-02 9.98491806e-01 1.21240145e-03 -1.06598175e+00] [ 1.64170849e-02 -3.11614339e-04 9.99865182e-01 -8.63361889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71907232899999 meters 0.08466821465600123 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.08, Z:-0.86 [[ 9.98580603e-01 5.06811972e-02 -1.63766737e-02 2.56579709e+01] [-5.06681387e-02 9.98714810e-01 1.21158182e-03 -1.07576817e+00] [ 1.64170310e-02 -3.80086533e-04 9.99865159e-01 -8.61624957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779072328999995 meters 0.08660101533879565 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.09, Z:-0.86 [[ 9.98928543e-01 4.33212354e-02 -1.62799522e-02 2.57163436e+01] [-4.33073473e-02 9.99061070e-01 1.20482358e-03 -1.09201301e+00] [ 1.63168609e-02 -4.98491118e-04 9.99866747e-01 -8.63120347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839072329 meters 0.08914433517586885 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.11, Z:-0.86 [[ 9.99318037e-01 3.34782185e-02 -1.55778607e-02 2.57755179e+01] [-3.34643030e-02 9.99439248e-01 1.15317059e-03 -1.10861873e+00] [ 1.56077315e-02 -6.31081917e-04 9.99877993e-01 -8.62505301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89907232899999 meters 0.09065769070283217 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.12, Z:-0.86 [[ 9.99513706e-01 2.73320688e-02 -1.50103113e-02 2.58355389e+01] [-2.73184617e-02 9.99626164e-01 1.11085118e-03 -1.11991362e+00] [ 1.50350618e-02 -7.00252362e-04 9.99886722e-01 -8.64419455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959072328999994 meters 0.09088767769440825 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.12, Z:-0.86 [[ 9.99616995e-01 2.46973732e-02 -1.24861307e-02 2.58943433e+01] [-2.46878471e-02 9.99694789e-01 9.16519080e-04 -1.12290842e+00] [ 1.25049554e-02 -6.07912363e-04 9.99921625e-01 -8.64169019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019072329 meters 0.09259957704169666 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.13, Z:-0.87 [[ 9.99724483e-01 2.09384330e-02 -1.06084741e-02 2.59519834e+01] [-2.09313254e-02 9.99780611e-01 7.80590474e-04 -1.12888994e+00] [ 1.06224911e-02 -5.58325984e-04 9.99943424e-01 -8.66964511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07907232899999 meters 0.09437478520652567 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.14, Z:-0.87 [[ 9.99770367e-01 1.79864251e-02 -1.16490838e-02 2.60116640e+01] [-1.79776442e-02 9.99838021e-01 8.58066003e-04 -1.13667917e+00] [ 1.16626305e-02 -6.48445878e-04 9.99931779e-01 -8.71271666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139072328999994 meters 0.0961949759107644 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.15, Z:-0.88 [[ 9.99819850e-01 1.40033040e-02 -1.28130954e-02 2.60720105e+01] [-1.39923519e-02 9.99901657e-01 9.44004890e-04 -1.14535183e+00] [ 1.28250545e-02 -7.64549488e-04 9.99917463e-01 -8.75323305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199072328999996 meters 0.09418770270112471 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.14, Z:-0.87 [[ 9.99867334e-01 1.22268393e-02 -1.07618777e-02 2.61317299e+01] [-1.22190323e-02 9.99925032e-01 7.90883722e-04 -1.14131551e+00] [ 1.07707409e-02 -6.59279067e-04 9.99941777e-01 -8.70355695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25907232899999 meters 0.09673317626131138 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.15, Z:-0.87 [[ 9.99928493e-01 1.00796717e-02 -6.43505408e-03 2.61885934e+01] [-1.00768451e-02 9.99949116e-01 4.71520480e-04 -1.15151640e+00] [ 6.43947941e-03 -4.06641720e-04 9.99979184e-01 -8.70660814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319072328999994 meters 0.10277812497422423 Centerline is valid? [True, False] Translation: X:26.19, Y:-1.15, Z:-0.87 [[ 9.99961410e-01 5.72398611e-03 -6.66443983e-03 2.61893138e+01] [-5.75087601e-03 9.99975372e-01 -4.02268426e-03 -1.15022309e+00] [ 6.64124991e-03 4.06085539e-03 9.99969701e-01 -8.71035338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379072328999996 meters 0.0997775001319282 Centerline is valid? [False, True] Translation: X:26.19, Y:-1.15, Z:-0.87 [[ 9.99962467e-01 5.48632000e-03 -6.70565286e-03 2.61896228e+01] [-5.51696555e-03 9.99974384e-01 -4.56018529e-03 -1.14801043e+00] [ 6.68046244e-03 4.59700898e-03 9.99967119e-01 -8.71260308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43907232899999 meters 0.10718182294688473 Centerline is valid? [True, False] Translation: X:26.19, Y:-1.15, Z:-0.87 [[ 9.99961243e-01 5.73874336e-03 -6.67670716e-03 2.61900846e+01] [-5.76653956e-03 9.99974756e-01 -4.15138425e-03 -1.14868853e+00] [ 6.65271489e-03 4.18972485e-03 9.99969093e-01 -8.72122896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49907232899999 meters 0.09924974112041964 Centerline is valid? [False, True] Translation: X:26.20, Y:-1.15, Z:-0.88 [[ 9.99999295e-01 -9.23835134e-04 7.46059132e-04 2.61983793e+01] [ 9.22904332e-04 9.99998797e-01 1.24700598e-03 -1.14891992e+00] [-7.47210262e-04 -1.24631656e-03 9.99998944e-01 -8.76127138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559072328999996 meters 0.09889283143304324 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.15, Z:-0.87 [[ 9.99990762e-01 -4.10531684e-03 1.27335682e-03 2.62592472e+01] [ 4.10544538e-03 9.99991568e-01 -9.83548955e-05 -1.14670131e+00] [-1.27294230e-03 1.03581684e-04 9.99999184e-01 -8.74396868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619072329 meters 0.11737721286866158 Centerline is valid? [True, False] Translation: X:26.26, Y:-1.14, Z:-0.88 [[ 9.99990990e-01 -4.15344039e-03 8.77091615e-04 2.62607778e+01] [ 4.15408378e-03 9.99991103e-01 -7.33000723e-04 -1.14272790e+00] [-8.74039337e-04 7.36637630e-04 9.99999347e-01 -8.75222020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67907232899999 meters 0.12075623040173024 Centerline is valid? [False, False] Translation: X:26.26, Y:-1.14, Z:-0.88 [[ 9.99991337e-01 -4.11269509e-03 6.41211878e-04 2.62623274e+01] [ 4.11347450e-03 9.99990797e-01 -1.21898165e-03 -1.13944120e+00] [-6.36192677e-04 1.22160870e-03 9.99999051e-01 -8.76722364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739072328999995 meters 0.10394250625664389 Centerline is valid? [False, False] Translation: X:26.26, Y:-1.14, Z:-0.88 [[ 9.99991845e-01 -4.00344777e-03 5.31185953e-04 2.62635055e+01] [ 4.00418444e-03 9.99991013e-01 -1.39309781e-03 -1.13731848e+00] [-5.25603985e-04 1.39521342e-03 9.99998889e-01 -8.78087583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799072329 meters 0.10520343929471503 Centerline is valid? [False, False] Translation: X:26.26, Y:-1.13, Z:-0.88 [[ 9.99988772e-01 -4.70448471e-03 5.69466010e-04 2.62631515e+01] [ 4.70605739e-03 9.99985027e-01 -2.79258388e-03 -1.13263095e+00] [-5.56319815e-04 2.79523246e-03 9.99995939e-01 -8.77451799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85907232899999 meters 0.10853239519924135 Centerline is valid? [False, False] Translation: X:26.26, Y:-1.13, Z:-0.88 [[ 9.99989582e-01 -4.55093060e-03 3.53882067e-04 2.62644427e+01] [ 4.55191599e-03 9.99985620e-01 -2.83544657e-03 -1.13094999e+00] [-3.40973057e-04 2.83702787e-03 9.99995917e-01 -8.78637109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919072328999995 meters 0.10860360936515386 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.13, Z:-0.88 [[ 9.99989673e-01 -4.54295705e-03 -1.22680698e-04 2.62659318e+01] [ 4.54251791e-03 9.99984005e-01 -3.36966126e-03 -1.12724618e+00] [ 1.37986962e-04 3.36906918e-03 9.99994315e-01 -8.79128077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979072329 meters 0.10707188850787815 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.12, Z:-0.88 [[ 9.99999837e-01 -5.67753617e-04 5.81968833e-05 2.62656434e+01] [ 5.67737864e-04 9.99999802e-01 2.70339712e-04 -1.12469054e+00] [-5.83503582e-05 -2.70306628e-04 9.99999962e-01 -8.79270290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03907232899999 meters 0.10637794102951317 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.13, Z:-0.88 [[ 9.99999951e-01 1.54294751e-04 -2.70684074e-04 2.62678929e+01] [-1.54001387e-04 9.99999401e-01 1.08347231e-03 -1.12513773e+00] [ 2.70851086e-04 -1.08343057e-03 9.99999376e-01 -8.81641954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099072328999995 meters 0.10957785459590007 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.12, Z:-0.88 [[ 9.99999944e-01 4.49931389e-05 -3.31239108e-04 2.62684362e+01] [-4.47298004e-05 9.99999683e-01 7.94974728e-04 -1.12330286e+00] [ 3.31274771e-04 -7.94959867e-04 9.99999629e-01 -8.82242502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159072329 meters 0.11060788063596981 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.12, Z:-0.88 [[ 9.99999589e-01 -3.57771550e-04 -8.32487416e-04 2.62695105e+01] [ 3.57480333e-04 9.99999875e-01 -3.49938062e-04 -1.11730007e+00] [ 8.32612510e-04 3.49640320e-04 9.99999592e-01 -8.81999431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21907232899999 meters 0.10771610912452469 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.88 [[ 9.99998584e-01 -3.72093430e-04 -1.64107902e-03 2.62718874e+01] [ 3.69484316e-04 9.99998668e-01 -1.58989397e-03 -1.11090196e+00] [ 1.64166842e-03 1.58928536e-03 9.99997390e-01 -8.82760255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279072328999995 meters 0.11228349686376825 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.89 [[ 9.99998135e-01 3.84420942e-04 -1.89281314e-03 2.62742024e+01] [-3.85912332e-04 9.99999615e-01 -7.87620049e-04 -1.11123872e+00] [ 1.89250963e-03 7.88349040e-04 9.99997898e-01 -8.85427803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339072329 meters 0.10446761128724236 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99989957e-01 3.99001110e-03 -2.04095444e-03 2.62751193e+01] [-3.98595610e-03 9.99990082e-01 1.98703839e-03 -1.10405643e+00] [ 2.04886251e-03 -1.97888328e-03 9.99995943e-01 -8.86127638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39907232899999 meters 0.1069079059524719 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.88 [[ 9.99991085e-01 3.27803158e-03 -2.66158017e-03 2.62759427e+01] [-3.27804208e-03 9.99994627e-01 4.15941182e-07 -1.09581468e+00] [ 2.66156723e-03 8.30883432e-06 9.99996458e-01 -8.84857749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459072328999994 meters 0.10708715623352122 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.09, Z:-0.89 [[ 9.99995196e-01 -8.68482244e-04 -2.97543933e-03 2.62771896e+01] [ 8.55304039e-04 9.99989833e-01 -4.42740797e-03 -1.09445613e+00] [ 2.97925421e-03 4.42484180e-03 9.99985772e-01 -8.85602552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519072329 meters 0.11115019183779182 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.09, Z:-0.89 [[ 9.99996964e-01 -1.08364789e-03 -2.21313002e-03 2.62761588e+01] [ 1.07441416e-03 9.99990732e-01 -4.16918384e-03 -1.09467083e+00] [ 2.21762744e-03 4.16679337e-03 9.99988860e-01 -8.86855200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57907232899999 meters 0.11382250070181964 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.09, Z:-0.89 [[ 9.99996990e-01 -8.00420778e-04 -2.31928045e-03 2.62772393e+01] [ 7.91686641e-04 9.99992601e-01 -3.76435632e-03 -1.09458068e+00] [ 2.32227636e-03 3.76250884e-03 9.99990225e-01 -8.88182931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639072328999994 meters 0.11684122563627618 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99997389e-01 -4.84068976e-04 -2.23331874e-03 2.62777975e+01] [ 4.77158691e-04 9.99995101e-01 -3.09367332e-03 -1.09567642e+00] [ 2.23480535e-03 3.09259959e-03 9.99992721e-01 -8.89525246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699072328999996 meters 0.11731046636076475 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99998272e-01 -8.97321873e-04 -1.62786732e-03 2.62760227e+01] [ 8.92017967e-04 9.99994301e-01 -3.25599863e-03 -1.09598310e+00] [ 1.63077972e-03 3.25454092e-03 9.99993374e-01 -8.88822621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75907232899999 meters 0.12644411611897086 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99998922e-01 -7.86229661e-04 -1.23994163e-03 2.62758191e+01] [ 7.82796221e-04 9.99995865e-01 -2.76709256e-03 -1.09676100e+00] [ 1.24211207e-03 2.76611895e-03 9.99995403e-01 -8.90043438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819072328999994 meters 0.12154346665913396 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99999138e-01 -5.32861347e-04 -1.19994466e-03 2.62763397e+01] [ 5.30073021e-04 9.99997162e-01 -2.32283264e-03 -1.09728779e+00] [ 1.20117901e-03 2.32219458e-03 9.99996582e-01 -8.91053899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879072328999996 meters 0.12245352286179624 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99999508e-01 -4.14216443e-04 -9.01277207e-04 2.62757842e+01] [ 4.12608587e-04 9.99998325e-01 -1.78343028e-03 -1.09927133e+00] [ 9.02014424e-04 1.78305753e-03 9.99998004e-01 -8.91328318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93907232899999 meters 0.12614542036228638 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99999431e-01 -4.73359276e-04 -9.55504354e-04 2.62760508e+01] [ 4.71552580e-04 9.99998102e-01 -1.89016949e-03 -1.09827633e+00] [ 9.56397271e-04 1.88971784e-03 9.99997757e-01 -8.91509315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99907232899999 meters 0.13594741789433623 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.10, Z:-0.89 [[ 9.99999854e-01 2.11928777e-04 -4.96859006e-04 2.62763898e+01] [-2.11932413e-04 9.99999978e-01 -7.26608046e-06 -1.10291542e+00] [ 4.96857455e-04 7.37137992e-06 9.99999877e-01 -8.94318344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059072328999996 meters 0.1353690629884571 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.89 [[ 9.99999771e-01 -2.17869905e-04 6.40290876e-04 2.62731832e+01] [ 2.17398252e-04 9.99999705e-01 7.36600991e-04 -1.10888981e+00] [-6.40451170e-04 -7.36461624e-04 9.99999524e-01 -8.93475824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119072329 meters 0.12643664823300735 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.89 [[ 9.99999526e-01 -7.64768868e-04 6.02611456e-04 2.62720219e+01] [ 7.64825632e-04 9.99999703e-01 -9.39722976e-05 -1.10731507e+00] [-6.02539410e-04 9.44331458e-05 9.99999814e-01 -8.91410661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17907232899999 meters 0.13272547161267828 Centerline is valid? [False, False] Translation: X:26.27, Y:-1.11, Z:-0.89 [[ 9.99999889e-01 -2.47385406e-06 4.71367213e-04 2.62731381e+01] [ 1.91654039e-06 9.99999301e-01 1.18233118e-03 -1.11061550e+00] [-4.71369809e-04 -1.18233015e-03 9.99999190e-01 -8.92723687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239072328999995 meters 0.1260588722897285 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.11, Z:-0.89 [[ 9.99995136e-01 -3.11373867e-03 -1.79861565e-04 2.62760235e+01] [ 3.11344359e-03 9.99993844e-01 -1.61821543e-03 -1.11378967e+00] [ 1.84899158e-04 1.61764757e-03 9.99998675e-01 -8.94796126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299072329 meters 0.13177043779416275 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.89 [[ 9.99996552e-01 -2.62252115e-03 -1.35157951e-04 2.62758289e+01] [ 2.62245274e-03 9.99996434e-01 -5.03837751e-04 -1.11797853e+00] [ 1.36478795e-04 5.03481569e-04 9.99999864e-01 -8.94693029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35907232899999 meters 0.1399589674264179 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.90 [[ 9.99997226e-01 -2.19967187e-03 -8.42698601e-04 2.62778199e+01] [ 2.19943327e-03 9.99997541e-01 -2.83967941e-04 -1.11724406e+00] [ 8.43321165e-04 2.82113694e-04 9.99999605e-01 -8.95103567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419072328999995 meters 0.12513746308433657 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.90 [[ 9.99998170e-01 -1.16285882e-03 -1.51937301e-03 2.62803888e+01] [ 1.16422850e-03 9.99998916e-01 9.00897482e-04 -1.12002089e+00] [ 1.51832374e-03 -9.02664731e-04 9.99998440e-01 -8.96565049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479072329 meters 0.12906237309693866 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.90 [[ 9.99997580e-01 -6.51771398e-04 -2.10126414e-03 2.62821997e+01] [ 6.54291026e-04 9.99999068e-01 1.19863694e-03 -1.12034840e+00] [ 2.10048094e-03 -1.20000888e-03 9.99997074e-01 -8.97166006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53907232899999 meters 0.12000454635696593 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.12, Z:-0.90 [[ 9.99996236e-01 1.03232448e-04 -2.74159371e-03 2.62847596e+01] [-9.80972864e-05 9.99998241e-01 1.87312541e-03 -1.12061165e+00] [ 2.74178225e-03 -1.87284942e-03 9.99994488e-01 -8.98678704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599072328999995 meters 0.1161748538145762 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99994436e-01 2.84870480e-04 -3.32366075e-03 2.62860524e+01] [-2.79432658e-04 9.99998622e-01 1.63644403e-03 -1.11942568e+00] [ 3.32412235e-03 -1.63550618e-03 9.99993138e-01 -8.98392168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659072329 meters 0.11677990330523988 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99993431e-01 5.23451470e-04 -3.58665469e-03 2.62870288e+01] [-5.17002402e-04 9.99998249e-01 1.79876451e-03 -1.11916377e+00] [ 3.58758997e-03 -1.79689839e-03 9.99991950e-01 -8.98887935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71907232899999 meters 0.11951405060783005 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99986006e-01 -3.29586059e-03 -4.13819233e-03 2.62884856e+01] [ 3.28716755e-03 9.99992380e-01 -2.10573232e-03 -1.12008912e+00] [ 4.14510100e-03 2.09209992e-03 9.99989221e-01 -8.98944303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779072328999995 meters 0.12897432183811114 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99987551e-01 -2.75850600e-03 -4.15784142e-03 2.62891278e+01] [ 2.75405707e-03 9.99995629e-01 -1.07535566e-03 -1.12273115e+00] [ 4.16078962e-03 1.06389134e-03 9.99990778e-01 -8.99981303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839072329 meters 0.13668428337363847 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.12, Z:-0.90 [[ 9.99987560e-01 -3.11955390e-03 -3.89212885e-03 2.62876241e+01] [ 3.11463538e-03 9.99994344e-01 -1.26913212e-03 -1.12349247e+00] [ 3.89606596e-03 1.25699377e-03 9.99991620e-01 -8.98666021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89907232899999 meters 0.13441909149209655 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.13, Z:-0.90 [[ 9.99991457e-01 -2.38258575e-03 -3.37767988e-03 2.62873002e+01] [ 2.38439241e-03 9.99997016e-01 5.30956367e-04 -1.12972526e+00] [ 3.37640475e-03 -5.39005546e-04 9.99994155e-01 -9.00152557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959072328999994 meters 0.15039210466868605 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.14, Z:-0.90 [[ 9.99991462e-01 -3.51992434e-03 -2.16454145e-03 2.62840989e+01] [ 3.52099383e-03 9.99993681e-01 4.90481092e-04 -1.13692242e+00] [ 2.16280131e-03 -4.98098242e-04 9.99997537e-01 -8.99383235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019072329 meters 0.1436386740859423 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.14, Z:-0.90 [[ 9.99993024e-01 -3.52817127e-03 -1.22672410e-03 2.62817208e+01] [ 3.53073826e-03 9.99991569e-01 2.09672571e-03 -1.14397491e+00] [ 1.21931615e-03 -2.10104232e-03 9.99997049e-01 -8.99233082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07907232899999 meters 0.13114780528303777 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.15, Z:-0.90 [[ 9.99975211e-01 -6.91699216e-03 -1.31593708e-03 2.62827618e+01] [ 6.91635992e-03 9.99975964e-01 -4.84396807e-04 -1.14873433e+00] [ 1.31925602e-03 4.75283305e-04 9.99999017e-01 -9.00622101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139072328999994 meters 0.14715038314716955 Centerline is valid? [False, False] Translation: X:26.28, Y:-1.15, Z:-0.90 [[ 9.99977848e-01 -6.55416598e-03 -1.15997911e-03 2.62824558e+01] [ 6.55462909e-03 9.99978440e-01 3.95894574e-04 -1.15187742e+00] [ 1.15735935e-03 -4.03489037e-04 9.99999249e-01 -9.00755907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199072328999996 meters 0.14988885967608132 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.15, Z:-0.90 [[ 9.99981147e-01 -5.82107446e-03 -1.95446584e-03 2.62851713e+01] [ 5.82287669e-03 9.99982626e-01 9.17689331e-04 -1.15137828e+00] [ 1.94908995e-03 -9.29052643e-04 9.99997669e-01 -9.02191969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25907232899999 meters 0.1255927630148509 Centerline is valid? [False, False] Translation: X:26.29, Y:-1.15, Z:-0.91 [[ 9.99984971e-01 -4.10007816e-03 -3.63976775e-03 2.62907337e+01] [ 4.10671622e-03 9.99989915e-01 1.81816127e-03 -1.15033756e+00] [ 3.63227643e-03 -1.83308144e-03 9.99991723e-01 -9.05150927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319072328999994 meters 0.14193495082469176 Centerline is valid? [False, False] Translation: X:26.31, Y:-1.15, Z:-0.90 [[ 9.99975460e-01 3.58308619e-03 -6.01998395e-03 2.63063853e+01] [-3.57456303e-03 9.99992595e-01 1.42597411e-03 -1.14804610e+00] [ 6.02504875e-03 -1.40442031e-03 9.99980863e-01 -9.04227259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379072328999996 meters 0.10831006071726557 Centerline is valid? [False, False] Translation: X:26.31, Y:-1.14, Z:-0.90 [[ 9.99961559e-01 4.19654664e-03 -7.69861281e-03 2.63097242e+01] [-4.20451021e-03 9.99990642e-01 -1.01852394e-03 -1.14113462e+00] [ 7.69426648e-03 1.05085368e-03 9.99969847e-01 -9.01559936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43907232899999 meters 0.10107307358948421 Centerline is valid? [False, False] Translation: X:26.31, Y:-1.13, Z:-0.90 [[ 9.99908703e-01 9.64320681e-03 -9.46537357e-03 2.63144105e+01] [-9.62611805e-03 9.99951958e-01 1.84929950e-03 -1.13357753e+00] [ 9.48275201e-03 -1.75801586e-03 9.99953492e-01 -9.02238539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49907232899999 meters 0.09847526160625404 Centerline is valid? [False, True] Translation: X:26.32, Y:-1.13, Z:-0.90 [[ 9.99839683e-01 1.24651869e-02 -1.28541104e-02 2.63239148e+01] [-1.24635513e-02 9.99922305e-01 2.07344479e-04 -1.12975287e+00] [ 1.28556962e-02 -4.71033735e-05 9.99917361e-01 -8.99679907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559072328999996 meters 0.09342682075327632 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.12, Z:-0.90 [[ 9.99635121e-01 2.28757929e-02 -1.43639795e-02 2.63848355e+01] [-2.28602730e-02 9.99737896e-01 1.24375788e-03 -1.12060003e+00] [ 1.43886666e-02 -9.14939568e-04 9.99896059e-01 -9.02355083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619072329 meters 0.08827564413817081 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.11, Z:-0.91 [[ 9.99218727e-01 3.64027035e-02 -1.53876131e-02 2.64456151e+01] [-3.63864927e-02 9.99336904e-01 1.33224494e-03 -1.11230481e+00] [ 1.54259070e-02 -7.71302820e-04 9.99880716e-01 -9.06842859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67907232899999 meters 0.08545787921231224 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.11, Z:-0.91 [[ 9.98959708e-01 4.39150724e-02 -1.22868962e-02 2.65067814e+01] [-4.39053047e-02 9.99035131e-01 1.06371627e-03 -1.10797157e+00] [ 1.23217541e-02 -5.23149770e-04 9.99923947e-01 -9.05014694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739072328999995 meters 0.08283753446539617 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.10, Z:-0.91 [[ 9.98580795e-01 5.16541841e-02 -1.29707679e-02 2.65681342e+01] [-5.16439513e-02 9.98664930e-01 1.12284874e-03 -1.09980545e+00] [ 1.30114509e-02 -4.51393476e-04 9.99915246e-01 -9.05644861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799072329 meters 0.08332456498219332 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.11, Z:-0.91 [[ 9.98495195e-01 5.29088208e-02 -1.44222682e-02 2.66249554e+01] [-5.28963302e-02 9.98599231e-01 1.24642091e-03 -1.10989035e+00] [ 1.44680126e-02 -4.81660230e-04 9.99895217e-01 -9.12486129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85907232899999 meters 0.08230692777143246 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.11, Z:-0.91 [[ 9.98652020e-01 5.02729633e-02 -1.29140440e-02 2.66840690e+01] [-5.02627964e-02 9.98735409e-01 1.11083630e-03 -1.11248222e+00] [ 1.29535581e-02 -4.60242948e-04 9.99915993e-01 -9.06887220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919072328999995 meters 0.08388591736067277 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.12, Z:-0.91 [[ 9.98862147e-01 4.62782744e-02 -1.15209224e-02 2.67415865e+01] [-4.62699094e-02 9.98928482e-01 9.91701258e-04 -1.12058019e+00] [ 1.15544718e-02 -4.57500811e-04 9.99933140e-01 -9.05256528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979072329 meters 0.08501676375037936 Centerline is valid? [True, True] Translation: X:26.80, Y:-1.13, Z:-0.91 [[ 9.98962089e-01 4.41501550e-02 -1.12030437e-02 2.67995730e+01] [-4.41421629e-02 9.99024799e-01 9.59777367e-04 -1.13217053e+00] [ 1.12344928e-02 -4.64254622e-04 9.99936783e-01 -9.10872853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03907232899999 meters 0.08467415078389658 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.14, Z:-0.91 [[ 9.99098145e-01 4.01893945e-02 -1.37007287e-02 2.68588280e+01] [-4.01770291e-02 9.99191884e-01 1.17670049e-03 -1.14114623e+00] [ 1.37369478e-02 -6.25184707e-04 9.99905448e-01 -9.13180527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099072328999995 meters 0.08557034146439986 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.15, Z:-0.91 [[ 9.99234690e-01 3.72951513e-02 -1.17943172e-02 2.69171809e+01] [-3.72858533e-02 9.99304133e-01 1.00732694e-03 -1.14972577e+00] [ 1.18236783e-02 -5.66794845e-04 9.99929937e-01 -9.14350291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159072329 meters 0.08680081540685379 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.17, Z:-0.91 [[ 9.99307856e-01 3.56176340e-02 -1.07328164e-02 2.69742606e+01] [-3.56098307e-02 9.99365348e-01 9.17339193e-04 -1.16501513e+00] [ 1.07586783e-02 -5.34510486e-04 9.99941981e-01 -9.14133326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21907232899999 meters 0.08726818152977071 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.18, Z:-0.92 [[ 9.99272387e-01 3.62906894e-02 -1.17338186e-02 2.70316070e+01] [-3.62814611e-02 9.99341112e-01 9.98461485e-04 -1.17683311e+00] [ 1.17623222e-02 -5.72014910e-04 9.99930658e-01 -9.16659586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279072328999995 meters 0.08748855506786835 Centerline is valid? [True, True] Translation: X:27.09, Y:-1.19, Z:-0.92 [[ 9.99273383e-01 3.59933673e-02 -1.25372465e-02 2.70897857e+01] [-3.59828436e-02 9.99351841e-01 1.06403225e-03 -1.18606347e+00] [ 1.25674185e-02 -6.12133322e-04 9.99920840e-01 -9.17202746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339072329 meters 0.08535693893219101 Centerline is valid? [True, True] Translation: X:27.15, Y:-1.19, Z:-0.92 [[ 9.99186654e-01 3.86109624e-02 -1.16285503e-02 2.71496498e+01] [-3.86020608e-02 9.99254173e-01 9.89054926e-04 -1.19400904e+00] [ 1.16580658e-02 -5.39364475e-04 9.99931897e-01 -9.15511157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39907232899999 meters 0.08462775064560188 Centerline is valid? [True, True] Translation: X:27.21, Y:-1.20, Z:-0.92 [[ 9.99079375e-01 4.15878441e-02 -1.05287082e-02 2.72077563e+01] [-4.15807179e-02 9.99134747e-01 8.94928606e-04 -1.20460180e+00] [ 1.05568163e-02 -4.56313467e-04 9.99944171e-01 -9.15821811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459072328999994 meters 0.08344499709326447 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.21, Z:-0.91 [[ 9.98871140e-01 4.59999428e-02 -1.18512326e-02 2.72666571e+01] [-4.59912278e-02 9.98941336e-01 1.00699630e-03 -1.20947948e+00] [ 1.18850079e-02 -4.60806804e-04 9.99929265e-01 -9.14630023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519072329 meters 0.08176129669237961 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.21, Z:-0.91 [[ 9.98778331e-01 4.73499744e-02 -1.41359658e-02 2.73243415e+01] [-4.73378084e-02 9.98878224e-01 1.19419266e-03 -1.21400399e+00] [ 1.41766534e-02 -5.23568116e-04 9.99899369e-01 -9.14906934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57907232899999 meters 0.0802179786682832 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.22, Z:-0.91 [[ 9.98572083e-01 5.17771441e-02 -1.31500243e-02 2.73839801e+01] [-5.17669645e-02 9.98658571e-01 1.11354758e-03 -1.22125522e+00] [ 1.31900408e-02 -4.31220682e-04 9.99912915e-01 -9.13987739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639072328999994 meters 0.08145783808444372 Centerline is valid? [True, True] Translation: X:27.44, Y:-1.23, Z:-0.92 [[ 9.98282649e-01 5.64048945e-02 -1.58189759e-02 2.74411601e+01] [-5.63907785e-02 9.98407878e-01 1.33733557e-03 -1.23017413e+00] [ 1.58692224e-02 -4.42994531e-04 9.99873978e-01 -9.21243106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699072328999996 meters 0.07973360494850015 Centerline is valid? [True, True] Translation: X:27.50, Y:-1.23, Z:-0.92 [[ 9.98123881e-01 5.84621223e-02 -1.81906007e-02 2.74996026e+01] [-5.84439295e-02 9.98289519e-01 1.53058264e-03 -1.22910754e+00] [ 1.82489672e-02 -4.64580899e-04 9.99833366e-01 -9.18357781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75907232899999 meters 0.07921815786610067 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.24, Z:-0.92 [[ 9.98110390e-01 5.88668987e-02 -1.76164134e-02 2.75575390e+01] [-5.88499773e-02 9.98265744e-01 1.47786267e-03 -1.23797372e+00] [ 1.76728593e-02 -4.38344558e-04 9.99843727e-01 -9.20136302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819072328999994 meters 0.07930529519946754 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.24, Z:-0.92 [[ 9.98247896e-01 5.72106297e-02 -1.51023609e-02 2.76155051e+01] [-5.71980022e-02 9.98362050e-01 1.26710086e-03 -1.24273740e+00] [ 1.51501156e-02 -4.01055899e-04 9.99885150e-01 -9.17944960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879072328999996 meters 0.08040165165679153 Centerline is valid? [True, True] Translation: X:27.67, Y:-1.25, Z:-0.92 [[ 9.98465410e-01 5.33001734e-02 -1.50305166e-02 2.76744171e+01] [-5.32872214e-02 9.98578430e-01 1.26117547e-03 -1.25469171e+00] [ 1.50763705e-02 -4.58305624e-04 9.99886240e-01 -9.20615425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93907232899999 meters 0.08330296501810869 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.28, Z:-0.92 [[ 9.98939989e-01 4.30240156e-02 -1.63655905e-02 2.77330831e+01] [-4.30072744e-02 9.99073815e-01 1.37368847e-03 -1.27940048e+00] [ 1.64095345e-02 -6.68392906e-04 9.99865131e-01 -9.24687058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99907232899999 meters 0.08822017392113696 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.30, Z:-0.92 [[ 9.99442815e-01 2.98563691e-02 -1.49216800e-02 2.77907592e+01] [-2.98409727e-02 9.99553873e-01 1.25345254e-03 -1.29838110e+00] [ 1.49524466e-02 -8.07476686e-04 9.99887880e-01 -9.19999721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059072328999996 meters 0.0938716645393711 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.32, Z:-0.92 [[ 9.99662526e-01 2.05202123e-02 -1.59296747e-02 2.78490195e+01] [-2.05014919e-02 9.99788928e-01 1.33762324e-03 -1.31831051e+00] [ 1.59537607e-02 -1.01058973e-03 9.99872220e-01 -9.23047684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119072329 meters 0.10062299275215758 Centerline is valid? [True, False] Translation: X:27.86, Y:-1.33, Z:-0.93 [[ 9.99947349e-01 5.24670985e-03 -8.81878117e-03 2.78580555e+01] [-5.25660910e-03 9.99985579e-01 -1.09971455e-03 -1.32546990e+00] [ 8.81288412e-03 1.14601353e-03 9.99960509e-01 -9.27657383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17907232899999 meters 0.10489753518933276 Centerline is valid? [False, False] Translation: X:27.86, Y:-1.33, Z:-0.93 [[ 9.99965269e-01 1.65231876e-04 -8.33262279e-03 2.78556391e+01] [-2.15140679e-04 9.99982042e-01 -5.98902646e-03 -1.32586399e+00] [ 8.33148358e-03 5.99061115e-03 9.99947348e-01 -9.25596704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239072328999995 meters 0.10593259196908962 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.92 [[ 9.99971060e-01 -6.71261598e-04 -7.57810430e-03 2.78527904e+01] [ 6.22752184e-04 9.99979314e-01 -6.40180560e-03 -1.32670456e+00] [ 7.58224482e-03 6.39690105e-03 9.99950793e-01 -9.23610547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299072329 meters 0.1095327894798102 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.93 [[ 9.99971268e-01 2.06339430e-04 -7.57761483e-03 2.78539470e+01] [-2.41893935e-04 9.99988966e-01 -4.69142772e-03 -1.33055546e+00] [ 7.57656319e-03 4.69312591e-03 9.99960284e-01 -9.25799460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35907232899999 meters 0.11671783201534489 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.93 [[ 9.99970916e-01 7.00349321e-04 -7.59445077e-03 2.78545156e+01] [-7.29385525e-04 9.99992433e-01 -3.82124938e-03 -1.33274658e+00] [ 7.59171709e-03 3.82667753e-03 9.99963861e-01 -9.26740490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419072328999995 meters 0.10460497236065576 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.93 [[ 9.99970403e-01 3.42991575e-04 -7.68607989e-03 2.78542357e+01] [-3.77695603e-04 9.99989740e-01 -4.51418267e-03 -1.33108354e+00] [ 7.68445270e-03 4.51695206e-03 9.99960272e-01 -9.25885101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479072329 meters 0.10116581565976152 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.33, Z:-0.92 [[ 9.99959786e-01 4.10070196e-03 -7.97562927e-03 2.78541266e+01] [-4.11384185e-03 9.99990207e-01 -1.63179863e-03 -1.32707022e+00] [ 7.96885964e-03 1.66454348e-03 9.99966863e-01 -9.24448664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53907232899999 meters 0.10119539102660122 Centerline is valid? [False, False] Translation: X:27.86, Y:-1.33, Z:-0.93 [[ 9.99946257e-01 5.12012641e-03 -9.01485177e-03 2.78578912e+01] [-5.13022193e-03 9.99986238e-01 -1.09710766e-03 -1.32563221e+00] [ 9.00911038e-03 1.14329689e-03 9.99958764e-01 -9.26971549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599072328999995 meters 0.09760292430186417 Centerline is valid? [False, True] Translation: X:27.86, Y:-1.32, Z:-0.93 [[ 9.99936408e-01 5.19565896e-03 -1.00092288e-02 2.78600287e+01] [-5.22131696e-03 9.99983145e-01 -2.53901136e-03 -1.31994102e+00] [ 9.99586822e-03 2.59111125e-03 9.99946683e-01 -9.26895128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659072329 meters 0.09072657583282603 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.31, Z:-0.92 [[ 9.99889167e-01 1.30270896e-02 -7.20759644e-03 2.79221373e+01] [-1.30234074e-02 9.99915036e-01 5.57584043e-04 -1.30790956e+00] [ 7.21424775e-03 -4.63654779e-04 9.99973869e-01 -9.23748086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71907232899999 meters 0.08868618154366371 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.31, Z:-0.92 [[ 9.99830764e-01 1.77044001e-02 -4.99971030e-03 2.79835346e+01] [-1.77026857e-02 9.99843220e-01 3.86948218e-04 -1.30517224e+00] [ 5.00577714e-03 -2.98374433e-04 9.99987427e-01 -9.23952451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779072328999995 meters 0.08577186949944417 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.29, Z:-0.93 [[ 9.99635730e-01 2.60516239e-02 -7.05124309e-03 2.80446650e+01] [-2.60484263e-02 9.99660534e-01 5.44956533e-04 -1.29457702e+00] [ 7.06304644e-03 -3.61084236e-04 9.99974991e-01 -9.27293105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839072329 meters 0.08453479474189574 Centerline is valid? [True, True] Translation: X:28.10, Y:-1.29, Z:-0.93 [[ 9.99495537e-01 3.13307739e-02 -5.20132097e-03 2.81046180e+01] [-3.13291075e-02 9.99509042e-01 4.01582369e-04 -1.28926101e+00] [ 5.21134923e-03 -2.38427042e-04 9.99986392e-01 -9.28224484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89907232899999 meters 0.08410656370168931 Centerline is valid? [True, True] Translation: X:28.16, Y:-1.29, Z:-0.93 [[ 9.99411647e-01 3.40692403e-02 -3.95567438e-03 2.81635908e+01] [-3.40683018e-02 9.99419461e-01 3.04412043e-04 -1.28732144e+00] [ 3.96374904e-03 -1.69469833e-04 9.99992130e-01 -9.30043883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959072328999994 meters 0.08555530886002741 Centerline is valid? [True, True] Translation: X:28.22, Y:-1.29, Z:-0.94 [[ 9.99445182e-01 3.29069867e-02 -5.14381686e-03 2.82206334e+01] [-3.29053978e-02 9.99458393e-01 3.93238340e-04 -1.29142528e+00] [ 5.15397122e-03 -2.23760825e-04 9.99986693e-01 -9.35005804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019072329 meters 0.08554285479212292 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.29, Z:-0.93 [[ 9.99525954e-01 3.05010435e-02 -4.18974916e-03 2.82794745e+01] [-3.04999665e-02 9.99534716e-01 3.20709682e-04 -1.28647023e+00] [ 4.19758172e-03 -1.92770441e-04 9.99991172e-01 -9.31448890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07907232899999 meters 0.08513494934148941 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.29, Z:-0.93 [[ 9.99602966e-01 2.80164938e-02 -2.99775458e-03 2.83387835e+01] [-2.80159313e-02 9.99607450e-01 2.29484275e-04 -1.28790424e+00] [ 3.00300716e-03 -1.45408275e-04 9.99995480e-01 -9.30951156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139072328999994 meters 0.0895565079266633 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.30, Z:-0.94 [[ 9.99732663e-01 2.29251907e-02 -3.00624912e-03 2.83977982e+01] [-2.29246002e-02 9.99737170e-01 2.30733586e-04 -1.29793784e+00] [ 3.01074860e-03 -1.61754843e-04 9.99995455e-01 -9.37574936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199072328999996 meters 0.09184281898491911 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.30, Z:-0.94 [[ 9.99803222e-01 1.95926639e-02 -3.10575651e-03 2.84564886e+01] [-1.95920171e-02 9.99808030e-01 2.38565360e-04 -1.30463496e+00] [ 3.10983442e-03 -1.77670381e-04 9.99995149e-01 -9.40853778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25907232899999 meters 0.0899089687517261 Centerline is valid? [True, True] Translation: X:28.52, Y:-1.30, Z:-0.94 [[ 9.99788947e-01 2.00650943e-02 -4.41053280e-03 2.85160051e+01] [-2.00638005e-02 9.99798645e-01 3.37410150e-04 -1.29771317e+00] [ 4.41641489e-03 -2.48846888e-04 9.99990217e-01 -9.39487528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319072328999994 meters 0.08880458568051472 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.30, Z:-0.94 [[ 9.99741354e-01 2.23735504e-02 -4.08046160e-03 2.85756683e+01] [-2.23724601e-02 9.99749656e-01 3.12651155e-04 -1.29751100e+00] [ 4.08643520e-03 -2.21280325e-04 9.99991626e-01 -9.43225796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379072328999996 meters 0.08873212938150758 Centerline is valid? [True, True] Translation: X:28.63, Y:-1.30, Z:-0.95 [[ 9.99688974e-01 2.46500713e-02 -3.78552658e-03 2.86344685e+01] [-2.46491515e-02 9.99696122e-01 2.89435880e-04 -1.29892832e+00] [ 3.79151086e-03 -1.96035839e-04 9.99992793e-01 -9.46161409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43907232899999 meters 0.08642132333926673 Centerline is valid? [True, True] Translation: X:28.70, Y:-1.29, Z:-0.95 [[ 9.99561767e-01 2.91979601e-02 -4.87368057e-03 2.86956602e+01] [-2.91964847e-02 9.99573622e-01 3.73628990e-04 -1.28749401e+00] [ 4.88251175e-03 -2.31170914e-04 9.99988054e-01 -9.45206618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49907232899999 meters 0.08799902154815986 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.29, Z:-0.95 [[ 9.99539999e-01 3.00365993e-02 -4.19452691e-03 2.87531434e+01] [-3.00355217e-02 9.99548781e-01 3.19665644e-04 -1.29085983e+00] [ 4.20223593e-03 -1.93533793e-04 9.99991152e-01 -9.49161912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559072328999996 meters 0.08771514652183486 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.29, Z:-0.95 [[ 9.99603049e-01 2.79439204e-02 -3.58914565e-03 2.88118880e+01] [-2.79431341e-02 9.99609478e-01 2.69065138e-04 -1.28889425e+00] [ 3.59526274e-03 -1.68666354e-04 9.99993523e-01 -9.48358888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61907232899999 meters 0.08929792438309307 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.29, Z:-0.95 [[ 9.99644981e-01 2.63834690e-02 -3.71809483e-03 2.88695223e+01] [-2.63826022e-02 9.99651879e-01 2.81990476e-04 -1.29144672e+00] [ 3.72424037e-03 -1.83797348e-04 9.99993048e-01 -9.49786959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67907232899999 meters 0.08970150324646219 Centerline is valid? [True, True] Translation: X:28.93, Y:-1.29, Z:-0.95 [[ 9.99686269e-01 2.45332869e-02 -5.04797819e-03 2.89288123e+01] [-2.45316601e-02 9.99698980e-01 3.83959533e-04 -1.28907108e+00] [ 5.05587843e-03 -2.60003788e-04 9.99987185e-01 -9.50403898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739072328999995 meters 0.0895246888686938 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.29, Z:-0.95 [[ 9.99753955e-01 2.17703577e-02 -4.25226219e-03 2.89880755e+01] [-2.17691803e-02 9.99762971e-01 3.22996442e-04 -1.28952469e+00] [ 4.25828603e-03 -2.30348708e-04 9.99990907e-01 -9.50402293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799072329 meters 0.09593569883629242 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.30, Z:-0.95 [[ 9.99828611e-01 1.83420476e-02 -2.51350400e-03 2.90458065e+01] [-1.83416268e-02 9.99831760e-01 1.90340622e-04 -1.30375555e+00] [ 2.51657237e-03 -1.44206247e-04 9.99996823e-01 -9.54517854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85907232899999 meters 0.09194904550552303 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.29, Z:-0.95 [[ 9.99866157e-01 1.61796803e-02 -2.42602290e-03 2.91064445e+01] [-1.61792814e-02 9.99869090e-01 1.83957167e-04 -1.29399732e+00] [ 2.42868168e-03 -1.44681238e-04 9.99997040e-01 -9.50677659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919072328999995 meters 0.0949503552161336 Centerline is valid? [True, True] Translation: X:29.17, Y:-1.30, Z:-0.95 [[ 9.99905088e-01 1.35293593e-02 -2.60226695e-03 2.91650501e+01] [-1.35288896e-02 9.99908461e-01 1.97986232e-04 -1.29781899e+00] [ 2.60470737e-03 -1.62761659e-04 9.99996594e-01 -9.54086618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979072329 meters 0.09275124822454568 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.30, Z:-0.95 [[ 9.99915454e-01 1.28722969e-02 -1.84075813e-03 2.92241072e+01] [-1.28720638e-02 9.99917142e-01 1.38448125e-04 -1.29672468e+00] [ 1.84238775e-03 -1.14742064e-04 9.99998296e-01 -9.54664937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03907232899999 meters 0.0952646809869066 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.30, Z:-0.96 [[ 9.99924602e-01 1.19308746e-02 -2.90594436e-03 2.92818212e+01] [-1.19302916e-02 9.99928808e-01 2.17895327e-04 -1.29684656e+00] [ 2.90833716e-03 -1.83210134e-04 9.99995754e-01 -9.55345598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099072328999995 meters 0.0956081044040178 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.29, Z:-0.96 [[ 9.99916011e-01 1.19085090e-02 -5.11446629e-03 2.93411161e+01] [-1.19066871e-02 9.99929038e-01 3.86515978e-04 -1.29374933e+00] [ 5.11870619e-03 -3.25587165e-04 9.99986846e-01 -9.59631126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159072329 meters 0.09505347531858346 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.30, Z:-0.96 [[ 9.99911445e-01 1.28194890e-02 -3.57256933e-03 2.94004968e+01] [-1.28186068e-02 9.99917802e-01 2.69727818e-04 -1.29626818e+00] [ 3.57573345e-03 -2.23908570e-04 9.99993582e-01 -9.62099404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21907232899999 meters 0.09411195060000874 Centerline is valid? [True, True] Translation: X:29.46, Y:-1.29, Z:-0.96 [[ 9.99882717e-01 1.51889187e-02 -1.96190471e-03 2.94617605e+01] [-1.51886568e-02 9.99884635e-01 1.48334752e-04 -1.28783900e+00] [ 1.96393142e-03 -1.18518658e-04 9.99998064e-01 -9.60300814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279072328999995 meters 0.09384770091786056 Centerline is valid? [True, True] Translation: X:29.52, Y:-1.29, Z:-0.96 [[ 9.99854614e-01 1.69920003e-02 -1.42207625e-03 2.95222441e+01] [-1.69918647e-02 9.99855622e-01 1.07395770e-04 -1.28741327e+00] [ 1.42369581e-03 -8.32164286e-05 9.99998983e-01 -9.61189961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339072329 meters 0.09137309266307374 Centerline is valid? [True, True] Translation: X:29.58, Y:-1.28, Z:-0.96 [[ 9.99811592e-01 1.93986871e-02 -6.85978752e-04 2.95824941e+01] [-1.93986565e-02 9.99811827e-01 5.11960864e-05 -1.28263844e+00] [ 6.86842806e-04 -3.78793745e-05 9.99999763e-01 -9.59636078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39907232899999 meters 0.09208978934529283 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.28, Z:-0.96 [[ 9.99787416e-01 2.05699008e-02 -1.41522725e-03 2.96399323e+01] [-2.05697725e-02 9.99788414e-01 1.05196212e-04 -1.28462450e+00] [ 1.41709168e-03 -7.60629468e-05 9.99998993e-01 -9.62824323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459072328999994 meters 0.0914448279210029 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.28, Z:-0.97 [[ 9.99737812e-01 2.26463654e-02 -3.38377150e-03 2.96984066e+01] [-2.26456341e-02 9.99743522e-01 2.54288195e-04 -1.28445982e+00] [ 3.38866234e-03 -1.77593873e-04 9.99994243e-01 -9.68310177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519072329 meters 0.08991368815489577 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.28, Z:-0.97 [[ 9.99692453e-01 2.46638519e-02 -2.58710952e-03 2.97589775e+01] [-2.46634293e-02 9.99695792e-01 1.95142415e-04 -1.28329145e+00] [ 2.59113547e-03 -1.31275407e-04 9.99996634e-01 -9.67724567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57907232899999 meters 0.09085974090325176 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.28, Z:-0.97 [[ 9.99620412e-01 2.75424056e-02 -6.68560542e-04 2.98179596e+01] [-2.75423785e-02 9.99620635e-01 4.97554634e-05 -1.28357701e+00] [ 6.69677299e-04 -3.13228293e-05 9.99999775e-01 -9.65006195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639072328999994 meters 0.0892939835532123 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.28, Z:-0.97 [[ 9.99624923e-01 2.73721087e-02 -8.83360874e-04 2.98768353e+01] [-2.73720617e-02 9.99625313e-01 6.51761617e-05 -1.28274326e+00] [ 8.84813899e-04 -4.09723073e-05 9.99999608e-01 -9.65767594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699072328999996 meters 0.08994004533853503 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.29, Z:-0.97 [[ 9.99643570e-01 2.64553188e-02 -3.58443611e-03 2.99356786e+01] [-2.64545216e-02 9.99649982e-01 2.69648717e-04 -1.29182462e+00] [ 3.59031513e-03 -1.74728064e-04 9.99993540e-01 -9.73577299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75907232899999 meters 0.09045019536461867 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.29, Z:-0.97 [[ 9.99647847e-01 2.58477348e-02 -6.00629978e-03 2.99956502e+01] [-2.58454835e-02 9.99665847e-01 4.52155592e-04 -1.29353231e+00] [ 6.01597996e-03 -2.96760642e-04 9.99981860e-01 -9.74180054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819072328999994 meters 0.090979264712894 Centerline is valid? [True, True] Translation: X:30.05, Y:-1.30, Z:-0.97 [[ 9.99660508e-01 2.55509156e-02 -5.10092081e-03 3.00544295e+01] [-2.55493171e-02 9.99673491e-01 3.78305421e-04 -1.29507849e+00] [ 5.10892137e-03 -2.47851946e-04 9.99986919e-01 -9.73869258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879072328999996 meters 0.09207378711686505 Centerline is valid? [True, True] Translation: X:30.11, Y:-1.31, Z:-0.98 [[ 9.99681218e-01 2.50295488e-02 -3.31421449e-03 3.01119470e+01] [-2.50288670e-02 9.99686698e-01 2.47050552e-04 -1.30535190e+00] [ 3.31935971e-03 -1.64020763e-04 9.99994477e-01 -9.78193962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93907232899999 meters 0.09314067135116975 Centerline is valid? [True, True] Translation: X:30.17, Y:-1.31, Z:-0.98 [[ 9.99700541e-01 2.41683877e-02 -3.83621443e-03 3.01697856e+01] [-2.41674678e-02 9.99707883e-01 2.85972031e-04 -1.30920257e+00] [ 3.84200529e-03 -1.93174806e-04 9.99992601e-01 -9.79962977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99907232899999 meters 0.09312160698938379 Centerline is valid? [True, True] Translation: X:30.23, Y:-1.31, Z:-0.98 [[ 9.99685198e-01 2.44487754e-02 -5.63582474e-03 3.02287508e+01] [-2.44468146e-02 9.99701045e-01 4.16552240e-04 -1.30932416e+00] [ 5.64432407e-03 -2.78643146e-04 9.99984032e-01 -9.80243885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059072328999996 meters 0.093127905790304 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.31, Z:-0.98 [[ 9.99680471e-01 2.50761874e-02 -3.18458799e-03 3.02870103e+01] [-2.50755608e-02 9.99685531e-01 2.36559139e-04 -1.31416739e+00] [ 3.18951854e-03 -1.56628221e-04 9.99994901e-01 -9.81046852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11907232899999 meters 0.09306870233086974 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.32, Z:-0.98 [[ 9.99732587e-01 2.24971293e-02 -5.35100730e-03 3.03476061e+01] [-2.24953107e-02 9.99746869e-01 3.99817429e-04 -1.31569348e+00] [ 5.35864754e-03 -2.79337941e-04 9.99985603e-01 -9.83329017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17907232899999 meters 0.09626678575438409 Centerline is valid? [True, True] Translation: X:30.40, Y:-1.33, Z:-0.99 [[ 9.99760945e-01 2.12735887e-02 -5.04856742e-03 3.04043095e+01] [-2.12719653e-02 9.99773656e-01 3.75048619e-04 -1.32637708e+00] [ 5.05540334e-03 -2.67566011e-04 9.99987186e-01 -9.87381651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239072328999995 meters 0.09134386516047986 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.32, Z:-0.98 [[ 9.99765121e-01 2.11916255e-02 -4.54078878e-03 3.04639226e+01] [-2.11903124e-02 9.99775403e-01 3.37106268e-04 -1.31968975e+00] [ 4.54691276e-03 -2.40806356e-04 9.99989634e-01 -9.81780768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299072329 meters 0.09090423970164253 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.32, Z:-0.98 [[ 9.99770889e-01 2.04968648e-02 -6.16825189e-03 3.05226820e+01] [-2.04944309e-02 9.99789862e-01 4.57533434e-04 -1.31785440e+00] [ 6.17633371e-03 -3.31013796e-04 9.99980871e-01 -9.81257836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35907232899999 meters 0.09602215323959645 Centerline is valid? [True, True] Translation: X:30.58, Y:-1.34, Z:-0.99 [[ 9.99850356e-01 1.62937354e-02 -5.81197588e-03 3.05800989e+01] [-1.62914989e-02 9.99867191e-01 4.31950757e-04 -1.33924012e+00] [ 5.81824209e-03 -3.37200320e-04 9.99983017e-01 -9.91452700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419072328999995 meters 0.09644351055085543 Centerline is valid? [True, True] Translation: X:30.64, Y:-1.35, Z:-0.99 [[ 9.99906248e-01 1.28674285e-02 -4.68229270e-03 3.06399864e+01] [-1.28659390e-02 9.99917170e-01 3.48084622e-04 -1.34719273e+00] [ 4.68638382e-03 -2.87809896e-04 9.99988977e-01 -9.90667372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479072329 meters 0.1012142335282857 Centerline is valid? [True, False] Translation: X:30.65, Y:-1.35, Z:-0.99 [[ 9.99948226e-01 9.95390531e-03 2.11287873e-03 3.06489108e+01] [-9.97242340e-03 9.99910286e-01 8.94267820e-03 -1.34943731e+00] [-2.02367460e-03 -8.96328573e-03 9.99957781e-01 -9.91714194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53907232899999 meters 0.09997134839621813 Centerline is valid? [False, True] Translation: X:30.65, Y:-1.35, Z:-0.99 [[ 9.99984007e-01 5.17707618e-03 2.27696589e-03 3.06472975e+01] [-5.18663711e-03 9.99977673e-01 4.21331276e-03 -1.34978013e+00] [-2.25510241e-03 -4.22505517e-03 9.99988532e-01 -9.89921550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599072328999995 meters 0.10591252903003201 Centerline is valid? [True, False] Translation: X:30.65, Y:-1.35, Z:-0.99 [[ 9.99994317e-01 -2.56436183e-03 2.18857086e-03 3.06487069e+01] [ 2.57035929e-03 9.99992937e-01 -2.74195536e-03 -1.35410680e+00] [-2.18152404e-03 2.74756519e-03 9.99993846e-01 -9.92117454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659072329 meters 0.11170525843397565 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.36, Z:-0.99 [[ 9.99991542e-01 -2.87155681e-03 2.94447069e-03 3.06469066e+01] [ 2.87807371e-03 9.99993413e-01 -2.21142085e-03 -1.35620187e+00] [-2.93810107e-03 2.21987655e-03 9.99993220e-01 -9.92333670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71907232899999 meters 0.11907799307686079 Centerline is valid? [False, False] Translation: X:30.64, Y:-1.36, Z:-0.99 [[ 9.99988493e-01 -2.83734942e-03 3.86823884e-03 3.06449385e+01] [ 2.84044022e-03 9.99995651e-01 -7.93759938e-04 -1.36249568e+00] [-3.86596985e-03 8.04738306e-04 9.99992203e-01 -9.92634723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779072328999995 meters 0.11511766145819256 Centerline is valid? [False, False] Translation: X:30.64, Y:-1.37, Z:-0.99 [[ 9.99986462e-01 -2.72347009e-03 4.43382727e-03 3.06434615e+01] [ 2.72148503e-03 9.99996194e-01 4.53680034e-04 -1.36770521e+00] [-4.43504598e-03 -4.41607298e-04 9.99990068e-01 -9.92573545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839072329 meters 0.1116715395395343 Centerline is valid? [False, False] Translation: X:30.64, Y:-1.37, Z:-0.99 [[ 9.99988416e-01 -2.50443815e-03 4.11053233e-03 3.06443715e+01] [ 2.50178637e-03 9.99996659e-01 6.50134259e-04 -1.36774950e+00] [-4.11214682e-03 -6.39843053e-04 9.99991340e-01 -9.92693681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89907232899999 meters 0.11204787042543193 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.37, Z:-0.99 [[ 9.99991007e-01 -1.43517796e-03 3.99084639e-03 3.06453091e+01] [ 1.42647976e-03 9.99996603e-01 2.18153152e-03 -1.37401605e+00] [-3.99396372e-03 -2.17581904e-03 9.99989657e-01 -9.93395293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959072328999994 meters 0.11214958614339915 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99992113e-01 -1.04901535e-03 3.83065360e-03 3.06454765e+01] [ 1.03812484e-03 9.99995417e-01 2.84387247e-03 -1.37702569e+00] [-3.83361931e-03 -2.83987334e-03 9.99988619e-01 -9.93022322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019072329 meters 0.11361745914204617 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99994029e-01 -7.05589580e-04 3.38287898e-03 3.06465269e+01] [ 6.95119159e-04 9.99994968e-01 3.09529884e-03 -1.37787419e+00] [-3.38504597e-03 -3.09292886e-03 9.99989488e-01 -9.92914728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07907232899999 meters 0.10730011713074127 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99996389e-01 5.14356112e-04 2.63779147e-03 3.06492223e+01] [-5.26156763e-04 9.99989849e-01 4.47494515e-03 -1.38180596e+00] [-2.63546298e-03 -4.47631688e-03 9.99986508e-01 -9.94177764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139072328999994 meters 0.10595805462754182 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99994603e-01 -3.06105922e-03 1.19340725e-03 3.06523044e+01] [ 3.06107310e-03 9.99995315e-01 -9.80459884e-06 -1.38072419e+00] [-1.19337165e-03 1.34576528e-05 9.99999288e-01 -9.93330720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199072328999996 meters 0.10393645248592492 Centerline is valid? [False, False] Translation: X:30.65, Y:-1.38, Z:-0.99 [[ 9.99997094e-01 -2.39793218e-03 2.47609050e-04 3.06547968e+01] [ 2.39788766e-03 9.99997109e-01 1.79943901e-04 -1.38049049e+00] [-2.48039828e-04 -1.79349640e-04 9.99999953e-01 -9.93513772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25907232899999 meters 0.10239106817801667 Centerline is valid? [False, False] Translation: X:30.66, Y:-1.38, Z:-0.99 [[ 9.99998423e-01 -1.74145657e-03 -3.47895981e-04 3.06568288e+01] [ 1.74168714e-03 9.99998263e-01 6.63568978e-04 -1.38111470e+00] [ 3.46739800e-04 -6.64173858e-04 9.99999719e-01 -9.94392523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319072328999994 meters 0.0993989973607143 Centerline is valid? [False, True] Translation: X:30.66, Y:-1.38, Z:-0.99 [[ 9.99998363e-01 -9.92551461e-04 -1.51261793e-03 3.06597134e+01] [ 9.93480360e-04 9.99999318e-01 6.13472716e-04 -1.38013035e+00] [ 1.51200799e-03 -6.14974468e-04 9.99998668e-01 -9.94223198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379072328999996 meters 0.09318583888362487 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.37, Z:-0.99 [[ 9.99987364e-01 5.02716783e-03 1.36427042e-05 3.07208883e+01] [-5.02716782e-03 9.99987364e-01 -6.63088756e-07 -1.37262429e+00] [-1.36458653e-05 5.94496214e-07 1.00000000e+00 -9.92618187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43907232899999 meters 0.09129606581898018 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.37, Z:-0.99 [[ 9.99978710e-01 6.49986454e-03 5.75845131e-04 3.07797682e+01] [-6.49984334e-03 9.99978875e-01 -3.86732790e-05 -1.37329493e+00] [-5.76084337e-04 3.49295525e-05 9.99999833e-01 -9.93120279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49907232899999 meters 0.0928099466994997 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.38, Z:-1.00 [[ 9.99984548e-01 5.55908008e-03 3.59063800e-05 3.08367906e+01] [-5.55907993e-03 9.99984548e-01 -4.48842802e-06 -1.38180663e+00] [-3.59307767e-05 4.28875223e-06 9.99999999e-01 -9.95363426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559072328999996 meters 0.09469325310854966 Centerline is valid? [True, True] Translation: X:30.90, Y:-1.40, Z:-1.00 [[ 9.99996431e-01 1.96217360e-03 1.81351878e-03 3.08964729e+01] [-1.96196638e-03 9.99998069e-01 -1.16035832e-04 -1.39668920e+00] [-1.81374296e-03 1.12477355e-04 9.99998349e-01 -9.96550526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61907232899999 meters 0.09483367481249219 Centerline is valid? [True, True] Translation: X:30.96, Y:-1.40, Z:-1.00 [[ 9.99996151e-01 -2.77305992e-03 9.43884326e-05 3.09569869e+01] [ 2.77306050e-03 9.99996155e-01 -5.97192528e-06 -1.40354945e+00] [-9.43715092e-05 6.23364713e-06 9.99999996e-01 -9.97325181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67907232899999 meters 0.10024180978176148 Centerline is valid? [True, False] Translation: X:30.96, Y:-1.41, Z:-1.00 [[ 9.99979889e-01 -6.33220114e-03 3.52996272e-04 3.09571263e+01] [ 6.33289230e-03 9.99977962e-01 -1.99250269e-03 -1.41038128e+00] [-3.40371565e-04 1.99469811e-03 9.99997953e-01 -9.98984579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739072328999995 meters 0.10304586633106105 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.42, Z:-1.00 [[ 9.99981940e-01 -5.91682078e-03 1.05408560e-03 3.09560240e+01] [ 5.91690153e-03 9.99982492e-01 -7.35103348e-05 -1.41769543e+00] [-1.05363219e-03 7.97459279e-05 9.99999442e-01 -9.99901251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799072329 meters 0.10820080041771404 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.42, Z:-1.00 [[ 9.99980256e-01 -6.00701934e-03 1.84497551e-03 3.09538531e+01] [ 6.00459921e-03 9.99981108e-01 1.31449034e-03 -1.42425940e+00] [-1.85283683e-03 -1.30338605e-03 9.99997434e-01 -9.99164426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85907232899999 meters 0.1144526486800137 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.43, Z:-1.00 [[ 9.99983177e-01 -5.28573182e-03 2.38905371e-03 3.09535349e+01] [ 5.27669206e-03 9.99978955e-01 3.77442283e-03 -1.43199951e+00] [-2.40895402e-03 -3.76175303e-03 9.99990023e-01 -1.00109089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919072328999995 meters 0.11952781784483557 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.44, Z:-1.00 [[ 9.99960182e-01 -8.57057039e-03 2.48606317e-03 3.09540757e+01] [ 8.56667789e-03 9.99962069e-01 1.57217574e-03 -1.43894470e+00] [-2.49944331e-03 -1.55081584e-03 9.99995674e-01 -1.00221454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979072329 meters 0.11585746393805364 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.44, Z:-1.00 [[ 9.99960205e-01 -8.49193016e-03 2.73404082e-03 3.09531300e+01] [ 8.48570038e-03 9.99961391e-01 2.28219380e-03 -1.44216529e+00] [-2.75331549e-03 -2.25890273e-03 9.99993658e-01 -1.00158023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03907232899999 meters 0.1147680955819224 Centerline is valid? [False, False] Translation: X:30.95, Y:-1.45, Z:-1.00 [[ 9.99965295e-01 -7.94247581e-03 2.51517110e-03 3.09538407e+01] [ 7.93444750e-03 9.99963446e-01 3.18600381e-03 -1.44508764e+00] [-2.54038392e-03 -3.16593675e-03 9.99991762e-01 -1.00184473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099072328999995 meters 0.11230006255684978 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.45, Z:-1.00 [[ 9.99973612e-01 -7.03938151e-03 1.79485582e-03 3.09565886e+01] [ 7.03223943e-03 9.99967453e-01 3.95492827e-03 -1.44604313e+00] [-1.82263765e-03 -3.94220205e-03 9.99990568e-01 -1.00344384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159072329 meters 0.11126166703146195 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.44, Z:-1.00 [[ 9.99976282e-01 -6.79362238e-03 1.13209799e-03 3.09581444e+01] [ 6.78946577e-03 9.99970341e-01 3.63586019e-03 -1.44454854e+00] [-1.15676508e-03 -3.62808762e-03 9.99992749e-01 -1.00335481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21907232899999 meters 0.10525455396579782 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.44, Z:-1.00 [[ 9.99977801e-01 -6.64699924e-03 4.63461939e-04 3.09594272e+01] [ 6.64548072e-03 9.99972784e-01 3.20443760e-03 -1.44283406e+00] [-4.84749220e-04 -3.20128654e-03 9.99994758e-01 -1.00279949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279072328999995 meters 0.10406938420406853 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.44, Z:-1.00 [[ 9.99996917e-01 -2.46505470e-03 3.00155315e-04 3.09593815e+01] [ 2.46284844e-03 9.99971467e-01 7.14138947e-03 -1.44204021e+00] [-3.17750666e-04 -7.14062821e-03 9.99974455e-01 -1.00216068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339072329 meters 0.10304899983160727 Centerline is valid? [False, False] Translation: X:30.96, Y:-1.44, Z:-1.00 [[ 9.99996915e-01 -2.45279656e-03 -3.91213271e-04 3.09607962e+01] [ 2.45525153e-03 9.99976484e-01 6.40336328e-03 -1.43919580e+00] [ 3.75497924e-04 -6.40430405e-03 9.99979422e-01 -1.00181783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39907232899999 meters 0.1019859517111844 Centerline is valid? [False, False] Translation: X:30.97, Y:-1.44, Z:-1.00 [[ 9.99985844e-01 -4.85640551e-03 -2.17434171e-03 3.09668042e+01] [ 4.86284387e-03 9.99983779e-01 2.96563211e-03 -1.43799250e+00] [ 2.15990413e-03 -2.97616361e-03 9.99993239e-01 -1.00459797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459072328999994 meters 0.1008891667485499 Centerline is valid? [False, False] Translation: X:30.97, Y:-1.44, Z:-1.01 [[ 9.99987397e-01 -4.15094699e-03 -2.82399998e-03 3.09694543e+01] [ 4.16066282e-03 9.99985416e-01 3.44331697e-03 -1.43708456e+00] [ 2.80966577e-03 -3.45502329e-03 9.99990084e-01 -1.00626651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519072329 meters 0.09698224095988889 Centerline is valid? [False, True] Translation: X:30.97, Y:-1.44, Z:-1.01 [[ 9.99987046e-01 -4.19645424e-03 -2.88072385e-03 3.09695722e+01] [ 4.20604927e-03 9.99985601e-01 3.33283190e-03 -1.43641143e+00] [ 2.86669629e-03 -3.34490519e-03 9.99990297e-01 -1.00622443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57907232899999 meters 0.09694210173694892 Centerline is valid? [True, True] Translation: X:31.03, Y:-1.44, Z:-1.01 [[ 9.99986148e-01 -4.98021173e-03 -1.70346816e-03 3.10314726e+01] [ 4.98041393e-03 9.99987591e-01 1.14478384e-04 -1.43677962e+00] [ 1.70287690e-03 -1.22960774e-04 9.99998543e-01 -1.00519142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639072328999994 meters 0.0989896729945765 Centerline is valid? [True, True] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99966019e-01 -7.90780560e-03 -2.32973520e-03 3.10920037e+01] [ 7.90819073e-03 9.99968718e-01 1.56141691e-04 -1.44705653e+00] [ 2.32842759e-03 -1.74560376e-04 9.99997274e-01 -1.01080364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699072328999996 meters 0.10085058889139013 Centerline is valid? [True, False] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99963429e-01 -8.21942579e-03 -2.36244332e-03 3.10916998e+01] [ 8.21850766e-03 9.99966148e-01 -3.98084147e-04 -1.44530717e+00] [ 2.36563537e-03 3.78653830e-04 9.99997130e-01 -1.01013436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75907232899999 meters 0.10351639227636131 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.44, Z:-1.01 [[ 9.99961048e-01 -8.51336203e-03 -2.32923714e-03 3.10911994e+01] [ 8.51156128e-03 9.99963470e-01 -7.81930467e-04 -1.44417446e+00] [ 2.33580891e-03 7.62074564e-04 9.99996982e-01 -1.00944442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819072328999994 meters 0.1055805928202726 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99966494e-01 -7.93588911e-03 -2.00822370e-03 3.10914776e+01] [ 7.93700819e-03 9.99968350e-01 5.49892756e-04 -1.44780420e+00] [ 2.00379625e-03 -5.65813619e-04 9.99997832e-01 -1.01122103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879072328999996 meters 0.10958848259028658 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99967974e-01 -7.92545576e-03 -1.11242683e-03 3.10897824e+01] [ 7.92732905e-03 9.99967151e-01 1.68978085e-03 -1.45184377e+00] [ 1.09899800e-03 -1.69854530e-03 9.99997954e-01 -1.01194504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93907232899999 meters 0.11522641056527666 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.45, Z:-1.01 [[ 9.99968000e-01 -7.96333749e-03 -7.64228881e-04 3.10892188e+01] [ 7.96507634e-03 9.99965633e-01 2.29988836e-03 -1.45314864e+00] [ 7.45887829e-04 -2.30590191e-03 9.99997063e-01 -1.01253293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99907232899999 meters 0.11876996135073184 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.46, Z:-1.01 [[ 9.99973991e-01 -7.19748005e-03 -4.63252020e-04 3.10896776e+01] [ 7.19933919e-03 9.99965493e-01 4.14514218e-03 -1.45806054e+00] [ 4.33401456e-04 -4.14836948e-03 9.99991302e-01 -1.01473200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059072328999996 meters 0.11330912236521087 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.46, Z:-1.01 [[ 9.99966276e-01 -8.16316965e-03 9.00201251e-04 3.10856981e+01] [ 8.15936377e-03 9.99958086e-01 4.15341331e-03 -1.46167837e+00] [-9.34068537e-04 -4.14592817e-03 9.99990969e-01 -1.01319997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11907232899999 meters 0.11717981280415274 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.46, Z:-1.01 [[ 9.99967153e-01 -8.01223443e-03 1.22330883e-03 3.10852822e+01] [ 8.00620384e-03 9.99956152e-01 4.85751615e-03 -1.46370707e+00] [-1.26217475e-03 -4.84756254e-03 9.99987454e-01 -1.01378252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17907232899999 meters 0.11712135893166838 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.47, Z:-1.01 [[ 9.99969840e-01 -7.64572297e-03 1.36422494e-03 3.10855855e+01] [ 7.63780946e-03 9.99954503e-01 5.71460018e-03 -1.46608939e+00] [-1.40785512e-03 -5.70400814e-03 9.99982741e-01 -1.01494410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239072328999995 meters 0.12298392673476466 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.47, Z:-1.01 [[ 9.99967837e-01 -7.82047039e-03 1.77903719e-03 3.10843118e+01] [ 7.80985963e-03 9.99952126e-01 5.89507093e-03 -1.46760315e+00] [-1.82505425e-03 -5.88098730e-03 9.99981041e-01 -1.01432567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299072329 meters 0.14645863045158647 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.47, Z:-1.01 [[ 9.99966086e-01 -7.87235563e-03 2.41933878e-03 3.10826242e+01] [ 7.85599511e-03 9.99946701e-01 6.69908721e-03 -1.47154881e+00] [-2.47194743e-03 -6.67985370e-03 9.99974634e-01 -1.01398893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35907232899999 meters 0.144825518729432 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.47, Z:-1.02 [[ 9.99968910e-01 -7.46329972e-03 2.54522593e-03 3.10828971e+01] [ 7.44342848e-03 9.99942425e-01 7.72935516e-03 -1.47427226e+00] [-2.60276588e-03 -7.71016965e-03 9.99966889e-01 -1.01507109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419072328999995 meters 0.12864867382685263 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.48, Z:-1.01 [[ 9.99929404e-01 -1.16365604e-02 2.40366058e-03 3.10829281e+01] [ 1.16275073e-02 9.99925379e-01 3.74662449e-03 -1.47603286e+00] [-2.44707904e-03 -3.71841141e-03 9.99990093e-01 -1.01445002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479072329 meters 0.13245716061148147 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.48, Z:-1.01 [[ 9.99929558e-01 -1.16334879e-02 2.35388707e-03 3.10823490e+01] [ 1.16244244e-02 9.99925106e-01 3.82816546e-03 -1.47742840e+00] [-2.39824569e-03 -3.80053321e-03 9.99989902e-01 -1.01326884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53907232899999 meters 0.13082871326840767 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.48, Z:-1.02 [[ 9.99921047e-01 -6.76515205e-03 1.05892999e-02 3.10696470e+01] [ 6.77438139e-03 9.99976704e-01 -8.35945330e-04 -1.48189481e+00] [-1.05833979e-02 9.07615285e-04 9.99943582e-01 -1.01717252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599072328999995 meters 0.13097683548055442 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.49, Z:-1.02 [[ 9.99932646e-01 -5.28221997e-03 1.03344952e-02 3.10717739e+01] [ 5.26122154e-03 9.99984042e-01 2.05801091e-03 -1.48892902e+00] [-1.03452012e-02 -2.00350022e-03 9.99944480e-01 -1.02036454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659072329 meters 0.1369313269626367 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.49, Z:-1.02 [[ 9.99939040e-01 -4.34624070e-03 1.01501495e-02 3.10729787e+01] [ 4.30759341e-03 9.99983402e-01 3.82632182e-03 -1.49362234e+00] [-1.01666111e-02 -3.78236586e-03 9.99941165e-01 -1.02189849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71907232899999 meters 0.12435570516013643 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.49, Z:-1.01 [[ 9.99968085e-01 -3.87406964e-03 -6.98712727e-03 3.10763981e+01] [ 3.87238255e-03 9.99992470e-01 -2.54969703e-04 -1.49257196e+00] [ 6.98806243e-03 2.27904736e-04 9.99975557e-01 -1.00894758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779072328999995 meters 0.12591879542481002 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.50, Z:-1.01 [[ 9.99945424e-01 -7.01096862e-03 -7.74570014e-03 3.10790228e+01] [ 6.98715451e-03 9.99970793e-01 -3.09728904e-03 -1.49597788e+00] [ 7.76718890e-03 3.04299960e-03 9.99965205e-01 -1.01029613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839072329 meters 0.12050385707545984 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.01 [[ 9.99999296e-01 -1.02974219e-03 -5.90070381e-04 3.10688670e+01] [ 1.02741328e-03 9.99991735e-01 -3.93365176e-03 -1.49952970e+00] [ 5.94116151e-04 3.93304274e-03 9.99992089e-01 -1.01450263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89907232899999 meters 0.13543881201517483 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.02 [[ 9.99998684e-01 -3.05076530e-04 -1.59369745e-03 3.10720290e+01] [ 2.99305461e-04 9.99993402e-01 -3.62016687e-03 -1.49735677e+00] [ 1.59479137e-03 3.61968510e-03 9.99992177e-01 -1.01593368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959072328999994 meters 0.11431560808721254 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.02 [[ 9.99998415e-01 2.53841058e-04 -1.76244001e-03 3.10725410e+01] [-2.58682337e-04 9.99996193e-01 -2.74723393e-03 -1.50008244e+00] [ 1.76173593e-03 2.74768549e-03 9.99994673e-01 -1.01616359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019072329 meters 0.11453275306952021 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.02 [[ 9.99998592e-01 4.65801488e-04 -1.61227940e-03 3.10718806e+01] [-4.69329555e-04 9.99997495e-01 -2.18856136e-03 -1.50286431e+00] [ 1.61125593e-03 2.18931497e-03 9.99996305e-01 -1.01569018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07907232899999 meters 0.1169146462990749 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.50, Z:-1.02 [[ 9.99997832e-01 1.05458358e-03 -1.79538899e-03 3.10731851e+01] [-1.05679206e-03 9.99998686e-01 -1.22957692e-03 -1.50464462e+00] [ 1.79408994e-03 1.23147160e-03 9.99997632e-01 -1.01722028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139072328999994 meters 0.12003912400858012 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.51, Z:-1.02 [[ 9.99997477e-01 1.38699153e-03 -1.76723189e-03 3.10734580e+01] [-1.38788505e-03 9.99998910e-01 -5.04473831e-04 -1.50662152e+00] [ 1.76653026e-03 5.06925273e-04 9.99998311e-01 -1.01784161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199072328999996 meters 0.12374618013775776 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.51, Z:-1.02 [[ 9.99996208e-01 -2.16196374e-03 -1.70559745e-03 3.10735088e+01] [ 2.15647522e-03 9.99992512e-01 -3.21324987e-03 -1.51230563e+00] [ 1.71253161e-03 3.20955961e-03 9.99993383e-01 -1.01830865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25907232899999 meters 0.13085805467154407 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.52, Z:-1.02 [[ 9.99998269e-01 -1.53931968e-03 -1.04537024e-03 3.10728602e+01] [ 1.53835057e-03 9.99998387e-01 -9.27217109e-04 -1.51898288e+00] [ 1.04679584e-03 9.25607358e-04 9.99999024e-01 -1.02007687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319072328999994 meters 0.1386838087109757 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.53, Z:-1.02 [[ 9.99999112e-01 -1.28383013e-03 -3.56403321e-04 3.10714246e+01] [ 1.28403893e-03 9.99999004e-01 5.86262079e-04 -1.52526866e+00] [ 3.55650305e-04 -5.86719194e-04 9.99999765e-01 -1.02021800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379072328999996 meters 0.1436317842173456 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.53, Z:-1.02 [[ 9.99999341e-01 -1.14070196e-03 1.32989056e-04 3.10703133e+01] [ 1.14050511e-03 9.99998268e-01 1.47098810e-03 -1.52946948e+00] [-1.34666785e-04 -1.47083546e-03 9.99998909e-01 -1.02032402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43907232899999 meters 0.14881185965909144 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.53, Z:-1.02 [[ 9.99983958e-01 -5.66422664e-03 -1.99281884e-06 3.10700277e+01] [ 5.66419260e-03 9.99979051e-01 -3.13267619e-03 -1.52848969e+00] [ 1.97369650e-05 3.13261465e-03 9.99995093e-01 -1.01932446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49907232899999 meters 0.14141354431552483 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.53, Z:-1.02 [[ 9.99985068e-01 -5.44345077e-03 4.81660192e-04 3.10690645e+01] [ 5.44451723e-03 9.99982667e-01 -2.24124123e-03 -1.53203975e+00] [-4.69451757e-04 2.24383018e-03 9.99997372e-01 -1.01938938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559072328999996 meters 0.13473339412234872 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.54, Z:-1.02 [[ 9.99989531e-01 -4.53409754e-03 6.15532711e-04 3.10702479e+01] [ 4.53448485e-03 9.99989521e-01 -6.29295311e-04 -1.53567193e+00] [-6.12672975e-04 6.32079847e-04 9.99999613e-01 -1.02185650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61907232899999 meters 0.13936175573355228 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.54, Z:-1.02 [[ 9.99992307e-01 -3.88583261e-03 5.35137463e-04 3.10715918e+01] [ 3.88569021e-03 9.99992415e-01 2.66884845e-04 -1.53712360e+00] [-5.36170474e-04 -2.64803414e-04 9.99999821e-01 -1.02357862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67907232899999 meters 0.1383625146145087 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.54, Z:-1.02 [[ 9.99992905e-01 -3.67556980e-03 8.24757760e-04 3.10707150e+01] [ 3.67478225e-03 9.99992793e-01 9.54376278e-04 -1.53998044e+00] [-8.28259692e-04 -9.51338702e-04 9.99999204e-01 -1.02314521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739072328999995 meters 0.14214840011799149 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.55, Z:-1.02 [[ 9.99991707e-01 -3.73692275e-03 1.61883611e-03 3.10682301e+01] [ 3.73403804e-03 9.99991442e-01 1.78133660e-03 -1.54522626e+00] [-1.62547897e-03 -1.77527704e-03 9.99997103e-01 -1.02204232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799072329 meters 0.14407978127317617 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.55, Z:-1.02 [[ 9.99994315e-01 -2.99901327e-03 1.54146075e-03 3.10690988e+01] [ 2.99435728e-03 9.99990975e-01 3.01398755e-03 -1.54848529e+00] [-1.55048583e-03 -3.00935473e-03 9.99994270e-01 -1.02314175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85907232899999 meters 0.14887753205065346 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.55, Z:-1.02 [[ 9.99996252e-01 -2.38814259e-03 1.33881994e-03 3.10701961e+01] [ 2.38292113e-03 9.99989602e-01 3.88817056e-03 -1.55069004e+00] [-1.34809152e-03 -3.88496569e-03 9.99991545e-01 -1.02415050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919072328999995 meters 0.13756355160306138 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.56, Z:-1.03 [[ 9.99987512e-01 -4.95437359e-03 6.56464346e-04 3.10737169e+01] [ 4.95318824e-03 9.99986122e-01 1.79514877e-03 -1.55560924e+00] [-6.65349073e-04 -1.79187476e-03 9.99998173e-01 -1.02698779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979072329 meters 0.130491590344025 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.56, Z:-1.03 [[ 9.99990563e-01 -4.23248517e-03 9.79505349e-04 3.10733632e+01] [ 4.22914025e-03 9.99985304e-01 3.39214674e-03 -1.56103394e+00] [-9.93848165e-04 -3.38797227e-03 9.99993767e-01 -1.02769573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03907232899999 meters 0.1397641570571777 Centerline is valid? [False, False] Translation: X:31.07, Y:-1.56, Z:-1.03 [[ 9.99991079e-01 -4.12735651e-03 8.98510572e-04 3.10737011e+01] [ 4.12417522e-03 9.99985321e-01 3.51414799e-03 -1.56103279e+00] [-9.13001525e-04 -3.51041103e-03 9.99993422e-01 -1.02788826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099072329 meters 0.1372668946836776 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99995907e-01 -2.82740336e-03 4.39035623e-04 3.10761520e+01] [ 2.82501646e-03 9.99981723e-01 5.34532163e-03 -1.56522124e+00] [-4.54140979e-04 -5.34405947e-03 9.99985617e-01 -1.03011089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159072329 meters 0.13562655545295965 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99982757e-01 -5.87049147e-03 -1.50296694e-04 3.10786722e+01] [ 5.87088919e-03 9.99978849e-01 2.79879682e-03 -1.56934308e+00] [ 1.33863202e-04 -2.79963094e-03 9.99996072e-01 -1.03197130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219072329 meters 0.14925500099384578 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99983533e-01 -5.70940453e-03 -5.80564337e-04 3.10797684e+01] [ 5.71101458e-03 9.99979743e-01 2.81048934e-03 -1.56857936e+00] [ 5.64506355e-04 -2.81375867e-03 9.99995882e-01 -1.03212008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27907232899999 meters 0.12908523067330516 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99998806e-01 -1.35383534e-03 -7.45519004e-04 3.10793609e+01] [ 1.35919305e-03 9.99972914e-01 7.23356501e-03 -1.57005718e+00] [ 7.35705755e-04 -7.23456968e-03 9.99973560e-01 -1.03102716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33907232899999 meters 0.12564632162611614 Centerline is valid? [False, False] Translation: X:31.08, Y:-1.57, Z:-1.03 [[ 9.99991353e-01 -3.42384839e-03 -2.36022094e-03 3.10849753e+01] [ 3.43587205e-03 9.99981045e-01 5.10920686e-03 -1.57216962e+00] [ 2.34268306e-03 -5.11727209e-03 9.99984163e-01 -1.03463108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39907232899999 meters 0.12391065646766906 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.57, Z:-1.04 [[ 9.99989802e-01 -2.85263902e-03 -3.50120412e-03 3.10880351e+01] [ 2.86999102e-03 9.99983576e-01 4.96103276e-03 -1.56922463e+00] [ 3.48699458e-03 -4.97103059e-03 9.99981565e-01 -1.03558534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.459072329 meters 0.11781789917730284 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.57, Z:-1.04 [[ 9.99986356e-01 -1.92565625e-03 -4.85584118e-03 3.10913244e+01] [ 1.95111027e-03 9.99984354e-01 5.24266139e-03 -1.56806957e+00] [ 4.84566964e-03 -5.25206414e-03 9.99974467e-01 -1.03626966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519072329 meters 0.11497676737431023 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.57, Z:-1.04 [[ 9.99982610e-01 -1.81444632e-03 -5.61131145e-03 3.10925452e+01] [ 1.84193935e-03 9.99986307e-01 4.89829224e-03 -1.56698992e+00] [ 5.60234693e-03 -4.90854276e-03 9.99972260e-01 -1.03565373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579072329 meters 0.10795411035893562 Centerline is valid? [False, False] Translation: X:31.09, Y:-1.56, Z:-1.03 [[ 9.99977016e-01 -1.36419651e-03 -6.64125468e-03 3.10943619e+01] [ 1.38936401e-03 9.99991866e-01 3.78643223e-03 -1.56202864e+00] [ 6.63603523e-03 -3.79557232e-03 9.99970778e-01 -1.03437965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639072329 meters 0.10364028762063698 Centerline is valid? [False, False] Translation: X:31.10, Y:-1.56, Z:-1.04 [[ 9.99969509e-01 -6.44139979e-04 -7.78239013e-03 3.10977677e+01] [ 6.73233098e-04 9.99992793e-01 3.73628583e-03 -1.55965526e+00] [ 7.77992736e-03 -3.74141127e-03 9.99962737e-01 -1.03612431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69907232899999 meters 0.09053832823681839 Centerline is valid? [False, True] Translation: X:31.10, Y:-1.56, Z:-1.04 [[ 9.99965628e-01 -4.45007120e-04 -8.27921356e-03 3.10989863e+01] [ 4.75755050e-04 9.99992996e-01 3.71227212e-03 -1.55925370e+00] [ 8.27750359e-03 -3.71608340e-03 9.99958836e-01 -1.03645568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75907232899999 meters 0.08831111099350611 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.55, Z:-1.04 [[ 9.99914910e-01 8.05463849e-03 -1.02613402e-02 3.11586397e+01] [-8.04804357e-03 9.99967380e-01 6.83827088e-04 -1.55291823e+00] [ 1.02665135e-02 -6.01185188e-04 9.99947117e-01 -1.03565878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.819072329 meters 0.08262255407010713 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.54, Z:-1.03 [[ 9.99786094e-01 1.80237232e-02 -1.01445141e-02 3.12203265e+01] [-1.80177895e-02 9.99837438e-01 6.76009465e-04 -1.53850363e+00] [ 1.01550492e-02 -4.93083143e-04 9.99948315e-01 -1.03027167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879072329 meters 0.08068233389933134 Centerline is valid? [True, True] Translation: X:31.28, Y:-1.54, Z:-1.03 [[ 9.99706191e-01 2.30161910e-02 -7.60169559e-03 3.12804619e+01] [-2.30130033e-02 9.99735037e-01 5.06549054e-04 -1.53863047e+00] [ 7.61134026e-03 -3.31462380e-04 9.99970978e-01 -1.02871053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939072329 meters 0.07820420800748035 Centerline is valid? [True, True] Translation: X:31.34, Y:-1.53, Z:-1.03 [[ 9.99527873e-01 2.91964116e-02 -9.57083032e-03 3.13407379e+01] [-2.91916476e-02 9.99573630e-01 6.37107301e-04 -1.53124406e+00] [ 9.58535085e-03 -3.57418199e-04 9.99953996e-01 -1.02869453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999072329 meters 0.07790025073154477 Centerline is valid? [True, True] Translation: X:31.40, Y:-1.53, Z:-1.03 [[ 9.99435303e-01 3.19300429e-02 -1.04665211e-02 3.13996467e+01] [-3.19245064e-02 9.99490041e-01 6.95662016e-04 -1.53449138e+00] [ 1.04833961e-02 -3.61130659e-04 9.99944982e-01 -1.03058245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05907232899999 meters 0.07668146718380488 Centerline is valid? [True, True] Translation: X:31.46, Y:-1.53, Z:-1.03 [[ 9.99237698e-01 3.61568291e-02 -1.47209847e-02 3.14584136e+01] [-3.61464143e-02 9.99346031e-01 9.73024361e-04 -1.53179347e+00] [ 1.47465391e-02 -4.40171809e-04 9.99891167e-01 -1.03254987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11907232899999 meters 0.07683622393838245 Centerline is valid? [True, True] Translation: X:31.52, Y:-1.53, Z:-1.04 [[ 9.99080615e-01 4.00078990e-02 -1.54043001e-02 3.15165147e+01] [-3.99969475e-02 9.99199283e-01 1.01848166e-03 -1.53210197e+00] [ 1.54327129e-02 -4.01420304e-04 9.99880828e-01 -1.03551749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.179072329 meters 0.0755668193233576 Centerline is valid? [True, True] Translation: X:31.58, Y:-1.53, Z:-1.03 [[ 9.99024847e-01 4.24029331e-02 -1.23022654e-02 3.15760323e+01] [-4.23961315e-02 9.99100549e-01 8.13266392e-04 -1.53314263e+00] [ 1.23256850e-02 -2.90904871e-04 9.99923994e-01 -1.03129639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239072329 meters 0.07573995667408844 Centerline is valid? [True, True] Translation: X:31.63, Y:-1.53, Z:-1.03 [[ 9.98955706e-01 4.34607759e-02 -1.40946446e-02 3.16347300e+01] [-4.34520333e-02 9.99055085e-01 9.26063350e-04 -1.53250669e+00] [ 1.41215737e-02 -3.12655303e-04 9.99900237e-01 -1.03210693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299072329 meters 0.07598336609665338 Centerline is valid? [True, True] Translation: X:31.69, Y:-1.54, Z:-1.04 [[ 9.98986645e-01 4.21283883e-02 -1.58392462e-02 3.16927644e+01] [-4.21171732e-02 9.99112136e-01 1.04111491e-03 -1.53772853e+00] [ 1.58690436e-02 -3.72955619e-04 9.99874009e-01 -1.03586801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359072329 meters 0.07663533584427962 Centerline is valid? [True, True] Translation: X:31.75, Y:-1.54, Z:-1.04 [[ 9.99231651e-01 3.62355794e-02 -1.49362094e-02 3.17521700e+01] [-3.62249500e-02 9.99343179e-01 9.81675227e-04 -1.54420737e+00] [ 1.49619706e-02 -4.39857518e-04 9.99887967e-01 -1.03813175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41907232899999 meters 0.07805574821258492 Centerline is valid? [True, True] Translation: X:31.81, Y:-1.55, Z:-1.04 [[ 9.99409324e-01 3.11681689e-02 -1.44757902e-02 3.18100703e+01] [-3.11576786e-02 9.99514030e-01 9.49697464e-04 -1.55209891e+00] [ 1.44983557e-02 -4.98104483e-04 9.99894769e-01 -1.04061139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47907232899999 meters 0.079790077004032 Centerline is valid? [True, True] Translation: X:31.87, Y:-1.56, Z:-1.04 [[ 9.99590266e-01 2.50383656e-02 -1.38701061e-02 3.18696695e+01] [-2.50281405e-02 9.99686333e-01 9.10322827e-04 -1.56014750e+00] [ 1.38885485e-02 -5.62806872e-04 9.99903391e-01 -1.04092154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53907232899999 meters 0.08245879231793429 Centerline is valid? [True, True] Translation: X:31.93, Y:-1.57, Z:-1.04 [[ 9.99713887e-01 1.89177848e-02 -1.46376742e-02 3.19285517e+01] [-1.89057458e-02 9.99820809e-01 9.60417297e-04 -1.56976910e+00] [ 1.46532202e-02 -6.83406361e-04 9.99892402e-01 -1.04299559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599072329 meters 0.08402432534759699 Centerline is valid? [True, True] Translation: X:31.99, Y:-1.58, Z:-1.04 [[ 9.99805460e-01 1.43010113e-02 -1.35839124e-02 3.19886558e+01] [-1.42902161e-02 9.99897492e-01 8.91443746e-04 -1.57698714e+00] [ 1.35952685e-02 -6.97153281e-04 9.99907337e-01 -1.04333674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659072329 meters 0.08791537421070225 Centerline is valid? [True, True] Translation: X:32.05, Y:-1.59, Z:-1.05 [[ 9.99865184e-01 7.47238748e-03 -1.46210923e-02 3.20476387e+01] [-7.45915821e-03 9.99971720e-01 9.59131982e-04 -1.58950803e+00] [ 1.46278458e-02 -8.49941635e-04 9.99892646e-01 -1.04740065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719072329 meters 0.09199574740639438 Centerline is valid? [True, True] Translation: X:32.11, Y:-1.60, Z:-1.05 [[ 9.99884923e-01 5.95904898e-06 -1.51703834e-02 3.21073149e+01] [ 9.13654616e-06 9.99999505e-01 9.95000615e-04 -1.60228910e+00] [ 1.51703818e-02 -9.95024718e-04 9.99884428e-01 -1.04935027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77907232899999 meters 0.0915539467281583 Centerline is valid? [True, True] Translation: X:32.17, Y:-1.60, Z:-1.05 [[ 9.99900406e-01 -3.15979851e-03 -1.37547437e-02 3.21672173e+01] [ 3.17250134e-03 9.99994561e-01 9.01802245e-04 -1.60437036e+00] [ 1.37518194e-02 -9.45349374e-04 9.99904992e-01 -1.04623768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83907232899999 meters 0.09554356172990537 Centerline is valid? [True, True] Translation: X:32.23, Y:-1.62, Z:-1.05 [[ 9.99865184e-01 -9.27545086e-03 -1.35491945e-02 3.22271096e+01] [ 9.28833416e-03 9.99956468e-01 8.88234073e-04 -1.61630518e+00] [ 1.35403659e-02 -1.01396377e-03 9.99907811e-01 -1.04698554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89907232899999 meters 0.09502186403751843 Centerline is valid? [True, True] Translation: X:32.29, Y:-1.62, Z:-1.05 [[ 9.99746793e-01 -1.57395188e-02 -1.60815625e-02 3.22880867e+01] [ 1.57584995e-02 9.99875271e-01 1.05423297e-03 -1.61694094e+00] [ 1.60629635e-02 -1.30738732e-03 9.99870128e-01 -1.04603322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.959072329 meters 0.10695919084236441 Centerline is valid? [True, False] Translation: X:32.29, Y:-1.62, Z:-1.05 [[ 9.99890366e-01 -1.47943515e-02 -6.19786998e-04 3.22875859e+01] [ 1.47956932e-02 9.99888075e-01 2.21912384e-03 -1.61788224e+00] [ 5.86887130e-04 -2.22805073e-03 9.99997346e-01 -1.05240770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019072329 meters 0.10175841312914034 Centerline is valid? [False, False] Translation: X:32.29, Y:-1.62, Z:-1.05 [[ 9.99811017e-01 -1.94370588e-02 -3.62684778e-04 3.22867550e+01] [ 1.94360899e-02 9.99807958e-01 -2.50710747e-03 -1.61752910e+00] [ 4.11345923e-04 2.49958449e-03 9.99996791e-01 -1.05167644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079072329 meters 0.1053885134331615 Centerline is valid? [False, False] Translation: X:32.27, Y:-1.62, Z:-1.06 [[ 9.99857651e-01 -1.51378348e-02 7.45139075e-03 3.22749100e+01] [ 1.51903827e-02 9.99859788e-01 -7.04675340e-03 -1.61847306e+00] [-7.34367339e-03 7.15893978e-03 9.99947409e-01 -1.05582524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139072329 meters 0.10190567073212205 Centerline is valid? [False, False] Translation: X:32.28, Y:-1.62, Z:-1.06 [[ 9.99913697e-01 -1.07885095e-02 7.49711763e-03 3.22751874e+01] [ 1.08085415e-02 9.99938110e-01 -2.63659196e-03 -1.61806300e+00] [-7.46820874e-03 2.71739732e-03 9.99968420e-01 -1.05661712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19907232899999 meters 0.09863237066165675 Centerline is valid? [False, True] Translation: X:32.28, Y:-1.61, Z:-1.06 [[ 9.99949532e-01 -6.95688967e-03 7.24815035e-03 3.22753709e+01] [ 6.95397542e-03 9.99975730e-01 4.27192663e-04 -1.61377356e+00] [-7.25094637e-03 -3.76767644e-04 9.99973641e-01 -1.05587010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25907232899999 meters 0.10294847691079907 Centerline is valid? [True, False] Translation: X:32.28, Y:-1.62, Z:-1.06 [[ 9.99958280e-01 -6.03516646e-03 6.85680510e-03 3.22772428e+01] [ 6.02381861e-03 9.99980455e-01 1.67442580e-03 -1.61664169e+00] [-6.86677652e-03 -1.63305179e-03 9.99975090e-01 -1.05757410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.319072329 meters 0.09665143876702621 Centerline is valid? [False, True] Translation: X:32.28, Y:-1.61, Z:-1.06 [[ 9.99976486e-01 -1.94704673e-03 6.57549653e-03 3.22780765e+01] [ 1.91285237e-03 9.99984637e-01 5.20256212e-03 -1.61320046e+00] [-6.58552514e-03 -5.18986183e-03 9.99964847e-01 -1.05788498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379072329 meters 0.10552914666213914 Centerline is valid? [True, False] Translation: X:32.28, Y:-1.61, Z:-1.06 [[ 9.99984487e-01 -1.30318578e-03 5.41549907e-03 3.22811255e+01] [ 1.27813561e-03 9.99988481e-01 4.62653314e-03 -1.60885488e+00] [-5.42146592e-03 -4.61953962e-03 9.99974633e-01 -1.05901132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439072329 meters 0.08970895333816518 Centerline is valid? [False, True] Translation: X:32.28, Y:-1.61, Z:-1.06 [[ 9.99986377e-01 -1.46147935e-03 5.01105101e-03 3.22813979e+01] [ 1.44292911e-03 9.99992101e-01 3.70348666e-03 -1.60657236e+00] [-5.01642399e-03 -3.69620561e-03 9.99980587e-01 -1.05786128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499072329 meters 0.0898064733574381 Centerline is valid? [True, True] Translation: X:32.34, Y:-1.60, Z:-1.06 [[ 9.99978747e-01 2.90759449e-03 5.83530526e-03 3.23410838e+01] [-2.90539747e-03 9.99995705e-01 -3.84946492e-04 -1.60400030e+00] [-5.83639947e-03 3.67984429e-04 9.99982900e-01 -1.05588698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55907232899999 meters 0.09145190485338205 Centerline is valid? [True, True] Translation: X:32.40, Y:-1.61, Z:-1.06 [[ 9.99957525e-01 6.26334658e-03 6.76157866e-03 3.24003509e+01] [-6.26047627e-03 9.99980304e-01 -4.45585792e-04 -1.60782956e+00] [-6.76423634e-03 4.03236163e-04 9.99977041e-01 -1.06118999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61907232899999 meters 0.08657330101725635 Centerline is valid? [True, True] Translation: X:32.46, Y:-1.60, Z:-1.06 [[ 9.99969072e-01 7.30232358e-03 2.92084965e-03 3.24624589e+01] [-7.30179564e-03 9.99973323e-01 -1.91371457e-04 -1.60334165e+00] [-2.92216919e-03 1.70038091e-04 9.99995716e-01 -1.06414106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.679072329 meters 0.08557900554594475 Centerline is valid? [True, True] Translation: X:32.52, Y:-1.60, Z:-1.06 [[ 9.99951295e-01 8.76543520e-03 4.53594848e-03 3.25223411e+01] [-8.76416477e-03 9.99961549e-01 -2.99882509e-04 -1.60289335e+00] [-4.53840267e-03 2.60114103e-04 9.99989668e-01 -1.06251836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739072329 meters 0.08509146678097106 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.60, Z:-1.06 [[ 9.99897291e-01 1.26811202e-02 6.67809031e-03 3.25819032e+01] [-1.26784611e-02 9.99919528e-01 -4.40376142e-04 -1.60117771e+00] [-6.68313738e-03 3.55663003e-04 9.99977604e-01 -1.06025956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799072329 meters 0.08374354674501537 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.60, Z:-1.06 [[ 9.99872445e-01 1.41879665e-02 7.33458878e-03 3.26410930e+01] [-1.41847952e-02 9.99899273e-01 -4.84228834e-04 -1.60151541e+00] [-7.34072022e-03 3.80127428e-04 9.99972984e-01 -1.06223526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859072329 meters 0.08190817776590821 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.60, Z:-1.07 [[ 9.99830692e-01 1.72902916e-02 6.29543613e-03 3.27004273e+01] [-1.72880198e-02 9.99850465e-01 -4.15104291e-04 -1.60275441e+00] [-6.30167202e-03 3.06198386e-04 9.99980097e-01 -1.06710114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91907232899999 meters 0.07935470752078629 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.60, Z:-1.06 [[ 9.99703783e-01 2.28745495e-02 8.31271638e-03 3.27611286e+01] [-2.28707928e-02 9.99738280e-01 -5.46717535e-04 -1.59758380e+00] [-8.32304670e-03 3.56437174e-04 9.99965299e-01 -1.06370096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97907232899999 meters 0.07793999761476665 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.60, Z:-1.07 [[ 9.99646604e-01 2.60042981e-02 5.51753132e-03 3.28204343e+01] [-2.60026830e-02 9.99661807e-01 -3.64267283e-04 -1.59834766e+00] [-5.52513784e-03 2.20667935e-04 9.99984712e-01 -1.06737033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03907232899999 meters 0.07696016289015783 Centerline is valid? [True, True] Translation: X:32.88, Y:-1.60, Z:-1.07 [[ 9.99539852e-01 2.96139377e-02 6.56497453e-03 3.28795806e+01] [-2.96117366e-02 9.99561383e-01 -4.32257118e-04 -1.60445922e+00] [-6.57489585e-03 2.37657919e-04 9.99978357e-01 -1.07031004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099072329 meters 0.07651893335118298 Centerline is valid? [True, True] Translation: X:32.94, Y:-1.61, Z:-1.07 [[ 9.99469922e-01 3.15413896e-02 8.06323034e-03 3.29385760e+01] [-3.15381292e-02 9.99502408e-01 -5.31213329e-04 -1.60645288e+00] [-8.07597335e-03 2.76632544e-04 9.99967351e-01 -1.06720174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159072329 meters 0.07800969623713302 Centerline is valid? [True, True] Translation: X:33.00, Y:-1.62, Z:-1.07 [[ 9.99521917e-01 3.05161988e-02 4.96986574e-03 3.29965791e+01] [-3.05149475e-02 9.99534257e-01 -3.27436184e-04 -1.61888240e+00] [-4.97754317e-03 1.75624451e-04 9.99987597e-01 -1.07493526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219072329 meters 0.07845077296476832 Centerline is valid? [True, True] Translation: X:33.05, Y:-1.63, Z:-1.08 [[ 9.99565693e-01 2.84292607e-02 7.75908793e-03 3.30535965e+01] [-2.84261488e-02 9.99595765e-01 -5.11081330e-04 -1.63318679e+00] [-7.77048110e-03 2.90298376e-04 9.99969767e-01 -1.07623908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27907232899999 meters 0.07820103124859243 Centerline is valid? [True, True] Translation: X:33.11, Y:-1.63, Z:-1.07 [[ 9.99610433e-01 2.68578335e-02 7.59203651e-03 3.31128168e+01] [-2.68548205e-02 9.99639220e-01 -4.98557517e-04 -1.63463997e+00] [-7.60268763e-03 2.94480518e-04 9.99971056e-01 -1.07296224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33907232899999 meters 0.08075692584634628 Centerline is valid? [True, True] Translation: X:33.17, Y:-1.65, Z:-1.08 [[ 9.99756012e-01 2.10651586e-02 6.64650222e-03 3.31717804e+01] [-2.10627341e-02 9.99778062e-01 -4.34575940e-04 -1.65443660e+00] [-6.65418152e-03 2.94476399e-04 9.99977817e-01 -1.07807509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39907232899999 meters 0.0842729285485524 Centerline is valid? [True, True] Translation: X:33.23, Y:-1.68, Z:-1.08 [[ 9.99881733e-01 1.38980112e-02 6.58525623e-03 3.32302111e+01] [-1.38954742e-02 9.99903360e-01 -4.30860451e-04 -1.67606671e+00] [-6.59060794e-03 3.39304237e-04 9.99978224e-01 -1.08112841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.459072329 meters 0.08585657540123677 Centerline is valid? [True, True] Translation: X:33.29, Y:-1.68, Z:-1.08 [[ 9.99918585e-01 1.03784895e-02 7.42365023e-03 3.32897166e+01] [-1.03751694e-02 9.99946059e-01 -4.85600790e-04 -1.68288008e+00] [-7.42828959e-03 4.08539626e-04 9.99972326e-01 -1.07980140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519072329 meters 0.08758571071225829 Centerline is valid? [True, True] Translation: X:33.35, Y:-1.70, Z:-1.08 [[ 9.99956655e-01 4.86437618e-03 7.93886295e-03 3.33488472e+01] [-4.86041134e-03 9.99988054e-01 -5.18638688e-04 -1.70139122e+00] [-7.94129096e-03 4.80030068e-04 9.99968352e-01 -1.08236431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579072329 meters 0.08675522716589483 Centerline is valid? [True, True] Translation: X:33.41, Y:-1.71, Z:-1.08 [[ 9.99971353e-01 4.62108498e-04 7.55514948e-03 3.34087549e+01] [-4.58393179e-04 9.99999773e-01 -4.93484093e-04 -1.71195023e+00] [-7.55537581e-03 4.90006727e-04 9.99971338e-01 -1.08238517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639072329 meters 0.08855860142305122 Centerline is valid? [True, True] Translation: X:33.47, Y:-1.72, Z:-1.08 [[ 9.99975930e-01 -1.04362165e-03 6.85929121e-03 3.34679324e+01] [ 1.04672005e-03 9.99999352e-01 -4.48132657e-04 -1.72129628e+00] [-6.85881908e-03 4.55301628e-04 9.99976374e-01 -1.08444521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69907232899999 meters 0.09042224550534173 Centerline is valid? [True, True] Translation: X:33.53, Y:-1.74, Z:-1.09 [[ 9.99952644e-01 -3.36542914e-03 9.13142395e-03 3.35285990e+01] [ 3.37096869e-03 9.99994143e-01 -5.91322787e-04 -1.73752209e+00] [-9.12938041e-03 6.22076528e-04 9.99958133e-01 -1.08689471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75907232899999 meters 0.08879698591277854 Centerline is valid? [True, True] Translation: X:33.59, Y:-1.75, Z:-1.09 [[ 9.99927114e-01 -6.48560982e-03 1.01835140e-02 3.35893903e+01] [ 6.49273552e-03 9.99978700e-01 -6.66824716e-04 -1.74812071e+00] [-1.01789723e-02 7.32894977e-04 9.99947924e-01 -1.08907430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.819072329 meters 0.09059146163493695 Centerline is valid? [True, True] Translation: X:33.65, Y:-1.76, Z:-1.09 [[ 9.99921264e-01 -7.56481450e-03 1.00119686e-02 3.36503525e+01] [ 7.57174037e-03 9.99971120e-01 -6.54034409e-04 -1.75702907e+00] [-1.00067318e-02 7.29790940e-04 9.99949665e-01 -1.09199478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879072329 meters 0.0918853655292225 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.76, Z:-1.09 [[ 9.99895056e-01 -9.86361281e-03 1.06106910e-02 3.37109884e+01] [ 9.87156088e-03 9.99951032e-01 -6.96948557e-04 -1.76427801e+00] [-1.06032970e-02 8.01619498e-04 9.99943462e-01 -1.09099038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939072329 meters 0.09236311229240858 Centerline is valid? [True, True] Translation: X:33.77, Y:-1.77, Z:-1.09 [[ 9.99857936e-01 -1.17756684e-02 1.20599332e-02 3.37716643e+01] [ 1.17860736e-02 9.99930228e-01 -7.92074789e-04 -1.77315952e+00] [-1.20497645e-02 9.34101523e-04 9.99926963e-01 -1.09240556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999072329 meters 0.09553296766216955 Centerline is valid? [True, True] Translation: X:33.83, Y:-1.79, Z:-1.10 [[ 9.99782328e-01 -1.56332555e-02 1.38165616e-02 3.38302706e+01] [ 1.56472931e-02 9.99877161e-01 -9.08474288e-04 -1.78798610e+00] [-1.38006620e-02 1.12446833e-03 9.99904134e-01 -1.09649317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05907232899999 meters 0.09592589262490377 Centerline is valid? [True, True] Translation: X:33.89, Y:-1.79, Z:-1.10 [[ 9.99791989e-01 -1.62220396e-02 1.23622279e-02 3.38919859e+01] [ 1.62333104e-02 9.99867901e-01 -8.11906800e-04 -1.79186998e+00] [-1.23474241e-02 1.01241780e-03 9.99923255e-01 -1.10015594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11907232899999 meters 0.09685905483711883 Centerline is valid? [True, True] Translation: X:33.95, Y:-1.80, Z:-1.10 [[ 9.99790973e-01 -1.75721495e-02 1.04513515e-02 3.39533161e+01] [ 1.75802903e-02 9.99845218e-01 -6.87553433e-04 -1.79640616e+00] [-1.04376521e-02 8.71147509e-04 9.99945147e-01 -1.10420419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.179072329 meters 0.09983409284691662 Centerline is valid? [True, True] Translation: X:34.01, Y:-1.81, Z:-1.10 [[ 9.99734571e-01 -2.02591298e-02 1.09706441e-02 3.40122169e+01] [ 2.02682612e-02 9.99794317e-01 -7.21794450e-04 -1.80784703e+00] [-1.09537647e-02 9.43958744e-04 9.99939560e-01 -1.10488443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239072329 meters 0.1017274382340261 Centerline is valid? [True, False] Translation: X:34.01, Y:-1.81, Z:-1.10 [[ 9.99859012e-01 -1.55274521e-02 6.39170430e-03 3.40063306e+01] [ 1.55909655e-02 9.99828347e-01 -1.00099293e-02 -1.80649166e+00] [-6.23517844e-03 1.01081709e-02 9.99929471e-01 -1.10426255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299072329 meters 0.09844568020896052 Centerline is valid? [False, True] Translation: X:34.01, Y:-1.81, Z:-1.11 [[ 9.99912083e-01 -1.12461162e-02 7.02506390e-03 3.40053499e+01] [ 1.12760124e-02 9.99927474e-01 -4.23064179e-03 -1.81205032e+00] [-6.97697611e-03 4.30948455e-03 9.99966375e-01 -1.10522769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359072329 meters 0.10411986744566366 Centerline is valid? [True, False] Translation: X:34.01, Y:-1.82, Z:-1.11 [[ 9.99916351e-01 -1.05451109e-02 7.48949353e-03 3.40053672e+01] [ 1.05602466e-02 9.99942270e-01 -1.98426735e-03 -1.81835215e+00] [-7.46813685e-03 2.06319227e-03 9.99969985e-01 -1.10725917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41907232899999 meters 0.12004293590698799 Centerline is valid? [False, False] Translation: X:34.01, Y:-1.82, Z:-1.11 [[ 9.99922502e-01 -9.69860645e-03 7.80553038e-03 3.40057143e+01] [ 9.69741428e-03 9.99952961e-01 1.90568166e-04 -1.82429705e+00] [-7.80701146e-03 -1.14859936e-04 9.99969518e-01 -1.10934755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47907232899999 meters 0.12464915288510384 Centerline is valid? [False, False] Translation: X:34.00, Y:-1.83, Z:-1.11 [[ 9.99916415e-01 -9.84039084e-03 8.38629133e-03 3.40041099e+01] [ 9.83595590e-03 9.99951463e-01 5.69913194e-04 -1.82609283e+00] [-8.39149246e-03 -4.87378366e-04 9.99964672e-01 -1.10858448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53907232899999 meters 0.11757315646441115 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.82, Z:-1.11 [[ 9.99955885e-01 -8.51229813e-03 3.97110469e-03 3.39862525e+01] [ 8.53546264e-03 9.99946441e-01 -5.85324964e-03 -1.82234912e+00] [-3.92106740e-03 5.88688664e-03 9.99974985e-01 -1.10625618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599072329 meters 0.11833086199470678 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99961379e-01 -7.62005995e-03 4.37904989e-03 3.39864799e+01] [ 7.63675286e-03 9.99963589e-01 -3.80800031e-03 -1.82881292e+00] [-4.34987325e-03 3.84129496e-03 9.99983161e-01 -1.10823637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659072329 meters 0.13584180925189332 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99981947e-01 -3.47658537e-03 4.90091596e-03 3.39854636e+01] [ 3.47343897e-03 9.99993756e-01 6.50368157e-04 -1.82960500e+00] [-4.90314642e-03 -6.33333384e-04 9.99987779e-01 -1.10838233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719072329 meters 0.116075580903266 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99982017e-01 -3.83254783e-03 4.61281430e-03 3.39857818e+01] [ 3.83357757e-03 9.99992629e-01 -2.14413606e-04 -1.82676447e+00] [-4.61195855e-03 2.32093332e-04 9.99989338e-01 -1.10770394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77907232899999 meters 0.11722320862938454 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99984482e-01 -2.91669453e-03 4.74648177e-03 3.39864653e+01] [ 2.90962905e-03 9.99994650e-01 1.49479664e-03 -1.83132058e+00] [-4.75081624e-03 -1.48096294e-03 9.99987618e-01 -1.10948811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83907232899999 meters 0.12242340118903029 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99966278e-01 -6.85647531e-03 4.52019221e-03 3.39871228e+01] [ 6.86647940e-03 9.99974002e-01 -2.20140949e-03 -1.83278674e+00] [-4.50498079e-03 2.23237306e-03 9.99987361e-01 -1.10969645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89907232899999 meters 0.12699629504615592 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99985286e-01 -2.51852761e-03 4.80472130e-03 3.39861246e+01] [ 2.50592415e-03 9.99993409e-01 2.62736010e-03 -1.83508343e+00] [-4.81130670e-03 -2.61528117e-03 9.99985006e-01 -1.10920727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.959072329 meters 0.12160263551101883 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99987306e-01 -1.79465988e-03 4.70811501e-03 3.39869764e+01] [ 1.77603543e-03 9.99990594e-01 3.95702203e-03 -1.83860905e+00] [-4.71517223e-03 -3.94861002e-03 9.99981088e-01 -1.11042388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019072329 meters 0.1227347794334049 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99989751e-01 -1.03876043e-03 4.40672844e-03 3.39885287e+01] [ 1.01599096e-03 9.99986140e-01 5.16607475e-03 -1.84111200e+00] [-4.41203367e-03 -5.16154460e-03 9.99976946e-01 -1.11198071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079072329 meters 0.11435890700083999 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99990926e-01 -1.00192267e-03 4.14042086e-03 3.39887192e+01] [ 9.80052928e-04 9.99985577e-01 5.28066817e-03 -1.84178635e+00] [-4.14565196e-03 -5.27656242e-03 9.99977485e-01 -1.11144606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139072329 meters 0.11300825613730535 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99992694e-01 -6.83433091e-04 3.76085372e-03 3.39897188e+01] [ 6.62283720e-04 9.99983978e-01 5.62193062e-03 -1.84252414e+00] [-3.76463567e-03 -5.61939880e-03 9.99977125e-01 -1.11194021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19907232899999 meters 0.10653677782747187 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99995220e-01 -7.69381638e-04 2.99462087e-03 3.39910374e+01] [ 7.55404132e-04 9.99988829e-01 4.66587341e-03 -1.83886253e+00] [-2.99817725e-03 -4.66358895e-03 9.99984631e-01 -1.11148515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25907232899999 meters 0.10473667113658702 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99995431e-01 -1.17515696e-03 2.78518608e-03 3.39907630e+01] [ 1.16450076e-03 9.99992008e-01 3.82456710e-03 -1.83700700e+00] [-2.78965829e-03 -3.82130627e-03 9.99988808e-01 -1.11024734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.319072329 meters 0.10688566886763101 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99996556e-01 -7.85334325e-04 2.50443179e-03 3.39918870e+01] [ 7.74518821e-04 9.99990384e-01 4.31659582e-03 -1.83802739e+00] [-2.50779768e-03 -4.31464122e-03 9.99987547e-01 -1.11124821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379072329 meters 0.10485980716491825 Centerline is valid? [False, False] Translation: X:33.99, Y:-1.84, Z:-1.11 [[ 9.99997396e-01 -9.57435341e-04 2.07155719e-03 3.39926352e+01] [ 9.49984055e-04 9.99993087e-01 3.59494833e-03 -1.83522725e+00] [-2.07498480e-03 -3.59297102e-03 9.99991392e-01 -1.11087221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439072329 meters 0.09741880439043422 Centerline is valid? [False, True] Translation: X:33.99, Y:-1.83, Z:-1.11 [[ 9.99997147e-01 -1.38487660e-03 1.94621689e-03 3.39923518e+01] [ 1.37948944e-03 9.99995221e-01 2.76663533e-03 -1.83316278e+00] [-1.95003903e-03 -2.76394265e-03 9.99994279e-01 -1.10991052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499072329 meters 0.09719861411461864 Centerline is valid? [True, True] Translation: X:34.05, Y:-1.84, Z:-1.12 [[ 9.99999399e-01 1.09000415e-03 1.19529465e-04 3.40530379e+01] [-1.09000299e-03 9.99999406e-01 -9.78826951e-06 -1.83720247e+00] [-1.19540063e-04 9.65797615e-06 9.99999993e-01 -1.11530079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55907232899999 meters 0.09681254380188971 Centerline is valid? [True, True] Translation: X:34.11, Y:-1.84, Z:-1.11 [[ 9.99995203e-01 2.20113803e-03 2.17937356e-03 3.41136687e+01] [-2.20073705e-03 9.99997561e-01 -1.86369147e-04 -1.83858121e+00] [-2.17977847e-03 1.81572024e-04 9.99997608e-01 -1.11324910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61907232899999 meters 0.09708776940835716 Centerline is valid? [True, True] Translation: X:34.17, Y:-1.84, Z:-1.11 [[ 9.99992851e-01 2.76531499e-03 2.57899559e-03 3.41744292e+01] [-2.76475534e-03 9.99996154e-01 -2.20542827e-04 -1.84141352e+00] [-2.57959555e-03 2.13410959e-04 9.99996650e-01 -1.11252651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.679072329 meters 0.10342590359476918 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.84, Z:-1.11 [[ 9.99997313e-01 -9.83293859e-04 2.09934900e-03 3.41767284e+01] [ 9.91906002e-04 9.99991082e-01 -4.10519940e-03 -1.84065359e+00] [-2.09529366e-03 4.10727072e-03 9.99989370e-01 -1.11454499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739072329 meters 0.09742063862850327 Centerline is valid? [False, True] Translation: X:34.18, Y:-1.84, Z:-1.11 [[ 9.99997275e-01 -1.06434991e-03 2.07773469e-03 3.41768125e+01] [ 1.07326066e-03 9.99990212e-01 -4.29229476e-03 -1.84003058e+00] [-2.07314585e-03 4.29451301e-03 9.99988630e-01 -1.11457528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799072329 meters 0.10082863324979781 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.84, Z:-1.11 [[ 9.99994413e-01 2.50893150e-03 2.20871573e-03 3.41759895e+01] [-2.50600096e-03 9.99995977e-01 -1.32857733e-03 -1.83638421e+00] [-2.21204015e-03 1.32303486e-03 9.99996678e-01 -1.11341691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859072329 meters 0.09986622162297654 Centerline is valid? [False, True] Translation: X:34.18, Y:-1.83, Z:-1.11 [[ 9.99994873e-01 2.39723273e-03 2.12298756e-03 3.41764440e+01] [-2.39361264e-03 9.99995680e-01 -1.70608453e-03 -1.83466928e+00] [-2.12706827e-03 1.70099417e-03 9.99996291e-01 -1.11373133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91907232899999 meters 0.10491225494498754 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.84, Z:-1.12 [[ 9.99993342e-01 2.90352649e-03 2.21027909e-03 3.41775148e+01] [-2.90148455e-03 9.99995361e-01 -9.26483760e-04 -1.83607314e+00] [-2.21295890e-03 9.20064501e-04 9.99997128e-01 -1.11584437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97907232899999 meters 0.10774309299362549 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.83, Z:-1.11 [[ 9.99996790e-01 1.48265864e-03 2.05465864e-03 3.41766984e+01] [-1.47534866e-03 9.99992594e-01 -3.55472042e-03 -1.82767288e+00] [-2.05991386e-03 3.55167767e-03 9.99991571e-01 -1.11380525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03907232899999 meters 0.09944081361471672 Centerline is valid? [False, True] Translation: X:34.18, Y:-1.83, Z:-1.11 [[ 9.99997038e-01 1.58655580e-03 1.84580069e-03 3.41777210e+01] [-1.57980982e-03 9.99992089e-01 -3.65050617e-03 -1.82641331e+00] [-1.85157782e-03 3.64757934e-03 9.99991633e-01 -1.11462499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099072329 meters 0.10477813561956652 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.82, Z:-1.12 [[ 9.99997448e-01 1.55841421e-03 1.63557205e-03 3.41786764e+01] [-1.55182147e-03 9.99990698e-01 -4.02440715e-03 -1.82443161e+00] [-1.64182853e-03 4.02185877e-03 9.99990564e-01 -1.11534109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159072329 meters 0.09893055868861789 Centerline is valid? [False, True] Translation: X:34.18, Y:-1.82, Z:-1.11 [[ 9.99987099e-01 4.79382109e-03 1.67961900e-03 3.41779274e+01] [-4.79065017e-03 9.99986745e-01 -1.88684188e-03 -1.81805618e+00] [-1.68864192e-03 1.87877107e-03 9.99996809e-01 -1.11386786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219072329 meters 0.10783477762169474 Centerline is valid? [True, False] Translation: X:34.18, Y:-1.82, Z:-1.11 [[ 9.99987966e-01 4.62624023e-03 1.63241021e-03 3.41777777e+01] [-4.62250861e-03 9.99986712e-01 -2.28237343e-03 -1.81695671e+00] [-1.64294733e-03 2.27480014e-03 9.99996063e-01 -1.11336102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27907232899999 meters 0.10276452037506877 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.82, Z:-1.11 [[ 9.99986345e-01 4.95479929e-03 1.66143579e-03 3.41785470e+01] [-4.95181496e-03 9.99986128e-01 -1.79556663e-03 -1.81759367e+00] [-1.67030941e-03 1.78731499e-03 9.99997008e-01 -1.11477229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33907232899999 meters 0.10465511512555187 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.82, Z:-1.12 [[ 9.99987163e-01 4.82554379e-03 1.54528901e-03 3.41792216e+01] [-4.82204321e-03 9.99985818e-01 -2.26109392e-03 -1.81513080e+00] [-1.55617811e-03 2.25361345e-03 9.99996250e-01 -1.11522894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39907232899999 meters 0.10411808918580401 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.81, Z:-1.11 [[ 9.99988502e-01 4.53792576e-03 1.55039945e-03 3.41791793e+01] [-4.53342790e-03 9.99985541e-01 -2.89240133e-03 -1.81293513e+00] [-1.56350253e-03 2.88533945e-03 9.99994615e-01 -1.11496243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.459072329 meters 0.11041286015038267 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.81, Z:-1.12 [[ 9.99987174e-01 4.75767464e-03 1.73679845e-03 3.41794641e+01] [-4.75335519e-03 9.99985621e-01 -2.48273260e-03 -1.81368481e+00] [-1.74858551e-03 2.47444514e-03 9.99995410e-01 -1.11613541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519072329 meters 0.11358218040777299 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.81, Z:-1.11 [[ 9.99971405e-01 -1.28029422e-03 7.45315525e-03 3.41824494e+01] [ 1.24245456e-03 9.99986328e-01 5.07941621e-03 -1.81195917e+00] [-7.45955649e-03 -5.07001075e-03 9.99959324e-01 -1.11407545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579072329 meters 0.1175144192600151 Centerline is valid? [False, False] Translation: X:34.18, Y:-1.81, Z:-1.12 [[ 9.99974475e-01 -9.58100061e-04 7.08041950e-03 3.41844223e+01] [ 9.21315083e-04 9.99986072e-01 5.19674728e-03 -1.81014501e+00] [-7.08529989e-03 -5.19009133e-03 9.99961430e-01 -1.11573955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63907232899999 meters 0.1225635477950842 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.81, Z:-1.12 [[ 9.99968254e-01 -4.32403094e-03 6.69285588e-03 3.41870720e+01] [ 4.31044025e-03 9.99988622e-01 2.04371995e-03 -1.81114926e+00] [-6.70161683e-03 -2.01480591e-03 9.99975514e-01 -1.11858793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69907232899999 meters 0.11517249779310063 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.81, Z:-1.12 [[ 9.99965652e-01 -4.70492880e-03 6.82341089e-03 3.41862722e+01] [ 4.69522500e-03 9.99987944e-01 1.43745523e-03 -1.80964062e+00] [-6.83009176e-03 -1.40536840e-03 9.99975687e-01 -1.11760939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75907232899999 meters 0.12683871206726213 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.81, Z:-1.12 [[ 9.99972233e-01 -4.21894170e-03 6.14279969e-03 3.41888784e+01] [ 4.20968041e-03 9.99989984e-01 1.51981649e-03 -1.80696699e+00] [-6.14915018e-03 -1.49391507e-03 9.99979978e-01 -1.11919544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.819072329 meters 0.10978705809022479 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.80, Z:-1.12 [[ 9.99978543e-01 -3.72712307e-03 5.38716096e-03 3.41914513e+01] [ 3.71908961e-03 9.99991958e-01 1.50047345e-03 -1.80441161e+00] [-5.39271009e-03 -1.48040592e-03 9.99984363e-01 -1.12060207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879072329 meters 0.11097148395607247 Centerline is valid? [False, False] Translation: X:34.19, Y:-1.80, Z:-1.12 [[ 9.99983330e-01 -3.26513689e-03 4.76222467e-03 3.41934927e+01] [ 3.25805999e-03 9.99993578e-01 1.49305074e-03 -1.80251677e+00] [-4.76706911e-03 -1.47751023e-03 9.99987546e-01 -1.12157680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939072329 meters 0.11055898976128413 Centerline is valid? [False, False] Translation: X:34.20, Y:-1.80, Z:-1.12 [[ 9.99988325e-01 -3.19140062e-03 3.62832970e-03 3.41959526e+01] [ 3.19145036e-03 9.99994907e-01 -7.91772747e-06 -1.79590661e+00] [-3.62828595e-03 1.94972691e-05 9.99993418e-01 -1.12134143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999072329 meters 0.1041816122918459 Centerline is valid? [False, False] Translation: X:34.20, Y:-1.79, Z:-1.12 [[ 9.99994786e-01 1.40229940e-03 2.90872851e-03 3.41984826e+01] [-1.41318065e-03 9.99991999e-01 3.74221997e-03 -1.79178582e+00] [-2.90345752e-03 -3.74631102e-03 9.99988767e-01 -1.12277470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05907232899999 meters 0.10551573981016397 Centerline is valid? [False, False] Translation: X:34.20, Y:-1.79, Z:-1.12 [[ 9.99996510e-01 1.40591928e-03 2.23678728e-03 3.42002935e+01] [-1.41192815e-03 9.99995393e-01 2.68707280e-03 -1.78695794e+00] [-2.23299917e-03 -2.69022160e-03 9.99993888e-01 -1.12312921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11907232899999 meters 0.09863073656360273 Centerline is valid? [False, True] Translation: X:34.20, Y:-1.78, Z:-1.12 [[ 9.99998226e-01 6.20138057e-04 1.77874638e-03 3.42005626e+01] [-6.20836779e-04 9.99999730e-01 3.92291475e-04 -1.77988901e+00] [-1.77850263e-03 -3.93395090e-04 9.99998341e-01 -1.12151477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.179072329 meters 0.09853378338170377 Centerline is valid? [True, True] Translation: X:34.26, Y:-1.78, Z:-1.13 [[ 9.99990624e-01 4.23541064e-03 9.01495912e-04 3.42599523e+01] [-4.23534184e-03 9.99991028e-01 -7.82159860e-05 -1.77792363e+00] [-9.01819101e-04 7.43971093e-05 9.99999591e-01 -1.12654457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239072329 meters 0.09641669996843692 Centerline is valid? [True, True] Translation: X:34.32, Y:-1.78, Z:-1.13 [[ 9.99984464e-01 5.54886349e-03 -5.31562309e-04 3.43189193e+01] [-5.54884081e-03 9.99984604e-01 4.41181092e-05 -1.77599285e+00] [ 5.31798930e-04 -4.11678691e-05 9.99999858e-01 -1.13038093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299072329 meters 0.09554629427211485 Centerline is valid? [True, True] Translation: X:34.38, Y:-1.77, Z:-1.13 [[ 9.99934330e-01 1.13908447e-02 1.25892222e-03 3.43792315e+01] [-1.13907167e-02 9.99935118e-01 -1.08792946e-04 -1.77232657e+00] [-1.26007979e-03 9.44457751e-05 9.99999202e-01 -1.13042752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359072329 meters 0.09265770396858916 Centerline is valid? [True, True] Translation: X:34.44, Y:-1.76, Z:-1.13 [[ 9.99803499e-01 1.97436040e-02 1.77594001e-03 3.44400038e+01] [-1.97433629e-02 9.99805069e-01 -1.53229872e-04 -1.76388792e+00] [-1.77861914e-03 1.18136734e-04 9.99998411e-01 -1.13198831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41907232899999 meters 0.0837950435775382 Centerline is valid? [True, True] Translation: X:34.50, Y:-1.75, Z:-1.13 [[ 9.99580546e-01 2.89584887e-02 -3.72744996e-04 3.45015227e+01] [-2.89584788e-02 9.99580615e-01 3.20538866e-05 -1.74813350e+00] [ 3.73516905e-04 -2.12463134e-05 9.99999930e-01 -1.13481784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47907232899999 meters 0.08131851089742838 Centerline is valid? [True, True] Translation: X:34.56, Y:-1.74, Z:-1.14 [[ 9.99354450e-01 3.59255328e-02 -2.00119205e-04 3.45619830e+01] [-3.59255302e-02 9.99354470e-01 1.64842430e-05 -1.74305964e+00] [ 2.00582227e-04 -9.28421302e-06 9.99999980e-01 -1.13657778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53907232899999 meters 0.07764642705072142 Centerline is valid? [True, True] Translation: X:34.62, Y:-1.73, Z:-1.13 [[ 9.98911227e-01 4.65940712e-02 2.31379168e-03 3.46235228e+01] [-4.65937339e-02 9.98913902e-01 -1.99527902e-04 -1.73466997e+00] [-2.32057550e-03 9.15024670e-05 9.99997303e-01 -1.13372967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599072329 meters 0.07641362414389768 Centerline is valid? [True, True] Translation: X:34.68, Y:-1.73, Z:-1.13 [[ 9.98642514e-01 5.19809774e-02 3.33275667e-03 3.46829857e+01] [-5.19803061e-02 9.98648069e-01 -2.87780469e-04 -1.73385877e+00] [-3.34321012e-03 1.14152099e-04 9.99994405e-01 -1.13417981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659072329 meters 0.07460223243147503 Centerline is valid? [True, True] Translation: X:34.74, Y:-1.73, Z:-1.14 [[ 9.98366286e-01 5.71323556e-02 8.08465048e-04 3.47427700e+01] [-5.71323156e-02 9.98366613e-01 -7.24097872e-05 -1.73005022e+00] [-8.11281453e-04 2.61020100e-05 9.99999671e-01 -1.13690434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719072329 meters 0.07356257193500464 Centerline is valid? [True, True] Translation: X:34.80, Y:-1.73, Z:-1.14 [[ 9.98236323e-01 5.93557342e-02 1.06775176e-03 3.48022374e+01] [-5.93556638e-02 9.98236894e-01 -9.75274227e-05 -1.72961841e+00] [-1.07165801e-03 3.39783013e-05 9.99999425e-01 -1.13919573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77907232899999 meters 0.07316057200109147 Centerline is valid? [True, True] Translation: X:34.86, Y:-1.73, Z:-1.14 [[ 9.98181651e-01 6.02775528e-02 8.99328872e-05 3.48598537e+01] [-6.02775517e-02 9.98181655e-01 -1.52600673e-05 -1.73238326e+00] [-9.06891977e-05 9.81138494e-06 9.99999996e-01 -1.13994713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83907232899999 meters 0.07438664896837646 Centerline is valid? [True, True] Translation: X:34.92, Y:-1.74, Z:-1.14 [[ 9.98226171e-01 5.95157321e-02 -1.54552398e-03 3.49174919e+01] [-5.95156026e-02 9.98227367e-01 1.29687982e-04 -1.74026692e+00] [ 1.55050281e-03 -3.74751463e-05 9.99998797e-01 -1.14303734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89907232899999 meters 0.07415162742942501 Centerline is valid? [True, True] Translation: X:34.98, Y:-1.75, Z:-1.14 [[ 9.98208785e-01 5.98051451e-02 -1.60219659e-03 3.49754676e+01] [-5.98050132e-02 9.98210070e-01 1.30120919e-04 -1.74716506e+00] [ 1.60711067e-03 -3.40684563e-05 9.99998708e-01 -1.14271987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.959072329 meters 0.07348463043378677 Centerline is valid? [True, True] Translation: X:35.03, Y:-1.75, Z:-1.14 [[ 9.98207980e-01 5.98395488e-02 2.40749953e-04 3.50345843e+01] [-5.98395442e-02 9.98208009e-01 -2.65621664e-05 -1.75122426e+00] [-2.41908000e-04 1.21081990e-05 9.99999971e-01 -1.13994552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019072329 meters 0.07432021366245174 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.76, Z:-1.14 [[ 9.98174790e-01 6.03630306e-02 1.84199867e-03 3.50913794e+01] [-6.03628407e-02 9.98176489e-01 -1.58567671e-04 -1.76468916e+00] [-1.84821139e-03 4.70899794e-05 9.99998291e-01 -1.14257485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079072329 meters 0.07386983765999207 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.77, Z:-1.14 [[ 9.98253117e-01 5.90754565e-02 8.96868189e-04 3.51496148e+01] [-5.90754064e-02 9.98253520e-01 -8.23141138e-05 -1.77274475e+00] [-9.00164570e-04 2.91874679e-05 9.99999594e-01 -1.14144225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13907232899999 meters 0.07544889470345824 Centerline is valid? [True, True] Translation: X:35.21, Y:-1.79, Z:-1.15 [[ 9.98265811e-01 5.88573872e-02 -1.08534947e-03 3.52064520e+01] [-5.88573247e-02 9.98266401e-01 8.94315106e-05 -1.78915377e+00] [ 1.08873162e-03 -2.53956532e-05 9.99999407e-01 -1.14793200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19907232899999 meters 0.07415405202928808 Centerline is valid? [True, True] Translation: X:35.26, Y:-1.79, Z:-1.14 [[ 9.98209293e-01 5.97614937e-02 -2.60202259e-03 3.52649378e+01] [-5.97611426e-02 9.98212683e-01 2.12552621e-04 -1.79267769e+00] [ 2.61007441e-03 -5.66721592e-05 9.99996592e-01 -1.14176700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25907232899999 meters 0.07438614364329212 Centerline is valid? [True, True] Translation: X:35.32, Y:-1.81, Z:-1.14 [[ 9.98078440e-01 6.18715506e-02 -3.36728203e-03 3.53217262e+01] [-6.18709546e-02 9.98084118e-01 2.80986021e-04 -1.80531510e+00] [ 3.37821575e-03 -7.21091362e-05 9.99994291e-01 -1.14485233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.319072329 meters 0.07443055527876534 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.81, Z:-1.15 [[ 9.97981566e-01 6.32669510e-02 -5.48517050e-03 3.53794164e+01] [-6.32653852e-02 9.97996634e-01 4.58671933e-04 -1.81448982e+00] [ 5.50320047e-03 -1.10724709e-04 9.99984851e-01 -1.14840289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379072329 meters 0.07437019419673681 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.82, Z:-1.15 [[ 9.97812945e-01 6.59544803e-02 -4.39698241e-03 3.54374609e+01] [-6.59535015e-02 9.97822630e-01 3.67391972e-04 -1.82093018e+00] [ 4.41163970e-03 -7.65920797e-05 9.99990266e-01 -1.14715017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439072329 meters 0.0741145214108673 Centerline is valid? [True, True] Translation: X:35.50, Y:-1.83, Z:-1.14 [[ 9.97798923e-01 6.62447987e-02 -2.98922713e-03 3.54958263e+01] [-6.62443657e-02 9.97803400e-01 2.43743839e-04 -1.82937333e+00] [ 2.99880776e-03 -4.51878850e-05 9.99995503e-01 -1.14482462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499072329 meters 0.07474878676447726 Centerline is valid? [True, True] Translation: X:35.55, Y:-1.84, Z:-1.15 [[ 9.97731694e-01 6.71821874e-02 -4.24510427e-03 3.55526328e+01] [-6.71813003e-02 9.97740723e-01 3.51388659e-04 -1.84453331e+00] [ 4.25912046e-03 -6.53999773e-05 9.99990928e-01 -1.15093775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55907232899999 meters 0.0749722826467298 Centerline is valid? [True, True] Translation: X:35.61, Y:-1.86, Z:-1.15 [[ 9.97632508e-01 6.85702265e-02 -5.24434526e-03 3.56096644e+01] [-6.85688834e-02 9.97646289e-01 4.35686438e-04 -1.85760728e+00] [ 5.26187670e-03 -7.50560551e-05 9.99986153e-01 -1.15465538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61907232899999 meters 0.07412110957569312 Centerline is valid? [True, True] Translation: X:35.67, Y:-1.87, Z:-1.15 [[ 9.97484174e-01 7.06604728e-02 -5.69384303e-03 3.56683704e+01] [-7.06589578e-02 9.97500423e-01 4.67062397e-04 -1.86572261e+00] [ 5.71261368e-03 -6.35663347e-05 9.99983681e-01 -1.14705403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.679072329 meters 0.07442266421852559 Centerline is valid? [True, True] Translation: X:35.73, Y:-1.88, Z:-1.15 [[ 9.97349655e-01 7.24267414e-02 -6.93051751e-03 3.57266772e+01] [-7.24245411e-02 9.97373733e-01 5.68268750e-04 -1.87654743e+00] [ 6.95347397e-03 -6.48230916e-05 9.99975822e-01 -1.15195833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739072329 meters 0.07426666849014084 Centerline is valid? [True, True] Translation: X:35.78, Y:-1.89, Z:-1.15 [[ 9.97179368e-01 7.49229693e-02 -4.45619301e-03 3.57843195e+01] [-7.49220752e-02 9.97189324e-01 3.67467247e-04 -1.89130898e+00] [ 4.47119983e-03 -3.25635292e-05 9.99990004e-01 -1.15362004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799072329 meters 0.07427831599823502 Centerline is valid? [True, True] Translation: X:35.84, Y:-1.90, Z:-1.15 [[ 9.97131925e-01 7.55171994e-02 -5.00769894e-03 3.58419511e+01] [-7.55161068e-02 9.97144499e-01 4.07179188e-04 -1.90142393e+00] [ 5.02414848e-03 -2.78494400e-05 9.99987378e-01 -1.15470735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859072329 meters 0.0747297052238524 Centerline is valid? [True, True] Translation: X:35.90, Y:-1.91, Z:-1.16 [[ 9.96930022e-01 7.78863725e-02 -8.01530336e-03 3.58999178e+01] [-7.78836360e-02 9.96962242e-01 6.53449837e-04 -1.91300503e+00] [ 8.04184965e-03 -2.71827908e-05 9.99967663e-01 -1.15599854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91907232899999 meters 0.07494734172779009 Centerline is valid? [True, True] Translation: X:35.96, Y:-1.92, Z:-1.16 [[ 9.96354838e-01 8.49304555e-02 -7.99091445e-03 3.59571783e+01] [-8.49279890e-02 9.96386881e-01 6.48101268e-04 -1.92290849e+00] [ 8.01708586e-03 3.29134603e-05 9.99967862e-01 -1.15693207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97907232899999 meters 0.07659325196981483 Centerline is valid? [True, True] Translation: X:36.01, Y:-1.92, Z:-1.16 [[ 9.95384193e-01 9.56848089e-02 -7.39763763e-03 3.60145863e+01] [-9.56829791e-02 9.95411676e-01 6.01698773e-04 -1.92378225e+00] [ 7.42126830e-03 1.08906558e-04 9.99972456e-01 -1.15838500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03907232899999 meters 0.07714421209663894 Centerline is valid? [True, True] Translation: X:36.07, Y:-1.93, Z:-1.16 [[ 9.94631838e-01 1.03292205e-01 -6.18287741e-03 3.60743437e+01] [-1.03291059e-01 9.94651045e-01 5.05160263e-04 -1.92888578e+00] [ 6.20198459e-03 1.36187476e-04 9.99980758e-01 -1.15522002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099072329 meters 0.0806074312346565 Centerline is valid? [True, True] Translation: X:36.13, Y:-1.94, Z:-1.16 [[ 9.93297734e-01 1.15275133e-01 -8.44127915e-03 3.61335360e+01] [-1.15273424e-01 9.93333560e-01 6.90293873e-04 -1.93556000e+00] [ 8.46457958e-03 2.87387812e-04 9.99964134e-01 -1.16009724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159072329 meters 0.08345287605089201 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.94, Z:-1.16 [[ 9.92438286e-01 1.22420894e-01 -8.90911415e-03 3.61931294e+01] [-1.22419280e-01 9.92478206e-01 7.28308243e-04 -1.94102369e+00] [ 8.93126178e-03 3.67846354e-04 9.99960048e-01 -1.16104440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219072329 meters 0.08464919264742692 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.96, Z:-1.16 [[ 9.91365155e-01 1.31035115e-01 -4.99286211e-03 3.62521760e+01] [-1.31034718e-01 9.91377696e-01 4.07955710e-04 -1.95691372e+00] [ 5.00326866e-03 2.49805202e-04 9.99987452e-01 -1.15516756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27907232899999 meters 0.08758878768537484 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.97, Z:-1.16 [[ 9.90813444e-01 1.35087957e-01 -6.32158454e-03 3.63104257e+01] [-1.35087406e-01 9.90833551e-01 5.15933005e-04 -1.96634676e+00] [ 6.33333440e-03 3.42773103e-04 9.99979885e-01 -1.15866830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33907232899999 meters 0.09086642988034334 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.99, Z:-1.17 [[ 9.90200237e-01 1.39368915e-01 -8.93282644e-03 3.63685726e+01] [-1.39367982e-01 9.90240391e-01 7.29888573e-04 -1.98779257e+00] [ 8.94736933e-03 5.22214153e-04 9.99959835e-01 -1.16659165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39907232899999 meters 0.08991578467871562 Centerline is valid? [True, True] Translation: X:36.43, Y:-2.02, Z:-1.17 [[ 9.89855936e-01 1.41841508e-01 -8.13714428e-03 3.64257313e+01] [-1.41840825e-01 9.89889256e-01 6.63875945e-04 -2.02042242e+00] [ 8.14903686e-03 4.97037713e-04 9.99966673e-01 -1.16773442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.459072329 meters 0.09224919080332017 Centerline is valid? [True, True] Translation: X:36.48, Y:-2.05, Z:-1.17 [[ 9.89370049e-01 1.45325983e-01 -5.22149003e-03 3.64833823e+01] [-1.45325753e-01 9.89383770e-01 4.25451080e-04 -2.04541686e+00] [ 5.22788659e-03 3.37888413e-04 9.99986277e-01 -1.16707057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519072329 meters 0.09520762291721668 Centerline is valid? [True, True] Translation: X:36.54, Y:-2.06, Z:-1.17 [[ 9.88917735e-01 1.48389349e-01 -4.72374008e-03 3.65416462e+01] [-1.48389197e-01 9.88928965e-01 3.84632937e-04 -2.06074220e+00] [ 4.72851882e-03 3.20581661e-04 9.99988769e-01 -1.16789706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579072329 meters 0.0957612456207539 Centerline is valid? [True, True] Translation: X:36.60, Y:-2.09, Z:-1.17 [[ 9.88587026e-01 1.50509801e-01 -6.51862832e-03 3.66002414e+01] [-1.50509548e-01 9.88608412e-01 5.32118613e-04 -2.08528213e+00] [ 6.52445986e-03 4.55070245e-04 9.99978612e-01 -1.17125285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63907232899999 meters 0.09659225188231793 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.11, Z:-1.18 [[ 9.88780311e-01 1.49183936e-01 -7.59273916e-03 3.66565141e+01] [-1.49183621e-01 9.88809321e-01 6.10897766e-04 -2.11223373e+00] [ 7.59890739e-03 5.28668642e-04 9.99970988e-01 -1.17702516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69907232899999 meters 0.09319543910413805 Centerline is valid? [True, True] Translation: X:36.71, Y:-2.16, Z:-1.18 [[ 9.89329384e-01 1.45525713e-01 -7.04530932e-03 3.67131226e+01] [-1.45525309e-01 9.89354363e-01 5.72692787e-04 -2.15577259e+00] [ 7.05364904e-03 4.58689016e-04 9.99975018e-01 -1.17739835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75907232899999 meters 0.09417175381133636 Centerline is valid? [True, True] Translation: X:36.77, Y:-2.18, Z:-1.18 [[ 9.89936980e-01 1.41280453e-01 -8.03799296e-03 3.67702111e+01] [-1.41279795e-01 9.89969491e-01 6.52543913e-04 -2.17999824e+00] [ 8.04955950e-03 4.89628644e-04 9.99967482e-01 -1.18068251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.819072329 meters 0.09139288227563391 Centerline is valid? [True, True] Translation: X:36.83, Y:-2.23, Z:-1.18 [[ 9.90678738e-01 1.36061482e-01 -6.55071645e-03 3.68270390e+01] [-1.36060926e-01 9.90700328e-01 5.32445720e-04 -2.22580509e+00] [ 6.56224229e-03 3.63813894e-04 9.99978402e-01 -1.18182175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879072329 meters 0.08894262730864573 Centerline is valid? [True, True] Translation: X:36.88, Y:-2.27, Z:-1.18 [[ 9.91462176e-01 1.30299377e-01 -4.98259850e-03 3.68836960e+01] [-1.30298986e-01 9.91474665e-01 4.04403565e-04 -2.26696459e+00] [ 4.99281371e-03 2.48276693e-04 9.99987505e-01 -1.18226073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939072329 meters 0.08526593336347506 Centerline is valid? [True, True] Translation: X:36.94, Y:-2.31, Z:-1.18 [[ 9.92227149e-01 1.24327659e-01 -5.28370973e-03 3.69404405e+01] [-1.24327134e-01 9.92241190e-01 4.28980778e-04 -2.30916567e+00] [ 5.29604861e-03 2.31262115e-04 9.99985949e-01 -1.18222126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999072329 meters 0.08466073552696118 Centerline is valid? [True, True] Translation: X:37.00, Y:-2.33, Z:-1.18 [[ 9.92550079e-01 1.21730210e-01 -5.10845561e-03 3.69970496e+01] [-1.21729695e-01 9.92563203e-01 4.12862055e-04 -2.33433123e+00] [ 5.12072284e-03 2.12064476e-04 9.99986867e-01 -1.18475473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05907232899999 meters 0.08444233515776828 Centerline is valid? [True, True] Translation: X:37.05, Y:-2.37, Z:-1.19 [[ 9.92850699e-01 1.19220825e-01 -5.82106067e-03 3.70519841e+01] [-1.19220116e-01 9.92867737e-01 4.69742252e-04 -2.36923270e+00] [ 5.83554640e-03 2.27603608e-04 9.99982947e-01 -1.18902541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11907232899999 meters 0.08458120368048007 Centerline is valid? [True, True] Translation: X:37.11, Y:-2.39, Z:-1.19 [[ 9.92807842e-01 1.19628156e-01 -4.65759082e-03 3.71092318e+01] [-1.19627708e-01 9.92818750e-01 3.75541305e-04 -2.38666155e+00] [ 4.66906881e-03 1.84336562e-04 9.99989083e-01 -1.18870786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.179072329 meters 0.08285984390042962 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.42, Z:-1.19 [[ 9.92635425e-01 1.21071826e-01 -4.06511646e-03 3.71659809e+01] [-1.21071501e-01 9.92643735e-01 3.27060372e-04 -2.41565369e+00] [ 4.07481018e-03 1.67518038e-04 9.99991684e-01 -1.18511350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239072329 meters 0.08387413170434575 Centerline is valid? [True, True] Translation: X:37.22, Y:-2.44, Z:-1.19 [[ 9.92543935e-01 1.21710407e-01 -6.56620221e-03 3.72221165e+01] [-1.21709565e-01 9.92565616e-01 5.29031774e-04 -2.44112215e+00] [ 6.58177522e-03 2.74082339e-04 9.99978302e-01 -1.19115824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299072329 meters 0.08633822599559722 Centerline is valid? [True, True] Translation: X:37.28, Y:-2.45, Z:-1.19 [[ 9.92654351e-01 1.20956968e-01 -2.59817742e-03 3.72802722e+01] [-1.20956836e-01 9.92657746e-01 2.08527102e-04 -2.45018112e+00] [ 2.60432375e-03 1.07271985e-04 9.99996603e-01 -1.19424126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359072329 meters 0.08119665424528846 Centerline is valid? [True, True] Translation: X:37.34, Y:-2.48, Z:-1.19 [[ 9.93330839e-01 1.15285189e-01 -1.78014820e-03 3.73379502e+01] [-1.15285117e-01 9.93332432e-01 1.43366398e-04 -2.48459468e+00] [ 1.78480696e-03 6.28143290e-05 9.99998405e-01 -1.18985237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41907232899999 meters 0.078520570974798 Centerline is valid? [True, True] Translation: X:37.39, Y:-2.53, Z:-1.20 [[ 9.94489891e-01 1.04761857e-01 -3.84835934e-03 3.73948631e+01] [-1.04761438e-01 9.94497333e-01 3.10804963e-04 -2.52542165e+00] [ 3.85974361e-03 9.40672668e-05 9.99992547e-01 -1.19588982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47907232899999 meters 0.07695311011814733 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.55, Z:-1.20 [[ 9.95118640e-01 9.86359939e-02 -3.13573378e-03 3.74526874e+01] [-9.86356884e-02 9.95123579e-01 2.52290837e-04 -2.54989157e+00] [ 3.14532758e-03 5.82359459e-05 9.99995052e-01 -1.19716572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53907232899999 meters 0.07566609961861856 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.59, Z:-1.20 [[ 9.96091941e-01 8.82440162e-02 -3.72004422e-03 3.75104172e+01] [-8.82435097e-02 9.96098887e-01 3.00401471e-04 -2.58778819e+00] [ 3.73204054e-03 2.90422738e-05 9.99993035e-01 -1.19977470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599072329 meters 0.07546208154485207 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.63, Z:-1.20 [[ 9.96792982e-01 7.98136316e-02 -5.79100867e-03 3.75688752e+01] [-7.98122547e-02 9.96809803e-01 4.68835118e-04 -2.62641655e+00] [ 5.80995365e-03 -5.13809567e-06 9.99983122e-01 -1.20136003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659072329 meters 0.07606115030157702 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.65, Z:-1.20 [[ 9.97231579e-01 7.41505424e-02 -5.55646549e-03 3.76294599e+01] [-7.41491464e-02 9.97247058e-01 4.57105545e-04 -2.65306115e+00] [ 5.57506349e-03 -4.38329115e-05 9.99984458e-01 -1.20488407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719072329 meters 0.0772571848699312 Centerline is valid? [True, True] Translation: X:37.69, Y:-2.69, Z:-1.20 [[ 9.97940106e-01 6.41425076e-02 -1.13324339e-03 3.76885044e+01] [-6.41424362e-02 9.97940749e-01 9.92999993e-05 -2.69372869e+00] [ 1.13727911e-03 -2.64064598e-05 9.99999353e-01 -1.20385865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77907232899999 meters 0.07978107605586406 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.73, Z:-1.20 [[ 9.98488576e-01 5.49588390e-02 -2.97978822e-04 3.77469016e+01] [-5.49588339e-02 9.98488621e-01 2.51705100e-05 -2.73179380e+00] [ 2.98911805e-04 -8.75589812e-06 9.99999955e-01 -1.20416803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83907232899999 meters 0.07954918763251514 Centerline is valid? [True, True] Translation: X:37.81, Y:-2.75, Z:-1.20 [[ 9.98624106e-01 5.24055708e-02 1.88449850e-03 3.78078820e+01] [-5.24053866e-02 9.98625883e-01 -1.47022166e-04 -2.75222467e+00] [-1.88961376e-03 4.80620066e-05 9.99998214e-01 -1.20109863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89907232899999 meters 0.0796605690018186 Centerline is valid? [True, True] Translation: X:37.87, Y:-2.78, Z:-1.20 [[ 9.98590069e-01 5.29062422e-02 4.33641281e-03 3.78682652e+01] [-5.29052119e-02 9.98599477e-01 -3.52048292e-04 -2.78069094e+00] [-4.34896511e-03 1.22133089e-04 9.99990536e-01 -1.20293825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.959072329 meters 0.07848092015282979 Centerline is valid? [True, True] Translation: X:37.93, Y:-2.80, Z:-1.20 [[ 9.98397212e-01 5.64163566e-02 4.49461093e-03 3.79284455e+01] [-5.64152776e-02 9.98407323e-01 -3.66585277e-04 -2.79519905e+00] [-4.50813387e-03 1.12432996e-04 9.99989832e-01 -1.20353714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019072329 meters 0.07556526411789063 Centerline is valid? [True, True] Translation: X:37.99, Y:-2.82, Z:-1.20 [[ 9.97949834e-01 6.31695653e-02 1.02827391e-02 3.79882983e+01] [-6.31642559e-02 9.98002791e-01 -8.40604429e-04 -2.81583166e+00] [-1.03153029e-02 1.89379486e-04 9.99946778e-01 -1.19776069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079072329 meters 0.0753273074788109 Centerline is valid? [True, True] Translation: X:38.05, Y:-2.84, Z:-1.20 [[ 9.97640438e-01 6.77835933e-02 1.09060442e-02 3.80474378e+01] [-6.77779151e-02 9.97700036e-01 -8.89834321e-04 -2.83929641e+00] [-1.09412768e-02 1.48545765e-04 9.99940131e-01 -1.20270274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13907232899999 meters 0.07477980569785056 Centerline is valid? [True, True] Translation: X:38.11, Y:-2.86, Z:-1.20 [[ 9.97402614e-01 7.09380600e-02 1.24827109e-02 3.81078407e+01] [-7.09308536e-02 9.97480714e-01 -1.01964629e-03 -2.85879494e+00] [-1.25235951e-02 1.31588539e-04 9.99921568e-01 -1.20289632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19907232899999 meters 0.07407898761746265 Centerline is valid? [True, True] Translation: X:38.17, Y:-2.89, Z:-1.20 [[ 9.97008562e-01 7.57111244e-02 1.55483863e-02 3.81668880e+01] [-7.57004302e-02 9.97129789e-01 -1.27604044e-03 -2.88883646e+00] [-1.56003696e-02 9.52037099e-05 9.99878302e-01 -1.20216410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25907232899999 meters 0.07368169879219717 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.91, Z:-1.21 [[ 9.96574922e-01 8.14215494e-02 1.44553472e-02 3.82274309e+01] [-8.14128728e-02 9.96679754e-01 -1.18865413e-03 -2.91368107e+00] [-1.45041340e-02 7.73155499e-06 9.99894809e-01 -1.20585588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.319072329 meters 0.07327494316650518 Centerline is valid? [True, True] Translation: X:38.29, Y:-2.94, Z:-1.21 [[ 9.96150399e-01 8.56716806e-02 1.85673489e-02 3.82864971e+01] [-8.56579463e-02 9.96323421e-01 -1.53520069e-03 -2.94050213e+00] [-1.86306078e-02 -6.11502031e-05 9.99826433e-01 -1.20729878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379072329 meters 0.07329402124295598 Centerline is valid? [True, True] Translation: X:38.35, Y:-2.97, Z:-1.21 [[ 9.96239609e-01 8.46331866e-02 1.85436174e-02 3.83474681e+01] [-8.46192290e-02 9.96412175e-01 -1.53745238e-03 -2.96885250e+00] [-1.86072056e-02 -3.74756462e-05 9.99826870e-01 -1.20806353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439072329 meters 0.0733692371608304 Centerline is valid? [True, True] Translation: X:38.41, Y:-2.99, Z:-1.21 [[ 9.96383215e-01 8.31377924e-02 1.75669077e-02 3.84086769e+01] [-8.31249492e-02 9.96538061e-01 -1.46128987e-03 -2.98686482e+00] [-1.76275805e-02 -4.24360791e-06 9.99844622e-01 -1.20953057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499072329 meters 0.0737053516746607 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.02, Z:-1.21 [[ 9.96764583e-01 7.85960435e-02 1.68234295e-02 3.84675860e+01] [-7.85835329e-02 9.96906543e-01 -1.40444765e-03 -3.02394086e+00] [-1.68817710e-02 7.78591556e-05 9.99857490e-01 -1.21305930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55907232899999 meters 0.07412954233077151 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.05, Z:-1.21 [[ 9.97137672e-01 7.33998560e-02 1.81362508e-02 3.85272225e+01] [-7.33843470e-02 9.97302575e-01 -1.52007519e-03 -3.04939684e+00] [-1.81989029e-02 1.84807322e-04 9.99834369e-01 -1.21487453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61907232899999 meters 0.07605469626318784 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.10, Z:-1.21 [[ 9.97835639e-01 6.31866733e-02 1.82066370e-02 3.85847561e+01] [-6.31692805e-02 9.98001655e-01 -1.52939507e-03 -3.09508720e+00] [-1.82668913e-02 3.75984750e-04 9.99833076e-01 -1.21233888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.679072329 meters 0.0797121412735377 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.14, Z:-1.22 [[ 9.98489023e-01 5.28311854e-02 1.51174529e-02 3.86407339e+01] [-5.28180008e-02 9.98603347e-01 -1.27035696e-03 -3.13606701e+00] [-1.51634535e-02 4.69963842e-04 9.99884918e-01 -1.21776680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739072329 meters 0.08183849398631943 Centerline is valid? [True, True] Translation: X:38.70, Y:-3.16, Z:-1.22 [[ 9.98750427e-01 4.79128199e-02 1.42108001e-02 3.86993008e+01] [-4.79006775e-02 9.98851390e-01 -1.19379001e-03 -3.15957370e+00] [-1.42516753e-02 5.11591333e-04 9.99898309e-01 -1.22181690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799072329 meters 0.08305050061134482 Centerline is valid? [True, True] Translation: X:38.76, Y:-3.19, Z:-1.22 [[ 9.99063643e-01 4.10104614e-02 1.37833249e-02 3.87578765e+01] [-4.09983780e-02 9.99158542e-01 -1.15821320e-03 -3.18713797e+00] [-1.38192257e-02 5.92034729e-04 9.99904335e-01 -1.22306892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859072329 meters 0.0880738885762174 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.22, Z:-1.23 [[ 9.99231180e-01 3.72301343e-02 1.22867905e-02 3.88154007e+01] [-3.72202448e-02 9.99306553e-01 -1.03265641e-03 -3.21514192e+00] [-1.23167162e-02 5.74545130e-04 9.99923981e-01 -1.22735733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91907232899999 meters 0.08655791608108146 Centerline is valid? [True, True] Translation: X:38.88, Y:-3.23, Z:-1.23 [[ 9.99400022e-01 3.29608010e-02 1.06386816e-02 3.88752129e+01] [-3.29531484e-02 9.99456498e-01 -8.93858747e-04 -3.22839336e+00] [-1.06623618e-02 5.42744398e-04 9.99943008e-01 -1.22995847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97907232899999 meters 0.08911534954624659 Centerline is valid? [True, True] Translation: X:38.93, Y:-3.25, Z:-1.23 [[ 9.99464275e-01 3.05225107e-02 1.18127140e-02 3.89349111e+01] [-3.05129387e-02 9.99533882e-01 -9.89737149e-04 -3.24891502e+00] [-1.18374172e-02 6.28766303e-04 9.99929738e-01 -1.23207265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03907232899999 meters 0.08807595272802052 Centerline is valid? [True, True] Translation: X:39.00, Y:-3.25, Z:-1.24 [[ 9.99468873e-01 3.06793339e-02 1.09886828e-02 3.89965994e+01] [-3.06710390e-02 9.99529107e-01 -9.22620905e-04 -3.25300694e+00] [-1.10118137e-02 5.85096556e-04 9.99939197e-01 -1.23579482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099072329 meters 0.08850486379019737 Centerline is valid? [True, True] Translation: X:39.06, Y:-3.26, Z:-1.24 [[ 9.99456842e-01 3.20175263e-02 7.80372963e-03 3.90592172e+01] [-3.20133881e-02 9.99487226e-01 -6.54654202e-04 -3.26038432e+00] [-7.82068849e-03 4.04474796e-04 9.99969336e-01 -1.24050149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159072329 meters 0.09045142706978392 Centerline is valid? [True, True] Translation: X:39.12, Y:-3.27, Z:-1.24 [[ 9.99476908e-01 3.15893642e-02 6.92988483e-03 3.91197301e+01] [-3.15860607e-02 9.99500864e-01 -5.85655457e-04 -3.26746912e+00] [-6.94492636e-03 3.66461342e-04 9.99975817e-01 -1.24456541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219072329 meters 0.09000277142062563 Centerline is valid? [True, True] Translation: X:39.18, Y:-3.26, Z:-1.25 [[ 9.99526735e-01 3.03684112e-02 4.90558391e-03 3.91825245e+01] [-3.03667365e-02 9.99538738e-01 -4.15524210e-04 -3.26345184e+00] [-4.91593996e-03 2.66360983e-04 9.99987881e-01 -1.24877421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27907232899999 meters 0.095786697691019 Centerline is valid? [True, True] Translation: X:39.24, Y:-3.27, Z:-1.26 [[ 9.99670854e-01 2.56481903e-02 5.95708227e-04 3.92417139e+01] [-2.56481653e-02 9.99671030e-01 -4.96212564e-05 -3.27380833e+00] [-5.96784952e-04 3.43261007e-05 9.99999821e-01 -1.25571302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33907232899999 meters 0.09992897087194129 Centerline is valid? [True, True] Translation: X:39.30, Y:-3.28, Z:-1.26 [[ 9.99782124e-01 2.07383563e-02 -2.37166418e-03 3.93026222e+01] [-2.07379334e-02 9.99784925e-01 2.02734922e-04 -3.27851929e+00] [ 2.37535848e-03 -1.53507337e-04 9.99997167e-01 -1.26305236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39907232899999 meters 0.10165411119049196 Centerline is valid? [True, False] Translation: X:39.31, Y:-3.27, Z:-1.26 [[ 9.99996963e-01 2.14109925e-03 1.22013522e-03 3.93122396e+01] [-2.14525263e-03 9.99991875e-01 3.41295382e-03 -3.26888374e+00] [-1.21281784e-03 -3.41556096e-03 9.99993431e-01 -1.26485783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.459072329 meters 0.10450208956383479 Centerline is valid? [False, False] Translation: X:39.31, Y:-3.26, Z:-1.27 [[ 9.99999425e-01 5.28434289e-04 9.32779042e-04 3.93136526e+01] [-5.28886840e-04 9.99999743e-01 4.84984211e-04 -3.25960361e+00] [-9.32522520e-04 -4.85477267e-04 9.99999447e-01 -1.26601566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519072329 meters 0.10806736137895775 Centerline is valid? [False, False] Translation: X:39.32, Y:-3.25, Z:-1.27 [[ 9.99999579e-01 -6.35808249e-04 6.61204921e-04 3.93154496e+01] [ 6.36887821e-04 9.99998463e-01 -1.63380878e-03 -3.25422396e+00] [-6.60165115e-04 1.63422921e-03 9.99998447e-01 -1.26804717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579072329 meters 0.11255870264878429 Centerline is valid? [False, False] Translation: X:39.32, Y:-3.25, Z:-1.27 [[ 9.99998629e-01 1.65495298e-03 -4.88375195e-05 3.93189973e+01] [-1.65496896e-03 9.99998576e-01 -3.28911938e-04 -3.24764335e+00] [ 4.82931162e-05 3.28992311e-04 9.99999945e-01 -1.27131744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63907232899999 meters 0.11485108864153055 Centerline is valid? [False, False] Translation: X:39.32, Y:-3.24, Z:-1.27 [[ 9.99999888e-01 1.14594711e-04 -4.59557063e-04 3.93212073e+01] [-1.16062485e-04 9.99994889e-01 -3.19513552e-03 -3.24028196e+00] [ 4.59188568e-04 3.19518850e-03 9.99994790e-01 -1.27355611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69907232899999 meters 0.11539458335804226 Centerline is valid? [False, False] Translation: X:39.32, Y:-3.23, Z:-1.27 [[ 9.99996424e-01 2.56795538e-03 -7.46418955e-04 3.93227352e+01] [-2.56976405e-03 9.99993740e-01 -2.43236602e-03 -3.22955420e+00] [ 7.40168075e-04 2.43427544e-03 9.99996763e-01 -1.27486148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75907232899999 meters 0.11894289877510388 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.22, Z:-1.28 [[ 9.99986752e-01 4.96769940e-03 -1.34815173e-03 3.93253920e+01] [-4.96999901e-03 9.99986191e-01 -1.70779335e-03 -3.22042788e+00] [ 1.33964931e-03 1.71447104e-03 9.99997633e-01 -1.27704344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.819072329 meters 0.11874018846936198 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.21, Z:-1.28 [[ 9.99974438e-01 6.70306518e-03 -2.48856985e-03 3.93285932e+01] [-6.70634463e-03 9.99976652e-01 -1.31180702e-03 -3.20867271e+00] [ 2.47971861e-03 1.32846269e-03 9.99996043e-01 -1.27761646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879072329 meters 0.1248496255780355 Centerline is valid? [False, False] Translation: X:39.34, Y:-3.20, Z:-1.28 [[ 9.99984423e-01 2.02183633e-03 -5.20247843e-03 3.93378437e+01] [-2.04485497e-03 9.99988128e-01 -4.42304374e-03 -3.19613327e+00] [ 5.19347399e-03 4.43361315e-03 9.99976685e-01 -1.27798493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939072329 meters 0.12223846094490648 Centerline is valid? [False, False] Translation: X:39.34, Y:-3.19, Z:-1.28 [[ 9.99985553e-01 4.88602975e-04 -5.35311303e-03 3.93384533e+01] [-5.29096155e-04 9.99971240e-01 -7.56561426e-03 -3.18652847e+00] [ 5.34926249e-03 7.56833726e-03 9.99957052e-01 -1.27834747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999072329 meters 0.13091721867779912 Centerline is valid? [False, False] Translation: X:39.34, Y:-3.18, Z:-1.28 [[ 9.99977237e-01 4.07949181e-03 -5.37427298e-03 3.93387087e+01] [-4.10585354e-03 9.99979550e-01 -4.90330432e-03 -3.18185257e+00] [ 5.35416008e-03 4.92525869e-03 9.99973537e-01 -1.27856181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05907232899999 meters 0.1303393882722855 Centerline is valid? [False, False] Translation: X:39.34, Y:-3.17, Z:-1.28 [[ 9.99977129e-01 3.14325238e-03 -5.98847539e-03 3.93429446e+01] [-3.17868600e-03 9.99977444e-01 -5.91666743e-03 -3.17126756e+00] [ 5.96974274e-03 5.93556759e-03 9.99964565e-01 -1.28118966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11907232899999 meters 0.1350379098136346 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.17, Z:-1.28 [[ 9.99971226e-01 -7.31520311e-03 -2.00883967e-03 3.93317587e+01] [ 7.30352968e-03 9.99956750e-01 -5.75815148e-03 -3.16581245e+00] [ 2.05087484e-03 5.74331417e-03 9.99981404e-01 -1.28356471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.179072329 meters 0.13956699683163168 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.16, Z:-1.28 [[ 9.99985403e-01 -4.95592849e-03 -2.15216166e-03 3.93330008e+01] [ 4.94767079e-03 9.99980443e-01 -3.82545660e-03 -3.16016427e+00] [ 2.17107826e-03 3.81475257e-03 9.99990367e-01 -1.28469340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239072329 meters 0.1493099918244666 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.16, Z:-1.28 [[ 9.99995561e-01 -2.56085893e-03 -1.52315011e-03 3.93322357e+01] [ 2.55874911e-03 9.99995767e-01 -1.38550488e-03 -3.15766705e+00] [ 1.52669175e-03 1.38160137e-03 9.99997880e-01 -1.28475333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299072329 meters 0.1566489700144695 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.16, Z:-1.28 [[ 9.99994949e-01 -2.82204526e-03 -1.46244884e-03 3.93321174e+01] [ 2.82015447e-03 9.99995187e-01 -1.29335193e-03 -3.15858194e+00] [ 1.46609170e-03 1.28922106e-03 9.99998094e-01 -1.28477319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359072329 meters 0.16349404483398564 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.16, Z:-1.29 [[ 9.99994077e-01 -3.20976954e-03 -1.24218199e-03 3.93318362e+01] [ 3.20729779e-03 9.99992883e-01 -1.98674707e-03 -3.15655687e+00] [ 1.24855015e-03 1.98275125e-03 9.99997255e-01 -1.28501454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41907232899999 meters 0.1682113877732198 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.15, Z:-1.29 [[ 9.99999297e-01 4.58675834e-04 -1.09350225e-03 3.93316970e+01] [-4.57012820e-04 9.99998739e-01 1.52057914e-03 -3.15479916e+00] [ 1.09419832e-03 -1.52007833e-03 9.99998246e-01 -1.28516794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47907232899999 meters 0.17746896795623332 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.15, Z:-1.29 [[ 9.99998854e-01 -6.29130765e-04 -1.37718176e-03 3.93333335e+01] [ 6.28938439e-04 9.99999792e-01 -1.40080615e-04 -3.15129471e+00] [ 1.37726960e-03 1.39214292e-04 9.99999042e-01 -1.28668469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53907232899999 meters 0.16906985582909953 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.15, Z:-1.29 [[ 9.99998052e-01 -1.36897397e-03 -1.42183297e-03 3.93334966e+01] [ 1.36608428e-03 9.99997004e-01 -2.03135937e-03 -3.14560921e+00] [ 1.42460958e-03 2.02941307e-03 9.99996926e-01 -1.28664574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599072329 meters 0.16160523517266376 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.14, Z:-1.29 [[ 9.99996717e-01 1.96838940e-03 -1.64050735e-03 3.93346897e+01] [-1.96763555e-03 9.99997958e-01 4.61008004e-04 -3.14083354e+00] [ 1.64141145e-03 -4.57778570e-04 9.99998548e-01 -1.28769886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659072329 meters 0.16350153530982328 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.13, Z:-1.29 [[ 9.99996742e-01 2.12769341e-03 -1.41000075e-03 3.93330711e+01] [-2.12942507e-03 9.99996979e-01 -1.22776656e-03 -3.13332593e+00] [ 1.40738418e-03 1.23076506e-03 9.99998252e-01 -1.28572562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719072329 meters 0.16217594610588215 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.13, Z:-1.29 [[ 9.99997254e-01 1.79703112e-03 -1.50422315e-03 3.93331654e+01] [-1.80161218e-03 9.99993727e-01 -3.04966822e-03 -3.12779038e+00] [ 1.49873336e-03 3.05236987e-03 9.99994218e-01 -1.28528708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77907232899999 meters 0.16281807541791837 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.12, Z:-1.29 [[ 9.99985133e-01 5.16031512e-03 -1.76182075e-03 3.93338880e+01] [-5.16454228e-03 9.99983776e-01 -2.40325399e-03 -3.11735999e+00] [ 1.74939062e-03 2.41231726e-03 9.99995560e-01 -1.28530073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83907232899999 meters 0.14921406279957955 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.11, Z:-1.29 [[ 9.99961002e-01 8.60907564e-03 -1.96957890e-03 3.93344927e+01] [-8.61216175e-03 9.99961692e-01 -1.56381149e-03 -3.10750011e+00] [ 1.95604048e-03 1.58071283e-03 9.99996838e-01 -1.28517044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89907232899999 meters 0.13893727901661074 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.10, Z:-1.28 [[ 9.99862681e-01 1.64994433e-02 -1.54547398e-03 3.93323725e+01] [-1.64937232e-02 9.99857331e-01 3.64355534e-03 -3.09685877e+00] [ 1.60537012e-03 -3.61756439e-03 9.99992168e-01 -1.28237225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.959072329 meters 0.14536550041952567 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.09, Z:-1.28 [[ 9.99798344e-01 2.00365091e-02 -1.34547435e-03 3.93318721e+01] [-2.00294051e-02 9.99786380e-01 5.10068208e-03 -3.08859764e+00] [ 1.44738680e-03 -5.07270444e-03 9.99986086e-01 -1.28145543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019072329 meters 0.13381940336240047 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.08, Z:-1.28 [[ 9.99809886e-01 1.94234942e-02 -1.70891561e-03 3.93330460e+01] [-1.94200641e-02 9.99809410e-01 2.00139682e-03 -3.07953826e+00] [ 1.74746403e-03 -1.96782907e-03 9.99996537e-01 -1.28214477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079072329 meters 0.138374946937246 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.08, Z:-1.28 [[ 9.99735926e-01 2.29241503e-02 -1.60069735e-03 3.93336605e+01] [-2.29164169e-02 9.99726369e-01 4.69314995e-03 -3.07513092e+00] [ 1.70784582e-03 -4.65522837e-03 9.99987706e-01 -1.28311406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13907232899999 meters 0.13378854872676788 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.07, Z:-1.28 [[ 9.99758205e-01 2.19236103e-02 -1.69923390e-03 3.93338022e+01] [-2.19191838e-02 9.99756414e-01 2.58127765e-03 -3.06904526e+00] [ 1.75541091e-03 -2.54340769e-03 9.99995225e-01 -1.28287093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19907232899999 meters 0.1426694016963544 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99978777e-01 5.64451340e-03 3.25332452e-03 3.93289979e+01] [-5.65727645e-03 9.99976285e-01 3.92731806e-03 -3.06478904e+00] [-3.23107957e-03 -3.94563967e-03 9.99986996e-01 -1.27871675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25907232899999 meters 0.14541918966288814 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99993990e-01 1.10893894e-03 3.28488375e-03 3.93291151e+01] [-1.10692855e-03 9.99999199e-01 -6.13769069e-04 -3.06439659e+00] [-3.28556175e-03 6.10129249e-04 9.99994416e-01 -1.27911385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.319072329 meters 0.1457291874085596 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99994600e-01 7.01428256e-04 3.21065866e-03 3.93292148e+01] [-6.96509982e-04 9.99998583e-01 -1.53272005e-03 -3.06166808e+00] [-3.21172921e-03 1.53047552e-03 9.99993671e-01 -1.27902195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379072329 meters 0.14778605697181868 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99995388e-01 4.99686622e-04 2.99583567e-03 3.93295641e+01] [-4.92980905e-04 9.99997373e-01 -2.23866676e-03 -3.05972183e+00] [-2.99694643e-03 2.23717954e-03 9.99993007e-01 -1.27879641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439072329 meters 0.14193808355339405 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.06, Z:-1.28 [[ 9.99985352e-01 4.65463845e-03 2.76215449e-03 3.93303736e+01] [-4.65818936e-03 9.99988331e-01 1.28052019e-03 -3.05764851e+00] [-2.75616190e-03 -1.29336807e-03 9.99995365e-01 -1.27937816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499072329 meters 0.13809990707141975 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.05, Z:-1.28 [[ 9.99958304e-01 8.71585312e-03 2.72490734e-03 3.93305745e+01] [-8.72632041e-03 9.99954501e-01 3.85334147e-03 -3.05210656e+00] [-2.69119820e-03 -3.87695922e-03 9.99988863e-01 -1.27918081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55907232899999 meters 0.1291193277276909 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.05, Z:-1.28 [[ 9.99905724e-01 1.34924296e-02 2.54893656e-03 3.93301229e+01] [-1.35114504e-02 9.99879844e-01 7.59853796e-03 -3.04970081e+00] [-2.44610755e-03 -7.63226143e-03 9.99967882e-01 -1.27734640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61907232899999 meters 0.12069264365087505 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.04, Z:-1.28 [[ 9.99830071e-01 1.82687410e-02 2.46624073e-03 3.93298489e+01] [-1.82939218e-02 9.99776397e-01 1.06060703e-02 -3.04394363e+00] [-2.27192972e-03 -1.06493852e-02 9.99940713e-01 -1.27631299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.679072329 meters 0.11521426979308676 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.04, Z:-1.28 [[ 9.99827813e-01 1.83650808e-02 2.65845313e-03 3.93292965e+01] [-1.83885180e-02 9.99789705e-01 9.07786242e-03 -3.03823785e+00] [-2.49117839e-03 -9.12518434e-03 9.99955262e-01 -1.27549850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739072329 meters 0.10266657203364438 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.03, Z:-1.27 [[ 9.99824561e-01 1.85450201e-02 2.63235043e-03 3.93291133e+01] [-1.85638790e-02 9.99800804e-01 7.33042278e-03 -3.03178966e+00] [-2.49588323e-03 -7.37800337e-03 9.99969667e-01 -1.27476499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799072329 meters 0.10797032803843994 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.03, Z:-1.28 [[ 9.99849725e-01 1.72146606e-02 2.04528979e-03 3.93318540e+01] [-1.72243221e-02 9.99840109e-01 4.80400458e-03 -3.02632366e+00] [-1.96226346e-03 -4.83851139e-03 9.99986369e-01 -1.27767686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859072329 meters 0.10023008362043725 Centerline is valid? [False, False] Translation: X:39.33, Y:-3.02, Z:-1.28 [[ 9.99858391e-01 1.66692353e-02 2.30964878e-03 3.93313853e+01] [-1.66757140e-02 9.99856988e-01 2.81481903e-03 -3.02044298e+00] [-2.26239760e-03 -2.85293547e-03 9.99993371e-01 -1.27762260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91907232899999 meters 0.09898511616413909 Centerline is valid? [False, True] Translation: X:39.33, Y:-3.01, Z:-1.28 [[ 9.99874618e-01 1.56557760e-02 2.37607933e-03 3.93311277e+01] [-1.56565888e-02 9.99877376e-01 3.23892199e-04 -3.01360800e+00] [-2.37071718e-03 -3.61052886e-04 9.99997125e-01 -1.27711382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97907232899999 meters 0.09508762504169525 Centerline is valid? [True, True] Translation: X:39.39, Y:-3.01, Z:-1.27 [[ 9.99863687e-01 1.63156426e-02 2.53123091e-03 3.93941064e+01] [-1.63152742e-02 9.99866883e-01 -1.66126311e-04 -3.00819888e+00] [-2.53360442e-03 1.24805939e-04 9.99996783e-01 -1.27447551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03907232899999 meters 0.1077520213319052 Centerline is valid? [True, False] Translation: X:39.39, Y:-3.01, Z:-1.27 [[ 9.99934028e-01 1.14504831e-02 -9.08471875e-04 3.93857422e+01] [-1.14441691e-02 9.99912235e-01 6.67488258e-03 -3.00539691e+00] [ 9.84822772e-04 -6.66404552e-03 9.99977310e-01 -1.27398422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099072329 meters 0.09702541300492148 Centerline is valid? [False, True] Translation: X:39.39, Y:-3.00, Z:-1.27 [[ 9.99944130e-01 1.05301701e-02 -9.23429412e-04 3.93859295e+01] [-1.05257209e-02 9.99933570e-01 4.69739528e-03 -2.99980151e+00] [ 9.72832440e-04 -4.68741308e-03 9.99988541e-01 -1.27426047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159072329 meters 0.09822049568293338 Centerline is valid? [True, True] Translation: X:39.45, Y:-3.00, Z:-1.28 [[ 9.99918125e-01 1.24630795e-02 -2.90088646e-03 3.94468072e+01] [-1.24625742e-02 9.99922321e-01 1.92205579e-04 -2.99695684e+00] [ 2.90305659e-03 -1.56037330e-04 9.99995774e-01 -1.28206751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219072329 meters 0.09788137591017546 Centerline is valid? [True, True] Translation: X:39.51, Y:-3.00, Z:-1.28 [[ 9.99898338e-01 1.41961964e-02 -1.33454223e-03 3.95078706e+01] [-1.41960925e-02 9.99899227e-01 8.72840742e-05 -2.99633852e+00] [ 1.33564685e-03 -6.83299157e-05 9.99999106e-01 -1.28454261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27907232899999 meters 0.09746704628598662 Centerline is valid? [True, True] Translation: X:39.57, Y:-3.00, Z:-1.29 [[ 9.99880271e-01 1.54646959e-02 -5.35670808e-04 3.95699160e+01] [-1.54646745e-02 9.99880414e-01 4.40397939e-05 -2.99705072e+00] [ 5.36287811e-04 -3.57505464e-05 9.99999856e-01 -1.28631749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33907232899999 meters 0.09136028912412482 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.98, Z:-1.28 [[ 9.99808068e-01 1.95813503e-02 6.31519258e-04 3.96320967e+01] [-1.95813291e-02 9.99808267e-01 -3.98152874e-05 -2.98078926e+00] [-6.32177812e-04 2.74416592e-05 9.99999800e-01 -1.28123277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39907232899999 meters 0.0893164003990893 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.97, Z:-1.28 [[ 9.99699190e-01 2.41773128e-02 4.12148917e-03 3.96920091e+01] [-2.41764168e-02 9.99707672e-01 -2.67091462e-04 -2.97307052e+00] [-4.12674189e-03 1.67368279e-04 9.99991471e-01 -1.28182143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.459072329 meters 0.08464527573124939 Centerline is valid? [True, True] Translation: X:39.75, Y:-2.96, Z:-1.28 [[ 9.99563127e-01 2.86969845e-02 7.07381679e-03 3.97541526e+01] [-2.86944703e-02 9.99588125e-01 -4.56672838e-04 -2.96033859e+00] [-7.08400840e-03 2.53493904e-04 9.99974876e-01 -1.27772991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519072329 meters 0.08912829768209006 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.96, Z:-1.30 [[ 9.99438583e-01 3.30337390e-02 5.59388338e-03 3.98150189e+01] [-3.30322823e-02 9.99454223e-01 -3.52631492e-04 -2.96216718e+00] [-5.60247911e-03 1.67654784e-04 9.99984292e-01 -1.29529772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579072329 meters 0.08337916643515139 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.95, Z:-1.29 [[ 9.99371473e-01 3.48124362e-02 6.68985022e-03 3.98785169e+01] [-3.48103665e-02 9.99393845e-01 -4.25603616e-04 -2.95114605e+00] [-6.70061144e-03 1.92459975e-04 9.99977532e-01 -1.28539462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63907232899999 meters 0.08877996442599381 Centerline is valid? [True, True] Translation: X:39.94, Y:-2.97, Z:-1.30 [[ 9.99364389e-01 3.45475246e-02 8.79130173e-03 3.99380745e+01] [-3.45438587e-02 9.99403021e-01 -5.68543742e-04 -2.96596674e+00] [-8.80569529e-03 2.64496885e-04 9.99961194e-01 -1.29797155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69907232899999 meters 0.08120034982961521 Centerline is valid? [True, True] Translation: X:40.00, Y:-2.94, Z:-1.29 [[ 9.99203742e-01 3.89758030e-02 8.53048311e-03 4.00014284e+01] [-3.89724736e-02 9.99240130e-01 -5.56233711e-04 -2.94379340e+00] [-8.54568070e-03 2.23336777e-04 9.99963460e-01 -1.28655423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75907232899999 meters 0.0800006482741809 Centerline is valid? [True, True] Translation: X:40.06, Y:-2.94, Z:-1.29 [[ 9.98970874e-01 4.47466310e-02 7.41164120e-03 4.00638611e+01] [-4.47443317e-02 9.98998358e-01 -4.75833351e-04 -2.94056275e+00] [-7.42550933e-03 1.43714726e-04 9.99972420e-01 -1.28909637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.819072329 meters 0.078476510091688 Centerline is valid? [True, True] Translation: X:40.12, Y:-2.93, Z:-1.29 [[ 9.98449341e-01 5.53094182e-02 6.30722677e-03 4.01244978e+01] [-5.53079094e-02 9.98469260e-01 -4.13519918e-04 -2.93376298e+00] [-6.32044359e-03 6.40391630e-05 9.99980024e-01 -1.29238477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.879072329 meters 0.0774777841211449 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.92, Z:-1.30 [[ 9.97589325e-01 6.90477329e-02 6.92454594e-03 4.01876806e+01] [-6.90462995e-02 9.97613357e-01 -4.46142456e-04 -2.91685440e+00] [-6.93882464e-03 -3.30473203e-05 9.99975926e-01 -1.29581794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939072329 meters 0.07952559097241955 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.91, Z:-1.31 [[ 9.96804329e-01 7.97081229e-02 5.26735561e-03 4.02481245e+01] [-7.97073997e-02 9.96818243e-01 -3.47432473e-04 -2.90564348e+00] [-5.27828936e-03 -7.35250257e-05 9.99986067e-01 -1.30682798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.999072329 meters 0.08108545088760659 Centerline is valid? [True, True] Translation: X:40.31, Y:-2.90, Z:-1.30 [[ 9.95580827e-01 9.38672438e-02 2.78533737e-03 4.03097555e+01] [-9.38671013e-02 9.95584720e-01 -1.82143643e-04 -2.89544227e+00] [-2.79013665e-03 -8.01128265e-05 9.99996104e-01 -1.30386806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05907232899999 meters 0.0849329489763557 Centerline is valid? [True, True] Translation: X:40.37, Y:-2.89, Z:-1.31 [[ 9.94588724e-01 1.03832015e-01 3.49030106e-03 4.03702063e+01] [-1.03831843e-01 9.94594840e-01 -2.30929223e-04 -2.88503932e+00] [-3.49541327e-03 -1.32724790e-04 9.99993882e-01 -1.30851196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11907232899999 meters 0.08754807419503625 Centerline is valid? [True, True] Translation: X:40.43, Y:-2.88, Z:-1.31 [[ 9.94008654e-01 1.09220000e-01 4.21752362e-03 4.04301154e+01] [-1.09219801e-01 9.94017584e-01 -2.78304455e-04 -2.88271387e+00] [-4.22268905e-03 -1.84000053e-04 9.99991067e-01 -1.31075323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.179072329 meters 0.08734171888453224 Centerline is valid? [True, True] Translation: X:40.49, Y:-2.89, Z:-1.31 [[ 9.93833529e-01 1.10807270e-01 4.08222022e-03 4.04921156e+01] [-1.10807133e-01 9.93841895e-01 -2.60529828e-04 -2.88649537e+00] [-4.08595007e-03 -1.93415840e-04 9.99991634e-01 -1.31225962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239072329 meters 0.08539581767194061 Centerline is valid? [True, True] Translation: X:40.55, Y:-2.91, Z:-1.31 [[ 9.94263390e-01 1.06917605e-01 2.98940619e-03 4.05520799e+01] [-1.06917496e-01 9.94267877e-01 -1.96691766e-04 -2.90510758e+00] [-2.99330036e-03 -1.24056403e-04 9.99995512e-01 -1.31331472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299072329 meters 0.08274816265523158 Centerline is valid? [True, True] Translation: X:40.61, Y:-2.92, Z:-1.31 [[ 9.94757186e-01 1.02217480e-01 3.11906050e-03 4.06119478e+01] [-1.02217336e-01 9.94762069e-01 -2.06044430e-04 -2.92124135e+00] [-3.12378441e-03 -1.13857876e-04 9.99995114e-01 -1.31153922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359072329 meters 0.08166454096980491 Centerline is valid? [True, True] Translation: X:40.67, Y:-2.93, Z:-1.32 [[ 9.95338628e-01 9.64303354e-02 1.48554210e-03 4.06725691e+01] [-9.64302978e-02 9.95339735e-01 -9.70536451e-05 -2.93452912e+00] [-1.48797799e-03 -4.66500248e-05 9.99998892e-01 -1.31637649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41907232899999 meters 0.08194817996040041 Centerline is valid? [True, True] Translation: X:40.73, Y:-2.95, Z:-1.32 [[ 9.95694817e-01 9.26896871e-02 -6.72869461e-04 4.07322283e+01] [-9.26896741e-02 9.95695045e-01 5.06129483e-05 -2.95031649e+00] [ 6.74664087e-04 1.19730008e-05 9.99999772e-01 -1.32272105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47907232899999 meters 0.08062554601104983 Centerline is valid? [True, True] Translation: X:40.79, Y:-2.97, Z:-1.32 [[ 9.96146816e-01 8.76967524e-02 8.95214959e-04 4.07920774e+01] [-8.76967349e-02 9.96147218e-01 -5.88202381e-05 -2.96592892e+00] [-8.96924235e-04 -1.99138361e-05 9.99999598e-01 -1.32239119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53907232899999 meters 0.08020150662357975 Centerline is valid? [True, True] Translation: X:40.85, Y:-2.98, Z:-1.32 [[ 9.96319517e-01 8.57164910e-02 3.20761522e-04 4.08534387e+01] [-8.57164918e-02 9.96319569e-01 -1.12437948e-05 -2.97770714e+00] [-3.20544760e-04 -1.62921401e-05 9.99999948e-01 -1.32413860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.599072329 meters 0.07996182619200784 Centerline is valid? [True, True] Translation: X:40.92, Y:-2.99, Z:-1.33 [[ 9.96529206e-01 8.32438395e-02 -7.13505920e-05 4.09150281e+01] [-8.32438386e-02 9.96529208e-01 1.51679440e-05 -2.99124607e+00] [ 7.23655868e-05 -9.17580203e-06 9.99999997e-01 -1.32658375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.659072329 meters 0.08077462970798469 Centerline is valid? [True, True] Translation: X:40.98, Y:-3.00, Z:-1.34 [[ 9.96634302e-01 8.19489045e-02 -2.10849516e-03 4.09757679e+01] [-8.19487678e-02 9.96636532e-01 1.51321858e-04 -2.99812593e+00] [ 2.11380396e-03 2.19760257e-05 9.99997766e-01 -1.33536390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.719072329 meters 0.08064803631940178 Centerline is valid? [True, True] Translation: X:41.04, Y:-3.01, Z:-1.34 [[ 9.96647440e-01 8.16951665e-02 -4.44752043e-03 4.10370530e+01] [-8.16945973e-02 9.96657362e-01 3.09808895e-04 -3.00762928e+00] [ 4.45796386e-03 5.45681481e-05 9.99990062e-01 -1.33548314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77907232899999 meters 0.08035206273172486 Centerline is valid? [True, True] Translation: X:41.10, Y:-3.01, Z:-1.34 [[ 9.96545544e-01 8.30477474e-02 -2.23278394e-04 4.10972807e+01] [-8.30477459e-02 9.96545569e-01 1.58125820e-05 -3.01116603e+00] [ 2.23820294e-04 2.78480927e-06 9.99999975e-01 -1.33549518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83907232899999 meters 0.0815054104654575 Centerline is valid? [True, True] Translation: X:41.16, Y:-3.01, Z:-1.34 [[ 9.96044906e-01 8.88425450e-02 -1.24430666e-03 4.11584294e+01] [-8.88425084e-02 9.96045682e-01 8.47714121e-05 -3.00558005e+00] [ 1.24691758e-03 2.61111916e-05 9.99999222e-01 -1.33811091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89907232899999 meters 0.08316727303102739 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.00, Z:-1.34 [[ 9.95534908e-01 9.43389403e-02 -3.22654948e-03 4.12200886e+01] [-9.43387240e-02 9.95540133e-01 2.19500774e-04 -3.00124094e+00] [ 3.23286696e-03 8.58678776e-05 9.99994771e-01 -1.34266787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.959072329 meters 0.08589850047459727 Centerline is valid? [True, True] Translation: X:41.28, Y:-2.99, Z:-1.35 [[ 9.94835799e-01 1.01405653e-01 -4.31586327e-03 4.12802998e+01] [-1.01405337e-01 9.94845150e-01 2.92545288e-04 -2.99297849e+00] [ 4.32328139e-03 1.46617044e-04 9.99990644e-01 -1.34682466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019072329 meters 0.08400470939145875 Centerline is valid? [True, True] Translation: X:41.34, Y:-3.00, Z:-1.34 [[ 9.94428177e-01 1.05342950e-01 -3.93228454e-03 4.13419183e+01] [-1.05342698e-01 9.94435942e-01 2.71599819e-04 -2.99817660e+00] [ 3.93901620e-03 1.44150952e-04 9.99992232e-01 -1.34004815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079072329 meters 0.085255610468607 Centerline is valid? [True, True] Translation: X:41.40, Y:-3.00, Z:-1.34 [[ 9.93997614e-01 1.09369832e-01 -2.64258412e-03 4.14040674e+01] [-1.09369727e-01 9.94001121e-01 1.84627157e-04 -2.99574040e+00] [ 2.64692422e-03 1.05499750e-04 9.99996491e-01 -1.34078644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13907232899999 meters 0.08904332051957398 Centerline is valid? [True, True] Translation: X:41.46, Y:-2.99, Z:-1.35 [[ 9.93615348e-01 1.12809731e-01 -1.58269308e-03 4.14648952e+01] [-1.12809694e-01 9.93616606e-01 1.12706350e-04 -2.99249115e+00] [ 1.58530450e-03 6.65563628e-05 9.99998741e-01 -1.34757197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19907232899999 meters 0.08748554104288424 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.00, Z:-1.35 [[ 9.93460279e-01 1.14160070e-01 -2.03796768e-03 4.15267124e+01] [-1.14160004e-01 9.93462365e-01 1.49110155e-04 -3.00166508e+00] [ 2.04166661e-03 8.45193816e-05 9.99997912e-01 -1.34643468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25907232899999 meters 0.0873256149939532 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.01, Z:-1.35 [[ 9.93165717e-01 1.16710660e-01 -6.92748218e-04 4.15885611e+01] [-1.16710648e-01 9.93165959e-01 5.76645962e-05 -3.00810959e+00] [ 6.94744021e-04 2.35805936e-05 9.99999758e-01 -1.34604221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.319072329 meters 0.08897905958239304 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.02, Z:-1.35 [[ 9.92910335e-01 1.18864893e-01 4.51838186e-04 4.16495945e+01] [-1.18864894e-01 9.92910437e-01 -2.57479005e-05 -3.01501169e+00] [-4.51695372e-04 -2.81423415e-05 9.99999898e-01 -1.34828990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379072329 meters 0.08865372314188798 Centerline is valid? [True, True] Translation: X:41.71, Y:-3.03, Z:-1.35 [[ 9.92622305e-01 1.21246476e-01 5.01375844e-04 4.17106567e+01] [-1.21246479e-01 9.92622431e-01 -2.51245970e-05 -3.02812661e+00] [-5.00723178e-04 -3.58508202e-05 9.99999874e-01 -1.34843329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439072329 meters 0.08953076347969621 Centerline is valid? [True, True] Translation: X:41.77, Y:-3.04, Z:-1.35 [[ 9.92088065e-01 1.25538453e-01 1.16939119e-03 4.17712113e+01] [-1.25538446e-01 9.92088752e-01 -7.98900702e-05 -3.03679075e+00] [-1.17016913e-03 -6.75455677e-05 9.99999313e-01 -1.34808211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499072329 meters 0.08958925831306648 Centerline is valid? [True, True] Translation: X:41.83, Y:-3.05, Z:-1.35 [[ 9.91396919e-01 1.30853471e-01 3.08513854e-03 4.18319064e+01] [-1.30853444e-01 9.91401700e-01 -2.11367688e-04 -3.04763533e+00] [-3.08626979e-03 -1.94151729e-04 9.99995219e-01 -1.34694869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55907232899999 meters 0.09251997946160255 Centerline is valid? [True, True] Translation: X:41.89, Y:-3.06, Z:-1.35 [[ 9.90857369e-01 1.34886282e-01 2.71375170e-03 4.18902737e+01] [-1.34886275e-01 9.90861069e-01 -1.86305444e-04 -3.06088819e+00] [-2.71408095e-03 -1.81445736e-04 9.99996300e-01 -1.34972365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61907232899999 meters 0.0935852842812695 Centerline is valid? [True, True] Translation: X:41.95, Y:-3.08, Z:-1.35 [[ 9.90580968e-01 1.36880990e-01 3.59736706e-03 4.19512046e+01] [-1.36880996e-01 9.90587468e-01 -2.45595409e-04 -3.07627993e+00] [-3.59712407e-03 -2.49129048e-04 9.99993499e-01 -1.35175421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.679072329 meters 0.0955363837584925 Centerline is valid? [True, True] Translation: X:42.01, Y:-3.08, Z:-1.36 [[ 9.90360318e-01 1.38492288e-01 2.51538361e-03 4.20107889e+01] [-1.38492293e-01 9.90363496e-01 -1.73097376e-04 -3.08491679e+00] [-2.51511676e-03 -1.76932471e-04 9.99996821e-01 -1.35698551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739072329 meters 0.09570885569956146 Centerline is valid? [True, True] Translation: X:42.07, Y:-3.11, Z:-1.36 [[ 9.90369799e-01 1.38443557e-01 1.02106624e-03 4.20712148e+01] [-1.38443568e-01 9.90370322e-01 -6.09289524e-05 -3.10745206e+00] [-1.01966893e-03 -8.10178592e-05 9.99999477e-01 -1.36216274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799072329 meters 0.09274148936648592 Centerline is valid? [True, True] Translation: X:42.13, Y:-3.13, Z:-1.36 [[ 9.90715753e-01 1.35889729e-01 4.03462318e-03 4.21300831e+01] [-1.35889711e-01 9.90723931e-01 -2.79646212e-04 -3.13239951e+00] [-4.03519879e-03 -2.71213873e-04 9.99991822e-01 -1.36072821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859072329 meters 0.09566226807419856 Centerline is valid? [True, True] Translation: X:42.19, Y:-3.14, Z:-1.37 [[ 9.90998799e-01 1.33846375e-01 2.55500014e-03 4.21897292e+01] [-1.33846371e-01 9.91002078e-01 -1.73318689e-04 -3.13900167e+00] [-2.55520853e-03 -1.70218884e-04 9.99996721e-01 -1.36926796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91907232899999 meters 0.09185664196371489 Centerline is valid? [True, True] Translation: X:42.25, Y:-3.17, Z:-1.37 [[ 9.91470973e-01 1.30327477e-01 -2.42887907e-04 4.22492726e+01] [-1.30327476e-01 9.91471002e-01 1.82878423e-05 -3.16905776e+00] [ 2.43199725e-04 1.35231031e-05 9.99999970e-01 -1.36942974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97907232899999 meters 0.09081734200374686 Centerline is valid? [True, True] Translation: X:42.31, Y:-3.18, Z:-1.37 [[ 9.91898367e-01 1.27024335e-01 1.56455911e-03 4.23079168e+01] [-1.27024321e-01 9.91899597e-01 -1.09159409e-04 -3.18437405e+00] [-1.56575145e-03 -9.04620192e-05 9.99998770e-01 -1.37326896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03907232899999 meters 0.08798306647784195 Centerline is valid? [True, True] Translation: X:42.37, Y:-3.20, Z:-1.37 [[ 9.92208267e-01 1.24582207e-01 1.42399048e-03 4.23683328e+01] [-1.24582195e-01 9.92209286e-01 -9.75634079e-05 -3.19988010e+00] [-1.42505124e-03 -8.06006388e-05 9.99998981e-01 -1.37481460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099072329 meters 0.08680480042376558 Centerline is valid? [True, True] Translation: X:42.43, Y:-3.22, Z:-1.38 [[ 9.92957562e-01 1.18373345e-01 4.79899122e-03 4.24266148e+01] [-1.18373109e-01 9.92969131e-01 -3.34347680e-04 -3.21956076e+00] [-4.80482800e-03 -2.36078451e-04 9.99988429e-01 -1.37531105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159072329 meters 0.08396700847714891 Centerline is valid? [True, True] Translation: X:42.49, Y:-3.24, Z:-1.38 [[ 9.93547707e-01 1.13297273e-01 5.16534929e-03 4.24862971e+01] [-1.13296938e-01 9.93561108e-01 -3.58390748e-04 -3.23633613e+00] [-5.17269486e-03 -2.29139953e-04 9.99986595e-01 -1.37690641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219072329 meters 0.08443321856316237 Centerline is valid? [True, True] Translation: X:42.55, Y:-3.24, Z:-1.38 [[ 9.93563688e-01 1.13192963e-01 4.30702225e-03 4.25483236e+01] [-1.13192764e-01 9.93573004e-01 -2.90694010e-04 -3.24273653e+00] [-4.31224555e-03 -1.98700740e-04 9.99990682e-01 -1.38273912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27907232899999 meters 0.08348768927084778 Centerline is valid? [True, True] Translation: X:42.61, Y:-3.26, Z:-1.38 [[ 9.93422036e-01 1.14300734e-01 6.92824276e-03 4.26098591e+01] [-1.14300194e-01 9.93446143e-01 -4.75142068e-04 -3.25602793e+00] [-6.93714514e-03 -3.19882893e-04 9.99975887e-01 -1.37980847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33907232899999 meters 0.08422375741359638 Centerline is valid? [True, True] Translation: X:42.67, Y:-3.26, Z:-1.38 [[ 9.93267827e-01 1.15445148e-01 9.56248668e-03 4.26705253e+01] [-1.15444105e-01 9.93313757e-01 -6.62827434e-04 -3.25818185e+00] [-9.57506978e-03 -4.45567553e-04 9.99954059e-01 -1.38234306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39907232899999 meters 0.08570332909623861 Centerline is valid? [True, True] Translation: X:42.73, Y:-3.26, Z:-1.39 [[ 9.92727376e-01 1.20112304e-01 8.08647177e-03 4.27314082e+01] [-1.20111652e-01 9.92760227e-01 -5.68077863e-04 -3.26091588e+00] [-8.09616069e-03 -4.07333033e-04 9.99967143e-01 -1.38720307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.459072329 meters 0.08774250679044088 Centerline is valid? [True, True] Translation: X:42.79, Y:-3.26, Z:-1.39 [[ 9.92404247e-01 1.22782961e-01 7.62595758e-03 4.27912083e+01] [-1.22782457e-01 9.92433464e-01 -5.36032621e-04 -3.26439955e+00] [-7.63407117e-03 -4.04372757e-04 9.99970778e-01 -1.39122247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519072329 meters 0.08744818244762495 Centerline is valid? [True, True] Translation: X:42.85, Y:-3.27, Z:-1.39 [[ 9.92298313e-01 1.23579729e-01 8.49170000e-03 4.28532983e+01] [-1.23579207e-01 9.92334537e-01 -5.88193064e-04 -3.27173803e+00] [-8.49929593e-03 -4.65734568e-04 9.99963772e-01 -1.39314365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579072329 meters 0.08879793310334591 Centerline is valid? [True, True] Translation: X:42.91, Y:-3.28, Z:-1.40 [[ 9.92012369e-01 1.25798405e-01 9.28557560e-03 4.29136135e+01] [-1.25797798e-01 9.92055689e-01 -6.51725140e-04 -3.27585401e+00] [-9.29379408e-03 -5.21585567e-04 9.99956676e-01 -1.39643919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63907232899999 meters 0.0897960974795338 Centerline is valid? [True, True] Translation: X:42.98, Y:-3.28, Z:-1.40 [[ 9.91733065e-01 1.27895636e-01 1.04035366e-02 4.29756310e+01] [-1.27895003e-01 9.91787445e-01 -7.28886346e-04 -3.28305481e+00] [-1.04113184e-02 -6.07699657e-04 9.99945616e-01 -1.39739480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69907232899999 meters 0.09206534671883847 Centerline is valid? [True, True] Translation: X:43.04, Y:-3.29, Z:-1.40 [[ 9.91225626e-01 1.31407523e-01 1.42766000e-02 4.30367558e+01] [-1.31406592e-01 9.91328045e-01 -1.00734485e-03 -3.28983548e+00] [-1.42851667e-02 -8.77533324e-04 9.99897577e-01 -1.39769178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75907232899999 meters 0.09607634545361368 Centerline is valid? [True, True] Translation: X:43.10, Y:-3.29, Z:-1.40 [[ 9.90536092e-01 1.36551834e-01 1.38509036e-02 4.30970048e+01] [-1.36551346e-01 9.90632504e-01 -9.85429703e-04 -3.29291179e+00] [-1.38557175e-02 -9.15255833e-04 9.99903586e-01 -1.40193481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.819072329 meters 0.09832317129281015 Centerline is valid? [True, True] Translation: X:43.16, Y:-3.30, Z:-1.41 [[ 9.90161832e-01 1.39468157e-01 1.13216790e-02 4.31573183e+01] [-1.39468020e-01 9.90226248e-01 -8.05507110e-04 -3.30067950e+00] [-1.13233663e-02 -7.81429756e-04 9.99935583e-01 -1.40698424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879072329 meters 0.10089464672253037 Centerline is valid? [True, False] Translation: X:43.15, Y:-3.31, Z:-1.41 [[ 9.91110998e-01 1.32479330e-01 1.21744457e-02 4.31513074e+01] [-1.32575787e-01 9.91144594e-01 7.48689642e-03 -3.31008783e+00] [-1.10747771e-02 -9.03438211e-03 9.99897859e-01 -1.41057650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939072329 meters 0.10364357435164467 Centerline is valid? [False, False] Translation: X:43.14, Y:-3.32, Z:-1.41 [[ 9.92056251e-01 1.24417730e-01 1.85640495e-02 4.31382814e+01] [-1.24654187e-01 9.92125592e-01 1.21714336e-02 -3.32155328e+00] [-1.69035264e-02 -1.43888333e-02 9.99753586e-01 -1.41028895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999072329 meters 0.09656890046136114 Centerline is valid? [False, True] Translation: X:43.16, Y:-3.33, Z:-1.40 [[ 9.92581112e-01 1.21389045e-01 -6.88730316e-03 4.31606776e+01] [-1.21299085e-01 9.92540437e-01 1.22479706e-02 -3.33034724e+00] [ 8.32269635e-03 -1.13216807e-02 9.99901271e-01 -1.40195558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05907232899999 meters 0.10737394107181407 Centerline is valid? [True, False] Translation: X:43.16, Y:-3.34, Z:-1.41 [[ 9.93504359e-01 1.13665596e-01 -5.40574103e-03 4.31570017e+01] [-1.13549086e-01 9.93361732e-01 1.84139563e-02 -3.33677223e+00] [ 7.46288958e-03 -1.76805289e-02 9.99815835e-01 -1.40848747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11907232899999 meters 0.10983029225728272 Centerline is valid? [False, False] Translation: X:43.15, Y:-3.34, Z:-1.42 [[ 9.94317728e-01 1.06445963e-01 -1.22980306e-03 4.31505574e+01] [-1.06390172e-01 9.94061011e-01 2.28874802e-02 -3.34279488e+00] [ 3.65877914e-03 -2.26265884e-02 9.99737291e-01 -1.41516531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.179072329 meters 0.09734574009967482 Centerline is valid? [False, True] Translation: X:43.14, Y:-3.35, Z:-1.42 [[ 9.95023291e-01 9.95864156e-02 3.34621444e-03 4.31438581e+01] [-9.96373274e-02 9.94755312e-01 2.31143327e-02 -3.35209363e+00] [-1.02679105e-03 -2.33327073e-02 9.99727228e-01 -1.41978490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239072329 meters 0.09808437414115885 Centerline is valid? [True, True] Translation: X:43.21, Y:-3.35, Z:-1.43 [[ 9.95049103e-01 9.93480939e-02 2.69063670e-03 4.32062862e+01] [-9.93483032e-02 9.95052718e-01 -5.60642525e-05 -3.34672244e+00] [-2.68289524e-03 -2.11523506e-04 9.99996379e-01 -1.43065310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299072329 meters 0.09774706715214536 Centerline is valid? [True, True] Translation: X:43.27, Y:-3.36, Z:-1.43 [[ 9.95287075e-01 9.69530500e-02 1.93493751e-03 4.32664988e+01] [-9.69531501e-02 9.95288945e-01 -4.22277514e-05 -3.35959762e+00] [-1.92991603e-03 -1.45569552e-04 9.99998127e-01 -1.43303107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359072329 meters 0.09855718271020704 Centerline is valid? [True, True] Translation: X:43.33, Y:-3.37, Z:-1.43 [[ 9.95330225e-01 9.63444117e-02 5.95799722e-03 4.33262238e+01] [-9.63453498e-02 9.95347958e-01 -1.30026331e-04 -3.36770477e+00] [-5.94280767e-03 -4.44606189e-04 9.99982243e-01 -1.43095762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41907232899999 meters 0.09955161992557102 Centerline is valid? [True, True] Translation: X:43.39, Y:-3.37, Z:-1.43 [[ 9.95225643e-01 9.73821188e-02 6.53017125e-03 4.33881307e+01] [-9.73833047e-02 9.95246941e-01 -1.36870309e-04 -3.37395723e+00] [-6.51246168e-03 -4.99712815e-04 9.99978669e-01 -1.43184189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47907232899999 meters 0.10179692720202932 Centerline is valid? [True, False] Translation: X:43.38, Y:-3.38, Z:-1.44 [[ 9.95886359e-01 9.04883663e-02 4.71338476e-03 4.33844630e+01] [-9.05277362e-02 9.95853771e-01 8.94404436e-03 -3.38280507e+00] [-3.88451003e-03 -9.33394382e-03 9.99948893e-01 -1.43506532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53907232899999 meters 0.10443594899255375 Centerline is valid? [False, False] Translation: X:43.38, Y:-3.39, Z:-1.44 [[ 9.96538189e-01 8.25664818e-02 9.71663501e-03 4.33788687e+01] [-8.27046173e-02 9.96464272e-01 1.47952795e-02 -3.39408234e+00] [-8.46068546e-03 -1.55476716e-02 9.99843331e-01 -1.43728843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599072329 meters 0.10519747041468912 Centerline is valid? [False, False] Translation: X:43.38, Y:-3.40, Z:-1.44 [[ 9.97221930e-01 7.40637965e-02 7.93570801e-03 4.33768226e+01] [-7.42266117e-02 9.96983308e-01 2.26868484e-02 -3.39930228e+00] [-6.23149430e-03 -2.32128634e-02 9.99711124e-01 -1.43959212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659072329 meters 0.0974471472464366 Centerline is valid? [False, True] Translation: X:43.37, Y:-3.41, Z:-1.44 [[ 9.97775642e-01 6.52794597e-02 1.35040700e-02 4.33683033e+01] [-6.55963553e-02 9.97544658e-01 2.45310699e-02 -3.40704185e+00] [-1.18695379e-02 -2.53623218e-02 9.99607856e-01 -1.44461148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719072329 meters 0.10587366530317423 Centerline is valid? [True, False] Translation: X:43.38, Y:-3.41, Z:-1.44 [[ 9.98267146e-01 5.86959879e-02 -4.18176959e-03 4.33758980e+01] [-5.85958936e-02 9.98060893e-01 2.09993993e-02 -3.41316592e+00] [ 5.40624117e-03 -2.07179759e-02 9.99770743e-01 -1.44372656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77907232899999 meters 0.09440794598718068 Centerline is valid? [False, True] Translation: X:43.37, Y:-3.42, Z:-1.45 [[ 9.98915976e-01 4.65020715e-02 -2.10493326e-03 4.33712984e+01] [-4.64425682e-02 9.98663773e-01 2.26661884e-02 -3.41862531e+00] [ 3.15614531e-03 -2.25438592e-02 9.99740873e-01 -1.45081561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83907232899999 meters 0.09164582143079689 Centerline is valid? [True, True] Translation: X:43.43, Y:-3.42, Z:-1.46 [[ 9.99239074e-01 3.89056439e-02 -2.76130782e-03 4.34305474e+01] [-3.89059674e-02 9.99242874e-01 -6.35222541e-05 -3.41831058e+00] [ 2.75674579e-03 1.70905271e-04 9.99996186e-01 -1.46403535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89907232899999 meters 0.08637487808929747 Centerline is valid? [True, True] Translation: X:43.49, Y:-3.43, Z:-1.46 [[ 9.99423530e-01 3.39129474e-02 -1.58754596e-03 4.34917190e+01] [-3.39130477e-02 9.99424787e-01 -3.63214262e-05 -3.43326977e+00] [ 1.58540101e-03 9.01390098e-05 9.99998739e-01 -1.46102721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.959072329 meters 0.08424033313272133 Centerline is valid? [True, True] Translation: X:43.55, Y:-3.44, Z:-1.47 [[ 9.99665365e-01 2.54904555e-02 -4.40394798e-03 4.35518061e+01] [-2.54911461e-02 9.99675043e-01 -1.00761180e-04 -3.44056669e+00] [ 4.39994844e-03 2.12989144e-04 9.99990297e-01 -1.46663390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019072329 meters 0.08149757848847812 Centerline is valid? [True, True] Translation: X:43.61, Y:-3.45, Z:-1.46 [[ 9.99858801e-01 1.65668949e-02 -2.81369527e-03 4.36131416e+01] [-1.65671401e-02 9.99862753e-01 -6.38436116e-05 -3.45267849e+00] [ 2.81225141e-03 1.10449481e-04 9.99996040e-01 -1.46408538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079072329 meters 0.08035718759439567 Centerline is valid? [True, True] Translation: X:43.67, Y:-3.46, Z:-1.47 [[ 9.99926617e-01 1.17366573e-02 -3.00207227e-03 4.36736615e+01] [-1.17369161e-02 9.99931118e-01 -6.86215886e-05 -3.45762531e+00] [ 3.00106009e-03 1.03851623e-04 9.99995491e-01 -1.46633506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13907232899999 meters 0.07834677172034824 Centerline is valid? [True, True] Translation: X:43.73, Y:-3.46, Z:-1.47 [[ 9.99963632e-01 8.13574886e-03 -2.55811419e-03 4.37348964e+01] [-8.13592201e-03 9.99966901e-01 -5.72847933e-05 -3.46280132e+00] [ 2.55756346e-03 7.80953275e-05 9.99996726e-01 -1.46627666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19907232899999 meters 0.07939598888506934 Centerline is valid? [True, True] Translation: X:43.80, Y:-3.46, Z:-1.47 [[ 9.99962356e-01 8.53751756e-03 -1.54828189e-03 4.37955386e+01] [-8.53757114e-03 9.99963554e-01 -2.80058799e-05 -3.45605986e+00] [ 1.54798636e-03 4.12233925e-05 9.99998801e-01 -1.47333971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25907232899999 meters 0.08013676393610117 Centerline is valid? [True, True] Translation: X:43.86, Y:-3.45, Z:-1.48 [[ 9.99949854e-01 9.54878882e-03 -3.01813437e-03 4.38560971e+01] [-9.54903467e-03 9.99954405e-01 -6.70588277e-05 -3.45228949e+00] [ 3.01735642e-03 9.58757347e-05 9.99995443e-01 -1.47677811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.319072329 meters 0.08136338910186523 Centerline is valid? [True, True] Translation: X:43.92, Y:-3.45, Z:-1.48 [[ 9.99911595e-01 1.29523228e-02 -3.00651743e-03 4.39167706e+01] [-1.29525739e-02 9.99916110e-01 -6.40589964e-05 -3.44606698e+00] [ 3.00543550e-03 1.02995472e-04 9.99995478e-01 -1.47882432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379072329 meters 0.08007539748002104 Centerline is valid? [True, True] Translation: X:43.98, Y:-3.45, Z:-1.47 [[ 9.99862668e-01 1.64332445e-02 -2.14309981e-03 4.39789222e+01] [-1.64333803e-02 9.99864962e-01 -4.57688963e-05 -3.44600343e+00] [ 2.14205828e-03 8.09809849e-05 9.99997703e-01 -1.47465278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439072329 meters 0.08081107287515508 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.44, Z:-1.47 [[ 9.99773090e-01 2.13017459e-02 -5.60019006e-05 4.40403279e+01] [-2.13017460e-02 9.99773092e-01 -1.70470624e-07 -3.43931862e+00] [ 5.59855620e-05 1.36337020e-06 9.99999998e-01 -1.47437462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49907232899999 meters 0.08159326190273312 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.43, Z:-1.48 [[ 9.99748925e-01 2.23582198e-02 -1.48228012e-03 4.41020599e+01] [-2.23582901e-02 9.99750022e-01 -3.08539813e-05 -3.43322613e+00] [ 1.48121974e-03 6.39874836e-05 9.99998901e-01 -1.47987293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55907232899999 meters 0.08207703890608332 Centerline is valid? [True, True] Translation: X:44.16, Y:-3.43, Z:-1.49 [[ 9.99778278e-01 2.06097702e-02 -4.31658970e-03 4.41630503e+01] [-2.06103567e-02 9.99787580e-01 -9.14386690e-05 -3.42934442e+00] [ 4.31378824e-03 1.80384848e-04 9.99990679e-01 -1.48690382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61907232899999 meters 0.08037504347965393 Centerline is valid? [True, True] Translation: X:44.22, Y:-3.43, Z:-1.48 [[ 9.99851601e-01 1.70626393e-02 -2.37554613e-03 4.42241018e+01] [-1.70628109e-02 9.99854418e-01 -5.19642395e-05 -3.43444091e+00] [ 2.37431365e-03 9.24900223e-05 9.99997177e-01 -1.48355919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.679072329 meters 0.07924214379148016 Centerline is valid? [True, True] Translation: X:44.28, Y:-3.44, Z:-1.48 [[ 9.99935764e-01 1.13340846e-02 -8.03514182e-05 4.42832567e+01] [-1.13340848e-02 9.99935767e-01 -2.23367145e-06 -3.43593436e+00] [ 8.03209403e-05 3.14423775e-06 9.99999997e-01 -1.48323203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739072329 meters 0.07934896310366038 Centerline is valid? [True, True] Translation: X:44.35, Y:-3.44, Z:-1.49 [[ 9.99947042e-01 9.75531768e-03 -3.27835387e-03 4.43454491e+01] [-9.75558175e-03 9.99952411e-01 -6.45683745e-05 -3.43508161e+00] [ 3.27756797e-03 9.65472043e-05 9.99994624e-01 -1.48865125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799072329 meters 0.07869047437155904 Centerline is valid? [True, True] Translation: X:44.41, Y:-3.44, Z:-1.49 [[ 9.99938471e-01 9.22215944e-03 -6.16489435e-03 4.44078809e+01] [-9.22314968e-03 9.99957457e-01 -1.32213073e-04 -3.43716700e+00] [ 6.16341279e-03 1.89064681e-04 9.99980988e-01 -1.48928350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859072329 meters 0.07868993101132057 Centerline is valid? [True, True] Translation: X:44.47, Y:-3.43, Z:-1.49 [[ 9.99949522e-01 8.59905217e-03 -5.19706770e-03 4.44692244e+01] [-8.59975042e-03 9.99963015e-01 -1.12022635e-04 -3.43277420e+00] [ 5.19591220e-03 1.56710466e-04 9.99986489e-01 -1.49268317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91907232899999 meters 0.07765891889859751 Centerline is valid? [True, True] Translation: X:44.53, Y:-3.44, Z:-1.49 [[ 9.99975603e-01 4.79643467e-03 -5.07806559e-03 4.45311795e+01] [-4.79704778e-03 9.99988488e-01 -1.08562845e-04 -3.43542771e+00] [ 5.07748642e-03 1.32919920e-04 9.99987101e-01 -1.49033707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97907232899999 meters 0.07747269220505465 Centerline is valid? [True, True] Translation: X:44.59, Y:-3.44, Z:-1.49 [[ 9.99982129e-01 2.56363111e-03 -5.40087312e-03 4.45914070e+01] [-2.56430159e-03 9.99996705e-01 -1.17221475e-04 -3.43587310e+00] [ 5.40055482e-03 1.31068848e-04 9.99985408e-01 -1.49176954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03907232899999 meters 0.07789016822484061 Centerline is valid? [True, True] Translation: X:44.65, Y:-3.44, Z:-1.50 [[ 9.99969848e-01 -4.63527462e-03 -6.23039402e-03 4.46502202e+01] [ 4.63451389e-03 9.99989251e-01 -1.36531290e-04 -3.43500720e+00] [ 6.23095991e-03 1.07652325e-04 9.99980582e-01 -1.50116954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099072329 meters 0.07689291450057319 Centerline is valid? [True, True] Translation: X:44.71, Y:-3.44, Z:-1.50 [[ 9.99917040e-01 -1.19096943e-02 -4.90644975e-03 4.47106078e+01] [ 1.19093065e-02 9.99929076e-01 -1.08249296e-04 -3.43935539e+00] [ 4.90739098e-03 4.98079018e-05 9.99987957e-01 -1.49956444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159072329 meters 0.07676733316191495 Centerline is valid? [True, True] Translation: X:44.77, Y:-3.44, Z:-1.50 [[ 9.99858452e-01 -1.59106445e-02 -5.47061551e-03 4.47683129e+01] [ 1.59101773e-02 9.99873417e-01 -1.28914000e-04 -3.43916868e+00] [ 5.47197412e-03 4.18572894e-05 9.99985028e-01 -1.50125606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219072329 meters 0.07634067991494267 Centerline is valid? [True, True] Translation: X:44.83, Y:-3.44, Z:-1.50 [[ 9.99767405e-01 -2.11873834e-02 -4.02873217e-03 4.48276879e+01] [ 2.11871616e-02 9.99775522e-01 -9.77339888e-05 -3.43887966e+00] [ 4.02989853e-03 1.23538569e-05 9.99991880e-01 -1.49599101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27907232899999 meters 0.07685673012098186 Centerline is valid? [True, True] Translation: X:44.88, Y:-3.44, Z:-1.50 [[ 9.99697344e-01 -2.42587475e-02 -4.09077055e-03 4.48842228e+01] [ 2.42585489e-02 9.99705713e-01 -9.81778364e-05 -3.43668709e+00] [ 4.09194836e-03 -1.08803504e-06 9.99991628e-01 -1.50049060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33907232899999 meters 0.07751196410253408 Centerline is valid? [True, True] Translation: X:44.94, Y:-3.43, Z:-1.50 [[ 9.99560163e-01 -2.93844109e-02 -4.00467178e-03 4.49426342e+01] [ 2.93842520e-02 9.99568185e-01 -9.85140808e-05 -3.43406216e+00] [ 4.00583728e-03 -1.92035342e-05 9.99991976e-01 -1.50306377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39907232899999 meters 0.07748401823208799 Centerline is valid? [True, True] Translation: X:45.00, Y:-3.43, Z:-1.50 [[ 9.99475801e-01 -3.20263319e-02 -4.73689518e-03 4.50019202e+01] [ 3.20261375e-02 9.99487025e-01 -1.16896246e-04 -3.42916805e+00] [ 4.73820903e-03 -3.48694877e-05 9.99988774e-01 -1.50115480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.459072329 meters 0.0789920038772973 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.43, Z:-1.51 [[ 9.99365256e-01 -3.53951108e-02 -4.03379499e-03 4.50595269e+01] [ 3.53950113e-02 9.99373396e-01 -9.60606103e-05 -3.42718442e+00] [ 4.03466748e-03 -4.67765832e-05 9.99991860e-01 -1.50957770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519072329 meters 0.08097720590000819 Centerline is valid? [True, True] Translation: X:45.12, Y:-3.43, Z:-1.51 [[ 9.99151842e-01 -4.08085323e-02 -5.50088157e-03 4.51175537e+01] [ 4.08084371e-02 9.99166980e-01 -1.29600978e-04 -3.42661008e+00] [ 5.50158805e-03 -9.49913236e-05 9.99984862e-01 -1.51346191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579072329 meters 0.08051922194609622 Centerline is valid? [True, True] Translation: X:45.18, Y:-3.42, Z:-1.51 [[ 9.98929442e-01 -4.58484358e-02 -6.15550323e-03 4.51766945e+01] [ 4.58484082e-02 9.98948398e-01 -1.45657800e-04 -3.42032793e+00] [ 6.15570827e-03 -1.36718160e-04 9.99981044e-01 -1.50774402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63907232899999 meters 0.0809346854119723 Centerline is valid? [True, True] Translation: X:45.24, Y:-3.41, Z:-1.51 [[ 9.98862931e-01 -4.72916669e-02 -6.02848206e-03 4.52355448e+01] [ 4.72916254e-02 9.98881114e-01 -1.49515863e-04 -3.41201755e+00] [ 6.02880773e-03 -1.35750862e-04 9.99981817e-01 -1.51158772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69907232899999 meters 0.08186752462763866 Centerline is valid? [True, True] Translation: X:45.29, Y:-3.40, Z:-1.52 [[ 9.98834205e-01 -4.77753113e-02 -6.91019793e-03 4.52935564e+01] [ 4.77752944e-02 9.98858095e-01 -1.67607932e-04 -3.40420268e+00] [ 6.91031466e-03 -1.62724205e-04 9.99976110e-01 -1.51539996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75907232899999 meters 0.07957022951112762 Centerline is valid? [True, True] Translation: X:45.35, Y:-3.39, Z:-1.51 [[ 9.99010173e-01 -4.40786962e-02 -5.97855787e-03 4.53518054e+01] [ 4.40786220e-02 9.99028055e-01 -1.44237811e-04 -3.38647582e+00] [ 5.97910485e-03 -1.19431552e-04 9.99982118e-01 -1.51303083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.819072329 meters 0.07812789008365553 Centerline is valid? [True, True] Translation: X:45.41, Y:-3.37, Z:-1.52 [[ 9.99226749e-01 -3.89417568e-02 -5.42621255e-03 4.54099109e+01] [ 3.89416163e-02 9.99241479e-01 -1.31582955e-04 -3.36872439e+00] [ 5.42722073e-03 -7.98242795e-05 9.99985269e-01 -1.51535010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879072329 meters 0.07718147855968799 Centerline is valid? [True, True] Translation: X:45.47, Y:-3.35, Z:-1.52 [[ 9.99547110e-01 -2.96497050e-02 -5.14497282e-03 4.54687791e+01] [ 2.96494225e-02 9.99560351e-01 -1.31186709e-04 -3.34676335e+00] [ 5.14660048e-03 -2.14181773e-05 9.99986756e-01 -1.51912565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939072329 meters 0.07684208958996053 Centerline is valid? [True, True] Translation: X:45.53, Y:-3.34, Z:-1.52 [[ 9.99658796e-01 -2.57098857e-02 -4.61436437e-03 4.55279168e+01] [ 2.57096082e-02 9.99669446e-01 -1.19457037e-04 -3.33554484e+00] [ 4.61591030e-03 7.82778091e-07 9.99989347e-01 -1.51896189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99907232899999 meters 0.07621298500231552 Centerline is valid? [True, True] Translation: X:45.59, Y:-3.32, Z:-1.52 [[ 9.99784871e-01 -2.05957399e-02 -2.45496545e-03 4.55856847e+01] [ 2.05956350e-02 9.99787885e-01 -6.80179937e-05 -3.31543131e+00] [ 2.45584560e-03 1.74417888e-05 9.99996984e-01 -1.52157607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05907232899999 meters 0.07591772869574602 Centerline is valid? [True, True] Translation: X:45.64, Y:-3.30, Z:-1.52 [[ 9.99821248e-01 -1.89006013e-02 -4.88759894e-04 4.56446817e+01] [ 1.89005943e-02 9.99821368e-01 -1.90795612e-05 -3.30196763e+00] [ 4.89033201e-04 9.83829828e-06 9.99999880e-01 -1.52378476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11907232899999 meters 0.07621455389326678 Centerline is valid? [True, True] Translation: X:45.70, Y:-3.29, Z:-1.53 [[ 9.99803086e-01 -1.97974560e-02 -1.36034363e-03 4.57021231e+01] [ 1.97974246e-02 9.99804011e-01 -3.65047357e-05 -3.29034667e+00] [ 1.36079972e-03 9.56624683e-06 9.99999074e-01 -1.52892843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.179072329 meters 0.0765645705791518 Centerline is valid? [True, True] Translation: X:45.76, Y:-3.28, Z:-1.53 [[ 9.99771115e-01 -2.12077533e-02 -2.81926997e-03 4.57611149e+01] [ 2.12076172e-02 9.99775090e-01 -7.81682028e-05 -3.28460527e+00] [ 2.82029366e-03 1.83603131e-05 9.99996023e-01 -1.53220191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239072329 meters 0.07648396426507262 Centerline is valid? [True, True] Translation: X:45.82, Y:-3.27, Z:-1.53 [[ 9.99769134e-01 -2.13483598e-02 -2.43422232e-03 4.58185075e+01] [ 2.13482673e-02 9.99772098e-01 -6.39997717e-05 -3.27363583e+00] [ 2.43503385e-03 1.20185675e-05 9.99997035e-01 -1.53491660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299072329 meters 0.07628594866769367 Centerline is valid? [True, True] Translation: X:45.88, Y:-3.26, Z:-1.54 [[ 9.99776355e-01 -2.10032211e-02 -2.47090689e-03 4.58761354e+01] [ 2.10031083e-02 9.99779408e-01 -7.16109297e-05 -3.26349041e+00] [ 2.47186589e-03 1.96981892e-05 9.99996945e-01 -1.53578261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359072329 meters 0.07635376008391583 Centerline is valid? [True, True] Translation: X:45.93, Y:-3.25, Z:-1.54 [[ 9.99853936e-01 -1.69160423e-02 -2.44018868e-03 4.59348881e+01] [ 1.69159212e-02 9.99856913e-01 -7.02589673e-05 -3.24835706e+00] [ 2.44102802e-03 2.89706655e-05 9.99997020e-01 -1.53760563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41907232899999 meters 0.07639786606029303 Centerline is valid? [True, True] Translation: X:45.99, Y:-3.23, Z:-1.54 [[ 9.99952525e-01 -9.50065005e-03 -2.16477395e-03 4.59937552e+01] [ 9.50053327e-03 9.99954867e-01 -6.42233843e-05 -3.23069597e+00] [ 2.16528641e-03 4.36538283e-05 9.99997655e-01 -1.53529820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47907232899999 meters 0.0773357638274078 Centerline is valid? [True, True] Translation: X:46.05, Y:-3.22, Z:-1.54 [[ 9.99987284e-01 -3.18876220e-03 -3.90683198e-03 4.60537391e+01] [ 3.18838891e-03 9.99994912e-01 -1.01773392e-04 -3.21604772e+00] [ 3.90713663e-03 8.93155983e-05 9.99992363e-01 -1.53951264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53907232899999 meters 0.0791239600893996 Centerline is valid? [True, True] Translation: X:46.11, Y:-3.20, Z:-1.54 [[ 9.99983297e-01 4.76290633e-03 -3.27420086e-03 4.61123360e+01] [-4.76321509e-03 9.99988652e-01 -8.65102729e-05 -3.19572990e+00] [ 3.27375166e-03 1.02104551e-04 9.99994636e-01 -1.54348314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599072329 meters 0.07959198098324015 Centerline is valid? [True, True] Translation: X:46.17, Y:-3.19, Z:-1.54 [[ 9.99947596e-01 9.99999662e-03 -2.19209180e-03 4.61723492e+01] [-1.00001473e-02 9.99949996e-01 -5.77900460e-05 -3.18773933e+00] [ 2.19140428e-03 7.97082584e-05 9.99997596e-01 -1.54122840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659072329 meters 0.08173673982389472 Centerline is valid? [True, True] Translation: X:46.23, Y:-3.17, Z:-1.54 [[ 9.99857991e-01 1.66491929e-02 -2.60817652e-03 4.62311258e+01] [-1.66494252e-02 9.99861386e-01 -6.73913540e-05 -3.17392470e+00] [ 2.60669298e-03 1.10806424e-04 9.99996596e-01 -1.54399026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719072329 meters 0.083274341540752 Centerline is valid? [True, True] Translation: X:46.29, Y:-3.16, Z:-1.55 [[ 9.99753764e-01 2.20931435e-02 -2.07469204e-03 4.62921218e+01] [-2.20933008e-02 9.99755912e-01 -5.29402776e-05 -3.16234165e+00] [ 2.07301601e-03 9.87640370e-05 9.99997846e-01 -1.54695807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77907232899999 meters 0.08413322451967106 Centerline is valid? [True, True] Translation: X:46.35, Y:-3.16, Z:-1.55 [[ 9.99710210e-01 2.39290494e-02 -2.62598281e-03 4.63536803e+01] [-2.39293004e-02 9.99713651e-01 -6.41842373e-05 -3.15792718e+00] [ 2.62369500e-03 1.27003569e-04 9.99996550e-01 -1.55044240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83907232899999 meters 0.0840514277121263 Centerline is valid? [True, True] Translation: X:46.41, Y:-3.16, Z:-1.55 [[ 9.99744626e-01 2.25733178e-02 1.06211948e-03 4.64147149e+01] [-2.25733603e-02 9.99745189e-01 2.80397721e-05 -3.15817352e+00] [-1.06121589e-03 -5.20082171e-05 9.99999436e-01 -1.54883092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89907232899999 meters 0.08247326330475993 Centerline is valid? [True, True] Translation: X:46.48, Y:-3.16, Z:-1.55 [[ 9.99788589e-01 2.05304031e-02 -1.13127499e-03 4.64769485e+01] [-2.05304403e-02 9.99789228e-01 -2.12819457e-05 -3.16262941e+00] [ 1.13059962e-03 4.45030201e-05 9.99999360e-01 -1.55069866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.959072329 meters 0.08319105603668936 Centerline is valid? [True, True] Translation: X:46.54, Y:-3.16, Z:-1.56 [[ 9.99819748e-01 1.88017197e-02 -2.63961229e-03 4.65383693e+01] [-1.88019418e-02 9.99823226e-01 -5.93641222e-05 -3.16078572e+00] [ 2.63802952e-03 1.08983258e-04 9.99996514e-01 -1.55688722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019072329 meters 0.08066535802961494 Centerline is valid? [True, True] Translation: X:46.60, Y:-3.17, Z:-1.55 [[ 9.99902362e-01 1.38785649e-02 -1.62845793e-03 4.65994487e+01] [-1.38786496e-02 9.99903686e-01 -4.07369819e-05 -3.17126409e+00] [ 1.62773571e-03 6.33338014e-05 9.99998673e-01 -1.55482785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079072329 meters 0.08021361030891448 Centerline is valid? [True, True] Translation: X:46.66, Y:-3.18, Z:-1.55 [[ 9.99931295e-01 1.16997879e-02 -7.20938302e-04 4.66606212e+01] [-1.16998033e-02 9.99931555e-01 -1.71317354e-05 -3.17564068e+00] [ 7.20688520e-04 2.55653947e-05 9.99999740e-01 -1.55459954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13907232899999 meters 0.08017286713155938 Centerline is valid? [True, True] Translation: X:46.72, Y:-3.18, Z:-1.56 [[ 9.99942384e-01 1.04428099e-02 -2.48540383e-03 4.67234193e+01] [-1.04429749e-02 9.99945469e-01 -5.33971742e-05 -3.18042481e+00] [ 2.48471068e-03 7.93491073e-05 9.99996910e-01 -1.55916979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19907232899999 meters 0.08040961358899686 Centerline is valid? [True, True] Translation: X:46.79, Y:-3.18, Z:-1.56 [[ 9.99930081e-01 1.13433180e-02 -3.34089485e-03 4.67858576e+01] [-1.13436319e-02 9.99935656e-01 -7.50178791e-05 -3.18038428e+00] [ 3.33982894e-03 1.12910515e-04 9.99994416e-01 -1.56230896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25907232899999 meters 0.08126778822727075 Centerline is valid? [True, True] Translation: X:46.85, Y:-3.18, Z:-1.56 [[ 9.99893278e-01 1.40675102e-02 -3.94186615e-03 4.68473448e+01] [-1.40679992e-02 9.99901036e-01 -9.63560084e-05 -3.18348682e+00] [ 3.94012056e-03 1.51799895e-04 9.99992226e-01 -1.56470091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.319072329 meters 0.08215640707425992 Centerline is valid? [True, True] Translation: X:46.91, Y:-3.19, Z:-1.57 [[ 9.99833921e-01 1.78783921e-02 -3.53470711e-03 4.69089122e+01] [-1.78788082e-02 9.99840158e-01 -8.61613859e-05 -3.18720848e+00] [ 3.53260169e-03 1.49343427e-04 9.99993749e-01 -1.56508990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379072329 meters 0.08310865675598068 Centerline is valid? [True, True] Translation: X:46.97, Y:-3.19, Z:-1.57 [[ 9.99782840e-01 2.08161045e-02 -9.81042045e-04 4.69696188e+01] [-2.08161312e-02 9.99783321e-01 -1.70270169e-05 -3.18870075e+00] [ 9.80475037e-04 3.74448192e-05 9.99999519e-01 -1.56729902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439072329 meters 0.08397028452546669 Centerline is valid? [True, True] Translation: X:47.03, Y:-3.19, Z:-1.57 [[ 9.99743472e-01 2.26466044e-02 -3.49408638e-04 4.70313608e+01] [-2.26466074e-02 9.99743533e-01 -4.57842626e-06 -3.19195928e+00] [ 3.49215340e-04 1.24901720e-05 9.99999939e-01 -1.56937701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49907232899999 meters 0.08457666293743678 Centerline is valid? [True, True] Translation: X:47.09, Y:-3.20, Z:-1.57 [[ 9.99685437e-01 2.50802052e-02 1.00956099e-04 4.70931276e+01] [-2.50802063e-02 9.99685442e-01 9.33011883e-06 -3.19989867e+00] [-1.00690341e-04 -1.18591837e-05 9.99999995e-01 -1.56961699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55907232899999 meters 0.0859887488747314 Centerline is valid? [True, True] Translation: X:47.15, Y:-3.20, Z:-1.57 [[ 9.99661582e-01 2.60136804e-02 -9.76239429e-05 4.71539977e+01] [-2.60136801e-02 9.99661587e-01 4.42342586e-06 -3.20319508e+00] [ 9.77059752e-05 -1.88237087e-06 9.99999995e-01 -1.57290466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61907232899999 meters 0.08745768320398674 Centerline is valid? [True, True] Translation: X:47.21, Y:-3.21, Z:-1.58 [[ 9.99614583e-01 2.76820684e-02 -2.09482130e-03 4.72139800e+01] [-2.76822338e-02 9.99616772e-01 -4.99601561e-05 -3.20604304e+00] [ 2.09263551e-03 1.07930234e-04 9.99997805e-01 -1.57802508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.679072329 meters 0.08457315255794222 Centerline is valid? [True, True] Translation: X:47.28, Y:-3.23, Z:-1.58 [[ 9.99673932e-01 2.53539056e-02 -3.03479629e-03 4.72762203e+01] [-2.53542345e-02 9.99678527e-01 -6.99307013e-05 -3.22533303e+00] [ 3.03204767e-03 1.46852836e-04 9.99995393e-01 -1.57576113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739072329 meters 0.08359765531618868 Centerline is valid? [True, True] Translation: X:47.34, Y:-3.24, Z:-1.58 [[ 9.99770396e-01 2.12758264e-02 -2.54843118e-03 4.73369492e+01] [-2.12760498e-02 9.99773637e-01 -6.05861317e-05 -3.23773958e+00] [ 2.54656529e-03 1.14792770e-04 9.99996751e-01 -1.57736225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799072329 meters 0.08211018091110583 Centerline is valid? [True, True] Translation: X:47.40, Y:-3.25, Z:-1.58 [[ 9.99852688e-01 1.69266360e-02 -2.84460708e-03 4.73980172e+01] [-1.69268952e-02 9.99856728e-01 -6.70451401e-05 -3.24820846e+00] [ 2.84306468e-03 1.15185629e-04 9.99995952e-01 -1.57932581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859072329 meters 0.07954398275740905 Centerline is valid? [True, True] Translation: X:47.46, Y:-3.27, Z:-1.58 [[ 9.99969365e-01 7.58629047e-03 -1.92788543e-03 4.74593834e+01] [-7.58639291e-03 9.99971222e-01 -4.58282646e-05 -3.27198851e+00] [ 1.92748229e-03 6.04525571e-05 9.99998141e-01 -1.57703441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91907232899999 meters 0.07852089509236308 Centerline is valid? [True, True] Translation: X:47.52, Y:-3.29, Z:-1.58 [[ 9.99997947e-01 1.93074676e-03 -6.15423313e-04 4.75209136e+01] [-1.93075578e-03 9.99998136e-01 -1.40721770e-05 -3.28664555e+00] [ 6.15394996e-04 1.52603802e-05 9.99999811e-01 -1.57652425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97907232899999 meters 0.07813279268200966 Centerline is valid? [True, True] Translation: X:47.58, Y:-3.30, Z:-1.58 [[ 9.99988289e-01 -3.29935771e-03 -3.54066357e-03 4.75828555e+01] [ 3.29908500e-03 9.99994555e-01 -8.28588420e-05 -3.30165816e+00] [ 3.54091767e-03 7.11769215e-05 9.99993728e-01 -1.58255290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03907232899999 meters 0.07836264268478248 Centerline is valid? [True, True] Translation: X:47.64, Y:-3.31, Z:-1.59 [[ 9.99966352e-01 -5.86123765e-03 -5.73948939e-03 4.76420755e+01] [ 5.86053854e-03 9.99982817e-01 -1.38618726e-04 -3.31452485e+00] [ 5.74020324e-03 1.04977562e-04 9.99983519e-01 -1.58698399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099072329 meters 0.07816354890614534 Centerline is valid? [True, True] Translation: X:47.70, Y:-3.32, Z:-1.59 [[ 9.99966321e-01 -7.10027945e-03 -4.11625881e-03 4.77014764e+01] [ 7.09990112e-03 9.99974790e-01 -1.06517309e-04 -3.32319484e+00] [ 4.11691134e-03 7.72886910e-05 9.99991522e-01 -1.58617937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159072329 meters 0.07775736317385595 Centerline is valid? [True, True] Translation: X:47.76, Y:-3.33, Z:-1.58 [[ 9.99972899e-01 -7.29112277e-03 1.02014815e-03 4.77613919e+01] [ 7.29110260e-03 9.99973419e-01 2.34884220e-05 -3.33070371e+00] [-1.02029229e-03 -1.60497806e-05 9.99999479e-01 -1.58448367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219072329 meters 0.0780684503959558 Centerline is valid? [True, True] Translation: X:47.82, Y:-3.33, Z:-1.59 [[ 9.99995795e-01 -2.73355317e-03 9.68512222e-04 4.78207664e+01] [ 2.73353402e-03 9.99996264e-01 2.10978229e-05 -3.33396944e+00] [-9.68566275e-04 -1.84502730e-05 9.99999531e-01 -1.58634003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27907232899999 meters 0.07888941570386429 Centerline is valid? [True, True] Translation: X:47.88, Y:-3.34, Z:-1.59 [[ 9.99999388e-01 8.08610664e-04 7.54490881e-04 4.78796680e+01] [-8.08623870e-04 9.99999673e-01 1.71980232e-05 -3.33524853e+00] [-7.54476727e-04 -1.78081120e-05 9.99999715e-01 -1.59005729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33907232899999 meters 0.07939564958951768 Centerline is valid? [True, True] Translation: X:47.94, Y:-3.34, Z:-1.59 [[ 9.99971741e-01 5.72103243e-03 4.87709816e-03 4.79397561e+01] [-5.72167774e-03 9.99983624e-01 1.18370402e-04 -3.33697634e+00] [-4.87634109e-03 -1.46272240e-04 9.99988100e-01 -1.59040836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39907232899999 meters 0.08043442069953921 Centerline is valid? [True, True] Translation: X:48.00, Y:-3.34, Z:-1.59 [[ 9.99948744e-01 9.31224985e-03 3.97381503e-03 4.79998268e+01] [-9.31271328e-03 9.99956631e-01 9.81338896e-05 -3.34057590e+00] [-3.97272884e-03 -1.35135860e-04 9.99992100e-01 -1.59487655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.459072329 meters 0.08037736425808517 Centerline is valid? [True, True] Translation: X:48.06, Y:-3.35, Z:-1.59 [[ 9.99917758e-01 1.26580729e-02 2.06163377e-03 4.80614027e+01] [-1.26582041e-02 9.99919880e-01 5.06209402e-05 -3.34848152e+00] [-2.06082783e-03 -7.67133581e-05 9.99997874e-01 -1.59464185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519072329 meters 0.08078396801735017 Centerline is valid? [True, True] Translation: X:48.12, Y:-3.35, Z:-1.60 [[ 9.99868009e-01 1.58657689e-02 3.49883543e-03 4.81235111e+01] [-1.58661821e-02 9.99874120e-01 9.03619476e-05 -3.35455961e+00] [-3.49696133e-03 -1.45863181e-04 9.99993875e-01 -1.59627076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579072329 meters 0.07996653365483106 Centerline is valid? [True, True] Translation: X:48.19, Y:-3.36, Z:-1.60 [[ 9.99833623e-01 1.81092699e-02 2.18644716e-03 4.81853981e+01] [-1.81094342e-02 9.99836009e-01 5.53708569e-05 -3.36214204e+00] [-2.18508587e-03 -9.49569654e-05 9.99997608e-01 -1.59726407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63907232899999 meters 0.08067470894861403 Centerline is valid? [True, True] Translation: X:48.25, Y:-3.37, Z:-1.60 [[ 9.99790340e-01 2.02374275e-02 3.11805356e-03 4.82462290e+01] [-2.02377667e-02 9.99795192e-01 7.72594824e-05 -3.36922807e+00] [-3.11585143e-03 -1.40345725e-04 9.99995136e-01 -1.59898207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69907232899999 meters 0.08128068812870524 Centerline is valid? [True, True] Translation: X:48.31, Y:-3.38, Z:-1.60 [[ 9.99747760e-01 2.21851238e-02 3.49809879e-03 4.83070675e+01] [-2.21855591e-02 9.99753867e-01 8.56856840e-05 -3.37799233e+00] [-3.49533684e-03 -1.63271348e-04 9.99993878e-01 -1.59935921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75907232899999 meters 0.0821614829148822 Centerline is valid? [True, True] Translation: X:48.37, Y:-3.38, Z:-1.60 [[ 9.99695788e-01 2.43802015e-02 3.73316539e-03 4.83685728e+01] [-2.43807201e-02 9.99702742e-01 9.34756986e-05 -3.38150673e+00] [-3.72977672e-03 -1.84464523e-04 9.99993027e-01 -1.60481041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.819072329 meters 0.08337996294102948 Centerline is valid? [True, True] Translation: X:48.43, Y:-3.38, Z:-1.61 [[ 9.99658437e-01 2.58436476e-02 3.88790355e-03 4.84294525e+01] [-2.58442060e-02 9.99665978e-01 9.34573320e-05 -3.37974354e+00] [-3.88418963e-03 -1.93905191e-04 9.99992438e-01 -1.60884749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879072329 meters 0.08391235499879487 Centerline is valid? [True, True] Translation: X:48.49, Y:-3.38, Z:-1.61 [[ 9.99576419e-01 2.88140493e-02 4.09069206e-03 4.84901235e+01] [-2.88146779e-02 9.99584766e-01 9.48131068e-05 -3.38286127e+00] [-4.08626152e-03 -2.12644920e-04 9.99991629e-01 -1.61171071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939072329 meters 0.08533792522410649 Centerline is valid? [True, True] Translation: X:48.55, Y:-3.39, Z:-1.62 [[ 9.99489226e-01 3.18596139e-02 2.50043717e-03 4.85507113e+01] [-3.18598587e-02 9.99492344e-01 5.81072038e-05 -3.38666850e+00] [-2.49731653e-03 -1.37741099e-04 9.99996872e-01 -1.61756449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99907232899999 meters 0.08555693835548182 Centerline is valid? [True, True] Translation: X:48.61, Y:-3.39, Z:-1.62 [[ 9.99467728e-01 3.26045446e-02 1.09755186e-03 4.86126683e+01] [-3.26045995e-02 9.99468328e-01 3.22145345e-05 -3.39004449e+00] [-1.09591798e-03 -6.79826265e-05 9.99999397e-01 -1.62142238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05907232899999 meters 0.08298490321679323 Centerline is valid? [True, True] Translation: X:48.67, Y:-3.40, Z:-1.62 [[ 9.99542444e-01 2.98904281e-02 4.63312503e-03 4.86739049e+01] [-2.98912397e-02 9.99553151e-01 1.06016290e-04 -3.40205353e+00] [-4.62788586e-03 -2.44457633e-04 9.99989261e-01 -1.61948852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11907232899999 meters 0.08086903304540297 Centerline is valid? [True, True] Translation: X:48.73, Y:-3.42, Z:-1.62 [[ 9.99725795e-01 2.24670533e-02 6.60050512e-03 4.87345565e+01] [-2.24685340e-02 9.99747539e-01 1.50255666e-04 -3.41631338e+00] [-6.59546295e-03 -2.98518139e-04 9.99978205e-01 -1.61837105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.179072329 meters 0.07922967094833712 Centerline is valid? [True, True] Translation: X:48.79, Y:-3.43, Z:-1.62 [[ 9.99858946e-01 1.57599827e-02 5.80620449e-03 4.87949830e+01] [-1.57610164e-02 9.99875779e-01 1.32327609e-04 -3.42569219e+00] [-5.80339776e-03 -2.23820628e-04 9.99983135e-01 -1.62310519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239072329 meters 0.07948179365223458 Centerline is valid? [True, True] Translation: X:48.85, Y:-3.43, Z:-1.63 [[ 9.99946245e-01 9.52701037e-03 4.09192234e-03 4.88547704e+01] [-9.52747127e-03 9.99954608e-01 9.31585145e-05 -3.43047586e+00] [-4.09084908e-03 -1.32139179e-04 9.99991624e-01 -1.63181571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299072329 meters 0.07743616196752001 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.44, Z:-1.63 [[ 9.99971920e-01 5.99448389e-03 4.49731914e-03 4.89164978e+01] [-5.99500881e-03 9.99982024e-01 1.03247773e-04 -3.44157272e+00] [-4.49661938e-03 -1.30206341e-04 9.99989882e-01 -1.63082802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359072329 meters 0.07722641432029806 Centerline is valid? [True, True] Translation: X:48.98, Y:-3.44, Z:-1.63 [[ 9.99983926e-01 3.28253227e-03 4.62314370e-03 4.89784561e+01] [-3.28308023e-03 9.99994605e-01 1.10942065e-04 -3.44367068e+00] [-4.62275458e-03 -1.26118433e-04 9.99989307e-01 -1.63497812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41907232899999 meters 0.07738890118000107 Centerline is valid? [True, True] Translation: X:49.04, Y:-3.44, Z:-1.64 [[ 9.99981348e-01 3.78794344e-03 4.79106813e-03 4.90411330e+01] [-3.78853530e-03 9.99992817e-01 1.14465690e-04 -3.44368100e+00] [-4.79060013e-03 -1.32614686e-04 9.99988516e-01 -1.63667585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47907232899999 meters 0.07830192402750133 Centerline is valid? [True, True] Translation: X:49.10, Y:-3.44, Z:-1.64 [[ 9.99976908e-01 5.82659238e-03 3.49788854e-03 4.91023519e+01] [-5.82690448e-03 9.99983020e-01 7.90400170e-05 -3.43948273e+00] [-3.49736861e-03 -9.94200542e-05 9.99993879e-01 -1.64014019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53907232899999 meters 0.08012586492583466 Centerline is valid? [True, True] Translation: X:49.16, Y:-3.43, Z:-1.64 [[ 9.99938540e-01 1.02051919e-02 4.33244419e-03 4.91629004e+01] [-1.02057056e-02 9.99947916e-01 9.64800003e-05 -3.43211355e+00] [-4.33123394e-03 -1.40689721e-04 9.99990610e-01 -1.64160668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599072329 meters 0.07847822778642467 Centerline is valid? [True, True] Translation: X:49.23, Y:-3.44, Z:-1.64 [[ 9.99921408e-01 1.16694798e-02 4.58261355e-03 4.92251345e+01] [-1.16700967e-02 9.99931896e-01 1.07909598e-04 -3.43717485e+00] [-4.58104221e-03 -1.61380661e-04 9.99989494e-01 -1.63732123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659072329 meters 0.07977278161467997 Centerline is valid? [True, True] Translation: X:49.29, Y:-3.43, Z:-1.64 [[ 9.99907951e-01 1.32239998e-02 3.03583180e-03 4.92856147e+01] [-1.32242813e-02 9.99912553e-01 7.26676010e-05 -3.42976447e+00] [-3.03460537e-03 -1.12807606e-04 9.99995389e-01 -1.64385313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719072329 meters 0.08031424065109305 Centerline is valid? [True, True] Translation: X:49.35, Y:-3.43, Z:-1.65 [[ 9.99911641e-01 1.32284195e-02 1.31148948e-03 4.93464846e+01] [-1.32284764e-02 9.99912499e-01 3.47150243e-05 -3.42831998e+00] [-1.31091549e-03 -5.20609645e-05 9.99999139e-01 -1.64692250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77907232899999 meters 0.0798859869807368 Centerline is valid? [True, True] Translation: X:49.41, Y:-3.43, Z:-1.65 [[ 9.99928865e-01 1.16486683e-02 2.56387896e-03 4.94077623e+01] [-1.16488499e-02 9.99932148e-01 5.59048150e-05 -3.42667048e+00] [-2.56305378e-03 -8.57670794e-05 9.99996712e-01 -1.64816528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83907232899999 meters 0.07988754194451306 Centerline is valid? [True, True] Translation: X:49.47, Y:-3.42, Z:-1.65 [[ 9.99942034e-01 1.07669099e-02 4.26720257e-05 4.94693151e+01] [-1.07669102e-02 9.99942035e-01 7.97775731e-06 -3.42231236e+00] [-4.25836565e-05 -8.43674074e-06 9.99999999e-01 -1.65202276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89907232899999 meters 0.07821995977275889 Centerline is valid? [True, True] Translation: X:49.53, Y:-3.43, Z:-1.65 [[ 9.99966456e-01 8.00770877e-03 1.72139226e-03 4.95311820e+01] [-8.00778597e-03 9.99967936e-01 3.79562891e-05 -3.42698887e+00] [-1.72103312e-03 -5.17395566e-05 9.99998518e-01 -1.64731991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.959072329 meters 0.07777836045404546 Centerline is valid? [True, True] Translation: X:49.59, Y:-3.42, Z:-1.65 [[ 9.99991997e-01 2.51901401e-03 3.10813386e-03 4.95903962e+01] [-2.51922865e-03 9.99996825e-01 6.51446984e-05 -3.42407265e+00] [-3.10795989e-03 -7.29742769e-05 9.99995168e-01 -1.65078158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019072329 meters 0.07729521013694805 Centerline is valid? [True, True] Translation: X:49.65, Y:-3.42, Z:-1.66 [[ 9.99999379e-01 -1.09951602e-03 -1.84531972e-04 4.96526239e+01] [ 1.09951675e-03 9.99999396e-01 3.87232233e-06 -3.42194488e+00] [ 1.84527602e-04 -4.07521592e-06 9.99999983e-01 -1.65565463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079072329 meters 0.07654339759428487 Centerline is valid? [True, True] Translation: X:49.71, Y:-3.43, Z:-1.65 [[ 9.99972678e-01 -7.20249627e-03 -1.66326368e-03 4.97128993e+01] [ 7.20244757e-03 9.99974061e-01 -3.52677858e-05 -3.42583873e+00] [ 1.66347455e-03 2.32872528e-05 9.99998616e-01 -1.65359185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13907232899999 meters 0.07599883925268829 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.42, Z:-1.65 [[ 9.99940835e-01 -1.08102577e-02 -1.21027920e-03 4.97714528e+01] [ 1.08102322e-02 9.99941567e-01 -2.76027765e-05 -3.42398167e+00] [ 1.21050688e-03 1.45177441e-05 9.99999267e-01 -1.65452599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19907232899999 meters 0.07648054608955082 Centerline is valid? [True, True] Translation: X:49.83, Y:-3.42, Z:-1.66 [[ 9.99890915e-01 -1.47126573e-02 -1.30200390e-03 4.98290474e+01] [ 1.47126305e-02 9.99891763e-01 -3.01690475e-05 -3.41977178e+00] [ 1.30230684e-03 1.10098543e-05 9.99999152e-01 -1.65876944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25907232899999 meters 0.07628447096328879 Centerline is valid? [True, True] Translation: X:49.89, Y:-3.42, Z:-1.66 [[ 9.99843800e-01 -1.75048818e-02 -2.44037052e-03 4.98883815e+01] [ 1.75047885e-02 9.99846778e-01 -5.96003623e-05 -3.41965518e+00] [ 2.44103989e-03 1.68728831e-05 9.99997021e-01 -1.65513140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.319072329 meters 0.0772838991553486 Centerline is valid? [True, True] Translation: X:49.95, Y:-3.42, Z:-1.66 [[ 9.99765497e-01 -2.12787774e-02 -4.02053260e-03 4.99460220e+01] [ 2.12785927e-02 9.99773581e-01 -8.87161155e-05 -3.41519926e+00] [ 4.02151005e-03 3.14403557e-06 9.99991914e-01 -1.66189662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379072329 meters 0.07742578613271174 Centerline is valid? [True, True] Translation: X:50.00, Y:-3.41, Z:-1.66 [[ 9.99712096e-01 -2.32655055e-02 -5.86870392e-03 5.00046756e+01] [ 2.32651157e-02 9.99729321e-01 -1.34694803e-04 -3.40825280e+00] [ 5.87024913e-03 -1.88005150e-06 9.99982770e-01 -1.65883710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439072329 meters 0.07806721070682793 Centerline is valid? [True, True] Translation: X:50.06, Y:-3.40, Z:-1.66 [[ 9.99675723e-01 -2.48656341e-02 -5.49074304e-03 5.00625911e+01] [ 2.48653385e-02 9.99690802e-01 -1.22097024e-04 -3.40303015e+00] [ 5.49208134e-03 -1.44717535e-05 9.99984918e-01 -1.65884850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49907232899999 meters 0.07816542456117785 Centerline is valid? [True, True] Translation: X:50.12, Y:-3.40, Z:-1.66 [[ 9.99652509e-01 -2.54120011e-02 -7.00646582e-03 5.01218344e+01] [ 2.54114915e-02 9.99677063e-01 -1.61755871e-04 -3.40083968e+00] [ 7.00831371e-03 -1.63450841e-05 9.99975441e-01 -1.65539879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55907232899999 meters 0.07855016024349988 Centerline is valid? [True, True] Translation: X:50.18, Y:-3.39, Z:-1.66 [[ 9.99659743e-01 -2.46177062e-02 -8.62365173e-03 5.01803701e+01] [ 2.46169011e-02 9.99696938e-01 -1.99504890e-04 -3.39050020e+00] [ 8.62594958e-03 -1.28505747e-05 9.99962796e-01 -1.66030728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61907232899999 meters 0.07792425183968754 Centerline is valid? [True, True] Translation: X:50.24, Y:-3.38, Z:-1.66 [[ 9.99710333e-01 -2.28719425e-02 -7.49166029e-03 5.02396118e+01] [ 2.28712620e-02 9.99738403e-01 -1.76504577e-04 -3.38474513e+00] [ 7.49373750e-03 5.10972440e-06 9.99971922e-01 -1.65850301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.679072329 meters 0.07782709795100642 Centerline is valid? [True, True] Translation: X:50.30, Y:-3.38, Z:-1.66 [[ 9.99769694e-01 -2.03692557e-02 -6.75662245e-03 5.02989424e+01] [ 2.03686285e-02 9.99792525e-01 -1.61634918e-04 -3.38075919e+00] [ 6.75851300e-03 2.39745605e-05 9.99977161e-01 -1.65891631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739072329 meters 0.07730477845441963 Centerline is valid? [True, True] Translation: X:50.36, Y:-3.37, Z:-1.66 [[ 9.99901073e-01 -1.24124135e-02 -6.61630960e-03 5.03576930e+01] [ 1.24116248e-02 9.99922960e-01 -1.60252770e-04 -3.36721004e+00] [ 6.61778900e-03 7.81177645e-05 9.99978099e-01 -1.65997321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799072329 meters 0.0782747018841427 Centerline is valid? [True, True] Translation: X:50.42, Y:-3.35, Z:-1.67 [[ 9.99962977e-01 -2.38381820e-03 -8.26818461e-03 5.04159791e+01] [ 2.38231230e-03 9.99997144e-01 -1.91976678e-04 -3.35209678e+00] [ 8.26861863e-03 1.72272172e-04 9.99965800e-01 -1.66606684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859072329 meters 0.07913499319380023 Centerline is valid? [True, True] Translation: X:50.47, Y:-3.35, Z:-1.67 [[ 9.99958140e-01 3.92781922e-03 -8.26379250e-03 5.04749269e+01] [-3.92954688e-03 9.99992261e-01 -1.92837024e-04 -3.34631647e+00] [ 8.26297112e-03 2.25301912e-04 9.99965836e-01 -1.66619829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91907232899999 meters 0.08142381526444394 Centerline is valid? [True, True] Translation: X:50.53, Y:-3.33, Z:-1.67 [[ 9.99867293e-01 1.47946122e-02 -6.82024471e-03 5.05335370e+01] [-1.47960370e-02 9.99890520e-01 -1.58504668e-04 -3.32969138e+00] [ 6.81715302e-03 2.59396227e-04 9.99976729e-01 -1.67095918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97907232899999 meters 0.08532075585266503 Centerline is valid? [True, True] Translation: X:50.59, Y:-3.32, Z:-1.68 [[ 9.99636660e-01 2.58550817e-02 -7.61985209e-03 5.05926872e+01] [-2.58571705e-02 9.99665632e-01 -1.75721333e-04 -3.31559267e+00] [ 7.61276096e-03 3.72685301e-04 9.99970953e-01 -1.67567225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03907232899999 meters 0.08740299549874933 Centerline is valid? [True, True] Translation: X:50.65, Y:-3.31, Z:-1.67 [[ 9.99501601e-01 3.08568132e-02 -6.66384197e-03 5.06534064e+01] [-3.08585233e-02 9.99523751e-01 -1.53932087e-04 -3.31222435e+00] [ 6.65591846e-03 3.59491690e-04 9.99977785e-01 -1.67465028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099072329 meters 0.09052030544049293 Centerline is valid? [True, True] Translation: X:50.71, Y:-3.30, Z:-1.68 [[ 9.99207587e-01 3.94263920e-02 -5.45503495e-03 5.07139003e+01] [-3.94276659e-02 9.99222419e-01 -1.26147835e-04 -3.30309142e+00] [ 5.44581967e-03 3.41127169e-04 9.99985113e-01 -1.67643077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159072329 meters 0.09478203926350683 Centerline is valid? [True, True] Translation: X:50.77, Y:-3.30, Z:-1.68 [[ 9.98939025e-01 4.55155850e-02 -7.01107289e-03 5.07737327e+01] [-4.55178382e-02 9.98963513e-01 -1.62072054e-04 -3.29608005e+00] [ 6.99642920e-03 4.81028981e-04 9.99975409e-01 -1.68246638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219072329 meters 0.09813295886553963 Centerline is valid? [True, True] Translation: X:50.83, Y:-3.29, Z:-1.69 [[ 9.98868680e-01 4.69937810e-02 -7.27633044e-03 5.08342965e+01] [-4.69962172e-02 9.98895054e-01 -1.64099303e-04 -3.29410763e+00] [ 7.26057884e-03 5.05873660e-04 9.99973514e-01 -1.68585069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27907232899999 meters 0.09484014505237029 Centerline is valid? [True, True] Translation: X:50.90, Y:-3.31, Z:-1.68 [[ 9.98803378e-01 4.86423878e-02 -5.07254862e-03 5.08964263e+01] [-4.86435635e-02 9.98816195e-01 -1.08594641e-04 -3.30542870e+00] [ 5.06126141e-03 3.55211536e-04 9.99987129e-01 -1.68356002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33907232899999 meters 0.10112987500979564 Centerline is valid? [True, False] Translation: X:50.89, Y:-3.31, Z:-1.69 [[ 9.99159535e-01 4.07278307e-02 -4.63320613e-03 5.08914320e+01] [-4.06960237e-02 9.99148680e-01 6.76380323e-03 -3.30835888e+00] [ 4.90473683e-03 -6.56956543e-03 9.99966392e-01 -1.68735482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39907232899999 meters 0.10171343018031068 Centerline is valid? [False, False] Translation: X:50.88, Y:-3.31, Z:-1.69 [[ 9.99635799e-01 2.69263200e-02 1.80080980e-03 5.08815730e+01] [-2.69350873e-02 9.99624501e-01 5.03566679e-03 -3.31219631e+00] [-1.66454163e-03 -5.08233776e-03 9.99985699e-01 -1.69213051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.459072329 meters 0.0900649710238796 Centerline is valid? [False, True] Translation: X:50.88, Y:-3.32, Z:-1.70 [[ 9.99858886e-01 1.57248204e-02 5.91092734e-03 5.08750185e+01] [-1.57693814e-02 9.99847005e-01 7.56928027e-03 -3.31679297e+00] [-5.79099742e-03 -7.66142380e-03 9.99953882e-01 -1.69807927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519072329 meters 0.08890519373012397 Centerline is valid? [True, True] Translation: X:50.94, Y:-3.31, Z:-1.71 [[ 9.99883996e-01 1.42487015e-02 5.38234358e-03 5.09360437e+01] [-1.42504357e-02 9.99898417e-01 2.83977676e-04 -3.31322179e+00] [-5.37775051e-03 -3.60645474e-04 9.99985475e-01 -1.70710206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579072329 meters 0.08747612771217422 Centerline is valid? [True, True] Translation: X:51.00, Y:-3.32, Z:-1.71 [[ 9.99944437e-01 1.01356260e-02 2.89691404e-03 5.09967066e+01] [-1.01361092e-02 9.99948617e-01 1.52142586e-04 -3.31947409e+00] [-2.89522312e-03 -1.81497570e-04 9.99995792e-01 -1.71136560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63907232899999 meters 0.08497374465319942 Centerline is valid? [True, True] Translation: X:51.06, Y:-3.33, Z:-1.71 [[ 9.99989550e-01 4.08394809e-03 2.05443272e-03 5.10573722e+01] [-4.08417834e-03 9.99991654e-01 1.07890810e-04 -3.32784511e+00] [-2.05397496e-03 -1.16280352e-04 9.99997884e-01 -1.71297552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69907232899999 meters 0.08383289187369196 Centerline is valid? [True, True] Translation: X:51.12, Y:-3.33, Z:-1.72 [[ 9.99991831e-01 -6.08498444e-04 3.99587594e-03 5.11173339e+01] [ 6.07667006e-04 9.99999793e-01 2.09284877e-04 -3.32986218e+00] [-3.99600246e-03 -2.06855006e-04 9.99991995e-01 -1.71597273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75907232899999 meters 0.0828703172454892 Centerline is valid? [True, True] Translation: X:51.18, Y:-3.33, Z:-1.72 [[ 9.99975538e-01 -4.73678634e-03 5.14641048e-03 5.11779995e+01] [ 4.73545547e-03 9.99988751e-01 2.70757661e-04 -3.33185076e+00] [-5.14763511e-03 -2.46380440e-04 9.99986720e-01 -1.71956285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.819072329 meters 0.08234706039970241 Centerline is valid? [True, True] Translation: X:51.24, Y:-3.33, Z:-1.72 [[ 9.99930880e-01 -6.20396754e-03 9.98725624e-03 5.12393668e+01] [ 6.19903234e-03 9.99980648e-01 5.25031156e-04 -3.33154291e+00] [-9.99032024e-03 -4.63083542e-04 9.99949988e-01 -1.71858424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879072329 meters 0.08265664181066736 Centerline is valid? [True, True] Translation: X:51.30, Y:-3.33, Z:-1.72 [[ 9.99931274e-01 -6.69068103e-03 9.62712540e-03 5.13010809e+01] [ 6.68610615e-03 9.99977519e-01 5.07313940e-04 -3.32802515e+00] [-9.63030325e-03 -4.42911092e-04 9.99953529e-01 -1.72256515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939072329 meters 0.08267615381262965 Centerline is valid? [True, True] Translation: X:51.36, Y:-3.33, Z:-1.73 [[ 9.99911490e-01 -8.22669388e-03 1.04563000e-02 5.13623735e+01] [ 8.22139985e-03 9.99966053e-01 5.49184623e-04 -3.32896575e+00] [-1.04604630e-02 -4.63170591e-04 9.99945181e-01 -1.72606843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99907232899999 meters 0.08223681559830164 Centerline is valid? [True, True] Translation: X:51.42, Y:-3.33, Z:-1.73 [[ 9.99879123e-01 -1.01680293e-02 1.17622406e-02 5.14237195e+01] [ 1.01614709e-02 9.99948180e-01 6.17212329e-04 -3.32901641e+00] [-1.17679069e-02 -4.97616057e-04 9.99930632e-01 -1.72731643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05907232899999 meters 0.08239499812392664 Centerline is valid? [True, True] Translation: X:51.48, Y:-3.33, Z:-1.73 [[ 9.99840678e-01 -1.05729887e-02 1.43816229e-02 5.14844574e+01] [ 1.05632366e-02 9.99943923e-01 7.53893935e-04 -3.32534483e+00] [-1.43887873e-02 -6.01857338e-04 9.99896295e-01 -1.73174325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11907232899999 meters 0.08193630503452677 Centerline is valid? [True, True] Translation: X:51.55, Y:-3.33, Z:-1.73 [[ 9.99861171e-01 -9.41192638e-03 1.37497404e-02 5.15458997e+01] [ 9.40290810e-03 9.99955532e-01 7.20388084e-04 -3.32628038e+00] [-1.37559092e-02 -5.91000528e-04 9.99905208e-01 -1.73168200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.179072329 meters 0.08254115842907749 Centerline is valid? [True, True] Translation: X:51.61, Y:-3.32, Z:-1.73 [[ 9.99855852e-01 -9.67647094e-03 1.39514074e-02 5.16073047e+01] [ 9.66719279e-03 9.99953003e-01 7.32320528e-04 -3.32372499e+00] [-1.39578380e-02 -5.97344020e-04 9.99902406e-01 -1.73476311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239072329 meters 0.08302175798864356 Centerline is valid? [True, True] Translation: X:51.67, Y:-3.32, Z:-1.74 [[ 9.99868210e-01 -9.04620352e-03 1.34806572e-02 5.16680848e+01] [ 9.03752935e-03 9.99958913e-01 7.04234139e-04 -3.32072249e+00] [-1.34864740e-02 -5.82309493e-04 9.99908884e-01 -1.73883688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299072329 meters 0.08423167629270982 Centerline is valid? [True, True] Translation: X:51.73, Y:-3.32, Z:-1.74 [[ 9.99862672e-01 -7.04310975e-03 1.50010602e-02 5.17288272e+01] [ 7.03214788e-03 9.99974967e-01 7.83362923e-04 -3.31614454e+00] [-1.50062020e-02 -6.77765671e-04 9.99887171e-01 -1.74045283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359072329 meters 0.08345754684955818 Centerline is valid? [True, True] Translation: X:51.79, Y:-3.32, Z:-1.74 [[ 9.99860412e-01 -4.55160805e-03 1.60760285e-02 5.17907212e+01] [ 4.53871143e-03 9.99989348e-01 8.38620513e-04 -3.31593344e+00] [-1.60796743e-02 -7.65538998e-04 9.99870421e-01 -1.73946957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41907232899999 meters 0.08526563942166937 Centerline is valid? [True, True] Translation: X:51.85, Y:-3.31, Z:-1.75 [[ 9.99914196e-01 -1.68948150e-03 1.29902575e-02 5.18498588e+01] [ 1.68082146e-03 9.99998358e-01 6.77545429e-04 -3.30978039e+00] [-1.29913809e-02 -6.55652989e-04 9.99915393e-01 -1.74581598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47907232899999 meters 0.08628157650018074 Centerline is valid? [True, True] Translation: X:51.91, Y:-3.31, Z:-1.75 [[ 9.99940463e-01 -7.14613980e-04 1.08885333e-02 5.19111428e+01] [ 7.08478301e-04 9.99999588e-01 5.67345992e-04 -3.30649869e+00] [-1.08889343e-02 -5.59597924e-04 9.99940557e-01 -1.75117553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53907232899999 meters 0.08656932580030156 Centerline is valid? [True, True] Translation: X:51.97, Y:-3.30, Z:-1.76 [[ 9.99944931e-01 -1.56905583e-03 1.03765740e-02 5.19736556e+01] [ 1.56352534e-03 9.99998631e-01 5.41068751e-04 -3.30486803e+00] [-1.03774088e-02 -5.24814919e-04 9.99946016e-01 -1.75653867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599072329 meters 0.0843087246759621 Centerline is valid? [True, True] Translation: X:52.04, Y:-3.31, Z:-1.76 [[ 9.99943104e-01 -3.45118244e-03 1.00935044e-02 5.20355687e+01] [ 3.44606571e-03 9.99993925e-01 5.24280299e-04 -3.30982404e+00] [-1.00952525e-02 -4.89467590e-04 9.99948922e-01 -1.75695765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659072329 meters 0.08415690641584117 Centerline is valid? [True, True] Translation: X:52.10, Y:-3.31, Z:-1.76 [[ 9.99919929e-01 -3.92862698e-03 1.20291690e-02 5.20982158e+01] [ 3.92138692e-03 9.99992116e-01 6.25402782e-04 -3.31065875e+00] [-1.20315311e-02 -5.78181680e-04 9.99927451e-01 -1.75719022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719072329 meters 0.08362137784257695 Centerline is valid? [True, True] Translation: X:52.16, Y:-3.31, Z:-1.76 [[ 9.99892200e-01 -4.72316563e-03 1.39025233e-02 5.21592935e+01] [ 4.71361090e-03 9.99988632e-01 7.19953003e-04 -3.31092458e+00] [-1.39057657e-02 -6.54344307e-04 9.99903096e-01 -1.75806745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77907232899999 meters 0.08402577295465805 Centerline is valid? [True, True] Translation: X:52.22, Y:-3.31, Z:-1.76 [[ 9.99916078e-01 -4.22493391e-03 1.22469184e-02 5.22218454e+01] [ 4.21747547e-03 9.99990905e-01 6.34767829e-04 -3.31162024e+00] [-1.22494889e-02 -5.83063480e-04 9.99924802e-01 -1.76142851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83907232899999 meters 0.08443025587198469 Centerline is valid? [True, True] Translation: X:52.28, Y:-3.31, Z:-1.76 [[ 9.99900497e-01 -3.97147946e-03 1.35360131e-02 5.22842140e+01] [ 3.96236151e-03 9.99991905e-01 7.00358921e-04 -3.31221653e+00] [-1.35386850e-02 -6.46654656e-04 9.99908139e-01 -1.76298655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89907232899999 meters 0.08485313061879246 Centerline is valid? [True, True] Translation: X:52.35, Y:-3.31, Z:-1.77 [[ 9.99889211e-01 -3.78775165e-03 1.43950809e-02 5.23464193e+01] [ 3.77743745e-03 9.99992589e-01 7.43630832e-04 -3.31076401e+00] [-1.43977909e-02 -6.89171928e-04 9.99896109e-01 -1.76606875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.959072329 meters 0.08565445081706174 Centerline is valid? [True, True] Translation: X:52.41, Y:-3.31, Z:-1.77 [[ 9.99899360e-01 -3.37200178e-03 1.37804288e-02 5.24082348e+01] [ 3.36252190e-03 9.99994094e-01 7.11034594e-04 -3.30892058e+00] [-1.37827450e-02 -6.64626041e-04 9.99904793e-01 -1.77073316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019072329 meters 0.08575598434222081 Centerline is valid? [True, True] Translation: X:52.47, Y:-3.31, Z:-1.77 [[ 9.99910589e-01 -2.99087911e-03 1.30333842e-02 5.24702987e+01] [ 2.98238166e-03 9.99995327e-01 6.71363152e-04 -3.31401581e+00] [-1.30353313e-02 -6.32432598e-04 9.99914836e-01 -1.77160468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079072329 meters 0.08713069235689666 Centerline is valid? [True, True] Translation: X:52.53, Y:-3.31, Z:-1.77 [[ 9.99892872e-01 -1.55136325e-03 1.45546147e-02 5.25310808e+01] [ 1.54062833e-03 9.99998533e-01 7.48744470e-04 -3.30969824e+00] [-1.45557549e-02 -7.26241008e-04 9.99893796e-01 -1.77449785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13907232899999 meters 0.089241889524782 Centerline is valid? [True, True] Translation: X:52.59, Y:-3.31, Z:-1.78 [[ 9.99899136e-01 9.05028593e-04 1.41738864e-02 5.25919700e+01] [-9.15435352e-04 9.99999316e-01 7.27749844e-04 -3.30696300e+00] [-1.41732181e-02 -7.40651717e-04 9.99899281e-01 -1.77726349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19907232899999 meters 0.08795846580555448 Centerline is valid? [True, True] Translation: X:52.65, Y:-3.32, Z:-1.78 [[ 9.99903767e-01 2.93488457e-03 1.35588521e-02 5.26541016e+01] [-2.94459670e-03 9.99995422e-01 6.96387021e-04 -3.31512178e+00] [-1.35567462e-02 -7.36245357e-04 9.99907832e-01 -1.77603997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25907232899999 meters 0.09228516502499173 Centerline is valid? [True, True] Translation: X:52.71, Y:-3.30, Z:-1.78 [[ 9.99878463e-01 6.51868622e-03 1.41621408e-02 5.27132065e+01] [-6.52962177e-03 9.99978418e-01 7.26065627e-04 -3.30250813e+00] [-1.41571022e-02 -8.18450806e-04 9.99899448e-01 -1.78227628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.319072329 meters 0.09220883809605647 Centerline is valid? [True, True] Translation: X:52.77, Y:-3.30, Z:-1.78 [[ 9.99862762e-01 8.06562761e-03 1.44707552e-02 5.27749963e+01] [-8.07724182e-03 9.99967102e-01 7.44332308e-04 -3.30378816e+00] [-1.44642756e-02 -8.61113946e-04 9.99895016e-01 -1.78213426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379072329 meters 0.09374234008610574 Centerline is valid? [True, True] Translation: X:52.84, Y:-3.30, Z:-1.78 [[ 9.99846568e-01 9.84536236e-03 1.44882359e-02 5.28372684e+01] [-9.85715234e-03 9.99951141e-01 7.42576019e-04 -3.30302144e+00] [-1.44802171e-02 -8.85274834e-04 9.99894764e-01 -1.78262162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439072329 meters 0.09518310111323156 Centerline is valid? [True, True] Translation: X:52.90, Y:-3.30, Z:-1.79 [[ 9.99822382e-01 1.11522378e-02 1.51931741e-02 5.28974347e+01] [-1.11653515e-02 9.99937362e-01 7.78579040e-04 -3.29565520e+00] [-1.51835395e-02 -9.48077879e-04 9.99884274e-01 -1.78608884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49907232899999 meters 0.09678528863644009 Centerline is valid? [True, True] Translation: X:52.96, Y:-3.29, Z:-1.79 [[ 9.99796832e-01 1.22907061e-02 1.59760104e-02 5.29592441e+01] [-1.23053538e-02 9.99923951e-01 8.18875346e-04 -3.29154054e+00] [-1.59647309e-02 -1.01529944e-03 9.99872040e-01 -1.78801382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55907232899999 meters 0.09591108776046267 Centerline is valid? [True, True] Translation: X:53.02, Y:-3.29, Z:-1.79 [[ 9.99817109e-01 1.01772932e-02 1.61916911e-02 5.30206614e+01] [-1.01919407e-02 9.99947723e-01 8.22370825e-04 -3.29253455e+00] [-1.61824751e-02 -9.87245176e-04 9.99868568e-01 -1.78886702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61907232899999 meters 0.09373916671738595 Centerline is valid? [True, True] Translation: X:53.08, Y:-3.29, Z:-1.80 [[ 9.99892426e-01 3.64814926e-03 1.42066131e-02 5.30802884e+01] [-3.65874859e-03 9.99993047e-01 7.20164894e-04 -3.29486280e+00] [-1.42038870e-02 -7.72065848e-04 9.99898822e-01 -1.79697516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.679072329 meters 0.08640585004791736 Centerline is valid? [True, True] Translation: X:53.14, Y:-3.31, Z:-1.80 [[ 9.99889676e-01 -4.30741982e-03 1.42155709e-02 5.31424990e+01] [ 4.29759662e-03 9.99990505e-01 7.21492291e-04 -3.31427129e+00] [-1.42185437e-02 -6.60319904e-04 9.99898693e-01 -1.79570007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739072329 meters 0.08498241830889477 Centerline is valid? [True, True] Translation: X:53.20, Y:-3.32, Z:-1.80 [[ 9.99842590e-01 -8.96462885e-03 1.53111210e-02 5.32029236e+01] [ 8.95378605e-03 9.99959613e-01 7.76569834e-04 -3.31868313e+00] [-1.53174643e-02 -6.39355092e-04 9.99882476e-01 -1.79599470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799072329 meters 0.08135186604208725 Centerline is valid? [True, True] Translation: X:53.26, Y:-3.33, Z:-1.80 [[ 9.99724370e-01 -1.39831200e-02 1.88588745e-02 5.32635476e+01] [ 1.39675566e-02 9.99901991e-01 9.56727880e-04 -3.32597877e+00] [-1.88704042e-02 -6.93051779e-04 9.99821698e-01 -1.79640234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859072329 meters 0.08181733132187408 Centerline is valid? [True, True] Translation: X:53.32, Y:-3.33, Z:-1.80 [[ 9.99735931e-01 -1.44064474e-02 1.79031367e-02 5.33243453e+01] [ 1.43924752e-02 9.99896010e-01 9.09042792e-04 -3.32732829e+00] [-1.79143710e-02 -6.51132291e-04 9.99839313e-01 -1.79943789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91907232899999 meters 0.0819568902829173 Centerline is valid? [True, True] Translation: X:53.39, Y:-3.33, Z:-1.80 [[ 9.99744943e-01 -1.35764965e-02 1.80479278e-02 5.33853216e+01] [ 1.35621972e-02 9.99907611e-01 9.14458352e-04 -3.32945195e+00] [-1.80586755e-02 -6.69455557e-04 9.99836705e-01 -1.79985909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97907232899999 meters 0.08267382811384114 Centerline is valid? [True, True] Translation: X:53.45, Y:-3.33, Z:-1.80 [[ 9.99754735e-01 -1.21271821e-02 1.85310787e-02 5.34465968e+01] [ 1.21118469e-02 9.99926207e-01 9.39550732e-04 -3.32565894e+00] [-1.85411053e-02 -7.14874704e-04 9.99827843e-01 -1.80353079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03907232899999 meters 0.08469795329670379 Centerline is valid? [True, True] Translation: X:53.51, Y:-3.32, Z:-1.81 [[ 9.99793658e-01 -8.46745544e-03 1.84646793e-02 5.35063061e+01] [ 8.45161220e-03 9.99963847e-01 9.35897012e-04 -3.32377541e+00] [-1.84719364e-02 -7.79647588e-04 9.99829075e-01 -1.80576979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099072329 meters 0.08531161214943354 Centerline is valid? [True, True] Translation: X:53.57, Y:-3.32, Z:-1.81 [[ 9.99805851e-01 -7.52310767e-03 1.82116164e-02 5.35681227e+01] [ 7.50755292e-03 9.99971393e-01 9.22329742e-04 -3.32448169e+00] [-1.82180342e-02 -7.85425999e-04 9.99833729e-01 -1.80875289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159072329 meters 0.08519452049745957 Centerline is valid? [True, True] Translation: X:53.63, Y:-3.33, Z:-1.81 [[ 9.99812206e-01 -6.15821949e-03 1.83746661e-02 5.36307503e+01] [ 6.14217757e-03 9.99980705e-01 9.29353399e-04 -3.32955949e+00] [-1.83800347e-02 -8.16318410e-04 9.99830740e-01 -1.81107537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219072329 meters 0.08679081004452618 Centerline is valid? [True, True] Translation: X:53.69, Y:-3.33, Z:-1.81 [[ 9.99816447e-01 -5.82109975e-03 1.82534265e-02 5.36920102e+01] [ 5.80524171e-03 9.99982725e-01 9.21637983e-04 -3.32829117e+00] [-1.82584761e-02 -8.15503261e-04 9.99832968e-01 -1.81496757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27907232899999 meters 0.08655956071307362 Centerline is valid? [True, True] Translation: X:53.75, Y:-3.33, Z:-1.82 [[ 9.99823845e-01 -5.16269551e-03 1.80450863e-02 5.37542463e+01] [ 5.14710161e-03 9.99986339e-01 9.10500387e-04 -3.33462638e+00] [-1.80495405e-02 -8.17460105e-04 9.99836760e-01 -1.81831409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33907232899999 meters 0.08577801477881343 Centerline is valid? [True, True] Translation: X:53.82, Y:-3.34, Z:-1.82 [[ 9.99803508e-01 -5.27952621e-03 1.91068509e-02 5.38166506e+01] [ 5.26209113e-03 9.99985692e-01 9.62664935e-04 -3.33855558e+00] [-1.91116599e-02 -8.61933789e-04 9.99816984e-01 -1.82045312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39907232899999 meters 0.08576771238293979 Centerline is valid? [True, True] Translation: X:53.88, Y:-3.35, Z:-1.83 [[ 9.99794418e-01 -8.92572597e-03 1.82058666e-02 5.38776466e+01] [ 8.91053216e-03 9.99959881e-01 9.15505399e-04 -3.34595563e+00] [-1.82133077e-02 -7.53093227e-04 9.99833840e-01 -1.82510848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.459072329 meters 0.08422588521331784 Centerline is valid? [True, True] Translation: X:53.94, Y:-3.36, Z:-1.83 [[ 9.99774253e-01 -1.26942575e-02 1.70381410e-02 5.39401587e+01] [ 1.26814947e-02 9.99919219e-01 8.56909238e-04 -3.35708887e+00] [-1.70476425e-02 -6.40646698e-04 9.99854473e-01 -1.82690937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519072329 meters 0.08424540357351079 Centerline is valid? [True, True] Translation: X:54.00, Y:-3.36, Z:-1.83 [[ 9.99710504e-01 -1.53084650e-02 1.85623268e-02 5.39993572e+01] [ 1.52938206e-02 9.99882610e-01 9.30643103e-04 -3.35639414e+00] [-1.85743945e-02 -6.46484790e-04 9.99827272e-01 -1.82979250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579072329 meters 0.08214737520593453 Centerline is valid? [True, True] Translation: X:54.06, Y:-3.37, Z:-1.83 [[ 9.99615173e-01 -2.04513916e-02 1.87415951e-02 5.40597788e+01] [ 2.04373651e-02 9.99790694e-01 9.39660667e-04 -3.36808980e+00] [-1.87568897e-02 -5.56270239e-04 9.99823919e-01 -1.83067829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63907232899999 meters 0.08216492594900775 Centerline is valid? [True, True] Translation: X:54.12, Y:-3.37, Z:-1.84 [[ 9.99575189e-01 -2.45234160e-02 1.57494118e-02 5.41178450e+01] [ 2.45140265e-02 9.99699175e-01 7.88988197e-04 -3.37249234e+00] [-1.57640226e-02 -4.02571528e-04 9.99875659e-01 -1.83939426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69907232899999 meters 0.08088583149331245 Centerline is valid? [True, True] Translation: X:54.18, Y:-3.38, Z:-1.84 [[ 9.99504588e-01 -2.72142141e-02 1.58102760e-02 5.41772022e+01] [ 2.72051157e-02 9.99629560e-01 7.90302246e-04 -3.37737470e+00] [-1.58259267e-02 -3.59790334e-04 9.99874697e-01 -1.84111266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75907232899999 meters 0.0800220807137825 Centerline is valid? [True, True] Translation: X:54.24, Y:-3.38, Z:-1.84 [[ 9.99404669e-01 -3.02909680e-02 1.65156090e-02 5.42365966e+01] [ 3.02813373e-02 9.99541068e-01 8.32949815e-04 -3.38449104e+00] [-1.65332603e-02 -3.32339207e-04 9.99863261e-01 -1.84137637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.819072329 meters 0.07993520773259123 Centerline is valid? [True, True] Translation: X:54.29, Y:-3.38, Z:-1.85 [[ 9.99362699e-01 -3.16501000e-02 1.65065928e-02 5.42942127e+01] [ 3.16406521e-02 9.99498962e-01 8.33275468e-04 -3.38331982e+00] [-1.65246956e-02 -3.10465061e-04 9.99863410e-01 -1.84574049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879072329 meters 0.08051175169263627 Centerline is valid? [True, True] Translation: X:54.35, Y:-3.38, Z:-1.85 [[ 9.99438166e-01 -2.99627373e-02 1.50195450e-02 5.43529016e+01] [ 2.99547600e-02 9.99550970e-01 7.55863984e-04 -3.38133265e+00] [-1.50354486e-02 -3.05532447e-04 9.99886915e-01 -1.84853213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939072329 meters 0.08187045987085388 Centerline is valid? [True, True] Translation: X:54.41, Y:-3.37, Z:-1.85 [[ 9.99554848e-01 -2.58301303e-02 1.49301938e-02 5.44116232e+01] [ 2.58216752e-02 9.99666277e-01 7.58834957e-04 -3.37489031e+00] [-1.49448120e-02 -3.72974546e-04 9.99888250e-01 -1.85059469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99907232899999 meters 0.08295733047459458 Centerline is valid? [True, True] Translation: X:54.47, Y:-3.37, Z:-1.85 [[ 9.99658100e-01 -2.20005574e-02 1.41300923e-02 5.44704370e+01] [ 2.19925932e-02 9.99757875e-01 7.18796509e-04 -3.36890908e+00] [-1.41424849e-02 -4.07793382e-04 9.99899907e-01 -1.85282566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05907232899999 meters 0.0846079331962454 Centerline is valid? [True, True] Translation: X:54.53, Y:-3.36, Z:-1.85 [[ 9.99804257e-01 -1.34823193e-02 1.44801276e-02 5.45307759e+01] [ 1.34730373e-02 9.99908962e-01 7.38386694e-04 -3.35747799e+00] [-1.44887645e-02 -5.43150862e-04 9.99894885e-01 -1.85456687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11907232899999 meters 0.08845870961132202 Centerline is valid? [True, True] Translation: X:54.59, Y:-3.34, Z:-1.86 [[ 9.99904852e-01 -5.69281382e-03 1.25649731e-02 5.45892556e+01] [ 5.68521471e-03 9.99983634e-01 6.40421392e-04 -3.34293676e+00] [-1.25684133e-02 -5.68925888e-04 9.99920853e-01 -1.85952863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.179072329 meters 0.08908390385619082 Centerline is valid? [True, True] Translation: X:54.65, Y:-3.34, Z:-1.86 [[ 9.99933808e-01 -2.67556060e-03 1.11901888e-02 5.46502032e+01] [ 2.66933446e-03 9.99996274e-01 5.71290787e-04 -3.33961167e+00] [-1.11916756e-02 -5.41382616e-04 9.99937225e-01 -1.86089205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239072329 meters 0.09018909917093706 Centerline is valid? [True, True] Translation: X:54.71, Y:-3.33, Z:-1.86 [[ 9.99919038e-01 -4.07255969e-04 1.27181685e-02 5.47117462e+01] [ 3.99019087e-04 9.99999709e-01 6.50177624e-04 -3.33098883e+00] [-1.27184296e-02 -6.45050193e-04 9.99918909e-01 -1.86468803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299072329 meters 0.09141484189757138 Centerline is valid? [True, True] Translation: X:54.77, Y:-3.32, Z:-1.87 [[ 9.99925077e-01 -1.85976231e-04 1.22395388e-02 5.47722098e+01] [ 1.78322702e-04 9.99999788e-01 6.26400213e-04 -3.32361425e+00] [-1.22396527e-02 -6.24170693e-04 9.99924898e-01 -1.86895515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359072329 meters 0.09147924871538253 Centerline is valid? [True, True] Translation: X:54.83, Y:-3.32, Z:-1.87 [[ 9.99916036e-01 -8.38198719e-05 1.29581302e-02 5.48345529e+01] [ 7.52759854e-05 9.99999779e-01 6.59831956e-04 -3.31944104e+00] [-1.29581827e-02 -6.58801118e-04 9.99915822e-01 -1.86937160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41907232899999 meters 0.09049093307356236 Centerline is valid? [True, True] Translation: X:54.90, Y:-3.32, Z:-1.87 [[ 9.99940272e-01 -6.79677903e-04 1.09082825e-02 5.48975047e+01] [ 6.73607043e-04 9.99999616e-01 5.60201090e-04 -3.31893939e+00] [-1.09086590e-02 -5.52819735e-04 9.99940346e-01 -1.87081357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47907232899999 meters 0.09217527107751962 Centerline is valid? [True, True] Translation: X:54.96, Y:-3.31, Z:-1.87 [[ 9.99932961e-01 -6.03996529e-04 1.15632778e-02 5.49582921e+01] [ 5.97250845e-04 9.99999649e-01 5.86815599e-04 -3.30928948e+00] [-1.15636281e-02 -5.79870082e-04 9.99932971e-01 -1.87476098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53907232899999 meters 0.09081715895405856 Centerline is valid? [True, True] Translation: X:55.02, Y:-3.31, Z:-1.88 [[ 9.99938914e-01 -1.33684558e-03 1.09718125e-02 5.50198200e+01] [ 1.33080185e-03 9.99998959e-01 5.58124311e-04 -3.30512731e+00] [-1.09725472e-02 -5.43488909e-04 9.99939652e-01 -1.87744479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599072329 meters 0.09169839572547447 Centerline is valid? [True, True] Translation: X:55.08, Y:-3.30, Z:-1.88 [[ 9.99969671e-01 -2.57446882e-03 7.35048023e-03 5.50802491e+01] [ 2.57180488e-03 9.99996624e-01 3.71845730e-04 -3.29917883e+00] [-7.35141272e-03 -3.52930451e-04 9.99972916e-01 -1.88328339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659072329 meters 0.09135731959257193 Centerline is valid? [True, True] Translation: X:55.14, Y:-3.29, Z:-1.88 [[ 9.99972723e-01 -2.16608858e-03 7.06125487e-03 5.51419302e+01] [ 2.16363683e-03 9.99997596e-01 3.54830946e-04 -3.29155993e+00] [-7.06200649e-03 -3.39543276e-04 9.99975006e-01 -1.88487703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719072329 meters 0.09014973356439507 Centerline is valid? [True, True] Translation: X:55.20, Y:-3.29, Z:-1.88 [[ 9.99970102e-01 -1.93841727e-03 7.48587930e-03 5.52043486e+01] [ 1.93565977e-03 9.99998056e-01 3.75586554e-04 -3.28831165e+00] [-7.48659279e-03 -3.61085209e-04 9.99971910e-01 -1.88413318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77907232899999 meters 0.08934720464704864 Centerline is valid? [True, True] Translation: X:55.27, Y:-3.28, Z:-1.89 [[ 9.99956959e-01 -4.80339505e-03 7.93767148e-03 5.52654050e+01] [ 4.80039785e-03 9.99988399e-01 3.96601389e-04 -3.28407964e+00] [-7.93948443e-03 -3.58480338e-04 9.99968418e-01 -1.88603789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83907232899999 meters 0.0895999055834881 Centerline is valid? [True, True] Translation: X:55.33, Y:-3.28, Z:-1.89 [[ 9.99943747e-01 -8.03284216e-03 6.92653953e-03 5.53253565e+01] [ 8.03064120e-03 9.99967694e-01 3.45512059e-04 -3.27676853e+00] [-6.92909121e-03 -2.89868069e-04 9.99975952e-01 -1.89220059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89907232899999 meters 0.08714478884574182 Centerline is valid? [True, True] Translation: X:55.39, Y:-3.28, Z:-1.89 [[ 9.99888034e-01 -1.26057370e-02 8.06316937e-03 5.53859690e+01] [ 1.26029109e-02 9.99920500e-01 4.01207065e-04 -3.27794395e+00] [-8.06758585e-03 -2.99542738e-04 9.99967412e-01 -1.88908864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.959072329 meters 0.08446210728024048 Centerline is valid? [True, True] Translation: X:55.45, Y:-3.28, Z:-1.88 [[ 9.99827229e-01 -1.57845861e-02 9.81629189e-03 5.54465162e+01] [ 1.57805504e-02 9.99875360e-01 4.88448310e-04 -3.28221841e+00] [-9.82277835e-03 -3.33457432e-04 9.99951700e-01 -1.88441189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019072329 meters 0.0847802495911294 Centerline is valid? [True, True] Translation: X:55.50, Y:-3.27, Z:-1.89 [[ 9.99777385e-01 -1.94540058e-02 8.16837706e-03 5.55040584e+01] [ 1.94513491e-02 9.99810723e-01 4.04566823e-04 -3.27433835e+00] [-8.17470142e-03 -2.45590807e-04 9.99966556e-01 -1.89261276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079072329 meters 0.08417096444847075 Centerline is valid? [True, True] Translation: X:55.56, Y:-3.27, Z:-1.90 [[ 9.99710154e-01 -2.23981988e-02 8.82773613e-03 5.55619753e+01] [ 2.23952006e-02 9.99749100e-01 4.38353531e-04 -3.27086144e+00] [-8.83533958e-03 -2.40527554e-04 9.99960939e-01 -1.89541972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13907232899999 meters 0.08242508082645722 Centerline is valid? [True, True] Translation: X:55.62, Y:-3.27, Z:-1.89 [[ 9.99673387e-01 -2.33423259e-02 1.04046055e-02 5.56214695e+01] [ 2.33382419e-02 9.99727494e-01 5.13780834e-04 -3.27272558e+00] [-1.04137631e-02 -2.70787826e-04 9.99945739e-01 -1.88989800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19907232899999 meters 0.08394958119970598 Centerline is valid? [True, True] Translation: X:55.68, Y:-3.26, Z:-1.90 [[ 9.99728960e-01 -2.12460387e-02 9.51910200e-03 5.56794587e+01] [ 2.12424606e-02 9.99774240e-01 4.76850623e-04 -3.26051336e+00] [-9.52708416e-03 -2.74512228e-04 9.99954579e-01 -1.89572645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25907232899999 meters 0.0846397134042253 Centerline is valid? [True, True] Translation: X:55.74, Y:-3.25, Z:-1.90 [[ 9.99786497e-01 -1.85832347e-02 9.03463850e-03 5.57380876e+01] [ 1.85798990e-02 9.99827276e-01 4.53016908e-04 -3.25122143e+00] [-9.04149653e-03 -2.85057517e-04 9.99959084e-01 -1.89902533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.319072329 meters 0.08603002710275544 Centerline is valid? [True, True] Translation: X:55.80, Y:-3.24, Z:-1.90 [[ 9.99868086e-01 -1.39283523e-02 8.35533739e-03 5.57982050e+01] [ 1.39253230e-02 9.99902950e-01 4.20619206e-04 -3.24188203e+00] [-8.36038504e-03 -3.04212948e-04 9.99965005e-01 -1.90009421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379072329 meters 0.08718946855065456 Centerline is valid? [True, True] Translation: X:55.86, Y:-3.23, Z:-1.90 [[ 9.99903551e-01 -1.11532748e-02 8.27600640e-03 5.58571907e+01] [ 1.11502195e-02 9.99937748e-01 4.15231024e-04 -3.23477734e+00] [-8.28012239e-03 -3.22911688e-04 9.99965667e-01 -1.90318675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439072329 meters 0.08768731728262895 Centerline is valid? [True, True] Translation: X:55.92, Y:-3.23, Z:-1.91 [[ 9.99905008e-01 -1.03267625e-02 9.12864711e-03 5.59164383e+01] [ 1.03230496e-02 9.99946613e-01 4.53756126e-04 -3.22996800e+00] [-9.13284559e-03 -3.59477547e-04 9.99958230e-01 -1.90525841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49907232899999 meters 0.08892539660970457 Centerline is valid? [True, True] Translation: X:55.97, Y:-3.22, Z:-1.90 [[ 9.99893711e-01 -8.04234832e-03 1.21609276e-02 5.59744255e+01] [ 8.03546678e-03 9.99967526e-01 6.14628646e-04 -3.22355268e+00] [-1.21654757e-02 -5.16844587e-04 9.99925864e-01 -1.90436912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55907232899999 meters 0.08912140064126814 Centerline is valid? [True, True] Translation: X:56.04, Y:-3.22, Z:-1.91 [[ 9.99866708e-01 -8.13419920e-03 1.41563387e-02 5.60355869e+01] [ 8.12484820e-03 9.99966735e-01 7.17939526e-04 -3.22160658e+00] [-1.41617077e-02 -6.02825727e-04 9.99899536e-01 -1.90566548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61907232899999 meters 0.08595762409932803 Centerline is valid? [True, True] Translation: X:56.10, Y:-3.23, Z:-1.91 [[ 9.99813082e-01 -1.19047083e-02 1.52341646e-02 5.60967727e+01] [ 1.18943295e-02 9.99928962e-01 7.71714281e-04 -3.23006296e+00] [-1.52422694e-02 -5.90369860e-04 9.99883656e-01 -1.90576279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.679072329 meters 0.08506655675303885 Centerline is valid? [True, True] Translation: X:56.16, Y:-3.23, Z:-1.91 [[ 9.99752268e-01 -1.45966167e-02 1.68030141e-02 5.61573381e+01] [ 1.45843809e-02 9.99893281e-01 8.50504577e-04 -3.23283004e+00] [-1.68136354e-02 -6.05232321e-04 9.99858458e-01 -1.90582851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739072329 meters 0.08352957872450595 Centerline is valid? [True, True] Translation: X:56.22, Y:-3.24, Z:-1.90 [[ 9.99656434e-01 -1.77071987e-02 1.93253587e-02 5.62179306e+01] [ 1.76915992e-02 9.99843013e-01 9.77882854e-04 -3.23848659e+00] [-1.93396404e-02 -6.35650386e-04 9.99812770e-01 -1.90456304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799072329 meters 0.0832331342128777 Centerline is valid? [True, True] Translation: X:56.28, Y:-3.24, Z:-1.91 [[ 9.99640063e-01 -2.07749740e-02 1.69748324e-02 5.62769997e+01] [ 2.07634498e-02 9.99784051e-01 8.54872041e-04 -3.23863633e+00] [-1.69889266e-02 -5.02108260e-04 9.99855552e-01 -1.90976595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859072329 meters 0.08248381532333232 Centerline is valid? [True, True] Translation: X:56.34, Y:-3.24, Z:-1.92 [[ 9.99532361e-01 -2.61756396e-02 1.58080498e-02 5.63358594e+01] [ 2.61662079e-02 9.99657283e-01 8.03210016e-04 -3.24448634e+00] [-1.58236566e-02 -3.89197686e-04 9.99874722e-01 -1.91625360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91907232899999 meters 0.0811596352808942 Centerline is valid? [True, True] Translation: X:56.40, Y:-3.25, Z:-1.92 [[ 9.99332915e-01 -3.15754849e-02 1.83497858e-02 5.63961256e+01] [ 3.15636593e-02 9.99501307e-01 9.33782334e-04 -3.24985362e+00] [-1.83701195e-02 -3.53973034e-04 9.99831192e-01 -1.92002151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97907232899999 meters 0.08047198719876951 Centerline is valid? [True, True] Translation: X:56.45, Y:-3.26, Z:-1.92 [[ 9.99152606e-01 -3.62328940e-02 1.95255393e-02 5.64548446e+01] [ 3.62203841e-02 9.99343332e-01 9.94076407e-04 -3.25815012e+00] [-1.95487358e-02 -2.86011499e-04 9.99808864e-01 -1.92052913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03907232899999 meters 0.07999568154211353 Centerline is valid? [True, True] Translation: X:56.51, Y:-3.26, Z:-1.92 [[ 9.99118845e-01 -3.72134746e-02 1.94085467e-02 5.65129782e+01] [ 3.72013438e-02 9.99307304e-01 9.85820177e-04 -3.26068759e+00] [-1.94317883e-02 -2.62927497e-04 9.99811150e-01 -1.91985252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099072329 meters 0.08077075490601152 Centerline is valid? [True, True] Translation: X:56.57, Y:-3.25, Z:-1.93 [[ 9.99192860e-01 -3.57552348e-02 1.83082654e-02 5.65706272e+01] [ 3.57440490e-02 9.99360537e-01 9.37946342e-04 -3.25493542e+00] [-1.83300945e-02 -2.82777751e-04 9.99831950e-01 -1.92695077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159072329 meters 0.0814677900544349 Centerline is valid? [True, True] Translation: X:56.63, Y:-3.25, Z:-1.93 [[ 9.99299696e-01 -3.39306436e-02 1.57743153e-02 5.66294584e+01] [ 3.39220863e-02 9.99424152e-01 8.09811925e-04 -3.25150844e+00] [-1.57927092e-02 -2.74147124e-04 9.99875250e-01 -1.93230667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219072329 meters 0.08165974185382865 Centerline is valid? [True, True] Translation: X:56.69, Y:-3.25, Z:-1.93 [[ 9.99354786e-01 -3.31340968e-02 1.38615796e-02 5.66887457e+01] [ 3.31274653e-02 9.99450884e-01 7.07806293e-04 -3.25270285e+00] [-1.38774205e-02 -2.48150609e-04 9.99903673e-01 -1.93225215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27907232899999 meters 0.08198189720386205 Centerline is valid? [True, True] Translation: X:56.75, Y:-3.25, Z:-1.93 [[ 9.99430749e-01 -3.10687019e-02 1.31496426e-02 5.67477429e+01] [ 3.10625198e-02 9.99517216e-01 6.74163951e-04 -3.24775076e+00] [-1.31642396e-02 -2.65319150e-04 9.99913312e-01 -1.93456441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33907232899999 meters 0.08242336396894351 Centerline is valid? [True, True] Translation: X:56.80, Y:-3.24, Z:-1.94 [[ 9.99440159e-01 -3.03245736e-02 1.41346471e-02 5.68044878e+01] [ 3.03172599e-02 9.99540059e-01 7.31462139e-04 -3.24216706e+00] [-1.41503272e-02 -3.02528868e-04 9.99899833e-01 -1.93756663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39907232899999 meters 0.08201839689999595 Centerline is valid? [True, True] Translation: X:56.86, Y:-3.24, Z:-1.94 [[ 9.99442280e-01 -3.03430331e-02 1.39438116e-02 5.68639414e+01] [ 3.03359325e-02 9.99539500e-01 7.20505663e-04 -3.24069189e+00] [-1.39592528e-02 -2.97105296e-04 9.99902521e-01 -1.93812467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.459072329 meters 0.08288249367828907 Centerline is valid? [True, True] Translation: X:56.92, Y:-3.23, Z:-1.94 [[ 9.99552786e-01 -2.74062430e-02 1.19635384e-02 5.69217470e+01] [ 2.74007314e-02 9.99624334e-01 6.24399247e-04 -3.22849735e+00] [-1.19761565e-02 -2.96310305e-04 9.99928239e-01 -1.94441055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519072329 meters 0.08389326131286046 Centerline is valid? [True, True] Translation: X:56.98, Y:-3.22, Z:-1.95 [[ 9.99682509e-01 -2.30836859e-02 1.01006993e-02 5.69815981e+01] [ 2.30795260e-02 9.99733493e-01 5.28233671e-04 -3.21907618e+00] [-1.01102010e-02 -2.94946609e-04 9.99948847e-01 -1.94643830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579072329 meters 0.08503515357890784 Centerline is valid? [True, True] Translation: X:57.04, Y:-3.21, Z:-1.95 [[ 9.99768585e-01 -1.93285900e-02 9.44366327e-03 5.70410672e+01] [ 1.93247889e-02 9.99813137e-01 4.93598119e-04 -3.20810778e+00] [-9.45143916e-03 -3.10987093e-04 9.99955286e-01 -1.94741926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63907232899999 meters 0.08694937521708677 Centerline is valid? [True, True] Translation: X:57.10, Y:-3.19, Z:-1.95 [[ 9.99817919e-01 -1.64945066e-02 9.59483573e-03 5.70990576e+01] [ 1.64904532e-02 9.99863898e-01 5.01419504e-04 -3.19078671e+00] [-9.60180052e-03 -3.43105015e-04 9.99953843e-01 -1.95377780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69907232899999 meters 0.0870155540977416 Centerline is valid? [True, True] Translation: X:57.16, Y:-3.18, Z:-1.95 [[ 9.99874130e-01 -1.36639009e-02 8.06363931e-03 5.71577257e+01] [ 1.36609510e-02 9.99906596e-01 4.20795467e-04 -3.18141883e+00] [-8.06863584e-03 -3.10585520e-04 9.99967400e-01 -1.95463143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75907232899999 meters 0.08735355543560148 Centerline is valid? [True, True] Translation: X:57.22, Y:-3.17, Z:-1.95 [[ 9.99874323e-01 -1.32966993e-02 8.63345389e-03 5.72160924e+01] [ 1.32933346e-02 9.99911540e-01 4.47002322e-04 -3.17353053e+00] [-8.63863383e-03 -3.32178753e-04 9.99962631e-01 -1.95270103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.819072329 meters 0.08849186390723479 Centerline is valid? [True, True] Translation: X:57.27, Y:-3.16, Z:-1.95 [[ 9.99906260e-01 -1.11803673e-02 7.90387644e-03 5.72746009e+01] [ 1.11774367e-02 9.99937444e-01 4.14859328e-04 -3.15974086e+00] [-7.90802029e-03 -3.26475360e-04 9.99968678e-01 -1.95424126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879072329 meters 0.0890498826176766 Centerline is valid? [True, True] Translation: X:57.33, Y:-3.15, Z:-1.96 [[ 9.99923500e-01 -1.02475531e-02 6.92682024e-03 5.73327872e+01] [ 1.02453100e-02 9.99947451e-01 3.59237529e-04 -3.14991563e+00] [-6.93013755e-03 -2.88242627e-04 9.99975945e-01 -1.95790486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939072329 meters 0.08969368394233093 Centerline is valid? [True, True] Translation: X:57.39, Y:-3.14, Z:-1.96 [[ 9.99932757e-01 -9.05787210e-03 7.24124020e-03 5.73907008e+01] [ 9.05537451e-03 9.99958928e-01 3.77625683e-04 -3.13565191e+00] [-7.24436328e-03 -3.12028149e-04 9.99973711e-01 -1.96067701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99907232899999 meters 0.09061904122563734 Centerline is valid? [True, True] Translation: X:57.45, Y:-3.13, Z:-1.96 [[ 9.99928277e-01 -7.98080958e-03 8.93009682e-03 5.74482516e+01] [ 7.97689651e-03 9.99968072e-01 4.73721781e-04 -3.12506039e+00] [-8.93359238e-03 -4.02453347e-04 9.99960014e-01 -1.95899282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05907232899999 meters 0.08809514143145272 Centerline is valid? [True, True] Translation: X:57.51, Y:-3.12, Z:-1.95 [[ 9.99923486e-01 -6.53557969e-03 1.05027399e-02 5.75088866e+01] [ 6.53005146e-03 9.99978522e-01 5.60567550e-04 -3.12177836e+00] [-1.05061779e-02 -4.91941227e-04 9.99944688e-01 -1.95154468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11907232899999 meters 0.08855657096342318 Centerline is valid? [True, True] Translation: X:57.57, Y:-3.11, Z:-1.96 [[ 9.99942481e-01 -5.16782041e-03 9.39831653e-03 5.75693247e+01] [ 5.16332917e-03 9.99986544e-01 5.02077418e-04 -3.11189837e+00] [-9.40078471e-03 -4.53521937e-04 9.99955709e-01 -1.95512813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.179072329 meters 0.088088397894617 Centerline is valid? [True, True] Translation: X:57.63, Y:-3.11, Z:-1.96 [[ 9.99966223e-01 -4.32156836e-03 6.99113219e-03 5.76300899e+01] [ 4.31906224e-03 9.99990603e-01 3.73530186e-04 -3.10699081e+00] [-6.99268073e-03 -3.43322435e-04 9.99975492e-01 -1.95654304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239072329 meters 0.08808957756551593 Centerline is valid? [True, True] Translation: X:57.69, Y:-3.10, Z:-1.96 [[ 9.99964380e-01 -6.48856153e-03 5.39791934e-03 5.76905746e+01] [ 6.48709305e-03 9.99978917e-01 2.89510904e-04 -3.10088087e+00] [-5.39968405e-03 -2.54483787e-04 9.99985389e-01 -1.96060926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299072329 meters 0.08767351131999533 Centerline is valid? [True, True] Translation: X:57.75, Y:-3.10, Z:-1.96 [[ 9.99959450e-01 -7.20661997e-03 5.40031037e-03 5.77497150e+01] [ 7.20517647e-03 9.99974001e-01 2.86706083e-04 -3.09805652e+00] [-5.40223615e-03 -2.47784268e-04 9.99985377e-01 -1.96329699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359072329 meters 0.0866574903686337 Centerline is valid? [True, True] Translation: X:57.81, Y:-3.10, Z:-1.96 [[ 9.99931333e-01 -9.46334585e-03 6.91186635e-03 5.78097196e+01] [ 9.46103364e-03 9.99955176e-01 3.67147837e-04 -3.09679239e+00] [-6.91503098e-03 -3.01729226e-04 9.99976045e-01 -1.96289289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41907232899999 meters 0.08503028454433972 Centerline is valid? [True, True] Translation: X:57.87, Y:-3.10, Z:-1.96 [[ 9.99912227e-01 -1.04231615e-02 8.17904305e-03 5.78687552e+01] [ 1.04199965e-02 9.99945618e-01 4.29481734e-04 -3.09829001e+00] [-8.18307481e-03 -3.44218437e-04 9.99966459e-01 -1.95989267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47907232899999 meters 0.08609255946387659 Centerline is valid? [True, True] Translation: X:57.93, Y:-3.09, Z:-1.97 [[ 9.99916597e-01 -9.77043256e-03 8.44619183e-03 5.79256640e+01] [ 9.76697551e-03 9.99952200e-01 4.50453669e-04 -3.08902493e+00] [-8.45018924e-03 -3.67922351e-04 9.99964229e-01 -1.96538557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53907232899999 meters 0.08843661514995306 Centerline is valid? [True, True] Translation: X:57.98, Y:-3.08, Z:-1.97 [[ 9.99934579e-01 -9.06390411e-03 6.97736013e-03 5.79838815e+01] [ 9.06152371e-03 9.99958874e-01 3.72698751e-04 -3.08213485e+00] [-6.98045129e-03 -3.09448854e-04 9.99975588e-01 -1.97074443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599072329 meters 0.08617928249232783 Centerline is valid? [True, True] Translation: X:58.04, Y:-3.09, Z:-1.97 [[ 9.99936875e-01 -8.99789441e-03 6.72933102e-03 5.80432767e+01] [ 8.99571044e-03 9.99959475e-01 3.54743631e-04 -3.08903160e+00] [-6.73225026e-03 -2.94186125e-04 9.99977295e-01 -1.96577581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659072329 meters 0.08724693279513897 Centerline is valid? [True, True] Translation: X:58.10, Y:-3.08, Z:-1.97 [[ 9.99919417e-01 -1.04946713e-02 7.14289117e-03 5.81013117e+01] [ 1.04921961e-02 9.99944882e-01 3.83909898e-04 -3.08386918e+00] [-7.14652647e-03 -3.08934347e-04 9.99974416e-01 -1.97409652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719072329 meters 0.09007120738380474 Centerline is valid? [True, True] Translation: X:58.16, Y:-3.08, Z:-1.98 [[ 9.99919829e-01 -9.48381583e-03 8.39002156e-03 5.81591597e+01] [ 9.48036969e-03 9.99954959e-01 4.50419301e-04 -3.07651130e+00] [-8.39391536e-03 -3.70842685e-04 9.99964702e-01 -1.98074320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77907232899999 meters 0.08728569175822314 Centerline is valid? [True, True] Translation: X:58.22, Y:-3.08, Z:-1.97 [[ 9.99922368e-01 -7.62460114e-03 9.85514344e-03 5.82193458e+01] [ 7.61976617e-03 9.99970830e-01 5.28058338e-04 -3.08453140e+00] [-9.85888220e-03 -4.52923455e-04 9.99951297e-01 -1.97387441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83907232899999 meters 0.08677523597101178 Centerline is valid? [True, True] Translation: X:58.28, Y:-3.09, Z:-1.97 [[ 9.99921625e-01 -6.08077881e-03 1.09438151e-02 5.82798834e+01] [ 6.07461946e-03 9.99981372e-01 5.95968574e-04 -3.08587724e+00] [-1.09472352e-02 -5.29442353e-04 9.99939937e-01 -1.97285078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89907232899999 meters 0.08962910613043817 Centerline is valid? [True, True] Translation: X:58.34, Y:-3.08, Z:-1.97 [[ 9.99912409e-01 -2.68396027e-03 1.29603766e-02 5.83398770e+01] [ 2.67501491e-03 9.99996172e-01 7.07494407e-04 -3.08331017e+00] [-1.29622259e-02 -6.72763236e-04 9.99915760e-01 -1.97357523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.959072329 meters 0.09065566846575825 Centerline is valid? [True, True] Translation: X:58.40, Y:-3.08, Z:-1.98 [[ 9.99914279e-01 9.56898064e-04 1.30583182e-02 5.84007934e+01] [-9.66258632e-04 9.99999281e-01 7.10537648e-04 -3.07975031e+00] [-1.30576289e-02 -7.23094453e-04 9.99914484e-01 -1.97765042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019072329 meters 0.09238500271375177 Centerline is valid? [True, True] Translation: X:58.46, Y:-3.08, Z:-1.98 [[ 9.99904792e-01 7.54643502e-03 1.15523957e-02 5.84607655e+01] [-7.55419645e-03 9.99971269e-01 6.28356628e-04 -3.07573766e+00] [-1.15473219e-02 -7.15565870e-04 9.99933071e-01 -1.98349757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079072329 meters 0.09527538440222272 Centerline is valid? [True, True] Translation: X:58.52, Y:-3.07, Z:-1.99 [[ 9.99894010e-01 9.84182750e-03 1.07288463e-02 5.85203515e+01] [-9.84864899e-03 9.99951331e-01 5.83159219e-04 -3.07297957e+00] [-1.07225848e-02 -6.88762051e-04 9.99942274e-01 -1.98724314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13907232899999 meters 0.0948448525502321 Centerline is valid? [True, True] Translation: X:58.58, Y:-3.08, Z:-1.99 [[ 9.99890407e-01 7.89728738e-03 1.25222595e-02 5.85815425e+01] [-7.90643319e-03 9.99968512e-01 6.81026651e-04 -3.08024109e+00] [-1.25164869e-02 -7.79958424e-04 9.99921362e-01 -1.98633570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19907232899999 meters 0.09266391646039741 Centerline is valid? [True, True] Translation: X:58.64, Y:-3.09, Z:-1.99 [[ 9.99882909e-01 6.34733991e-03 1.39240535e-02 5.86435108e+01] [-6.35851198e-03 9.99979497e-01 7.58233257e-04 -3.08758825e+00] [-1.39189552e-02 -8.46680736e-04 9.99902768e-01 -1.98902773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25907232899999 meters 0.09245424614624008 Centerline is valid? [True, True] Translation: X:58.71, Y:-3.09, Z:-1.99 [[ 9.99882384e-01 4.81746898e-03 1.45605348e-02 5.87057711e+01] [-4.82949959e-03 9.99988025e-01 7.91198841e-04 -3.09175056e+00] [-1.45565489e-02 -8.61425881e-04 9.99893677e-01 -1.99000271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.319072329 meters 0.09075650516507279 Centerline is valid? [True, True] Translation: X:58.77, Y:-3.10, Z:-1.99 [[ 9.99856930e-01 1.02132782e-03 1.68842002e-02 5.87672849e+01] [-1.03693086e-03 9.99999043e-01 9.15391999e-04 -3.10107388e+00] [-1.68832491e-02 -9.32768782e-04 9.99857033e-01 -1.98988324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379072329 meters 0.09099017597645606 Centerline is valid? [True, True] Translation: X:58.83, Y:-3.10, Z:-1.99 [[ 9.99874530e-01 1.97436244e-03 1.57170720e-02 5.88292290e+01] [-1.98802048e-03 9.99997660e-01 8.53417152e-04 -3.10108084e+00] [-1.57153502e-02 -8.84555934e-04 9.99876115e-01 -1.99439819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439072329 meters 0.09412219448217675 Centerline is valid? [True, True] Translation: X:58.89, Y:-3.10, Z:-2.00 [[ 9.99862459e-01 5.76511325e-03 1.55507547e-02 5.88890770e+01] [-5.77890700e-03 9.99982947e-01 8.42223962e-04 -3.09594277e+00] [-1.55456340e-02 -9.31974487e-04 9.99878725e-01 -1.99851519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49907232899999 meters 0.0945162985828102 Centerline is valid? [True, True] Translation: X:58.95, Y:-3.10, Z:-2.00 [[ 9.99825754e-01 9.21466431e-03 1.62342962e-02 5.89499398e+01] [-9.23014916e-03 9.99957015e-01 8.79165091e-04 -3.09621967e+00] [-1.62254972e-02 -1.02885688e-03 9.99867829e-01 -1.99938006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55907232899999 meters 0.09528904858959032 Centerline is valid? [True, True] Translation: X:59.01, Y:-3.09, Z:-2.00 [[ 9.99792752e-01 1.20931526e-02 1.63770666e-02 5.90106884e+01] [-1.21092974e-02 9.99926286e-01 8.87009931e-04 -3.09339344e+00] [-1.63651326e-02 -1.08514087e-03 9.99865493e-01 -2.00133830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61907232899999 meters 0.0965267833138842 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.09, Z:-2.01 [[ 9.99734682e-01 1.64238690e-02 1.61500111e-02 5.90712988e+01] [-1.64401119e-02 9.99864471e-01 8.73495490e-04 -3.08763474e+00] [-1.61334761e-02 -1.13877172e-03 9.99869199e-01 -2.00566884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.679072329 meters 0.09878250009881329 Centerline is valid? [True, True] Translation: X:59.13, Y:-3.08, Z:-2.01 [[ 9.99711198e-01 1.70496033e-02 1.69361110e-02 5.91316507e+01] [-1.70676126e-02 9.99853915e-01 9.19385435e-04 -3.08360089e+00] [-1.69179617e-02 -1.20817890e-03 9.99856151e-01 -2.00803386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739072329 meters 0.09809082540756124 Centerline is valid? [True, True] Translation: X:59.19, Y:-3.08, Z:-2.01 [[ 9.99727733e-01 1.65385338e-02 1.64601719e-02 5.91937784e+01] [-1.65554442e-02 9.99862552e-01 8.91612095e-04 -3.08172947e+00] [-1.64431635e-02 -1.16387480e-03 9.99864125e-01 -2.00970891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799072329 meters 0.09724457273358252 Centerline is valid? [True, True] Translation: X:59.25, Y:-3.08, Z:-2.01 [[ 9.99776463e-01 1.33481767e-02 1.63966597e-02 5.92545617e+01] [-1.33643992e-02 9.99910305e-01 8.80200198e-04 -3.07716143e+00] [-1.63834399e-02 -1.09913495e-03 9.99865178e-01 -2.01469579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859072329 meters 0.09377680142136623 Centerline is valid? [True, True] Translation: X:59.31, Y:-3.08, Z:-2.02 [[ 9.99892132e-01 4.74584849e-03 1.38996789e-02 5.93148048e+01] [-4.75666755e-03 9.99988409e-01 7.45411670e-04 -3.08465893e+00] [-1.38959802e-02 -8.11447416e-04 9.99903117e-01 -2.01912190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91907232899999 meters 0.08912636100907609 Centerline is valid? [True, True] Translation: X:59.38, Y:-3.09, Z:-2.02 [[ 9.99890701e-01 -3.49154456e-03 1.43664691e-02 5.93757170e+01] [ 3.48082537e-03 9.99993645e-01 7.71062735e-04 -3.09355464e+00] [-1.43690700e-02 -7.20971288e-04 9.99896500e-01 -2.01971139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97907232899999 meters 0.08190120988430177 Centerline is valid? [True, True] Translation: X:59.44, Y:-3.11, Z:-2.02 [[ 9.99750316e-01 -1.62447770e-02 1.53431967e-02 5.94373772e+01] [ 1.62340541e-02 9.99867880e-01 8.23167740e-04 -3.11119478e+00] [-1.53545418e-02 -5.73879922e-04 9.99881947e-01 -2.01865129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03907232899999 meters 0.07959093755308176 Centerline is valid? [True, True] Translation: X:59.50, Y:-3.12, Z:-2.02 [[ 9.99619510e-01 -2.37498385e-02 1.40278610e-02 5.94979639e+01] [ 2.37416146e-02 9.99717845e-01 7.52511758e-04 -3.11809568e+00] [-1.40417750e-02 -4.19181365e-04 9.99901322e-01 -2.02272780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099072329 meters 0.07698048286740138 Centerline is valid? [True, True] Translation: X:59.56, Y:-3.13, Z:-2.03 [[ 9.99266314e-01 -3.59275379e-02 1.32681875e-02 5.95594410e+01] [ 3.59212542e-02 9.99354370e-01 7.11678270e-04 -3.12926129e+00] [-1.32851900e-02 -2.34546186e-04 9.99911720e-01 -2.02686358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159072329 meters 0.07458565714778381 Centerline is valid? [True, True] Translation: X:59.62, Y:-3.14, Z:-2.02 [[ 9.98758684e-01 -4.71916760e-02 1.59385609e-02 5.96205407e+01] [ 4.71840387e-02 9.98885847e-01 8.55091221e-04 -3.14246396e+00] [-1.59611561e-02 -1.01984108e-04 9.99872607e-01 -2.02447503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219072329 meters 0.07434927500125868 Centerline is valid? [True, True] Translation: X:59.68, Y:-3.14, Z:-2.03 [[ 9.98590044e-01 -5.05833555e-02 1.61012013e-02 5.96792857e+01] [ 5.05760668e-02 9.98719842e-01 8.59815998e-04 -3.14263720e+00] [-1.61240816e-02 -4.42682610e-05 9.99869998e-01 -2.02607617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27907232899999 meters 0.07430170865314897 Centerline is valid? [True, True] Translation: X:59.74, Y:-3.14, Z:-2.03 [[ 9.98333947e-01 -5.58415394e-02 1.45276270e-02 5.97375510e+01] [ 5.58360788e-02 9.98439643e-01 7.81528549e-04 -3.14194562e+00] [-1.45486005e-02 3.09392445e-05 9.99894163e-01 -2.03268440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33907232899999 meters 0.07421758438484682 Centerline is valid? [True, True] Translation: X:59.80, Y:-3.14, Z:-2.03 [[ 9.98194049e-01 -5.85517260e-02 1.34289370e-02 5.97963645e+01] [ 5.85473407e-02 9.98284374e-01 7.19790003e-04 -3.14108546e+00] [-1.34480429e-02 6.77384550e-05 9.99909569e-01 -2.03275872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39907232899999 meters 0.07385696931094327 Centerline is valid? [True, True] Translation: X:59.86, Y:-3.14, Z:-2.03 [[ 9.98023206e-01 -6.10687102e-02 1.48422956e-02 5.98550987e+01] [ 6.10635650e-02 9.98133559e-01 8.00025560e-04 -3.13959120e+00] [-1.48634499e-02 1.07879410e-04 9.99889527e-01 -2.03339804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.459072329 meters 0.07388176168811869 Centerline is valid? [True, True] Translation: X:59.91, Y:-3.13, Z:-2.04 [[ 9.98020182e-01 -6.10862331e-02 1.49729325e-02 5.99125227e+01] [ 6.10809562e-02 9.98132487e-01 8.09914346e-04 -3.13208372e+00] [-1.49944450e-02 1.06250171e-04 9.99887571e-01 -2.03540293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519072329 meters 0.07349253859654346 Centerline is valid? [True, True] Translation: X:59.97, Y:-3.13, Z:-2.04 [[ 9.98048042e-01 -6.02218896e-02 1.65357370e-02 5.99702370e+01] [ 6.02151846e-02 9.98185011e-01 9.03526046e-04 -3.12641782e+00] [-1.65601368e-02 9.39400533e-05 9.99862867e-01 -2.03544218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579072329 meters 0.07329840957656031 Centerline is valid? [True, True] Translation: X:60.03, Y:-3.12, Z:-2.04 [[ 9.98144968e-01 -5.87652443e-02 1.59144489e-02 6.00284559e+01] [ 5.87588873e-02 9.98271827e-01 8.67148255e-04 -3.11950568e+00] [-1.59379042e-02 6.95756441e-05 9.99872981e-01 -2.03759109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63907232899999 meters 0.07333849340603556 Centerline is valid? [True, True] Translation: X:60.09, Y:-3.11, Z:-2.04 [[ 9.98307761e-01 -5.58585928e-02 1.61688278e-02 6.00863427e+01] [ 5.58515676e-02 9.98438690e-01 8.86076965e-04 -3.10790017e+00] [-1.61930783e-02 1.84768680e-05 9.99868883e-01 -2.04154531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69907232899999 meters 0.07391230880928262 Centerline is valid? [True, True] Translation: X:60.14, Y:-3.10, Z:-2.04 [[ 9.98456192e-01 -5.31884383e-02 1.60069315e-02 6.01438543e+01] [ 5.31811047e-02 9.98584493e-01 8.83767864e-04 -3.09826623e+00] [-1.60312798e-02 -3.11371964e-05 9.99871490e-01 -2.04359406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75907232899999 meters 0.07437593089059526 Centerline is valid? [True, True] Translation: X:60.20, Y:-3.09, Z:-2.04 [[ 9.98517670e-01 -5.22003356e-02 1.54138883e-02 6.02021699e+01] [ 5.21934503e-02 9.98636632e-01 8.48908043e-04 -3.09121100e+00] [-1.54371868e-02 -4.31456662e-05 9.99880839e-01 -2.04371560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.819072329 meters 0.07440686661044058 Centerline is valid? [True, True] Translation: X:60.26, Y:-3.09, Z:-2.04 [[ 9.98436270e-01 -5.32528782e-02 1.70042884e-02 6.02607654e+01] [ 5.32445667e-02 9.98581058e-01 9.41461388e-04 -3.08822919e+00] [-1.70302958e-02 -3.46032316e-05 9.99854973e-01 -2.04445418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879072329 meters 0.07463626282034423 Centerline is valid? [True, True] Translation: X:60.32, Y:-3.08, Z:-2.04 [[ 9.98368080e-01 -5.43589347e-02 1.75009323e-02 6.03195152e+01] [ 5.43502226e-02 9.98521460e-01 9.73402570e-04 -3.08332918e+00] [-1.75279696e-02 -2.06344875e-05 9.99846373e-01 -2.04484522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939072329 meters 0.07496652706272541 Centerline is valid? [True, True] Translation: X:60.38, Y:-3.08, Z:-2.05 [[ 9.98286789e-01 -5.63145048e-02 1.58796771e-02 6.03784949e+01] [ 5.63075331e-02 9.98413079e-01 8.86143256e-04 -3.07980497e+00] [-1.59043800e-02 9.52033948e-06 9.99873517e-01 -2.04927174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99907232899999 meters 0.07537430579191645 Centerline is valid? [True, True] Translation: X:60.44, Y:-3.08, Z:-2.05 [[ 9.98060571e-01 -6.02417433e-02 1.56852857e-02 6.04370064e+01] [ 6.02353347e-02 9.98183815e-01 8.81119538e-04 -3.08108641e+00] [-1.57098785e-02 6.53977643e-05 9.99876590e-01 -2.05117501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05907232899999 meters 0.07526914314407404 Centerline is valid? [True, True] Translation: X:60.50, Y:-3.08, Z:-2.05 [[ 9.97866419e-01 -6.30063982e-02 1.71114825e-02 6.04957973e+01] [ 6.29991689e-02 9.98013116e-01 9.61733098e-04 -3.07857377e+00] [-1.71380793e-02 1.18328010e-04 9.99853125e-01 -2.05075327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11907232899999 meters 0.07579822788285011 Centerline is valid? [True, True] Translation: X:60.55, Y:-3.08, Z:-2.06 [[ 9.97825431e-01 -6.41086604e-02 1.53130231e-02 6.05533927e+01] [ 6.41029127e-02 9.97942917e-01 8.66389729e-04 -3.07612118e+00] [-1.53370661e-02 1.17103680e-04 9.99882373e-01 -2.05652936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.179072329 meters 0.0762229879456054 Centerline is valid? [True, True] Translation: X:60.61, Y:-3.07, Z:-2.06 [[ 9.97788940e-01 -6.51614743e-02 1.30848442e-02 6.06106468e+01] [ 6.51573589e-02 9.97874726e-01 7.41027972e-04 -3.07253390e+00] [-1.31053218e-02 1.13184372e-04 9.99914115e-01 -2.06308115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239072329 meters 0.07584535046388029 Centerline is valid? [True, True] Translation: X:60.67, Y:-3.07, Z:-2.06 [[ 9.97766375e-01 -6.54675726e-02 1.32761855e-02 6.06682723e+01] [ 6.54634048e-02 9.97854690e-01 7.48727362e-04 -3.06573519e+00] [-1.32967214e-02 1.22049323e-04 9.99911587e-01 -2.06410880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299072329 meters 0.07565438161323405 Centerline is valid? [True, True] Translation: X:60.73, Y:-3.06, Z:-2.06 [[ 9.97882542e-01 -6.39412687e-02 1.19141608e-02 6.07274368e+01] [ 6.39377707e-02 9.97953659e-01 6.74660784e-04 -3.06086366e+00] [-1.19329190e-02 8.85326637e-05 9.99928796e-01 -2.06349781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35907232899999 meters 0.07553668373953006 Centerline is valid? [True, True] Translation: X:60.78, Y:-3.05, Z:-2.07 [[ 9.98102118e-01 -6.06152098e-02 1.08608393e-02 6.07845346e+01] [ 6.06120439e-02 9.98161207e-01 6.20726175e-04 -3.05248737e+00] [-1.08784939e-02 3.87495600e-05 9.99940827e-01 -2.06685237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41907232899999 meters 0.07539207995356449 Centerline is valid? [True, True] Translation: X:60.84, Y:-3.04, Z:-2.07 [[ 9.98374051e-01 -5.55290142e-02 1.28756896e-02 6.08433085e+01] [ 5.55241590e-02 9.98457074e-01 7.34519791e-04 -3.03981789e+00] [-1.28966105e-02 -1.84136622e-05 9.99916835e-01 -2.06937027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47907232899999 meters 0.07643364574964327 Centerline is valid? [True, True] Translation: X:60.90, Y:-3.02, Z:-2.07 [[ 9.98992735e-01 -4.27713016e-02 1.35694624e-02 6.09021272e+01] [ 4.27646319e-02 9.99084869e-01 7.81435295e-04 -3.01909301e+00] [-1.35904676e-02 -2.00355118e-04 9.99907625e-01 -2.07052236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53907232899999 meters 0.07846002117906486 Centerline is valid? [True, True] Translation: X:60.96, Y:-3.00, Z:-2.07 [[ 9.99383870e-01 -3.25244024e-02 1.31925546e-02 6.09613886e+01] [ 3.25171970e-02 9.99470887e-01 7.60360686e-04 -3.00340450e+00] [-1.32103045e-02 -3.30907307e-04 9.99912685e-01 -2.07147091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599072329 meters 0.07984582469427338 Centerline is valid? [True, True] Translation: X:61.02, Y:-2.99, Z:-2.07 [[ 9.99502340e-01 -2.73331704e-02 1.57470818e-02 6.10203506e+01] [ 2.73222550e-02 9.99626265e-01 9.07932579e-04 -2.99166254e+00] [-1.57660132e-02 -4.77234953e-04 9.99875595e-01 -2.07091760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659072329 meters 0.08128356997507943 Centerline is valid? [True, True] Translation: X:61.08, Y:-2.98, Z:-2.07 [[ 9.99581026e-01 -2.35748846e-02 1.67927509e-02 6.10798156e+01] [ 2.35619305e-02 9.99721910e-01 9.68866232e-04 -2.98220210e+00] [-1.68109219e-02 -5.72790673e-04 9.99858522e-01 -2.07293083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719072329 meters 0.08045870867300046 Centerline is valid? [True, True] Translation: X:61.14, Y:-2.98, Z:-2.08 [[ 9.99594482e-01 -2.44785105e-02 1.45490214e-02 6.11385270e+01] [ 2.44689421e-02 9.99700242e-01 8.35337288e-04 -2.98169856e+00] [-1.45651080e-02 -4.78999381e-04 9.99893808e-01 -2.07740831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77907232899999 meters 0.07932117046570684 Centerline is valid? [True, True] Translation: X:61.20, Y:-2.98, Z:-2.08 [[ 9.99498830e-01 -2.72803942e-02 1.60583237e-02 6.11981417e+01] [ 2.72690188e-02 9.99627701e-01 9.26957251e-04 -2.98318026e+00] [-1.60776330e-02 -4.88597955e-04 9.99870627e-01 -2.07764909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83907232899999 meters 0.0789221222676468 Centerline is valid? [True, True] Translation: X:61.26, Y:-2.98, Z:-2.08 [[ 9.99408307e-01 -3.07984745e-02 1.53130551e-02 6.12558798e+01] [ 3.07884525e-02 9.99525527e-01 8.89847059e-04 -2.98476642e+00] [-1.53331954e-02 -4.17855274e-04 9.99882352e-01 -2.08130678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89907232899999 meters 0.07828370369960319 Centerline is valid? [True, True] Translation: X:61.31, Y:-2.99, Z:-2.08 [[ 9.99341390e-01 -3.32392816e-02 1.45580354e-02 6.13148189e+01] [ 3.32305133e-02 9.99447358e-01 8.43850811e-04 -2.98594693e+00] [-1.45780390e-02 -3.59524052e-04 9.99893670e-01 -2.08475732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.959072329 meters 0.07756562922905448 Centerline is valid? [True, True] Translation: X:61.37, Y:-2.99, Z:-2.09 [[ 9.99277625e-01 -3.47515518e-02 1.53804350e-02 6.13743945e+01] [ 3.47418831e-02 9.99395917e-01 8.95460283e-04 -2.98769567e+00] [-1.54022625e-02 -3.60468151e-04 9.99881313e-01 -2.08616900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019072329 meters 0.07774554896822007 Centerline is valid? [True, True] Translation: X:61.43, Y:-2.99, Z:-2.09 [[ 9.99295051e-01 -3.44197890e-02 1.49892753e-02 6.14325882e+01] [ 3.44104689e-02 9.99407398e-01 8.79325760e-04 -2.98713455e+00] [-1.50106588e-02 -3.62917890e-04 9.99887268e-01 -2.08850865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079072329 meters 0.07790468755661573 Centerline is valid? [True, True] Translation: X:61.49, Y:-2.98, Z:-2.09 [[ 9.99359681e-01 -3.26989421e-02 1.45260638e-02 6.14914134e+01] [ 3.26900400e-02 9.99465176e-01 8.49922240e-04 -2.98469706e+00] [-1.45460864e-02 -3.74520414e-04 9.99894130e-01 -2.09116349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13907232899999 meters 0.07909976360966019 Centerline is valid? [True, True] Translation: X:61.55, Y:-2.98, Z:-2.10 [[ 9.99454380e-01 -2.99289918e-02 1.39713092e-02 6.15492583e+01] [ 2.99203912e-02 9.99551945e-01 8.24256801e-04 -2.97842673e+00] [-1.39897185e-02 -4.05780034e-04 9.99902057e-01 -2.09658458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19907232899999 meters 0.07946831160807213 Centerline is valid? [True, True] Translation: X:61.61, Y:-2.98, Z:-2.10 [[ 9.99487966e-01 -2.82632021e-02 1.49998799e-02 6.16079091e+01] [ 2.82531349e-02 9.99600411e-01 8.82681307e-04 -2.97571609e+00] [-1.50188335e-02 -4.58435714e-04 9.99887106e-01 -2.09792739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25907232899999 meters 0.08035634994826045 Centerline is valid? [True, True] Translation: X:61.67, Y:-2.97, Z:-2.10 [[ 9.99525499e-01 -2.56554335e-02 1.70462576e-02 6.16670815e+01] [ 2.56419643e-02 9.99670682e-01 1.00829149e-03 -2.97101278e+00] [-1.70665121e-02 -5.70713530e-04 9.99854194e-01 -2.10005058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.319072329 meters 0.08212171516419159 Centerline is valid? [True, True] Translation: X:61.73, Y:-2.96, Z:-2.10 [[ 9.99611300e-01 -2.20860982e-02 1.70133214e-02 6.17251308e+01] [ 2.20720468e-02 9.99755869e-01 1.01325700e-03 -2.96296814e+00] [-1.70315468e-02 -6.37344321e-04 9.99854750e-01 -2.10314111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379072329 meters 0.08519485089702232 Centerline is valid? [True, True] Translation: X:61.78, Y:-2.95, Z:-2.11 [[ 9.99731461e-01 -1.60228949e-02 1.67413294e-02 6.17846248e+01] [ 1.60083950e-02 9.99871358e-01 9.99770571e-04 -2.95355501e+00] [-1.67551950e-02 -7.31500279e-04 9.99859354e-01 -2.10621818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439072329 meters 0.08871576656039612 Centerline is valid? [True, True] Translation: X:61.84, Y:-2.94, Z:-2.11 [[ 9.99764525e-01 -1.16624828e-02 1.82997612e-02 6.18430564e+01] [ 1.16444371e-02 9.99931605e-01 1.09236497e-03 -2.94468962e+00] [-1.83112493e-02 -8.79017325e-04 9.99831949e-01 -2.10737180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49907232899999 meters 0.0905634336810931 Centerline is valid? [True, True] Translation: X:61.90, Y:-2.94, Z:-2.11 [[ 9.99744670e-01 -9.02337474e-03 2.07164986e-02 6.19038288e+01] [ 8.99964505e-03 9.99958736e-01 1.23839542e-03 -2.93735109e+00] [-2.07268183e-02 -1.05163808e-03 9.99784623e-01 -2.10895360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55907232899999 meters 0.09248307962896526 Centerline is valid? [True, True] Translation: X:61.96, Y:-2.93, Z:-2.11 [[ 9.99773283e-01 -7.37970803e-03 1.99730199e-02 6.19642082e+01] [ 7.35733590e-03 9.99972222e-01 1.19336810e-03 -2.93116256e+00] [-1.99812718e-02 -1.04614933e-03 9.99799807e-01 -2.11431373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61907232899999 meters 0.09246743322711 Centerline is valid? [True, True] Translation: X:62.03, Y:-2.93, Z:-2.12 [[ 9.99797990e-01 -7.38716081e-03 1.86925072e-02 6.20265154e+01] [ 7.36756662e-03 9.99972235e-01 1.11688684e-03 -2.92875939e+00] [-1.87002388e-02 -9.78942924e-04 9.99824656e-01 -2.11795695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.679072329 meters 0.08657046430452467 Centerline is valid? [True, True] Translation: X:62.09, Y:-2.94, Z:-2.12 [[ 9.99761831e-01 -1.11808554e-02 1.87422101e-02 6.20882447e+01] [ 1.11618576e-02 9.99937080e-01 1.11794021e-03 -2.94161835e+00] [-1.87535303e-02 -9.08476071e-04 9.99823724e-01 -2.11777918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739072329 meters 0.08588301748447359 Centerline is valid? [True, True] Translation: X:62.15, Y:-2.94, Z:-2.12 [[ 9.99683015e-01 -1.66518576e-02 1.88834465e-02 6.21481234e+01] [ 1.66335621e-02 9.99861019e-01 1.12552515e-03 -2.94354492e+00] [-1.88995641e-02 -8.11069401e-04 9.99821058e-01 -2.12189090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799072329 meters 0.08222154730877944 Centerline is valid? [True, True] Translation: X:62.21, Y:-2.95, Z:-2.12 [[ 9.99586504e-01 -2.06618445e-02 1.99977512e-02 6.22090818e+01] [ 2.06421283e-02 9.99786218e-01 1.19186087e-03 -2.95052154e+00] [-2.00181021e-02 -7.78571899e-04 9.99799315e-01 -2.12300822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85907232899999 meters 0.08009531653681536 Centerline is valid? [True, True] Translation: X:62.27, Y:-2.96, Z:-2.12 [[ 9.99469516e-01 -2.51968202e-02 2.06350770e-02 6.22693668e+01] [ 2.51767735e-02 9.99682257e-01 1.23074435e-03 -2.95791519e+00] [-2.06595312e-02 -7.10566796e-04 9.99786317e-01 -2.12314242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91907232899999 meters 0.08176483833150758 Centerline is valid? [True, True] Translation: X:62.33, Y:-2.95, Z:-2.13 [[ 9.99401816e-01 -2.81986519e-02 2.00211657e-02 6.23269366e+01] [ 2.81803851e-02 9.99602141e-01 1.19397279e-03 -2.95102600e+00] [-2.00468686e-02 -6.29054412e-04 9.99798843e-01 -2.13131926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97907232899999 meters 0.08068880956556586 Centerline is valid? [True, True] Translation: X:62.39, Y:-2.95, Z:-2.13 [[ 9.99387880e-01 -2.85150542e-02 2.02671575e-02 6.23850242e+01] [ 2.84964196e-02 9.99593165e-01 1.20771435e-03 -2.95044158e+00] [-2.02933501e-02 -6.29433657e-04 9.99793871e-01 -2.13305937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03907232899999 meters 0.08009761280332586 Centerline is valid? [True, True] Translation: X:62.44, Y:-2.95, Z:-2.13 [[ 9.99328839e-01 -2.82341363e-02 2.33389377e-02 6.24446008e+01] [ 2.82091692e-02 9.99601064e-01 1.39837011e-03 -2.95056906e+00] [-2.33691088e-02 -7.39059539e-04 9.99726632e-01 -2.13095598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099072329 meters 0.08013879788186713 Centerline is valid? [True, True] Translation: X:62.50, Y:-2.95, Z:-2.14 [[ 9.99323689e-01 -2.88569330e-02 2.27912665e-02 6.25022305e+01] [ 2.88331278e-02 9.99583297e-01 1.37248128e-03 -2.94550460e+00] [-2.28213749e-02 -7.14409555e-04 9.99739303e-01 -2.13571775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159072329 meters 0.08030186664996566 Centerline is valid? [True, True] Translation: X:62.56, Y:-2.94, Z:-2.14 [[ 9.99287067e-01 -2.96048883e-02 2.34287829e-02 6.25597141e+01] [ 2.95798916e-02 9.99561421e-01 1.41283612e-03 -2.94142709e+00] [-2.34603343e-02 -7.18808001e-04 9.99724510e-01 -2.14025074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219072329 meters 0.07854105912756525 Centerline is valid? [True, True] Translation: X:62.62, Y:-2.95, Z:-2.14 [[ 9.99102916e-01 -3.49375767e-02 2.39317599e-02 6.26187998e+01] [ 3.49129674e-02 9.99389311e-01 1.44548941e-03 -2.94592455e+00] [-2.39676469e-02 -6.08663929e-04 9.99712549e-01 -2.14014540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27907232899999 meters 0.07783542379908445 Centerline is valid? [True, True] Translation: X:62.68, Y:-2.95, Z:-2.14 [[ 9.99007633e-01 -3.84380055e-02 2.25004397e-02 6.26771456e+01] [ 3.84171694e-02 9.99260866e-01 1.35771214e-03 -2.94535750e+00] [-2.25359966e-02 -4.91961580e-04 9.99745911e-01 -2.14471479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33907232899999 meters 0.07633789594551166 Centerline is valid? [True, True] Translation: X:62.74, Y:-2.95, Z:-2.15 [[ 9.98822326e-01 -4.25409275e-02 2.33287380e-02 6.27359504e+01] [ 4.25194793e-02 9.99094636e-01 1.41487691e-03 -2.94645219e+00] [-2.33678072e-02 -4.21284854e-04 9.99726847e-01 -2.14617233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39907232899999 meters 0.0762297899575261 Centerline is valid? [True, True] Translation: X:62.79, Y:-2.94, Z:-2.15 [[ 9.98775445e-01 -4.36837901e-02 2.32236176e-02 6.27944911e+01] [ 4.36628563e-02 9.99045331e-01 1.40795508e-03 -2.94255061e+00] [-2.32629516e-02 -3.92221481e-04 9.99729304e-01 -2.14880612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.459072329 meters 0.07533338596603824 Centerline is valid? [True, True] Translation: X:62.85, Y:-2.94, Z:-2.15 [[ 9.98686979e-01 -4.58959939e-02 2.27569023e-02 6.28532613e+01] [ 4.58763597e-02 9.98946166e-01 1.38437898e-03 -2.94078615e+00] [-2.27964577e-02 -3.38557429e-04 9.99740070e-01 -2.15052772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519072329 meters 0.07439895848159962 Centerline is valid? [True, True] Translation: X:62.91, Y:-2.94, Z:-2.15 [[ 9.98429494e-01 -5.08403025e-02 2.35331359e-02 6.29119820e+01] [ 5.08204980e-02 9.98706767e-01 1.43924606e-03 -2.94044427e+00] [-2.35758737e-02 -2.41020030e-04 9.99722021e-01 -2.15255604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579072329 meters 0.07393728365359575 Centerline is valid? [True, True] Translation: X:62.97, Y:-2.94, Z:-2.15 [[ 9.98349279e-01 -5.24388686e-02 2.34282273e-02 6.29707206e+01] [ 5.24196958e-02 9.98624116e-01 1.43217157e-03 -2.93695316e+00] [-2.34710942e-02 -2.01706904e-04 9.99724496e-01 -2.15329193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63907232899999 meters 0.07349641603873595 Centerline is valid? [True, True] Translation: X:63.03, Y:-2.94, Z:-2.15 [[ 9.98111021e-01 -5.69070270e-02 2.31512568e-02 6.30300913e+01] [ 5.68893833e-02 9.98379477e-01 1.42054531e-03 -2.93511276e+00] [-2.31945786e-02 -1.00801214e-04 9.99730964e-01 -2.15457792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69907232899999 meters 0.07389970800417021 Centerline is valid? [True, True] Translation: X:63.09, Y:-2.93, Z:-2.16 [[ 9.98025016e-01 -5.99876446e-02 1.86426851e-02 6.30870419e+01] [ 5.99766454e-02 9.98199119e-01 1.14905289e-03 -2.92954840e+00] [-1.86780408e-02 -2.86578168e-05 9.99825550e-01 -2.16435630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75907232899999 meters 0.07399808406633422 Centerline is valid? [True, True] Translation: X:63.14, Y:-2.93, Z:-2.17 [[ 9.97895657e-01 -6.22160206e-02 1.82599048e-02 6.31449700e+01] [ 6.22058625e-02 9.98062707e-01 1.12431525e-03 -2.92615192e+00] [-1.82944804e-02 1.39238202e-05 9.99832642e-01 -2.16646656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.819072329 meters 0.07390746867531252 Centerline is valid? [True, True] Translation: X:63.20, Y:-2.92, Z:-2.17 [[ 9.97623008e-01 -6.65985702e-02 1.76907739e-02 6.32034813e+01] [ 6.65896023e-02 9.97779847e-01 1.09615393e-03 -2.92402259e+00] [-1.77245000e-02 8.44732175e-05 9.99842905e-01 -2.16589711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879072329 meters 0.07432858355123978 Centerline is valid? [True, True] Translation: X:63.26, Y:-2.92, Z:-2.17 [[ 9.97301306e-01 -7.12620412e-02 1.76586289e-02 6.32609696e+01] [ 7.12537834e-02 9.97457615e-01 1.09716719e-03 -2.92242468e+00] [-1.76919202e-02 1.64037846e-04 9.99843472e-01 -2.16739317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939072329 meters 0.07474503018894005 Centerline is valid? [True, True] Translation: X:63.32, Y:-2.92, Z:-2.17 [[ 9.97099506e-01 -7.42718006e-02 1.66215279e-02 6.33190740e+01] [ 7.42648826e-02 9.97238015e-01 1.03391591e-03 -2.91708450e+00] [-1.66524103e-02 2.03478777e-04 9.99861318e-01 -2.16985191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99907232899999 meters 0.07519295557037504 Centerline is valid? [True, True] Translation: X:63.38, Y:-2.91, Z:-2.17 [[ 9.96929859e-01 -7.66768326e-02 1.58593373e-02 6.33777149e+01] [ 7.66708674e-02 9.97055971e-01 9.84698746e-04 -2.91027245e+00] [-1.58881505e-02 2.34273564e-04 9.99873748e-01 -2.17191353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05907232899999 meters 0.07497629696867136 Centerline is valid? [True, True] Translation: X:63.44, Y:-2.90, Z:-2.17 [[ 9.96897203e-01 -7.72360779e-02 1.51840094e-02 6.34361082e+01] [ 7.72306299e-02 9.97012806e-01 9.45717801e-04 -2.90456220e+00] [-1.52116954e-02 2.29887181e-04 9.99884269e-01 -2.17119160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11907232899999 meters 0.07550612444934279 Centerline is valid? [True, True] Translation: X:63.49, Y:-2.90, Z:-2.17 [[ 9.96780690e-01 -7.89419923e-02 1.40149365e-02 6.34933827e+01] [ 7.89374374e-02 9.96879185e-01 8.78749977e-04 -2.89946799e+00] [-1.40405687e-02 2.30382164e-04 9.99901400e-01 -2.17210007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.179072329 meters 0.07542861626308962 Centerline is valid? [True, True] Translation: X:63.55, Y:-2.89, Z:-2.17 [[ 9.96737866e-01 -7.96685978e-02 1.29050811e-02 6.35521060e+01] [ 7.96648239e-02 9.96821380e-01 8.07056756e-04 -2.89016011e+00] [-1.29283579e-02 2.23656987e-04 9.99916400e-01 -2.17499436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239072329 meters 0.0753618970454675 Centerline is valid? [True, True] Translation: X:63.61, Y:-2.88, Z:-2.18 [[ 9.96706022e-01 -8.03204464e-02 1.12130119e-02 6.36101047e+01] [ 8.03176220e-02 9.96769073e-01 7.02699742e-04 -2.87882642e+00] [-1.12332247e-02 2.00217390e-04 9.99936885e-01 -2.17766075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299072329 meters 0.07588211932747839 Centerline is valid? [True, True] Translation: X:63.67, Y:-2.87, Z:-2.18 [[ 9.96639769e-01 -8.16107002e-02 6.99032915e-03 6.36693334e+01] [ 8.16096032e-02 9.96664275e-01 4.42505528e-04 -2.87190243e+00] [-7.00312452e-03 1.29459381e-04 9.99975469e-01 -2.18123898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35907232899999 meters 0.07666800631824823 Centerline is valid? [True, True] Translation: X:63.73, Y:-2.87, Z:-2.19 [[ 9.96539265e-01 -8.29565018e-02 5.26429101e-03 6.37267199e+01] [ 8.29559073e-02 9.96553163e-01 3.31563845e-04 -2.86580244e+00] [-5.27365124e-03 1.06287647e-04 9.99986089e-01 -2.18656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41907232899999 meters 0.07682956669486274 Centerline is valid? [True, True] Translation: X:63.79, Y:-2.86, Z:-2.19 [[ 9.96334804e-01 -8.54252265e-02 4.41453513e-03 6.37853606e+01] [ 8.54248548e-02 9.96344579e-01 2.73037501e-04 -2.85936210e+00] [-4.42172244e-03 1.05074258e-04 9.99990219e-01 -2.18567857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47907232899999 meters 0.0763065550480218 Centerline is valid? [True, True] Translation: X:63.84, Y:-2.85, Z:-2.19 [[ 9.96394434e-01 -8.47604166e-02 3.71532901e-03 6.38433861e+01] [ 8.47601554e-02 9.96401357e-01 2.27997207e-04 -2.85089830e+00] [-3.72128401e-03 8.77367164e-05 9.99993072e-01 -2.18569527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53907232899999 meters 0.07629236297611365 Centerline is valid? [True, True] Translation: X:63.90, Y:-2.84, Z:-2.19 [[ 9.96760030e-01 -8.03951296e-02 2.46271657e-03 6.38999463e+01] [ 8.03949921e-02 9.96763072e-01 1.54934048e-04 -2.83784904e+00] [-2.46720088e-03 4.35580126e-05 9.99996956e-01 -2.19175563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599072329 meters 0.07566699555561147 Centerline is valid? [True, True] Translation: X:63.96, Y:-2.83, Z:-2.19 [[ 9.97110176e-01 -7.59519230e-02 1.61291233e-03 6.39581673e+01] [ 7.59518677e-02 9.97111481e-01 9.55808392e-05 -2.82759428e+00] [-1.61551295e-03 2.71990762e-05 9.99998695e-01 -2.19270182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659072329 meters 0.07419852316192972 Centerline is valid? [True, True] Translation: X:64.02, Y:-2.81, Z:-2.19 [[ 9.97726953e-01 -6.72917161e-02 3.57089190e-03 6.40174816e+01] [ 6.72913293e-02 9.97733344e-01 2.28499827e-04 -2.81076204e+00] [-3.57817406e-03 1.23096260e-05 9.99993598e-01 -2.18965404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719072329 meters 0.07482976397583034 Centerline is valid? [True, True] Translation: X:64.08, Y:-2.79, Z:-2.20 [[ 9.98315307e-01 -5.80072941e-02 1.30471341e-03 6.40755253e+01] [ 5.80072353e-02 9.98316159e-01 8.29204395e-05 -2.78781282e+00] [-1.30732647e-03 -7.09792622e-06 9.99999145e-01 -2.19648430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77907232899999 meters 0.07581540954960612 Centerline is valid? [True, True] Translation: X:64.13, Y:-2.77, Z:-2.20 [[ 9.98797182e-01 -4.89488630e-02 2.86332758e-03 6.41336373e+01] [ 4.89485571e-02 9.98801285e-01 1.76857488e-04 -2.77063232e+00] [-2.86855224e-03 -3.64890067e-05 9.99995885e-01 -2.19532671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83907232899999 meters 0.07603329540702773 Centerline is valid? [True, True] Translation: X:64.19, Y:-2.76, Z:-2.19 [[ 9.99011243e-01 -4.44055903e-02 2.16320625e-03 6.41927124e+01] [ 4.44053951e-02 9.99013584e-01 1.38204274e-04 -2.76225754e+00] [-2.16720947e-03 -4.20095956e-05 9.99997651e-01 -2.19240110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89907232899999 meters 0.07779388065631757 Centerline is valid? [True, True] Translation: X:64.25, Y:-2.75, Z:-2.20 [[ 9.99189739e-01 -4.02315905e-02 1.13336452e-03 6.42497368e+01] [ 4.02315363e-02 9.99190382e-01 7.05658610e-05 -2.74764720e+00] [-1.13528590e-03 -2.49116884e-05 9.99999355e-01 -2.19917410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.959072329 meters 0.07810300709491075 Centerline is valid? [True, True] Translation: X:64.31, Y:-2.74, Z:-2.20 [[ 9.99254924e-01 -3.85728945e-02 1.31484132e-03 6.43086169e+01] [ 3.85728266e-02 9.99255789e-01 7.70136765e-05 -2.74072284e+00] [-1.31683344e-03 -2.62391492e-05 9.99999133e-01 -2.20119444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019072329 meters 0.07800954898661201 Centerline is valid? [True, True] Translation: X:64.37, Y:-2.74, Z:-2.20 [[ 9.99267456e-01 -3.82640043e-02 6.45476891e-04 6.43677733e+01] [ 3.82639906e-02 9.99267665e-01 3.35240751e-05 -2.73840290e+00] [-6.46286951e-04 -8.80099558e-06 9.99999791e-01 -2.20196053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079072329 meters 0.07718818281669838 Centerline is valid? [True, True] Translation: X:64.43, Y:-2.74, Z:-2.20 [[ 9.99288577e-01 -3.77114401e-02 4.31820741e-04 6.44266178e+01] [ 3.77114353e-02 9.99288671e-01 1.91656745e-05 -2.73743401e+00] [-4.32236339e-04 -2.86745968e-06 9.99999907e-01 -2.20132582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13907232899999 meters 0.07819399723419249 Centerline is valid? [True, True] Translation: X:64.48, Y:-2.73, Z:-2.21 [[ 9.99349357e-01 -3.60627049e-02 5.86597716e-04 6.44833966e+01] [ 3.60626907e-02 9.99349529e-01 3.46754739e-05 -2.72947085e+00] [-5.87466642e-04 -1.34986205e-05 9.99999827e-01 -2.20778307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19907232899999 meters 0.07952864039109528 Centerline is valid? [True, True] Translation: X:64.54, Y:-2.72, Z:-2.21 [[ 9.99448777e-01 -3.31943557e-02 -5.26062657e-04 6.45422744e+01] [ 3.31943411e-02 9.99448915e-01 -3.64727367e-05 -2.72473970e+00] [ 5.26983441e-04 1.89903289e-05 9.99999861e-01 -2.21058477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25907232899999 meters 0.08060844929453763 Centerline is valid? [True, True] Translation: X:64.60, Y:-2.72, Z:-2.21 [[ 9.99521605e-01 -3.09231351e-02 5.66511010e-04 6.45999485e+01] [ 3.09231207e-02 9.99521765e-01 3.41896513e-05 -2.72106459e+00] [-5.67297336e-04 -1.66550068e-05 9.99999839e-01 -2.21270242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.319072329 meters 0.08131793677341922 Centerline is valid? [True, True] Translation: X:64.66, Y:-2.71, Z:-2.21 [[ 9.99570758e-01 -2.89470551e-02 4.51314121e-03 6.46589217e+01] [ 2.89460423e-02 9.99580934e-01 2.89581278e-04 -2.71397858e+00] [-4.51963243e-03 -1.58819401e-04 9.99989774e-01 -2.21418389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379072329 meters 0.08372944582025954 Centerline is valid? [True, True] Translation: X:64.72, Y:-2.71, Z:-2.22 [[ 9.99673619e-01 -2.49894516e-02 5.30866960e-03 6.47173450e+01] [ 2.49879492e-02 9.99687691e-01 3.49174013e-04 -2.70727428e+00] [-5.31573732e-03 -2.16407283e-04 9.99985848e-01 -2.21607276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439072329 meters 0.0849656116928461 Centerline is valid? [True, True] Translation: X:64.78, Y:-2.70, Z:-2.22 [[ 9.99731013e-01 -2.24707046e-02 5.74185065e-03 6.47768226e+01] [ 2.24689000e-02 9.99747471e-01 3.78610953e-04 -2.70385109e+00] [-5.74890832e-03 -2.49496043e-04 9.99983444e-01 -2.21805222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49907232899999 meters 0.0860776673602145 Centerline is valid? [True, True] Translation: X:64.83, Y:-2.70, Z:-2.22 [[ 9.99765609e-01 -2.04272109e-02 7.17335469e-03 6.48348862e+01] [ 2.04243570e-02 9.99791290e-01 4.70892736e-04 -2.69763004e+00] [-7.18147657e-03 -3.24271205e-04 9.99974160e-01 -2.22040539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55907232899999 meters 0.0884732395867826 Centerline is valid? [True, True] Translation: X:64.89, Y:-2.69, Z:-2.22 [[ 9.99809591e-01 -1.80247281e-02 7.47608420e-03 6.48929997e+01] [ 1.80215400e-02 9.99837477e-01 4.93597189e-04 -2.69337329e+00] [-7.48376612e-03 -3.58772653e-04 9.99971932e-01 -2.22267067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61907232899999 meters 0.08788779752501659 Centerline is valid? [True, True] Translation: X:64.95, Y:-2.69, Z:-2.23 [[ 9.99776435e-01 -1.99790126e-02 6.92237850e-03 6.49525404e+01] [ 1.99763530e-02 9.99800350e-01 4.53135300e-04 -2.69468132e+00] [-6.93004965e-03 -3.14750118e-04 9.99975937e-01 -2.22644475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.679072329 meters 0.0883607394012413 Centerline is valid? [True, True] Translation: X:65.01, Y:-2.69, Z:-2.23 [[ 9.99722029e-01 -2.22053959e-02 7.92364553e-03 6.50116109e+01] [ 2.22019199e-02 9.99753368e-01 5.26389194e-04 -2.69333633e+00] [-7.93337999e-03 -3.50322730e-04 9.99968469e-01 -2.23189243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739072329 meters 0.08572589975351705 Centerline is valid? [True, True] Translation: X:65.07, Y:-2.70, Z:-2.23 [[ 9.99648062e-01 -2.44734172e-02 1.02374242e-02 6.50723341e+01] [ 2.44677225e-02 9.99700388e-01 6.81157127e-04 -2.70174446e+00] [-1.02510272e-02 -4.30430947e-04 9.99947364e-01 -2.22996837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799072329 meters 0.08535296606237776 Centerline is valid? [True, True] Translation: X:65.13, Y:-2.70, Z:-2.23 [[ 9.99599495e-01 -2.61481965e-02 1.08222204e-02 6.51313305e+01] [ 2.61419414e-02 9.99657982e-01 7.19066720e-04 -2.70268238e+00] [-1.08373213e-02 -4.35864878e-04 9.99941180e-01 -2.23146299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85907232899999 meters 0.08243137609752366 Centerline is valid? [True, True] Translation: X:65.19, Y:-2.71, Z:-2.23 [[ 9.99504475e-01 -2.89909672e-02 1.22608225e-02 6.51922817e+01] [ 2.89831249e-02 9.99579567e-01 8.16859531e-04 -2.71128167e+00] [-1.22793492e-02 -4.61097806e-04 9.99924500e-01 -2.23055787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91907232899999 meters 0.08321983087848701 Centerline is valid? [True, True] Translation: X:65.25, Y:-2.71, Z:-2.23 [[ 9.99449006e-01 -2.93568960e-02 1.54873274e-02 6.52502693e+01] [ 2.93444414e-02 9.99568828e-01 1.03086215e-03 -2.70754699e+00] [-1.55109126e-02 -5.75827178e-04 9.99879533e-01 -2.23156450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97907232899999 meters 0.08265286514880998 Centerline is valid? [True, True] Translation: X:65.31, Y:-2.71, Z:-2.23 [[ 9.99417115e-01 -2.96556821e-02 1.69106569e-02 6.53091155e+01] [ 2.96408957e-02 9.99559980e-01 1.12440715e-03 -2.70729224e+00] [-1.69365610e-02 -6.22504731e-04 9.99856372e-01 -2.23102267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03907232899999 meters 0.0831731280454929 Centerline is valid? [True, True] Translation: X:65.37, Y:-2.71, Z:-2.24 [[ 9.99471070e-01 -2.95176016e-02 1.36488953e-02 6.53673223e+01] [ 2.95078884e-02 9.99564131e-01 9.12533098e-04 -2.70728629e+00] [-1.36698820e-02 -5.09300352e-04 9.99906433e-01 -2.23763311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099072329 meters 0.08422072554942185 Centerline is valid? [True, True] Translation: X:65.43, Y:-2.70, Z:-2.24 [[ 9.99530476e-01 -2.81790674e-02 1.20319704e-02 6.54267667e+01] [ 2.81714001e-02 9.99602782e-01 8.06288874e-04 -2.70052714e+00] [-1.20499115e-02 -4.66952851e-04 9.99927288e-01 -2.24380749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159072329 meters 0.08448759905979777 Centerline is valid? [True, True] Translation: X:65.49, Y:-2.70, Z:-2.24 [[ 9.99448264e-01 -2.83011827e-02 1.73842093e-02 6.54861217e+01] [ 2.82852341e-02 9.99599217e-01 1.16266357e-03 -2.69683929e+00] [-1.74101468e-02 -6.70305658e-04 9.99848207e-01 -2.24187898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219072329 meters 0.08577576365617154 Centerline is valid? [True, True] Translation: X:65.54, Y:-2.69, Z:-2.24 [[ 9.99437949e-01 -2.77024596e-02 1.88774804e-02 6.55429377e+01] [ 2.76834232e-02 9.99615935e-01 1.26904790e-03 -2.69289489e+00] [-1.89053860e-02 -7.45741350e-04 9.99820999e-01 -2.24129286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27907232899999 meters 0.08478576563128432 Centerline is valid? [True, True] Translation: X:65.60, Y:-2.69, Z:-2.25 [[ 9.99463496e-01 -2.73368646e-02 1.80392694e-02 6.56015900e+01] [ 2.73194289e-02 9.99626020e-01 1.21231318e-03 -2.69201929e+00] [-1.80656639e-02 -7.18840229e-04 9.99836544e-01 -2.24529048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33907232899999 meters 0.08582615689541616 Centerline is valid? [True, True] Translation: X:65.66, Y:-2.69, Z:-2.25 [[ 9.99456778e-01 -2.70662395e-02 1.88033677e-02 6.56586442e+01] [ 2.70471381e-02 9.99633353e-01 1.26946600e-03 -2.68705846e+00] [-1.88308332e-02 -7.60199110e-04 9.99822395e-01 -2.24884931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39907232899999 meters 0.08772898534888268 Centerline is valid? [True, True] Translation: X:65.72, Y:-2.68, Z:-2.25 [[ 9.99487964e-01 -2.38244432e-02 2.13589687e-02 6.57164876e+01] [ 2.37989134e-02 9.99715716e-01 1.44870639e-03 -2.68027245e+00] [-2.13874113e-02 -9.39644355e-04 9.99770822e-01 -2.24878039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.459072329 meters 0.08923699616145446 Centerline is valid? [True, True] Translation: X:65.78, Y:-2.67, Z:-2.25 [[ 9.99527500e-01 -2.18476678e-02 2.16207389e-02 6.57755254e+01] [ 2.18210042e-02 9.99760815e-01 1.46842456e-03 -2.67174672e+00] [-2.16476492e-02 -9.95944495e-04 9.99765166e-01 -2.25277237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519072329 meters 0.09005357107677596 Centerline is valid? [True, True] Translation: X:65.84, Y:-2.67, Z:-2.25 [[ 9.99642939e-01 -1.80123909e-02 1.97369795e-02 6.58358212e+01] [ 1.79894124e-02 9.99837278e-01 1.34117694e-03 -2.66824104e+00] [-1.97579257e-02 -9.85641397e-04 9.99804307e-01 -2.25495393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579072329 meters 0.09216070811797361 Centerline is valid? [True, True] Translation: X:65.89, Y:-2.66, Z:-2.26 [[ 9.99653199e-01 -1.58771927e-02 2.10094348e-02 6.58936816e+01] [ 1.58506871e-02 9.99873351e-01 1.42754053e-03 -2.65944525e+00] [-2.10294393e-02 -1.09403149e-03 9.99778258e-01 -2.25740144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63907232899999 meters 0.09310965652120468 Centerline is valid? [True, True] Translation: X:65.95, Y:-2.65, Z:-2.26 [[ 9.99712251e-01 -1.39073636e-02 1.95448381e-02 6.59531786e+01] [ 1.38840119e-02 9.99902728e-01 1.32996923e-03 -2.65382268e+00] [-1.95614333e-02 -1.05822577e-03 9.99808097e-01 -2.26072141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69907232899999 meters 0.0940695782049883 Centerline is valid? [True, True] Translation: X:66.01, Y:-2.65, Z:-2.27 [[ 9.99727945e-01 -1.40342875e-02 1.86299385e-02 6.60126136e+01] [ 1.40130561e-02 9.99901006e-01 1.26969900e-03 -2.64883754e+00] [-1.86459136e-02 -1.00829120e-03 9.99825641e-01 -2.26589255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75907232899999 meters 0.0947872021928795 Centerline is valid? [True, True] Translation: X:66.07, Y:-2.64, Z:-2.27 [[ 9.99728676e-01 -1.38634579e-02 1.87184278e-02 6.60731153e+01] [ 1.38420497e-02 9.99903384e-01 1.27277869e-03 -2.64254990e+00] [-1.87342644e-02 -1.01333194e-03 9.99823985e-01 -2.26888578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.819072329 meters 0.09579271045854519 Centerline is valid? [True, True] Translation: X:66.13, Y:-2.63, Z:-2.27 [[ 9.99708091e-01 -1.24777531e-02 2.06890963e-02 6.61337002e+01] [ 1.24512981e-02 9.99921490e-01 1.40702141e-03 -2.63461804e+00] [-2.07050285e-02 -1.14900458e-03 9.99784968e-01 -2.26813349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879072329 meters 0.09586278475554263 Centerline is valid? [True, True] Translation: X:66.19, Y:-2.63, Z:-2.27 [[ 9.99743976e-01 -9.69173339e-03 2.04463376e-02 6.61940536e+01] [ 9.66531799e-03 9.99952323e-01 1.39036528e-03 -2.62761104e+00] [-2.04588379e-02 -1.19238896e-03 9.99789985e-01 -2.26918057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939072329 meters 0.09971594179166544 Centerline is valid? [True, True] Translation: X:66.25, Y:-2.61, Z:-2.28 [[ 9.99816897e-01 -5.98210200e-03 1.81765551e-02 6.62521575e+01] [ 5.96063619e-03 9.99981473e-01 1.23490878e-03 -2.61277825e+00] [-1.81836057e-02 -1.12633883e-03 9.99834030e-01 -2.27529958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99907232899999 meters 0.09904857299858381 Centerline is valid? [True, True] Translation: X:66.31, Y:-2.61, Z:-2.28 [[ 9.99855555e-01 -3.90304466e-03 1.65419006e-02 6.63126110e+01] [ 3.88497059e-03 9.99991821e-01 1.12461779e-03 -2.60905008e+00] [-1.65461547e-02 -1.06019055e-03 9.99862541e-01 -2.27712100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05907232899999 meters 0.09788950773555503 Centerline is valid? [True, True] Translation: X:66.37, Y:-2.60, Z:-2.28 [[ 9.99831679e-01 -3.48281876e-03 1.80134506e-02 6.63743219e+01] [ 3.46130712e-03 9.99993259e-01 1.22523876e-03 -2.60326860e+00] [-1.80175964e-02 -1.16268245e-03 9.99836994e-01 -2.27843651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11907232899999 meters 0.09814309786138943 Centerline is valid? [True, True] Translation: X:66.44, Y:-2.59, Z:-2.28 [[ 9.99846399e-01 -6.51918701e-04 1.75143877e-02 6.64351503e+01] [ 6.31180751e-04 9.99999093e-01 1.18955397e-03 -2.59437219e+00] [-1.75151473e-02 -1.17831651e-03 9.99845904e-01 -2.27962141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.179072329 meters 0.10024091464038988 Centerline is valid? [True, False] Translation: X:66.44, Y:-2.59, Z:-2.28 [[ 9.99850185e-01 3.10343618e-03 1.70287033e-02 6.64364351e+01] [-3.18865062e-03 9.99982519e-01 4.97929768e-03 -2.59284363e+00] [-1.70129527e-02 -5.03285029e-03 9.99842603e-01 -2.27974544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239072329 meters 0.10106244707976127 Centerline is valid? [False, False] Translation: X:66.43, Y:-2.59, Z:-2.28 [[ 9.99838877e-01 -1.19709427e-03 1.79105048e-02 6.64344067e+01] [ 1.21274557e-03 9.99998892e-01 -8.63025688e-04 -2.58537751e+00] [-1.79094518e-02 8.84607520e-04 9.99839222e-01 -2.27985406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299072329 meters 0.09941460782569261 Centerline is valid? [False, True] Translation: X:66.44, Y:-2.58, Z:-2.28 [[ 9.99840962e-01 -1.79520365e-03 1.77434171e-02 6.64350190e+01] [ 1.82940002e-03 9.99996500e-01 -1.91122760e-03 -2.58168460e+00] [-1.77399240e-02 1.94338344e-03 9.99840746e-01 -2.28024664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35907232899999 meters 0.09873975082498913 Centerline is valid? [True, True] Translation: X:66.50, Y:-2.58, Z:-2.28 [[ 9.99877226e-01 -3.85658709e-03 1.51874757e-02 6.64964300e+01] [ 3.84122827e-03 9.99992081e-01 1.04032314e-03 -2.57524560e+00] [-1.51913675e-02 -9.81856851e-04 9.99884122e-01 -2.28211288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41907232899999 meters 0.10064326296081125 Centerline is valid? [True, False] Translation: X:66.50, Y:-2.57, Z:-2.28 [[ 9.99901979e-01 -7.70949407e-04 1.39798803e-02 6.64996168e+01] [ 7.10586763e-04 9.99990406e-01 4.32227598e-03 -2.57295353e+00] [-1.39830785e-02 -4.31191839e-03 9.99892935e-01 -2.28262056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47907232899999 meters 0.09695478929565615 Centerline is valid? [False, True] Translation: X:66.50, Y:-2.57, Z:-2.28 [[ 9.99996636e-01 -5.15807151e-04 -2.54212087e-03 6.65028772e+01] [ 5.27822972e-04 9.99988682e-01 4.72828917e-03 -2.56944575e+00] [ 2.53965321e-03 -4.72961505e-03 9.99985590e-01 -2.27576942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53907232899999 meters 0.09419955901691027 Centerline is valid? [True, True] Translation: X:66.56, Y:-2.56, Z:-2.28 [[ 9.99985151e-01 -4.55995346e-03 -2.98410036e-03 6.65626233e+01] [ 4.55944574e-03 9.99989590e-01 -1.76922200e-04 -2.56344876e+00] [ 2.98487605e-03 1.63313729e-04 9.99995532e-01 -2.27760475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599072329 meters 0.09241243240549914 Centerline is valid? [True, True] Translation: X:66.62, Y:-2.56, Z:-2.28 [[ 9.99917104e-01 -1.19145756e-02 -4.88142169e-03 6.66219463e+01] [ 1.19133041e-02 9.99928992e-01 -2.89482981e-04 -2.56089152e+00] [ 4.88452414e-03 2.31305123e-04 9.99988044e-01 -2.27873893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659072329 meters 0.0907874348863188 Centerline is valid? [True, True] Translation: X:66.68, Y:-2.56, Z:-2.28 [[ 9.99862644e-01 -1.55084543e-02 -5.84639976e-03 6.66820251e+01] [ 1.55066922e-02 9.99879704e-01 -3.46603265e-04 -2.55782001e+00] [ 5.85107174e-03 2.55897335e-04 9.99982850e-01 -2.27997323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719072329 meters 0.08941319768226398 Centerline is valid? [True, True] Translation: X:66.74, Y:-2.55, Z:-2.28 [[ 9.99753884e-01 -2.15618795e-02 -5.22075792e-03 6.67409167e+01] [ 2.15605558e-02 9.99767496e-01 -3.09703515e-04 -2.55355445e+00] [ 5.22622186e-03 1.97064850e-04 9.99986324e-01 -2.28151276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77907232899999 meters 0.08766925021690293 Centerline is valid? [True, True] Translation: X:66.80, Y:-2.55, Z:-2.28 [[ 9.99589851e-01 -2.79735553e-02 -6.13276063e-03 6.67996671e+01] [ 2.79718470e-02 9.99608645e-01 -3.64170853e-04 -2.55090388e+00] [ 6.14054770e-03 1.92476847e-04 9.99981128e-01 -2.28249476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83907232899999 meters 0.08720960205426702 Centerline is valid? [True, True] Translation: X:66.86, Y:-2.55, Z:-2.28 [[ 9.99538806e-01 -2.99328693e-02 -5.11850285e-03 6.68588603e+01] [ 2.99316948e-02 9.99551900e-01 -3.05926350e-04 -2.54630621e+00] [ 5.12536650e-03 1.52579794e-04 9.99986854e-01 -2.28377811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89907232899999 meters 0.08631504083262483 Centerline is valid? [True, True] Translation: X:66.92, Y:-2.54, Z:-2.28 [[ 9.99388284e-01 -3.45035725e-02 -5.70633167e-03 6.69177697e+01] [ 3.45021949e-02 9.99404564e-01 -3.39703849e-04 -2.54113186e+00] [ 5.71465492e-03 1.42615079e-04 9.99983661e-01 -2.28493576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.959072329 meters 0.08479302668867388 Centerline is valid? [True, True] Translation: X:66.98, Y:-2.54, Z:-2.28 [[ 9.99138741e-01 -4.09675449e-02 -6.59060951e-03 6.69768087e+01] [ 4.09658446e-02 9.99160470e-01 -3.92841454e-04 -2.54211945e+00] [ 6.60117025e-03 1.22513231e-04 9.99978205e-01 -2.28420842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019072329 meters 0.08394021106828856 Centerline is valid? [True, True] Translation: X:67.04, Y:-2.54, Z:-2.29 [[ 9.98997302e-01 -4.44288044e-02 -5.52005844e-03 6.70357585e+01] [ 4.44276603e-02 9.99012550e-01 -3.29773480e-04 -2.53944413e+00] [ 5.52925910e-03 8.41995357e-05 9.99984710e-01 -2.28566537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079072329 meters 0.08287455730576153 Centerline is valid? [True, True] Translation: X:67.09, Y:-2.54, Z:-2.29 [[ 9.98740120e-01 -4.97698141e-02 -6.41395957e-03 6.70948938e+01] [ 4.97683545e-02 9.98760713e-01 -3.87075968e-04 -2.53893421e+00] [ 6.42527552e-03 6.73760853e-05 9.99979355e-01 -2.29121580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13907232899999 meters 0.08201189009623515 Centerline is valid? [True, True] Translation: X:67.15, Y:-2.54, Z:-2.29 [[ 9.98609067e-01 -5.24364035e-02 -5.50946514e-03 6.71544106e+01] [ 5.24353557e-02 9.98624264e-01 -3.34555661e-04 -2.53879394e+00] [ 5.51942847e-03 4.51995521e-05 9.99984767e-01 -2.28862868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19907232899999 meters 0.0811180347828528 Centerline is valid? [True, True] Translation: X:67.21, Y:-2.54, Z:-2.29 [[ 9.98474009e-01 -5.51081459e-02 -3.57006906e-03 6.72135159e+01] [ 5.51077144e-02 9.98480391e-01 -2.19196983e-04 -2.53924233e+00] [ 3.57672350e-03 2.21241437e-05 9.99993603e-01 -2.28512899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25907232899999 meters 0.08119165449094558 Centerline is valid? [True, True] Translation: X:67.27, Y:-2.53, Z:-2.29 [[ 9.98428855e-01 -5.59199333e-02 -3.57518114e-03 6.72701872e+01] [ 5.59195117e-02 9.98435256e-01 -2.17845954e-04 -2.53451664e+00] [ 3.58176882e-03 1.75813033e-05 9.99993585e-01 -2.29009580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.319072329 meters 0.0809083002776999 Centerline is valid? [True, True] Translation: X:67.33, Y:-2.53, Z:-2.29 [[ 9.98508263e-01 -5.45061797e-02 -3.21336318e-03 6.73278488e+01] [ 5.45058198e-02 9.98513433e-01 -1.99522316e-04 -2.53112348e+00] [ 3.21946150e-03 2.40776872e-05 9.99994817e-01 -2.28992027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379072329 meters 0.08123395758984579 Centerline is valid? [True, True] Translation: X:67.39, Y:-2.53, Z:-2.29 [[ 9.98569721e-01 -5.32704515e-02 -4.55761492e-03 6.73853525e+01] [ 5.32697366e-02 9.98580121e-01 -2.78211565e-04 -2.52656257e+00] [ 4.56596411e-03 3.50306984e-05 9.99989575e-01 -2.29452206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439072329 meters 0.08152268319861453 Centerline is valid? [True, True] Translation: X:67.44, Y:-2.52, Z:-2.30 [[ 9.98711968e-01 -5.02136258e-02 -7.27985201e-03 6.74448552e+01] [ 5.02117312e-02 9.98738497e-01 -4.42910134e-04 -2.52257460e+00] [ 7.29290858e-03 7.68056799e-05 9.99973403e-01 -2.29670143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49907232899999 meters 0.0819234925129889 Centerline is valid? [True, True] Translation: X:67.50, Y:-2.52, Z:-2.30 [[ 9.98758188e-01 -4.93088147e-02 -7.12195292e-03 6.75029763e+01] [ 4.93069682e-02 9.98783577e-01 -4.34728039e-04 -2.51993425e+00] [ 7.13472553e-03 8.30262828e-05 9.99974544e-01 -2.30113753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55907232899999 meters 0.08162197078782818 Centerline is valid? [True, True] Translation: X:67.56, Y:-2.52, Z:-2.30 [[ 9.98847922e-01 -4.76591780e-02 -5.60632744e-03 6.75615250e+01] [ 4.76579852e-02 9.98863653e-01 -3.46245904e-04 -2.51870745e+00] [ 5.61645850e-03 7.86607318e-05 9.99984224e-01 -2.30184385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61907232899999 meters 0.08154374387773607 Centerline is valid? [True, True] Translation: X:67.62, Y:-2.52, Z:-2.30 [[ 9.99042338e-01 -4.36204557e-02 -3.41512977e-03 6.76203556e+01] [ 4.36199806e-02 9.99048173e-01 -2.13515953e-04 -2.51987359e+00] [ 3.42119282e-03 6.43435828e-05 9.99994146e-01 -2.29787454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.679072329 meters 0.08178395165697486 Centerline is valid? [True, True] Translation: X:67.68, Y:-2.52, Z:-2.30 [[ 9.99118361e-01 -4.18574350e-02 -3.23369607e-03 6.76793926e+01] [ 4.18569966e-02 9.99123591e-01 -2.03132180e-04 -2.52011303e+00] [ 3.23936462e-03 6.76002850e-05 9.99994751e-01 -2.29730473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739072329 meters 0.08295380609861365 Centerline is valid? [True, True] Translation: X:67.74, Y:-2.52, Z:-2.30 [[ 9.99303474e-01 -3.72117607e-02 -2.80196573e-03 6.77375090e+01] [ 3.72114195e-02 9.99307400e-01 -1.73820677e-04 -2.51629575e+00] [ 2.80649327e-03 6.94344838e-05 9.99996059e-01 -2.30093411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799072329 meters 0.08561566113988744 Centerline is valid? [True, True] Translation: X:67.80, Y:-2.51, Z:-2.30 [[ 9.99535193e-01 -3.00744690e-02 -4.99232602e-03 6.77966536e+01] [ 3.00733045e-02 9.99547648e-01 -3.08183039e-04 -2.51229542e+00] [ 4.99933617e-03 1.57904053e-04 9.99987491e-01 -2.30399010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85907232899999 meters 0.08719430395935684 Centerline is valid? [True, True] Translation: X:67.86, Y:-2.51, Z:-2.31 [[ 9.99692088e-01 -2.41036965e-02 -5.89421094e-03 6.78568493e+01] [ 2.41019701e-02 9.99709439e-01 -3.63755494e-04 -2.50769320e+00] [ 5.90126617e-03 2.21581394e-04 9.99982563e-01 -2.30567195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91907232899999 meters 0.08930914803286619 Centerline is valid? [True, True] Translation: X:67.92, Y:-2.51, Z:-2.31 [[ 9.99866554e-01 -1.55740399e-02 -4.93191918e-03 6.79174505e+01] [ 1.55727288e-02 9.99878691e-01 -3.04127409e-04 -2.50510980e+00] [ 4.93605739e-03 2.27283384e-04 9.99987792e-01 -2.30539274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97907232899999 meters 0.09353657835933143 Centerline is valid? [True, True] Translation: X:67.98, Y:-2.50, Z:-2.30 [[ 9.99974180e-01 -7.02494833e-03 -1.51339604e-03 6.79761672e+01] [ 7.02481419e-03 9.99975321e-01 -9.39302861e-05 -2.49766023e+00] [ 1.51401855e-03 8.32965348e-05 9.99998850e-01 -2.30328198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03907232899999 meters 0.09709643794233636 Centerline is valid? [True, True] Translation: X:68.04, Y:-2.49, Z:-2.31 [[ 9.99997213e-01 1.97605114e-03 -1.29195125e-03 6.80360371e+01] [-1.97615590e-03 9.99998044e-01 -7.98105231e-05 -2.49223234e+00] [ 1.29179101e-03 8.23633978e-05 9.99999162e-01 -2.30542319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099072329 meters 0.10052145876348699 Centerline is valid? [True, False] Translation: X:68.04, Y:-2.49, Z:-2.31 [[ 9.99996775e-01 2.43000255e-03 -7.37866632e-04 6.80351498e+01] [-2.42983909e-03 9.99997023e-01 2.22345597e-04 -2.49407324e+00] [ 7.38404736e-04 -2.20551983e-04 9.99999703e-01 -2.30623880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159072329 meters 0.10815936929923384 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.50, Z:-2.31 [[ 9.99994271e-01 3.37695327e-03 2.31936044e-04 6.80328120e+01] [-3.37713271e-03 9.99993995e-01 7.77694240e-04 -2.49588251e+00] [-2.29308415e-04 -7.78473063e-04 9.99999671e-01 -2.30637923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219072329 meters 0.11187581502835578 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.50, Z:-2.31 [[ 9.99992659e-01 3.79384960e-03 5.37139210e-04 6.80322263e+01] [-3.79449710e-03 9.99992069e-01 1.20961963e-03 -2.49803265e+00] [-5.32545835e-04 -1.21164892e-03 9.99999124e-01 -2.30673818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27907232899999 meters 0.11792386199943906 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.50, Z:-2.31 [[ 9.99989088e-01 4.52262928e-03 1.17026159e-03 6.80306345e+01] [-4.52475938e-03 9.99988100e-01 1.82398782e-03 -2.50032190e+00] [-1.16199844e-03 -1.82926307e-03 9.99997652e-01 -2.30681997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33907232899999 meters 0.11510562946339133 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.51, Z:-2.31 [[ 9.99989288e-01 4.61565677e-03 3.45740635e-04 6.80323408e+01] [-4.61672180e-03 9.99984395e-01 3.14574061e-03 -2.50613647e+00] [-3.31215581e-04 -3.14730311e-03 9.99994992e-01 -2.30605345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39907232899999 meters 0.11669248113493373 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.51, Z:-2.31 [[ 9.99990126e-01 4.43599901e-03 -2.63222564e-04 6.80344201e+01] [-4.43499854e-03 9.99983368e-01 3.68696181e-03 -2.51003191e+00] [ 2.79573545e-04 -3.68575801e-03 9.99993168e-01 -2.30687972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.459072329 meters 0.11122704742514282 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.51, Z:-2.31 [[ 9.99991251e-01 4.16578292e-03 -3.80391679e-04 6.80353563e+01] [-4.16446049e-03 9.99985502e-01 3.41351372e-03 -2.51019066e+00] [ 3.94606122e-04 -3.41189973e-03 9.99994102e-01 -2.30786618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519072329 meters 0.11356425677057987 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.51, Z:-2.31 [[ 9.99989590e-01 4.56164198e-03 -1.05249082e-04 6.80339848e+01] [-4.56121750e-03 9.99982635e-01 3.73156758e-03 -2.51023390e+00] [ 1.22269330e-04 -3.73104867e-03 9.99993032e-01 -2.30677028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579072329 meters 0.11773930250423023 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.51, Z:-2.31 [[ 9.99990444e-01 4.36839250e-03 -1.68989393e-04 6.80342970e+01] [-4.36779930e-03 9.99984802e-01 3.36434355e-03 -2.50924736e+00] [ 1.83683598e-04 -3.36357329e-03 9.99994326e-01 -2.30704406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63907232899999 meters 0.1322680102842341 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.51, Z:-2.31 [[ 9.99993385e-01 3.63715968e-03 -2.06240746e-05 6.80351364e+01] [-3.63711838e-03 9.99991877e-01 1.73680237e-03 -2.50501031e+00] [ 2.69409346e-05 -1.73671587e-03 9.99998492e-01 -2.30929134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69907232899999 meters 0.15500021708510767 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.50, Z:-2.31 [[ 9.99970937e-01 7.62404615e-03 7.01902745e-06 6.80347344e+01] [-7.62397655e-03 9.99956936e-01 5.29156878e-03 -2.50120656e+00] [ 3.33244394e-05 -5.29146850e-03 9.99986000e-01 -2.30873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75907232899999 meters 0.15981429800041194 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.50, Z:-2.31 [[ 9.99975750e-01 6.96350335e-03 9.06601550e-05 6.80354640e+01] [-6.96381217e-03 9.99967633e-01 4.02979670e-03 -2.49780346e+00] [-6.25957177e-05 -4.03033032e-03 9.99991876e-01 -2.31032800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.819072329 meters 0.1807390813861318 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.49, Z:-2.31 [[ 9.99942484e-01 1.07084842e-02 5.97153423e-04 6.80344873e+01] [-1.07121772e-02 9.99921051e-01 6.56819774e-03 -2.49060109e+00] [-5.26770837e-04 -6.57421677e-03 9.99978251e-01 -2.31070209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879072329 meters 0.2223758702801464 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.48, Z:-2.31 [[ 9.99946392e-01 1.02719804e-02 1.30376600e-03 6.80330974e+01] [-1.02781198e-02 9.99935692e-01 4.79299724e-03 -2.48324047e+00] [-1.25444858e-03 -4.80614056e-03 9.99987664e-01 -2.31115513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939072329 meters 0.24682441832339408 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.47, Z:-2.31 [[ 9.99905859e-01 1.35972189e-02 1.84074295e-03 6.80320506e+01] [-1.36093043e-02 9.99884805e-01 6.72044092e-03 -2.47346338e+00] [-1.74915160e-03 -6.74485948e-03 9.99975723e-01 -2.31148509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99907232899999 meters 0.26789009332490016 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.46, Z:-2.32 [[ 9.99926976e-01 1.17484692e-02 2.83135583e-03 6.80321086e+01] [-1.17533699e-02 9.99929447e-01 1.72047794e-03 -2.46021520e+00] [-2.81094309e-03 -1.75363027e-03 9.99994512e-01 -2.31783230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05907232899999 meters 0.27840426049355793 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.45, Z:-2.32 [[ 9.99941967e-01 1.03752962e-02 2.90102169e-03 6.80327117e+01] [-1.03751198e-02 9.99946174e-01 -7.58262551e-05 -2.45327627e+00] [-2.90165226e-03 4.57234070e-05 9.99995789e-01 -2.31881476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11907232899999 meters 0.2497906337420191 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.44, Z:-2.32 [[ 9.99960165e-01 8.37880029e-03 3.07625043e-03 6.80333152e+01] [-8.37173171e-03 9.99962303e-01 -2.30352127e-03 -2.44346324e+00] [-3.09543521e-03 2.27767597e-03 9.99992615e-01 -2.31991500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.179072329 meters 0.23790901361279826 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.44, Z:-2.32 [[ 9.99966989e-01 7.73297182e-03 2.49429174e-03 6.80342428e+01] [-7.72541870e-03 9.99965587e-01 -3.02371447e-03 -2.44058353e+00] [-2.51758820e-03 3.00434521e-03 9.99992318e-01 -2.31913918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239072329 meters 0.25802227745881384 Centerline is valid? [False, False] Translation: X:68.03, Y:-2.44, Z:-2.32 [[ 9.99993171e-01 2.68280290e-03 2.54181234e-03 6.80343151e+01] [-2.66158863e-03 9.99961904e-01 -8.31306254e-03 -2.43662180e+00] [-2.56401782e-03 8.30624051e-03 9.99962215e-01 -2.31941058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299072329 meters 0.28700702059173955 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.43, Z:-2.32 [[ 9.99979183e-01 -1.33723614e-03 -6.31224607e-03 6.80386390e+01] [ 1.37103262e-03 9.99984734e-01 5.35282641e-03 -2.43261954e+00] [ 6.30499171e-03 -5.36136928e-03 9.99965751e-01 -2.31548419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35907232899999 meters 0.3950027622288591 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.43, Z:-2.31 [[ 9.99856588e-01 -5.27590679e-03 -1.60924636e-02 6.80380121e+01] [ 5.53439733e-03 9.99855700e-01 1.60608195e-02 -2.43135725e+00] [ 1.60054061e-02 -1.61475783e-02 9.99741508e-01 -2.30871419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41907232899999 meters 0.47559778231895866 Centerline is valid? [False, False] Translation: X:68.04, Y:-2.42, Z:-2.30 [[ 9.99550214e-01 -1.29838698e-02 -2.70330910e-02 6.80355790e+01] [ 1.36106481e-02 9.99639762e-01 2.31321583e-02 -2.42454031e+00] [ 2.67230077e-02 -2.34896917e-02 9.99366857e-01 -2.29641175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47907232899999 meters 0.502828590521587 Centerline is valid? [False, False] Translation: X:68.09, Y:-2.41, Z:-2.30 [[ 9.99332314e-01 -1.63017262e-02 -3.26983040e-02 6.80879843e+01] [ 1.70424906e-02 9.99601455e-01 2.25052138e-02 -2.40577778e+00] [ 3.23183985e-02 -2.30474479e-02 9.99211858e-01 -2.29655825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53907232899999 meters 0.5118626951580069 Centerline is valid? [False, False] Translation: X:68.10, Y:-2.40, Z:-2.30 [[ 9.99588626e-01 -7.71747413e-03 -2.76228097e-02 6.81048422e+01] [ 8.31733572e-03 9.99730633e-01 2.16675599e-02 -2.39750422e+00] [ 2.74481502e-02 -2.18883946e-02 9.99383559e-01 -2.29849373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599072329 meters 0.4911868495440704 Centerline is valid? [False, False] Translation: X:68.12, Y:-2.38, Z:-2.30 [[ 9.99742281e-01 -7.57660472e-03 -2.14001514e-02 6.81220660e+01] [ 7.85968541e-03 9.99882316e-01 1.31749888e-02 -2.38464174e+00] [ 2.12978112e-02 -1.33397918e-02 9.99684177e-01 -2.30165191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659072329 meters 0.49013796122771597 Centerline is valid? [False, False] Translation: X:68.16, Y:-2.36, Z:-2.30 [[ 9.99716531e-01 -8.33835405e-03 -2.23008897e-02 6.81637743e+01] [ 8.62524811e-03 9.99880881e-01 1.27995935e-02 -2.36415225e+00] [ 2.21915057e-02 -1.29883159e-02 9.99669366e-01 -2.30045553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719072329 meters 0.5138368093891178 Centerline is valid? [False, False] Translation: X:68.22, Y:-2.34, Z:-2.31 [[ 9.99531053e-01 -2.00447730e-02 -2.31491185e-02 6.82240680e+01] [ 2.01435079e-02 9.99788937e-01 4.03986766e-03 -2.33773923e+00] [ 2.30632544e-02 -4.50427762e-03 9.99723861e-01 -2.31100471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77907232899999 meters 0.5222363472777858 Centerline is valid? [False, False] Translation: X:68.25, Y:-2.33, Z:-2.31 [[ 9.99706609e-01 -1.23817119e-02 -2.08180087e-02 6.82473696e+01] [ 1.24464302e-02 9.99918093e-01 2.98207405e-03 -2.33450007e+00] [ 2.07793804e-02 -3.24030903e-03 9.99778834e-01 -2.31263322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83907232899999 meters 0.5134982964296391 Centerline is valid? [False, False] Translation: X:68.27, Y:-2.33, Z:-2.31 [[ 9.99836849e-01 -4.55795825e-03 -1.74785900e-02 6.82683788e+01] [ 4.60011148e-03 9.99986606e-01 2.37226053e-03 -2.33215621e+00] [ 1.74675432e-02 -2.45227695e-03 9.99844424e-01 -2.31293214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89907232899999 meters 0.5227893877378114 Centerline is valid? [False, False] Translation: X:68.30, Y:-2.31, Z:-2.31 [[ 9.99668719e-01 -1.44908329e-02 -2.12712964e-02 6.82974655e+01] [ 1.45142629e-02 9.99894214e-01 9.47502835e-04 -2.31160806e+00] [ 2.12553161e-02 -1.25592613e-03 9.99773291e-01 -2.31339647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.959072329 meters 0.5131990791697668 Centerline is valid? [False, False] Translation: X:68.32, Y:-2.31, Z:-2.32 [[ 9.99786305e-01 -6.49592025e-03 -1.96251956e-02 6.83243138e+01] [ 6.51481056e-03 9.99978374e-01 8.98773319e-04 -2.30652891e+00] [ 1.96189328e-02 -1.02643569e-03 9.99807003e-01 -2.31557297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019072329 meters 0.5151274674523537 Centerline is valid? [False, False] Translation: X:68.38, Y:-2.29, Z:-2.31 [[ 9.99606929e-01 -1.27447945e-02 -2.49711221e-02 6.83771858e+01] [ 1.26732776e-02 9.99915130e-01 -3.02016075e-03 -2.29047370e+00] [ 2.50074941e-02 2.70250765e-03 9.99683611e-01 -2.31282789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079072329 meters 0.5115006790043002 Centerline is valid? [False, False] Translation: X:68.42, Y:-2.29, Z:-2.31 [[ 9.99520295e-01 -4.75926772e-03 -3.06027678e-02 6.84157937e+01] [ 4.70800089e-03 9.99987391e-01 -1.74707313e-03 -2.29120266e+00] [ 3.06106967e-02 1.60215719e-03 9.99530099e-01 -2.31428428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13907232899999 meters 0.518505357643871 Centerline is valid? [False, False] Translation: X:68.46, Y:-2.28, Z:-2.31 [[ 9.99374723e-01 -6.23123122e-03 -3.48042282e-02 6.84601309e+01] [ 6.16764815e-03 9.99979110e-01 -1.93394300e-03 -2.28354448e+00] [ 3.48155520e-02 1.71807352e-03 9.99392278e-01 -2.31245439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19907232899999 meters 0.5136236834060375 Centerline is valid? [False, False] Translation: X:68.49, Y:-2.27, Z:-2.32 [[ 9.99448374e-01 -6.18773967e-03 -3.26291209e-02 6.84898668e+01] [ 5.88174005e-03 9.99937900e-01 -9.46577407e-03 -2.27318987e+00] [ 3.26856664e-02 9.26863649e-03 9.99422703e-01 -2.31634307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25907232899999 meters 0.5209477438457009 Centerline is valid? [False, False] Translation: X:68.53, Y:-2.25, Z:-2.31 [[ 9.99436120e-01 -5.69949811e-03 -3.30901348e-02 6.85305713e+01] [ 5.36723882e-03 9.99934375e-01 -1.01211960e-02 -2.25357789e+00] [ 3.31456490e-02 9.93788626e-03 9.99401123e-01 -2.31289581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.319072329 meters 0.5195770292443337 Centerline is valid? [False, False] Translation: X:68.56, Y:-2.23, Z:-2.32 [[ 9.99508136e-01 7.28064041e-03 -3.05037362e-02 6.85597038e+01] [-7.49052146e-03 9.99949015e-01 -6.77188981e-03 -2.23304175e+00] [ 3.04528773e-02 6.99704785e-03 9.99511713e-01 -2.31623463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379072329 meters 0.5138858769919677 Centerline is valid? [False, False] Translation: X:68.58, Y:-2.20, Z:-2.32 [[ 9.99309551e-01 2.53624968e-02 -2.71507947e-02 6.85773893e+01] [-2.56204956e-02 9.99629433e-01 -9.19706483e-03 -2.19926642e+00] [ 2.69074730e-02 9.88633154e-03 9.99589040e-01 -2.31617831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439072329 meters 0.5102474822013213 Centerline is valid? [False, False] Translation: X:68.57, Y:-2.16, Z:-2.32 [[ 9.98979410e-01 3.72394891e-02 -2.55608809e-02 6.85744801e+01] [-3.74491406e-02 9.99268305e-01 -7.77278528e-03 -2.16073445e+00] [ 2.52527236e-02 8.72208547e-03 9.99643049e-01 -2.31824148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49907232899999 meters 0.49644579080753204 Centerline is valid? [False, False] Translation: X:68.55, Y:-2.10, Z:-2.32 [[ 9.97586229e-01 6.36236864e-02 -2.78162134e-02 6.85543314e+01] [-6.38873072e-02 9.97919260e-01 -8.69262125e-03 -2.09579301e+00] [ 2.72052785e-02 1.04487422e-02 9.99575258e-01 -2.32031567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55907232899999 meters 0.48860143355196434 Centerline is valid? [False, False] Translation: X:68.53, Y:-2.02, Z:-2.32 [[ 9.94668291e-01 9.94455939e-02 -2.73050202e-02 6.85289584e+01] [-9.97950927e-02 9.94938667e-01 -1.17468373e-02 -2.02325337e+00] [ 2.59986492e-02 1.44091136e-02 9.99558126e-01 -2.32169875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61907232899999 meters 0.47252117012557476 Centerline is valid? [False, False] Translation: X:68.47, Y:-1.93, Z:-2.32 [[ 9.91276678e-01 1.29155351e-01 -2.62572600e-02 6.84729914e+01] [-1.29464919e-01 9.91528980e-01 -1.04458998e-02 -1.93064679e+00] [ 2.46856903e-02 1.37541709e-02 9.99600640e-01 -2.32167565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.679072329 meters 0.4656810790206721 Centerline is valid? [False, False] Translation: X:68.41, Y:-1.87, Z:-2.32 [[ 9.92937417e-01 1.15606966e-01 -2.66517530e-02 6.84063513e+01] [-1.15946032e-01 9.93188435e-01 -1.15433850e-02 -1.87095973e+00] [ 2.51357172e-02 1.45520239e-02 9.99578128e-01 -2.32036063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739072329 meters 0.46423837214890057 Centerline is valid? [False, False] Translation: X:68.34, Y:-1.78, Z:-2.32 [[ 9.88550789e-01 1.49293893e-01 -2.18785733e-02 6.83414651e+01] [-1.49602107e-01 9.88658262e-01 -1.31928248e-02 -1.77930736e+00] [ 1.96608241e-02 1.63148581e-02 9.99673585e-01 -2.31811223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799072329 meters 0.6199689061842787 Centerline is valid? [False, False] Translation: X:68.28, Y:-1.71, Z:-2.32 [[ 9.86086820e-01 1.65045017e-01 -1.98223604e-02 6.82828525e+01] [-1.65286418e-01 9.86181809e-01 -1.12178595e-02 -1.70913216e+00] [ 1.76969995e-02 1.43381503e-02 9.99740583e-01 -2.31720898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85907232899999 meters 0.5655549590306708 Centerline is valid? [False, False] Translation: X:68.25, Y:-1.62, Z:-2.32 [[ 9.77185792e-01 2.11195923e-01 -2.24546271e-02 6.82492241e+01] [-2.11450212e-01 9.77341617e-01 -9.60063695e-03 -1.61536009e+00] [ 1.99182262e-02 1.41296417e-02 9.99701764e-01 -2.32034459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91907232899999 meters 0.4713838478099897 Centerline is valid? [False, False] Translation: X:68.21, Y:-1.50, Z:-2.31 [[ 9.68921654e-01 2.45331234e-01 -3.16767258e-02 6.82091878e+01] [-2.45901434e-01 9.69170704e-01 -1.55123140e-02 -1.49702835e+00] [ 2.68944995e-02 2.28195692e-02 9.99377783e-01 -2.31484726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97907232899999 meters 0.41925335762223576 Centerline is valid? [False, False] Translation: X:68.15, Y:-1.39, Z:-2.31 [[ 9.69269005e-01 2.43415308e-01 -3.55890979e-02 6.81532030e+01] [-2.44036503e-01 9.69661592e-01 -1.42331174e-02 -1.38691460e+00] [ 3.10448227e-02 2.24807585e-02 9.99265147e-01 -2.30859589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03907232899999 meters 0.4382145631078044 Centerline is valid? [False, False] Translation: X:68.10, Y:-1.25, Z:-2.30 [[ 9.67001898e-01 2.51988997e-01 -3.75349666e-02 6.80962828e+01] [-2.52607865e-01 9.67485420e-01 -1.26976146e-02 -1.25285617e+00] [ 3.31148737e-02 2.17602452e-02 9.99214640e-01 -2.30259191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099072329 meters 0.4483041079300268 Centerline is valid? [False, False] Translation: X:68.03, Y:-1.13, Z:-2.30 [[ 9.67056301e-01 2.50941011e-01 -4.27869062e-02 6.80324296e+01] [-2.51799794e-01 9.67648079e-01 -1.59392199e-02 -1.12616716e+00] [ 3.74028637e-02 2.61878572e-02 9.98957067e-01 -2.29947124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159072329 meters 0.4456405077352882 Centerline is valid? [False, False] Translation: X:67.96, Y:-1.03, Z:-2.30 [[ 9.70465816e-01 2.36171736e-01 -4.91834357e-02 6.79569147e+01] [-2.37364686e-01 9.71216014e-01 -1.99364166e-02 -1.02576309e+00] [ 4.30593223e-02 3.10220215e-02 9.98590772e-01 -2.29837073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219072329 meters 0.44687959747768047 Centerline is valid? [False, False] Translation: X:67.88, Y:-0.92, Z:-2.30 [[ 9.70767945e-01 2.34394387e-01 -5.16611004e-02 6.78821371e+01] [-2.35858994e-01 9.71484121e-01 -2.42721479e-02 -9.15321507e-01] [ 4.44986835e-02 3.57473583e-02 9.98369668e-01 -2.29517724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27907232899999 meters 0.4407348131760406 Centerline is valid? [False, False] Translation: X:67.80, Y:-0.81, Z:-2.29 [[ 9.71580509e-01 2.30021220e-01 -5.58708598e-02 6.78031195e+01] [-2.31758580e-01 9.72403423e-01 -2.68242999e-02 -8.14963832e-01] [ 4.81588572e-02 3.90105181e-02 9.98077604e-01 -2.29380442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33907232899999 meters 0.43969082475772786 Centerline is valid? [False, False] Translation: X:67.72, Y:-0.74, Z:-2.30 [[ 9.76099617e-01 2.09768164e-01 -5.68054223e-02 6.77212051e+01] [-2.11470540e-01 9.77044794e-01 -2.57619940e-02 -7.38637212e-01] [ 5.00973960e-02 3.71589458e-02 9.98052836e-01 -2.29573659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39907232899999 meters 0.4357601251475989 Centerline is valid? [False, False] Translation: X:67.64, Y:-0.66, Z:-2.30 [[ 9.77173740e-01 2.04043558e-01 -5.91414199e-02 6.76386124e+01] [-2.06001142e-01 9.78119521e-01 -2.90814708e-02 -6.61140119e-01] [ 5.19134906e-02 4.06008497e-02 9.97825917e-01 -2.29574508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.459072329 meters 0.42280827839647556 Centerline is valid? [False, False] Translation: X:67.55, Y:-0.60, Z:-2.29 [[ 9.79014625e-01 1.93248997e-01 -6.46930411e-02 6.75536416e+01] [-1.95981722e-01 9.79835573e-01 -3.89026406e-02 -5.98723615e-01] [ 5.58706467e-02 5.07649077e-02 9.97146627e-01 -2.29482502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519072329 meters 0.46332506681218105 Centerline is valid? [False, False] Translation: X:67.47, Y:-0.56, Z:-2.29 [[ 9.82141298e-01 1.76533862e-01 -6.50712448e-02 6.74699930e+01] [-1.79128163e-01 9.83151558e-01 -3.64158585e-02 -5.55665997e-01] [ 5.75462636e-02 4.74216111e-02 9.97215934e-01 -2.29492093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579072329 meters 0.47074842243645015 Centerline is valid? [False, False] Translation: X:67.42, Y:-0.52, Z:-2.30 [[ 9.83249159e-01 1.71955712e-01 -6.04344707e-02 6.74208060e+01] [-1.73867683e-01 9.84373491e-01 -2.79080576e-02 -5.23569252e-01] [ 5.46911410e-02 3.79481756e-02 9.97781948e-01 -2.29968552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63907232899999 meters 0.4699976181879193 Centerline is valid? [False, False] Translation: X:67.38, Y:-0.50, Z:-2.30 [[ 9.85076135e-01 1.59983896e-01 -6.34835481e-02 6.73790846e+01] [-1.62485027e-01 9.86040084e-01 -3.63808923e-02 -5.04962986e-01] [ 5.67769662e-02 4.61530748e-02 9.97319542e-01 -2.30431835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69907232899999 meters 0.4832526928393243 Centerline is valid? [False, False] Translation: X:67.35, Y:-0.49, Z:-2.31 [[ 9.86907934e-01 1.48980850e-01 -6.17854042e-02 6.73518360e+01] [-1.51285376e-01 9.87889887e-01 -3.44428015e-02 -4.93265138e-01] [ 5.59058582e-02 4.33391022e-02 9.97494991e-01 -2.31014982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75907232899999 meters 0.48565776505600855 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.49, Z:-2.31 [[ 9.88473799e-01 1.39137370e-01 -5.96685948e-02 6.73256025e+01] [-1.41193932e-01 9.89473045e-01 -3.17390514e-02 -4.86465194e-01] [ 5.46243781e-02 3.97980642e-02 9.97713532e-01 -2.31336154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.819072329 meters 0.4952022096063589 Centerline is valid? [False, False] Translation: X:67.30, Y:-0.48, Z:-2.32 [[ 9.90499284e-01 1.25299015e-01 -5.66685599e-02 6.72984629e+01] [-1.27300942e-01 9.91308255e-01 -3.32026093e-02 -4.83334681e-01] [ 5.20157570e-02 4.01011217e-02 9.97840799e-01 -2.31689508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879072329 meters 0.5043954800878786 Centerline is valid? [False, False] Translation: X:67.27, Y:-0.48, Z:-2.32 [[ 9.91469540e-01 1.17586147e-01 -5.62285513e-02 6.72748559e+01] [-1.19249535e-01 9.92491877e-01 -2.71923422e-02 -4.81625421e-01] [ 5.26089377e-02 3.36656076e-02 9.98047557e-01 -2.32320255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939072329 meters 0.5318578025054717 Centerline is valid? [False, False] Translation: X:67.25, Y:-0.48, Z:-2.33 [[ 9.92115363e-01 1.14089229e-01 -5.18724778e-02 6.72536322e+01] [-1.15324999e-01 9.93095551e-01 -2.14795541e-02 -4.75734024e-01] [ 4.90637412e-02 2.72923891e-02 9.98422693e-01 -2.32890507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99907232899999 meters 0.5097278955101375 Centerline is valid? [False, False] Translation: X:67.25, Y:-0.48, Z:-2.33 [[ 9.93059504e-01 1.06328957e-01 -5.02690116e-02 6.72467105e+01] [-1.07904969e-01 9.93716131e-01 -2.97450675e-02 -4.75545830e-01] [ 4.67903657e-02 3.49628981e-02 9.98292671e-01 -2.33001207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05907232899999 meters 0.5355568057281362 Centerline is valid? [False, False] Translation: X:67.22, Y:-0.47, Z:-2.34 [[ 9.93432702e-01 1.02919558e-01 -4.99903047e-02 6.72227809e+01] [-1.04035676e-01 9.94367273e-01 -2.02559668e-02 -4.73684343e-01] [ 4.76239878e-02 2.53237150e-02 9.98544273e-01 -2.33553266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11907232899999 meters 0.5382024205335415 Centerline is valid? [False, False] Translation: X:67.19, Y:-0.47, Z:-2.34 [[ 9.94046314e-01 9.81690373e-02 -4.72733072e-02 6.71949419e+01] [-9.88684243e-02 9.95019658e-01 -1.26851878e-02 -4.68979466e-01] [ 4.57925773e-02 1.72835015e-02 9.98801442e-01 -2.33978548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.179072329 meters 0.5453218613225372 Centerline is valid? [False, False] Translation: X:67.18, Y:-0.46, Z:-2.34 [[ 9.94477164e-01 9.59513913e-02 -4.25264810e-02 6.71816109e+01] [-9.69033650e-02 9.95074015e-01 -2.09151434e-02 -4.61957576e-01] [ 4.03101590e-02 2.49205916e-02 9.98876396e-01 -2.34068311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239072329 meters 0.5952856260302233 Centerline is valid? [False, False] Translation: X:67.18, Y:-0.45, Z:-2.34 [[ 9.94095400e-01 1.00887418e-01 -3.99507742e-02 6.71778264e+01] [-1.01801324e-01 9.94571562e-01 -2.15382996e-02 -4.47152060e-01] [ 3.75609605e-02 2.54781663e-02 9.98969488e-01 -2.34182895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299072329 meters 0.591305481569524 Centerline is valid? [False, False] Translation: X:67.15, Y:-0.42, Z:-2.35 [[ 9.93376472e-01 1.09954899e-01 -3.33632261e-02 6.71508339e+01] [-1.10198577e-01 9.93894098e-01 -5.54945493e-03 -4.20658809e-01] [ 3.25493238e-02 9.18927799e-03 9.99427886e-01 -2.34698127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35907232899999 meters 0.5804952050446858 Centerline is valid? [False, False] Translation: X:67.13, Y:-0.40, Z:-2.35 [[ 9.93963381e-01 1.06560756e-01 -2.61075213e-02 6.71279115e+01] [-1.06770421e-01 9.94260659e-01 -6.76898313e-03 -4.00525776e-01] [ 2.52363734e-02 9.51563241e-03 9.99636223e-01 -2.35335132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41907232899999 meters 0.5699790123704549 Centerline is valid? [False, False] Translation: X:67.08, Y:-0.37, Z:-2.35 [[ 9.93731292e-01 1.08032821e-01 -2.87580960e-02 6.70840584e+01] [-1.08262497e-01 9.94100775e-01 -6.54840624e-03 -3.71627067e-01] [ 2.78810027e-02 9.62077948e-03 9.99564951e-01 -2.35459043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47907232899999 meters 0.541305977132328 Centerline is valid? [False, False] Translation: X:67.03, Y:-0.34, Z:-2.35 [[ 9.94725050e-01 9.99273461e-02 -2.31646248e-02 6.70348605e+01] [-9.99715303e-02 9.94990012e-01 -7.54348478e-04 -3.38109021e-01] [ 2.29731902e-02 3.06617231e-03 9.99731379e-01 -2.35438370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53907232899999 meters 0.5396344318740709 Centerline is valid? [False, False] Translation: X:67.00, Y:-0.33, Z:-2.36 [[ 9.96302237e-01 8.33209206e-02 -2.09636900e-02 6.69979724e+01] [-8.33988592e-02 9.96512114e-01 -2.86987919e-03 -3.28295885e-01] [ 2.06514501e-02 4.60761488e-03 9.99776119e-01 -2.35558801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599072329 meters 0.4919586530425431 Centerline is valid? [False, False] Translation: X:66.97, Y:-0.31, Z:-2.36 [[ 9.97310294e-01 7.08993666e-02 -1.85864816e-02 6.69668256e+01] [-7.09779108e-02 9.97471391e-01 -3.59999480e-03 -3.08910408e-01] [ 1.82842463e-02 4.90954150e-03 9.99820775e-01 -2.35824951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659072329 meters 0.45149375999352126 Centerline is valid? [False, False] Translation: X:66.94, Y:-0.28, Z:-2.36 [[ 9.97996551e-01 6.14027878e-02 -1.52506217e-02 6.69354208e+01] [-6.14488253e-02 9.98106931e-01 -2.56826361e-03 -2.83854177e-01] [ 1.50640526e-02 3.50025101e-03 9.99880404e-01 -2.36334241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719072329 meters 0.4251957349856883 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.26, Z:-2.37 [[ 9.98450250e-01 5.46799281e-02 -1.03539165e-02 6.69154936e+01] [-5.47465767e-02 9.98480616e-01 -6.26669881e-03 -2.64178051e-01] [ 9.99552226e-03 6.82382848e-03 9.99926760e-01 -2.36665424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77907232899999 meters 0.4017207909741727 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.25, Z:-2.37 [[ 9.98478552e-01 5.49177605e-02 -4.96185536e-03 6.68991442e+01] [-5.49449004e-02 9.98474187e-01 -5.50969583e-03 -2.48633876e-01] [ 4.65170434e-03 5.77394177e-03 9.99972511e-01 -2.36881011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83907232899999 meters 0.39520855090793644 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.24, Z:-2.37 [[ 9.98929849e-01 4.58060394e-02 6.40027107e-03 6.68813912e+01] [-4.58114990e-02 9.98949851e-01 7.08956485e-04 -2.40831791e-01] [-6.36107534e-03 -1.00140381e-03 9.99979267e-01 -2.37346049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89907232899999 meters 0.39512672434754964 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.23, Z:-2.37 [[ 9.99106609e-01 4.15987863e-02 7.45154755e-03 6.68804007e+01] [-4.15475081e-02 9.99112641e-01 -6.90907236e-03 -2.29336248e-01] [-7.73234437e-03 6.59330662e-03 9.99948368e-01 -2.37429845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.959072329 meters 0.38139986800163456 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.22, Z:-2.38 [[ 9.99406610e-01 3.05847768e-02 1.58429264e-02 6.68666841e+01] [-3.05889585e-02 9.99532048e-01 2.16286292e-05 -2.19578339e-01] [-1.58348512e-02 -5.06234413e-04 9.99874493e-01 -2.37618992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019072329 meters 0.38262790178283 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.21, Z:-2.37 [[ 9.99408906e-01 3.00126714e-02 1.67654028e-02 6.68635493e+01] [-2.99830820e-02 9.99548378e-01 -2.01354185e-03 -2.13890616e-01] [-1.68182630e-02 1.50967320e-03 9.99857423e-01 -2.37383326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079072329 meters 0.3820337780117097 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.20, Z:-2.37 [[ 9.99404957e-01 2.94474943e-02 1.79604159e-02 6.68607528e+01] [-2.93634182e-02 9.99556658e-01 -4.92712948e-03 -2.04418755e-01] [-1.80975450e-02 4.39681842e-03 9.99826558e-01 -2.37237046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13907232899999 meters 0.38200807825728467 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.20, Z:-2.37 [[ 9.99394887e-01 2.88465116e-02 1.94355225e-02 6.68562988e+01] [-2.87042580e-02 9.99559367e-01 -7.55895640e-03 -1.97159065e-01] [-1.96450081e-02 6.99650012e-03 9.99782538e-01 -2.36945018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19907232899999 meters 0.38143013410654364 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.19, Z:-2.37 [[ 9.99390464e-01 2.85171366e-02 2.01363532e-02 6.68543885e+01] [-2.83403041e-02 9.99557697e-01 -9.01323752e-03 -1.92808570e-01] [-2.03844785e-02 8.43707325e-03 9.99756615e-01 -2.36858668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25907232899999 meters 0.3782591842130515 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.19, Z:-2.37 [[ 9.99432014e-01 2.51459124e-02 2.24350699e-02 6.68498307e+01] [-2.47988438e-02 9.99570482e-01 -1.56163229e-02 -1.86255549e-01] [-2.28181203e-02 1.50510892e-02 9.99626329e-01 -2.36861283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.319072329 meters 0.3724811634833122 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.18, Z:-2.37 [[ 9.99405049e-01 2.52600215e-02 2.34836126e-02 6.68476502e+01] [-2.48687302e-02 9.99549422e-01 -1.68076945e-02 -1.82665792e-01] [-2.38975942e-02 1.62136871e-02 9.99582924e-01 -2.36867991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379072329 meters 0.3698617608227267 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.18, Z:-2.37 [[ 9.99259109e-01 2.93916332e-02 2.48468202e-02 6.68449601e+01] [-2.90384803e-02 9.99473749e-01 -1.44565722e-02 -1.76551217e-01] [-2.52586468e-02 1.37243476e-02 9.99586736e-01 -2.36818206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439072329 meters 0.35826269537077265 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.17, Z:-2.37 [[ 9.99198816e-01 2.95739710e-02 2.69649216e-02 6.68397780e+01] [-2.91456406e-02 9.99444833e-01 -1.61418200e-02 -1.72621653e-01] [-2.74273292e-02 1.53429775e-02 9.99506045e-01 -2.36708094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49907232899999 meters 0.3529299220648901 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.17, Z:-2.37 [[ 9.99158240e-01 2.96501042e-02 2.83493049e-02 6.68359423e+01] [-2.91774239e-02 9.99430623e-01 -1.69442818e-02 -1.71380431e-01] [-2.88355632e-02 1.61028591e-02 9.99454455e-01 -2.36597002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55907232899999 meters 0.3488721490074645 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99003079e-01 3.38949696e-02 2.90513114e-02 6.68348741e+01] [-3.35204677e-02 9.99349763e-01 -1.32826829e-02 -1.69222132e-01] [-2.94826373e-02 1.22956276e-02 9.99489666e-01 -2.36607974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61907232899999 meters 0.3477501594894811 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99077572e-01 3.07742769e-02 2.99491062e-02 6.68339750e+01] [-3.02641309e-02 9.99391507e-01 -1.73406378e-02 -1.70006007e-01] [-3.04645280e-02 1.64182587e-02 9.99400997e-01 -2.36828294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.679072329 meters 0.336523093489136 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99039739e-01 3.09932082e-02 3.09680601e-02 6.68307466e+01] [-3.04691800e-02 9.99386799e-01 -1.72526620e-02 -1.71619582e-01] [-3.14837858e-02 1.62925236e-02 9.99371465e-01 -2.36710214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739072329 meters 0.3478880359155725 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99030664e-01 3.12034625e-02 3.10495747e-02 6.68306332e+01] [-3.06864348e-02 9.99384631e-01 -1.69912627e-02 -1.72440333e-01] [-3.15606539e-02 1.60219917e-02 9.99373414e-01 -2.36721833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799072329 meters 0.33929783810025854 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.17, Z:-2.37 [[ 9.99024847e-01 3.16053157e-02 3.08295286e-02 6.68319177e+01] [-3.11134670e-02 9.99382855e-01 -1.63052799e-02 -1.74323780e-01] [-3.13258358e-02 1.53301662e-02 9.99391654e-01 -2.36839418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85907232899999 meters 0.3481374244142659 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.18, Z:-2.37 [[ 9.99016994e-01 3.19683138e-02 3.07094950e-02 6.68324421e+01] [-3.15022322e-02 9.99382821e-01 -1.55430209e-02 -1.76729038e-01] [-3.11874259e-02 1.45603244e-02 9.99407495e-01 -2.36884196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91907232899999 meters 0.3513951404106259 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.18, Z:-2.37 [[ 9.99006595e-01 3.24065150e-02 3.05882422e-02 6.68334760e+01] [-3.19646611e-02 9.99379040e-01 -1.48254548e-02 -1.78721022e-01] [-3.10496894e-02 1.38329843e-02 9.99422116e-01 -2.37006600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97907232899999 meters 0.331529326730454 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.18, Z:-2.37 [[ 9.98992555e-01 3.26585292e-02 3.07781541e-02 6.68329845e+01] [-3.22274731e-02 9.99376837e-01 -1.43989085e-02 -1.80266259e-01] [-3.12292214e-02 1.33925003e-02 9.99422522e-01 -2.37001715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03907232899999 meters 0.3447663654537315 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.18, Z:-2.37 [[ 9.98974273e-01 3.31669003e-02 3.08278978e-02 6.68329127e+01] [-3.27632064e-02 9.99371837e-01 -1.35093804e-02 -1.83145961e-01] [-3.12565971e-02 1.24855027e-02 9.99433408e-01 -2.37000072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099072329 meters 0.3365248076267683 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.19, Z:-2.37 [[ 9.99083569e-01 2.99317334e-02 3.05959794e-02 6.68341724e+01] [-2.94471257e-02 9.99435560e-01 -1.61687666e-02 -1.88061199e-01] [-3.10626690e-02 1.52529854e-02 9.99401049e-01 -2.37149690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159072329 meters 0.35265245280656043 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.19, Z:-2.37 [[ 9.99096287e-01 2.99938083e-02 3.01161243e-02 6.68351933e+01] [-2.95602623e-02 9.99454322e-01 -1.47393810e-02 -1.92460277e-01] [-3.05417807e-02 1.38358203e-02 9.99437727e-01 -2.37175338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21907232899999 meters 0.3522958947444194 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.20, Z:-2.37 [[ 9.99232756e-01 2.60198834e-02 2.92722479e-02 6.68366848e+01] [-2.55357162e-02 9.99532832e-01 -1.67941893e-02 -1.99447726e-01] [-2.96955557e-02 1.60338162e-02 9.99430383e-01 -2.37190618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27907232899999 meters 0.3554329216678007 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.21, Z:-2.37 [[ 9.99387517e-01 2.43119172e-02 2.51698388e-02 6.68459942e+01] [-2.39788160e-02 9.99621952e-01 -1.34524789e-02 -2.07758213e-01] [-2.54873790e-02 1.28406966e-02 9.99592672e-01 -2.37432922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33907232899999 meters 0.3554644257237602 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.22, Z:-2.37 [[ 9.99423289e-01 2.37559128e-02 2.42640877e-02 6.68472730e+01] [-2.34961173e-02 9.99664105e-01 -1.09365923e-02 -2.15718401e-01] [-2.45157463e-02 1.03601732e-02 9.99645760e-01 -2.37348616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39907232899999 meters 0.36248502297084345 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.23, Z:-2.37 [[ 9.99557602e-01 1.91136930e-02 2.27874416e-02 6.68498110e+01] [-1.88697904e-02 9.99762850e-01 -1.08707999e-02 -2.28761940e-01] [-2.29898187e-02 1.04359964e-02 9.99681228e-01 -2.37317432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.459072329 meters 0.3588246436025123 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.23, Z:-2.37 [[ 9.99583086e-01 1.89883071e-02 2.17508305e-02 6.68523553e+01] [-1.87888278e-02 9.99779857e-01 -9.33906792e-03 -2.33091884e-01] [-2.19233753e-02 8.92650172e-03 9.99719802e-01 -2.37384859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519072329 meters 0.3624030685639672 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.24, Z:-2.37 [[ 9.99817936e-01 1.48570856e-02 1.19734101e-02 6.68731185e+01] [-1.48135092e-02 9.99883354e-01 -3.71993946e-03 -2.44787687e-01] [-1.20272809e-02 3.54189397e-03 9.99921397e-01 -2.37320216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579072329 meters 0.38092769585200975 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.26, Z:-2.37 [[ 9.99977651e-01 1.63513533e-04 6.68364926e-03 6.68838305e+01] [-1.40328121e-04 9.99993972e-01 -3.46929673e-03 -2.62076385e-01] [-6.68417625e-03 3.46828129e-03 9.99971646e-01 -2.36976137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63907232899999 meters 0.38407943373707837 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.27, Z:-2.36 [[ 9.99963521e-01 -5.10312463e-03 -6.84947794e-03 6.69165017e+01] [ 5.08127337e-03 9.99981958e-01 -3.20382783e-03 -2.74954255e-01] [ 6.86570389e-03 3.16890689e-03 9.99971410e-01 -2.36349720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69907232899999 meters 0.3927694780596782 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.29, Z:-2.37 [[ 9.99896218e-01 -9.92565895e-03 -1.04419456e-02 6.69251566e+01] [ 9.89898127e-03 9.99947615e-01 -2.60344742e-03 -2.88460226e-01] [ 1.04672395e-02 2.49981261e-03 9.99942092e-01 -2.36548717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75907232899999 meters 0.4005947651109124 Centerline is valid? [False, False] Translation: X:66.95, Y:-0.31, Z:-2.36 [[ 9.99596106e-01 -2.05300313e-02 -1.96504963e-02 6.69478643e+01] [ 2.03526286e-02 9.99750665e-01 -9.18573084e-03 -3.08304512e-01] [ 1.98341801e-02 8.78208153e-03 9.99764712e-01 -2.36091736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.819072329 meters 0.40632324616110066 Centerline is valid? [False, False] Translation: X:66.95, Y:-0.32, Z:-2.36 [[ 9.99437716e-01 -2.48870180e-02 -2.24697200e-02 6.69547179e+01] [ 2.47061192e-02 9.99660360e-01 -8.29285061e-03 -3.23582392e-01] [ 2.26684727e-02 7.73304810e-03 9.99713129e-01 -2.36215181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879072329 meters 0.4113155510574744 Centerline is valid? [False, False] Translation: X:66.98, Y:-0.34, Z:-2.36 [[ 9.99279482e-01 -3.32307516e-02 -1.83367072e-02 6.69777324e+01] [ 3.31224385e-02 9.99432198e-01 -6.17940457e-03 -3.41492511e-01] [ 1.85316419e-02 5.56759574e-03 9.99812773e-01 -2.36121082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939072329 meters 0.4142553550735944 Centerline is valid? [False, False] Translation: X:66.98, Y:-0.36, Z:-2.36 [[ 9.99257157e-01 -3.31156503e-02 -1.97101143e-02 6.69795271e+01] [ 3.31060600e-02 9.99451514e-01 -8.12752054e-04 -3.58129560e-01] [ 1.97262184e-02 1.59624080e-04 9.99805406e-01 -2.35915235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99907232899999 meters 0.41715495738663305 Centerline is valid? [False, False] Translation: X:66.99, Y:-0.38, Z:-2.36 [[ 9.99217414e-01 -3.24304847e-02 -2.26455832e-02 6.69863800e+01] [ 3.25778872e-02 9.99450151e-01 6.17071580e-03 -3.78578918e-01] [ 2.24330123e-02 -6.90363194e-03 9.99724512e-01 -2.36019664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05907232899999 meters 0.41435792572183217 Centerline is valid? [False, False] Translation: X:66.99, Y:-0.39, Z:-2.36 [[ 9.99243893e-01 -3.09959898e-02 -2.34710485e-02 6.69888286e+01] [ 3.12354158e-02 9.99462987e-01 9.90386230e-03 -3.90602319e-01] [ 2.31514643e-02 -1.06295019e-02 9.99675459e-01 -2.36086539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11907232899999 meters 0.4106939248749322 Centerline is valid? [False, False] Translation: X:66.99, Y:-0.40, Z:-2.36 [[ 9.99643292e-01 -1.90732913e-02 -1.86948794e-02 6.69893617e+01] [ 1.92347038e-02 9.99778927e-01 8.49258466e-03 -3.99656610e-01] [ 1.85287649e-02 -8.84914575e-03 9.99789167e-01 -2.35880296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.179072329 meters 0.4160775179275863 Centerline is valid? [False, False] Translation: X:66.99, Y:-0.40, Z:-2.36 [[ 9.99669645e-01 -1.85352325e-02 -1.78057608e-02 6.69873191e+01] [ 1.86942557e-02 9.99786463e-01 8.80644129e-03 -4.01036567e-01] [ 1.76387292e-02 -9.13639749e-03 9.99802681e-01 -2.35896474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239072329 meters 0.4002466327379272 Centerline is valid? [False, False] Translation: X:66.97, Y:-0.41, Z:-2.36 [[ 9.99914792e-01 -3.46468121e-03 -1.25858780e-02 6.69691919e+01] [ 3.55644339e-03 9.99967206e-01 7.27583380e-03 -4.06504755e-01] [ 1.25602568e-02 -7.31997481e-03 9.99894323e-01 -2.36367386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299072329 meters 0.39499151990294823 Centerline is valid? [False, False] Translation: X:66.96, Y:-0.40, Z:-2.36 [[ 9.99940112e-01 -2.59555842e-03 -1.06318257e-02 6.69646594e+01] [ 2.66203085e-03 9.99976970e-01 6.24283891e-03 -4.03638518e-01] [ 1.06153772e-02 -6.27076729e-03 9.99923993e-01 -2.36407395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35907232899999 meters 0.3875414549665299 Centerline is valid? [False, False] Translation: X:66.96, Y:-0.40, Z:-2.36 [[ 9.99968926e-01 2.68437313e-03 -7.41222237e-03 6.69568465e+01] [-2.62420930e-03 9.99963632e-01 8.11467133e-03 -3.97086870e-01] [ 7.43373561e-03 -8.09496795e-03 9.99939604e-01 -2.36362934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41907232899999 meters 0.3735052711589046 Centerline is valid? [False, False] Translation: X:66.95, Y:-0.39, Z:-2.36 [[ 9.99982742e-01 4.49888036e-03 -3.77836005e-03 6.69486709e+01] [-4.47674633e-03 9.99972890e-01 5.84627204e-03 -3.90553769e-01] [ 3.80455929e-03 -5.82925639e-03 9.99975772e-01 -2.36422993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47907232899999 meters 0.3662399423840063 Centerline is valid? [False, False] Translation: X:66.94, Y:-0.39, Z:-2.36 [[ 9.99982479e-01 5.91496303e-03 -2.33374305e-04 6.69398921e+01] [-5.91389359e-03 9.99973077e-01 4.34410954e-03 -3.86840237e-01] [ 2.59063269e-04 -4.34265327e-03 9.99990537e-01 -2.36317650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53907232899999 meters 0.36291111469561105 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.37 [[ 9.99980204e-01 4.47899235e-03 4.41919174e-03 6.69304651e+01] [-4.46628433e-03 9.99985875e-01 -2.88133547e-03 -3.78467318e-01] [-4.43203480e-03 2.86154106e-03 9.99986084e-01 -2.36601546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599072329 meters 0.3510227013462933 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.38, Z:-2.37 [[ 9.99631284e-01 2.39275869e-02 1.28361764e-02 6.69032042e+01] [-2.38785401e-02 9.99707021e-01 -3.96074663e-03 -3.80313134e-01] [-1.29271867e-02 3.65277709e-03 9.99909768e-01 -2.36733853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659072329 meters 0.3495288855564222 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.38, Z:-2.37 [[ 9.99531208e-01 2.56625193e-02 1.66972830e-02 6.68945715e+01] [-2.55709351e-02 9.99656899e-01 -5.67557707e-03 -3.76486674e-01] [-1.68372037e-02 5.24595127e-03 9.99844482e-01 -2.36747306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71907232899999 meters 0.34348130091244156 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.38, Z:-2.37 [[ 9.98753161e-01 4.15854957e-02 2.76182867e-02 6.68719101e+01] [-4.16671258e-02 9.99128698e-01 2.38651634e-03 -3.79687563e-01] [-2.74949784e-02 -3.53431537e-03 9.99615694e-01 -2.37344474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77907232899999 meters 0.3431553610565916 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.38, Z:-2.38 [[ 9.98333197e-01 4.33240104e-02 3.81294835e-02 6.68495988e+01] [-4.32801945e-02 9.99061023e-01 -1.97420004e-03 -3.82244667e-01] [-3.81792110e-02 3.20657976e-04 9.99270857e-01 -2.37878665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83907232899999 meters 0.33470289758465277 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.38, Z:-2.38 [[ 9.98022375e-01 4.56666038e-02 4.31960717e-02 6.68383753e+01] [-4.55558785e-02 9.98955503e-01 -3.54474571e-03 -3.79425413e-01] [-4.33128300e-02 1.56990053e-03 9.99060326e-01 -2.37885272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89907232899999 meters 0.3245717386715694 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.38, Z:-2.38 [[ 9.97671547e-01 4.86673267e-02 4.77804887e-02 6.68275314e+01] [-4.85406421e-02 9.98813946e-01 -3.80881682e-03 -3.81065582e-01] [-4.79091834e-02 1.48065257e-03 9.98850598e-01 -2.37772067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.959072329 meters 0.32654967624496517 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.97946017e-01 5.09863879e-02 3.87831878e-02 6.68164450e+01] [-5.07771890e-02 9.98689751e-01 -6.36073396e-03 -3.89930833e-01] [-3.90566830e-02 4.37836786e-03 9.99227404e-01 -2.37773906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019072329 meters 0.33814986297833716 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.97941637e-01 5.10612937e-02 3.87973447e-02 6.68167725e+01] [-5.08555750e-02 9.98686326e-01 -6.27156403e-03 -3.90193453e-01] [-3.90666118e-02 4.28559360e-03 9.99227418e-01 -2.37838779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079072329 meters 0.3340872263198239 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98153738e-01 4.71862011e-02 3.82436529e-02 6.68173806e+01] [-4.68369495e-02 9.98852713e-01 -9.97783450e-03 -3.92025594e-01] [-3.86705926e-02 8.16819676e-03 9.99218628e-01 -2.37811884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13907232899999 meters 0.33596729039382395 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98331088e-01 4.32320712e-02 3.82887177e-02 6.68169679e+01] [-4.27207607e-02 9.98987925e-01 -1.40734304e-02 -3.92929395e-01] [-3.88583902e-02 1.24142200e-02 9.99167610e-01 -2.37848779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19907232899999 meters 0.3334263900318489 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98352004e-01 4.30053739e-02 3.79975601e-02 6.68174955e+01] [-4.24897498e-02 9.98994915e-01 -1.42752054e-02 -3.92126939e-01] [-3.85732798e-02 1.26371731e-02 9.99175862e-01 -2.37814970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25907232899999 meters 0.3318097760441262 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98395419e-01 4.25795585e-02 3.73305212e-02 6.68185716e+01] [-4.20654013e-02 9.99010326e-01 -1.44523743e-02 -3.91284925e-01] [-3.79089519e-02 1.28588610e-02 9.99198459e-01 -2.37726197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.319072329 meters 0.3321838646595844 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98565416e-01 3.83736834e-02 3.73439480e-02 6.68176891e+01] [-3.76873013e-02 9.99110572e-01 -1.89138276e-02 -3.91004222e-01] [-3.80365265e-02 1.74793015e-02 9.99123464e-01 -2.37658667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379072329 meters 0.34627055414184904 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.98603591e-01 3.79488193e-02 3.67526129e-02 6.68190419e+01] [-3.72601431e-02 9.99120260e-01 -1.92454738e-02 -3.89657033e-01] [-3.74506232e-02 1.78491916e-02 9.99139058e-01 -2.37649259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439072329 meters 0.3351320642090781 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.99071187e-01 2.81048339e-02 3.26631458e-02 6.68166626e+01] [-2.76826384e-02 9.99528187e-01 -1.33069605e-02 -3.91117147e-01] [-3.30217248e-02 1.23903988e-02 9.99377828e-01 -2.37574851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49907232899999 meters 0.34406076392228124 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.39, Z:-2.38 [[ 9.99121503e-01 2.74529416e-02 3.16632125e-02 6.68185239e+01] [-2.70437753e-02 9.99546046e-01 -1.32791872e-02 -3.90774130e-01] [-3.20133916e-02 1.24112287e-02 9.99410378e-01 -2.37500388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55907232899999 meters 0.33750786049203463 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.39, Z:-2.37 [[ 9.99292013e-01 2.46031807e-02 2.84632331e-02 6.68252932e+01] [-2.42218428e-02 9.99613201e-01 -1.36657060e-02 -3.88388031e-01] [-2.87884434e-02 1.29665989e-02 9.99501422e-01 -2.37470455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61907232899999 meters 0.34489272358431167 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.39, Z:-2.37 [[ 9.99345135e-01 2.37175621e-02 2.73272378e-02 6.68273633e+01] [-2.33446498e-02 9.99631044e-01 -1.38853831e-02 -3.87167186e-01] [-2.76464827e-02 1.32383452e-02 9.99530099e-01 -2.37388064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.679072329 meters 0.34814397122116486 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.39, Z:-2.37 [[ 9.99472030e-01 2.13732474e-02 2.44713153e-02 6.68327350e+01] [-2.10487801e-02 9.99688098e-01 -1.34408008e-02 -3.87754229e-01] [-2.47509562e-02 1.29186132e-02 9.99610174e-01 -2.37235896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739072329 meters 0.35057428747391955 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.39, Z:-2.37 [[ 9.99728580e-01 1.36746936e-02 1.88618358e-02 6.68439670e+01] [-1.34126946e-02 9.99812763e-01 -1.39476932e-02 -3.85357629e-01] [-1.90490346e-02 1.36909195e-02 9.99724809e-01 -2.36931184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799072329 meters 0.3514049304948378 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.39, Z:-2.37 [[ 9.99778090e-01 1.25086548e-02 1.69500396e-02 6.68480208e+01] [-1.22797550e-02 9.99832899e-01 -1.35418320e-02 -3.85883741e-01] [-1.71165973e-02 1.33306846e-02 9.99764630e-01 -2.36899014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85907232899999 meters 0.3576012455525444 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.39, Z:-2.37 [[ 9.99869533e-01 6.87278974e-03 1.46178424e-02 6.68525840e+01] [-6.62915267e-03 9.99839390e-01 -1.66507552e-02 -3.89076524e-01] [-1.47299317e-02 1.65516789e-02 9.99754505e-01 -2.36799448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91907232899999 meters 0.3584363876836269 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.39, Z:-2.36 [[ 9.99921159e-01 -7.63007739e-03 9.97286847e-03 6.68684580e+01] [ 7.77556018e-03 9.99862722e-01 -1.46314171e-02 -3.87499945e-01] [-9.85986056e-03 1.47078082e-02 9.99843219e-01 -2.36414694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97907232899999 meters 0.3619861847214061 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.39, Z:-2.37 [[ 9.99968104e-01 -5.32445919e-03 5.95323520e-03 6.68780895e+01] [ 5.38150205e-03 9.99939369e-01 -9.60722037e-03 -3.88448938e-01] [-5.90172099e-03 9.63895129e-03 9.99936128e-01 -2.36506418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03907232899999 meters 0.371247351074052 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.39, Z:-2.37 [[ 9.99919262e-01 -1.26956853e-02 5.37624126e-04 6.68920878e+01] [ 1.27014808e-02 9.99839004e-01 -1.26743152e-02 -3.88584316e-01] [-3.76628454e-04 1.26801205e-02 9.99919533e-01 -2.36720977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099072329 meters 0.37603046001165596 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.39, Z:-2.37 [[ 9.99892023e-01 -1.44606182e-02 -2.61393342e-03 6.68995153e+01] [ 1.44270544e-02 9.99818625e-01 -1.24328929e-02 -3.88570048e-01] [ 2.79324664e-03 1.23938391e-02 9.99919292e-01 -2.36743255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159072329 meters 0.38150628157441946 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.39, Z:-2.37 [[ 9.99870326e-01 -1.55769769e-02 -4.08517037e-03 6.69020991e+01] [ 1.55257154e-02 9.99803895e-01 -1.22932721e-02 -3.88807312e-01] [ 4.27586127e-03 1.22282528e-02 9.99916090e-01 -2.36608144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21907232899999 meters 0.381230452941359 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.39, Z:-2.36 [[ 9.99893634e-01 -1.31434217e-02 -6.32226000e-03 6.69053504e+01] [ 1.30952961e-02 9.99885414e-01 -7.59418631e-03 -3.90343293e-01] [ 6.42134915e-03 7.51058668e-03 9.99951177e-01 -2.36307343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27907232899999 meters 0.3847478607196831 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.39, Z:-2.36 [[ 9.99918391e-01 -1.01896948e-02 -7.70597511e-03 6.69059741e+01] [ 1.01685065e-02 9.99944424e-01 -2.78378360e-03 -3.91360820e-01] [ 7.73391275e-03 2.70519815e-03 9.99966434e-01 -2.35945970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33907232899999 meters 0.38623141682204104 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.39, Z:-2.36 [[ 9.99939825e-01 -6.72054633e-03 -8.67067867e-03 6.69082671e+01] [ 6.72770737e-03 9.99977051e-01 7.96988142e-04 -3.88631683e-01] [ 8.66512350e-03 -8.55273972e-04 9.99962091e-01 -2.35946800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39907232899999 meters 0.3855374567557142 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.38, Z:-2.36 [[ 9.99938565e-01 -7.35603182e-03 -8.29183356e-03 6.69078192e+01] [ 7.35242706e-03 9.99972862e-01 -4.65135972e-04 -3.84590125e-01] [ 8.29503009e-03 4.04142295e-04 9.99965514e-01 -2.35999960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.459072329 meters 0.38703363400061924 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.38, Z:-2.36 [[ 9.99938587e-01 -8.11384191e-03 -7.54900809e-03 6.69058753e+01] [ 8.09887650e-03 9.99965182e-01 -2.01089667e-03 -3.79217906e-01] [ 7.56506134e-03 1.94963470e-03 9.99969484e-01 -2.35993460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519072329 meters 0.3860605075073368 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.38, Z:-2.36 [[ 9.99938444e-01 -8.69094435e-03 -6.89748211e-03 6.69036654e+01] [ 8.66891002e-03 9.99957246e-01 -3.21804191e-03 -3.75565382e-01] [ 6.92515504e-03 3.15805017e-03 9.99971034e-01 -2.35909167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579072329 meters 0.3868260005918561 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.37, Z:-2.36 [[ 9.99935817e-01 -9.50814062e-03 -6.16088349e-03 6.69013919e+01] [ 9.47715523e-03 9.99942393e-01 -5.03920105e-03 -3.69875092e-01] [ 6.20844201e-03 4.98048997e-03 9.99968324e-01 -2.35836263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63907232899999 meters 0.3862419354270867 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.37, Z:-2.36 [[ 9.99962344e-01 -5.97611423e-03 -6.29260736e-03 6.69012631e+01] [ 5.96353918e-03 9.99980187e-01 -2.01525511e-03 -3.65568366e-01] [ 6.30452608e-03 1.97765301e-03 9.99978171e-01 -2.35794761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69907232899999 meters 0.3883363697807594 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99957150e-01 -6.31347494e-03 -6.77043261e-03 6.69027815e+01] [ 6.29759375e-03 9.99977375e-01 -2.36442777e-03 -3.64102369e-01] [ 6.78520718e-03 2.32168902e-03 9.99974285e-01 -2.35832486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75907232899999 meters 0.39197129288806665 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99915063e-01 -1.07396940e-02 -7.38416341e-03 6.69047394e+01] [ 1.06924868e-02 9.99922333e-01 -6.40306474e-03 -3.64669570e-01] [ 7.45235686e-03 6.32356581e-03 9.99952236e-01 -2.35880974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.819072329 meters 0.3964325594598133 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99938613e-01 -7.05818561e-03 -8.54123207e-03 6.69065880e+01] [ 7.04911430e-03 9.99974559e-01 -1.09170062e-03 -3.67469953e-01] [ 8.54872019e-03 1.03142549e-03 9.99962927e-01 -2.35744880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879072329 meters 0.3922389856798832 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99935730e-01 -7.06887709e-03 -8.86373995e-03 6.69077515e+01] [ 7.05940110e-03 9.99974477e-01 -1.09990594e-03 -3.67031069e-01] [ 8.87128882e-03 1.03726255e-03 9.99960111e-01 -2.35779116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939072329 meters 0.39789374488060164 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99930056e-01 -6.40684853e-03 -9.94157259e-03 6.69120449e+01] [ 6.40726847e-03 9.99979473e-01 1.03909762e-05 -3.69362399e-01] [ 9.94130195e-03 -7.40885740e-05 9.99950581e-01 -2.35960713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99907232899999 meters 0.3965959951137236 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99941254e-01 -2.25687710e-03 -1.06016981e-02 6.69127654e+01] [ 2.30388252e-03 9.99987562e-01 4.42364471e-03 -3.69593577e-01] [ 1.05915826e-02 -4.44780991e-03 9.99934016e-01 -2.35823831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05907232899999 meters 0.3947905565252438 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99938317e-01 -5.57962767e-03 -9.60369326e-03 6.69116631e+01] [ 5.57632093e-03 9.99984383e-01 -3.71063135e-04 -3.67711021e-01] [ 9.60561368e-03 3.17486971e-04 9.99953815e-01 -2.35982167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11907232899999 meters 0.3950925078468436 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.37, Z:-2.36 [[ 9.99945464e-01 -5.36749564e-03 -8.95874404e-03 6.69105741e+01] [ 5.36178973e-03 9.99985407e-01 -6.60805318e-04 -3.66912465e-01] [ 8.96216018e-03 6.12734378e-04 9.99959651e-01 -2.36065953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.179072329 meters 0.3886858427590123 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99977333e-01 -3.74350003e-03 -5.59638887e-03 6.69023775e+01] [ 3.73059522e-03 9.99990363e-01 -2.31458118e-03 -3.62755771e-01] [ 5.60499957e-03 2.29365085e-03 9.99981661e-01 -2.35979826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239072329 meters 0.3823370449800834 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99988630e-01 -2.86272193e-03 -3.81364027e-03 6.68987173e+01] [ 2.84885851e-03 9.99989333e-01 -3.63570508e-03 -3.58980705e-01] [ 3.82400760e-03 3.62479923e-03 9.99986119e-01 -2.36032232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299072329 meters 0.37984466980134757 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.36, Z:-2.36 [[ 9.99994737e-01 -2.10641560e-03 -2.46769200e-03 6.68965158e+01] [ 2.09435926e-03 9.99985909e-01 -4.87811563e-03 -3.55188055e-01] [ 2.47793257e-03 4.87292172e-03 9.99985057e-01 -2.36183341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35907232899999 meters 0.3769490853156748 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.35, Z:-2.36 [[ 9.99998597e-01 -1.33686456e-03 -1.00895156e-03 6.68939351e+01] [ 1.33066838e-03 9.99980405e-01 -6.11708950e-03 -3.51457521e-01] [ 1.01710950e-03 6.11573834e-03 9.99980781e-01 -2.36306668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41907232899999 meters 0.3727660801352762 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.35, Z:-2.36 [[ 9.99990080e-01 -3.67378662e-03 2.51840951e-03 6.68858662e+01] [ 3.70256369e-03 9.99926800e-01 -1.15188834e-02 -3.48370637e-01] [-2.47590724e-03 1.15280937e-02 9.99930484e-01 -2.36295449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47907232899999 meters 0.3716040937020065 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.34, Z:-2.36 [[ 9.99987356e-01 1.79477915e-03 4.69756900e-03 6.68821245e+01] [-1.75362015e-03 9.99960169e-01 -8.75126675e-03 -3.44026056e-01] [-4.71308849e-03 8.74291834e-03 9.99950673e-01 -2.36478279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53907232899999 meters 0.36582651117784637 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.34, Z:-2.37 [[ 9.99971485e-01 2.96455574e-03 6.94557697e-03 6.68774165e+01] [-2.89601517e-03 9.99947219e-01 -9.85759361e-03 -3.41291213e-01] [-6.97443377e-03 9.83719802e-03 9.99927291e-01 -2.36515976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599072329 meters 0.3586571673593878 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.34, Z:-2.37 [[ 9.99931441e-01 4.70869100e-03 1.07210795e-02 6.68690692e+01] [-4.58772313e-03 9.99925855e-01 -1.12799532e-02 -3.38235419e-01] [-1.07733984e-02 1.12299945e-02 9.99878903e-01 -2.36520315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659072329 meters 0.357569279122435 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.33, Z:-2.37 [[ 9.99874805e-01 6.52789545e-03 1.44138898e-02 6.68615272e+01] [-6.33573686e-03 9.99890984e-01 -1.33371458e-02 -3.32891128e-01] [-1.44993820e-02 1.32441535e-02 9.99807162e-01 -2.36622099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71907232899999 meters 0.35085673072342 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.33, Z:-2.37 [[ 9.99799593e-01 8.32426703e-03 1.82066211e-02 6.68530467e+01] [-8.05251376e-03 9.99855835e-01 -1.49487915e-02 -3.29635700e-01] [-1.83284341e-02 1.47991866e-02 9.99722488e-01 -2.36582569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77907232899999 meters 0.3373019052364325 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.34, Z:-2.36 [[ 9.99741407e-01 1.68034140e-02 1.53220180e-02 6.68270901e+01] [-1.65914776e-02 9.99766341e-01 -1.38559109e-02 -3.35745816e-01] [-1.55512644e-02 1.35981130e-02 9.99786602e-01 -2.36135835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83907232899999 meters 0.3343692660068268 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.33, Z:-2.36 [[ 9.99598433e-01 2.22481488e-02 1.75497294e-02 6.68230812e+01] [-2.20479266e-02 9.99690530e-01 -1.15210219e-02 -3.30139522e-01] [-1.78006197e-02 1.11294603e-02 9.99779612e-01 -2.36212893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89907232899999 meters 0.3326126214215372 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.33, Z:-2.36 [[ 9.99544305e-01 2.32691647e-02 1.92283265e-02 6.68200904e+01] [-2.30283108e-02 9.99654728e-01 -1.26539112e-02 -3.27027810e-01] [-1.95161334e-02 1.22053490e-02 9.99735040e-01 -2.36311535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.959072329 meters 0.33400016268502 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.33, Z:-2.36 [[ 9.99493422e-01 2.14925287e-02 2.34727596e-02 6.68108835e+01] [-2.10660535e-02 9.99611183e-01 -1.82675644e-02 -3.25048856e-01] [-2.38562491e-02 1.77638320e-02 9.99557565e-01 -2.36330375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019072329 meters 0.3308245774218942 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.32, Z:-2.36 [[ 9.99448999e-01 2.20621889e-02 2.47983627e-02 6.68078228e+01] [-2.15904219e-02 9.99583794e-01 -1.91335593e-02 -3.22986143e-01] [-2.52101697e-02 1.85876095e-02 9.99509354e-01 -2.36287378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079072329 meters 0.3261358648053433 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.32, Z:-2.36 [[ 9.99416421e-01 2.25744252e-02 2.56361466e-02 6.68064958e+01] [-2.20733545e-02 9.99562969e-01 -1.96631147e-02 -3.21607569e-01] [-2.60688263e-02 1.90857640e-02 9.99477939e-01 -2.36369198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13907232899999 meters 0.3335386923527576 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.32, Z:-2.36 [[ 9.99353712e-01 2.60800578e-02 2.47383975e-02 6.68085542e+01] [-2.57277594e-02 9.99564488e-01 -1.44539599e-02 -3.24578748e-01] [-2.51045837e-02 1.38081550e-02 9.99589463e-01 -2.36383045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19907232899999 meters 0.33000883283289795 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.33, Z:-2.36 [[ 9.99385609e-01 2.57753407e-02 2.37494525e-02 6.68104627e+01] [-2.54599997e-02 9.99584873e-01 -1.34859269e-02 -3.27068712e-01] [-2.40871978e-02 1.28729802e-02 9.99626977e-01 -2.36337319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25907232899999 meters 0.3247049617527409 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.33, Z:-2.36 [[ 9.99522405e-01 2.30886643e-02 2.05396015e-02 6.68181264e+01] [-2.28356106e-02 9.99661451e-01 -1.24707027e-02 -3.29184041e-01] [-2.08205797e-02 1.19957124e-02 9.99711261e-01 -2.36458234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.319072329 meters 0.3352574616142757 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.33, Z:-2.37 [[ 9.99650726e-01 2.07357642e-02 1.63845935e-02 6.68274027e+01] [-2.05673529e-02 9.99734572e-01 -1.03811657e-02 -3.33529362e-01] [-1.65955060e-02 1.00405521e-02 9.99811871e-01 -2.36519947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379072329 meters 0.3468950353606201 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.34, Z:-2.36 [[ 9.99701297e-01 1.95205707e-02 1.47059292e-02 6.68300581e+01] [-1.93942668e-02 9.99774210e-01 -8.68286065e-03 -3.38399205e-01] [-1.48721031e-02 8.39505634e-03 9.99854161e-01 -2.36323532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439072329 meters 0.3516145611943503 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.35, Z:-2.36 [[ 9.99841447e-01 1.39061290e-02 1.11220672e-02 6.68377159e+01] [-1.37953384e-02 9.99855066e-01 -9.97678328e-03 -3.46191496e-01] [-1.12591937e-02 9.82176875e-03 9.99888375e-01 -2.36330721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49907232899999 meters 0.3572146452180551 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.35, Z:-2.36 [[ 9.99928676e-01 8.69398827e-03 8.18885935e-03 6.68439926e+01] [-8.60251538e-03 9.99900942e-01 -1.11401660e-02 -3.54593744e-01] [-8.28490065e-03 1.10689266e-02 9.99904415e-01 -2.36306343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55907232899999 meters 0.3626179833251419 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.36, Z:-2.36 [[ 9.99951084e-01 7.61147628e-03 6.31621307e-03 6.68471386e+01] [-7.55568779e-03 9.99932646e-01 -8.80993394e-03 -3.61377585e-01] [-6.38284425e-03 8.76177966e-03 9.99941244e-01 -2.36090870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61907232899999 meters 0.3647898258112887 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.37, Z:-2.36 [[ 9.99937874e-01 -8.72512479e-03 6.93692141e-03 6.68591165e+01] [ 8.77482869e-03 9.99935814e-01 -7.16726981e-03 -3.68068705e-01] [-6.87394084e-03 7.22769483e-03 9.99950253e-01 -2.35756773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.679072329 meters 0.3737679043654532 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.37, Z:-2.35 [[ 9.99705666e-01 -2.42342170e-02 -1.13279547e-03 6.68777606e+01] [ 2.42222350e-02 9.99660440e-01 -9.60670513e-03 -3.70936059e-01] [ 1.36522180e-03 9.57643872e-03 9.99953213e-01 -2.35360417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739072329 meters 0.38093410160345165 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.37, Z:-2.35 [[ 9.99494571e-01 -2.95999031e-02 -1.15952051e-02 6.69000749e+01] [ 2.95214791e-02 9.99540487e-01 -6.87728452e-03 -3.74611143e-01] [ 1.17934439e-02 6.53150094e-03 9.99909123e-01 -2.34871151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799072329 meters 0.38310947801808454 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.38, Z:-2.35 [[ 9.99315727e-01 -3.44213147e-02 -1.35370499e-02 6.69053653e+01] [ 3.42944162e-02 9.99366647e-01 -9.49722593e-03 -3.79035172e-01] [ 1.38553832e-02 9.02648201e-03 9.99863266e-01 -2.34948600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85907232899999 meters 0.387380647399727 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.38, Z:-2.35 [[ 9.99374780e-01 -3.13891789e-02 -1.62716851e-02 6.69112312e+01] [ 3.13384585e-02 9.99503173e-01 -3.36282446e-03 -3.84962091e-01] [ 1.63691572e-02 2.85079243e-03 9.99861952e-01 -2.34925446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91907232899999 meters 0.3925205648814418 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.39, Z:-2.35 [[ 9.99450137e-01 -2.79505171e-02 -1.78379596e-02 6.69131848e+01] [ 2.79982879e-02 9.99605008e-01 2.43389832e-03 -3.89801371e-01] [ 1.77628850e-02 -2.93199234e-03 9.99837929e-01 -2.34650880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97907232899999 meters 0.3924222916586113 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99389409e-01 -2.86754210e-02 -1.99632176e-02 6.69190633e+01] [ 2.87452036e-02 9.99581593e-01 3.21736749e-03 -3.91174370e-01] [ 1.98626055e-02 -3.78924975e-03 9.99795538e-01 -2.34792306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03907232899999 meters 0.3958939572418987 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99460195e-01 -2.50587980e-02 -2.12456062e-02 6.69216611e+01] [ 2.52290829e-02 9.99651381e-01 7.78523736e-03 -3.91707858e-01] [ 2.10431109e-02 -8.31704201e-03 9.99743974e-01 -2.34773756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099072329 meters 0.39662576196509236 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99520723e-01 -2.16899628e-02 -2.20877550e-02 6.69218299e+01] [ 2.19575232e-02 9.99687557e-01 1.19438823e-02 -3.91606106e-01] [ 2.18217915e-02 -1.24231502e-02 9.99684688e-01 -2.34519904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159072329 meters 0.401991007584624 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99511829e-01 -2.18323431e-02 -2.23484219e-02 6.69224421e+01] [ 2.20993674e-02 9.99686472e-01 1.17718008e-02 -3.90898088e-01] [ 2.20844091e-02 -1.22599401e-02 9.99680935e-01 -2.34504093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21907232899999 meters 0.403372489755578 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99498218e-01 -2.20431140e-02 -2.27467088e-02 6.69238759e+01] [ 2.23085638e-02 9.99685187e-01 1.14827696e-02 -3.89696758e-01] [ 2.24864318e-02 -1.19844541e-02 9.99675314e-01 -2.34565474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27907232899999 meters 0.402585299056903 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.39, Z:-2.35 [[ 9.99479329e-01 -2.26795985e-02 -2.29501003e-02 6.69244187e+01] [ 2.29248569e-02 9.99682255e-01 1.04804939e-02 -3.85600605e-01] [ 2.27051146e-02 -1.10011648e-02 9.99681675e-01 -2.34547877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33907232899999 meters 0.40281249172101397 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.34 [[ 9.99450356e-01 -2.32717269e-02 -2.36095711e-02 6.69254290e+01] [ 2.35088031e-02 9.99675457e-01 9.81413017e-03 -3.83307144e-01] [ 2.33735170e-02 -1.03637687e-02 9.99673082e-01 -2.34458464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39907232899999 meters 0.4070102799304835 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.34 [[ 9.99426218e-01 -2.38485428e-02 -2.40516500e-02 6.69260526e+01] [ 2.40733561e-02 9.99668766e-01 9.10124368e-03 -3.80965740e-01] [ 2.38266319e-02 -9.67502549e-03 9.99669288e-01 -2.34397116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.459072329 meters 0.4141205181317502 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.34 [[ 9.99402827e-01 -2.44553931e-02 -2.44115452e-02 6.69267871e+01] [ 2.46599795e-02 9.99662958e-01 8.11512005e-03 -3.77414842e-01] [ 2.42048591e-02 -8.71226212e-03 9.99669056e-01 -2.34381285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519072329 meters 0.4119786637968408 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.38, Z:-2.34 [[ 9.99379964e-01 -2.46714496e-02 -2.51198564e-02 6.69289829e+01] [ 2.48797203e-02 9.99658341e-01 8.01252834e-03 -3.76679319e-01] [ 2.49135932e-02 -8.63253528e-03 9.99652336e-01 -2.34442440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579072329 meters 0.4125484306643782 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.37, Z:-2.34 [[ 9.99359967e-01 -2.50836419e-02 -2.55042479e-02 6.69297929e+01] [ 2.52815116e-02 9.99652494e-01 7.46563489e-03 -3.74564051e-01] [ 2.53081197e-02 -8.10564258e-03 9.99646836e-01 -2.34410566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63907232899999 meters 0.4156789068211847 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.37, Z:-2.34 [[ 9.99435115e-01 -2.12921197e-02 -2.60018476e-02 6.69298513e+01] [ 2.15838021e-02 9.99706647e-01 1.09890715e-02 -3.72057571e-01] [ 2.57602393e-02 -1.15440827e-02 9.99601493e-01 -2.34272047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69907232899999 meters 0.41643610757557575 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.37, Z:-2.34 [[ 9.99429911e-01 -2.14605757e-02 -2.60633262e-02 6.69304005e+01] [ 2.17457640e-02 9.99706183e-01 1.07084090e-02 -3.70964658e-01] [ 2.58258598e-02 -1.12690712e-02 9.99602938e-01 -2.34319247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75907232899999 meters 0.419234509396119 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.37, Z:-2.34 [[ 9.99422258e-01 -2.19729087e-02 -2.59295635e-02 6.69302759e+01] [ 2.22337983e-02 9.99704605e-01 9.81639940e-03 -3.67671776e-01] [ 2.57062092e-02 -1.03872407e-02 9.99615574e-01 -2.34349136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.819072329 meters 0.41443381740259994 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.36, Z:-2.34 [[ 9.99413303e-01 -2.25877766e-02 -2.57457109e-02 6.69293904e+01] [ 2.28221590e-02 9.99700399e-01 8.84652481e-03 -3.64271168e-01] [ 2.55381741e-02 -9.42890729e-03 9.99629380e-01 -2.34291406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879072329 meters 0.42048009639137596 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.36, Z:-2.34 [[ 9.99399893e-01 -2.32704917e-02 -2.56581186e-02 6.69287284e+01] [ 2.34752741e-02 9.99694695e-01 7.70903558e-03 -3.60560790e-01] [ 2.54708919e-02 -8.30674070e-03 9.99641051e-01 -2.34233491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939072329 meters 0.41982115596244857 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.36, Z:-2.34 [[ 9.99388953e-01 -2.37928513e-02 -2.56051025e-02 6.69284391e+01] [ 2.39745328e-02 9.99689361e-01 6.81203520e-03 -3.57567038e-01] [ 2.54350708e-02 -7.42174309e-03 9.99648926e-01 -2.34210354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99907232899999 meters 0.4162180415813184 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99462819e-01 -1.99673479e-02 -2.59880479e-02 6.69281855e+01] [ 2.02391087e-02 9.99742764e-01 1.02364370e-02 -3.54789028e-01] [ 2.57769684e-02 -1.07569131e-02 9.99609842e-01 -2.34063396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05907232899999 meters 0.4195968088423426 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99461028e-01 -2.01575512e-02 -2.59099744e-02 6.69281382e+01] [ 2.04194989e-02 9.99742628e-01 9.88538562e-03 -3.53539963e-01] [ 2.57040407e-02 -1.04091264e-02 9.99615402e-01 -2.34084540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11907232899999 meters 0.41941029667652846 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99474358e-01 -2.02185098e-02 -2.53420317e-02 6.69276499e+01] [ 2.04633308e-02 9.99746048e-01 9.43883340e-03 -3.51900636e-01] [ 2.51447569e-02 -9.95245433e-03 9.99634278e-01 -2.34222445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.179072329 meters 0.4193896386789223 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99476786e-01 -2.04221029e-02 -2.50817078e-02 6.69270727e+01] [ 2.06532246e-02 9.99746275e-01 8.99050210e-03 -3.50389241e-01] [ 2.48917390e-02 -9.50381629e-03 9.99644976e-01 -2.34241277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239072329 meters 0.41433804401129143 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99544985e-01 -1.64728502e-02 -2.52679470e-02 6.69263313e+01] [ 1.67950466e-02 9.99779655e-01 1.25924011e-02 -3.48235042e-01] [ 2.50549466e-02 -1.30110477e-02 9.99601402e-01 -2.34085726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299072329 meters 0.4147080281533137 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.35, Z:-2.34 [[ 9.99551417e-01 -1.66208923e-02 -2.49140772e-02 6.69254332e+01] [ 1.69197309e-02 9.99786837e-01 1.18323332e-02 -3.45775205e-01] [ 2.47121024e-02 -1.22485649e-02 9.99619570e-01 -2.34086466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35907232899999 meters 0.4172748517892922 Centerline is valid? [False, False] Translation: X:66.93, Y:-0.34, Z:-2.34 [[ 9.99566705e-01 -1.64335782e-02 -2.44200692e-02 6.69250305e+01] [ 1.67153216e-02 9.99795544e-01 1.13783755e-02 -3.44184655e-01] [ 2.42280889e-02 -1.17816346e-02 9.99637031e-01 -2.34219313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41907232899999 meters 0.4123418798255733 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99585170e-01 -1.62678038e-02 -2.37664913e-02 6.69234762e+01] [ 1.65247946e-02 9.99806660e-01 1.06570626e-02 -3.42068451e-01] [ 2.35885293e-02 -1.10453781e-02 9.99660733e-01 -2.34224932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47907232899999 meters 0.41254261434333467 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99619080e-01 -1.59476770e-02 -2.25248136e-02 6.69200454e+01] [ 1.61712908e-02 9.99821400e-01 9.78041856e-03 -3.39859245e-01] [ 2.23648158e-02 -1.01409483e-02 9.99698443e-01 -2.34142389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53907232899999 meters 0.4073089374473739 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99633116e-01 -1.58337064e-02 -2.19755931e-02 6.69184793e+01] [ 1.60509218e-02 9.99823701e-01 9.74344539e-03 -3.40122000e-01] [ 2.18174440e-02 -1.00925992e-02 9.99711028e-01 -2.34117327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599072329 meters 0.4079720519835014 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99656458e-01 -1.53824249e-02 -2.12213775e-02 6.69172470e+01] [ 1.55879670e-02 9.99832850e-01 9.55442737e-03 -3.39742770e-01] [ 2.10708601e-02 -9.88194316e-03 9.99729146e-01 -2.34211416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659072329 meters 0.4035999937142983 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.34, Z:-2.34 [[ 9.99696032e-01 -1.44151685e-02 -2.00011711e-02 6.69158417e+01] [ 1.46034666e-02 9.99850109e-01 9.30044628e-03 -3.38677071e-01] [ 1.98641056e-02 -9.58970567e-03 9.99756698e-01 -2.34425739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71907232899999 meters 0.4039138404005196 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.35 [[ 9.99710995e-01 -1.42299345e-02 -1.93761551e-02 6.69147584e+01] [ 1.44122838e-02 9.99852849e-01 9.30411521e-03 -3.38924092e-01] [ 1.92409069e-02 -9.58068092e-03 9.99768972e-01 -2.34507466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77907232899999 meters 0.39811713041455854 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99727185e-01 -1.44143732e-02 -1.83788096e-02 6.69111608e+01] [ 1.45812038e-02 9.99853400e-01 8.97587073e-03 -3.39127667e-01] [ 1.82467337e-02 -9.24140715e-03 9.99790805e-01 -2.34348771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83907232899999 meters 0.3994497234101214 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99775200e-01 -1.01525028e-02 -1.86138858e-02 6.69109316e+01] [ 1.04008098e-02 9.99857563e-01 1.32919552e-02 -3.39261480e-01] [ 1.84762879e-02 -1.34825666e-02 9.99738389e-01 -2.34241620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89907232899999 meters 0.39974987691607666 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99736026e-01 -1.42815726e-02 -1.79976605e-02 6.69097996e+01] [ 1.44452471e-02 9.99855182e-01 8.99725791e-03 -3.39576990e-01] [ 1.78665591e-02 -9.25486352e-03 9.99797546e-01 -2.34272373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.959072329 meters 0.395568624537173 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99750626e-01 -1.41573285e-02 -1.72701038e-02 6.69083808e+01] [ 1.43121735e-02 9.99858182e-01 8.87566763e-03 -3.39603292e-01] [ 1.71419989e-02 -9.12062698e-03 9.99811465e-01 -2.34343997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019072329 meters 0.39623756172842145 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.34, Z:-2.34 [[ 9.99766341e-01 -1.41496976e-02 -1.63416596e-02 6.69058177e+01] [ 1.42810275e-02 9.99866432e-01 7.94796545e-03 -3.36999015e-01] [ 1.62270155e-02 -8.17948403e-03 9.99834876e-01 -2.34293078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079072329 meters 0.3963697846512657 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.33, Z:-2.34 [[ 9.99782554e-01 -1.40175755e-02 -1.54386933e-02 6.69035526e+01] [ 1.41291491e-02 9.99874674e-01 7.14166873e-03 -3.34839697e-01] [ 1.53366495e-02 -7.35825139e-03 9.99855311e-01 -2.34271985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13907232899999 meters 0.38866540890088425 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.33, Z:-2.34 [[ 9.99822016e-01 -1.34853370e-02 -1.31940400e-02 6.68974186e+01] [ 1.35601449e-02 9.99892393e-01 5.59688451e-03 -3.31234169e-01] [ 1.31171444e-02 -5.77480145e-03 9.99897291e-01 -2.34127451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19907232899999 meters 0.38980846033272987 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.33, Z:-2.34 [[ 9.99843337e-01 -1.31831749e-02 -1.18112592e-02 6.68939541e+01] [ 1.32339412e-02 9.99903479e-01 4.23032570e-03 -3.27552285e-01] [ 1.17543501e-02 -4.38597248e-03 9.99921296e-01 -2.34079468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25907232899999 meters 0.38531181657813657 Centerline is valid? [False, False] Translation: X:66.89, Y:-0.32, Z:-2.34 [[ 9.99874427e-01 -1.27678258e-02 -9.38688544e-03 6.68879107e+01] [ 1.27816556e-02 9.99917310e-01 1.41480351e-03 -3.19812082e-01] [ 9.36804528e-03 -1.53460578e-03 9.99954941e-01 -2.33982507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.319072329 meters 0.3769128847818341 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.31, Z:-2.34 [[ 9.99939426e-01 -8.18242151e-03 -7.36158436e-03 6.68829991e+01] [ 8.19928372e-03 9.99963824e-01 2.26331122e-03 -3.09835667e-01] [ 7.34279868e-03 -2.32353384e-03 9.99970342e-01 -2.33938298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379072329 meters 0.3722193402530807 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.30, Z:-2.34 [[ 9.99955587e-01 -7.50739351e-03 -5.69766754e-03 6.68797975e+01] [ 7.50570234e-03 9.99971781e-01 -3.18141960e-04 -3.02083424e-01] [ 5.69989518e-03 2.75362834e-04 9.99983718e-01 -2.34027783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439072329 meters 0.3632562266545364 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.30, Z:-2.35 [[ 9.99983327e-01 3.88980561e-03 4.26802315e-03 6.68590972e+01] [-3.89635674e-03 9.99991242e-01 1.52769381e-03 -2.99343521e-01] [-4.26204334e-03 -1.54429808e-03 9.99989725e-01 -2.34545851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49907232899999 meters 0.3590973159742202 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.29, Z:-2.35 [[ 9.99966477e-01 4.95408788e-03 6.51932455e-03 6.68542093e+01] [-4.94985039e-03 9.99987528e-01 -6.65964137e-04 -2.93374608e-01] [-6.52254248e-03 6.33672131e-04 9.99978527e-01 -2.34529958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55907232899999 meters 0.3543799890250814 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.29, Z:-2.35 [[ 9.99785958e-01 1.36991134e-02 1.55039649e-02 6.68355154e+01] [-1.37051675e-02 9.99906039e-01 2.84299254e-04 -2.87287505e-01] [-1.54986135e-02 -4.96722837e-04 9.99879766e-01 -2.34761019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61907232899999 meters 0.34321350999574046 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.29, Z:-2.34 [[ 9.99714306e-01 2.20294164e-02 9.27424816e-03 6.68202695e+01] [-2.19973944e-02 9.99751758e-01 -3.54076192e-03 -2.85548751e-01] [-9.34994682e-03 3.33574105e-03 9.99950724e-01 -2.34469587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.679072329 meters 0.3393210655923317 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.28, Z:-2.35 [[ 9.99641579e-01 2.36369609e-02 1.25701020e-02 6.68136253e+01] [-2.35578998e-02 9.99701982e-01 -6.40094539e-03 -2.78254521e-01] [-1.27176548e-02 6.10252596e-03 9.99900505e-01 -2.34510346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739072329 meters 0.33112596896194424 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.27, Z:-2.34 [[ 9.99476865e-01 2.86540966e-02 1.49979466e-02 6.68084080e+01] [-2.85939831e-02 9.99582254e-01 -4.20737073e-03 -2.73004094e-01] [-1.51122396e-02 3.77631868e-03 9.99878672e-01 -2.34448058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799072329 meters 0.3164964418425834 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.26, Z:-2.35 [[ 9.99363290e-01 3.04732035e-02 1.85579789e-02 6.68017190e+01] [-3.03349120e-02 9.99510221e-01 -7.68838937e-03 -2.63595537e-01] [-1.87831795e-02 7.12053944e-03 9.99798225e-01 -2.34575895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85907232899999 meters 0.31064869080220536 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.26, Z:-2.35 [[ 9.99358085e-01 2.83932964e-02 2.18458146e-02 6.67953219e+01] [-2.80824936e-02 9.99501814e-01 -1.44047848e-02 -2.57594526e-01] [-2.22439306e-02 1.37820532e-02 9.99657573e-01 -2.34675232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91907232899999 meters 0.3056943653583323 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.25, Z:-2.35 [[ 9.98657512e-01 3.88506004e-02 3.42608396e-02 6.67709587e+01] [-3.84354384e-02 9.99180449e-01 -1.26944059e-02 -2.53017827e-01] [-3.47259464e-02 1.13605335e-02 9.99332301e-01 -2.34927089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97907232899999 meters 0.30232643274816723 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.25, Z:-2.35 [[ 9.98159740e-01 4.45556070e-02 4.11331018e-02 6.67561994e+01] [-4.41912981e-02 9.98975758e-01 -9.72444788e-03 -2.50503154e-01] [-4.15242502e-02 7.88882720e-03 9.99106352e-01 -2.34976106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03907232899999 meters 0.282305381983231 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.24, Z:-2.35 [[ 9.97874276e-01 4.66887950e-02 4.54652180e-02 6.67470113e+01] [-4.61649225e-02 9.98855549e-01 -1.25056778e-02 -2.44448762e-01] [-4.59970603e-02 1.03801960e-02 9.98887642e-01 -2.34807254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099072329 meters 0.2773147327845618 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.24, Z:-2.34 [[ 9.97530573e-01 5.85977917e-02 3.87176182e-02 6.67335490e+01] [-5.81881380e-02 9.98237947e-01 -1.16250081e-02 -2.41800746e-01] [-3.93305955e-02 9.34339492e-03 9.99182569e-01 -2.34340987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159072329 meters 0.275434043296614 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.23, Z:-2.35 [[ 9.96916193e-01 6.94292726e-02 3.65743047e-02 6.67432007e+01] [-6.90988866e-02 9.97557437e-01 -1.02227016e-02 -2.27556315e-01] [-3.71947244e-02 7.66393302e-03 9.99278648e-01 -2.34611833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21907232899999 meters 0.2769217909617607 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.22, Z:-2.35 [[ 9.95546907e-01 8.11833920e-02 4.79125568e-02 6.67502743e+01] [-8.09427239e-02 9.96694556e-01 -6.94528553e-03 -2.18533781e-01] [-4.83180264e-02 3.03618467e-03 9.98827387e-01 -2.35321891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27907232899999 meters 0.27459402898623375 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.21, Z:-2.36 [[ 9.94079870e-01 8.76741674e-02 6.41751760e-02 6.67451528e+01] [-8.79957398e-02 9.96118430e-01 2.19616929e-03 -2.10806848e-01] [-6.37335283e-02 -7.83030977e-03 9.97936232e-01 -2.36433204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33907232899999 meters 0.2712552517795813 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.21, Z:-2.37 [[ 9.94153281e-01 8.59855293e-02 6.53126558e-02 6.67440765e+01] [-8.59365806e-02 9.96294236e-01 -3.56368364e-03 -2.06225346e-01] [-6.53770477e-02 -2.06989853e-03 9.97858486e-01 -2.36751334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39907232899999 meters 0.2727229633351379 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.21, Z:-2.37 [[ 9.94086480e-01 8.62386460e-02 6.59921671e-02 6.67427512e+01] [-8.61607862e-02 9.96273093e-01 -4.03032463e-03 -2.05184424e-01] [-6.60937902e-02 -1.67944578e-03 9.97812002e-01 -2.36752816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.459072329 meters 0.2708848597408773 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.37 [[ 9.93771139e-01 8.97780876e-02 6.60213401e-02 6.67430852e+01] [-8.99698474e-02 9.95944487e-01 -6.89723676e-05 -2.04034776e-01] [-6.57597819e-02 -5.87138715e-03 9.97818209e-01 -2.36688113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519072329 meters 0.2688137320454926 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.37 [[ 9.94049188e-01 8.63944679e-02 6.63491408e-02 6.67419623e+01] [-8.62531417e-02 9.96260721e-01 -4.99704368e-03 -2.02418443e-01] [-6.65327598e-02 -7.55514627e-04 9.97783955e-01 -2.36698243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579072329 meters 0.2729052642460645 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.37 [[ 9.93817362e-01 8.93791004e-02 6.58667466e-02 6.67430735e+01] [-8.94874493e-02 9.95987089e-01 -1.30945107e-03 -2.00194504e-01] [-6.57194667e-02 -4.59289194e-03 9.97827569e-01 -2.36613671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63907232899999 meters 0.2692827146582404 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.36 [[ 9.93824408e-01 8.89820340e-02 6.62966289e-02 6.67408136e+01] [-8.90374851e-02 9.96026012e-01 -2.12370458e-03 -1.98389652e-01] [-6.62221384e-02 -3.79229566e-03 9.97797698e-01 -2.36381079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69907232899999 meters 0.2755138558229537 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.20, Z:-2.36 [[ 9.93455532e-01 9.26376552e-02 6.68159535e-02 6.67403654e+01] [-9.29428088e-02 9.95670369e-01 1.46640361e-03 -1.96415293e-01] [-6.63908209e-02 -7.66686917e-03 9.97764240e-01 -2.36342248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75907232899999 meters 0.2660958939367007 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.19, Z:-2.37 [[ 9.92817574e-01 9.80332264e-02 6.85766065e-02 6.67387284e+01] [-9.84550355e-02 9.95137589e-01 2.79017895e-03 -1.88137405e-01] [-6.79696286e-02 -9.52185093e-03 9.97641952e-01 -2.36517188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.819072329 meters 0.2644241480378912 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.18, Z:-2.37 [[ 9.92028699e-01 1.04111347e-01 7.09921672e-02 6.67362491e+01] [-1.04580518e-01 9.94512154e-01 2.91405555e-03 -1.77250008e-01] [-7.02991868e-02 -1.03152244e-02 9.97472616e-01 -2.36735659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879072329 meters 0.2640248626783292 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.16, Z:-2.37 [[ 9.90599066e-01 1.14341922e-01 7.50960346e-02 6.67307820e+01] [-1.15133049e-01 9.93330245e-01 6.27731131e-03 -1.64163318e-01] [-7.38774027e-02 -1.48643341e-02 9.97156548e-01 -2.36652846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939072329 meters 0.2609902278134736 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.15, Z:-2.37 [[ 9.86318025e-01 1.37084327e-01 9.15676809e-02 6.67272881e+01] [-1.38867155e-01 9.90220886e-01 1.33607714e-02 -1.46788806e-01] [-8.88406778e-02 -2.58937130e-02 9.95709219e-01 -2.37194009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99907232899999 meters 0.2610155296131772 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.14, Z:-2.38 [[ 9.83805088e-01 1.46110555e-01 1.03823185e-01 6.67339189e+01] [-1.48572218e-01 9.88766489e-01 1.63439803e-02 -1.35387652e-01] [-1.00268858e-01 -3.15045319e-02 9.94461473e-01 -2.37902420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05907232899999 meters 0.2592472534316481 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.13, Z:-2.38 [[ 9.81967863e-01 1.56021703e-01 1.06753661e-01 6.67326967e+01] [-1.59066367e-01 9.87053506e-01 2.05734560e-02 -1.25510303e-01] [-1.02161669e-01 -3.71833895e-02 9.94072628e-01 -2.38177746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11907232899999 meters 0.2598769714966371 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.10, Z:-2.38 [[ 9.80023940e-01 1.67542923e-01 1.07156173e-01 6.67387476e+01] [-1.70678092e-01 9.85108902e-01 2.07229440e-02 -1.04554268e-01] [-1.02088517e-01 -3.85981924e-02 9.94026214e-01 -2.38363576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.179072329 meters 0.25686142511771676 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.09, Z:-2.39 [[ 9.77267178e-01 1.82073178e-01 1.08619617e-01 6.67438744e+01] [-1.85810096e-01 9.82261179e-01 2.52504472e-02 -8.57038902e-02] [-1.02095404e-01 -4.48590547e-02 9.93762645e-01 -2.38567041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239072329 meters 0.25551347142997094 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.08, Z:-2.39 [[ 9.75706464e-01 1.89073178e-01 1.10671717e-01 6.67441878e+01] [-1.93050205e-01 9.80836386e-01 2.62983224e-02 -7.68128442e-02] [-1.03578540e-01 -4.70246409e-02 9.93509018e-01 -2.38954615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299072329 meters 0.25414060939203587 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.06, Z:-2.39 [[ 9.71665018e-01 2.09755347e-01 1.08948551e-01 6.67603103e+01] [-2.13385097e-01 9.76705143e-01 2.26685666e-02 -6.19066629e-02] [-1.01655757e-01 -4.52742502e-02 9.93788886e-01 -2.39218073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35907232899999 meters 0.2571131967441393 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.05, Z:-2.40 [[ 9.67791422e-01 2.22808146e-01 1.17201935e-01 6.67786702e+01] [-2.27536207e-01 9.73353399e-01 2.84681548e-02 -4.99634291e-02] [-1.07735965e-01 -5.42189197e-02 9.92699990e-01 -2.39734216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41907232899999 meters 0.2624779030331581 Centerline is valid? [False, False] Translation: X:66.79, Y:-0.04, Z:-2.40 [[ 9.65058324e-01 2.29925787e-01 1.25684381e-01 6.67934592e+01] [-2.35241747e-01 9.71503324e-01 2.90277897e-02 -4.18716775e-02] [-1.15428557e-01 -5.75797235e-02 9.91645513e-01 -2.40489968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47907232899999 meters 0.2618025570198723 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.04, Z:-2.41 [[ 9.64956494e-01 2.32949981e-01 1.20802611e-01 6.68080295e+01] [-2.38018532e-01 9.70822313e-01 2.91756005e-02 -4.19965219e-02] [-1.10481415e-01 -5.69064454e-02 9.92247708e-01 -2.40840543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53907232899999 meters 0.2586360794503083 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.04, Z:-2.41 [[ 9.63790918e-01 2.35773430e-01 1.24571084e-01 6.68336100e+01] [-2.41722191e-01 9.69721249e-01 3.48005909e-02 -3.96206124e-02] [-1.12594173e-01 -6.36520889e-02 9.91600204e-01 -2.41139570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599072329 meters 0.2570176599549174 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.04, Z:-2.42 [[ 9.63093594e-01 2.35048338e-01 1.31160239e-01 6.68507185e+01] [-2.41582405e-01 9.69707610e-01 3.61260739e-02 -3.89415298e-02] [-1.18695709e-01 -6.64787964e-02 9.90702730e-01 -2.41548504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659072329 meters 0.257027278492521 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.04, Z:-2.42 [[ 9.63966947e-01 2.31718679e-01 1.30668203e-01 6.68825065e+01] [-2.37837168e-01 9.70739984e-01 3.31265124e-02 -3.87265830e-02] [-1.19168818e-01 -6.30106184e-02 9.90872572e-01 -2.42073690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71907232899999 meters 0.25982039520319855 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.04, Z:-2.42 [[ 9.65340494e-01 2.26728755e-01 1.29274139e-01 6.69160592e+01] [-2.32793451e-01 9.71941802e-01 3.37096817e-02 -4.05909089e-02] [-1.18003985e-01 -6.26354936e-02 9.91035748e-01 -2.42461575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77907232899999 meters 0.26219878675265534 Centerline is valid? [False, False] Translation: X:66.94, Y:-0.05, Z:-2.43 [[ 9.67123949e-01 2.19122268e-01 1.29060837e-01 6.69449460e+01] [-2.25342645e-01 9.73630182e-01 3.55662924e-02 -4.76269726e-02] [-1.17864160e-01 -6.34799236e-02 9.90998657e-01 -2.42928631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83907232899999 meters 0.2637354349309255 Centerline is valid? [False, False] Translation: X:66.97, Y:-0.05, Z:-2.43 [[ 9.68304917e-01 2.12106803e-01 1.31895004e-01 6.69679947e+01] [-2.18317221e-01 9.75271715e-01 3.43900274e-02 -4.76069696e-02] [-1.21339108e-01 -6.20949833e-02 9.90666964e-01 -2.43408690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89907232899999 meters 0.2649938354237529 Centerline is valid? [False, False] Translation: X:67.00, Y:-0.05, Z:-2.44 [[ 9.70924921e-01 2.00293982e-01 1.31099651e-01 6.69965367e+01] [-2.05829708e-01 9.78128097e-01 2.99926172e-02 -5.18881523e-02] [-1.22224912e-01 -5.61047825e-02 9.90915397e-01 -2.43897438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.959072329 meters 0.2681596246426914 Centerline is valid? [False, False] Translation: X:67.03, Y:-0.05, Z:-2.44 [[ 9.73673878e-01 1.88806303e-01 1.27715929e-01 6.70314833e+01] [-1.93964152e-01 9.80576388e-01 2.91179468e-02 -5.13311131e-02] [-1.19737572e-01 -5.31236960e-02 9.91383269e-01 -2.44214133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019072329 meters 0.26837193011823984 Centerline is valid? [False, False] Translation: X:67.05, Y:-0.05, Z:-2.44 [[ 9.76732520e-01 1.74753501e-01 1.24317333e-01 6.70497979e+01] [-1.80014901e-01 9.83132060e-01 3.23417398e-02 -5.46075239e-02] [-1.16568523e-01 -5.39682014e-02 9.91715288e-01 -2.44417050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079072329 meters 0.2714205963348946 Centerline is valid? [False, False] Translation: X:67.08, Y:-0.05, Z:-2.45 [[ 9.79511386e-01 1.60517042e-01 1.21621235e-01 6.70828037e+01] [-1.65440368e-01 9.85717887e-01 3.14600049e-02 -5.22736814e-02] [-1.14834360e-01 -5.09364948e-02 9.92077892e-01 -2.44841565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13907232899999 meters 0.27552922926638745 Centerline is valid? [False, False] Translation: X:67.12, Y:-0.05, Z:-2.45 [[ 9.83861425e-01 1.43795235e-01 1.06487683e-01 6.71190086e+01] [-1.47640753e-01 9.88612454e-01 2.91139947e-02 -4.66733499e-02] [-1.01088596e-01 -4.43660580e-02 9.93887694e-01 -2.44948949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19907232899999 meters 0.2790234919077427 Centerline is valid? [False, False] Translation: X:67.12, Y:-0.05, Z:-2.45 [[ 9.84959123e-01 1.38510084e-01 1.03298025e-01 6.71238173e+01] [-1.42035633e-01 9.89477876e-01 2.75574377e-02 -5.35418281e-02] [-9.83941273e-02 -4.18149500e-02 9.94268629e-01 -2.44832573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25907232899999 meters 0.286153807308768 Centerline is valid? [False, False] Translation: X:67.16, Y:-0.05, Z:-2.45 [[ 9.88054178e-01 1.17215248e-01 1.00047619e-01 6.71588894e+01] [-1.20533840e-01 9.92320574e-01 2.77753930e-02 -4.57549786e-02] [-9.60236114e-02 -3.95027169e-02 9.94594893e-01 -2.44852013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.319072329 meters 0.29136365242194806 Centerline is valid? [False, False] Translation: X:67.19, Y:-0.04, Z:-2.45 [[ 9.91996818e-01 9.30402653e-02 8.53570303e-02 6.71909393e+01] [-9.49504308e-02 9.95308413e-01 1.85897564e-02 -3.99912673e-02] [-8.32269745e-02 -2.65456660e-02 9.96176991e-01 -2.44552213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379072329 meters 0.29680961054058114 Centerline is valid? [False, False] Translation: X:67.21, Y:-0.04, Z:-2.44 [[ 9.94258484e-01 7.69983210e-02 7.43056229e-02 6.72136748e+01] [-7.79772498e-02 9.96901307e-01 1.03601218e-02 -3.77451159e-02] [-7.32776606e-02 -1.60947871e-02 9.97181700e-01 -2.44239500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439072329 meters 0.31038389589247534 Centerline is valid? [False, False] Translation: X:67.24, Y:-0.04, Z:-2.44 [[ 9.96710688e-01 4.73081938e-02 6.58007532e-02 6.72439609e+01] [-4.79168393e-02 9.98821636e-01 7.70171024e-03 -3.55342887e-02] [-6.53588620e-02 -1.08293410e-02 9.97803059e-01 -2.44203993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49907232899999 meters 0.32687162372987405 Centerline is valid? [False, False] Translation: X:67.28, Y:-0.03, Z:-2.44 [[ 9.98372381e-01 1.44773905e-02 5.51633480e-02 6.72767094e+01] [-1.46786077e-02 9.99887000e-01 3.24421787e-03 -3.19568704e-02] [-5.51101467e-02 -4.04865866e-03 9.98472073e-01 -2.44075532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55907232899999 meters 0.3379657355595273 Centerline is valid? [False, False] Translation: X:67.31, Y:-0.03, Z:-2.44 [[ 9.98771393e-01 -2.03446830e-02 4.51862723e-02 6.73099332e+01] [ 2.04814084e-02 9.99786944e-01 -2.56485850e-03 -3.00177656e-02] [-4.51244639e-02 3.48718579e-03 9.98975286e-01 -2.43708725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61907232899999 meters 0.3494349522550518 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.03, Z:-2.43 [[ 9.98292282e-01 -4.49547492e-02 3.73040278e-02 6.73319541e+01] [ 4.52381164e-02 9.98953179e-01 -6.78674318e-03 -2.91032860e-02] [-3.69598808e-02 8.46271729e-03 9.99280916e-01 -2.43191416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.679072329 meters 0.36327040840271185 Centerline is valid? [False, False] Translation: X:67.29, Y:-0.07, Z:-2.43 [[ 9.96070402e-01 -8.18302707e-02 3.38756701e-02 6.72924331e+01] [ 8.21785069e-02 9.96576843e-01 -9.01607499e-03 -7.31251048e-02] [-3.30219204e-02 1.17644974e-02 9.99385386e-01 -2.43008500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739072329 meters 0.3657397221880633 Centerline is valid? [False, False] Translation: X:67.24, Y:-0.12, Z:-2.43 [[ 9.94407155e-01 -1.01089533e-01 3.05829479e-02 6.72444349e+01] [ 1.01462642e-01 9.94779630e-01 -1.09004734e-02 -1.17770471e-01] [-2.93213699e-02 1.39425354e-02 9.99472793e-01 -2.42662482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799072329 meters 0.38675169159872275 Centerline is valid? [False, False] Translation: X:67.22, Y:-0.16, Z:-2.42 [[ 9.91449299e-01 -1.26602133e-01 3.16257541e-02 6.72193329e+01] [ 1.27057597e-01 9.91812426e-01 -1.28248922e-02 -1.56220299e-01] [-2.97431572e-02 1.67335227e-02 9.99417497e-01 -2.42209213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85907232899999 meters 0.40239516639298756 Centerline is valid? [False, False] Translation: X:67.19, Y:-0.20, Z:-2.42 [[ 9.89269102e-01 -1.44041868e-01 2.44659843e-02 6.71858044e+01] [ 1.44429903e-01 9.89402804e-01 -1.49028151e-02 -2.02629009e-01] [-2.20600842e-02 1.82765142e-02 9.99589577e-01 -2.41595913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91907232899999 meters 0.40615163806981525 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.26, Z:-2.41 [[ 9.92164237e-01 -1.23257828e-01 2.04361041e-02 6.71083582e+01] [ 1.23587965e-01 9.92208443e-01 -1.57613912e-02 -2.55465252e-01] [-1.83341602e-02 1.81635452e-02 9.99666917e-01 -2.41160369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97907232899999 meters 0.44466797244328393 Centerline is valid? [False, False] Translation: X:67.05, Y:-0.31, Z:-2.41 [[ 9.91147775e-01 -1.32029247e-01 1.39415062e-02 6.70457995e+01] [ 1.32242175e-01 9.91093918e-01 -1.56477952e-02 -3.13216925e-01] [-1.17513754e-02 1.73529325e-02 9.99780366e-01 -2.40641428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03907232899999 meters 0.43898022634225886 Centerline is valid? [False, False] Translation: X:66.97, Y:-0.37, Z:-2.40 [[ 9.92046700e-01 -1.25329830e-01 1.16524314e-02 6.69718042e+01] [ 1.25507768e-01 9.91962773e-01 -1.60516852e-02 -3.65064378e-01] [-9.54702319e-03 1.73864920e-02 9.99803263e-01 -2.40164209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099072329 meters 0.42420276161003495 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.42, Z:-2.40 [[ 9.92174869e-01 -1.24563578e-01 8.54078512e-03 6.68953201e+01] [ 1.24681727e-01 9.92082242e-01 -1.50761859e-02 -4.21048553e-01] [-6.59521761e-03 1.60230926e-02 9.99849871e-01 -2.39872815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159072329 meters 0.416970428155613 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.47, Z:-2.40 [[ 9.93030752e-01 -1.17810246e-01 3.26662612e-03 6.68295056e+01] [ 1.17846525e-01 9.92915979e-01 -1.51675769e-02 -4.67479318e-01] [-1.45658930e-03 1.54468308e-02 9.99879630e-01 -2.39795253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21907232899999 meters 0.3940572333118486 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.50, Z:-2.39 [[ 9.93421129e-01 -1.14475252e-01 3.14281180e-03 6.67835661e+01] [ 1.14512195e-01 9.93278636e-01 -1.68673847e-02 -5.03284266e-01] [-1.19078969e-03 1.71163066e-02 9.99852796e-01 -2.39498364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27907232899999 meters 0.37892682679753564 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.53, Z:-2.40 [[ 9.93897862e-01 -1.09987518e-01 8.35378903e-03 6.67652482e+01] [ 1.10107234e-01 9.93797921e-01 -1.55591833e-02 -5.30635977e-01] [-6.59066222e-03 1.63840516e-02 9.99844051e-01 -2.39677812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33907232899999 meters 0.3689844413839568 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.55, Z:-2.40 [[ 9.94896785e-01 -1.00624781e-01 7.41899609e-03 6.67531137e+01] [ 1.00730218e-01 9.94792109e-01 -1.55590314e-02 -5.49708142e-01] [-5.81473464e-03 1.62269474e-02 9.99851426e-01 -2.39722585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39907232899999 meters 0.3491855748270119 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.57, Z:-2.40 [[ 9.95120707e-01 -9.81768170e-02 9.80261070e-03 6.67403838e+01] [ 9.83561290e-02 9.94952547e-01 -1.98871924e-02 -5.74438359e-01] [-7.80067124e-03 2.07543038e-02 9.99754174e-01 -2.39970431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.459072329 meters 0.32892253349650236 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.60, Z:-2.40 [[ 9.94733921e-01 -1.01712690e-01 1.26077059e-02 6.67338203e+01] [ 1.01906079e-01 9.94668806e-01 -1.57834765e-02 -5.96899462e-01] [-1.09351119e-02 1.69851613e-02 9.99795943e-01 -2.40186389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519072329 meters 0.3196622782162787 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.61, Z:-2.41 [[ 9.95751177e-01 -9.08131404e-02 1.52501453e-02 6.67207656e+01] [ 9.10192180e-02 9.95758842e-01 -1.34100961e-02 -6.12034521e-01] [-1.39676541e-02 1.47411752e-02 9.99793780e-01 -2.40509779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579072329 meters 0.31329389870774255 Centerline is valid? [False, False] Translation: X:66.71, Y:-0.63, Z:-2.41 [[ 9.96303430e-01 -8.45707468e-02 1.50752589e-02 6.67084230e+01] [ 8.48121796e-02 9.96265787e-01 -1.61671449e-02 -6.32042563e-01] [-1.36516972e-02 1.73859475e-02 9.99755650e-01 -2.40739455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63907232899999 meters 0.30861362308208856 Centerline is valid? [False, False] Translation: X:66.69, Y:-0.64, Z:-2.41 [[ 9.96971780e-01 -7.61546046e-02 1.57399548e-02 6.66949955e+01] [ 7.64420065e-02 9.96901574e-01 -1.85437672e-02 -6.43529244e-01] [-1.42789925e-02 1.96908063e-02 9.99704147e-01 -2.40854169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69907232899999 meters 0.3056890140310908 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.65, Z:-2.41 [[ 9.97591067e-01 -6.69160068e-02 1.82841875e-02 6.66790067e+01] [ 6.72667572e-02 9.97548478e-01 -1.92929163e-02 -6.54596141e-01] [-1.69483585e-02 2.04763589e-02 9.99646674e-01 -2.40855138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75907232899999 meters 0.30431958715551594 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.66, Z:-2.40 [[ 9.98474573e-01 -5.26242650e-02 1.67096683e-02 6.66754401e+01] [ 5.29933109e-02 9.98342042e-01 -2.24694659e-02 -6.62996103e-01] [-1.54995253e-02 2.33206910e-02 9.99607878e-01 -2.40437751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.819072329 meters 0.3082942636543315 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.67, Z:-2.41 [[ 9.98976270e-01 -4.14073893e-02 1.82164913e-02 6.66654157e+01] [ 4.17876794e-02 9.98905466e-01 -2.10157155e-02 -6.68098789e-01] [-1.73263468e-02 2.17554259e-02 9.99613175e-01 -2.40893871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879072329 meters 0.3118950704319851 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.67, Z:-2.41 [[ 9.99545455e-01 -2.83435678e-02 1.02725921e-02 6.66686129e+01] [ 2.85825642e-02 9.99305251e-01 -2.39176207e-02 -6.73791246e-01] [-9.58754456e-03 2.42003661e-02 9.99661153e-01 -2.40763841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939072329 meters 0.3161096064281163 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.68, Z:-2.41 [[ 9.99838271e-01 -1.75160162e-02 4.07683031e-03 6.66700256e+01] [ 1.76259750e-02 9.99432330e-01 -2.87113749e-02 -6.82948730e-01] [-3.57160711e-03 2.87785896e-02 9.99579430e-01 -2.40706222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99907232899999 meters 0.31805136864263506 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.69, Z:-2.41 [[ 9.99957532e-01 -8.25361254e-03 4.10025238e-03 6.66699030e+01] [ 8.32479320e-03 9.99809438e-01 -1.76574377e-02 -6.91313513e-01] [-3.95373338e-03 1.76908216e-02 9.99835688e-01 -2.40701998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059072329 meters 0.31861928485459357 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.70, Z:-2.41 [[ 9.99988047e-01 -3.02493423e-03 3.84123762e-03 6.66701343e+01] [ 3.06923091e-03 9.99928253e-01 -1.15788278e-02 -6.97527119e-01] [-3.80593683e-03 1.15904790e-02 9.99925585e-01 -2.40629284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119072329 meters 0.32044177402658497 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.70, Z:-2.41 [[ 9.99990299e-01 -2.15379746e-03 3.84232260e-03 6.66707037e+01] [ 2.19239660e-03 9.99946893e-01 -1.00700175e-02 -7.02674037e-01] [-3.82042977e-03 1.00783437e-02 9.99941914e-01 -2.40707672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179072329 meters 0.32378739806680507 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.71, Z:-2.41 [[ 9.99993459e-01 -5.43859099e-04 3.57577173e-03 6.66729086e+01] [ 5.70696911e-04 9.99971646e-01 -7.50872847e-03 -7.11240453e-01] [-3.57158665e-03 7.51072004e-03 9.99965416e-01 -2.40883244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239072329 meters 0.3203134505106896 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.72, Z:-2.41 [[ 9.99992521e-01 2.96741508e-05 3.86746613e-03 6.66708234e+01] [-1.02561163e-05 9.99987396e-01 -5.02079048e-03 -7.21000798e-01] [-3.86756637e-03 5.02071327e-03 9.99979917e-01 -2.40639519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299072329 meters 0.3184822859773075 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.73, Z:-2.41 [[ 9.99992876e-01 9.26058643e-04 3.65927976e-03 6.66715087e+01] [-9.15558182e-04 9.99995462e-01 -2.87017716e-03 -7.28455825e-01] [-3.66192111e-03 2.86680643e-03 9.99989186e-01 -2.40619538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359072329 meters 0.3189627044437417 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.74, Z:-2.41 [[ 9.99992207e-01 2.31503167e-03 3.19791452e-03 6.66740187e+01] [-2.31558420e-03 9.99997305e-01 1.69087643e-04 -7.37736195e-01] [-3.19751446e-03 -1.76491365e-04 9.99994872e-01 -2.40842987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41907232900002 meters 0.3203054797605162 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.74, Z:-2.41 [[ 9.99990856e-01 3.00996063e-03 3.03766487e-03 6.66748321e+01] [-3.01462429e-03 9.99994283e-01 1.53186672e-03 -7.42272530e-01] [-3.03303665e-03 -1.54101013e-03 9.99994213e-01 -2.40877579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47907232900002 meters 0.31760558476280776 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.75, Z:-2.41 [[ 9.99994859e-01 -8.77802074e-04 3.08406497e-03 6.66747213e+01] [ 8.83511349e-04 9.99997898e-01 -1.85034289e-03 -7.45467692e-01] [-3.08243425e-03 1.85305818e-03 9.99993532e-01 -2.40869278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539072329 meters 0.3200877768088279 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.75, Z:-2.41 [[ 9.99996119e-01 3.34178351e-04 2.76589154e-03 6.66761339e+01] [-3.34980735e-04 9.99999902e-01 2.89641262e-04 -7.52892099e-01] [-2.76579448e-03 -2.90566659e-04 9.99996133e-01 -2.40910599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599072329 meters 0.3172487936019564 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99996109e-01 1.03045953e-03 2.59241726e-03 6.66767373e+01] [-1.03448031e-03 9.99998263e-01 1.55011444e-03 -7.57236972e-01] [-2.59081542e-03 -1.55279021e-03 9.99995438e-01 -2.40906680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659072329 meters 0.32088964423635824 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99991545e-01 -3.13193101e-03 2.66489840e-03 6.66765023e+01] [ 3.13833274e-03 9.99992192e-01 -2.40145950e-03 -7.58492833e-01] [-2.65735639e-03 2.40980253e-03 9.99993566e-01 -2.40889531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719072329 meters 0.32554587281743286 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99992720e-01 -2.71283232e-03 2.68330181e-03 6.66761635e+01] [ 2.71691417e-03 9.99995156e-01 -1.51872935e-03 -7.61534648e-01] [-2.67916876e-03 1.52600859e-03 9.99995247e-01 -2.40829523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779072329 meters 0.3282854331465345 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99993308e-01 -2.44932542e-03 2.71735465e-03 6.66760426e+01] [ 2.45185161e-03 9.99996565e-01 -9.26707668e-04 -7.63517030e-01] [-2.71507551e-03 9.33364017e-04 9.99995879e-01 -2.40816313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839072329 meters 0.3249882109366195 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99994132e-01 -2.10783445e-03 2.70063693e-03 6.66761206e+01] [ 2.10847206e-03 9.99997750e-01 -2.33269826e-04 -7.65860212e-01] [-2.70013916e-03 2.38962675e-04 9.99996326e-01 -2.40812639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899072329 meters 0.32042759534799653 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99995073e-01 -1.69903361e-03 2.63968409e-03 6.66761182e+01] [ 1.69744601e-03 9.99998377e-01 6.03561816e-04 -7.68737831e-01] [-2.64070528e-03 -5.99078120e-04 9.99996334e-01 -2.40768719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959072329 meters 0.3236460618073986 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99996122e-01 -1.26460908e-03 2.48143995e-03 6.66766704e+01] [ 1.26102890e-03 9.99998163e-01 1.44381575e-03 -7.71581563e-01] [-2.48326125e-03 -1.44068099e-03 9.99995879e-01 -2.40766152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019072329 meters 0.31981356462565147 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99996928e-01 -8.24195747e-04 2.33778267e-03 6.66771034e+01] [ 8.18515131e-04 9.99996713e-01 2.42983302e-03 -7.74884126e-01] [-2.33977764e-03 -2.42791204e-03 9.99994315e-01 -2.40752767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079072329 meters 0.3138646009851394 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.78, Z:-2.41 [[ 9.99996557e-01 -4.43553217e-04 2.58634169e-03 6.66766140e+01] [ 4.32963129e-04 9.99991527e-01 4.09374349e-03 -7.80505674e-01] [-2.58813557e-03 -4.09260960e-03 9.99988276e-01 -2.40740572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13907232900002 meters 0.30985257772189495 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.78, Z:-2.41 [[ 9.99987633e-01 -4.29709929e-03 2.50378561e-03 6.66772137e+01] [ 4.29507830e-03 9.99990446e-01 8.11990449e-04 -7.83929454e-01] [-2.50725089e-03 -8.01226452e-04 9.99996536e-01 -2.40789908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19907232900002 meters 0.3082160742754191 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.79, Z:-2.41 [[ 9.99988919e-01 -4.02995887e-03 2.43357899e-03 6.66780141e+01] [ 4.02259438e-03 9.99987338e-01 3.02354392e-03 -7.91974335e-01] [-2.44573294e-03 -3.01372111e-03 9.99992468e-01 -2.40909822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25907232900002 meters 0.30195409827219194 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.80, Z:-2.41 [[ 9.99989660e-01 -3.54132892e-03 2.85301989e-03 6.66770304e+01] [ 3.52723955e-03 9.99981635e-01 4.92839264e-03 -7.98180955e-01] [-2.87042055e-03 -4.91827840e-03 9.99983785e-01 -2.40885585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319072329 meters 0.3004733399757138 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.81, Z:-2.41 [[ 9.99992339e-01 -2.73542239e-03 2.80005443e-03 6.66778450e+01] [ 2.71500539e-03 9.99969890e-01 7.26965614e-03 -8.05426731e-01] [-2.81985570e-03 -7.26199828e-03 9.99969655e-01 -2.41013908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379072329 meters 0.29702258407546217 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.81, Z:-2.41 [[ 9.99974500e-01 -6.59345712e-03 2.74322971e-03 6.66785429e+01] [ 6.58295134e-03 9.99971031e-01 3.82127626e-03 -8.08325700e-01] [-2.76834566e-03 -3.80312027e-03 9.99988936e-01 -2.41071766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439072329 meters 0.2978704294400754 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.82, Z:-2.41 [[ 9.99977559e-01 -5.96532588e-03 3.04910032e-03 6.66780258e+01] [ 5.94702424e-03 9.99964456e-01 5.97654035e-03 -8.15308868e-01] [-3.08464396e-03 -5.95827315e-03 9.99977492e-01 -2.41089994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499072329 meters 0.29275352694266205 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.82, Z:-2.41 [[ 9.99979752e-01 -5.44051940e-03 3.30098765e-03 6.66776678e+01] [ 5.41499444e-03 9.99955748e-01 7.69280498e-03 -8.20812262e-01] [-3.34269443e-03 -7.67477438e-03 9.99964962e-01 -2.41124207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559072329 meters 0.28836847569980467 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.83, Z:-2.41 [[ 9.99952530e-01 -9.17189787e-03 3.28846366e-03 6.66778013e+01] [ 9.15622379e-03 9.99946798e-01 4.75017068e-03 -8.25450426e-01] [-3.33185679e-03 -4.71983528e-03 9.99983311e-01 -2.41099356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619072329 meters 0.2878023096620052 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.83, Z:-2.41 [[ 9.99956809e-01 -8.70895548e-03 3.24561041e-03 6.66779260e+01] [ 8.68977312e-03 9.99944966e-01 5.87821142e-03 -8.29191017e-01] [-3.29662487e-03 -5.84975392e-03 9.99977456e-01 -2.41081244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679072329 meters 0.2872860131462412 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.84, Z:-2.41 [[ 9.99964465e-01 -7.85896211e-03 3.05032830e-03 6.66790583e+01] [ 7.83495418e-03 9.99938851e-01 7.80433045e-03 -8.35374441e-01] [-3.11147572e-03 -7.78015395e-03 9.99964893e-01 -2.41170578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739072329 meters 0.286520943079791 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.84, Z:-2.41 [[ 9.99971208e-01 -7.02085591e-03 2.87934271e-03 6.66800259e+01] [ 6.99338692e-03 9.99930972e-01 9.44163567e-03 -8.40895129e-01] [-2.94543232e-03 -9.42122747e-03 9.99951281e-01 -2.41217079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799072329 meters 0.28539764740163 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.85, Z:-2.41 [[ 9.99969308e-01 2.90301314e-03 7.27710579e-03 6.66747121e+01] [-2.91578905e-03 9.99994225e-01 1.74563586e-03 -8.45299633e-01] [-7.27199617e-03 -1.76680079e-03 9.99971998e-01 -2.40975890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859072329 meters 0.2849474301344401 Centerline is valid? [False, False] Translation: X:66.67, Y:-0.85, Z:-2.41 [[ 9.99969585e-01 3.17759162e-03 7.12267893e-03 6.66749410e+01] [-3.19369613e-03 9.99992367e-01 2.25078605e-03 -8.47099549e-01] [-7.11547248e-03 -2.27346526e-03 9.99972100e-01 -2.40926169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91907232900002 meters 0.28599523083389056 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99969110e-01 3.53488193e-03 7.02026418e-03 6.66754577e+01] [-3.55544288e-03 9.99989421e-01 2.91848133e-03 -8.49358856e-01] [-7.00987342e-03 -2.94335133e-03 9.99971099e-01 -2.40951242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97907232900002 meters 0.28555906119114705 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99975487e-01 -5.97649662e-04 6.97625168e-03 6.66754171e+01] [ 6.04829476e-04 9.99999290e-01 -1.02711496e-03 -8.50680918e-01] [-6.97563287e-03 1.03130923e-03 9.99975138e-01 -2.40920478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039072329 meters 0.2833374641355073 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99975816e-01 -5.68374768e-04 6.93133461e-03 6.66753575e+01] [ 5.75101785e-04 9.99999366e-01 -9.68568197e-04 -8.50921630e-01] [-6.93077971e-03 9.72530997e-04 9.99975509e-01 -2.40885761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099072329 meters 0.2843187500557343 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99976505e-01 -5.93019024e-04 6.82914311e-03 6.66758205e+01] [ 6.00519890e-04 9.99999219e-01 -1.09636310e-03 -8.50398229e-01] [-6.82848761e-03 1.10043838e-03 9.99976080e-01 -2.40920876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159072329 meters 0.28462424890880733 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.85, Z:-2.41 [[ 9.99977236e-01 -7.12588731e-04 6.70965152e-03 6.66761725e+01] [ 7.22184439e-04 9.99998720e-01 -1.42782087e-03 -8.49298449e-01] [-6.70862548e-03 1.43263397e-03 9.99976471e-01 -2.40932248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219072329 meters 0.28525539053683935 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.84, Z:-2.41 [[ 9.99978864e-01 -3.86116663e-04 6.49010791e-03 6.66763821e+01] [ 4.00965710e-04 9.99997305e-01 -2.28680527e-03 -8.44764002e-01] [-6.48920745e-03 2.28935925e-03 9.99976324e-01 -2.40891588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279072329 meters 0.2894244809237306 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.84, Z:-2.41 [[ 9.99980569e-01 -4.16679971e-04 6.21994065e-03 6.66771790e+01] [ 4.37679670e-04 9.99994208e-01 -3.37521023e-03 -8.40661188e-01] [-6.21849824e-03 3.37786699e-03 9.99974960e-01 -2.40928731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339072329 meters 0.29249722096308567 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.83, Z:-2.41 [[ 9.99981406e-01 -4.00061857e-04 6.08501033e-03 6.66772917e+01] [ 4.30876224e-04 9.99987088e-01 -5.06351176e-03 -8.34273173e-01] [-6.08290604e-03 5.06603949e-03 9.99968666e-01 -2.40869336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399072329 meters 0.30194574496373083 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.83, Z:-2.41 [[ 9.99977303e-01 3.15798874e-03 5.95145898e-03 6.66776221e+01] [-3.13683781e-03 9.99988744e-01 -3.55989718e-03 -8.25355998e-01] [-5.96263410e-03 3.54114762e-03 9.99975953e-01 -2.40847473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459072329 meters 0.3072692581794716 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.81, Z:-2.41 [[ 9.99961198e-01 6.42480637e-03 6.02698951e-03 6.66772250e+01] [-6.40837443e-03 9.99975707e-01 -2.74175291e-03 -8.14539578e-01] [-6.04445833e-03 2.70302332e-03 9.99978079e-01 -2.40775986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519072329 meters 0.31742100171484827 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.81, Z:-2.41 [[ 9.99961385e-01 6.63052535e-03 5.76751912e-03 6.66780219e+01] [-6.60637479e-03 9.99969373e-01 -4.19636035e-03 -8.05442574e-01] [-5.79516655e-03 4.15809591e-03 9.99974563e-01 -2.40831374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579072329 meters 0.3200553058268593 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.79, Z:-2.41 [[ 9.99937545e-01 9.73038432e-03 5.49787240e-03 6.66792805e+01] [-9.70826630e-03 9.99944731e-01 -4.03548217e-03 -7.92538263e-01] [-5.53683532e-03 3.98185532e-03 9.99976744e-01 -2.40917425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63907232900002 meters 0.3242938616821887 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.78, Z:-2.41 [[ 9.99945486e-01 8.84366795e-03 5.55116985e-03 6.66786010e+01] [-8.80597153e-03 9.99938249e-01 -6.77881941e-03 -7.83921539e-01] [-5.61077669e-03 6.72956642e-03 9.99961615e-01 -2.40830626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69907232900002 meters 0.3273380712082473 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.77, Z:-2.41 [[ 9.99918091e-01 1.15092961e-02 5.59890312e-03 6.66784820e+01] [-1.14710132e-02 9.99910932e-01 -6.82230670e-03 -7.70039669e-01] [-5.67692439e-03 6.75752280e-03 9.99961053e-01 -2.40829249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75907232900002 meters 0.32453315790916465 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.76, Z:-2.41 [[ 9.99925117e-01 1.08197520e-02 5.71773389e-03 6.66782182e+01] [-1.07717651e-02 9.99907054e-01 -8.35782426e-03 -7.64820596e-01] [-5.80763203e-03 8.29560832e-03 9.99948726e-01 -2.40851878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819072329 meters 0.3290038288650171 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.75, Z:-2.41 [[ 9.99905073e-01 1.27588006e-02 5.20166605e-03 6.66812085e+01] [-1.27140022e-02 9.99882565e-01 -8.55628634e-03 -7.52882456e-01] [-5.31022314e-03 8.48934013e-03 9.99949865e-01 -2.41147453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879072329 meters 0.32497655855090013 Centerline is valid? [False, False] Translation: X:66.68, Y:-0.74, Z:-2.41 [[ 9.99928212e-01 1.07408591e-02 5.31087494e-03 6.66793558e+01] [-1.06744309e-02 9.99866363e-01 -1.23819689e-02 -7.40499994e-01] [-5.44315819e-03 1.23243895e-02 9.99909237e-01 -2.40934312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939072329 meters 0.3217978254266812 Centerline is valid? [False, False] Translation: X:66.69, Y:-0.73, Z:-2.40 [[ 9.99954504e-01 9.33743794e-03 1.94993761e-03 6.66885607e+01] [-9.32314826e-03 9.99930523e-01 -7.21310780e-03 -7.34382898e-01] [-2.01715408e-03 7.19460007e-03 9.99972084e-01 -2.40325885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999072329 meters 0.3204586620289261 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.72, Z:-2.40 [[ 9.99978360e-01 6.52309273e-03 -8.54143048e-04 6.67019838e+01] [-6.52482816e-03 9.99976622e-01 -2.04500355e-03 -7.23592648e-01] [ 8.40783332e-04 2.05053243e-03 9.99997544e-01 -2.40090451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059072329 meters 0.3193151817230831 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.72, Z:-2.40 [[ 9.99952197e-01 9.73563781e-03 -9.05867346e-04 6.67020123e+01] [-9.73568047e-03 9.99952606e-01 -4.26864132e-05 -7.15842009e-01] [ 9.05408834e-04 5.15036077e-05 9.99999589e-01 -2.40107389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119072329 meters 0.3149145815478061 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.70, Z:-2.40 [[ 9.99966507e-01 8.12939879e-03 -9.47372234e-04 6.67014667e+01] [-8.13319441e-03 9.99958626e-01 -4.07395681e-03 -7.02460894e-01] [ 9.14214218e-04 4.08152552e-03 9.99991253e-01 -2.40034471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179072329 meters 0.3157557270983658 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.70, Z:-2.40 [[ 9.99931886e-01 1.16257728e-02 -1.03206175e-03 6.67013653e+01] [-1.16272771e-02 9.99931330e-01 -1.46375558e-03 -6.96767576e-01] [ 1.01497359e-03 1.47565595e-03 9.99998396e-01 -2.39990887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239072329 meters 0.3160464513094119 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.69, Z:-2.40 [[ 9.99897230e-01 1.43031060e-02 -9.75023402e-04 6.67001513e+01] [-1.43036551e-02 9.99897542e-01 -5.58507975e-04 -6.85833203e-01] [ 9.66935104e-04 5.72396976e-04 9.99999369e-01 -2.39830603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299072329 meters 0.31479673289248544 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.67, Z:-2.40 [[ 9.99854189e-01 1.70437064e-02 -1.05458631e-03 6.67004865e+01] [-1.70434356e-02 9.99854715e-01 2.65201609e-04 -6.74362926e-01] [ 1.05895312e-03 -2.47189166e-04 9.99999409e-01 -2.39867360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359072329 meters 0.31579968219891735 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.66, Z:-2.40 [[ 9.99870624e-01 1.60066588e-02 -1.58840628e-03 6.67019550e+01] [-1.60114655e-02 9.99867123e-01 -3.06101670e-03 -6.63234645e-01] [ 1.53919857e-03 3.08605339e-03 9.99994054e-01 -2.39915875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41907232900002 meters 0.3130679094261616 Centerline is valid? [False, False] Translation: X:66.71, Y:-0.66, Z:-2.39 [[ 9.99879774e-01 1.46994110e-02 -4.93609670e-03 6.67109728e+01] [-1.46878850e-02 9.99889334e-01 2.36322296e-03 -6.56429674e-01] [ 4.97028843e-03 -2.29043802e-03 9.99985025e-01 -2.39327845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47907232900002 meters 0.3111784812754154 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.65, Z:-2.39 [[ 9.99896066e-01 1.19899204e-02 -8.00621496e-03 6.67209540e+01] [-1.19308352e-02 9.99901536e-01 7.38734217e-03 -6.46686884e-01] [ 8.09400028e-03 -7.29105354e-03 9.99940662e-01 -2.38796651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539072329 meters 0.3085950982421259 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.64, Z:-2.39 [[ 9.99907184e-01 1.10156210e-02 -8.01743281e-03 6.67208821e+01] [-1.09712401e-02 9.99924364e-01 5.55863128e-03 -6.40412406e-01] [ 8.07805817e-03 -5.47015417e-03 9.99952410e-01 -2.38828284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599072329 meters 0.30076873076545174 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.63, Z:-2.39 [[ 9.99921633e-01 9.54167087e-03 -8.10460165e-03 6.67197822e+01] [-9.51600846e-03 9.99949604e-01 3.19908222e-03 -6.32430318e-01] [ 8.13471781e-03 -3.12170806e-03 9.99962040e-01 -2.38683060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659072329 meters 0.30341915245330175 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.63, Z:-2.39 [[ 9.99954811e-01 4.62509370e-03 -8.30568771e-03 6.67200116e+01] [-4.64961769e-03 9.99984881e-01 -2.93579699e-03 -6.25622237e-01] [ 8.29198380e-03 2.97428260e-03 9.99961198e-01 -2.38677924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719072329 meters 0.2998846243851834 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.62, Z:-2.39 [[ 9.99956452e-01 4.16243056e-03 -8.35272350e-03 6.67199927e+01] [-4.19542460e-03 9.99983451e-01 -3.93646703e-03 -6.22319550e-01] [ 8.33620000e-03 3.97133882e-03 9.99957367e-01 -2.38674618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779072329 meters 0.2946424474713366 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.62, Z:-2.39 [[ 9.99958132e-01 3.72466649e-03 -8.35824067e-03 6.67198808e+01] [-3.76511155e-03 9.99981255e-01 -4.82843681e-03 -6.19300630e-01] [ 8.34009967e-03 4.85970437e-03 9.99953412e-01 -2.38659008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839072329 meters 0.2939961087512649 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.62, Z:-2.38 [[ 9.99940607e-01 -3.68852370e-03 -1.02556402e-02 6.67287803e+01] [ 3.66953843e-03 9.99991520e-01 -1.86940396e-03 -6.15333001e-01] [ 1.02624485e-02 1.83165947e-03 9.99945662e-01 -2.38033118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899072329 meters 0.285205577685071 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99938935e-01 -3.93097209e-03 -1.03283000e-02 6.67288375e+01] [ 3.90667641e-03 9.99989557e-01 -2.37146366e-03 -6.13665163e-01] [ 1.03375143e-02 2.33096952e-03 9.99943850e-01 -2.38019059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959072329 meters 0.2889379653027045 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99938065e-01 -3.94020140e-03 -1.04086571e-02 6.67296685e+01] [ 3.91428995e-03 9.99989193e-01 -2.50861276e-03 -6.12852071e-01] [ 1.04184290e-02 2.46771489e-03 9.99942682e-01 -2.38139236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019072329 meters 0.2864714748203207 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99937121e-01 -4.00970976e-03 -1.04726827e-02 6.67298693e+01] [ 3.98191807e-03 9.99988499e-01 -2.67323637e-03 -6.12269097e-01] [ 1.04832812e-02 2.63136692e-03 9.99941587e-01 -2.38147068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079072329 meters 0.2812649849049412 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99940174e-01 -4.34071122e-03 -1.00402757e-02 6.67282657e+01] [ 4.31157624e-03 9.99986437e-01 -2.92163805e-03 -6.11971816e-01] [ 1.00528215e-02 2.87817385e-03 9.99945327e-01 -2.38031766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13907232900002 meters 0.27430414101873196 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99940420e-01 -4.36291491e-03 -1.00060717e-02 6.67284400e+01] [ 4.33588341e-03 9.99986896e-01 -2.72161421e-03 -6.12679113e-01] [ 1.00178147e-02 2.67806689e-03 9.99946234e-01 -2.38079200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19907232900002 meters 0.27257249608958656 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99940214e-01 -4.23943790e-03 -1.00794448e-02 6.67291269e+01] [ 4.21584865e-03 9.99988327e-01 -2.36042852e-03 -6.13605401e-01] [ 1.00893340e-02 2.31779399e-03 9.99946415e-01 -2.38160502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25907232900002 meters 0.2701486276780054 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.61, Z:-2.38 [[ 9.99941329e-01 -4.13692233e-03 -1.00112636e-02 6.67290979e+01] [ 4.11707520e-03 9.99989520e-01 -2.00227775e-03 -6.14769317e-01] [ 1.00194420e-02 1.96094314e-03 9.99947881e-01 -2.38178644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319072329 meters 0.26451208733859344 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.62, Z:-2.38 [[ 9.99944766e-01 -4.37734242e-03 -9.55525444e-03 6.67276635e+01] [ 4.36172053e-03 9.99989118e-01 -1.65512798e-03 -6.16679953e-01] [ 9.56239553e-03 1.61335922e-03 9.99952978e-01 -2.38126367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379072329 meters 0.25656049647951107 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.62, Z:-2.38 [[ 9.99947398e-01 -4.45717874e-03 -9.23771507e-03 6.67262596e+01] [ 4.44781419e-03 9.99989574e-01 -1.03402682e-03 -6.18971079e-01] [ 9.24222760e-03 9.92884789e-04 9.99956797e-01 -2.38017678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439072329 meters 0.2563818426159257 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99806132e-01 -1.86908119e-02 -6.19294153e-03 6.67376123e+01] [ 1.86778606e-02 9.99823258e-01 -2.14257542e-03 -6.17447870e-01] [ 6.23189345e-03 2.02648914e-03 9.99978528e-01 -2.38050337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499072329 meters 0.2577927411865809 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99805880e-01 -1.87613680e-02 -6.01782860e-03 6.67369931e+01] [ 1.87499984e-02 9.99822321e-01 -1.94021125e-03 -6.18374663e-01] [ 6.05316037e-03 1.82700034e-03 9.99980010e-01 -2.38006365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559072329 meters 0.256931226840723 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99873472e-01 -1.45462380e-02 -6.43792606e-03 6.67384700e+01] [ 1.45671042e-02 9.99888754e-01 3.20618893e-03 -6.21414154e-01] [ 6.39057188e-03 -3.29956520e-03 9.99974136e-01 -2.38167696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619072329 meters 0.2607365110423098 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99875128e-01 -1.43843067e-02 -6.54364111e-03 6.67389974e+01] [ 1.44074417e-02 9.99890074e-01 3.50219522e-03 -6.22285146e-01] [ 6.49254515e-03 -3.59603502e-03 9.99972457e-01 -2.38207758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679072329 meters 0.261968828839312 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.62, Z:-2.38 [[ 9.99875629e-01 -1.45582388e-02 -6.06507683e-03 6.67373872e+01] [ 1.45817761e-02 9.99886250e-01 3.85482396e-03 -6.24201526e-01] [ 6.00826748e-03 -3.94278412e-03 9.99974177e-01 -2.38124218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739072329 meters 0.2604597540454818 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99873324e-01 -1.49524936e-02 -5.45514618e-03 6.67349763e+01] [ 1.49740923e-02 9.99880119e-01 3.94020128e-03 -6.25655704e-01] [ 5.39557638e-03 -4.02138801e-03 9.99977358e-01 -2.37964370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799072329 meters 0.26319582972792455 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99876508e-01 -1.46839134e-02 -5.59917528e-03 6.67357525e+01] [ 1.47090369e-02 9.99881813e-01 4.47253020e-03 -6.27209484e-01] [ 5.53283929e-03 -4.55433635e-03 9.99974323e-01 -2.38037017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859072329 meters 0.2637887339370203 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99878266e-01 -1.45697239e-02 -5.58359058e-03 6.67360017e+01] [ 1.45963539e-02 9.99882144e-01 4.75862762e-03 -6.28050733e-01] [ 5.51360063e-03 -4.83954840e-03 9.99973089e-01 -2.38087698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91907232900002 meters 0.26150195746207106 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99876794e-01 -1.46358685e-02 -5.67338892e-03 6.67360051e+01] [ 1.46621931e-02 9.99881801e-01 4.62652041e-03 -6.27666397e-01] [ 5.60500519e-03 -4.70913472e-03 9.99973204e-01 -2.38043398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97907232900002 meters 0.26103419413537676 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99920213e-01 -1.24672010e-02 -2.03390553e-03 6.67285220e+01] [ 1.24738711e-02 9.99916751e-01 3.30042091e-03 -6.27595249e-01] [ 1.99258920e-03 -3.32552825e-03 9.99992485e-01 -2.38434557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039072329 meters 0.26611585998468257 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99980542e-01 -1.74494222e-04 -6.23572514e-03 6.67292466e+01] [ 1.65076789e-04 9.99998845e-01 -1.51072128e-03 -6.30841591e-01] [ 6.23598155e-03 1.50966251e-03 9.99979417e-01 -2.38358262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099072329 meters 0.25618495814932307 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99979874e-01 -3.48291517e-05 -6.34425854e-03 6.67294056e+01] [ 2.68208359e-05 9.99999203e-01 -1.26237412e-03 -6.31734143e-01] [ 6.34429745e-03 1.26217855e-03 9.99979078e-01 -2.38337264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159072329 meters 0.25246088553434926 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99979186e-01 1.71414875e-04 -6.44964082e-03 6.67295307e+01] [-1.77265952e-04 9.99999573e-01 -9.06633507e-04 -6.33045481e-01] [ 6.44948266e-03 9.07757938e-04 9.99978790e-01 -2.38308678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219072329 meters 0.24753561176077624 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99978826e-01 1.78906456e-04 -6.50504889e-03 6.67293959e+01] [-1.84548548e-04 9.99999607e-01 -8.66750475e-04 -6.33332205e-01] [ 6.50489127e-03 8.67932619e-04 9.99978466e-01 -2.38267197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279072329 meters 0.25057609171549294 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99977198e-01 2.55430621e-04 -6.74819751e-03 6.67304669e+01] [-2.61402929e-04 9.99999575e-01 -8.84155459e-04 -6.32893040e-01] [ 6.74796880e-03 8.85899298e-04 9.99976840e-01 -2.38326702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339072329 meters 0.2534862759215626 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99974960e-01 2.33684636e-04 -7.07287921e-03 6.67311418e+01] [-2.41917146e-04 9.99999294e-01 -1.16312131e-03 -6.31855045e-01] [ 7.07260242e-03 1.16480324e-03 9.99974310e-01 -2.38297432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399072329 meters 0.24297246301929395 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99974478e-01 -1.53584955e-04 -7.14280227e-03 6.67304445e+01] [ 1.39198793e-04 9.99997961e-01 -2.01453176e-03 -6.29370549e-01] [ 7.14309711e-03 2.01348607e-03 9.99972461e-01 -2.38156657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459072329 meters 0.24384228891963083 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99972591e-01 -1.94467705e-04 -7.40127318e-03 6.67312020e+01] [ 1.78082713e-04 9.99997532e-01 -2.21440186e-03 -6.28546002e-01] [ 7.40168554e-03 2.21302313e-03 9.99970158e-01 -2.38168230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519072329 meters 0.24807784516866255 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99970404e-01 -3.66277748e-05 -7.69348588e-03 6.67321141e+01] [ 2.07455747e-05 9.99997869e-01 -2.06443948e-03 -6.28894710e-01] [ 7.69354510e-03 2.06421878e-03 9.99968274e-01 -2.38194450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579072329 meters 0.2504261641079859 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99970095e-01 2.45353847e-04 -7.72972161e-03 6.67320341e+01] [-2.57054067e-04 9.99998823e-01 -1.51270936e-03 -6.30934440e-01] [ 7.72934136e-03 1.51465108e-03 9.99968981e-01 -2.38175787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63907232900002 meters 0.25692746921788967 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.63, Z:-2.38 [[ 9.99969243e-01 5.99822235e-04 -7.82011284e-03 6.67326411e+01] [-6.06592622e-04 9.99999443e-01 -8.63422816e-04 -6.32995383e-01] [ 7.81959059e-03 8.68139882e-04 9.99969050e-01 -2.38244802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69907232900002 meters 0.26526405650864526 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.64, Z:-2.38 [[ 9.99969179e-01 1.10187668e-03 -7.77350241e-03 6.67322365e+01] [-1.10081078e-03 9.99999384e-01 1.41397571e-04 -6.36674690e-01] [ 7.77365343e-03 -1.32836057e-04 9.99969776e-01 -2.38212988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75907232900002 meters 0.2777993592788468 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.64, Z:-2.38 [[ 9.99968294e-01 1.64448780e-03 -7.79145885e-03 6.67321517e+01] [-1.63504005e-03 9.99997921e-01 1.21879268e-03 -6.40726817e-01] [ 7.79344693e-03 -1.20601469e-03 9.99968903e-01 -2.38206381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819072329 meters 0.29336914096476635 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.64, Z:-2.38 [[ 9.99965517e-01 1.91716522e-03 -8.08013184e-03 6.67336083e+01] [-1.90453699e-03 9.99996953e-01 1.57027796e-03 -6.41666696e-01] [ 8.08311771e-03 -1.55483491e-03 9.99966122e-01 -2.38316268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879072329 meters 0.31623002522365895 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.64, Z:-2.38 [[ 9.99958094e-01 2.93147696e-03 -8.67270841e-03 6.67354057e+01] [-2.91738664e-03 9.99994405e-01 1.63687890e-03 -6.40737258e-01] [ 8.67745836e-03 -1.61150867e-03 9.99961052e-01 -2.38328974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939072329 meters 0.33863435656281593 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.64, Z:-2.38 [[ 9.99954332e-01 2.96039903e-03 -9.08676808e-03 6.67361739e+01] [-2.94878599e-03 9.99994819e-01 1.29114807e-03 -6.39806100e-01] [ 9.09054332e-03 -1.26429418e-03 9.99957881e-01 -2.38275366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999072329 meters 0.3894750536872802 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.64, Z:-2.38 [[ 9.99945815e-01 3.84684817e-03 -9.67309966e-03 6.67373056e+01] [-3.83787777e-03 9.99992188e-01 9.45747001e-04 -6.37717460e-01] [ 9.67666224e-03 -9.08571581e-04 9.99952767e-01 -2.38149586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059072329 meters 0.4148728406543272 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.64, Z:-2.38 [[ 9.99936778e-01 4.18171275e-03 -1.04380955e-02 6.67392617e+01] [-4.17736921e-03 9.99991179e-01 4.37892060e-04 -6.35743822e-01] [ 1.04398345e-02 -3.94260597e-04 9.99945426e-01 -2.38136108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119072329 meters 0.44994209653801914 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99922978e-01 4.96356784e-03 -1.13754488e-02 6.67416459e+01] [-4.96472789e-03 9.99987673e-01 -7.37413996e-05 -6.33206052e-01] [ 1.13749426e-02 1.30211728e-04 9.99935295e-01 -2.38061557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179072329 meters 0.464089086879074 Centerline is valid? [False, False] Translation: X:66.74, Y:-0.63, Z:-2.38 [[ 9.99908841e-01 5.98268994e-03 -1.21043863e-02 6.67438562e+01] [-5.98606681e-03 9.99982054e-01 -2.42768202e-04 -6.31548339e-01] [ 1.21027167e-02 3.15203737e-04 9.99926710e-01 -2.38050514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239072329 meters 0.4727904831508964 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.64, Z:-2.38 [[ 9.99919332e-01 1.00933106e-02 -7.71064703e-03 6.67709958e+01] [-1.00446022e-02 9.99929517e-01 6.32985241e-03 -6.35059107e-01] [ 7.77399272e-03 -6.25189142e-03 9.99950238e-01 -2.38238400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299072329 meters 0.4597848222570838 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.63, Z:-2.38 [[ 9.99911403e-01 1.02865395e-02 -8.44826313e-03 6.67729058e+01] [-1.02354409e-02 9.99929196e-01 6.06953525e-03 -6.33793242e-01] [ 8.51009947e-03 -5.98252581e-03 9.99945892e-01 -2.38246239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359072329 meters 0.4631208141168907 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.63, Z:-2.38 [[ 9.99901616e-01 1.06999430e-02 -9.07030700e-03 6.67742483e+01] [-1.06471749e-02 9.99926227e-01 5.84613155e-03 -6.32818977e-01] [ 9.13219113e-03 -5.74898323e-03 9.99941774e-01 -2.38173723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41907232900002 meters 0.4660619121876882 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.63, Z:-2.38 [[ 9.99898701e-01 1.06622455e-02 -9.42887264e-03 6.67737406e+01] [-1.06136907e-02 9.99930232e-01 5.18471569e-03 -6.31248569e-01] [ 9.48349551e-03 -5.08411535e-03 9.99942106e-01 -2.37942505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47907232900002 meters 0.47061391875578656 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.63, Z:-2.38 [[ 9.99886857e-01 1.12679156e-02 -9.96531047e-03 6.67754032e+01] [-1.12221270e-02 9.99926270e-01 4.63884539e-03 -6.28421745e-01] [ 1.00168458e-02 -4.52648856e-03 9.99939585e-01 -2.37929600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539072329 meters 0.47098746573609035 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.63, Z:-2.38 [[ 9.99919685e-01 7.20459861e-03 -1.04267643e-02 6.67761648e+01] [-7.20688197e-03 9.99974014e-01 -1.81432588e-04 -6.25126440e-01] [ 1.04251862e-02 2.56562476e-04 9.99945623e-01 -2.37906652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599072329 meters 0.4724345069129728 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.62, Z:-2.38 [[ 9.99913912e-01 7.22442532e-03 -1.09533454e-02 6.67779534e+01] [-7.23533116e-03 9.99973367e-01 -9.56362394e-04 -6.22145528e-01] [ 1.09461445e-02 1.03553114e-03 9.99939553e-01 -2.37986556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659072329 meters 0.4733763403539491 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.62, Z:-2.38 [[ 9.99910224e-01 7.48910440e-03 -1.11111230e-02 6.67783275e+01] [-7.51693515e-03 9.99968709e-01 -2.46512025e-03 -6.16126636e-01] [ 1.10923138e-02 2.54842053e-03 9.99935231e-01 -2.37867309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719072329 meters 0.47057917898864343 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.61, Z:-2.38 [[ 9.99902867e-01 8.18526081e-03 -1.12808341e-02 6.67784589e+01] [-8.22427274e-03 9.99960345e-01 -3.41620842e-03 -6.10246131e-01] [ 1.12524242e-02 3.50865325e-03 9.99930534e-01 -2.37739199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779072329 meters 0.4194324797015934 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.61, Z:-2.38 [[ 9.99899777e-01 8.38223747e-03 -1.14094193e-02 6.67789546e+01] [-8.43126526e-03 9.99955400e-01 -4.25583740e-03 -6.05860307e-01] [ 1.13732370e-02 4.35160671e-03 9.99925854e-01 -2.37755868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839072329 meters 0.4041563390239562 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.60, Z:-2.38 [[ 9.99896612e-01 8.90539530e-03 -1.12897646e-02 6.67787430e+01] [-8.96728878e-03 9.99944976e-01 -5.44354892e-03 -5.99456426e-01] [ 1.12406664e-02 5.54422470e-03 9.99921451e-01 -2.37682310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899072329 meters 0.43081596617647727 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.59, Z:-2.37 [[ 9.99899875e-01 9.28714374e-03 -1.06765489e-02 6.67763073e+01] [-9.35507761e-03 9.99936201e-01 -6.33067081e-03 -5.94501034e-01] [ 1.06170739e-02 6.42991689e-03 9.99922964e-01 -2.37468188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959072329 meters 0.43564123264571386 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.59, Z:-2.37 [[ 9.99897904e-01 9.83506514e-03 -1.03659287e-02 6.67754288e+01] [-9.91998587e-03 9.99917395e-01 -8.17296453e-03 -5.85566289e-01] [ 1.02846907e-02 8.27495997e-03 9.99912871e-01 -2.37331728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019072329 meters 0.4105402833743447 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.58, Z:-2.38 [[ 9.99842214e-01 1.41341301e-02 -1.07598044e-02 6.67786972e+01] [-1.42027777e-02 9.99879095e-01 -6.33055214e-03 -5.75744006e-01] [ 1.06690266e-02 6.48237238e-03 9.99922072e-01 -2.37643510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079072329 meters 0.44744858625287276 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.57, Z:-2.38 [[ 9.99777558e-01 1.83968789e-02 -1.03145015e-02 6.67782898e+01] [-1.84443375e-02 9.99819649e-01 -4.52506015e-03 -5.65960591e-01] [ 1.02293943e-02 4.71429773e-03 9.99936565e-01 -2.37633893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13907232900002 meters 0.4486478250153942 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.56, Z:-2.38 [[ 9.99774463e-01 1.87916575e-02 -9.89424412e-03 6.67772529e+01] [-1.88483405e-02 9.99806293e-01 -5.66713685e-03 -5.59467305e-01] [ 9.78583264e-03 5.85234878e-03 9.99934992e-01 -2.37601768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19907232900002 meters 0.4557846142133551 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.55, Z:-2.38 [[ 9.99759065e-01 1.97525550e-02 -9.57327823e-03 6.67772289e+01] [-1.98223433e-02 9.99777226e-01 -7.25067579e-03 -5.50297445e-01] [ 9.42792619e-03 7.43869366e-03 9.99927887e-01 -2.37647453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25907232900002 meters 0.4593576802361586 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.54, Z:-2.38 [[ 9.99758182e-01 1.99506993e-02 -9.24918457e-03 6.67767207e+01] [-2.00304551e-02 9.99762278e-01 -8.61209039e-03 -5.43716321e-01] [ 9.07516861e-03 8.79527321e-03 9.99920139e-01 -2.37678135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319072329 meters 0.4653579494329842 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.53, Z:-2.38 [[ 9.99743009e-01 2.07629382e-02 -9.10031779e-03 6.67773633e+01] [-2.08580952e-02 9.99727420e-01 -1.04893272e-02 -5.33999473e-01] [ 8.88004797e-03 1.06764468e-02 9.99903574e-01 -2.37805259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379072329 meters 0.46795817624593855 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.52, Z:-2.38 [[ 9.99645501e-01 2.50989392e-02 -8.88348877e-03 6.67779194e+01] [-2.51776803e-02 9.99643678e-01 -8.86577395e-03 -5.23700783e-01] [ 8.65780187e-03 9.08629668e-03 9.99921238e-01 -2.37930094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439072329 meters 0.5504989030837982 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.52, Z:-2.38 [[ 9.99530638e-01 2.95689027e-02 -8.01150316e-03 6.67764776e+01] [-2.96227011e-02 9.99538818e-01 -6.68180133e-03 -5.15143715e-01] [ 7.81023487e-03 6.91598751e-03 9.99945583e-01 -2.37921013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499072329 meters 0.47915219796303476 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.51, Z:-2.38 [[ 9.99526997e-01 2.97682569e-02 -7.72218995e-03 6.67763351e+01] [-2.98294335e-02 9.99523532e-01 -7.93178770e-03 -5.09750742e-01] [ 7.48239508e-03 8.15838450e-03 9.99938725e-01 -2.38019870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559072329 meters 0.48259036189068655 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.50, Z:-2.38 [[ 9.99500083e-01 3.07642648e-02 -7.29001209e-03 6.67760274e+01] [-3.08313865e-02 9.99481509e-01 -9.28112759e-03 -5.01719499e-01] [ 7.00070522e-03 9.50124897e-03 9.99930356e-01 -2.38120897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619072329 meters 0.486919650901808 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.50, Z:-2.38 [[ 9.99490018e-01 3.11615073e-02 -6.97601311e-03 6.67756213e+01] [-3.12320674e-02 9.99459651e-01 -1.02451597e-02 -4.96988585e-01] [ 6.65298901e-03 1.04578102e-02 9.99923183e-01 -2.38188282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679072329 meters 0.4889179586813022 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.49, Z:-2.38 [[ 9.99460552e-01 3.22373591e-02 -6.27362087e-03 6.67755145e+01] [-3.23078566e-02 9.99412028e-01 -1.14804065e-02 -4.90206230e-01] [ 5.89983417e-03 1.16769006e-02 9.99914417e-01 -2.38403399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739072329 meters 0.4975774557773569 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.48, Z:-2.39 [[ 9.99409446e-01 3.38726129e-02 -5.77965752e-03 6.67771387e+01] [-3.39432687e-02 9.99344342e-01 -1.25992590e-02 -4.82707847e-01] [ 5.34909822e-03 1.27879990e-02 9.99903923e-01 -2.38806424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799072329 meters 0.5004946399465431 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.48, Z:-2.39 [[ 9.99244692e-01 3.85128417e-02 -5.17756407e-03 6.67761524e+01] [-3.85614782e-02 9.99209660e-01 -9.64717882e-03 -4.76750674e-01] [ 4.80193177e-03 9.83954675e-03 9.99940061e-01 -2.38812231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859072329 meters 0.45569578700032437 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.47, Z:-2.39 [[ 9.99016403e-01 4.42001079e-02 -3.54629689e-03 6.67733067e+01] [-4.42222334e-02 9.99001064e-01 -6.42407325e-03 -4.70728843e-01] [ 3.25880963e-03 6.57457972e-03 9.99973077e-01 -2.38783238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91907232900002 meters 0.46859913099174816 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.46, Z:-2.39 [[ 9.98757462e-01 4.97818517e-02 -2.30219220e-03 6.67716698e+01] [-4.97906884e-02 9.98751843e-01 -3.95506198e-03 -4.61955678e-01] [ 2.10242840e-03 4.06477540e-03 9.99989529e-01 -2.38834866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97907232900002 meters 0.5006593091418379 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.45, Z:-2.39 [[ 9.98505964e-01 5.46131668e-02 -1.80051978e-03 6.67720291e+01] [-5.46157802e-02 9.98506412e-01 -1.43564970e-03 -4.54295262e-01] [ 1.71942517e-03 1.53184158e-03 9.99997349e-01 -2.39012125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039072329 meters 0.49711118993856235 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.44, Z:-2.39 [[ 9.98124845e-01 6.12105964e-02 2.36780284e-04 6.67714935e+01] [-6.12106018e-02 9.98124873e-01 1.58094950e-05 -4.43871077e-01] [-2.35368583e-04 -3.02733135e-05 9.99999972e-01 -2.39398191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099072329 meters 0.4942989583778736 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.44, Z:-2.40 [[ 9.98023946e-01 6.28134951e-02 1.63371872e-03 6.67701050e+01] [-6.28111199e-02 9.98024354e-01 -1.46670322e-03 -4.37523045e-01] [-1.72261982e-03 1.36118923e-03 9.99997590e-01 -2.39605104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159072329 meters 0.48813498577498027 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.42, Z:-2.40 [[ 9.97247264e-01 7.39856825e-02 4.90024134e-03 6.67687584e+01] [-7.39985160e-02 9.97255240e-01 2.49131529e-03 -4.23780000e-01] [-4.70246969e-03 -2.84706794e-03 9.99984890e-01 -2.40138889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219072329 meters 0.48058397229734695 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.41, Z:-2.41 [[ 9.95559898e-01 9.35615609e-02 1.03306958e-02 6.67639198e+01] [-9.36381816e-02 9.95580262e-01 7.19944023e-03 -4.10097784e-01] [-9.61144593e-03 -8.13482155e-03 9.99920719e-01 -2.41054267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279072329 meters 0.4706880403442781 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.40, Z:-2.42 [[ 9.93847372e-01 1.09554064e-01 1.62882810e-02 6.67595855e+01] [-1.09706520e-01 9.93925258e-01 8.77842850e-03 -3.96058740e-01] [-1.52276213e-02 -1.05113487e-02 9.99828801e-01 -2.41924761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339072329 meters 0.45960440556488685 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.38, Z:-2.43 [[ 9.92449706e-01 1.20950244e-01 2.03622310e-02 6.67582596e+01] [-1.21196817e-01 9.92563710e-01 1.13407660e-02 -3.81546582e-01] [-1.88391431e-02 -1.37229775e-02 9.99728346e-01 -2.42635802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399072329 meters 0.4545122615382747 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.37, Z:-2.43 [[ 9.91735791e-01 1.26449489e-01 2.16944276e-02 6.67592993e+01] [-1.26754672e-01 9.91844711e-01 1.33162363e-02 -3.72066350e-01] [-1.98336720e-02 -1.59560582e-02 9.99675962e-01 -2.43016837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459072329 meters 0.4035846363109659 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.37, Z:-2.43 [[ 9.91676587e-01 1.26808123e-01 2.22990468e-02 6.67586504e+01] [-1.27097538e-01 9.91816737e-01 1.20737900e-02 -3.68097350e-01] [-2.05855132e-02 -1.48074488e-02 9.99678436e-01 -2.43106100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519072329 meters 0.4440592949965586 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.36, Z:-2.43 [[ 9.90792539e-01 1.33039626e-01 2.51118079e-02 6.67567236e+01] [-1.33396265e-01 9.90976223e-01 1.30981747e-02 -3.56386779e-01] [-2.31426283e-02 -1.63273952e-02 9.99598837e-01 -2.43383240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579072329 meters 0.39794939435415105 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.34, Z:-2.43 [[ 9.89334485e-01 1.42889574e-01 2.82815394e-02 6.67541188e+01] [-1.43428362e-01 9.89496462e-01 1.80293033e-02 -3.43314532e-01] [-2.54082837e-02 -2.18933863e-02 9.99437391e-01 -2.43437120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63907232900002 meters 0.43102144127487796 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.33, Z:-2.44 [[ 9.87867800e-01 1.52099090e-01 3.13540458e-02 6.67536651e+01] [-1.52775404e-01 9.88049835e-01 2.04254798e-02 -3.26671978e-01] [-2.78726629e-02 -2.49678008e-02 9.99299617e-01 -2.43835246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69907232900002 meters 0.38777170141600253 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.32, Z:-2.44 [[ 9.87103180e-01 1.56560713e-01 3.34074098e-02 6.67529295e+01] [-1.57281107e-01 9.87348573e-01 2.01357847e-02 -3.15209568e-01] [-2.98322855e-02 -2.51304515e-02 9.99238958e-01 -2.44127733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75907232900002 meters 0.42109422929736123 Centerline is valid? [False, False] Translation: X:66.75, Y:-0.30, Z:-2.44 [[ 9.85962031e-01 1.62778986e-01 3.71735721e-02 6.67499151e+01] [-1.63574016e-01 9.86339643e-01 1.94332284e-02 -2.97632430e-01] [-3.35024466e-02 -2.52410558e-02 9.99119850e-01 -2.44294604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819072329 meters 0.4157925513551652 Centerline is valid? [False, False] Translation: X:66.73, Y:-0.28, Z:-2.45 [[ 9.84104134e-01 1.71900538e-01 4.46011135e-02 6.67314996e+01] [-1.72730641e-01 9.84847933e-01 1.54491226e-02 -2.84342390e-01] [-4.12696019e-02 -2.29075243e-02 9.98885411e-01 -2.44557799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879072329 meters 0.41048575689083316 Centerline is valid? [False, False] Translation: X:66.72, Y:-0.28, Z:-2.45 [[ 9.82674909e-01 1.78639300e-01 4.93763425e-02 6.67152108e+01] [-1.79269618e-01 9.83762302e-01 8.61033593e-03 -2.77298496e-01] [-4.70364400e-02 -1.73128391e-02 9.98743130e-01 -2.44693123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939072329 meters 0.40462402509612466 Centerline is valid? [False, False] Translation: X:66.70, Y:-0.26, Z:-2.45 [[ 9.81210648e-01 1.84216525e-01 5.73579586e-02 6.66958504e+01] [-1.84698122e-01 9.82790203e-01 3.16553609e-03 -2.64337429e-01] [-5.57876957e-02 -1.36999650e-02 9.98348659e-01 -2.45183343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999072329 meters 0.377668465304254 Centerline is valid? [False, False] Translation: X:66.69, Y:-0.25, Z:-2.46 [[ 9.80547657e-01 1.86175962e-01 6.21675406e-02 6.66851274e+01] [-1.86960601e-01 9.82342467e-01 7.00085221e-03 -2.51605273e-01] [-5.97664248e-02 -1.84875500e-02 9.98041174e-01 -2.45718130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059072329 meters 0.39313609524143023 Centerline is valid? [False, False] Translation: X:66.66, Y:-0.24, Z:-2.46 [[ 9.78775384e-01 1.92883479e-01 6.92438525e-02 6.66647361e+01] [-1.93465920e-01 9.81105449e-01 1.74235580e-03 -2.42115615e-01] [-6.75994494e-02 -1.51017006e-02 9.97598242e-01 -2.45976365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119072329 meters 0.36704808116184634 Centerline is valid? [False, False] Translation: X:66.66, Y:-0.23, Z:-2.46 [[ 9.78379411e-01 1.94227973e-01 7.10578815e-02 6.66634319e+01] [-1.94644963e-01 9.80873174e-01 -1.07495960e-03 -2.30298409e-01] [-6.99075569e-02 -1.27793403e-02 9.97471615e-01 -2.46066661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179072329 meters 0.3845953137640846 Centerline is valid? [False, False] Translation: X:66.63, Y:-0.22, Z:-2.47 [[ 9.76466000e-01 1.99373271e-01 8.22462804e-02 6.66338404e+01] [-1.99777966e-01 9.79835422e-01 -3.36309594e-03 -2.23961094e-01] [-8.12583303e-02 -1.31470457e-02 9.96606361e-01 -2.46534292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239072329 meters 0.38144434573490354 Centerline is valid? [False, False] Translation: X:66.61, Y:-0.22, Z:-2.47 [[ 9.74943506e-01 2.03212937e-01 9.04967514e-02 6.66075844e+01] [-2.03276271e-01 9.79083527e-01 -8.61422486e-03 -2.19719095e-01] [-9.03544005e-02 -9.99745954e-03 9.95859495e-01 -2.46877598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299072329 meters 0.37999664266707045 Centerline is valid? [False, False] Translation: X:66.59, Y:-0.21, Z:-2.47 [[ 9.75120720e-01 1.98163029e-01 9.93528834e-02 6.65901234e+01] [-1.98289201e-01 9.80104920e-01 -8.70283122e-03 -2.14142058e-01] [-9.91008292e-02 -1.12142928e-02 9.95014204e-01 -2.47378865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359072329 meters 0.3718131305812492 Centerline is valid? [False, False] Translation: X:66.56, Y:-0.22, Z:-2.48 [[ 9.74796635e-01 1.93190802e-01 1.11574346e-01 6.65622488e+01] [-1.94099641e-01 9.80977929e-01 -2.76260354e-03 -2.18659809e-01] [-1.09985680e-01 -1.89635638e-02 9.93752250e-01 -2.47911997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41907232900002 meters 0.373013379063926 Centerline is valid? [False, False] Translation: X:66.54, Y:-0.22, Z:-2.49 [[ 9.76744875e-01 1.78766632e-01 1.18372042e-01 6.65400521e+01] [-1.80997254e-01 9.83448732e-01 8.28170516e-03 -2.21232631e-01] [-1.14932342e-01 -2.95141275e-02 9.92934778e-01 -2.48531190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47907232900002 meters 0.34719793250094044 Centerline is valid? [False, False] Translation: X:66.55, Y:-0.20, Z:-2.49 [[ 9.79261317e-01 1.65459104e-01 1.16921158e-01 6.65479917e+01] [-1.67529756e-01 9.85834227e-01 8.04098790e-03 -2.04765661e-01] [-1.13934425e-01 -2.74620015e-02 9.93108647e-01 -2.48634439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539072329 meters 0.3411922905749241 Centerline is valid? [False, False] Translation: X:66.55, Y:-0.19, Z:-2.48 [[ 9.81920220e-01 1.51284088e-01 1.13779640e-01 6.65546738e+01] [-1.53168018e-01 9.88168175e-01 7.95091958e-03 -1.85949015e-01] [-1.11230572e-01 -2.52345707e-02 9.93474195e-01 -2.48465043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599072329 meters 0.34558161715139263 Centerline is valid? [False, False] Translation: X:66.56, Y:-0.17, Z:-2.48 [[ 9.84060804e-01 1.38709131e-01 1.11283920e-01 6.65624954e+01] [-1.40475155e-01 9.90050655e-01 8.15057780e-03 -1.71034015e-01] [-1.09046158e-01 -2.36532900e-02 9.93755230e-01 -2.48421656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659072329 meters 0.3705432875515968 Centerline is valid? [False, False] Translation: X:66.58, Y:-0.15, Z:-2.48 [[ 9.88100450e-01 1.20502516e-01 9.55857987e-02 6.65769984e+01] [-1.21050264e-01 9.92646377e-01 -6.86820455e-05 -1.48111934e-01] [-9.48911731e-02 -1.15028214e-02 9.95421192e-01 -2.47915678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719072329 meters 0.37769754924034366 Centerline is valid? [False, False] Translation: X:66.59, Y:-0.12, Z:-2.48 [[ 9.90515883e-01 1.03307570e-01 9.05860425e-02 6.65869571e+01] [-1.03306955e-01 9.94638380e-01 -4.70816513e-03 -1.24451746e-01] [-9.05867436e-02 -4.69465589e-03 9.95877504e-01 -2.47747424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779072329 meters 0.3820760116494865 Centerline is valid? [False, False] Translation: X:66.60, Y:-0.10, Z:-2.48 [[ 9.92544809e-01 8.59707770e-02 8.63934462e-02 6.65988127e+01] [-8.55106761e-02 9.96296431e-01 -9.01920974e-03 -1.00976743e-01] [-8.68488705e-02 1.56440782e-03 9.96220270e-01 -2.47762489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839072329 meters 0.36951163132695974 Centerline is valid? [False, False] Translation: X:66.61, Y:-0.09, Z:-2.48 [[ 9.93917169e-01 7.22740072e-02 8.30971109e-02 6.66075213e+01] [-7.17169040e-02 9.97378116e-01 -9.67363400e-03 -8.54347599e-02] [-8.35783923e-02 3.65532338e-03 9.96494501e-01 -2.47649729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899072329 meters 0.3688432985743084 Centerline is valid? [False, False] Translation: X:66.63, Y:-0.06, Z:-2.48 [[ 9.95744009e-01 5.15160120e-02 7.64196912e-02 6.66253336e+01] [-5.11180047e-02 9.98666979e-01 -7.15644264e-03 -5.98296530e-02] [-7.66864935e-02 3.21956275e-03 9.97050057e-01 -2.47556238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959072329 meters 0.36663021264441276 Centerline is valid? [False, False] Translation: X:66.64, Y:-0.04, Z:-2.48 [[ 9.96736945e-01 3.53179966e-02 7.25816942e-02 6.66368184e+01] [-3.46033568e-02 9.99339699e-01 -1.10803687e-02 -3.59077170e-02] [-7.29251049e-02 8.53264260e-03 9.97300919e-01 -2.47631894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019072329 meters 0.3896121922539667 Centerline is valid? [False, False] Translation: X:66.65, Y:-0.02, Z:-2.48 [[ 9.97317552e-01 2.36946891e-02 6.92550535e-02 6.66473722e+01] [-2.30383668e-02 9.99681928e-01 -1.02604059e-02 -1.86595233e-02] [-6.94761426e-02 8.63735959e-03 9.97546220e-01 -2.47665482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079072329 meters 0.3852551822847816 Centerline is valid? [False, False] Translation: X:66.66, Y:0.01, Z:-2.47 [[ 9.98080359e-01 6.94678600e-03 6.15413631e-02 6.66646419e+01] [-6.40036825e-03 9.99938369e-01 -9.07155770e-03 8.48364455e-03] [-6.16005885e-02 8.66025618e-03 9.98063308e-01 -2.47271281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13907232900002 meters 0.37935225302706604 Centerline is valid? [False, False] Translation: X:66.68, Y:0.03, Z:-2.47 [[ 9.98296361e-01 -5.86310140e-03 5.80516938e-02 6.66759068e+01] [ 6.48077734e-03 9.99924317e-01 -1.04575548e-02 3.43113860e-02] [-5.79859866e-02 1.08159590e-02 9.98258804e-01 -2.47359904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19907232900002 meters 0.37076706331059067 Centerline is valid? [False, False] Translation: X:66.69, Y:0.06, Z:-2.47 [[ 9.98445569e-01 -2.24559124e-02 5.10115536e-02 6.66942861e+01] [ 2.28805620e-02 9.99708121e-01 -7.75584552e-03 6.12795904e-02] [-5.08224998e-02 8.91096260e-03 9.98667947e-01 -2.47359760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25907232900002 meters 0.3673019835533309 Centerline is valid? [False, False] Translation: X:66.70, Y:0.08, Z:-2.47 [[ 9.98340172e-01 -3.21509295e-02 4.77830367e-02 6.67045952e+01] [ 3.23835769e-02 9.99467095e-01 -4.10249447e-03 7.74925693e-02] [-4.76256738e-02 5.64307068e-03 9.98849313e-01 -2.47488672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319072329 meters 0.36653805662666955 Centerline is valid? [False, False] Translation: X:66.71, Y:0.09, Z:-2.48 [[ 9.98134306e-01 -4.18548523e-02 4.44531040e-02 6.67147926e+01] [ 4.19164242e-02 9.99121018e-01 -4.53475329e-04 9.35180511e-02] [-4.43950503e-02 2.31594445e-03 9.99011369e-01 -2.47636478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379072329 meters 0.36400386539932256 Centerline is valid? [False, False] Translation: X:66.73, Y:0.12, Z:-2.47 [[ 9.97865346e-01 -5.15227559e-02 4.01267667e-02 6.67331806e+01] [ 5.16872248e-02 9.98658599e-01 -3.07144697e-03 1.21791645e-01] [-3.99146912e-02 5.13893170e-03 9.99189876e-01 -2.47354032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439072329 meters 0.36548910129455103 Centerline is valid? [False, False] Translation: X:66.74, Y:0.13, Z:-2.47 [[ 9.98027393e-01 -5.08029923e-02 3.68833200e-02 6.67397567e+01] [ 5.10067871e-02 9.98687690e-01 -4.60500213e-03 1.33460131e-01] [-3.66009697e-02 6.47721792e-03 9.99308969e-01 -2.47399330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499072329 meters 0.3620028040532481 Centerline is valid? [False, False] Translation: X:66.76, Y:0.15, Z:-2.47 [[ 9.98374673e-01 -4.95506522e-02 2.81557204e-02 6.67577078e+01] [ 4.98527286e-02 9.98705210e-01 -1.01296325e-02 1.53719610e-01] [-2.76173348e-02 1.15168080e-02 9.99552223e-01 -2.47288029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559072329 meters 0.35327463070316556 Centerline is valid? [False, False] Translation: X:66.78, Y:0.17, Z:-2.47 [[ 9.98729168e-01 -4.67634554e-02 1.87943914e-02 6.67769308e+01] [ 4.70210588e-02 9.98802583e-01 -1.35063093e-02 1.71001039e-01] [-1.81402850e-02 1.43728772e-02 9.99732139e-01 -2.47158826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619072329 meters 0.35237524529044434 Centerline is valid? [False, False] Translation: X:66.79, Y:0.18, Z:-2.47 [[ 9.98784453e-01 -4.76008725e-02 1.27973822e-02 6.67906613e+01] [ 4.78388420e-02 9.98674710e-01 -1.89807627e-02 1.83155771e-01] [-1.18769211e-02 1.95699027e-02 9.99737944e-01 -2.46875925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679072329 meters 0.35128216365411774 Centerline is valid? [False, False] Translation: X:66.80, Y:0.19, Z:-2.47 [[ 9.98826775e-01 -4.75644540e-02 9.09375459e-03 6.67986664e+01] [ 4.77415006e-02 9.98652218e-01 -2.03592122e-02 1.86725212e-01] [-8.11312338e-03 2.07694757e-02 9.99751372e-01 -2.46849321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739072329 meters 0.34752600046308224 Centerline is valid? [False, False] Translation: X:66.82, Y:0.19, Z:-2.47 [[ 9.99196732e-01 -3.94395914e-02 7.10001698e-03 6.68234661e+01] [ 3.95836342e-02 9.98986199e-01 -2.14408494e-02 1.92127437e-01] [-6.24720064e-03 2.17046711e-02 9.99744907e-01 -2.46654713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799072329 meters 0.3484978641404168 Centerline is valid? [False, False] Translation: X:66.85, Y:0.19, Z:-2.47 [[ 9.99694372e-01 -2.29732458e-02 9.13194106e-03 6.68450949e+01] [ 2.31925609e-02 9.99426252e-01 -2.46834271e-02 1.92058118e-01] [-8.55964319e-03 2.48876763e-02 9.99653608e-01 -2.46933799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859072329 meters 0.3466402920353003 Centerline is valid? [False, False] Translation: X:66.86, Y:0.19, Z:-2.47 [[ 9.99752702e-01 -2.18759948e-02 3.99686188e-03 6.68583270e+01] [ 2.19684885e-02 9.99451394e-01 -2.47850137e-02 1.92442147e-01] [-3.45247234e-03 2.48666894e-02 9.99684814e-01 -2.47080521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91907232900002 meters 0.34366900496103564 Centerline is valid? [False, False] Translation: X:66.87, Y:0.19, Z:-2.47 [[ 9.99771544e-01 -2.13480665e-02 1.05808057e-03 6.68656510e+01] [ 2.13674555e-02 9.99477442e-01 -2.42543771e-02 1.90692609e-01] [-5.39743606e-04 2.42714445e-02 9.99705259e-01 -2.47189650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97907232900002 meters 0.3435419350067198 Centerline is valid? [False, False] Translation: X:66.90, Y:0.18, Z:-2.47 [[ 9.99926775e-01 -1.20829374e-02 -6.68276857e-04 6.68950346e+01] [ 1.20640996e-02 9.99655958e-01 -2.32899942e-02 1.84755964e-01] [ 9.49458483e-04 2.32802267e-02 9.99728528e-01 -2.47422362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039072329 meters 0.3351778719018799 Centerline is valid? [False, False] Translation: X:66.92, Y:0.18, Z:-2.47 [[ 9.99961902e-01 -7.06527082e-03 -5.12611880e-03 6.69246410e+01] [ 6.92561969e-03 9.99617693e-01 -2.67675957e-02 1.79549565e-01] [ 5.31327936e-03 2.67310744e-02 9.99628540e-01 -2.47278082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099072329 meters 0.33365572722063785 Centerline is valid? [False, False] Translation: X:66.95, Y:0.18, Z:-2.48 [[ 9.99863413e-01 -1.62981643e-02 -2.74331019e-03 6.69457662e+01] [ 1.62244331e-02 9.99554795e-01 -2.50395441e-02 1.79941609e-01] [ 3.15018746e-03 2.49916154e-02 9.99682697e-01 -2.47640125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159072329 meters 0.32033642525938383 Centerline is valid? [False, False] Translation: X:66.98, Y:0.17, Z:-2.48 [[ 9.99968467e-01 -6.19515039e-03 -4.96833563e-03 6.69755700e+01] [ 6.07872427e-03 9.99714310e-01 -2.31159713e-02 1.69467474e-01] [ 5.11012314e-03 2.30850413e-02 9.99720445e-01 -2.47623821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219072329 meters 0.3117176911454844 Centerline is valid? [False, False] Translation: X:67.00, Y:0.17, Z:-2.48 [[ 9.99888016e-01 -1.46543509e-02 -3.03398787e-03 6.69988608e+01] [ 1.45894661e-02 9.99685349e-01 -2.04046799e-02 1.67150637e-01] [ 3.33205056e-03 2.03581306e-02 9.99787199e-01 -2.48138171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279072329 meters 0.3102039331722407 Centerline is valid? [False, False] Translation: X:67.03, Y:0.15, Z:-2.48 [[ 9.99939626e-01 -9.66759758e-03 -5.22314260e-03 6.70274908e+01] [ 9.54830410e-03 9.99703470e-01 -2.24009234e-02 1.54145189e-01] [ 5.43815690e-03 2.23496988e-02 9.99735424e-01 -2.48452969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339072329 meters 0.2532978817457518 Centerline is valid? [False, False] Translation: X:67.06, Y:0.15, Z:-2.49 [[ 9.99785682e-01 -1.97681967e-02 -6.14889342e-03 6.70586139e+01] [ 1.96243803e-02 9.99551274e-01 -2.26303712e-02 1.47211074e-01] [ 6.59349588e-03 2.25048529e-02 9.99724991e-01 -2.48655365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399072329 meters 0.32725413714819196 Centerline is valid? [False, False] Translation: X:67.07, Y:0.13, Z:-2.49 [[ 9.99690584e-01 -2.30303900e-02 -9.39879308e-03 6.70668649e+01] [ 2.28017396e-02 9.99457866e-01 -2.37498558e-02 1.34986680e-01] [ 9.94066611e-03 2.35281983e-02 9.99673750e-01 -2.48705884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459072329 meters 0.33143050965302295 Centerline is valid? [False, False] Translation: X:67.10, Y:0.12, Z:-2.49 [[ 9.99772369e-01 -1.81055214e-02 -1.12871569e-02 6.70955922e+01] [ 1.78076064e-02 9.99504405e-01 -2.59583137e-02 1.16780939e-01] [ 1.17515518e-02 2.57514075e-02 9.99599303e-01 -2.48804974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519072329 meters 0.2659585510327526 Centerline is valid? [False, False] Translation: X:67.10, Y:0.11, Z:-2.49 [[ 9.99683907e-01 -2.18310591e-02 -1.24695775e-02 6.70977659e+01] [ 2.14796733e-02 9.99386850e-01 -2.76504646e-02 1.07871355e-01] [ 1.30655707e-02 2.73738820e-02 9.99539875e-01 -2.48815296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579072329 meters 0.2636774886340848 Centerline is valid? [False, False] Translation: X:67.11, Y:0.09, Z:-2.48 [[ 9.99207891e-01 -3.32520679e-02 -2.18607147e-02 6.71131803e+01] [ 3.26549021e-02 9.99098439e-01 -2.71287202e-02 9.40643986e-02] [ 2.27430920e-02 2.63933718e-02 9.99392887e-01 -2.48152018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63907232900002 meters 0.2678274049911482 Centerline is valid? [False, False] Translation: X:67.12, Y:0.09, Z:-2.48 [[ 9.99028593e-01 -3.73555741e-02 -2.33758783e-02 6.71165646e+01] [ 3.66658671e-02 9.98898861e-01 -2.92690940e-02 8.57597039e-02] [ 2.44435020e-02 2.83835649e-02 9.99298198e-01 -2.48192714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69907232900002 meters 0.2737786908912317 Centerline is valid? [False, False] Translation: X:67.13, Y:0.07, Z:-2.48 [[ 9.98220979e-01 -5.05863478e-02 -3.15578679e-02 6.71302321e+01] [ 4.96879665e-02 9.98354336e-01 -2.86308663e-02 6.60789664e-02] [ 3.29542652e-02 2.70118851e-02 9.99091775e-01 -2.47741619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759072329 meters 0.2962809703557165 Centerline is valid? [False, False] Translation: X:67.17, Y:0.03, Z:-2.48 [[ 9.96413537e-01 -7.61819367e-02 -3.68289953e-02 6.71654576e+01] [ 7.51837531e-02 9.96782937e-01 -2.77701108e-02 3.30213382e-02] [ 3.88260950e-02 2.49015723e-02 9.98935657e-01 -2.47680240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819072329 meters 0.3022613001914761 Centerline is valid? [False, False] Translation: X:67.17, Y:0.01, Z:-2.48 [[ 9.96515697e-01 -7.39216641e-02 -3.86271133e-02 6.71718215e+01] [ 7.23172278e-02 9.96521926e-01 -4.14037276e-02 7.98893270e-03] [ 4.15533978e-02 3.84660587e-02 9.98395552e-01 -2.47655172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879072329 meters 0.3221656505363727 Centerline is valid? [False, False] Translation: X:67.17, Y:-0.02, Z:-2.48 [[ 9.94864802e-01 -9.30851215e-02 -3.97389842e-02 6.71701950e+01] [ 9.16198363e-02 9.95097875e-01 -3.72293458e-02 -1.73357933e-02] [ 4.30096769e-02 3.33972865e-02 9.98516294e-01 -2.47768830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939072329 meters 0.33594418611797544 Centerline is valid? [False, False] Translation: X:67.17, Y:-0.04, Z:-2.48 [[ 9.94527687e-01 -9.67548830e-02 -3.94103193e-02 6.71670292e+01] [ 9.54773944e-02 9.94880961e-01 -3.31050046e-02 -4.07608354e-02] [ 4.24116472e-02 2.91610490e-02 9.98674564e-01 -2.48097255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999072329 meters 0.3608547503638408 Centerline is valid? [False, False] Translation: X:67.15, Y:-0.06, Z:-2.48 [[ 9.93819316e-01 -1.01175659e-01 -4.56798961e-02 6.71510812e+01] [ 9.93732376e-02 9.94240055e-01 -4.01456549e-02 -5.99707035e-02] [ 4.94785455e-02 3.53581681e-02 9.98149124e-01 -2.48192502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059072329 meters 0.3770532284241584 Centerline is valid? [False, False] Translation: X:67.13, Y:-0.07, Z:-2.48 [[ 9.94184948e-01 -9.45368404e-02 -5.15662189e-02 6.71321623e+01] [ 9.25030347e-02 9.94888369e-01 -4.05008975e-02 -7.13056227e-02] [ 5.51314583e-02 3.54953509e-02 9.97847986e-01 -2.48140478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119072329 meters 0.36635503233897326 Centerline is valid? [False, False] Translation: X:67.13, Y:-0.08, Z:-2.49 [[ 9.94064595e-01 -9.67530541e-02 -4.97436236e-02 6.71253799e+01] [ 9.50215241e-02 9.94821364e-01 -3.60744210e-02 -8.39199747e-02] [ 5.29763299e-02 3.11335897e-02 9.98110319e-01 -2.48917174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179072329 meters 0.3804921460573043 Centerline is valid? [False, False] Translation: X:67.12, Y:-0.09, Z:-2.49 [[ 9.93586705e-01 -1.02208508e-01 -4.83619794e-02 6.71211139e+01] [ 1.00465862e-01 9.94245061e-01 -3.71936597e-02 -9.45445865e-02] [ 5.18851676e-02 3.20963978e-02 9.98137140e-01 -2.49273264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239072329 meters 0.3714930964099887 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.10, Z:-2.49 [[ 9.94685195e-01 -8.86184719e-02 -5.24226014e-02 6.71121544e+01] [ 8.66958510e-02 9.95514327e-01 -3.78821130e-02 -9.97170643e-02] [ 5.55445057e-02 3.31359549e-02 9.97906216e-01 -2.49273533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299072329 meters 0.4371413438996505 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.11, Z:-2.50 [[ 9.94641437e-01 -8.93349313e-02 -5.20353934e-02 6.71104382e+01] [ 8.76463773e-02 9.95575355e-01 -3.38795797e-02 -1.10590288e-01] [ 5.48317852e-02 2.91373201e-02 9.98070384e-01 -2.49952558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359072329 meters 0.4354168506735633 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.12, Z:-2.50 [[ 9.95440920e-01 -7.88458251e-02 -5.36722584e-02 6.71030703e+01] [ 7.69030039e-02 9.96338687e-01 -3.73516804e-02 -1.23614091e-01] [ 5.64207715e-02 3.30538332e-02 9.97859780e-01 -2.50137552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41907232900002 meters 0.4552714708238767 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.13, Z:-2.51 [[ 9.95792738e-01 -7.56973971e-02 -5.16403564e-02 6.70967470e+01] [ 7.41118951e-02 9.96737710e-01 -3.19587888e-02 -1.26567192e-01] [ 5.38910877e-02 2.79971652e-02 9.98154251e-01 -2.50598365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47907232900002 meters 0.46303135890656827 Centerline is valid? [False, False] Translation: X:67.09, Y:-0.13, Z:-2.51 [[ 9.96107548e-01 -7.25050174e-02 -5.01275991e-02 6.70919969e+01] [ 7.13263716e-02 9.97141754e-01 -2.49172744e-02 -1.33821137e-01] [ 5.17909495e-02 2.12448653e-02 9.98431947e-01 -2.51328546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539072329 meters 0.4905170995841605 Centerline is valid? [False, False] Translation: X:67.09, Y:-0.14, Z:-2.52 [[ 9.96150434e-01 -7.26446696e-02 -4.90618422e-02 6.70902632e+01] [ 7.15624682e-02 9.97160004e-01 -2.34678363e-02 -1.37754847e-01] [ 5.06273200e-02 1.98665088e-02 9.98520003e-01 -2.51747439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599072329 meters 0.4119087020743946 Centerline is valid? [False, False] Translation: X:67.09, Y:-0.15, Z:-2.52 [[ 9.95881912e-01 -7.59835355e-02 -4.94542241e-02 6.70923691e+01] [ 7.48246533e-02 9.96886279e-01 -2.48800834e-02 -1.47811471e-01] [ 5.11907141e-02 2.10772298e-02 9.98466455e-01 -2.51878260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659072329 meters 0.4082573285739868 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.16, Z:-2.52 [[ 9.95914027e-01 -7.44534334e-02 -5.11071071e-02 6.70977324e+01] [ 7.34861410e-02 9.97084400e-01 -2.05544494e-02 -1.61521635e-01] [ 5.24884486e-02 1.67148004e-02 9.98481636e-01 -2.52159601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719072329 meters 0.4948547725362268 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.17, Z:-2.53 [[ 9.96157835e-01 -7.14001472e-02 -5.07108055e-02 6.70994841e+01] [ 7.06094855e-02 9.97355426e-01 -1.72178688e-02 -1.70534479e-01] [ 5.18060554e-02 1.35710510e-02 9.98564950e-01 -2.52507423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779072329 meters 0.5554969035854406 Centerline is valid? [False, False] Translation: X:67.10, Y:-0.18, Z:-2.53 [[ 9.96378627e-01 -6.79681430e-02 -5.10878085e-02 6.71048293e+01] [ 6.72024497e-02 9.97601907e-01 -1.65609855e-02 -1.83540832e-01] [ 5.20909146e-02 1.30677861e-02 9.98556843e-01 -2.52514659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839072329 meters 0.5936623078508411 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.20, Z:-2.53 [[ 9.96514375e-01 -6.44684396e-02 -5.29426104e-02 6.71133194e+01] [ 6.38390335e-02 9.97868941e-01 -1.34964821e-02 -1.96162732e-01] [ 5.36998837e-02 1.00696333e-02 9.98506347e-01 -2.52569144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899072329 meters 0.6344817755463961 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.22, Z:-2.53 [[ 9.97381607e-01 -5.00145158e-02 -5.22348351e-02 6.71138898e+01] [ 4.94760732e-02 9.98708505e-01 -1.15516196e-02 -2.15008418e-01] [ 5.27451228e-02 8.93699837e-03 9.98568016e-01 -2.52789803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959072329 meters 0.6862369336746126 Centerline is valid? [False, False] Translation: X:67.14, Y:-0.22, Z:-2.53 [[ 9.97782949e-01 -4.05956840e-02 -5.27368724e-02 6.71382541e+01] [ 4.00117219e-02 9.99126155e-01 -1.20825477e-02 -2.24934681e-01] [ 5.31812878e-02 9.94566701e-03 9.98535345e-01 -2.52656121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019072329 meters 0.687713366153115 Centerline is valid? [False, False] Translation: X:67.14, Y:-0.23, Z:-2.53 [[ 9.97936661e-01 -3.48279807e-02 -5.39391558e-02 6.71435844e+01] [ 3.44905186e-02 9.99379270e-01 -7.17491784e-03 -2.27999029e-01] [ 5.41555620e-02 5.29972410e-03 9.98518447e-01 -2.52727055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079072329 meters 0.6931831345086819 Centerline is valid? [False, False] Translation: X:67.15, Y:-0.24, Z:-2.53 [[ 9.98027672e-01 -2.75909920e-02 -5.63870828e-02 6.71547328e+01] [ 2.75489446e-02 9.99619296e-01 -1.52302602e-03 -2.35095581e-01] [ 5.64076378e-02 -3.33825018e-05 9.98407821e-01 -2.52814971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13907232900002 meters 0.717958570177107 Centerline is valid? [False, False] Translation: X:67.18, Y:-0.24, Z:-2.53 [[ 9.98144347e-01 -1.89645578e-02 -5.78637057e-02 6.71774096e+01] [ 1.88524435e-02 9.99819194e-01 -2.48288598e-03 -2.39650111e-01] [ 5.79003305e-02 1.38740636e-03 9.98321405e-01 -2.52556974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19907232900002 meters 0.6255621254185585 Centerline is valid? [False, False] Translation: X:67.22, Y:-0.25, Z:-2.53 [[ 9.98210615e-01 -2.39123678e-02 -5.48066273e-02 6.72156611e+01] [ 2.37406008e-02 9.99710994e-01 -3.78307020e-03 -2.46346258e-01] [ 5.48812500e-02 2.47515857e-03 9.98489821e-01 -2.52542969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259072329 meters 0.5943123383564561 Centerline is valid? [False, False] Translation: X:67.25, Y:-0.25, Z:-2.52 [[ 9.98332869e-01 -9.85625313e-03 -5.68712242e-02 6.72492392e+01] [ 9.75263807e-03 9.99950238e-01 -2.09919018e-03 -2.52615121e-01] [ 5.68890843e-02 1.54104609e-03 9.98379315e-01 -2.52289290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319072329 meters 0.591091648320251 Centerline is valid? [False, False] Translation: X:67.26, Y:-0.26, Z:-2.53 [[ 9.99341558e-01 -1.64062367e-02 -3.23618006e-02 6.72629525e+01] [ 1.64643550e-02 9.99863282e-01 1.53021617e-03 -2.57591871e-01] [ 3.23322711e-02 -2.06202479e-03 9.99475048e-01 -2.53298126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379072329 meters 0.636888765667022 Centerline is valid? [False, False] Translation: X:67.30, Y:-0.26, Z:-2.53 [[ 9.99377254e-01 -3.23897349e-03 -3.51370755e-02 6.72985469e+01] [ 3.25303845e-03 9.99994650e-01 3.43126580e-04 -2.63775820e-01] [ 3.51357762e-02 -4.57215157e-04 9.99382443e-01 -2.52838785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439072329 meters 0.6225190413006564 Centerline is valid? [False, False] Translation: X:67.30, Y:-0.28, Z:-2.53 [[ 9.99198510e-01 1.24337232e-02 -3.80491861e-02 6.72976097e+01] [-1.24374653e-02 9.99922642e-01 1.38360722e-04 -2.78036381e-01] [ 3.80479630e-02 3.34985606e-04 9.99275858e-01 -2.52560107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499072329 meters 0.6161020329229858 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.28, Z:-2.53 [[ 9.99437298e-01 2.21383763e-03 -3.34691728e-02 6.73151140e+01] [-2.14897862e-03 9.99995743e-01 1.97372121e-03 -2.81786919e-01] [ 3.34733998e-02 -1.90068606e-03 9.99437801e-01 -2.53052663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559072329 meters 0.6067246260772402 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.29, Z:-2.53 [[ 9.99414085e-01 -4.83288492e-04 -3.42235620e-02 6.73189503e+01] [ 5.33225390e-04 9.99998807e-01 1.45002588e-03 -2.93485083e-01] [ 3.42228204e-02 -1.46742516e-03 9.99413150e-01 -2.53425511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619072329 meters 0.587683225721219 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.31, Z:-2.53 [[ 9.99384625e-01 -2.54554778e-03 -3.49841523e-02 6.73208186e+01] [ 2.61461848e-03 9.99994722e-01 1.92873525e-03 -3.07881856e-01] [ 3.49790580e-02 -2.01901857e-03 9.99386006e-01 -2.53493030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679072329 meters 0.5524627616854658 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.32, Z:-2.53 [[ 9.99365022e-01 -4.89475602e-03 -3.52929810e-02 6.73201926e+01] [ 4.98748856e-03 9.99984337e-01 2.53994581e-03 -3.23875522e-01] [ 3.52799958e-02 -2.71435634e-03 9.99373781e-01 -2.53387633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739072329 meters 0.5242447025307967 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.33, Z:-2.53 [[ 9.99316966e-01 -8.49031289e-03 -3.59654784e-02 6.73216312e+01] [ 8.52395048e-03 9.99963365e-01 7.82041314e-04 -3.33238019e-01] [ 3.59575210e-02 -1.08807511e-03 9.99352727e-01 -2.53409038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799072329 meters 0.4532990228256134 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.35, Z:-2.54 [[ 9.99261080e-01 -1.15264383e-02 -3.66665410e-02 6.73231669e+01] [ 1.15750674e-02 9.99932386e-01 1.11424331e-03 -3.49015462e-01] [ 3.66512186e-02 -1.53783766e-03 9.99326935e-01 -2.53520195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859072329 meters 0.4372692296037228 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.36, Z:-2.54 [[ 9.99196939e-01 -1.52274459e-02 -3.70621433e-02 6.73237689e+01] [ 1.52083056e-02 9.99884028e-01 -7.98323325e-04 -3.58655496e-01] [ 3.70700015e-02 2.34029822e-04 9.99312644e-01 -2.53507269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91907232900002 meters 0.42326833957217336 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.38, Z:-2.54 [[ 9.99125625e-01 -1.83244017e-02 -3.75792702e-02 6.73248270e+01] [ 1.83260340e-02 9.99832019e-01 -3.01055173e-04 -3.75167769e-01] [ 3.75784743e-02 -3.87887045e-04 9.99293604e-01 -2.53604277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97907232900002 meters 0.41010791136166547 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.39, Z:-2.54 [[ 9.99037459e-01 -2.15473676e-02 -3.82082066e-02 6.73266234e+01] [ 2.15491877e-02 9.99767723e-01 -3.64236790e-04 -3.90388239e-01] [ 3.82071801e-02 -4.59469620e-04 9.99269733e-01 -2.53751491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039072329 meters 0.4024003013957889 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.40, Z:-2.54 [[ 9.98999005e-01 -3.21027645e-02 -3.11512643e-02 6.73388278e+01] [ 3.21268019e-02 9.99483764e-01 2.71297318e-04 -3.98145993e-01] [ 3.11264735e-02 -1.27181625e-03 9.99514645e-01 -2.53951255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099072329 meters 0.39071560073819983 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.41, Z:-2.54 [[ 9.98863280e-01 -3.55300077e-02 -3.17768243e-02 6.73405072e+01] [ 3.55303622e-02 9.99368444e-01 -5.53686856e-04 -4.10469043e-01] [ 3.17764279e-02 -5.75984608e-04 9.99494836e-01 -2.54041283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159072329 meters 0.38478968815496445 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.41, Z:-2.54 [[ 9.99305277e-01 -3.26357641e-02 -1.79964076e-02 6.73388102e+01] [ 3.25156848e-02 9.99447233e-01 -6.92520066e-03 -4.14254460e-01] [ 1.82124690e-02 6.33522405e-03 9.99814068e-01 -2.54294247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219072329 meters 0.3766364102589517 Centerline is valid? [False, False] Translation: X:67.35, Y:-0.42, Z:-2.55 [[ 9.98962051e-01 -4.38398973e-02 -1.23646414e-02 6.73543322e+01] [ 4.37713273e-02 9.99024954e-01 -5.76292590e-03 -4.24884907e-01] [ 1.26052314e-02 5.21572751e-03 9.99906948e-01 -2.54692962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279072329 meters 0.37040269140777937 Centerline is valid? [False, False] Translation: X:67.36, Y:-0.44, Z:-2.55 [[ 9.99211136e-01 -3.78875330e-02 -1.19012622e-02 6.73565063e+01] [ 3.76977266e-02 9.99164472e-01 -1.57872931e-02 -4.35814197e-01] [ 1.24894600e-02 1.53261886e-02 9.99804542e-01 -2.54906852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339072329 meters 0.3718763836829104 Centerline is valid? [False, False] Translation: X:67.36, Y:-0.44, Z:-2.55 [[ 9.99248646e-01 -3.67783407e-02 -1.22269035e-02 6.73584956e+01] [ 3.66196788e-02 9.99245278e-01 -1.29565820e-02 -4.44111137e-01] [ 1.26941971e-02 1.24991018e-02 9.99841302e-01 -2.55184988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399072329 meters 0.3648484671727806 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.45, Z:-2.56 [[ 9.98849290e-01 -4.75594781e-02 -6.17990858e-03 6.73716580e+01] [ 4.74924028e-02 9.98815549e-01 -1.05816159e-02 -4.54326309e-01] [ 6.67584491e-03 1.02759408e-02 9.99924916e-01 -2.55605357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459072329 meters 0.32669908510912965 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.47, Z:-2.56 [[ 9.98883829e-01 -4.68023980e-02 -6.37422913e-03 6.73730983e+01] [ 4.67575684e-02 9.98881675e-01 -7.00926789e-03 -4.65441451e-01] [ 6.69515121e-03 6.70340089e-03 9.99955119e-01 -2.55982088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519072329 meters 0.20550163066908192 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.47, Z:-2.56 [[ 9.99096580e-01 -4.18596290e-02 -7.33453283e-03 6.73729739e+01] [ 4.17157533e-02 9.98953021e-01 -1.87791665e-02 -4.72377020e-01] [ 8.11294267e-03 1.84562354e-02 9.99796753e-01 -2.56016862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579072329 meters 0.20882718437797515 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.48, Z:-2.57 [[ 9.99445173e-01 -3.26067501e-02 -6.79305129e-03 6.73732761e+01] [ 3.25698411e-02 9.99454466e-01 -5.47494559e-03 -4.84696782e-01] [ 6.96786564e-03 5.25065934e-03 9.99961939e-01 -2.56731168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63907232900002 meters 0.21970681375997805 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.49, Z:-2.57 [[ 9.99312729e-01 -3.64864145e-02 -6.54308395e-03 6.73732542e+01] [ 3.64340145e-02 9.99304387e-01 -7.95643961e-03 -4.91259652e-01] [ 6.82883445e-03 7.71258056e-03 9.99946940e-01 -2.56844959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69907232900002 meters 0.23915316683059332 Centerline is valid? [False, False] Translation: X:67.37, Y:-0.50, Z:-2.57 [[ 9.99329674e-01 -3.60419336e-02 -6.41731910e-03 6.73735834e+01] [ 3.60065946e-02 9.99336198e-01 -5.53975403e-03 -4.99023467e-01] [ 6.61272271e-03 5.30497478e-03 9.99964064e-01 -2.57091057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759072329 meters 0.25655624453385567 Centerline is valid? [False, False] Translation: X:67.36, Y:-0.50, Z:-2.58 [[ 9.99394423e-01 -3.47824379e-02 9.84316679e-04 6.73601984e+01] [ 3.47924177e-02 9.99307176e-01 -1.32157479e-02 -5.00433031e-01] [-5.23958791e-04 1.32419915e-02 9.99912184e-01 -2.57586811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819072329 meters 0.26196471263875704 Centerline is valid? [False, False] Translation: X:67.36, Y:-0.51, Z:-2.58 [[ 9.99407198e-01 -3.44017217e-02 1.33171453e-03 6.73600600e+01] [ 3.44145621e-02 9.99344156e-01 -1.12648133e-02 -5.06978936e-01] [-9.43312166e-04 1.13039658e-02 9.99935663e-01 -2.57804383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879072329 meters 0.26368015971582165 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.51, Z:-2.58 [[ 9.99476055e-01 -3.10914121e-02 8.99664550e-03 6.73448533e+01] [ 3.12520640e-02 9.99343918e-01 -1.83041650e-02 -5.08448752e-01] [-8.42164063e-03 1.85757383e-02 9.99791987e-01 -2.58295660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939072329 meters 0.27897116182956 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.52, Z:-2.59 [[ 9.99597294e-01 -2.66779255e-02 9.67152894e-03 6.73441317e+01] [ 2.67871049e-02 9.99576831e-01 -1.13406447e-02 -5.16618463e-01] [-9.36489137e-03 1.15951500e-02 9.99888919e-01 -2.58699677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999072329 meters 0.29313837800772324 Centerline is valid? [False, False] Translation: X:67.34, Y:-0.52, Z:-2.59 [[ 9.99695204e-01 -2.24181001e-02 1.03406011e-02 6.73431899e+01] [ 2.24730060e-02 9.99733799e-01 -5.22445205e-03 -5.23070039e-01] [-1.02207261e-02 5.45524405e-03 9.99932886e-01 -2.58979671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059072329 meters 0.3088578226990467 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.52, Z:-2.59 [[ 9.99592837e-01 -2.25862954e-02 1.74361435e-02 6.73288188e+01] [ 2.28712004e-02 9.99605251e-01 -1.63171732e-02 -5.20587824e-01] [-1.70607161e-02 1.67093150e-02 9.99714825e-01 -2.59380584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119072329 meters 0.32649965322469315 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.53, Z:-2.60 [[ 9.99670259e-01 -1.78920032e-02 1.84187175e-02 6.73279422e+01] [ 1.80705607e-02 9.99790875e-01 -9.57398378e-03 -5.28065041e-01] [-1.82435680e-02 9.90366340e-03 9.99784522e-01 -2.59787396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179072329 meters 0.33614266924579933 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.53, Z:-2.60 [[ 9.99664805e-01 -1.75878778e-02 1.89985304e-02 6.73272721e+01] [ 1.77578903e-02 9.99803436e-01 -8.81738412e-03 -5.30522174e-01] [-1.88397169e-02 9.15180239e-03 9.99780631e-01 -2.59917077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239072329 meters 0.34847293892592895 Centerline is valid? [False, False] Translation: X:67.33, Y:-0.54, Z:-2.60 [[ 9.99714544e-01 -1.29692794e-02 2.00656081e-02 6.73257326e+01] [ 1.30360831e-02 9.99909900e-01 -3.20204700e-03 -5.35239548e-01] [-2.00222720e-02 3.46270989e-03 9.99793538e-01 -2.60132862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299072329 meters 0.3595016956302084 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.54, Z:-2.60 [[ 9.99702215e-01 -1.29079968e-02 2.07090723e-02 6.73245573e+01] [ 1.29658372e-02 9.99912399e-01 -2.66115909e-03 -5.37775155e-01] [-2.06729079e-02 2.92887710e-03 9.99782003e-01 -2.60193103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359072329 meters 0.37473138302287373 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.54, Z:-2.60 [[ 9.99688222e-01 -1.27440225e-02 2.14720559e-02 6.73230440e+01] [ 1.27851553e-02 9.99916683e-01 -1.77945153e-03 -5.41600680e-01] [-2.14475896e-02 2.05342031e-03 9.99767865e-01 -2.60259635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41907232900002 meters 0.38073518351990115 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.54, Z:-2.60 [[ 9.99616212e-01 -1.69693409e-02 2.18967979e-02 6.73222792e+01] [ 1.71014854e-02 9.99836576e-01 -5.86178457e-03 -5.42814175e-01] [-2.17937488e-02 6.23400266e-03 9.99743052e-01 -2.60265598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47907232900002 meters 0.3900355855482555 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.55, Z:-2.61 [[ 9.99614102e-01 -1.62554645e-02 2.25257003e-02 6.73222257e+01] [ 1.63554932e-02 9.99857150e-01 -4.26354133e-03 -5.47109810e-01] [-2.24531767e-02 4.63031498e-03 9.99737173e-01 -2.60536805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539072329 meters 0.322011598686833 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.55, Z:-2.61 [[ 9.99593688e-01 -1.58731073e-02 2.36749575e-02 6.73207437e+01] [ 1.59427098e-02 9.99869114e-01 -2.75406710e-03 -5.52404684e-01] [-2.36281432e-02 3.13039106e-03 9.99715915e-01 -2.60784365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599072329 meters 0.3397804922524639 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.56, Z:-2.61 [[ 9.99562314e-01 -1.60120316e-02 2.48756127e-02 6.73182043e+01] [ 1.60692213e-02 9.99868675e-01 -2.10082151e-03 -5.56279855e-01] [-2.48387075e-02 2.49963374e-03 9.99688347e-01 -2.60851396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659072329 meters 0.32101580601707974 Centerline is valid? [False, False] Translation: X:67.32, Y:-0.56, Z:-2.61 [[ 9.99545211e-01 -1.56460977e-02 2.57792797e-02 6.73166542e+01] [ 1.56773852e-02 9.99876590e-01 -1.01199392e-03 -5.60212722e-01] [-2.57602645e-02 1.41568537e-03 9.99667147e-01 -2.60958612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719072329 meters 0.3319267062241101 Centerline is valid? [False, False] Translation: X:67.29, Y:-0.56, Z:-2.61 [[ 9.99505391e-01 -2.16757032e-02 2.27845827e-02 6.72933011e+01] [ 2.19439602e-02 9.99692017e-01 -1.15902541e-02 -5.55239548e-01] [-2.25263385e-02 1.20845054e-02 9.99673211e-01 -2.61152949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779072329 meters 0.32021940748818345 Centerline is valid? [False, False] Translation: X:67.29, Y:-0.56, Z:-2.61 [[ 9.99488744e-01 -2.13051582e-02 2.38398947e-02 6.72916016e+01] [ 2.15550921e-02 9.99714846e-01 -1.02764274e-02 -5.59860615e-01] [-2.36141558e-02 1.07850447e-02 9.99662970e-01 -2.61306136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839072329 meters 0.36286859383432624 Centerline is valid? [False, False] Translation: X:67.29, Y:-0.57, Z:-2.61 [[ 9.99439999e-01 -2.16403033e-02 2.55222696e-02 6.72879734e+01] [ 2.18766065e-02 9.99720023e-01 -9.01609250e-03 -5.66212524e-01] [-2.53200130e-02 9.56938413e-03 9.99633595e-01 -2.61424486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899072329 meters 0.3707588917231295 Centerline is valid? [False, False] Translation: X:67.28, Y:-0.57, Z:-2.62 [[ 9.99383586e-01 -2.20167657e-02 2.73442694e-02 6.72842264e+01] [ 2.22273817e-02 9.99725388e-01 -7.42242574e-03 -5.73345041e-01] [-2.71733425e-02 8.02564197e-03 9.99598519e-01 -2.61610359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959072329 meters 0.33563077102943184 Centerline is valid? [False, False] Translation: X:67.28, Y:-0.58, Z:-2.62 [[ 9.99256617e-01 -2.59202209e-02 2.85369259e-02 6.72820506e+01] [ 2.62139982e-02 9.99606645e-01 -9.96905259e-03 -5.79854121e-01] [-2.82673007e-02 1.07097087e-02 9.99543027e-01 -2.61746582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019072329 meters 0.3479419932363209 Centerline is valid? [False, False] Translation: X:67.27, Y:-0.58, Z:-2.62 [[ 9.99035427e-01 -2.63017498e-02 3.51629539e-02 6.72666470e+01] [ 2.70651354e-02 9.99404302e-01 -2.14130817e-02 -5.80785565e-01] [-3.45788059e-02 2.23441174e-02 9.99152164e-01 -2.62262743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079072329 meters 0.36579395127684916 Centerline is valid? [False, False] Translation: X:67.26, Y:-0.59, Z:-2.62 [[ 9.99093244e-01 -2.19662457e-02 3.64715385e-02 6.72642613e+01] [ 2.25590873e-02 9.99618689e-01 -1.59237065e-02 -5.85143477e-01] [-3.61078475e-02 1.67320322e-02 9.99207817e-01 -2.62443653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13907232900002 meters 0.3502454535891926 Centerline is valid? [False, False] Translation: X:67.25, Y:-0.59, Z:-2.62 [[ 9.98744949e-01 -3.11429444e-02 3.92255454e-02 6.72453182e+01] [ 3.17984686e-02 9.99363006e-01 -1.61999900e-02 -5.85846474e-01] [-3.86960436e-02 1.74269705e-02 9.99099053e-01 -2.62429028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19907232900002 meters 0.33223908463546964 Centerline is valid? [False, False] Translation: X:67.23, Y:-0.59, Z:-2.63 [[ 9.98261914e-01 -3.91392757e-02 4.40598257e-02 6.72268103e+01] [ 3.98592125e-02 9.99083811e-01 -1.55814739e-02 -5.88289709e-01] [-4.34096109e-02 1.73105819e-02 9.98907378e-01 -2.62669313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259072329 meters 0.3458175599818505 Centerline is valid? [False, False] Translation: X:67.21, Y:-0.59, Z:-2.63 [[ 9.97658422e-01 -4.66986179e-02 4.99691081e-02 6.72078728e+01] [ 4.74396601e-02 9.98779497e-01 -1.37475806e-02 -5.92867216e-01] [-4.92661276e-02 1.60859070e-02 9.98656143e-01 -2.63164438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319072329 meters 0.3483604100970362 Centerline is valid? [False, False] Translation: X:67.19, Y:-0.60, Z:-2.64 [[ 9.97309688e-01 -4.63991762e-02 5.67494789e-02 6.71914685e+01] [ 4.78635992e-02 9.98547863e-01 -2.47232735e-02 -5.95518215e-01] [-5.55199314e-02 2.73729945e-02 9.98082289e-01 -2.63644444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379072329 meters 0.32756563821265516 Centerline is valid? [False, False] Translation: X:67.17, Y:-0.60, Z:-2.64 [[ 9.96570753e-01 -5.41897017e-02 6.25316798e-02 6.71718303e+01] [ 5.57682772e-02 9.98160510e-01 -2.37801669e-02 -5.98741640e-01] [-6.11280132e-02 2.71859029e-02 9.97759637e-01 -2.63880897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439072329 meters 0.3149803713648753 Centerline is valid? [False, False] Translation: X:67.15, Y:-0.60, Z:-2.64 [[ 9.96202088e-01 -5.27334357e-02 6.92862463e-02 6.71542077e+01] [ 5.51729669e-02 9.97905252e-01 -3.37794659e-02 -6.01511294e-01] [-6.73598018e-02 3.74739023e-02 9.97024756e-01 -2.64233297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499072329 meters 0.3413073883544511 Centerline is valid? [False, False] Translation: X:67.12, Y:-0.60, Z:-2.65 [[ 9.95139358e-01 -6.13351341e-02 7.70432265e-02 6.71230332e+01] [ 6.35592229e-02 9.97619408e-01 -2.67533467e-02 -6.01932269e-01] [-7.52188979e-02 3.15201159e-02 9.96668751e-01 -2.64813142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559072329 meters 0.32244663877224367 Centerline is valid? [False, False] Translation: X:67.11, Y:-0.61, Z:-2.65 [[ 9.94749078e-01 -5.82018571e-02 8.41832247e-02 6.71057528e+01] [ 6.12944456e-02 9.97518849e-01 -3.46285587e-02 -6.05547660e-01] [-8.19589070e-02 3.96066909e-02 9.95848406e-01 -2.65310422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619072329 meters 0.33067115545245324 Centerline is valid? [False, False] Translation: X:67.09, Y:-0.61, Z:-2.66 [[ 9.93858121e-01 -6.50326316e-02 8.95365423e-02 6.70876992e+01] [ 6.81758570e-02 9.97143709e-01 -3.25034848e-02 -6.10320790e-01] [-8.71670127e-02 3.84080828e-02 9.95453028e-01 -2.65586806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679072329 meters 0.16882285001911496 Centerline is valid? [False, False] Translation: X:67.07, Y:-0.62, Z:-2.66 [[ 9.93274332e-01 -6.33142542e-02 9.69402211e-02 6.70682843e+01] [ 6.75996065e-02 9.96845885e-01 -4.15761401e-02 -6.16353220e-01] [-9.40020982e-02 4.78496336e-02 9.94421449e-01 -2.65846728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739072329 meters 0.1876883772222638 Centerline is valid? [False, False] Translation: X:67.06, Y:-0.62, Z:-2.66 [[ 9.92974894e-01 -6.12311882e-02 1.01250193e-01 6.70585341e+01] [ 6.49950905e-02 9.97295919e-01 -3.42999748e-02 -6.23481440e-01] [-9.88761760e-02 4.06397793e-02 9.94269536e-01 -2.66291603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799072329 meters 0.1900603014005617 Centerline is valid? [False, False] Translation: X:67.03, Y:-0.62, Z:-2.66 [[ 9.92491848e-01 -6.37579520e-02 1.04378420e-01 6.70251021e+01] [ 6.83425226e-02 9.96821216e-01 -4.09482854e-02 -6.19478385e-01] [-1.01435845e-01 4.77743240e-02 9.93694311e-01 -2.66090488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859072329 meters 0.16814748176305955 Centerline is valid? [False, False] Translation: X:67.00, Y:-0.62, Z:-2.66 [[ 9.91759222e-01 -6.93566307e-02 1.07718635e-01 6.70039964e+01] [ 7.36830771e-02 9.96605726e-01 -3.67128301e-02 -6.20022950e-01] [-1.04806730e-01 4.43473283e-02 9.93503329e-01 -2.65888759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91907232900002 meters 0.16446652037512727 Centerline is valid? [False, False] Translation: X:66.98, Y:-0.62, Z:-2.66 [[ 9.91760507e-01 -7.05428355e-02 1.06933647e-01 6.69761100e+01] [ 7.52652704e-02 9.96329142e-01 -4.07845433e-02 -6.18113005e-01] [-1.03664051e-01 4.84968892e-02 9.93429321e-01 -2.65929036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97907232900002 meters 0.15710462305271353 Centerline is valid? [False, False] Translation: X:66.96, Y:-0.62, Z:-2.66 [[ 9.91416589e-01 -6.49938942e-02 1.13441356e-01 6.69577359e+01] [ 7.06357067e-02 9.96420580e-01 -4.64394803e-02 -6.20423851e-01] [-1.10017019e-01 5.40538815e-02 9.92458782e-01 -2.66266633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039072329 meters 0.1502388768422984 Centerline is valid? [False, False] Translation: X:66.94, Y:-0.62, Z:-2.66 [[ 9.90975067e-01 -6.81315087e-02 1.15440520e-01 6.69363235e+01] [ 7.30725686e-02 9.96559098e-01 -3.91198748e-02 -6.20984902e-01] [-1.12378005e-01 4.72023559e-02 9.92543763e-01 -2.65890735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099072329 meters 0.15122429948798052 Centerline is valid? [False, False] Translation: X:66.92, Y:-0.62, Z:-2.66 [[ 9.90777752e-01 -6.20921544e-02 1.20432596e-01 6.69178693e+01] [ 6.79412653e-02 9.96670275e-01 -4.50815617e-02 -6.21543705e-01] [-1.17232377e-01 5.28481514e-02 9.91697354e-01 -2.66044726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159072329 meters 0.15446469281965267 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.62, Z:-2.66 [[ 9.90441626e-01 -6.46654068e-02 1.21835017e-01 6.68974979e+01] [ 6.97058423e-02 9.96859904e-01 -3.75689741e-02 -6.20751975e-01] [-1.19023030e-01 4.57024883e-02 9.91839100e-01 -2.65573469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219072329 meters 0.15106402596095014 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.62, Z:-2.65 [[ 9.91500233e-01 -6.13953820e-02 1.14707871e-01 6.68838358e+01] [ 6.68219675e-02 9.96791006e-01 -4.40739738e-02 -6.16371873e-01] [-1.11633836e-01 5.13643610e-02 9.92421074e-01 -2.65078739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279072329 meters 0.15033146205123635 Centerline is valid? [False, False] Translation: X:66.86, Y:-0.62, Z:-2.65 [[ 9.90998323e-01 -6.18699629e-02 1.18719971e-01 6.68645322e+01] [ 6.64615635e-02 9.97171042e-01 -3.51108795e-02 -6.15995652e-01] [-1.16211808e-01 4.26851376e-02 9.92306805e-01 -2.64963010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339072329 meters 0.14270971847156327 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.62, Z:-2.65 [[ 9.92045883e-01 -5.68390822e-02 1.12313331e-01 6.68522275e+01] [ 6.17331497e-02 9.97267157e-01 -4.05861624e-02 -6.16282820e-01] [-1.09699516e-01 4.71967910e-02 9.92843633e-01 -2.64613768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399072329 meters 0.17211583833959984 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.61, Z:-2.64 [[ 9.93089966e-01 -5.18634951e-02 1.05273438e-01 6.68383146e+01] [ 5.68797523e-02 9.97356492e-01 -4.52186026e-02 -6.11351199e-01] [-1.02649952e-01 5.08940676e-02 9.93414708e-01 -2.64124842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459072329 meters 0.1412208168326234 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.61, Z:-2.64 [[ 9.92717519e-01 -5.10834551e-02 1.09098161e-01 6.68216466e+01] [ 5.52224363e-02 9.97851369e-01 -3.52580127e-02 -6.11545156e-01] [-1.07062648e-01 4.10259131e-02 9.93405488e-01 -2.64169008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519072329 meters 0.1596050991090435 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.61, Z:-2.64 [[ 9.93765325e-01 -4.36688802e-02 1.02584152e-01 6.68087396e+01] [ 4.78091974e-02 9.98123725e-01 -3.82532497e-02 -6.09789370e-01] [-1.00721200e-01 4.29192191e-02 9.93988521e-01 -2.63744862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579072329 meters 0.15871981944439326 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.61, Z:-2.63 [[ 9.94725047e-01 -3.88971481e-02 9.49162407e-02 6.67976588e+01] [ 4.32103371e-02 9.98104656e-01 -4.38173698e-02 -6.05574277e-01] [-9.30319710e-02 4.76875980e-02 9.94520460e-01 -2.63350962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63907232900002 meters 0.15078393807268048 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.61, Z:-2.63 [[ 9.96155580e-01 -3.48294439e-02 8.03801658e-02 6.67960868e+01] [ 3.81604509e-02 9.98459339e-01 -4.02831030e-02 -6.07705466e-01] [-7.88532892e-02 4.31955812e-02 9.95949949e-01 -2.62602998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69907232900002 meters 0.16543549118503256 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.61, Z:-2.62 [[ 9.96461856e-01 -3.30857737e-02 7.72599531e-02 6.67797394e+01] [ 3.54040366e-02 9.98957112e-01 -2.88312760e-02 -6.06084993e-01] [-7.62254745e-02 3.14645810e-02 9.96594028e-01 -2.62026731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759072329 meters 0.2005867402240192 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.63, Z:-2.62 [[ 9.96820679e-01 -2.88579213e-02 7.42681266e-02 6.68217101e+01] [ 3.10846166e-02 9.99095893e-01 -2.90024550e-02 -6.34151781e-01] [-7.33640297e-02 3.12188432e-02 9.96816484e-01 -2.62145905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819072329 meters 0.1599519909327645 Centerline is valid? [False, False] Translation: X:66.79, Y:-0.62, Z:-2.61 [[ 9.97530294e-01 -2.21981029e-02 6.66375039e-02 6.67867417e+01] [ 2.35747736e-02 9.99523115e-01 -1.99442330e-02 -6.18147772e-01] [-6.61630014e-02 2.14659407e-02 9.97577902e-01 -2.61045054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879072329 meters 0.13815590217354837 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.62, Z:-2.61 [[ 9.98167774e-01 -1.45641572e-02 5.87280276e-02 6.67788275e+01] [ 1.58960642e-02 9.99625473e-01 -2.22761872e-02 -6.18815104e-01] [-5.83815984e-02 2.31689166e-02 9.98025446e-01 -2.60991694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939072329 meters 0.17552120712153818 Centerline is valid? [False, False] Translation: X:66.77, Y:-0.61, Z:-2.61 [[ 9.98742927e-01 -1.30796866e-02 4.83889182e-02 6.67728645e+01] [ 1.45138191e-02 9.99462175e-01 -2.94059518e-02 -6.13383525e-01] [-4.79782728e-02 3.00712944e-02 9.98395614e-01 -2.60756104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999072329 meters 0.1452520364381099 Centerline is valid? [False, False] Translation: X:66.76, Y:-0.61, Z:-2.60 [[ 9.99222562e-01 -4.65144977e-03 3.91488987e-02 6.67637720e+01] [ 5.81236877e-03 9.99545145e-01 -2.95925560e-02 -6.11302609e-01] [-3.89934433e-02 2.97970974e-02 9.98795096e-01 -2.60406215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059072329 meters 0.14616300413531808 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.62, Z:-2.60 [[ 9.99482484e-01 -3.22891648e-03 3.20052991e-02 6.67778313e+01] [ 3.78408176e-03 9.99843171e-01 -1.73006770e-02 -6.22504512e-01] [-3.19444173e-02 1.74128343e-02 9.99337955e-01 -2.59800685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119072329 meters 0.16451536985364007 Centerline is valid? [False, False] Translation: X:66.78, Y:-0.63, Z:-2.59 [[ 9.99880912e-01 2.75545249e-03 1.51844868e-02 6.67832933e+01] [-2.55553219e-03 9.99910009e-01 -1.31698006e-02 -6.27719960e-01] [-1.52194091e-02 1.31294278e-02 9.99797973e-01 -2.59096078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179072329 meters 0.15594797735309032 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.64, Z:-2.59 [[ 9.99920379e-01 8.71727127e-03 9.12389970e-03 6.68009541e+01] [-8.59928720e-03 9.99879922e-01 -1.28916366e-02 -6.41049332e-01] [-9.23518401e-03 1.28121511e-02 9.99875272e-01 -2.58883845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239072329 meters 0.18583779975259937 Centerline is valid? [False, False] Translation: X:66.80, Y:-0.64, Z:-2.59 [[ 9.99865690e-01 8.70693958e-03 1.38849556e-02 6.67953157e+01] [-8.80127962e-03 9.99938500e-01 6.74783665e-03 -6.44322927e-01] [-1.38253486e-02 -6.86913572e-03 9.99880830e-01 -2.58596819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299072329 meters 0.15402780825633128 Centerline is valid? [False, False] Translation: X:66.81, Y:-0.65, Z:-2.58 [[ 9.99878260e-01 1.34457786e-02 7.91687717e-03 6.68118134e+01] [-1.34828138e-02 9.99898321e-01 4.64337014e-03 -6.54552356e-01] [-7.85363846e-03 -4.74954664e-03 9.99957880e-01 -2.58129152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359072329 meters 0.17908935426136285 Centerline is valid? [False, False] Translation: X:66.82, Y:-0.66, Z:-2.58 [[ 9.99921545e-01 1.11294182e-02 5.74803049e-03 6.68155970e+01] [-1.11445687e-02 9.99934490e-01 2.61050439e-03 -6.58056701e-01] [-5.71860054e-03 -2.67435890e-03 9.99980073e-01 -2.58048334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41907232900002 meters 0.18460443199940016 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.67, Z:-2.57 [[ 9.99964292e-01 8.23990575e-03 -1.87581124e-03 6.68310029e+01] [-8.22192276e-03 9.99922010e-01 9.40070796e-03 -6.65681847e-01] [ 1.95312589e-03 -9.38494950e-03 9.99954053e-01 -2.57354090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47907232900002 meters 0.1633366389210572 Centerline is valid? [False, False] Translation: X:66.83, Y:-0.67, Z:-2.57 [[ 9.99978715e-01 5.16190417e-03 -3.99061931e-03 6.68337421e+01] [-5.13799042e-03 9.99968922e-01 5.97969554e-03 -6.65842635e-01] [ 4.02136191e-03 -5.95906450e-03 9.99974159e-01 -2.57079788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539072329 meters 0.18330249115209765 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.67, Z:-2.57 [[ 9.99983245e-01 1.43866927e-03 -5.60715549e-03 6.68362055e+01] [-1.42667550e-03 9.99996687e-01 2.14242343e-03 -6.66248991e-01] [ 5.61021915e-03 -2.13438794e-03 9.99981985e-01 -2.56934833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599072329 meters 0.18140965309251622 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.67, Z:-2.57 [[ 9.99971753e-01 2.33026796e-03 -7.14590928e-03 6.68386405e+01] [-2.30553838e-03 9.99991332e-01 3.46694930e-03 -6.69182767e-01] [ 7.15392626e-03 -3.45037620e-03 9.99968458e-01 -2.56848195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659072329 meters 0.19654160833042955 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.67, Z:-2.57 [[ 9.99959208e-01 3.03301537e-03 -8.50781954e-03 6.68402857e+01] [-2.99552628e-03 9.99985764e-01 4.41571485e-03 -6.71353838e-01] [ 8.52109135e-03 -4.39004933e-03 9.99954058e-01 -2.56680676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719072329 meters 0.19532745743297172 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.67, Z:-2.57 [[ 9.99944685e-01 7.10597455e-04 -1.04939103e-02 6.68437164e+01] [-6.87878226e-04 9.99997412e-01 2.16844245e-03 -6.74083593e-01] [ 1.04954240e-02 -2.16110397e-03 9.99942586e-01 -2.56558452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779072329 meters 0.19909606928000428 Centerline is valid? [False, False] Translation: X:66.84, Y:-0.68, Z:-2.56 [[ 9.99936357e-01 9.83312630e-04 -1.12389832e-02 6.68445569e+01] [-9.54708811e-04 9.99996293e-01 2.55013582e-03 -6.75141993e-01] [ 1.12414491e-02 -2.53924356e-03 9.99933589e-01 -2.56448435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839072329 meters 0.1824599987460946 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.68, Z:-2.56 [[ 9.99920083e-01 1.79010533e-03 -1.25149039e-02 6.68464384e+01] [-1.74423449e-03 9.99991725e-01 3.67525164e-03 -6.77729842e-01] [ 1.25213794e-02 -3.65312900e-03 9.99914931e-01 -2.56351460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899072329 meters 0.20385587513059725 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.68, Z:-2.56 [[ 9.99905845e-01 2.36172214e-03 -1.35175355e-02 6.68475144e+01] [-2.30128558e-03 9.99987295e-01 4.48478454e-03 -6.79773246e-01] [ 1.35279556e-02 -4.45325456e-03 9.99898576e-01 -2.56209590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959072329 meters 0.18032634393590594 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.68, Z:-2.56 [[ 9.99896006e-01 2.57819536e-03 -1.41890514e-02 6.68482919e+01] [-2.51025025e-03 9.99985309e-01 4.80428717e-03 -6.80720028e-01] [ 1.42012293e-02 -4.76816948e-03 9.99887789e-01 -2.56112412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019072329 meters 0.1876608780721539 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.68, Z:-2.56 [[ 9.99879137e-01 3.06509981e-03 -1.52419489e-02 6.68493156e+01] [-2.98503844e-03 9.99981644e-01 5.27267800e-03 -6.81629125e-01] [ 1.52578304e-02 -5.22654293e-03 9.99869932e-01 -2.55926403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079072329 meters 0.18006356442497023 Centerline is valid? [False, False] Translation: X:66.85, Y:-0.69, Z:-2.56 [[ 9.99874034e-01 1.29743939e-02 -9.14229650e-03 6.68514948e+01] [-1.29840812e-02 9.99915202e-01 -1.00106048e-03 -6.86247401e-01] [ 9.12853310e-03 1.11963870e-03 9.99957707e-01 -2.56232379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13907232900002 meters 0.168573227829833 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99825782e-01 9.42451252e-03 -1.61116009e-02 6.68658118e+01] [-9.35976144e-03 9.99947834e-01 4.08960478e-03 -6.89646923e-01] [ 1.61493029e-02 -3.93809156e-03 9.99861836e-01 -2.55490527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19907232900002 meters 0.16051902712543906 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99811097e-01 9.81565046e-03 -1.67756760e-02 6.68665216e+01] [-9.74136891e-03 9.99942409e-01 4.50392726e-03 -6.90534236e-01] [ 1.68189188e-02 -4.33965841e-03 9.99849134e-01 -2.55387329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259072329 meters 0.170319268566495 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99791454e-01 1.02764562e-02 -1.76477595e-02 6.68678016e+01] [-1.01892562e-02 9.99935467e-01 5.02396566e-03 -6.91555441e-01] [ 1.76982492e-02 -4.84310039e-03 9.99831644e-01 -2.55310887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319072329 meters 0.17507988469683194 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99801143e-01 6.63544853e-03 -1.88054465e-02 6.68692896e+01] [-6.61858276e-03 9.99977637e-01 9.58952480e-04 -6.90679758e-01] [ 1.88113890e-02 -8.34296382e-04 9.99822702e-01 -2.55161846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379072329 meters 0.17948701591942592 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99793057e-01 6.75073802e-03 -1.91903979e-02 6.68696311e+01] [-6.73133116e-03 9.99976766e-01 1.07569473e-03 -6.90992919e-01] [ 1.91972137e-02 -9.46295202e-04 9.99815269e-01 -2.55088200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439072329 meters 0.16692807874855795 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99779901e-01 7.01281760e-03 -1.97729792e-02 6.68703097e+01] [-6.99026981e-03 9.99974837e-01 1.20921983e-03 -6.90982513e-01] [ 1.97809617e-02 -1.07073522e-03 9.99803764e-01 -2.54997500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499072329 meters 0.15442837056423986 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99769660e-01 7.22639180e-03 -2.02090420e-02 6.68708051e+01] [-7.19867350e-03 9.99973047e-01 1.44399061e-03 -6.91487105e-01] [ 2.02189322e-02 -1.29817971e-03 9.99794734e-01 -2.54937004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559072329 meters 0.16707100738026845 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99762611e-01 7.26635821e-03 -2.05407088e-02 6.68711339e+01] [-7.23805149e-03 9.99972751e-01 1.45208921e-03 -6.91489410e-01] [ 2.05507004e-02 -1.30306980e-03 9.99787963e-01 -2.54876164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619072329 meters 0.16159403735889252 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99753329e-01 7.33573741e-03 -2.09634839e-02 6.68715508e+01] [-7.30761364e-03 9.99972294e-01 1.41785159e-03 -6.91205287e-01] [ 2.09733041e-02 -1.26430881e-03 9.99779237e-01 -2.54794472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679072329 meters 0.15682007780406354 Centerline is valid? [False, False] Translation: X:66.87, Y:-0.69, Z:-2.55 [[ 9.99747729e-01 7.48720465e-03 -2.11759291e-02 6.68716431e+01] [-7.45546132e-03 9.99970963e-01 1.57758008e-03 -6.91535917e-01] [ 2.11871259e-02 -1.41930578e-03 9.99774520e-01 -2.54736246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739072329 meters 0.14448699676792776 Centerline is valid? [False, False] Translation: X:66.88, Y:-0.70, Z:-2.55 [[ 9.99654061e-01 1.51816006e-02 -2.14773627e-02 6.68845210e+01] [-1.51979041e-02 9.99884328e-01 -5.96068968e-04 -6.96449000e-01] [ 2.14658291e-02 9.22273662e-04 9.99769157e-01 -2.54528319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799072329 meters 0.14172150153041813 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.55 [[ 9.99700388e-01 1.96132735e-02 -1.46442057e-02 6.68951930e+01] [-1.94138282e-02 9.99718493e-01 1.36395688e-02 -7.03554008e-01] [ 1.49075998e-02 -1.33511821e-02 9.99799735e-01 -2.54629859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859072329 meters 0.14711724413781604 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.55 [[ 9.99825784e-01 1.06354874e-02 -1.53390750e-02 6.68961267e+01] [-1.05766081e-02 9.99936404e-01 3.91455082e-03 -6.99833515e-01] [ 1.53797326e-02 -3.75163346e-03 9.99874687e-01 -2.54560587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91907232900002 meters 0.12462785065105596 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.55 [[ 9.99854597e-01 6.29945715e-03 -1.58461768e-02 6.68969173e+01] [-6.31435339e-03 9.99979668e-01 -8.90195471e-04 -6.97758535e-01] [ 1.58402469e-02 9.90124394e-04 9.99874045e-01 -2.54513808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97907232900002 meters 0.1270753354022027 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99851376e-01 6.37367464e-03 -1.60188109e-02 6.68969909e+01] [-6.38664711e-03 9.99979317e-01 -7.58800862e-04 -6.98139265e-01] [ 1.60136432e-02 8.60994578e-04 9.99871403e-01 -2.54466715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039072329 meters 0.12982392230331713 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99850003e-01 6.40091704e-03 -1.60934771e-02 6.68971227e+01] [-6.41299586e-03 9.99979192e-01 -6.99045796e-04 -6.98305789e-01] [ 1.60886677e-02 8.02148343e-04 9.99870247e-01 -2.54464123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099072329 meters 0.12439584444495833 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99846342e-01 6.37207237e-03 -1.63305927e-02 6.68974324e+01] [-6.38583979e-03 9.99979297e-01 -7.91037021e-04 -6.97950521e-01] [ 1.63252140e-02 8.95200020e-04 9.99866334e-01 -2.54430711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159072329 meters 0.11476338259247626 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99842553e-01 6.41884943e-03 -1.65429269e-02 6.68975135e+01] [-6.43158983e-03 9.99979060e-01 -7.17054050e-04 -6.98153997e-01] [ 1.65379779e-02 8.23338472e-04 9.99862899e-01 -2.54371261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219072329 meters 0.11594813087872376 Centerline is valid? [False, False] Translation: X:66.90, Y:-0.70, Z:-2.54 [[ 9.99840217e-01 6.37330205e-03 -1.67009523e-02 6.68976026e+01] [-6.38795029e-03 9.99979257e-01 -8.23890018e-04 -6.97790276e-01] [ 1.66953550e-02 9.30443227e-04 9.99860190e-01 -2.54329587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279072329 meters 0.11357251579413757 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.70, Z:-2.55 [[ 9.99913184e-01 8.04577759e-03 -1.04350541e-02 6.69095985e+01] [-7.93559891e-03 9.99912781e-01 1.05572888e-02 -7.01832707e-01] [ 1.05190856e-02 -1.04735639e-02 9.99889821e-01 -2.54523451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339072329 meters 0.11356753211695414 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.70, Z:-2.55 [[ 9.99937611e-01 3.32909502e-03 -1.06625720e-02 6.69099997e+01] [-3.27236054e-03 9.99980420e-01 5.33393473e-03 -6.99076394e-01] [ 1.06801205e-02 -5.29871018e-03 9.99928927e-01 -2.54508653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399072329 meters 0.10479725949362753 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.70, Z:-2.54 [[ 9.99940067e-01 -1.21213024e-03 -1.08808652e-02 6.69103238e+01] [ 1.21552685e-03 9.99999215e-01 3.05555771e-04 -6.96699905e-01] [ 1.08804863e-02 -3.18763441e-04 9.99940755e-01 -2.54471447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459072329 meters 0.11005547201575147 Centerline is valid? [False, False] Translation: X:66.91, Y:-0.70, Z:-2.54 [[ 9.99937401e-01 -1.34584343e-03 -1.11077697e-02 6.69106613e+01] [ 1.34606746e-03 9.99999094e-01 1.26923483e-05 -6.95783227e-01] [ 1.11077425e-02 -2.76433611e-05 9.99938307e-01 -2.54449311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519072329 meters 0.09683322301283862 Centerline is valid? [False, True] Translation: X:66.91, Y:-0.70, Z:-2.54 [[ 9.99935801e-01 -1.40403227e-03 -1.12437859e-02 6.69109729e+01] [ 1.40290811e-03 9.99999010e-01 -1.07867782e-04 -6.95394533e-01] [ 1.12439262e-02 9.20868586e-05 9.99936781e-01 -2.54454735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579072329 meters 0.0887241319651735 Centerline is valid? [True, True] Translation: X:66.97, Y:-0.70, Z:-2.54 [[ 9.99923576e-01 4.72675221e-03 -1.14236311e-02 6.69716171e+01] [-4.70963340e-03 9.99987747e-01 1.52498108e-03 -6.95069934e-01] [ 1.14306993e-02 -1.47106342e-03 9.99933585e-01 -2.54389284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63907232900002 meters 0.09330357118073286 Centerline is valid? [True, True] Translation: X:67.03, Y:-0.71, Z:-2.54 [[ 9.99889911e-01 1.14202985e-02 -9.47329281e-03 6.70291330e+01] [-1.14088226e-02 9.99934118e-01 1.26454771e-03 -7.10292575e-01] [ 9.48711020e-03 -1.15632938e-03 9.99954328e-01 -2.54181533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69907232900002 meters 0.09490824942666339 Centerline is valid? [True, True] Translation: X:67.09, Y:-0.72, Z:-2.54 [[ 9.99842413e-01 1.54240086e-02 -8.78919465e-03 6.70879290e+01] [-1.54142844e-02 9.99880505e-01 1.17305580e-03 -7.21117055e-01] [ 8.80623760e-03 -1.03739179e-03 9.99960686e-01 -2.54067826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759072329 meters 0.08373215721830113 Centerline is valid? [True, True] Translation: X:67.15, Y:-0.72, Z:-2.54 [[ 9.99740624e-01 2.05395546e-02 -9.83925107e-03 6.71493331e+01] [-2.05276123e-02 9.99788424e-01 1.31320072e-03 -7.15964833e-01] [ 9.86414187e-03 -1.11088378e-03 9.99950731e-01 -2.54052591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819072329 meters 0.07831436181260025 Centerline is valid? [True, True] Translation: X:67.21, Y:-0.72, Z:-2.54 [[ 9.99621533e-01 2.55563253e-02 -1.01815644e-02 6.72102412e+01] [-2.55437950e-02 9.99672780e-01 1.35884746e-03 -7.18370666e-01] [ 1.02129599e-02 -1.09825739e-03 9.99947243e-01 -2.54069153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879072329 meters 0.07509664631045991 Centerline is valid? [True, True] Translation: X:67.27, Y:-0.72, Z:-2.54 [[ 9.99535315e-01 2.86108822e-02 -1.05153143e-02 6.72706456e+01] [-2.85976832e-02 9.99590017e-01 1.40347749e-03 -7.23262813e-01] [ 1.05511580e-02 -1.10211168e-03 9.99943728e-01 -2.54031278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939072329 meters 0.0750168097779845 Centerline is valid? [True, True] Translation: X:67.33, Y:-0.73, Z:-2.54 [[ 9.99381241e-01 3.36145074e-02 -1.03537357e-02 6.73307398e+01] [-3.36019761e-02 9.99434339e-01 1.38195405e-03 -7.33041315e-01] [ 1.03943327e-02 -1.03319297e-03 9.99945444e-01 -2.53893920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999072329 meters 0.06968797145820958 Centerline is valid? [True, True] Translation: X:67.39, Y:-0.74, Z:-2.54 [[ 9.99231851e-01 3.78410765e-02 -1.01863518e-02 6.73915759e+01] [-3.78291629e-02 9.99283296e-01 1.35977953e-03 -7.36318688e-01] [ 1.02305067e-02 -9.73393855e-04 9.99947193e-01 -2.53732419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059072329 meters 0.07338484629500261 Centerline is valid? [True, True] Translation: X:67.45, Y:-0.75, Z:-2.54 [[ 9.99122417e-01 4.05503848e-02 -1.04910203e-02 6.74499071e+01] [-4.05378974e-02 9.99177020e-01 1.40031033e-03 -7.50324789e-01] [ 1.05391695e-02 -9.73797536e-04 9.99943987e-01 -2.53894938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119072329 meters 0.07346628995629885 Centerline is valid? [True, True] Translation: X:67.51, Y:-0.76, Z:-2.54 [[ 9.98952553e-01 4.45868244e-02 -1.02864978e-02 6.75087783e+01] [-4.45750332e-02 9.99005096e-01 1.37282609e-03 -7.60024985e-01] [ 1.03374737e-02 -9.12867149e-04 9.99946150e-01 -2.53886451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179072329 meters 0.07137065386057126 Centerline is valid? [True, True] Translation: X:67.57, Y:-0.77, Z:-2.54 [[ 9.98814367e-01 4.76174754e-02 -1.01210764e-02 6.75687226e+01] [-4.76062147e-02 9.98865268e-01 1.35076472e-03 -7.66629792e-01] [ 1.01739117e-02 -8.67337076e-04 9.99947868e-01 -2.53851370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239072329 meters 0.06078913741436043 Centerline is valid? [True, True] Translation: X:67.63, Y:-0.76, Z:-2.54 [[ 9.98612681e-01 5.16705345e-02 -1.01424712e-02 6.76307325e+01] [-5.16594318e-02 9.98663843e-01 1.35379504e-03 -7.62973021e-01] [ 1.01988706e-02 -8.27962595e-04 9.99947647e-01 -2.53642380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299072329 meters 0.06683056818899288 Centerline is valid? [True, True] Translation: X:67.69, Y:-0.78, Z:-2.54 [[ 9.98430470e-01 5.48888516e-02 -1.11270453e-02 6.76885193e+01] [-5.48756885e-02 9.98492090e-01 1.48509153e-03 -7.80336100e-01] [ 1.11917817e-02 -8.72156363e-04 9.99936990e-01 -2.53886863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359072329 meters 0.05739650689265621 Centerline is valid? [True, True] Translation: X:67.75, Y:-0.78, Z:-2.54 [[ 9.98288962e-01 5.74544908e-02 -1.08687944e-02 6.77499965e+01] [-5.74420806e-02 9.98347786e-01 1.45082010e-03 -7.78733461e-01] [ 1.09341930e-02 -8.24011527e-04 9.99939880e-01 -2.53516835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41907232900002 meters 0.05647718690333361 Centerline is valid? [True, True] Translation: X:67.81, Y:-0.79, Z:-2.54 [[ 9.98168296e-01 5.95268326e-02 -1.07985545e-02 6.78108890e+01] [-5.95146967e-02 9.98226388e-01 1.44202125e-03 -7.87577087e-01] [ 1.08652410e-02 -7.96707195e-04 9.99940654e-01 -2.53525234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47907232900002 meters 0.060244507003630286 Centerline is valid? [True, True] Translation: X:67.87, Y:-0.80, Z:-2.54 [[ 9.97986377e-01 6.24448263e-02 -1.11281579e-02 6.78693986e+01] [-6.24321186e-02 9.98048106e-01 1.48602891e-03 -8.02038499e-01] [ 1.11992317e-02 -7.88282132e-04 9.99936976e-01 -2.53644180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539072329 meters 0.053278033006701024 Centerline is valid? [True, True] Translation: X:67.93, Y:-0.80, Z:-2.54 [[ 9.97866272e-01 6.43127586e-02 -1.12593356e-02 6.79311170e+01] [-6.42998632e-02 9.97929489e-01 1.50395273e-03 -8.03486974e-01] [ 1.13327464e-02 -7.76769965e-04 9.99935481e-01 -2.53514086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599072329 meters 0.055356053176364536 Centerline is valid? [True, True] Translation: X:67.99, Y:-0.82, Z:-2.53 [[ 9.97728778e-01 6.65219175e-02 -1.05886618e-02 6.79893560e+01] [-6.65106386e-02 9.97784714e-01 1.41417738e-03 -8.17857147e-01] [ 1.06592786e-02 -7.06706813e-04 9.99942939e-01 -2.53389305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659072329 meters 0.05366635920769961 Centerline is valid? [True, True] Translation: X:68.05, Y:-0.83, Z:-2.53 [[ 9.97597254e-01 6.83537265e-02 -1.12910388e-02 6.80506939e+01] [-6.83410116e-02 9.97660879e-01 1.50857441e-03 -8.26250978e-01] [ 1.13677444e-02 -7.33308676e-04 9.99935116e-01 -2.53376660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719072329 meters 0.054438425373251886 Centerline is valid? [True, True] Translation: X:68.11, Y:-0.84, Z:-2.54 [[ 9.97479362e-01 6.98984996e-02 -1.22115901e-02 6.81106533e+01] [-6.98837089e-02 9.97553806e-01 1.63426108e-03 -8.37821205e-01] [ 1.22959505e-02 -7.76750498e-04 9.99924100e-01 -2.53525156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779072329 meters 0.055038761385368645 Centerline is valid? [True, True] Translation: X:68.17, Y:-0.85, Z:-2.54 [[ 9.97431563e-01 7.06374000e-02 -1.18589615e-02 6.81714168e+01] [-7.06234701e-02 9.97501778e-01 1.58984779e-03 -8.49361828e-01] [ 1.19416379e-02 -7.48243348e-04 9.99928416e-01 -2.53555679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839072329 meters 0.05467050963019599 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.86, Z:-2.53 [[ 9.97370550e-01 7.16681024e-02 -1.07549357e-02 6.82331403e+01] [-7.16566957e-02 9.97428311e-01 1.44271602e-03 -8.60682374e-01] [ 1.08306741e-02 -6.68259318e-04 9.99941123e-01 -2.53389042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899072329 meters 0.05596287664824618 Centerline is valid? [True, True] Translation: X:68.29, Y:-0.87, Z:-2.53 [[ 9.97294218e-01 7.28051000e-02 -1.01813556e-02 6.82937159e+01] [-7.27949127e-02 9.97345993e-01 1.36811325e-03 -8.73188810e-01] [ 1.02539398e-02 -6.23260540e-04 9.99947233e-01 -2.53296739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959072329 meters 0.05619148560914916 Centerline is valid? [True, True] Translation: X:68.35, Y:-0.89, Z:-2.53 [[ 9.97229838e-01 7.35661377e-02 -1.09851205e-02 6.83547765e+01] [-7.35542967e-02 9.97290118e-01 1.47861008e-03 -8.85449929e-01] [ 1.10641278e-02 -6.66511282e-04 9.99938569e-01 -2.53381382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019072329 meters 0.05805081258510693 Centerline is valid? [True, True] Translation: X:68.41, Y:-0.90, Z:-2.53 [[ 9.97159732e-01 7.44907358e-02 -1.11174733e-02 6.84142404e+01] [-7.44786492e-02 9.97221484e-01 1.49783500e-03 -9.00082674e-01] [ 1.11981581e-02 -6.65566357e-04 9.99937077e-01 -2.53445234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079072329 meters 0.05783228165907309 Centerline is valid? [True, True] Translation: X:68.48, Y:-0.91, Z:-2.53 [[ 9.97136383e-01 7.48170444e-02 -1.10201338e-02 6.84752687e+01] [-7.48051612e-02 9.97197060e-01 1.48717495e-03 -9.10798280e-01] [ 1.11005111e-02 -6.58553368e-04 9.99938171e-01 -2.53345790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13907232900002 meters 0.05878731620482637 Centerline is valid? [True, True] Translation: X:68.54, Y:-0.92, Z:-2.53 [[ 9.97087107e-01 7.55761026e-02 -1.02739723e-02 6.85357317e+01] [-7.55657911e-02 9.97139851e-01 1.38871707e-03 -9.24422969e-01] [ 1.03495410e-02 -6.08311040e-04 9.99946257e-01 -2.53227830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19907232900002 meters 0.05925939646819091 Centerline is valid? [True, True] Translation: X:68.60, Y:-0.94, Z:-2.53 [[ 9.97053839e-01 7.60339393e-02 -1.01233024e-02 6.85973315e+01] [-7.60239438e-02 9.97105052e-01 1.36911541e-03 -9.36212441e-01] [ 1.01980952e-02 -5.95468405e-04 9.99947821e-01 -2.53173963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259072329 meters 0.047200258054581445 Centerline is valid? [True, True] Translation: X:68.66, Y:-0.93, Z:-2.53 [[ 9.97009889e-01 7.66959534e-02 -9.43457376e-03 6.86607221e+01] [-7.66872790e-02 9.97054375e-01 1.27830855e-03 -9.32753403e-01] [ 9.50482414e-03 -5.50974478e-04 9.99954676e-01 -2.52860671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319072329 meters 0.04678518452441381 Centerline is valid? [True, True] Translation: X:68.72, Y:-0.94, Z:-2.53 [[ 9.96923967e-01 7.77838906e-02 -9.60575428e-03 6.87222199e+01] [-7.77749261e-02 9.96970090e-01 1.30385570e-03 -9.44199007e-01] [ 9.67806868e-03 -5.52758163e-04 9.99953014e-01 -2.52766781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379072329 meters 0.044041821516962884 Centerline is valid? [True, True] Translation: X:68.78, Y:-0.95, Z:-2.53 [[ 9.96837075e-01 7.89591109e-02 -9.01686013e-03 6.87842475e+01] [-7.89512392e-02 9.96877725e-01 1.22619603e-03 -9.51075699e-01] [ 9.08552636e-03 -5.10425379e-04 9.99958595e-01 -2.52637446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439072329 meters 0.04337713726511782 Centerline is valid? [True, True] Translation: X:68.85, Y:-0.96, Z:-2.53 [[ 9.96688898e-01 8.07822459e-02 -9.24494211e-03 6.88450955e+01] [-8.07740447e-02 9.96731645e-01 1.25768643e-03 -9.61341191e-01] [ 9.31632509e-03 -5.06770737e-04 9.99956474e-01 -2.52747958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499072329 meters 0.041668759933910005 Centerline is valid? [True, True] Translation: X:68.91, Y:-0.97, Z:-2.53 [[ 9.96550632e-01 8.24553971e-02 -9.37791753e-03 6.89062636e+01] [-8.24470273e-02 9.96594631e-01 1.27628642e-03 -9.70517823e-01] [ 9.45121897e-03 -4.98702617e-04 9.99955212e-01 -2.52758369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559072329 meters 0.04120391565541675 Centerline is valid? [True, True] Translation: X:68.97, Y:-0.98, Z:-2.53 [[ 9.96435010e-01 8.39468564e-02 -8.37830013e-03 6.89674920e+01] [-8.39402104e-02 9.96470138e-01 1.14237551e-03 -9.80970343e-01] [ 8.44462472e-03 -4.35026681e-04 9.99964249e-01 -2.52533624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619072329 meters 0.04221754761105375 Centerline is valid? [True, True] Translation: X:69.03, Y:-0.99, Z:-2.53 [[ 9.96303348e-01 8.55379080e-02 -7.93123632e-03 6.90276429e+01] [-8.55319881e-02 9.96334836e-01 1.08324687e-03 -9.94011852e-01] [ 7.99482571e-03 -4.00868072e-04 9.99967961e-01 -2.52544544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679072329 meters 0.03902755542287464 Centerline is valid? [True, True] Translation: X:69.09, Y:-1.00, Z:-2.53 [[ 9.96209197e-01 8.65029424e-02 -9.19112027e-03 6.90898629e+01] [-8.64950256e-02 9.96251491e-01 1.25613150e-03 -1.00113415e+00] [ 9.26532634e-03 -4.56383570e-04 9.99956972e-01 -2.52615148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739072329 meters 0.03868149274717217 Centerline is valid? [True, True] Translation: X:69.15, Y:-1.01, Z:-2.53 [[ 9.96154432e-01 8.71695519e-02 -8.82139058e-03 6.91510290e+01] [-8.71622653e-02 9.96193395e-01 1.20786447e-03 -1.01155456e+00] [ 8.89310003e-03 -4.34327158e-04 9.99960361e-01 -2.52560833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799072329 meters 0.04320576068298502 Centerline is valid? [True, True] Translation: X:69.21, Y:-1.03, Z:-2.52 [[ 9.96107021e-01 8.78743474e-02 -6.99295813e-03 6.92102470e+01] [-8.78697742e-02 9.96131509e-01 9.59135036e-04 -1.02964600e+00] [ 7.05018930e-03 -3.40931491e-04 9.99975089e-01 -2.52385213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859072329 meters 0.038517493961725977 Centerline is valid? [True, True] Translation: X:69.27, Y:-1.04, Z:-2.52 [[ 9.96060432e-01 8.84073151e-02 -6.91107121e-03 6.92719266e+01] [-8.84028490e-02 9.96084351e-01 9.49657203e-04 -1.03569795e+00] [ 6.96796652e-03 -3.34957579e-04 9.99975667e-01 -2.52273908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91907232900002 meters 0.03793808867159281 Centerline is valid? [True, True] Translation: X:69.33, Y:-1.05, Z:-2.52 [[ 9.96063668e-01 8.83373196e-02 -7.32720657e-03 6.93335980e+01] [-8.83322837e-02 9.96090553e-01 1.00871662e-03 -1.04570808e+00] [ 7.38766857e-03 -3.57517087e-04 9.99972647e-01 -2.52391755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97907232900002 meters 0.03991611243817325 Centerline is valid? [True, True] Translation: X:69.39, Y:-1.06, Z:-2.53 [[ 9.96002920e-01 8.89723424e-02 -7.88073739e-03 6.93936380e+01] [-8.89665220e-02 9.96034024e-01 1.08676750e-03 -1.06072353e+00] [ 7.94617482e-03 -3.81301810e-04 9.99968356e-01 -2.52506776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039072329 meters 0.04164690128661792 Centerline is valid? [True, True] Translation: X:69.45, Y:-1.08, Z:-2.52 [[ 9.96060693e-01 8.84146126e-02 -6.77882637e-03 6.94533401e+01] [-8.84102871e-02 9.96083704e-01 9.35709300e-04 -1.07570226e+00] [ 6.83500886e-03 -3.32705268e-04 9.99976586e-01 -2.52341757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099072329 meters 0.03914759332355558 Centerline is valid? [True, True] Translation: X:69.51, Y:-1.08, Z:-2.52 [[ 9.96072624e-01 8.83081748e-02 -6.40260981e-03 6.95147805e+01] [-8.83043033e-02 9.96093151e-01 8.85413654e-04 -1.08394296e+00] [ 6.45578504e-03 -3.16558303e-04 9.99979111e-01 -2.52226305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159072329 meters 0.04009402182274282 Centerline is valid? [True, True] Translation: X:69.58, Y:-1.10, Z:-2.52 [[ 9.96138598e-01 8.76083017e-02 -5.71654176e-03 6.95752555e+01] [-8.76051996e-02 9.96154959e-01 7.91301514e-04 -1.09729190e+00] [ 5.76388601e-03 -2.87447198e-04 9.99983347e-01 -2.52260296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219072329 meters 0.04784866418826528 Centerline is valid? [True, True] Translation: X:69.63, Y:-1.12, Z:-2.52 [[ 9.96196595e-01 8.68940100e-02 -6.46339419e-03 6.96337708e+01] [-8.68900195e-02 9.96217507e-01 8.96188620e-04 -1.12007319e+00] [ 6.51681987e-03 -3.31175604e-04 9.99978710e-01 -2.52467342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279072329 meters 0.04256148687210417 Centerline is valid? [True, True] Translation: X:69.70, Y:-1.12, Z:-2.52 [[ 9.96278772e-01 8.59862076e-02 -5.91437235e-03 6.96954695e+01] [-8.59828458e-02 9.96296279e-01 8.20829648e-04 -1.12442643e+00] [ 5.96304719e-03 -3.09240588e-04 9.99982173e-01 -2.52273321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339072329 meters 0.041460506537453944 Centerline is valid? [True, True] Translation: X:69.76, Y:-1.14, Z:-2.52 [[ 9.96388678e-01 8.47907803e-02 -4.48630071e-03 6.97560530e+01] [-8.47888289e-02 9.96398748e-01 6.23719716e-04 -1.13588307e+00] [ 4.52303010e-03 -2.41079079e-04 9.99989742e-01 -2.52060096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399072329 meters 0.04147265876932166 Centerline is valid? [True, True] Translation: X:69.82, Y:-1.15, Z:-2.52 [[ 9.96481371e-01 8.36882202e-02 -4.59995014e-03 6.98174096e+01] [-8.36861516e-02 9.96491956e-01 6.40708657e-04 -1.14766181e+00] [ 4.63743308e-03 -2.53502116e-04 9.99989215e-01 -2.51996059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459072329 meters 0.04430058902066697 Centerline is valid? [True, True] Translation: X:69.88, Y:-1.17, Z:-2.52 [[ 9.96666353e-01 8.14815480e-02 -4.11562355e-03 6.98767471e+01] [-8.14798727e-02 9.96674822e-01 5.73373353e-04 -1.16531289e+00] [ 4.14865771e-03 -2.36121446e-04 9.99991366e-01 -2.51979344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519072329 meters 0.05033181199121101 Centerline is valid? [True, True] Translation: X:69.93, Y:-1.19, Z:-2.52 [[ 9.96875865e-01 7.88819116e-02 -4.01930052e-03 6.99347029e+01] [-7.88802925e-02 9.96883938e-01 5.60023658e-04 -1.18597796e+00] [ 4.05095187e-03 -2.41230467e-04 9.99991766e-01 -2.51936966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579072329 meters 0.046807345153208564 Centerline is valid? [True, True] Translation: X:70.00, Y:-1.19, Z:-2.52 [[ 9.96985468e-01 7.74252965e-02 -5.02994070e-03 6.99964435e+01] [-7.74227404e-02 9.96998108e-01 7.01215498e-04 -1.19303090e+00] [ 5.06913318e-03 -3.09669869e-04 9.99987104e-01 -2.51988041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63907232900002 meters 0.05022920192226818 Centerline is valid? [True, True] Translation: X:70.06, Y:-1.21, Z:-2.52 [[ 9.97165327e-01 7.50521826e-02 -5.33669696e-03 7.00559677e+01] [-7.50492704e-02 9.97179549e-01 7.44165800e-04 -1.21132683e+00] [ 5.37749634e-03 -3.41541121e-04 9.99985483e-01 -2.52065771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69907232900002 meters 0.05119103260043474 Centerline is valid? [True, True] Translation: X:70.12, Y:-1.22, Z:-2.52 [[ 9.97312525e-01 7.31248591e-02 -4.52582054e-03 7.01158763e+01] [-7.31227441e-02 9.97322749e-01 6.31259635e-04 -1.22419069e+00] [ 4.55986456e-03 -2.98622723e-04 9.99989559e-01 -2.52033144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759072329 meters 0.05287436862799233 Centerline is valid? [True, True] Translation: X:70.18, Y:-1.24, Z:-2.52 [[ 9.97421552e-01 7.16368466e-02 -4.29072280e-03 7.01769511e+01] [-7.16349306e-02 9.97430739e-01 5.98782548e-04 -1.23832892e+00] [ 4.32259371e-03 -2.89872988e-04 9.99990616e-01 -2.52008860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819072329 meters 0.05741599682448907 Centerline is valid? [True, True] Translation: X:70.23, Y:-1.26, Z:-2.52 [[ 9.97593821e-01 6.91809574e-02 -4.53468928e-03 7.02344947e+01] [-6.91787904e-02 9.97604077e-01 6.33181426e-04 -1.25803352e+00] [ 4.56762861e-03 -3.17953558e-04 9.99989518e-01 -2.52141113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879072329 meters 0.05762132097666408 Centerline is valid? [True, True] Translation: X:70.29, Y:-1.27, Z:-2.52 [[ 9.97685976e-01 6.78454505e-02 -4.43704824e-03 7.02949318e+01] [-6.78433581e-02 9.97695792e-01 6.20585322e-04 -1.27039281e+00] [ 4.46892825e-03 -3.18125021e-04 9.99989964e-01 -2.52139086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939072329 meters 0.0537306322041444 Centerline is valid? [True, True] Translation: X:70.36, Y:-1.28, Z:-2.52 [[ 9.97758389e-01 6.67982670e-02 -4.02356667e-03 7.03561221e+01] [-6.67965339e-02 9.97766458e-01 5.63720263e-04 -1.27865316e+00] [ 4.05223540e-03 -2.93696314e-04 9.99991747e-01 -2.52100933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999072329 meters 0.06246600623418456 Centerline is valid? [True, True] Translation: X:70.41, Y:-1.30, Z:-2.52 [[ 9.97822251e-01 6.58748116e-02 -3.35642269e-03 7.04137987e+01] [-6.58736001e-02 9.97827865e-01 4.70351041e-04 -1.30365757e+00] [ 3.38011638e-03 -2.48227088e-04 9.99994257e-01 -2.52030062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059072329 meters 0.06282887757469861 Centerline is valid? [True, True] Translation: X:70.47, Y:-1.32, Z:-2.52 [[ 9.97853850e-01 6.54177429e-02 -2.86594527e-03 7.04745933e+01] [-6.54168557e-02 9.97857942e-01 4.02329610e-04 -1.31641666e+00] [ 2.88612575e-03 -2.13985022e-04 9.99995812e-01 -2.51915292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119072329 meters 0.05869262950626621 Centerline is valid? [True, True] Translation: X:70.54, Y:-1.32, Z:-2.52 [[ 9.97901846e-01 6.46899069e-02 -2.66860217e-03 7.05365155e+01] [-6.46891332e-02 9.97905394e-01 3.75291133e-04 -1.32450483e+00] [ 2.68729004e-03 -2.01874153e-04 9.99996369e-01 -2.51907042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179072329 meters 0.06089248163893841 Centerline is valid? [True, True] Translation: X:70.60, Y:-1.34, Z:-2.52 [[ 9.97930007e-01 6.42073556e-02 -3.62159059e-03 7.05964779e+01] [-6.42059246e-02 9.97936541e-01 5.10131242e-04 -1.34031951e+00] [ 3.64687176e-03 -2.76547701e-04 9.99993312e-01 -2.52038387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239072329 meters 0.06096574925086385 Centerline is valid? [True, True] Translation: X:70.66, Y:-1.35, Z:-2.52 [[ 9.97956930e-01 6.38068319e-02 -3.26405761e-03 7.06574552e+01] [-6.38056647e-02 9.97962236e-01 4.60586108e-04 -1.35255583e+00] [ 3.28679477e-03 -2.51379733e-04 9.99994567e-01 -2.52010830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299072329 meters 0.06171138479262345 Centerline is valid? [True, True] Translation: X:70.72, Y:-1.37, Z:-2.52 [[ 9.98022865e-01 6.28102836e-02 -2.28682869e-03 7.07181119e+01] [-6.28097077e-02 9.98025469e-01 3.22839709e-04 -1.36811997e+00] [ 2.30259093e-03 -1.78566369e-04 9.99997333e-01 -2.51797835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359072329 meters 0.06195050136730357 Centerline is valid? [True, True] Translation: X:70.78, Y:-1.38, Z:-2.52 [[ 9.98050449e-01 6.23848736e-02 -1.85181284e-03 7.07786710e+01] [-6.23844944e-02 9.98052156e-01 2.61911415e-04 -1.38222814e+00] [ 1.86454510e-03 -1.45876398e-04 9.99998251e-01 -2.51733186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41907232900002 meters 0.06277499187091201 Centerline is valid? [True, True] Translation: X:70.84, Y:-1.40, Z:-2.52 [[ 9.98023973e-01 6.27946850e-02 -2.23093196e-03 7.08396398e+01] [-6.27941344e-02 9.98026451e-01 3.16076368e-04 -1.39725139e+00] [ 2.24637702e-03 -1.75362351e-04 9.99997462e-01 -2.51793461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47907232900002 meters 0.06412282764697368 Centerline is valid? [True, True] Translation: X:70.90, Y:-1.41, Z:-2.52 [[ 9.98004293e-01 6.31049620e-02 -2.27921387e-03 7.09008682e+01] [-6.31043866e-02 9.98006880e-01 3.23555440e-04 -1.41219833e+00] [ 2.29508908e-03 -1.79081325e-04 9.99997350e-01 -2.51838343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539072329 meters 0.06299671837627466 Centerline is valid? [True, True] Translation: X:70.96, Y:-1.42, Z:-2.52 [[ 9.98029251e-01 6.27247450e-02 -1.79463392e-03 7.09615115e+01] [-6.27243872e-02 9.98030854e-01 2.54990803e-04 -1.42386171e+00] [ 1.80709426e-03 -1.41920967e-04 9.99998357e-01 -2.51909676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599072329 meters 0.06609674572342827 Centerline is valid? [True, True] Translation: X:71.02, Y:-1.44, Z:-2.52 [[ 9.97981111e-01 6.34763877e-02 -2.10973782e-03 7.10214639e+01] [-6.34758938e-02 9.97983327e-01 3.00287196e-04 -1.43972632e+00] [ 2.12454431e-03 -1.65763456e-04 9.99997729e-01 -2.51906735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659072329 meters 0.06435369799501356 Centerline is valid? [True, True] Translation: X:71.08, Y:-1.45, Z:-2.52 [[ 9.97932179e-01 6.42422212e-02 -2.07453933e-03 7.10830200e+01] [-6.42417448e-02 9.97934322e-01 2.95537679e-04 -1.45198308e+00] [ 2.08924000e-03 -1.61654534e-04 9.99997804e-01 -2.51884532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719072329 meters 0.06414997552946146 Centerline is valid? [True, True] Translation: X:71.14, Y:-1.47, Z:-2.52 [[ 9.97908350e-01 6.46035393e-02 -2.30371207e-03 7.11442240e+01] [-6.46029513e-02 9.97910993e-01 3.28842090e-04 -1.46525531e+00] [ 2.32014396e-03 -1.79327668e-04 9.99997292e-01 -2.51895901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779072329 meters 0.060302121019160514 Centerline is valid? [True, True] Translation: X:71.21, Y:-1.47, Z:-2.52 [[ 9.97830510e-01 6.58264782e-02 -1.07156323e-03 7.12054886e+01] [-6.58263516e-02 9.97831082e-01 1.53007278e-04 -1.47446528e+00] [ 1.07931103e-03 -8.21382324e-05 9.99999414e-01 -2.51874785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839072329 meters 0.07039586542886071 Centerline is valid? [True, True] Translation: X:71.26, Y:-1.50, Z:-2.52 [[ 9.97750407e-01 6.70327786e-02 -8.55498090e-04 7.12627032e+01] [-6.70326983e-02 9.97750772e-01 1.22250703e-04 -1.49980378e+00] [ 8.61768684e-04 -6.46293434e-05 9.99999627e-01 -2.51845946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899072329 meters 0.05503032130727589 Centerline is valid? [True, True] Translation: X:71.32, Y:-1.49, Z:-2.52 [[ 9.97597688e-01 6.92723995e-02 -4.34123120e-04 7.13249342e+01] [-6.92723790e-02 9.97597782e-01 6.20295374e-05 -1.49287522e+00] [ 4.37377196e-04 -3.18077818e-05 9.99999904e-01 -2.51781489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959072329 meters 0.05738508049984467 Centerline is valid? [True, True] Translation: X:71.38, Y:-1.51, Z:-2.52 [[ 9.97509768e-01 7.05281425e-02 2.08877683e-04 7.13843737e+01] [-7.05281378e-02 9.97509790e-01 -2.98644652e-05 -1.50762517e+00] [-2.10463819e-04 1.50583417e-05 9.99999978e-01 -2.51765109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019072329 meters 0.05587246576721211 Centerline is valid? [True, True] Translation: X:71.44, Y:-1.52, Z:-2.52 [[ 9.97375481e-01 7.24019793e-02 -3.20157484e-04 7.14443741e+01] [-7.24019682e-02 9.97375533e-01 4.58376659e-05 -1.51954716e+00] [ 3.22635979e-04 -2.25373321e-05 9.99999948e-01 -2.51714423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079072329 meters 0.0546536031798163 Centerline is valid? [True, True] Translation: X:71.50, Y:-1.53, Z:-2.52 [[ 9.97213920e-01 7.45828292e-02 -1.34154915e-03 7.15046553e+01] [-7.45826380e-02 9.97214818e-01 1.92106252e-04 -1.53099709e+00] [ 1.35214052e-03 -9.15147542e-05 9.99999082e-01 -2.51921372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13907232900002 meters 0.050996208099403105 Centerline is valid? [True, True] Translation: X:71.57, Y:-1.54, Z:-2.52 [[ 9.97080336e-01 7.63571852e-02 -6.19495015e-04 7.15653830e+01] [-7.63571447e-02 9.97080528e-01 8.87355984e-05 -1.53986757e+00] [ 6.24462017e-04 -4.11736497e-05 9.99999804e-01 -2.51863217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19907232900002 meters 0.05334109022451939 Centerline is valid? [True, True] Translation: X:71.62, Y:-1.55, Z:-2.52 [[ 9.96955372e-01 7.79742640e-02 -2.73737902e-05 7.16241544e+01] [-7.79742640e-02 9.96955372e-01 3.92360220e-06 -1.55490010e+00] [ 2.75963872e-05 -1.77720515e-06 1.00000000e+00 -2.51761382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259072329 meters 0.04958191366235313 Centerline is valid? [True, True] Translation: X:71.69, Y:-1.56, Z:-2.52 [[ 9.96769178e-01 8.03144023e-02 8.96386091e-04 7.16853900e+01] [-8.03143191e-02 9.96769579e-01 -1.28448666e-04 -1.56266696e+00] [-9.03806665e-04 5.60410325e-05 9.99999590e-01 -2.51677132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319072329 meters 0.047646873292126656 Centerline is valid? [True, True] Translation: X:71.75, Y:-1.57, Z:-2.52 [[ 9.96623777e-01 8.21019524e-02 5.61897857e-04 7.17464178e+01] [-8.21019200e-02 9.96623935e-01 -8.05462590e-05 -1.57194270e+00] [-5.66613859e-04 3.41414239e-05 9.99999839e-01 -2.51700002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379072329 meters 0.04831982638646503 Centerline is valid? [True, True] Translation: X:71.81, Y:-1.59, Z:-2.52 [[ 9.96511637e-01 8.34538674e-02 -1.00305069e-04 7.18065352e+01] [-8.34538664e-02 9.96511642e-01 1.44377740e-05 -1.58696775e+00] [ 1.01160057e-04 -6.01656398e-06 9.99999995e-01 -2.51866769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439072329 meters 0.048146404696036434 Centerline is valid? [True, True] Translation: X:71.87, Y:-1.60, Z:-2.52 [[ 9.96380616e-01 8.50005788e-02 -7.55366486e-04 7.18663272e+01] [-8.50005209e-02 9.96380901e-01 1.08512611e-04 -1.59965088e+00] [ 7.61856375e-04 -4.39133171e-05 9.99999709e-01 -2.51917753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499072329 meters 0.0427470587480286 Centerline is valid? [True, True] Translation: X:71.93, Y:-1.61, Z:-2.52 [[ 9.96146046e-01 8.77099807e-02 1.17788201e-04 7.19280126e+01] [-8.77099793e-02 9.96146053e-01 -1.69196005e-05 -1.60608445e+00] [-1.18818270e-04 6.52319246e-06 9.99999993e-01 -2.51867212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559072329 meters 0.047356247257872935 Centerline is valid? [True, True] Translation: X:71.99, Y:-1.62, Z:-2.52 [[ 9.96076916e-01 8.84916412e-02 8.11718950e-05 7.19873708e+01] [-8.84916405e-02 9.96076919e-01 -1.16534850e-05 -1.62242004e+00] [-8.18846872e-05 4.42473327e-06 9.99999997e-01 -2.51828634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619072329 meters 0.03957017846656567 Centerline is valid? [True, True] Translation: X:72.05, Y:-1.62, Z:-2.52 [[ 9.95912328e-01 9.03251570e-02 2.86655976e-05 7.20497464e+01] [-9.03251570e-02 9.95912328e-01 -4.09932629e-06 -1.62397179e+00] [-2.89186944e-05 1.49334498e-06 1.00000000e+00 -2.51854844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679072329 meters 0.038426905029892745 Centerline is valid? [True, True] Translation: X:72.11, Y:-1.63, Z:-2.52 [[ 9.95613038e-01 9.35664147e-02 6.75099612e-05 7.21092159e+01] [-9.35664142e-02 9.95613040e-01 -9.73497994e-06 -1.63415347e+00] [-6.81246649e-05 3.37560796e-06 9.99999998e-01 -2.51772391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739072329 meters 0.0377024964785691 Centerline is valid? [True, True] Translation: X:72.17, Y:-1.64, Z:-2.52 [[ 9.95254785e-01 9.72981103e-02 9.95317425e-04 7.21677046e+01] [-9.72980153e-02 9.95255282e-01 -1.43543543e-04 -1.64463643e+00] [-1.00456144e-03 4.60199875e-05 9.99999494e-01 -2.51675997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799072329 meters 0.03518974579240993 Centerline is valid? [True, True] Translation: X:72.23, Y:-1.65, Z:-2.52 [[ 9.94902359e-01 1.00841354e-01 -5.63945798e-04 7.22291047e+01] [-1.00841324e-01 9.94902518e-01 8.13680989e-05 -1.65334238e+00] [ 5.69276364e-04 -2.40842728e-05 9.99999838e-01 -2.51735306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859072329 meters 0.032538646077802096 Centerline is valid? [True, True] Translation: X:72.29, Y:-1.66, Z:-2.52 [[ 9.94633283e-01 1.03461892e-01 -5.18001382e-04 7.22901607e+01] [-1.03461867e-01 9.94633418e-01 7.47565070e-05 -1.66045012e+00] [ 5.22955935e-04 -2.07619196e-05 9.99999863e-01 -2.51793073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91907232900002 meters 0.030968096880543215 Centerline is valid? [True, True] Translation: X:72.35, Y:-1.67, Z:-2.52 [[ 9.94240873e-01 1.07161954e-01 1.18440672e-03 7.23500303e+01] [-1.07161826e-01 9.94241577e-01 -1.70957761e-04 -1.66952606e+00] [-1.19590657e-03 4.30500065e-05 9.99999284e-01 -2.51597066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97907232900002 meters 0.026924973372928672 Centerline is valid? [True, True] Translation: X:72.41, Y:-1.68, Z:-2.51 [[ 9.93759947e-01 1.11524736e-01 1.84420501e-03 7.24113265e+01] [-1.11524433e-01 9.93761656e-01 -2.66293345e-04 -1.67547958e+00] [-1.86239852e-03 5.89577421e-05 9.99998264e-01 -2.51456822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039072329 meters 0.023442703376747785 Centerline is valid? [True, True] Translation: X:72.47, Y:-1.68, Z:-2.52 [[ 9.93329181e-01 1.15310713e-01 7.59956817e-04 7.24730880e+01] [-1.15310663e-01 9.93329471e-01 -1.09771107e-04 -1.68029454e+00] [-7.67545288e-04 2.14077192e-05 9.99999705e-01 -2.51599279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099072329 meters 0.019947198726915097 Centerline is valid? [True, True] Translation: X:72.53, Y:-1.68, Z:-2.52 [[ 9.92702717e-01 1.20582330e-01 -1.10336525e-03 7.25349140e+01] [-1.20582227e-01 9.92703330e-01 1.59451437e-04 -1.68483635e+00] [ 1.11454138e-03 -2.52416358e-05 9.99999379e-01 -2.51942878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159072329 meters 0.015224044385814855 Centerline is valid? [True, True] Translation: X:72.60, Y:-1.69, Z:-2.52 [[ 9.92035616e-01 1.25956765e-01 4.79884268e-04 7.25970009e+01] [-1.25956746e-01 9.92035732e-01 -6.93667828e-05 -1.68774258e+00] [-4.84799556e-04 8.36965810e-06 9.99999882e-01 -2.51738147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219072329 meters 0.01423959245717866 Centerline is valid? [True, True] Translation: X:72.66, Y:-1.69, Z:-2.52 [[ 9.91498100e-01 1.30110565e-01 1.66081289e-03 7.26575010e+01] [-1.30110345e-01 9.91499491e-01 -2.40462900e-04 -1.69471382e+00] [-1.67798190e-03 2.23295703e-05 9.99998592e-01 -2.51534451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279072329 meters 0.010391066982966548 Centerline is valid? [True, True] Translation: X:72.72, Y:-1.70, Z:-2.52 [[ 9.90631342e-01 1.36562678e-01 4.23240063e-04 7.27199122e+01] [-1.36562665e-01 9.90631432e-01 -6.13597130e-05 -1.69567960e+00] [-4.27654357e-04 2.98606399e-06 9.99999909e-01 -2.51615894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339072329 meters 0.009125405101188018 Centerline is valid? [True, True] Translation: X:72.78, Y:-1.70, Z:-2.52 [[ 9.90086133e-01 1.40460366e-01 -5.79017061e-04 7.27823061e+01] [-1.40460341e-01 9.90086302e-01 8.41623763e-05 -1.70024231e+00] [ 5.85098339e-04 -1.99906790e-06 9.99999829e-01 -2.51811544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399072329 meters 0.008944441193894247 Centerline is valid? [True, True] Translation: X:72.85, Y:-1.70, Z:-2.52 [[ 9.89185151e-01 1.46671413e-01 -4.84228821e-04 7.28457381e+01] [-1.46671396e-01 9.89185269e-01 7.05391242e-05 -1.70287623e+00] [ 4.89338090e-04 1.24626301e-06 9.99999880e-01 -2.51787236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459072329 meters 0.010947829149038139 Centerline is valid? [True, True] Translation: X:72.91, Y:-1.70, Z:-2.52 [[ 9.88308908e-01 1.52464722e-01 1.02311009e-04 7.29070990e+01] [-1.52464722e-01 9.88308913e-01 -1.48897680e-05 -1.70405782e+00] [-1.03385046e-04 -8.83129116e-07 9.99999995e-01 -2.51728241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519072329 meters 0.014545165747230278 Centerline is valid? [True, True] Translation: X:72.97, Y:-1.71, Z:-2.52 [[ 9.87400649e-01 1.58240095e-01 -1.74488153e-04 7.29689395e+01] [-1.58240093e-01 9.87400665e-01 2.55133448e-05 -1.70560450e+00] [ 1.76326953e-04 2.41912843e-06 9.99999984e-01 -2.51718276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579072329 meters 0.01603529677173137 Centerline is valid? [True, True] Translation: X:73.03, Y:-1.71, Z:-2.52 [[ 9.86866621e-01 1.61536602e-01 4.46364944e-04 7.30305328e+01] [-1.61536589e-01 9.86866722e-01 -6.52656425e-05 -1.71050421e+00] [-4.51045499e-04 -7.69578644e-06 9.99999898e-01 -2.51643897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63907232900002 meters 0.019657109331928428 Centerline is valid? [True, True] Translation: X:73.09, Y:-1.71, Z:-2.52 [[ 9.85977594e-01 1.66877662e-01 1.71307785e-04 7.30927972e+01] [-1.66877660e-01 9.85977609e-01 -2.50641219e-05 -1.71143126e+00] [-1.73088283e-04 -3.87477975e-06 9.99999985e-01 -2.51718803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69907232900002 meters 0.022163575556532367 Centerline is valid? [True, True] Translation: X:73.16, Y:-1.71, Z:-2.52 [[ 9.85195556e-01 1.71434215e-01 -1.59107122e-04 7.31550251e+01] [-1.71434214e-01 9.85195569e-01 2.33133727e-05 -1.71455274e+00] [ 1.60748341e-04 4.30817311e-06 9.99999987e-01 -2.51759207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759072329 meters 0.024730918026175594 Centerline is valid? [True, True] Translation: X:73.22, Y:-1.72, Z:-2.52 [[ 9.84744790e-01 1.74004772e-01 1.97277965e-04 7.32159975e+01] [-1.74004769e-01 9.84744809e-01 -2.89107307e-05 -1.71819795e+00] [-1.99299057e-04 -5.85761532e-06 9.99999980e-01 -2.51770443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819072329 meters 0.027409399797818437 Centerline is valid? [True, True] Translation: X:73.28, Y:-1.72, Z:-2.52 [[ 9.84231641e-01 1.76884358e-01 -3.61272361e-05 7.32779951e+01] [-1.76884358e-01 9.84231641e-01 5.33645259e-06 -1.72109939e+00] [ 3.65015039e-05 1.13803747e-06 9.99999999e-01 -2.51789602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879072329 meters 0.02702981014953558 Centerline is valid? [True, True] Translation: X:73.34, Y:-1.73, Z:-2.52 [[ 9.83840720e-01 1.79044843e-01 -6.18148152e-04 7.33395324e+01] [-1.79044821e-01 9.83840914e-01 9.10048969e-05 -1.72956654e+00] [ 6.24453400e-04 2.11419021e-05 9.99999805e-01 -2.51905074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939072329 meters 0.02923437346848214 Centerline is valid? [True, True] Translation: X:73.40, Y:-1.73, Z:-2.52 [[ 9.83271087e-01 1.82148163e-01 1.30022745e-04 7.34020590e+01] [-1.82148162e-01 9.83271095e-01 -1.91355360e-05 -1.73330731e+00] [-1.31333110e-04 -4.86798482e-06 9.99999991e-01 -2.51824683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999072329 meters 0.03177199054644046 Centerline is valid? [True, True] Translation: X:73.46, Y:-1.74, Z:-2.52 [[ 9.82720675e-01 1.85094767e-01 -4.88847601e-05 7.34637584e+01] [-1.85094767e-01 9.82720676e-01 7.20409635e-06 -1.73597046e+00] [ 4.93735051e-05 1.96869887e-06 9.99999999e-01 -2.51756918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059072329 meters 0.033883067384100476 Centerline is valid? [True, True] Translation: X:73.52, Y:-1.74, Z:-2.52 [[ 9.82385025e-01 1.86866956e-01 -6.35681507e-04 7.35245637e+01] [-1.86866934e-01 9.82385230e-01 9.37137101e-05 -1.73948854e+00] [ 6.41996119e-04 2.67249088e-05 9.99999794e-01 -2.51832404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119072329 meters 0.03535952758916649 Centerline is valid? [True, True] Translation: X:73.59, Y:-1.74, Z:-2.52 [[ 9.81937423e-01 1.89198300e-01 -1.70303614e-03 7.35862315e+01] [-1.89198148e-01 9.81938897e-01 2.51236378e-04 -1.74357667e+00] [ 1.71981093e-03 7.55128831e-05 9.99998518e-01 -2.52029312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179072329 meters 0.037737386735248 Centerline is valid? [True, True] Translation: X:73.65, Y:-1.75, Z:-2.52 [[ 9.81757210e-01 1.90135751e-01 -1.08469826e-03 7.36471442e+01] [-1.90135690e-01 9.81757808e-01 1.60049943e-04 -1.74628179e+00] [ 1.09534220e-03 4.91096658e-05 9.99999399e-01 -2.51966860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239072329 meters 0.03645686005892325 Centerline is valid? [True, True] Translation: X:73.71, Y:-1.76, Z:-2.52 [[ 9.81661548e-01 1.90631826e-01 -3.35435500e-04 7.37091984e+01] [-1.90631820e-01 9.81661605e-01 4.96216894e-05 -1.75530493e+00] [ 3.38743625e-04 1.52329754e-05 9.99999943e-01 -2.51864113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299072329 meters 0.03594799558679868 Centerline is valid? [True, True] Translation: X:73.77, Y:-1.76, Z:-2.52 [[ 9.81681185e-01 1.90529672e-01 -7.03685337e-04 7.37711830e+01] [-1.90529647e-01 9.81681437e-01 1.04225679e-04 -1.76270236e+00] [ 7.10652917e-04 3.17565302e-05 9.99999747e-01 -2.51940693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359072329 meters 0.035144011900700926 Centerline is valid? [True, True] Translation: X:73.83, Y:-1.77, Z:-2.52 [[ 9.81727923e-01 1.90288366e-01 -7.89469345e-04 7.38323373e+01] [-1.90288334e-01 9.81728240e-01 1.17121492e-04 -1.77190785e+00] [ 7.97331208e-04 3.52453673e-05 9.99999682e-01 -2.51971120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41907232900002 meters 0.03555027324209383 Centerline is valid? [True, True] Translation: X:73.89, Y:-1.78, Z:-2.52 [[ 9.81982356e-01 1.88972501e-01 -2.13135943e-04 7.38932937e+01] [-1.88972499e-01 9.81982380e-01 3.16585171e-05 -1.77770379e+00] [ 2.15278330e-04 9.18872652e-06 9.99999977e-01 -2.51960068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47907232900002 meters 0.03404102207104477 Centerline is valid? [True, True] Translation: X:73.95, Y:-1.79, Z:-2.52 [[ 9.81984520e-01 1.88961376e-01 2.59645216e-05 7.39542080e+01] [-1.88961376e-01 9.81984520e-01 -3.82945725e-06 -1.78853316e+00] [-2.62203778e-05 -1.14582400e-06 1.00000000e+00 -2.51893606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539072329 meters 0.032759874887893406 Centerline is valid? [True, True] Translation: X:74.02, Y:-1.80, Z:-2.52 [[ 9.82214629e-01 1.87761115e-01 -4.32562410e-04 7.40160606e+01] [-1.87761105e-01 9.82214724e-01 6.44588401e-05 -1.79743914e+00] [ 4.36972032e-04 1.79059804e-05 9.99999904e-01 -2.51934828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599072329 meters 0.03291716107561919 Centerline is valid? [True, True] Translation: X:74.08, Y:-1.80, Z:-2.52 [[ 9.82328632e-01 1.87162552e-01 -7.98576926e-04 7.40779805e+01] [-1.87162517e-01 9.82328956e-01 1.19167729e-04 -1.80333620e+00] [ 8.06768975e-04 3.24017958e-05 9.99999674e-01 -2.51959172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659072329 meters 0.031081455648815256 Centerline is valid? [True, True] Translation: X:74.14, Y:-1.81, Z:-2.52 [[ 9.82397964e-01 1.86797539e-01 -9.59329906e-04 7.41389461e+01] [-1.86797488e-01 9.82398431e-01 1.43389357e-04 -1.81327735e+00] [ 9.69228974e-04 3.83350049e-05 9.99999530e-01 -2.51991296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719072329 meters 0.03143545953702414 Centerline is valid? [True, True] Translation: X:74.20, Y:-1.82, Z:-2.52 [[ 9.82327767e-01 1.87157677e-01 -2.04002337e-03 7.42014212e+01] [-1.87157445e-01 9.82329882e-01 3.05464368e-04 -1.81959743e+00] [ 2.06114592e-03 8.17394328e-05 9.99997872e-01 -2.52026044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779072329 meters 0.03258520507826532 Centerline is valid? [True, True] Translation: X:74.26, Y:-1.82, Z:-2.52 [[ 9.82179928e-01 1.87939579e-01 -1.14156302e-03 7.42636105e+01] [-1.87939506e-01 9.82180591e-01 1.71222474e-04 -1.82270809e+00] [ 1.15340052e-03 4.63735126e-05 9.99999334e-01 -2.52049771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839072329 meters 0.03313584021579393 Centerline is valid? [True, True] Translation: X:74.33, Y:-1.83, Z:-2.52 [[ 9.82005255e-01 1.88852271e-01 -7.06015534e-04 7.43250152e+01] [-1.88852244e-01 9.82005509e-01 1.05985665e-04 -1.82873144e+00] [ 7.13326777e-04 2.92541377e-05 9.99999745e-01 -2.51968118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899072329 meters 0.03329028206790316 Centerline is valid? [True, True] Translation: X:74.39, Y:-1.83, Z:-2.52 [[ 9.81608517e-01 1.90900904e-01 -1.25090656e-03 7.43865829e+01] [-1.90900819e-01 9.81609312e-01 1.87920515e-04 -1.83363728e+00] [ 1.26377572e-03 5.43347083e-05 9.99999200e-01 -2.51942965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959072329 meters 0.03457933553463968 Centerline is valid? [True, True] Translation: X:74.45, Y:-1.84, Z:-2.52 [[ 9.81238894e-01 1.92787806e-01 -1.75941515e-03 7.44483055e+01] [-1.92787641e-01 9.81240468e-01 2.64727024e-04 -1.83781285e+00] [ 1.77744549e-03 7.94330448e-05 9.99998417e-01 -2.51934959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019072329 meters 0.04139317234237419 Centerline is valid? [True, True] Translation: X:74.51, Y:-1.83, Z:-2.52 [[ 9.80742381e-01 1.95302159e-01 -1.20340255e-03 7.45102340e+01] [-1.95302083e-01 9.80743118e-01 1.81210709e-04 -1.83321506e+00] [ 1.21561961e-03 5.73060036e-05 9.99999259e-01 -2.51991892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079072329 meters 0.03887187961377061 Centerline is valid? [True, True] Translation: X:74.57, Y:-1.84, Z:-2.52 [[ 9.80398965e-01 1.97020491e-01 -8.92341113e-04 7.45714541e+01] [-1.97020450e-01 9.80399370e-01 1.34598162e-04 -1.84201993e+00] [ 9.01369261e-04 4.38495490e-05 9.99999593e-01 -2.51867258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13907232900002 meters 0.042050051795160796 Centerline is valid? [True, True] Translation: X:74.63, Y:-1.84, Z:-2.52 [[ 9.79755499e-01 2.00197155e-01 -5.11104409e-04 7.46335741e+01] [-2.00197142e-01 9.79755632e-01 7.70981795e-05 -1.84180155e+00] [ 5.16192260e-04 2.67842768e-05 9.99999866e-01 -2.51819931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19907232900002 meters 0.04276566202653143 Centerline is valid? [True, True] Translation: X:74.70, Y:-1.85, Z:-2.52 [[ 9.79414947e-01 2.01852198e-01 -1.43230457e-03 7.46962114e+01] [-2.01852098e-01 9.79415991e-01 2.16153369e-04 -1.84520002e+00] [ 1.44645303e-03 7.74098407e-05 9.99998951e-01 -2.51925211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259072329 meters 0.04427379429490436 Centerline is valid? [True, True] Translation: X:74.76, Y:-1.85, Z:-2.52 [[ 9.79086505e-01 2.03433616e-01 -2.09275556e-03 7.47582124e+01] [-2.03433403e-01 9.79088735e-01 3.16306816e-04 -1.84738156e+00] [ 2.11334083e-03 1.16044650e-04 9.99997760e-01 -2.52092805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319072329 meters 0.04347604863257722 Centerline is valid? [True, True] Translation: X:74.82, Y:-1.85, Z:-2.52 [[ 9.78877292e-01 2.04437045e-01 -2.17771723e-03 7.48197530e+01] [-2.04436816e-01 9.78879706e-01 3.29682637e-04 -1.85463591e+00] [ 2.19912254e-03 1.22486728e-04 9.99997574e-01 -2.52136154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379072329 meters 0.04381092297711481 Centerline is valid? [True, True] Translation: X:74.88, Y:-1.86, Z:-2.52 [[ 9.78717696e-01 2.05206306e-01 -1.42922429e-03 7.48817112e+01] [-2.05206208e-01 9.78718737e-01 2.16729307e-04 -1.85928454e+00] [ 1.44328281e-03 8.11688884e-05 9.99998955e-01 -2.52056345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439072329 meters 0.04517720432877086 Centerline is valid? [True, True] Translation: X:74.94, Y:-1.86, Z:-2.52 [[ 9.78721052e-01 2.05193756e-01 -7.90221851e-04 7.49433575e+01] [-2.05193725e-01 9.78721370e-01 1.20018271e-04 -1.86353653e+00] [ 7.98034012e-04 4.46841567e-05 9.99999681e-01 -2.52012188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499072329 meters 0.04440522570806114 Centerline is valid? [True, True] Translation: X:75.01, Y:-1.87, Z:-2.52 [[ 9.78707929e-01 2.05254821e-01 -1.11701998e-03 7.50056802e+01] [-2.05254761e-01 9.78708565e-01 1.69912564e-04 -1.86958056e+00] [ 1.12811239e-03 6.29788952e-05 9.99999362e-01 -2.52030719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559072329 meters 0.04440041144118599 Centerline is valid? [True, True] Translation: X:75.07, Y:-1.88, Z:-2.52 [[ 9.78868006e-01 2.04483877e-01 -1.94190008e-03 7.50673473e+01] [-2.04483692e-01 9.78869926e-01 2.95828331e-04 -1.87575431e+00] [ 1.96135971e-03 1.07510009e-04 9.99998071e-01 -2.52193950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619072329 meters 0.042023413365687164 Centerline is valid? [True, True] Translation: X:75.13, Y:-1.89, Z:-2.52 [[ 9.79137294e-01 2.03184001e-01 -2.53411299e-03 7.51291535e+01] [-2.03183680e-01 9.79140563e-01 3.86364090e-04 -1.88627238e+00] [ 2.55975582e-03 1.36586914e-04 9.99996714e-01 -2.52338377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679072329 meters 0.042388048515423105 Centerline is valid? [True, True] Translation: X:75.19, Y:-1.89, Z:-2.52 [[ 9.79585200e-01 2.01015086e-01 -2.40247116e-03 7.51900043e+01] [-2.01014791e-01 9.79588138e-01 3.66364352e-04 -1.89135245e+00] [ 2.42707701e-03 1.24047140e-04 9.99997047e-01 -2.52403694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739072329 meters 0.04121822818867834 Centerline is valid? [True, True] Translation: X:75.25, Y:-1.90, Z:-2.52 [[ 9.79921235e-01 1.99381002e-01 -1.26103625e-03 7.52508793e+01] [-1.99380919e-01 9.79922044e-01 1.92346601e-04 -1.89987585e+00] [ 1.27406748e-03 6.29420486e-05 9.99999186e-01 -2.52323697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799072329 meters 0.036932915985722424 Centerline is valid? [True, True] Translation: X:75.31, Y:-1.91, Z:-2.52 [[ 9.80644857e-01 1.95791775e-01 -1.11617757e-03 7.53104844e+01] [-1.95791708e-01 9.80645491e-01 1.70268884e-04 -1.91291886e+00] [ 1.12791175e-03 5.15650082e-05 9.99999363e-01 -2.52212898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859072329 meters 0.03586343135614986 Centerline is valid? [True, True] Translation: X:75.37, Y:-1.92, Z:-2.52 [[ 9.81394049e-01 1.91987197e-01 -2.57635638e-03 7.53694976e+01] [-1.91986825e-01 9.81397424e-01 3.93191494e-04 -1.92098172e+00] [ 2.60391725e-03 1.08750690e-04 9.99996604e-01 -2.52427705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91907232900002 meters 0.03328838304173782 Centerline is valid? [True, True] Translation: X:75.43, Y:-1.93, Z:-2.53 [[ 9.82242967e-01 1.87595808e-01 -2.56237799e-03 7.54282711e+01] [-1.87595425e-01 9.82246305e-01 3.91049552e-04 -1.93082209e+00] [ 2.59024557e-03 9.65847163e-05 9.99996641e-01 -2.52600196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97907232900002 meters 0.02664605589653313 Centerline is valid? [True, True] Translation: X:75.49, Y:-1.95, Z:-2.52 [[ 9.82881244e-01 1.84230731e-01 -1.87033948e-03 7.54880901e+01] [-1.84230521e-01 9.82883021e-01 2.85544126e-04 -1.94801872e+00] [ 1.89093093e-03 6.39176524e-05 9.99998210e-01 -2.52454318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039072329 meters 0.024262585886689662 Centerline is valid? [True, True] Translation: X:75.55, Y:-1.96, Z:-2.52 [[ 9.83658229e-01 1.80045756e-01 -1.19351203e-04 7.55488135e+01] [-1.80045755e-01 9.83658236e-01 1.82400465e-05 -1.95878499e+00] [ 1.20684837e-04 3.54670563e-06 9.99999993e-01 -2.52223650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099072329 meters 0.02141678991368641 Centerline is valid? [True, True] Translation: X:75.61, Y:-1.97, Z:-2.52 [[ 9.84277660e-01 1.76624989e-01 -1.04907307e-03 7.56096380e+01] [-1.76624919e-01 9.84278219e-01 1.60302481e-04 -1.97072690e+00] [ 1.06089320e-03 2.75102955e-05 9.99999437e-01 -2.52316400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159072329 meters 0.017564986462935583 Centerline is valid? [True, True] Translation: X:75.67, Y:-1.98, Z:-2.53 [[ 9.85307116e-01 1.70769082e-01 -2.79412009e-03 7.56697478e+01] [-1.70768557e-01 9.85311076e-01 4.27038060e-04 -1.98427352e+00] [ 2.82600237e-03 5.63842173e-05 9.99996005e-01 -2.52568685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219072329 meters 0.013895189301493905 Centerline is valid? [True, True] Translation: X:75.73, Y:-2.00, Z:-2.53 [[ 9.86318650e-01 1.64837741e-01 -2.00986581e-03 7.57289454e+01] [-1.64837457e-01 9.86320697e-01 3.07248426e-04 -1.99814870e+00] [ 2.03301839e-03 2.82563178e-05 9.99997933e-01 -2.52542300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279072329 meters 0.009865613419638705 Centerline is valid? [True, True] Translation: X:75.79, Y:-2.01, Z:-2.52 [[ 9.87337025e-01 1.58632811e-01 -1.10896712e-03 7.57893681e+01] [-1.58632721e-01 9.87337648e-01 1.69837303e-04 -2.01401914e+00] [ 1.12186676e-03 8.23181444e-06 9.99999371e-01 -2.52436378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339072329 meters 0.008352089716363016 Centerline is valid? [True, True] Translation: X:75.85, Y:-2.03, Z:-2.52 [[ 9.87980710e-01 1.54576008e-01 -6.12383106e-04 7.58497812e+01] [-1.54575980e-01 9.87980899e-01 9.39533404e-05 -2.02764335e+00] [ 6.19545744e-04 1.83563078e-06 9.99999808e-01 -2.52427647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399072329 meters 0.008217899000607475 Centerline is valid? [True, True] Translation: X:75.91, Y:-2.04, Z:-2.52 [[ 9.88749133e-01 1.49578938e-01 -1.13700363e-03 7.59112409e+01] [-1.49578836e-01 9.88749787e-01 1.74750439e-04 -2.04233761e+00] [ 1.15035108e-03 -2.71266586e-06 9.99999338e-01 -2.52436995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459072329 meters 0.009774511162326364 Centerline is valid? [True, True] Translation: X:75.97, Y:-2.06, Z:-2.53 [[ 9.89403504e-01 1.45188645e-01 -9.81178789e-04 7.59722466e+01] [-1.45188567e-01 9.89403991e-01 1.51049100e-04 -2.05654194e+00] [ 9.92712823e-04 -6.99256630e-06 9.99999507e-01 -2.52516550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519072329 meters 0.013023479383094073 Centerline is valid? [True, True] Translation: X:76.03, Y:-2.07, Z:-2.53 [[ 9.90300941e-01 1.38928124e-01 -1.73841488e-03 7.60331038e+01] [-1.38927868e-01 9.90302467e-01 2.68053338e-04 -2.07215527e+00] [ 1.75879669e-03 -2.39392014e-05 9.99998453e-01 -2.52571984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579072329 meters 0.01860907885241822 Centerline is valid? [True, True] Translation: X:76.09, Y:-2.09, Z:-2.52 [[ 9.91313427e-01 1.31516675e-01 -1.02684784e-03 7.60908320e+01] [-1.31516581e-01 9.91313958e-01 1.58314082e-04 -2.08924998e+00] [ 1.03874954e-03 -2.18913570e-05 9.99999460e-01 -2.52487621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63907232900002 meters 0.02345313346077348 Centerline is valid? [True, True] Translation: X:76.15, Y:-2.11, Z:-2.53 [[ 9.91926494e-01 1.26812501e-01 -6.47875279e-04 7.61496662e+01] [-1.26812463e-01 9.91926706e-01 9.99135982e-05 -2.10548485e+00] [ 6.55315084e-04 -1.69482857e-05 9.99999785e-01 -2.52517184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69907232900002 meters 0.02729512881195304 Centerline is valid? [True, True] Translation: X:76.21, Y:-2.12, Z:-2.53 [[ 9.92848955e-01 1.19369865e-01 -1.33724013e-03 7.62094456e+01] [-1.19369696e-01 9.92849854e-01 2.06243182e-04 -2.11999926e+00] [ 1.35229789e-03 -4.51423807e-05 9.99999085e-01 -2.52736655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759072329 meters 0.03259463507509332 Centerline is valid? [True, True] Translation: X:76.27, Y:-2.14, Z:-2.53 [[ 9.93456361e-01 1.14203924e-01 -1.38640074e-03 7.62672623e+01] [-1.14203737e-01 9.93457327e-01 2.13822798e-04 -2.13600262e+00] [ 1.40174937e-03 -5.40914739e-05 9.99999016e-01 -2.52731693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819072329 meters 0.035731368571941965 Centerline is valid? [True, True] Translation: X:76.33, Y:-2.15, Z:-2.53 [[ 9.94271762e-01 1.06877946e-01 -8.76811198e-04 7.63264821e+01] [-1.06877868e-01 9.94272147e-01 1.35234379e-04 -2.15069376e+00] [ 8.86242525e-04 -4.07480124e-05 9.99999606e-01 -2.52725520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879072329 meters 0.04153105701699478 Centerline is valid? [True, True] Translation: X:76.39, Y:-2.17, Z:-2.53 [[ 9.95020036e-01 9.96653743e-02 -1.39352985e-03 7.63858474e+01] [-9.96651707e-02 9.95021009e-01 2.14971191e-04 -2.16812083e+00] [ 1.40801666e-03 -7.50142520e-05 9.99999006e-01 -2.52945855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939072329 meters 0.050782208048783 Centerline is valid? [True, True] Translation: X:76.44, Y:-2.19, Z:-2.53 [[ 9.95680842e-01 9.28357951e-02 -1.08467780e-03 7.64435687e+01] [-9.28356677e-02 9.95681430e-01 1.67337297e-04 -2.18996390e+00] [ 1.09552844e-03 -6.59177531e-05 9.99999398e-01 -2.52868409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999072329 meters 0.0481903181233127 Centerline is valid? [True, True] Translation: X:76.50, Y:-2.20, Z:-2.53 [[ 9.96097851e-01 8.82556684e-02 -9.21239732e-05 7.65037539e+01] [-8.82556675e-02 9.96097855e-01 1.42136735e-05 -2.19646671e+00] [ 9.30189294e-05 -6.02774684e-06 9.99999996e-01 -2.52811483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059072329 meters 0.059827147803254675 Centerline is valid? [True, True] Translation: X:76.56, Y:-2.22, Z:-2.53 [[ 9.96684557e-01 8.13625599e-02 -1.69176791e-04 7.65602695e+01] [-8.13625566e-02 9.96684571e-01 2.61133024e-05 -2.22133358e+00] [ 1.70740543e-04 -1.22620689e-05 9.99999985e-01 -2.52818539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119072329 meters 0.062385080126678365 Centerline is valid? [True, True] Translation: X:76.62, Y:-2.23, Z:-2.53 [[ 9.97222921e-01 7.44744618e-02 1.05852552e-05 7.66194444e+01] [-7.44744618e-02 9.97222921e-01 -1.63248725e-06 -2.23480247e+00] [-1.06774378e-05 8.39622515e-07 1.00000000e+00 -2.52918496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179072329 meters 0.06548293607577849 Centerline is valid? [True, True] Translation: X:76.68, Y:-2.25, Z:-2.53 [[ 9.97511500e-01 7.05030240e-02 -3.61849002e-04 7.66785026e+01] [-7.05030084e-02 9.97511565e-01 5.58470312e-05 -2.24851647e+00] [ 3.64885949e-04 -3.01966126e-05 9.99999933e-01 -2.52945166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239072329 meters 0.07263123264943823 Centerline is valid? [True, True] Translation: X:76.74, Y:-2.27, Z:-2.53 [[ 9.97913129e-01 6.45707194e-02 1.00245188e-04 7.67357822e+01] [-6.45707182e-02 9.97913134e-01 -1.54718471e-05 -2.26812110e+00] [-1.01035018e-04 8.96665561e-06 9.99999995e-01 -2.52921068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299072329 meters 0.07411978283433639 Centerline is valid? [True, True] Translation: X:76.80, Y:-2.28, Z:-2.53 [[ 9.98155503e-01 6.07086199e-02 2.34775255e-04 7.67959182e+01] [-6.07086131e-02 9.98155530e-01 -3.62345205e-05 -2.27993018e+00] [-2.36541967e-04 2.19148059e-05 9.99999972e-01 -2.52950565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359072329 meters 0.07566886005451018 Centerline is valid? [True, True] Translation: X:76.86, Y:-2.29, Z:-2.53 [[ 9.98442367e-01 5.57928182e-02 4.16244318e-05 7.68554634e+01] [-5.57928180e-02 9.98442368e-01 -6.42459064e-06 -2.29232167e+00] [-4.19180423e-05 4.09223913e-06 9.99999999e-01 -2.53032432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41907232900002 meters 0.07306819754973515 Centerline is valid? [True, True] Translation: X:76.92, Y:-2.30, Z:-2.53 [[ 9.98695052e-01 5.10704306e-02 7.07412018e-05 7.69156410e+01] [-5.10704299e-02 9.98695054e-01 -1.09186485e-05 -2.29877376e+00] [-7.12065085e-05 7.29161663e-06 9.99999997e-01 -2.53039354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47907232900002 meters 0.07789580534057777 Centerline is valid? [True, True] Translation: X:76.97, Y:-2.32, Z:-2.53 [[ 9.98924723e-01 4.63613727e-02 -1.46183888e-04 7.69743660e+01] [-4.63613699e-02 9.98924733e-01 2.25697537e-05 -2.31519365e+00] [ 1.47073066e-04 -1.57681996e-05 9.99999989e-01 -2.53134490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539072329 meters 0.08095989545239224 Centerline is valid? [True, True] Translation: X:77.03, Y:-2.33, Z:-2.53 [[ 9.99033622e-01 4.39507369e-02 3.93242071e-04 7.70331340e+01] [-4.39507164e-02 9.99033699e-01 -6.07111928e-05 -2.32900643e+00] [-3.95530382e-04 4.33692521e-05 9.99999921e-01 -2.53099456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599072329 meters 0.08386224829947067 Centerline is valid? [True, True] Translation: X:77.09, Y:-2.34, Z:-2.53 [[ 9.99193673e-01 4.01496464e-02 1.02380003e-04 7.70929325e+01] [-4.01496450e-02 9.99193678e-01 -1.58056567e-05 -2.34255487e+00] [-1.02932044e-04 1.16823913e-05 9.99999995e-01 -2.53243213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659072329 meters 0.08355605284679428 Centerline is valid? [True, True] Translation: X:77.15, Y:-2.35, Z:-2.53 [[ 9.99287322e-01 3.77469125e-02 1.34402748e-04 7.71528877e+01] [-3.77469101e-02 9.99287331e-01 -2.07529458e-05 -2.35215614e+00] [-1.35090323e-04 1.56648672e-05 9.99999991e-01 -2.53392471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719072329 meters 0.0927934197022207 Centerline is valid? [True, True] Translation: X:77.21, Y:-2.37, Z:-2.53 [[ 9.99400163e-01 3.46303073e-02 2.35178306e-04 7.72098288e+01] [-3.46302997e-02 9.99400191e-01 -3.63230109e-05 -2.37456861e+00] [-2.36295121e-04 2.81569278e-05 9.99999972e-01 -2.53346162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779072329 meters 0.08509651568891868 Centerline is valid? [True, True] Translation: X:77.27, Y:-2.37, Z:-2.53 [[ 9.99476861e-01 3.23279733e-02 9.52560778e-04 7.72710927e+01] [-3.23278475e-02 9.99477308e-01 -1.47166651e-04 -2.37442524e+00] [-9.56820481e-04 1.16295423e-04 9.99999535e-01 -2.53350012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839072329 meters 0.09310328628260774 Centerline is valid? [True, True] Translation: X:77.33, Y:-2.40, Z:-2.54 [[ 9.99539037e-01 3.03592882e-02 -1.62609987e-04 7.73280633e+01] [-3.03592845e-02 9.99539050e-01 2.51186081e-05 -2.39505017e+00] [ 1.63297615e-04 -2.01703065e-05 9.99999986e-01 -2.53540565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899072329 meters 0.09442265116017877 Centerline is valid? [True, True] Translation: X:77.39, Y:-2.41, Z:-2.54 [[ 9.99585260e-01 2.87949376e-02 -3.98458365e-04 7.73878638e+01] [-2.87949153e-02 9.99585339e-01 6.15639889e-05 -2.40636058e+00] [ 4.00065871e-04 -5.00648810e-05 9.99999919e-01 -2.53653308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959072329 meters 0.09522087444926244 Centerline is valid? [True, True] Translation: X:77.45, Y:-2.42, Z:-2.53 [[ 9.99636695e-01 2.69263544e-02 1.20383034e-03 7.74476803e+01] [-2.69261496e-02 9.99637408e-01 -1.86002644e-04 -2.41753887e+00] [-1.20840221e-03 1.53520552e-04 9.99999258e-01 -2.53432541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019072329 meters 0.09239003877145842 Centerline is valid? [True, True] Translation: X:77.51, Y:-2.42, Z:-2.53 [[ 9.99664037e-01 2.58749946e-02 1.51589092e-03 7.75084101e+01] [-2.58746687e-02 9.99665167e-01 -2.34245190e-04 -2.42320958e+00] [-1.52144445e-03 1.94943317e-04 9.99998824e-01 -2.53412373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079072329 meters 0.09417091029418116 Centerline is valid? [True, True] Translation: X:77.57, Y:-2.44, Z:-2.54 [[ 9.99667288e-01 2.57850430e-02 6.67132045e-04 7.75690510e+01] [-2.57849797e-02 9.99667507e-01 -1.03223237e-04 -2.43508807e+00] [-6.69571844e-04 8.59869075e-05 9.99999772e-01 -2.53622711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13907232900002 meters 0.08655436142677043 Centerline is valid? [True, True] Translation: X:77.63, Y:-2.44, Z:-2.54 [[ 9.99668923e-01 2.57265337e-02 -4.35574590e-04 7.76314881e+01] [-2.57265066e-02 9.99669016e-01 6.75605177e-05 -2.43539740e+00] [ 4.37168520e-04 -5.63323374e-05 9.99999903e-01 -2.53713782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19907232900002 meters 0.08863888174339968 Centerline is valid? [True, True] Translation: X:77.69, Y:-2.45, Z:-2.54 [[ 9.99663396e-01 2.59440454e-02 -3.72788669e-05 7.76934802e+01] [-2.59440452e-02 9.99663397e-01 5.82740019e-06 -2.44788467e+00] [ 3.74175050e-05 -4.85827405e-06 9.99999999e-01 -2.53766421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259072329 meters 0.0897585040245421 Centerline is valid? [True, True] Translation: X:77.75, Y:-2.46, Z:-2.54 [[ 9.99652504e-01 2.63600417e-02 -1.41279831e-04 7.77543461e+01] [-2.63600389e-02 9.99652514e-01 2.20113236e-05 -2.45884927e+00] [ 1.41810957e-04 -1.82795329e-05 9.99999990e-01 -2.53788736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319072329 meters 0.08937329235637435 Centerline is valid? [True, True] Translation: X:77.81, Y:-2.47, Z:-2.54 [[ 9.99623582e-01 2.74344378e-02 -2.12602390e-04 7.78149213e+01] [-2.74344314e-02 9.99623605e-01 3.30871582e-05 -2.46858966e+00] [ 2.13430095e-04 -2.72420779e-05 9.99999977e-01 -2.53927298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379072329 meters 0.0931030689916574 Centerline is valid? [True, True] Translation: X:77.87, Y:-2.48, Z:-2.54 [[ 9.99602443e-01 2.81577626e-02 -1.44770477e-03 7.78744562e+01] [-2.81574653e-02 9.99603475e-01 2.25329502e-04 -2.48318462e+00] [ 1.45347549e-03 -1.84476224e-04 9.99998927e-01 -2.54134863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439072329 meters 0.09234878205757677 Centerline is valid? [True, True] Translation: X:77.94, Y:-2.49, Z:-2.54 [[ 9.99580074e-01 2.89096932e-02 -1.97636003e-03 7.79350464e+01] [-2.89091404e-02 9.99581996e-01 3.07681138e-04 -2.49122730e+00] [ 1.98442887e-03 -2.50417066e-04 9.99998000e-01 -2.54284169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499072329 meters 0.09511056024419642 Centerline is valid? [True, True] Translation: X:77.99, Y:-2.50, Z:-2.54 [[ 9.99535652e-01 3.04571032e-02 -9.19475217e-04 7.79932577e+01] [-3.04569842e-02 9.99536068e-01 1.43124269e-04 -2.50406371e+00] [ 9.23407794e-04 -1.15053367e-04 9.99999567e-01 -2.54197315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559072329 meters 0.09427022647865695 Centerline is valid? [True, True] Translation: X:78.05, Y:-2.51, Z:-2.54 [[ 9.99496063e-01 3.17270420e-02 -1.00750973e-03 7.80542016e+01] [-3.17268997e-02 9.99496563e-01 1.56888746e-04 -2.51270191e+00] [ 1.01198013e-03 -1.24844523e-04 9.99999480e-01 -2.54173120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619072329 meters 0.0925256074861828 Centerline is valid? [True, True] Translation: X:78.11, Y:-2.52, Z:-2.54 [[ 9.99433187e-01 3.36255825e-02 -1.62040130e-03 7.81144415e+01] [-3.36252169e-02 9.99434481e-01 2.52346456e-04 -2.51964773e+00] [ 1.62797023e-03 -1.97717078e-04 9.99998655e-01 -2.54231664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679072329 meters 0.08794018246463103 Centerline is valid? [True, True] Translation: X:78.18, Y:-2.52, Z:-2.54 [[ 9.99370219e-01 3.54564939e-02 -1.41512794e-03 7.81751113e+01] [-3.54562168e-02 9.99371206e-01 2.20414538e-04 -2.52376697e+00] [ 1.42205325e-03 -1.70100641e-04 9.99998974e-01 -2.54193871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739072329 meters 0.08769365468956546 Centerline is valid? [True, True] Translation: X:78.24, Y:-2.53, Z:-2.54 [[ 9.99336974e-01 3.63942966e-02 -1.03335902e-03 7.82356266e+01] [-3.63941493e-02 9.99337501e-01 1.60990860e-04 -2.53313613e+00] [ 1.03853357e-03 -1.23275897e-04 9.99999453e-01 -2.54124889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799072329 meters 0.08879471381484424 Centerline is valid? [True, True] Translation: X:78.30, Y:-2.54, Z:-2.54 [[ 9.99245538e-01 3.88244609e-02 -1.00835445e-03 7.82952436e+01] [-3.88243219e-02 9.99246039e-01 1.57095641e-04 -2.54354886e+00] [ 1.01369334e-03 -1.17828440e-04 9.99999479e-01 -2.54141564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859072329 meters 0.09001933415145381 Centerline is valid? [True, True] Translation: X:78.35, Y:-2.56, Z:-2.54 [[ 9.99144133e-01 4.12576161e-02 -2.96836966e-03 7.83536059e+01] [-4.12564221e-02 9.99148484e-01 4.62403372e-04 -2.55515199e+00] [ 2.98491971e-03 -3.39543305e-04 9.99995487e-01 -2.54386054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91907232900002 meters 0.08476085306266411 Centerline is valid? [True, True] Translation: X:78.41, Y:-2.56, Z:-2.54 [[ 9.99059290e-01 4.32527252e-02 -3.12042169e-03 7.84144141e+01] [-4.32514153e-02 9.99064101e-01 4.86091717e-04 -2.55780680e+00] [ 3.13852609e-03 -3.50671791e-04 9.99995013e-01 -2.54421845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97907232900002 meters 0.09235943020604956 Centerline is valid? [True, True] Translation: X:78.47, Y:-2.58, Z:-2.54 [[ 9.98990620e-01 4.47898636e-02 -3.40709257e-03 7.84722304e+01] [-4.47883107e-02 9.98996359e-01 5.30748610e-04 -2.57651269e+00] [ 3.42744523e-03 -3.77614963e-04 9.99994055e-01 -2.54487316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039072329 meters 0.08508745108499338 Centerline is valid? [True, True] Translation: X:78.53, Y:-2.58, Z:-2.54 [[ 9.98871249e-01 4.73237122e-02 -4.08580294e-03 7.85337467e+01] [-4.73215000e-02 9.98879508e-01 6.36484111e-04 -2.57754275e+00] [ 4.11134562e-03 -4.42419356e-04 9.99991451e-01 -2.54455119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099072329 meters 0.08096395626470965 Centerline is valid? [True, True] Translation: X:78.59, Y:-2.58, Z:-2.55 [[ 9.98754684e-01 4.96919515e-02 -4.44865498e-03 7.85945672e+01] [-4.96893520e-02 9.98764481e-01 6.93037461e-04 -2.58187816e+00] [ 4.47759697e-03 -4.71123627e-04 9.99989865e-01 -2.54620729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159072329 meters 0.07588870081981237 Centerline is valid? [True, True] Translation: X:78.66, Y:-2.58, Z:-2.55 [[ 9.98684344e-01 5.10413779e-02 -4.93545539e-03 7.86568622e+01] [-5.10381932e-02 9.98696406e-01 7.69151113e-04 -2.58496289e+00] [ 4.96828009e-03 -5.16242449e-04 9.99987525e-01 -2.54670252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219072329 meters 0.07697584083086514 Centerline is valid? [True, True] Translation: X:78.72, Y:-2.60, Z:-2.55 [[ 9.98556780e-01 5.35675828e-02 -3.85643019e-03 7.87156882e+01] [-5.35656574e-02 9.98564149e-01 6.00930933e-04 -2.59659983e+00] [ 3.88308335e-03 -3.93491439e-04 9.99992383e-01 -2.54610661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279072329 meters 0.07667367852787199 Centerline is valid? [True, True] Translation: X:78.78, Y:-2.61, Z:-2.55 [[ 9.98467975e-01 5.52044314e-02 -3.76491335e-03 7.87753867e+01] [-5.52026078e-02 9.98475001e-01 5.86672058e-04 -2.60558144e+00] [ 3.79155876e-03 -3.77940226e-04 9.99992741e-01 -2.54612830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339072329 meters 0.07699078955491884 Centerline is valid? [True, True] Translation: X:78.83, Y:-2.62, Z:-2.55 [[ 9.98303397e-01 5.80769835e-02 -4.17037687e-03 7.88342742e+01] [-5.80747710e-02 9.98312025e-01 6.49782692e-04 -2.61579037e+00] [ 4.20107480e-03 -4.06486587e-04 9.99991093e-01 -2.54747833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399072329 meters 0.0744825183851053 Centerline is valid? [True, True] Translation: X:78.90, Y:-2.62, Z:-2.55 [[ 9.98171956e-01 6.02355135e-02 -4.94251606e-03 7.88952425e+01] [-6.02324316e-02 9.98184082e-01 7.70180894e-04 -2.62246259e+00] [ 4.97993309e-03 -4.71073210e-04 9.99987489e-01 -2.54866064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459072329 meters 0.07480114764266206 Centerline is valid? [True, True] Translation: X:78.95, Y:-2.63, Z:-2.55 [[ 9.98014537e-01 6.28178699e-02 -4.57166050e-03 7.89544760e+01] [-6.28152602e-02 9.98024917e-01 7.12340535e-04 -2.63283664e+00] [ 4.60737881e-03 -4.23756165e-04 9.99989296e-01 -2.54848019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519072329 meters 0.07269773723066568 Centerline is valid? [True, True] Translation: X:79.01, Y:-2.64, Z:-2.55 [[ 9.97872154e-01 6.50553034e-02 -4.35560973e-03 7.90145688e+01] [-6.50529557e-02 9.97881582e-01 6.78677508e-04 -2.63995883e+00] [ 4.39053430e-03 -3.93888100e-04 9.99990284e-01 -2.54837474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579072329 meters 0.06520574524220102 Centerline is valid? [True, True] Translation: X:79.08, Y:-2.64, Z:-2.55 [[ 9.97698705e-01 6.76656980e-02 -4.31837059e-03 7.90760880e+01] [-6.76634142e-02 9.97707978e-01 6.72956052e-04 -2.63990489e+00] [ 4.35400883e-03 -3.79211683e-04 9.99990449e-01 -2.54791812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63907232900002 meters 0.0654267009785714 Centerline is valid? [True, True] Translation: X:79.14, Y:-2.65, Z:-2.55 [[ 9.97503383e-01 7.05001553e-02 -4.09000691e-03 7.91363275e+01] [-7.04981301e-02 9.97511708e-01 6.37416412e-04 -2.64987070e+00] [ 4.12476774e-03 -3.47487188e-04 9.99991433e-01 -2.54827005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69907232900002 meters 0.0687796209361437 Centerline is valid? [True, True] Translation: X:79.20, Y:-2.66, Z:-2.55 [[ 9.97377735e-01 7.22538127e-02 -4.12806007e-03 7.91955566e+01] [-7.22517639e-02 9.97386218e-01 6.43497501e-04 -2.66435351e+00] [ 4.16376537e-03 -3.43550458e-04 9.99991272e-01 -2.54838496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759072329 meters 0.05938255433906095 Centerline is valid? [True, True] Translation: X:79.26, Y:-2.66, Z:-2.55 [[ 9.97214946e-01 7.43981555e-02 -5.22164998e-03 7.92585563e+01] [-7.43949051e-02 9.97228527e-01 8.14258811e-04 -2.66180881e+00] [ 5.26775767e-03 -4.23526902e-04 9.99986036e-01 -2.54931857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819072329 meters 0.06299043225394355 Centerline is valid? [True, True] Translation: X:79.32, Y:-2.68, Z:-2.55 [[ 9.96983737e-01 7.73274774e-02 -6.62483921e-03 7.93167399e+01] [-7.73223095e-02 9.97005613e-01 1.03306177e-03 -2.67537912e+00] [ 6.68488594e-03 -5.17697913e-04 9.99977522e-01 -2.55252873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879072329 meters 0.060079708944360044 Centerline is valid? [True, True] Translation: X:79.38, Y:-2.68, Z:-2.55 [[ 9.96730268e-01 8.06013635e-02 -5.67388198e-03 7.93775014e+01] [-8.05976253e-02 9.96746327e-01 8.84807393e-04 -2.68179791e+00] [ 5.72673770e-03 -4.24612896e-04 9.99983512e-01 -2.55132583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939072329 meters 0.0544005236841098 Centerline is valid? [True, True] Translation: X:79.44, Y:-2.68, Z:-2.55 [[ 9.96497181e-01 8.34455890e-02 -5.49566457e-03 7.94386359e+01] [-8.34421245e-02 9.96512256e-01 8.57118597e-04 -2.68408437e+00] [ 5.54801986e-03 -3.95546339e-04 9.99984531e-01 -2.54976830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999072329 meters 0.05646427143428036 Centerline is valid? [True, True] Translation: X:79.50, Y:-2.70, Z:-2.55 [[ 9.96277431e-01 8.59688670e-02 -6.37450349e-03 7.94976696e+01] [-8.59642572e-02 9.96297726e-01 9.94181926e-04 -2.69619340e+00] [ 6.43637203e-03 -4.42501558e-04 9.99979188e-01 -2.55176814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059072329 meters 0.05001344573257041 Centerline is valid? [True, True] Translation: X:79.56, Y:-2.70, Z:-2.55 [[ 9.96078225e-01 8.82768203e-02 -5.94753502e-03 7.95600980e+01] [-8.82728462e-02 9.96095901e-01 9.27931287e-04 -2.69760468e+00] [ 6.00623008e-03 -3.99286305e-04 9.99981883e-01 -2.55097869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119072329 meters 0.04780485355779154 Centerline is valid? [True, True] Translation: X:79.62, Y:-2.70, Z:-2.55 [[ 9.95758266e-01 9.18580702e-02 -5.25067974e-03 7.96206764e+01] [-9.18550217e-02 9.95772054e-01 8.19337668e-04 -2.70367364e+00] [ 5.30374293e-03 -3.33560954e-04 9.99985879e-01 -2.55084032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179072329 meters 0.048246414781945315 Centerline is valid? [True, True] Translation: X:79.68, Y:-2.71, Z:-2.55 [[ 9.95538510e-01 9.41935129e-02 -5.53682534e-03 7.96805955e+01] [-9.41901578e-02 9.95553850e-01 8.64194010e-04 -2.71371031e+00] [ 5.59360925e-03 -3.38823965e-04 9.99984298e-01 -2.55150389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239072329 meters 0.049942861350860665 Centerline is valid? [True, True] Translation: X:79.74, Y:-2.73, Z:-2.55 [[ 9.95395846e-01 9.56524285e-02 -6.14195178e-03 7.97406840e+01] [-9.56483221e-02 9.95414727e-01 9.59545484e-04 -2.72560467e+00] [ 6.20557210e-03 -3.67660207e-04 9.99980678e-01 -2.55283534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299072329 meters 0.05058066854552428 Centerline is valid? [True, True] Translation: X:79.80, Y:-2.74, Z:-2.55 [[ 9.95206601e-01 9.75660371e-02 -6.68506766e-03 7.98001069e+01] [-9.75612147e-02 9.95228978e-01 1.04449577e-03 -2.73560054e+00] [ 6.75508037e-03 -3.87285762e-04 9.99977109e-01 -2.55320245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359072329 meters 0.044507085848806034 Centerline is valid? [True, True] Translation: X:79.86, Y:-2.74, Z:-2.55 [[ 9.94909311e-01 1.00639361e-01 -5.21369669e-03 7.98619230e+01] [-1.00636469e-01 9.94922930e-01 8.14699334e-04 -2.73665178e+00] [ 5.26921721e-03 -2.85863926e-04 9.99986077e-01 -2.55155128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41907232900002 meters 0.042198562967624316 Centerline is valid? [True, True] Translation: X:79.92, Y:-2.74, Z:-2.55 [[ 9.94632466e-01 1.03286592e-01 -6.17561527e-03 7.99233153e+01] [-1.03282584e-01 9.94651585e-01 9.65355712e-04 -2.74308972e+00] [ 6.24229382e-03 -3.22340630e-04 9.99980465e-01 -2.55290060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47907232900002 meters 0.04033735016813727 Centerline is valid? [True, True] Translation: X:79.98, Y:-2.75, Z:-2.55 [[ 9.94405372e-01 1.05422050e-01 -6.64443936e-03 7.99845893e+01] [-1.05417455e-01 9.94427514e-01 1.03900951e-03 -2.75012982e+00] [ 6.71694782e-03 -3.32756756e-04 9.99977386e-01 -2.55406918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539072329 meters 0.036287042201214155 Centerline is valid? [True, True] Translation: X:80.05, Y:-2.75, Z:-2.55 [[ 9.94082913e-01 1.08471432e-01 -5.75421328e-03 8.00459345e+01] [-1.08468036e-01 9.94099530e-01 9.00020016e-04 -2.75402369e+00] [ 5.81788717e-03 -2.70546309e-04 9.99983039e-01 -2.55250623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599072329 meters 0.03601363255368678 Centerline is valid? [True, True] Translation: X:80.11, Y:-2.76, Z:-2.55 [[ 9.93725805e-01 1.11724666e-01 -5.15971224e-03 8.01060899e+01] [-1.11721978e-01 9.93739175e-01 8.07226812e-04 -2.76286648e+00] [ 5.21759533e-03 -2.25708856e-04 9.99986363e-01 -2.55172406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659072329 meters 0.035363713396382626 Centerline is valid? [True, True] Translation: X:80.17, Y:-2.77, Z:-2.55 [[ 9.93477829e-01 1.13901674e-01 -5.31153924e-03 8.01677174e+01] [-1.13898849e-01 9.93492003e-01 8.32351092e-04 -2.77114924e+00] [ 5.37177794e-03 -2.21944152e-04 9.99985547e-01 -2.55293246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719072329 meters 0.031395181125291445 Centerline is valid? [True, True] Translation: X:80.23, Y:-2.77, Z:-2.55 [[ 9.93096838e-01 1.17151622e-01 -5.84531144e-03 8.02295481e+01] [-1.17148255e-01 9.93114015e-01 9.16295782e-04 -2.77458791e+00] [ 5.91240625e-03 -2.25202408e-04 9.99982496e-01 -2.55397430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779072329 meters 0.03199960750975358 Centerline is valid? [True, True] Translation: X:80.29, Y:-2.78, Z:-2.55 [[ 9.92876911e-01 1.18989033e-01 -6.08680737e-03 8.02897348e+01] [-1.18985408e-01 9.92895543e-01 9.55624053e-04 -2.78428964e+00] [ 6.15727269e-03 -2.24575802e-04 9.99981019e-01 -2.55402956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839072329 meters 0.027008862289678255 Centerline is valid? [True, True] Translation: X:80.35, Y:-2.79, Z:-2.55 [[ 9.92609404e-01 1.21266544e-01 -4.58220366e-03 8.03519200e+01] [-1.21264513e-01 9.92619968e-01 7.19651565e-04 -2.78669113e+00] [ 4.63565650e-03 -1.58674217e-04 9.99989243e-01 -2.55255071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899072329 meters 0.024888236517700304 Centerline is valid? [True, True] Translation: X:80.41, Y:-2.79, Z:-2.55 [[ 9.92249518e-01 1.24185405e-01 -4.34509250e-03 8.04128405e+01] [-1.24183606e-01 9.92259022e-01 6.82578156e-04 -2.79266668e+00] [ 4.39622348e-03 -1.37698591e-04 9.99990327e-01 -2.55270677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959072329 meters 0.02326949337822949 Centerline is valid? [True, True] Translation: X:80.47, Y:-2.80, Z:-2.55 [[ 9.91961580e-01 1.26474572e-01 -4.05040493e-03 8.04748935e+01] [-1.26473023e-01 9.91969842e-01 6.37402123e-04 -2.79957388e+00] [ 4.09849470e-03 -1.20011462e-04 9.99991594e-01 -2.55298199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019072329 meters 0.023314561878484432 Centerline is valid? [True, True] Translation: X:80.54, Y:-2.81, Z:-2.55 [[ 9.91564062e-01 1.29538001e-01 -4.54071499e-03 8.05352207e+01] [-1.29536081e-01 9.91574451e-01 7.15663158e-04 -2.80899002e+00] [ 4.59516255e-03 -1.21439443e-04 9.99989435e-01 -2.55286972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079072329 meters 0.0211933823501616 Centerline is valid? [True, True] Translation: X:80.60, Y:-2.81, Z:-2.55 [[ 9.91221955e-01 1.32129171e-01 -4.57372673e-03 8.05969983e+01] [-1.32127245e-01 9.91232500e-01 7.22046011e-04 -2.81498345e+00] [ 4.62902993e-03 -1.11393946e-04 9.99989280e-01 -2.55405664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13907232900002 meters 0.020507541741093944 Centerline is valid? [True, True] Translation: X:80.66, Y:-2.82, Z:-2.55 [[ 9.91022180e-01 1.33625511e-01 -4.38883181e-03 8.06591723e+01] [-1.33623750e-01 9.91031893e-01 6.93234388e-04 -2.82280481e+00] [ 4.44210610e-03 -1.00558489e-04 9.99990129e-01 -2.55441633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19907232900002 meters 0.01788168744469428 Centerline is valid? [True, True] Translation: X:80.72, Y:-2.83, Z:-2.55 [[ 9.90709423e-01 1.35962924e-01 -2.98691488e-03 8.07213504e+01] [-1.35962117e-01 9.90713924e-01 4.72603000e-04 -2.82812969e+00] [ 3.02343464e-03 -6.21049758e-05 9.99995427e-01 -2.55230653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259072329 meters 0.017047938445324415 Centerline is valid? [True, True] Translation: X:80.78, Y:-2.84, Z:-2.55 [[ 9.90520379e-01 1.37331549e-01 -3.07010190e-03 8.07831079e+01] [-1.37330700e-01 9.90525135e-01 4.86569095e-04 -2.83598717e+00] [ 3.10783439e-03 -6.03373610e-05 9.99995169e-01 -2.55247946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319072329 meters 0.016964317706658186 Centerline is valid? [True, True] Translation: X:80.84, Y:-2.84, Z:-2.55 [[ 9.90291256e-01 1.38921964e-01 -4.89040606e-03 8.08438033e+01] [-1.38919824e-01 9.90303327e-01 7.76212087e-04 -2.84383504e+00] [ 4.95081830e-03 -8.93016922e-05 9.99987741e-01 -2.55493065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379072329 meters 0.016179128956094774 Centerline is valid? [True, True] Translation: X:80.91, Y:-2.85, Z:-2.55 [[ 9.90057200e-01 1.40621348e-01 -3.51804349e-03 8.09056747e+01] [-1.40620248e-01 9.90063449e-01 5.59284183e-04 -2.85180448e+00] [ 3.56173357e-03 -5.90151829e-05 9.99993655e-01 -2.55372399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439072329 meters 0.015364943780373709 Centerline is valid? [True, True] Translation: X:80.97, Y:-2.86, Z:-2.55 [[ 9.89920494e-01 1.41594268e-01 -2.91170994e-03 8.09671684e+01] [-1.41593517e-01 9.89924775e-01 4.63639559e-04 -2.86018077e+00] [ 2.94802251e-03 -4.66870506e-05 9.99995653e-01 -2.55256108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499072329 meters 0.014444147340512923 Centerline is valid? [True, True] Translation: X:81.03, Y:-2.87, Z:-2.55 [[ 9.89764744e-01 1.42671841e-01 -3.24001566e-03 8.10292887e+01] [-1.42670914e-01 9.89770046e-01 5.16758297e-04 -2.86795865e+00] [ 3.28059730e-03 -4.92131487e-05 9.99994618e-01 -2.55227732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559072329 meters 0.014938572547242748 Centerline is valid? [True, True] Translation: X:81.09, Y:-2.88, Z:-2.55 [[ 9.89616957e-01 1.43678553e-01 -3.84070074e-03 8.10900363e+01] [-1.43677254e-01 9.89624409e-01 6.13474440e-04 -2.87768976e+00] [ 3.88899432e-03 -5.52833721e-05 9.99992436e-01 -2.55392772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619072329 meters 0.014198837385643788 Centerline is valid? [True, True] Translation: X:81.15, Y:-2.89, Z:-2.55 [[ 9.89568778e-01 1.44013488e-01 -3.70782929e-03 8.11528993e+01] [-1.44012276e-01 9.89575723e-01 5.93338469e-04 -2.88619257e+00] [ 3.75462659e-03 -5.31762908e-05 9.99992950e-01 -2.55316231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679072329 meters 0.014455811002580098 Centerline is valid? [True, True] Translation: X:81.22, Y:-2.90, Z:-2.55 [[ 9.89571457e-01 1.44008733e-01 -3.13305587e-03 8.12153985e+01] [-1.44007865e-01 9.89576416e-01 5.02278728e-04 -2.89608056e+00] [ 3.17273072e-03 -4.58560076e-05 9.99994966e-01 -2.55230287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739072329 meters 0.015262629500904684 Centerline is valid? [True, True] Translation: X:81.28, Y:-2.91, Z:-2.55 [[ 9.89597986e-01 1.43828637e-01 -3.02482091e-03 8.12759869e+01] [-1.43827824e-01 9.89602608e-01 4.85737008e-04 -2.90696195e+00] [ 3.06323355e-03 -4.56309559e-05 9.99995307e-01 -2.55187468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799072329 meters 0.014937953669766057 Centerline is valid? [True, True] Translation: X:81.34, Y:-2.92, Z:-2.55 [[ 9.89669642e-01 1.43333733e-01 -3.07242578e-03 8.13382799e+01] [-1.43332889e-01 9.89674410e-01 4.94291049e-04 -2.91584499e+00] [ 3.11154975e-03 -4.88051815e-05 9.99995158e-01 -2.55372785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859072329 meters 0.015182496966561364 Centerline is valid? [True, True] Translation: X:81.40, Y:-2.93, Z:-2.55 [[ 9.89771249e-01 1.42634702e-01 -2.86644923e-03 8.13991679e+01] [-1.42633962e-01 9.89775399e-01 4.61906123e-04 -2.92617556e+00] [ 2.90302477e-03 -4.83283907e-05 9.99995785e-01 -2.55327182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91907232900002 meters 0.01703387941137365 Centerline is valid? [True, True] Translation: X:81.46, Y:-2.94, Z:-2.55 [[ 9.89938696e-01 1.41473125e-01 -2.59499752e-03 8.14594300e+01] [-1.41472513e-01 9.89942096e-01 4.18518744e-04 -2.93893866e+00] [ 2.62810644e-03 -4.71870782e-05 9.99996545e-01 -2.55282306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97907232900002 meters 0.017834662981616598 Centerline is valid? [True, True] Translation: X:81.52, Y:-2.95, Z:-2.55 [[ 9.90019521e-01 1.40897329e-01 -3.04807885e-03 8.15202210e+01] [-1.40896480e-01 9.90024212e-01 4.92363999e-04 -2.95003197e+00] [ 3.08704463e-03 -5.79863878e-05 9.99995233e-01 -2.55326149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039072329 meters 0.01872258273222736 Centerline is valid? [True, True] Translation: X:81.58, Y:-2.96, Z:-2.55 [[ 9.90240607e-01 1.39326666e-01 -3.40895973e-03 8.15808701e+01] [-1.39325593e-01 9.90246472e-01 5.51460849e-04 -2.96152294e+00] [ 3.45254355e-03 -7.11235909e-05 9.99994037e-01 -2.55313598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099072329 meters 0.01875670403480237 Centerline is valid? [True, True] Translation: X:81.64, Y:-2.97, Z:-2.55 [[ 9.90304039e-01 1.38887237e-01 -2.87142665e-03 8.16424504e+01] [-1.38886471e-01 9.90308200e-01 4.65255337e-04 -2.97203257e+00] [ 2.90821539e-03 -6.19419251e-05 9.99995769e-01 -2.55288261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159072329 meters 0.021442682898050194 Centerline is valid? [True, True] Translation: X:81.70, Y:-2.99, Z:-2.55 [[ 9.90594423e-01 1.36799697e-01 -2.92087898e-03 8.17017047e+01] [-1.36798895e-01 9.90598727e-01 4.73345786e-04 -2.98533464e+00] [ 2.95817256e-03 -6.93206779e-05 9.99995622e-01 -2.55173668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219072329 meters 0.022089900125550746 Centerline is valid? [True, True] Translation: X:81.76, Y:-3.00, Z:-2.55 [[ 9.90843793e-01 1.34960142e-01 -3.78663028e-03 8.17628801e+01] [-1.34958778e-01 9.90851023e-01 6.14654513e-04 -2.99577052e+00] [ 3.83494035e-03 -9.79876147e-05 9.99992642e-01 -2.55287011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279072329 meters 0.02425087258647387 Centerline is valid? [True, True] Translation: X:81.82, Y:-3.01, Z:-2.55 [[ 9.91118504e-01 1.32947979e-01 -2.99099442e-03 8.18234583e+01] [-1.32947116e-01 9.91123013e-01 4.86273290e-04 -3.00966603e+00] [ 3.02909246e-03 -8.43103719e-05 9.99995409e-01 -2.55281570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339072329 meters 0.026027614388488562 Centerline is valid? [True, True] Translation: X:81.88, Y:-3.02, Z:-2.55 [[ 9.91332390e-01 1.31353434e-01 -2.52330499e-03 8.18846455e+01] [-1.31352813e-01 9.91335599e-01 4.10878552e-04 -3.02268925e+00] [ 2.55541237e-03 -7.58740083e-05 9.99996732e-01 -2.55230521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399072329 meters 0.02877048826247031 Centerline is valid? [True, True] Translation: X:81.94, Y:-3.04, Z:-2.55 [[ 9.91672357e-01 1.28751360e-01 -3.00402579e-03 8.19448710e+01] [-1.28750466e-01 9.91676902e-01 4.89846731e-04 -3.03727606e+00] [ 3.04209142e-03 -9.89977406e-05 9.99995368e-01 -2.55194972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459072329 meters 0.02753127322747713 Centerline is valid? [True, True] Translation: X:82.01, Y:-3.05, Z:-2.55 [[ 9.91937287e-01 1.26693530e-01 -3.02772250e-03 8.20059470e+01] [-1.26692612e-01 9.91941903e-01 4.94110321e-04 -3.04593990e+00] [ 3.06592540e-03 -1.06536380e-04 9.99995294e-01 -2.55142540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519072329 meters 0.030285538585516063 Centerline is valid? [True, True] Translation: X:82.06, Y:-3.06, Z:-2.55 [[ 9.92244798e-01 1.24264118e-01 -2.94772289e-03 8.20649760e+01] [-1.24263236e-01 9.92249171e-01 4.81443639e-04 -3.06039590e+00] [ 2.98470177e-03 -1.11416362e-04 9.99995540e-01 -2.55216466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579072329 meters 0.03171780863519379 Centerline is valid? [True, True] Translation: X:82.13, Y:-3.07, Z:-2.55 [[ 9.92504531e-01 1.22185466e-01 -2.33844639e-03 8.21255046e+01] [-1.22184903e-01 9.92507281e-01 3.82519413e-04 -3.07297709e+00] [ 2.36766339e-03 -9.39294047e-05 9.99997193e-01 -2.55241444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63907232900002 meters 0.03484482885039364 Centerline is valid? [True, True] Translation: X:82.19, Y:-3.09, Z:-2.55 [[ 9.92714705e-01 1.20474745e-01 -1.83042408e-03 8.21852649e+01] [-1.20474397e-01 9.92716389e-01 2.99649970e-04 -3.08750505e+00] [ 1.85319224e-03 -7.69476947e-05 9.99998280e-01 -2.55161621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69907232900002 meters 0.035996792823140375 Centerline is valid? [True, True] Translation: X:82.24, Y:-3.10, Z:-2.55 [[ 9.93069904e-01 1.17493803e-01 -2.71501464e-03 8.22448339e+01] [-1.17493026e-01 9.93073608e-01 4.44490226e-04 -3.09953070e+00] [ 2.74843423e-03 -1.22414580e-04 9.99996216e-01 -2.55301774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759072329 meters 0.04028256505680217 Centerline is valid? [True, True] Translation: X:82.30, Y:-3.12, Z:-2.55 [[ 9.93462118e-01 1.14082199e-01 -4.27450269e-03 8.23031863e+01] [-1.14080241e-01 9.93471292e-01 6.99798968e-04 -3.11528621e+00] [ 4.32643031e-03 -2.07587466e-04 9.99990619e-01 -2.55477835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819072329 meters 0.04566614126516806 Centerline is valid? [True, True] Translation: X:82.36, Y:-3.13, Z:-2.55 [[ 9.93686483e-01 1.12137396e-01 -3.51831471e-03 8.23623292e+01] [-1.12136054e-01 9.93692695e-01 5.76842367e-04 -3.13317226e+00] [ 3.56080923e-03 -1.78670533e-04 9.99993644e-01 -2.55391423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879072329 meters 0.04564142382709488 Centerline is valid? [True, True] Translation: X:82.42, Y:-3.14, Z:-2.55 [[ 9.94009647e-01 1.09273521e-01 -2.02949809e-03 8.24223201e+01] [-1.09273069e-01 9.94011713e-01 3.32765692e-04 -3.14489804e+00] [ 2.05370735e-03 -1.09002824e-04 9.99997885e-01 -2.55166953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939072329 meters 0.047753094156990285 Centerline is valid? [True, True] Translation: X:82.48, Y:-3.16, Z:-2.55 [[ 9.94178237e-01 1.07729913e-01 -1.97456263e-03 8.24827004e+01] [-1.07729481e-01 9.94180192e-01 3.24233478e-04 -3.15873615e+00] [ 1.99800070e-03 -1.09627260e-04 9.99997998e-01 -2.55239919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999072329 meters 0.04450357279652285 Centerline is valid? [True, True] Translation: X:82.54, Y:-3.17, Z:-2.55 [[ 9.94434533e-01 1.05313371e-01 -3.00881710e-03 8.25436682e+01] [-1.05312356e-01 9.94439070e-01 4.94135652e-04 -3.16552178e+00] [ 3.04412436e-03 -1.74519938e-04 9.99995351e-01 -2.55273003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059072329 meters 0.05209662484918927 Centerline is valid? [True, True] Translation: X:82.60, Y:-3.19, Z:-2.55 [[ 9.94704124e-01 1.02734930e-01 -3.03974125e-03 8.26008835e+01] [-1.02733883e-01 9.94708751e-01 4.99209492e-04 -3.18607804e+00] [ 3.07494348e-03 -1.84281319e-04 9.99995255e-01 -2.55249816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119072329 meters 0.04912155620895111 Centerline is valid? [True, True] Translation: X:82.66, Y:-3.19, Z:-2.55 [[ 9.94920697e-01 1.00621554e-01 -2.84777089e-03 8.26614108e+01] [-1.00620625e-01 9.94924756e-01 4.67737068e-04 -3.19319734e+00] [ 2.88038218e-03 -1.78816802e-04 9.99995836e-01 -2.55158454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179072329 meters 0.05246804482367954 Centerline is valid? [True, True] Translation: X:82.72, Y:-3.21, Z:-2.55 [[ 9.95016917e-01 9.96718084e-02 -2.62016284e-03 8.27210035e+01] [-9.96710176e-02 9.95020353e-01 4.30995094e-04 -3.20834620e+00] [ 2.65007341e-03 -1.67693113e-04 9.99996474e-01 -2.55167556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239072329 meters 0.05325941867295216 Centerline is valid? [True, True] Translation: X:82.78, Y:-3.22, Z:-2.55 [[ 9.95232524e-01 9.75041770e-02 -2.27119615e-03 8.27812320e+01] [-9.75035771e-02 9.95235104e-01 3.73653287e-04 -3.22041572e+00] [ 2.29680690e-03 -1.50422154e-04 9.99997351e-01 -2.55101585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299072329 meters 0.05535040844703519 Centerline is valid? [True, True] Translation: X:82.84, Y:-3.23, Z:-2.55 [[ 9.95433201e-01 9.54256286e-02 -2.58670388e-03 8.28406209e+01] [-9.54248431e-02 9.95436547e-01 4.25684144e-04 -3.23431239e+00] [ 2.61552075e-03 -1.76904318e-04 9.99996564e-01 -2.55028734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359072329 meters 0.054001429457538316 Centerline is valid? [True, True] Translation: X:82.90, Y:-3.24, Z:-2.55 [[ 9.95482846e-01 9.49028851e-02 -2.71046215e-03 8.29018163e+01] [-9.49020188e-02 9.95486518e-01 4.46768350e-04 -3.24425937e+00] [ 2.74062813e-03 -1.87521898e-04 9.99996227e-01 -2.54926705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41907232900002 meters 0.05441481775253272 Centerline is valid? [True, True] Translation: X:82.96, Y:-3.26, Z:-2.55 [[ 9.95507987e-01 9.46251488e-02 -3.15092672e-03 8.29628887e+01] [-9.46239740e-02 9.95512950e-01 5.20168061e-04 -3.25506834e+00] [ 3.18600933e-03 -2.19678252e-04 9.99994901e-01 -2.54906115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47907232900002 meters 0.05492626789154168 Centerline is valid? [True, True] Translation: X:83.02, Y:-3.27, Z:-2.55 [[ 9.95538233e-01 9.43059842e-02 -3.16340739e-03 8.30237337e+01] [-9.43047959e-02 9.95543235e-01 5.23028357e-04 -3.26637423e+00] [ 3.19863353e-03 -2.22370237e-04 9.99994860e-01 -2.54898769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539072329 meters 0.05394574951739899 Centerline is valid? [True, True] Translation: X:83.09, Y:-3.28, Z:-2.55 [[ 9.95527812e-01 9.44201529e-02 -3.03469132e-03 8.30854346e+01] [-9.44190572e-02 9.95532415e-01 5.02641591e-04 -3.27648853e+00] [ 3.06859307e-03 -2.13860990e-04 9.99995269e-01 -2.54858301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599072329 meters 0.059051513521521694 Centerline is valid? [True, True] Translation: X:83.14, Y:-3.29, Z:-2.55 [[ 9.95630860e-01 9.33148885e-02 -3.39450850e-03 8.31447115e+01] [-9.33135098e-02 9.95636617e-01 5.62627506e-04 -3.29417730e+00] [ 3.43219848e-03 -2.43415805e-04 9.99994080e-01 -2.54986450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659072329 meters 0.058759290161596395 Centerline is valid? [True, True] Translation: X:83.21, Y:-3.30, Z:-2.55 [[ 9.95727526e-01 9.22563980e-02 -3.93075617e-03 8.32061179e+01] [-9.22545400e-02 9.95735243e-01 6.51783062e-04 -3.30470810e+00] [ 3.97412361e-03 -2.86368233e-04 9.99992062e-01 -2.54944132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719072329 meters 0.05881986960790104 Centerline is valid? [True, True] Translation: X:83.27, Y:-3.32, Z:-2.55 [[ 9.95710927e-01 9.24348536e-02 -3.94310225e-03 8.32676217e+01] [-9.24329807e-02 9.95718693e-01 6.54995946e-04 -3.31640384e+00] [ 3.98676507e-03 -2.87713927e-04 9.99992011e-01 -2.54970280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779072329 meters 0.05905928806890073 Centerline is valid? [True, True] Translation: X:83.33, Y:-3.33, Z:-2.55 [[ 9.95670737e-01 9.28871498e-02 -3.42950062e-03 8.33283126e+01] [-9.28857327e-02 9.95676612e-01 5.70540804e-04 -3.32757345e+00] [ 3.46766947e-03 -2.49519105e-04 9.99993956e-01 -2.54897395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839072329 meters 0.05746031649556453 Centerline is valid? [True, True] Translation: X:83.39, Y:-3.34, Z:-2.55 [[ 9.95575358e-01 9.39106283e-02 -3.24031305e-03 8.33903726e+01] [-9.39093672e-02 9.95580604e-01 5.39497731e-04 -3.33636394e+00] [ 3.27665740e-03 -2.32814898e-04 9.99994605e-01 -2.55029219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899072329 meters 0.06058481075206059 Centerline is valid? [True, True] Translation: X:83.45, Y:-3.35, Z:-2.55 [[ 9.95511055e-01 9.45704789e-02 -3.76345228e-03 8.34495640e+01] [-9.45687791e-02 9.95518133e-01 6.27472548e-04 -3.35135922e+00] [ 3.80592537e-03 -2.68750770e-04 9.99992721e-01 -2.55079931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959072329 meters 0.05815303184667365 Centerline is valid? [True, True] Translation: X:83.51, Y:-3.36, Z:-2.55 [[ 9.95463660e-01 9.50823712e-02 -3.38284648e-03 8.35117976e+01] [-9.50809998e-02 9.95469379e-01 5.64302386e-04 -3.35912710e+00] [ 3.42117529e-03 -2.40098093e-04 9.99994119e-01 -2.54982230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019072329 meters 0.056173433397667054 Centerline is valid? [True, True] Translation: X:83.57, Y:-3.37, Z:-2.55 [[ 9.95399374e-01 9.57563177e-02 -3.28832954e-03 8.35738689e+01] [-9.57550245e-02 9.95404779e-01 5.48832709e-04 -3.36732298e+00] [ 3.32577314e-03 -2.31433659e-04 9.99994443e-01 -2.54882303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079072329 meters 0.055490811033595246 Centerline is valid? [True, True] Translation: X:83.64, Y:-3.38, Z:-2.55 [[ 9.95377208e-01 9.59875555e-02 -3.25627982e-03 8.36359398e+01] [-9.59862855e-02 9.95382508e-01 5.44452025e-04 -3.37763908e+00] [ 3.29350460e-03 -2.29376932e-04 9.99994550e-01 -2.54944967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13907232900002 meters 0.050927782735278274 Centerline is valid? [True, True] Translation: X:83.70, Y:-3.38, Z:-2.55 [[ 9.95302897e-01 9.67227503e-02 -4.10513573e-03 8.36979469e+01] [-9.67207336e-02 9.95311322e-01 6.87453552e-04 -3.38351446e+00] [ 4.15238047e-03 -2.87172773e-04 9.99991338e-01 -2.55027209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19907232900002 meters 0.05332368211056211 Centerline is valid? [True, True] Translation: X:83.76, Y:-3.40, Z:-2.55 [[ 9.95263097e-01 9.71543632e-02 -3.52108036e-03 8.37570990e+01] [-9.71528791e-02 9.95269295e-01 5.90502627e-04 -3.39826687e+00] [ 3.56179307e-03 -2.45622378e-04 9.99993627e-01 -2.54947711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259072329 meters 0.05425467104558221 Centerline is valid? [True, True] Translation: X:83.82, Y:-3.41, Z:-2.55 [[ 9.95217820e-01 9.76290063e-02 -3.17312974e-03 8.38183233e+01] [-9.76278008e-02 9.95222854e-01 5.32965960e-04 -3.41084024e+00] [ 3.21000417e-03 -2.20631543e-04 9.99994824e-01 -2.54790873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319072329 meters 0.05317951876569139 Centerline is valid? [True, True] Translation: X:83.88, Y:-3.42, Z:-2.55 [[ 9.95138677e-01 9.84022432e-02 -4.00157853e-03 8.38792696e+01] [-9.84003282e-02 9.95146684e-01 6.73138037e-04 -3.42091115e+00] [ 4.04839590e-03 -2.76109054e-04 9.99991767e-01 -2.54858699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379072329 meters 0.056027918919082674 Centerline is valid? [True, True] Translation: X:83.94, Y:-3.44, Z:-2.55 [[ 9.95072568e-01 9.90581953e-02 -4.24953321e-03 8.39387947e+01] [-9.90560372e-02 9.95081599e-01 7.15846593e-04 -3.43588316e+00] [ 4.29954277e-03 -2.91377388e-04 9.99990714e-01 -2.54878493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439072329 meters 0.05531195285292742 Centerline is valid? [True, True] Translation: X:84.00, Y:-3.45, Z:-2.55 [[ 9.95025107e-01 9.95624068e-02 -3.51620929e-03 8.40006687e+01] [-9.95609313e-02 9.95031291e-01 5.92617573e-04 -3.44600440e+00] [ 3.55774070e-03 -2.39592292e-04 9.99993643e-01 -2.54767624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499072329 meters 0.05522634969994378 Centerline is valid? [True, True] Translation: X:84.06, Y:-3.46, Z:-2.55 [[ 9.94937222e-01 1.00457879e-01 -2.85272103e-03 8.40613743e+01] [-1.00456910e-01 9.94941293e-01 4.81527235e-04 -3.45709558e+00] [ 2.88666316e-03 -1.92513830e-04 9.99995815e-01 -2.54670498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559072329 meters 0.05083752040086261 Centerline is valid? [True, True] Translation: X:84.12, Y:-3.46, Z:-2.55 [[ 9.94935121e-01 1.00478708e-01 -2.85207981e-03 8.41228906e+01] [-1.00477736e-01 9.94939190e-01 4.82171828e-04 -3.46373353e+00] [ 2.88609398e-03 -1.93159163e-04 9.99995817e-01 -2.54678888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619072329 meters 0.05647841173409745 Centerline is valid? [True, True] Translation: X:84.18, Y:-3.48, Z:-2.55 [[ 9.94914988e-01 1.00672811e-01 -3.02514142e-03 8.41822321e+01] [-1.00671718e-01 9.94919566e-01 5.11979612e-04 -3.48225122e+00] [ 3.06131482e-03 -2.04830005e-04 9.99995293e-01 -2.54740127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679072329 meters 0.05452200958701822 Centerline is valid? [True, True] Translation: X:84.24, Y:-3.49, Z:-2.55 [[ 9.94867952e-01 1.01123165e-01 -3.44423928e-03 8.42438158e+01] [-1.01121747e-01 9.94873887e-01 5.83779414e-04 -3.49109341e+00] [ 3.48561734e-03 -2.32495936e-04 9.99993898e-01 -2.54689323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739072329 meters 0.05347023103741296 Centerline is valid? [True, True] Translation: X:84.31, Y:-3.50, Z:-2.55 [[ 9.94807321e-01 1.01737795e-01 -2.79573975e-03 8.43052739e+01] [-1.01736861e-01 9.94811231e-01 4.74578950e-04 -3.50194812e+00] [ 2.82951592e-03 -1.87684827e-04 9.99995979e-01 -2.54615710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799072329 meters 0.049652896535863085 Centerline is valid? [True, True] Translation: X:84.37, Y:-3.51, Z:-2.55 [[ 9.94762266e-01 1.02167806e-01 -3.12623129e-03 8.43678228e+01] [-1.02166637e-01 9.94767156e-01 5.31629100e-04 -3.50852959e+00] [ 3.16418759e-03 -2.09448030e-04 9.99994972e-01 -2.54688635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859072329 meters 0.05308779586993218 Centerline is valid? [True, True] Translation: X:84.43, Y:-3.52, Z:-2.55 [[ 9.94691581e-01 1.02843086e-01 -3.45805838e-03 8.44268849e+01] [-1.02841658e-01 9.94697565e-01 5.88882978e-04 -3.52412637e+00] [ 3.50028479e-03 -2.30124484e-04 9.99993848e-01 -2.54764820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91907232900002 meters 0.0503300257554761 Centerline is valid? [True, True] Translation: X:84.49, Y:-3.53, Z:-2.55 [[ 9.94627157e-01 1.03467328e-01 -3.36621737e-03 8.44885573e+01] [-1.03465975e-01 9.94632828e-01 5.74122885e-04 -3.53232380e+00] [ 3.40755326e-03 -2.22749250e-04 9.99994169e-01 -2.54673305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97907232900002 meters 0.05249521321538719 Centerline is valid? [True, True] Translation: X:84.55, Y:-3.55, Z:-2.55 [[ 9.94539905e-01 1.04276744e-01 -4.09126290e-03 8.45485712e+01] [-1.04274748e-01 9.94548284e-01 6.98746921e-04 -3.54634991e+00] [ 4.14182155e-03 -2.68316288e-04 9.99991387e-01 -2.54663933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039072329 meters 0.05160646978748066 Centerline is valid? [True, True] Translation: X:84.61, Y:-3.56, Z:-2.55 [[ 9.94466931e-01 1.04955448e-01 -4.45838351e-03 8.46103132e+01] [-1.04953083e-01 9.94476883e-01 7.61834188e-04 -3.55657344e+00] [ 4.51371798e-03 -2.89697813e-04 9.99989771e-01 -2.54733126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099072329 meters 0.05042758285874782 Centerline is valid? [True, True] Translation: X:84.67, Y:-3.57, Z:-2.55 [[ 9.94411244e-01 1.05481015e-01 -4.47589717e-03 8.46716365e+01] [-1.05478631e-01 9.94421275e-01 7.66001156e-04 -3.56679510e+00] [ 4.53172594e-03 -2.89608658e-04 9.99989690e-01 -2.54672869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159072329 meters 0.05504581843647816 Centerline is valid? [True, True] Translation: X:84.73, Y:-3.58, Z:-2.55 [[ 9.94296100e-01 1.06567780e-01 -4.30973426e-03 8.47303131e+01] [-1.06565576e-01 9.94305402e-01 7.38574959e-04 -3.58468277e+00] [ 4.36390035e-03 -2.75092888e-04 9.99990440e-01 -2.54707947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219072329 meters 0.0508825536925231 Centerline is valid? [True, True] Translation: X:84.79, Y:-3.59, Z:-2.55 [[ 9.94217184e-01 1.07272969e-01 -4.97011018e-03 8.47924915e+01] [-1.07270040e-01 9.94229556e-01 8.53008371e-04 -3.59045753e+00] [ 5.03293518e-03 -3.14931664e-04 9.99987285e-01 -2.54694243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279072329 meters 0.051217464936920976 Centerline is valid? [True, True] Translation: X:84.85, Y:-3.60, Z:-2.55 [[ 9.94161531e-01 1.07812239e-01 -4.40136527e-03 8.48536137e+01] [-1.07809943e-01 9.94171235e-01 7.56511648e-04 -3.60272873e+00] [ 4.45727196e-03 -2.77583841e-04 9.99990028e-01 -2.54618382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339072329 meters 0.05022116676006224 Centerline is valid? [True, True] Translation: X:84.92, Y:-3.61, Z:-2.55 [[ 9.94135157e-01 1.08070249e-01 -4.01388248e-03 8.49156230e+01] [-1.08068336e-01 9.94143228e-01 6.91095804e-04 -3.61435853e+00] [ 4.06506098e-03 -2.53269034e-04 9.99991706e-01 -2.54503267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399072329 meters 0.04943336036682467 Centerline is valid? [True, True] Translation: X:84.98, Y:-3.62, Z:-2.54 [[ 9.94140597e-01 1.08028366e-01 -3.78748301e-03 8.49768429e+01] [-1.08026659e-01 9.94147783e-01 6.53097686e-04 -3.62473401e+00] [ 3.83587092e-03 -2.40121789e-04 9.99992614e-01 -2.54457837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459072329 meters 0.05060156978521916 Centerline is valid? [True, True] Translation: X:85.04, Y:-3.64, Z:-2.55 [[ 9.94104778e-01 1.08344750e-01 -4.13588740e-03 8.50384304e+01] [-1.08342712e-01 9.94113347e-01 7.14386751e-04 -3.63852451e+00] [ 4.18894092e-03 -2.62082027e-04 9.99991192e-01 -2.54547408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519072329 meters 0.05235487443137852 Centerline is valid? [True, True] Translation: X:85.10, Y:-3.65, Z:-2.55 [[ 9.94081120e-01 1.08545581e-01 -4.53696211e-03 8.50986869e+01] [-1.08543127e-01 9.94091432e-01 7.84464947e-04 -3.65367135e+00] [ 4.59530536e-03 -2.87365739e-04 9.99989400e-01 -2.54631365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579072329 meters 0.05345407827585586 Centerline is valid? [True, True] Translation: X:85.16, Y:-3.67, Z:-2.55 [[ 9.94154001e-01 1.07842439e-01 -5.27542856e-03 8.51594626e+01] [-1.07839103e-01 9.94167940e-01 9.13470136e-04 -3.66668010e+00] [ 5.34317279e-03 -3.39232505e-04 9.99985668e-01 -2.54696967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63907232900002 meters 0.051887026427148535 Centerline is valid? [True, True] Translation: X:85.22, Y:-3.68, Z:-2.55 [[ 9.94202651e-01 1.07380058e-01 -5.53279868e-03 8.52206497e+01] [-1.07376374e-01 9.94217981e-01 9.59446712e-04 -3.67790518e+00] [ 5.60383338e-03 -3.59792601e-04 9.99984234e-01 -2.54593781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69907232900002 meters 0.05022717600517603 Centerline is valid? [True, True] Translation: X:85.28, Y:-3.69, Z:-2.54 [[ 9.94175877e-01 1.07651886e-01 -5.03955674e-03 8.52822793e+01] [-1.07648825e-01 9.94188596e-01 8.75424853e-04 -3.68851594e+00] [ 5.10451098e-03 -3.27823908e-04 9.99986918e-01 -2.54467053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759072329 meters 0.052565646810461004 Centerline is valid? [True, True] Translation: X:85.34, Y:-3.70, Z:-2.55 [[ 9.94178297e-01 1.07632306e-01 -4.98001798e-03 8.53414183e+01] [-1.07629311e-01 9.94190717e-01 8.66266694e-04 -3.70340891e+00] [ 5.04432592e-03 -3.25227642e-04 9.99987224e-01 -2.54603281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819072329 meters 0.05326190084440279 Centerline is valid? [True, True] Translation: X:85.40, Y:-3.72, Z:-2.55 [[ 9.94189647e-01 1.07487410e-01 -5.77947120e-03 8.54015890e+01] [-1.07483366e-01 9.94206373e-01 1.00668770e-03 -3.71719600e+00] [ 5.85419336e-03 -3.79641472e-04 9.99982792e-01 -2.54634092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879072329 meters 0.052768654333574715 Centerline is valid? [True, True] Translation: X:85.46, Y:-3.73, Z:-2.55 [[ 9.94158808e-01 1.07756947e-01 -6.05850852e-03 8.54634784e+01] [-1.07752498e-01 9.94177188e-01 1.05706419e-03 -3.72821466e+00] [ 6.13713698e-03 -3.98070254e-04 9.99981088e-01 -2.54629149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939072329 meters 0.054864299087341195 Centerline is valid? [True, True] Translation: X:85.52, Y:-3.74, Z:-2.54 [[ 9.94136704e-01 1.08008969e-01 -5.12602746e-03 8.55236805e+01] [-1.08005780e-01 9.94149862e-01 8.95748787e-04 -3.74405260e+00] [ 5.19278839e-03 -3.36856152e-04 9.99986461e-01 -2.54308675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999072329 meters 0.054553328354415086 Centerline is valid? [True, True] Translation: X:85.59, Y:-3.76, Z:-2.54 [[ 9.94059889e-01 1.08725180e-01 -4.87576669e-03 8.55852578e+01] [-1.08722301e-01 9.94071796e-01 8.52431256e-04 -3.75532065e+00] [ 4.93954289e-03 -3.17263146e-04 9.99987750e-01 -2.54332360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059072329 meters 0.053097948279936205 Centerline is valid? [True, True] Translation: X:85.65, Y:-3.77, Z:-2.54 [[ 9.93919950e-01 1.09975208e-01 -5.34669156e-03 8.56468180e+01] [-1.09971757e-01 9.93934272e-01 9.36119839e-04 -3.76584347e+00] [ 5.41720996e-03 -3.42443117e-04 9.99985268e-01 -2.54425561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119072329 meters 0.055322972631280776 Centerline is valid? [True, True] Translation: X:85.71, Y:-3.78, Z:-2.54 [[ 9.93848366e-01 1.10616943e-01 -5.41447263e-03 8.57059597e+01] [-1.10613407e-01 9.93863056e-01 9.49215156e-04 -3.78069617e+00] [ 5.48624359e-03 -3.44462668e-04 9.99984891e-01 -2.54439956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179072329 meters 0.04947341315238869 Centerline is valid? [True, True] Translation: X:85.77, Y:-3.79, Z:-2.54 [[ 9.93737768e-01 1.11577927e-01 -5.96780365e-03 8.57677927e+01] [-1.11573639e-01 9.93755617e-01 1.04776139e-03 -3.78537236e+00] [ 6.04744544e-03 -3.75350502e-04 9.99981644e-01 -2.54349170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239072329 meters 0.047132027691970675 Centerline is valid? [True, True] Translation: X:85.83, Y:-3.79, Z:-2.54 [[ 9.93658897e-01 1.12278230e-01 -5.96621474e-03 8.58291545e+01] [-1.12273947e-01 9.93676738e-01 1.04906226e-03 -3.79354611e+00] [ 6.04627566e-03 -3.72559567e-04 9.99981652e-01 -2.54363679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299072329 meters 0.04759593182014761 Centerline is valid? [True, True] Translation: X:85.89, Y:-3.81, Z:-2.54 [[ 9.93555898e-01 1.13210746e-01 -5.47758916e-03 8.58899728e+01] [-1.13207142e-01 9.93570940e-01 9.64583861e-04 -3.80703099e+00] [ 5.55157466e-03 -3.38265772e-04 9.99984533e-01 -2.54321361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359072329 meters 0.048451257236624926 Centerline is valid? [True, True] Translation: X:85.95, Y:-3.82, Z:-2.54 [[ 9.93545546e-01 1.13284931e-01 -5.81144679e-03 8.59503174e+01] [-1.13280867e-01 9.93562477e-01 1.02488488e-03 -3.82068710e+00] [ 5.89013948e-03 -3.59944073e-04 9.99982588e-01 -2.54298052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41907232900002 meters 0.05044719669559684 Centerline is valid? [True, True] Translation: X:86.01, Y:-3.84, Z:-2.54 [[ 9.93540895e-01 1.13292727e-01 -6.42251519e-03 8.60099352e+01] [-1.13287758e-01 9.93561573e-01 1.13354055e-03 -3.83603251e+00] [ 6.50958620e-03 -3.98626548e-04 9.99978733e-01 -2.54410452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47907232900002 meters 0.049453652775288126 Centerline is valid? [True, True] Translation: X:86.07, Y:-3.85, Z:-2.54 [[ 9.93470987e-01 1.13868575e-01 -7.02463076e-03 8.60708748e+01] [-1.13862631e-01 9.93495727e-01 1.24162878e-03 -3.84679629e+00] [ 7.12032315e-03 -4.33679231e-04 9.99974556e-01 -2.54403839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539072329 meters 0.04545722478451644 Centerline is valid? [True, True] Translation: X:86.13, Y:-3.85, Z:-2.54 [[ 9.93360330e-01 1.14825142e-01 -7.10225251e-03 8.61331064e+01] [-1.14819077e-01 9.93385625e-01 1.25725649e-03 -3.85351512e+00] [ 7.19964020e-03 -4.33434647e-04 9.99973988e-01 -2.54317811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599072329 meters 0.04934814958873221 Centerline is valid? [True, True] Translation: X:86.19, Y:-3.87, Z:-2.54 [[ 9.93232310e-01 1.15946439e-01 -6.78248820e-03 8.61919502e+01] [-1.15940923e-01 9.93255384e-01 1.20231353e-03 -3.87104945e+00] [ 6.87614689e-03 -4.07808706e-04 9.99976276e-01 -2.54288132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659072329 meters 0.04802360722290636 Centerline is valid? [True, True] Translation: X:86.25, Y:-3.88, Z:-2.54 [[ 9.93112828e-01 1.16957315e-01 -6.92071975e-03 8.62534927e+01] [-1.16951583e-01 9.93136858e-01 1.22860111e-03 -3.88134024e+00] [ 7.01691575e-03 -4.10750389e-04 9.99975297e-01 -2.54317707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719072329 meters 0.04896531752018435 Centerline is valid? [True, True] Translation: X:86.31, Y:-3.89, Z:-2.54 [[ 9.92978358e-01 1.18114325e-01 -6.55643886e-03 8.63133349e+01] [-1.18109195e-01 9.92999929e-01 1.16547528e-03 -3.89309442e+00] [ 6.64820265e-03 -3.82916011e-04 9.99977827e-01 -2.54290728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779072329 meters 0.0467702528659811 Centerline is valid? [True, True] Translation: X:86.37, Y:-3.90, Z:-2.54 [[ 9.92787913e-01 1.19739937e-01 -5.87420223e-03 8.63744075e+01] [-1.19735839e-01 9.92805235e-01 1.04571367e-03 -3.90261863e+00] [ 5.95715242e-03 -3.34819358e-04 9.99982200e-01 -2.54149204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839072329 meters 0.042166608273710035 Centerline is valid? [True, True] Translation: X:86.44, Y:-3.91, Z:-2.54 [[ 9.92582447e-01 1.21413945e-01 -6.22417399e-03 8.64364224e+01] [-1.21409366e-01 9.92601901e-01 1.10969553e-03 -3.90798277e+00] [ 6.31285944e-03 -3.45791289e-04 9.99980014e-01 -2.54050812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899072329 meters 0.04323414425718072 Centerline is valid? [True, True] Translation: X:86.50, Y:-3.92, Z:-2.54 [[ 9.92328710e-01 1.23441910e-01 -6.76955966e-03 8.64958865e+01] [-1.23436540e-01 9.92351734e-01 1.20702438e-03 -3.91959393e+00] [ 6.86678166e-03 -3.62153918e-04 9.99976358e-01 -2.54251771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959072329 meters 0.047024528412064795 Centerline is valid? [True, True] Translation: X:86.56, Y:-3.94, Z:-2.54 [[ 9.92084984e-01 1.25367774e-01 -7.09261527e-03 8.65551447e+01] [-1.25361916e-01 9.92110269e-01 1.26633374e-03 -3.93594714e+00] [ 7.19541389e-03 -3.67166850e-04 9.99974045e-01 -2.54345698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019072329 meters 0.041015725387738 Centerline is valid? [True, True] Translation: X:86.62, Y:-3.94, Z:-2.54 [[ 9.91820811e-01 1.27424146e-01 -7.38680339e-03 8.66168586e+01] [-1.27417847e-01 9.91848251e-01 1.31910784e-03 -3.93893225e+00] [ 7.49467421e-03 -3.67108020e-04 9.99971847e-01 -2.54335665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079072329 meters 0.037881345639021874 Centerline is valid? [True, True] Translation: X:86.68, Y:-3.95, Z:-2.54 [[ 9.91559977e-01 1.29435786e-01 -7.42891668e-03 8.66783490e+01] [-1.29429456e-01 9.91587742e-01 1.32863203e-03 -3.94575398e+00] [ 7.53839525e-03 -3.55897701e-04 9.99971523e-01 -2.54335723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13907232900002 meters 0.03730439742838951 Centerline is valid? [True, True] Translation: X:86.74, Y:-3.96, Z:-2.54 [[ 9.91243417e-01 1.31828667e-01 -7.59546296e-03 8.67379826e+01] [-1.31822119e-01 9.91272457e-01 1.35852874e-03 -3.95503152e+00] [ 7.70826626e-03 -3.45382648e-04 9.99970231e-01 -2.54403177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19907232900002 meters 0.03482701558327005 Centerline is valid? [True, True] Translation: X:86.80, Y:-3.96, Z:-2.54 [[ 9.91033189e-01 1.33396858e-01 -7.64832723e-03 8.67996035e+01] [-1.33390249e-01 9.91062644e-01 1.37005262e-03 -3.96288403e+00] [ 7.76273212e-03 -3.37555349e-04 9.99969813e-01 -2.54291760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259072329 meters 0.036141675606877637 Centerline is valid? [True, True] Translation: X:86.86, Y:-3.98, Z:-2.54 [[ 9.90845685e-01 1.34819756e-01 -6.96143145e-03 8.68600050e+01] [-1.34814303e-01 9.90870094e-01 1.24883498e-03 -3.97555835e+00] [ 7.06624186e-03 -2.98902224e-04 9.99974989e-01 -2.54236244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319072329 meters 0.032799053638812914 Centerline is valid? [True, True] Translation: X:86.92, Y:-3.98, Z:-2.54 [[ 9.90561393e-01 1.36896691e-01 -6.88646768e-03 8.69217937e+01] [-1.36891392e-01 9.90585290e-01 1.23720660e-03 -3.98178662e+00] [ 6.99100307e-03 -2.82830940e-04 9.99975523e-01 -2.54297074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379072329 meters 0.03408910392179192 Centerline is valid? [True, True] Translation: X:86.98, Y:-3.99, Z:-2.54 [[ 9.90370621e-01 1.38253994e-01 -7.20178359e-03 8.69820381e+01] [-1.38248223e-01 9.90396764e-01 1.29558573e-03 -3.99407373e+00] [ 7.31174306e-03 -2.87476264e-04 9.99973228e-01 -2.54456337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439072329 meters 0.031179519064003836 Centerline is valid? [True, True] Translation: X:87.04, Y:-4.00, Z:-2.54 [[ 9.90129344e-01 1.39987874e-01 -6.87591832e-03 8.70439677e+01] [-1.39982641e-01 9.90153183e-01 1.23876118e-03 -4.00174609e+00] [ 6.98162396e-03 -2.64024588e-04 9.99975593e-01 -2.54354181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499072329 meters 0.03398287500796734 Centerline is valid? [True, True] Translation: X:87.10, Y:-4.02, Z:-2.54 [[ 9.90048426e-01 1.40558971e-01 -6.87680166e-03 8.71032541e+01] [-1.40553740e-01 9.90072274e-01 1.24055742e-03 -4.01611830e+00] [ 6.98290213e-03 -2.61651724e-04 9.99975585e-01 -2.54434861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559072329 meters 0.0308739917285018 Centerline is valid? [True, True] Translation: X:87.17, Y:-4.02, Z:-2.54 [[ 9.89911192e-01 1.41491330e-01 -7.48567883e-03 8.71657363e+01] [-1.41485153e-01 9.89939456e-01 1.35107287e-03 -4.02280440e+00] [ 7.60153393e-03 -2.78329745e-04 9.99971069e-01 -2.54481528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619072329 meters 0.031169483488444436 Centerline is valid? [True, True] Translation: X:87.23, Y:-4.03, Z:-2.55 [[ 9.89703813e-01 1.42900373e-01 -8.11448497e-03 8.72262390e+01] [-1.42893145e-01 9.89737035e-01 1.46665386e-03 -4.03439017e+00] [ 8.24079167e-03 -2.92048634e-04 9.99966001e-01 -2.54624984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679072329 meters 0.031497029741896235 Centerline is valid? [True, True] Translation: X:87.29, Y:-4.05, Z:-2.55 [[ 9.89622538e-01 1.43526337e-01 -6.88649237e-03 8.72870417e+01] [-1.43521134e-01 9.89646467e-01 1.24643347e-03 -4.04531985e+00] [ 6.99408888e-03 -2.45141463e-04 9.99975511e-01 -2.54534214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739072329 meters 0.02993312416051882 Centerline is valid? [True, True] Translation: X:87.35, Y:-4.05, Z:-2.54 [[ 9.89517606e-01 1.44285811e-01 -6.04253656e-03 8.73483101e+01] [-1.44281809e-01 9.89536033e-01 1.09522275e-03 -4.05409736e+00] [ 6.13733276e-03 -2.11914087e-04 9.99981144e-01 -2.54402416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799072329 meters 0.030073717586842155 Centerline is valid? [True, True] Translation: X:87.41, Y:-4.07, Z:-2.54 [[ 9.89451205e-01 1.44742305e-01 -5.99824720e-03 8.74104096e+01] [-1.44738360e-01 9.89469363e-01 1.08892275e-03 -4.06558712e+00] [ 6.09269503e-03 -2.09259463e-04 9.99981417e-01 -2.54332013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859072329 meters 0.029545916465929554 Centerline is valid? [True, True] Translation: X:87.47, Y:-4.08, Z:-2.54 [[ 9.89389077e-01 1.45151453e-01 -6.34892845e-03 8.74727406e+01] [-1.45147030e-01 9.89409423e-01 1.15442876e-03 -4.07616275e+00] [ 6.44925665e-03 -2.20651094e-04 9.99979179e-01 -2.54375894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91907232900002 meters 0.02734921682265124 Centerline is valid? [True, True] Translation: X:87.53, Y:-4.08, Z:-2.54 [[ 9.89304427e-01 1.45707128e-01 -6.79584705e-03 8.75347952e+01] [-1.45702059e-01 9.89327740e-01 1.23775799e-03 -4.08467667e+00] [ 6.90367017e-03 -2.34350553e-04 9.99976142e-01 -2.54424393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979072329 meters 0.03030211475177006 Centerline is valid? [True, True] Translation: X:87.60, Y:-4.10, Z:-2.54 [[ 9.89291075e-01 1.45804431e-01 -6.65109432e-03 8.75954948e+01] [-1.45799565e-01 9.89313406e-01 1.21325493e-03 -4.09978647e+00] [ 6.75691472e-03 -2.30535615e-04 9.99977145e-01 -2.54478278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039072329 meters 0.02839173371860905 Centerline is valid? [True, True] Translation: X:87.66, Y:-4.11, Z:-2.54 [[ 9.89275382e-01 1.45955218e-01 -5.59395188e-03 8.76575728e+01] [-1.45951769e-01 9.89291179e-01 1.02209648e-03 -4.10812227e+00] [ 5.68322756e-03 -1.94687716e-04 9.99983831e-01 -2.54295222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099072329 meters 0.028004301730411095 Centerline is valid? [True, True] Translation: X:87.72, Y:-4.12, Z:-2.54 [[ 9.89282748e-01 1.45888822e-01 -6.00797123e-03 8.77185934e+01] [-1.45884832e-01 9.89300969e-01 1.09933454e-03 -4.11852982e+00] [ 6.10407238e-03 -2.11080825e-04 9.99981348e-01 -2.54306349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159072329 meters 0.029185877543349913 Centerline is valid? [True, True] Translation: X:87.78, Y:-4.13, Z:-2.54 [[ 9.89431179e-01 1.44826153e-01 -7.16435598e-03 8.77798285e+01] [-1.44820438e-01 9.89457082e-01 1.31283112e-03 -4.13119337e+00] [ 7.27895504e-03 -2.61410867e-04 9.99973474e-01 -2.54410262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219072329 meters 0.030466617894157492 Centerline is valid? [True, True] Translation: X:87.84, Y:-4.14, Z:-2.54 [[ 9.89481514e-01 1.44505664e-01 -6.66685902e-03 8.78401036e+01] [-1.44500697e-01 9.89503942e-01 1.22329154e-03 -4.14335387e+00] [ 6.77365584e-03 -2.47058594e-04 9.99977028e-01 -2.54304207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279072329 meters 0.03202917998696154 Centerline is valid? [True, True] Translation: X:87.90, Y:-4.16, Z:-2.54 [[ 9.89482355e-01 1.44516111e-01 -6.30571042e-03 8.79004276e+01] [-1.44511657e-01 9.89502420e-01 1.15876919e-03 -4.15658810e+00] [ 6.40697653e-03 -2.35333005e-04 9.99979447e-01 -2.54238471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339072329 meters 0.030410349263043326 Centerline is valid? [True, True] Translation: X:87.96, Y:-4.17, Z:-2.54 [[ 9.89660553e-01 1.43307182e-01 -5.91952205e-03 8.79619156e+01] [-1.43303226e-01 9.89678230e-01 1.08938758e-03 -4.16609966e+00] [ 6.01453917e-03 -2.29837307e-04 9.99981886e-01 -2.54129474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399072329 meters 0.031430341506798055 Centerline is valid? [True, True] Translation: X:88.02, Y:-4.18, Z:-2.54 [[ 9.89807650e-01 1.42287559e-01 -5.92170098e-03 8.80232487e+01] [-1.42283572e-01 9.89825335e-01 1.09136839e-03 -4.17739362e+00] [ 6.01673780e-03 -2.37684011e-04 9.99981871e-01 -2.54179296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459072329 meters 0.03416071891870565 Centerline is valid? [True, True] Translation: X:88.08, Y:-4.19, Z:-2.54 [[ 9.89892652e-01 1.41681940e-01 -6.22620555e-03 8.80826105e+01] [-1.41677511e-01 9.89912199e-01 1.14900420e-03 -4.19198973e+00] [ 6.32618998e-03 -2.55277508e-04 9.99979957e-01 -2.54249815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519072329 meters 0.03515717623992805 Centerline is valid? [True, True] Translation: X:88.14, Y:-4.20, Z:-2.54 [[ 9.90134061e-01 1.39993509e-01 -6.02972621e-03 8.81429713e+01] [-1.39989315e-01 9.90152387e-01 1.11419782e-03 -4.20446853e+00] [ 6.12632827e-03 -2.59107974e-04 9.99981200e-01 -2.54064976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579072329 meters 0.03706793608382202 Centerline is valid? [True, True] Translation: X:88.20, Y:-4.22, Z:-2.54 [[ 9.90252723e-01 1.39159588e-01 -5.84420691e-03 8.82039229e+01] [-1.39155624e-01 9.90269934e-01 1.08141478e-03 -4.21756487e+00] [ 5.93783163e-03 -2.57619673e-04 9.99982338e-01 -2.54024157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63907232900002 meters 0.03937371179785308 Centerline is valid? [True, True] Translation: X:88.26, Y:-4.23, Z:-2.54 [[ 9.90466053e-01 1.37606711e-01 -6.43356824e-03 8.82645249e+01] [-1.37601872e-01 9.90486904e-01 1.19090952e-03 -4.23104700e+00] [ 6.53624223e-03 -2.94284417e-04 9.99978595e-01 -2.54172941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69907232900002 meters 0.03897158909521197 Centerline is valid? [True, True] Translation: X:88.33, Y:-4.24, Z:-2.54 [[ 9.90738073e-01 1.35645072e-01 -6.20359268e-03 8.83257976e+01] [-1.35640532e-01 9.90757451e-01 1.14880154e-03 -4.24167537e+00] [ 6.30208494e-03 -2.96702810e-04 9.99980098e-01 -2.54249711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759072329 meters 0.04081377554701575 Centerline is valid? [True, True] Translation: X:88.39, Y:-4.26, Z:-2.54 [[ 9.90967020e-01 1.34000807e-01 -5.30563797e-03 8.83858611e+01] [-1.33997455e-01 9.90981188e-01 9.83811388e-04 -4.25508901e+00] [ 5.38961894e-03 -2.63982653e-04 9.99985441e-01 -2.54120875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819072329 meters 0.041653372738181926 Centerline is valid? [True, True] Translation: X:88.45, Y:-4.27, Z:-2.54 [[ 9.91175842e-01 1.32432201e-01 -5.67125440e-03 8.84462612e+01] [-1.32428338e-01 9.91192023e-01 1.05297914e-03 -4.26691613e+00] [ 5.76075046e-03 -2.92652694e-04 9.99983364e-01 -2.54074535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879072329 meters 0.04357076575747862 Centerline is valid? [True, True] Translation: X:88.51, Y:-4.28, Z:-2.54 [[ 9.91521111e-01 1.29796109e-01 -6.23343061e-03 8.85059825e+01] [-1.29791389e-01 9.91540647e-01 1.15756185e-03 -4.28099728e+00] [ 6.33094685e-03 -3.38701390e-04 9.99979902e-01 -2.54205763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939072329 meters 0.04425706436749994 Centerline is valid? [True, True] Translation: X:88.57, Y:-4.29, Z:-2.54 [[ 9.91733506e-01 1.28146939e-01 -6.55858608e-03 8.85663461e+01] [-1.28141667e-01 9.91755124e-01 1.21957694e-03 -4.29346797e+00] [ 6.66079640e-03 -3.69067164e-04 9.99977749e-01 -2.54241455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999072329 meters 0.046020302214521344 Centerline is valid? [True, True] Translation: X:88.63, Y:-4.31, Z:-2.54 [[ 9.92086252e-01 1.25397948e-01 -6.34213186e-03 8.86262608e+01] [-1.25392961e-01 9.92106453e-01 1.17953868e-03 -4.30684322e+00] [ 6.43998167e-03 -3.74945420e-04 9.99979193e-01 -2.54313341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059072329 meters 0.050813556667677985 Centerline is valid? [True, True] Translation: X:88.68, Y:-4.32, Z:-2.54 [[ 9.92524703e-01 1.21915154e-01 -5.60437105e-03 8.86844524e+01] [-1.21911204e-01 9.92540464e-01 1.04242754e-03 -4.32403310e+00] [ 5.68965275e-03 -3.51399459e-04 9.99983752e-01 -2.54381694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119072329 meters 0.05603753279029467 Centerline is valid? [True, True] Translation: X:88.74, Y:-4.34, Z:-2.54 [[ 9.92842755e-01 1.19302170e-01 -5.50052917e-03 8.87416564e+01] [-1.19298322e-01 9.92857927e-01 1.02356356e-03 -4.34297469e+00] [ 5.58335734e-03 -3.60033769e-04 9.99984348e-01 -2.54290889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179072329 meters 0.05646993881436792 Centerline is valid? [True, True] Translation: X:88.80, Y:-4.35, Z:-2.54 [[ 9.93106524e-01 1.17102016e-01 -5.15272965e-03 8.88014205e+01] [-1.17098610e-01 9.93119830e-01 9.58928507e-04 -4.35455328e+00] [ 5.22957045e-03 -3.48940678e-04 9.99986265e-01 -2.54218220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239072329 meters 0.055745904593778525 Centerline is valid? [True, True] Translation: X:88.86, Y:-4.37, Z:-2.54 [[ 9.93543195e-01 1.13347683e-01 -4.92159313e-03 8.88606823e+01] [-1.13344530e-01 9.93555322e-01 9.15958521e-04 -4.36558573e+00] [ 4.99369682e-03 -3.52208698e-04 9.99987469e-01 -2.54168612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299072329 meters 0.05644532641890468 Centerline is valid? [True, True] Translation: X:88.92, Y:-4.38, Z:-2.54 [[ 9.93973115e-01 1.09542916e-01 -4.21857925e-03 8.89198483e+01] [-1.09540565e-01 9.93982016e-01 7.85154060e-04 -4.37945121e+00] [ 4.27919997e-03 -3.18316474e-04 9.99990794e-01 -2.54059368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359072329 meters 0.064333769167803 Centerline is valid? [True, True] Translation: X:88.98, Y:-4.40, Z:-2.54 [[ 9.94281691e-01 1.06703178e-01 -4.28386293e-03 8.89769854e+01] [-1.06700727e-01 9.94290862e-01 7.97303505e-04 -4.40058751e+00] [ 4.34448059e-03 -3.35652987e-04 9.99990506e-01 -2.54098974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41907232900002 meters 0.06315117600790028 Centerline is valid? [True, True] Translation: X:89.04, Y:-4.41, Z:-2.54 [[ 9.94670792e-01 1.02980910e-01 -4.99468709e-03 8.90369866e+01] [-1.02977532e-01 9.94683248e-01 9.29639020e-04 -4.41145141e+00] [ 5.06386665e-03 -4.10344231e-04 9.99987094e-01 -2.54097107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479072329 meters 0.06713224684795138 Centerline is valid? [True, True] Translation: X:89.10, Y:-4.43, Z:-2.54 [[ 9.95056109e-01 9.91734341e-02 -5.28869255e-03 8.90955592e+01] [-9.91695923e-02 9.95070059e-01 9.84425170e-04 -4.42854174e+00] [ 5.36024843e-03 -4.55080795e-04 9.99985530e-01 -2.54163802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539072329 meters 0.07008434825557006 Centerline is valid? [True, True] Translation: X:89.15, Y:-4.44, Z:-2.54 [[ 9.95320291e-01 9.65184390e-02 -4.65921647e-03 8.91543357e+01] [-9.65154281e-02 9.95331111e-01 8.67312839e-04 -4.44369457e+00] [ 4.72117478e-03 -4.13567796e-04 9.99988770e-01 -2.54126059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599072329 meters 0.07567187980093461 Centerline is valid? [True, True] Translation: X:89.21, Y:-4.46, Z:-2.54 [[ 9.95669914e-01 9.28599644e-02 -4.29529563e-03 8.92114001e+01] [-9.28573717e-02 9.95679100e-01 7.99569251e-04 -4.46324068e+00] [ 4.35098406e-03 -3.97257184e-04 9.99990456e-01 -2.54157740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659072329 meters 0.07626474645417286 Centerline is valid? [True, True] Translation: X:89.27, Y:-4.48, Z:-2.54 [[ 9.95990246e-01 8.93187110e-02 -5.05934186e-03 8.92708886e+01] [-8.93150680e-02 9.96002978e-01 9.41930412e-04 -4.47649408e+00] [ 5.12325157e-03 -4.86278041e-04 9.99986758e-01 -2.54267717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719072329 meters 0.07928426003024691 Centerline is valid? [True, True] Translation: X:89.33, Y:-4.49, Z:-2.54 [[ 9.96115655e-01 8.79063791e-02 -5.10591511e-03 8.93298561e+01] [-8.79026498e-02 9.96128616e-01 9.50690391e-04 -4.49179774e+00] [ 5.16971990e-03 -4.98174113e-04 9.99986513e-01 -2.54311072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779072329 meters 0.08455833127371196 Centerline is valid? [True, True] Translation: X:89.39, Y:-4.51, Z:-2.54 [[ 9.96403980e-01 8.46756695e-02 -3.02322113e-03 8.93873257e+01] [-8.46743471e-02 9.96408520e-01 5.62983267e-04 -4.51119014e+00] [ 3.06003427e-03 -3.04969493e-04 9.99995272e-01 -2.54036243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839072329 meters 0.07755129958219759 Centerline is valid? [True, True] Translation: X:89.45, Y:-4.51, Z:-2.54 [[ 9.96545097e-01 8.29908814e-02 -3.22245149e-03 8.94489724e+01] [-8.29893701e-02 9.96550252e-01 6.00141513e-04 -4.51396425e+00] [ 3.26114111e-03 -3.30638862e-04 9.99994628e-01 -2.53959536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899072329 meters 0.08087966918897513 Centerline is valid? [True, True] Translation: X:89.51, Y:-4.53, Z:-2.54 [[ 9.96728070e-01 8.06430222e-02 -5.46421139e-03 8.95076445e+01] [-8.06386414e-02 9.96742882e-01 1.01770896e-03 -4.52967845e+00] [ 5.52848493e-03 -5.73752504e-04 9.99984553e-01 -2.54279568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959072329 meters 0.08524500892118259 Centerline is valid? [True, True] Translation: X:89.57, Y:-4.55, Z:-2.54 [[ 9.96945190e-01 7.79075273e-02 -5.54126556e-03 8.95661881e+01] [-7.79029801e-02 9.96960411e-01 1.03209279e-03 -4.54725056e+00] [ 5.60483018e-03 -5.97258842e-04 9.99984114e-01 -2.54258593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019072329 meters 0.07955487183822921 Centerline is valid? [True, True] Translation: X:89.63, Y:-4.55, Z:-2.54 [[ 9.97113304e-01 7.58298495e-02 -3.85925839e-03 8.96273685e+01] [-7.58276283e-02 9.97120682e-01 7.18882261e-04 -4.55198171e+00] [ 3.90265909e-03 -4.24168656e-04 9.99992295e-01 -2.54030107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079072329 meters 0.09138504130054122 Centerline is valid? [True, True] Translation: X:89.68, Y:-4.58, Z:-2.54 [[ 9.97277666e-01 7.36075149e-02 -4.38082205e-03 8.96831681e+01] [-7.36046317e-02 9.97287166e-01 8.15986467e-04 -4.57859163e+00] [ 4.42900034e-03 -4.91316286e-04 9.99990071e-01 -2.54100244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13907232900002 meters 0.09509438932560792 Centerline is valid? [True, True] Translation: X:89.74, Y:-4.59, Z:-2.54 [[ 9.97388240e-01 7.20683734e-02 -4.77999904e-03 8.97416490e+01] [-7.20649229e-02 9.97399546e-01 8.90423508e-04 -4.59479083e+00] [ 4.83174025e-03 -5.43627673e-04 9.99988179e-01 -2.54272270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19907232900002 meters 0.08780294802805283 Centerline is valid? [True, True] Translation: X:89.80, Y:-4.60, Z:-2.54 [[ 9.97529986e-01 7.00788467e-02 -4.78361863e-03 8.98033214e+01] [-7.00753678e-02 9.97541302e-01 8.91233240e-04 -4.59810155e+00] [ 4.83431376e-03 -5.53818046e-04 9.99988161e-01 -2.54185865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259072329 meters 0.08246059014305827 Centerline is valid? [True, True] Translation: X:89.86, Y:-4.60, Z:-2.54 [[ 9.97622977e-01 6.88112510e-02 -3.66175634e-03 8.98643185e+01] [-6.88092039e-02 9.97629605e-01 6.82287689e-04 -4.60311029e+00] [ 3.70002560e-03 -4.28703336e-04 9.99993063e-01 -2.54010543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319072329 meters 0.0908813993194482 Centerline is valid? [True, True] Translation: X:89.92, Y:-4.63, Z:-2.54 [[ 9.97697130e-01 6.77227611e-02 -3.75033098e-03 8.99211080e+01] [-6.77206062e-02 9.97704080e-01 6.98789182e-04 -4.62560639e+00] [ 3.78904445e-03 -4.43205274e-04 9.99992723e-01 -2.54081257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379072329 meters 0.08814899733148611 Centerline is valid? [True, True] Translation: X:89.98, Y:-4.63, Z:-2.54 [[ 9.97780364e-01 6.64479733e-02 -4.36031173e-03 8.99816334e+01] [-6.64450480e-02 9.97789755e-01 8.12527164e-04 -4.63336445e+00] [ 4.40466516e-03 -5.21002527e-04 9.99990164e-01 -2.54196069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439072329 meters 0.08827356215440714 Centerline is valid? [True, True] Translation: X:90.04, Y:-4.65, Z:-2.54 [[ 9.97859925e-01 6.51978769e-02 -4.98056318e-03 9.00414521e+01] [-6.51940443e-02 9.97872174e-01 9.28199174e-04 -4.64507518e+00] [ 5.03048203e-03 -6.01509702e-04 9.99987166e-01 -2.54258646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499072329 meters 0.08132504129150339 Centerline is valid? [True, True] Translation: X:90.10, Y:-4.65, Z:-2.54 [[ 9.97888491e-01 6.47931363e-02 -4.51757850e-03 9.01042398e+01] [-6.47899735e-02 9.97898566e-01 8.43127846e-04 -4.64788212e+00] [ 4.56271401e-03 -5.48653783e-04 9.99989440e-01 -2.54162671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559072329 meters 0.09040214320866895 Centerline is valid? [True, True] Translation: X:90.16, Y:-4.67, Z:-2.54 [[ 9.97917436e-01 6.44023208e-02 -3.62394346e-03 9.01617600e+01] [-6.44002812e-02 9.97923918e-01 6.76830903e-04 -4.67148653e+00] [ 3.66000933e-03 -4.42038381e-04 9.99993204e-01 -2.54086624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619072329 meters 0.085870296213947 Centerline is valid? [True, True] Translation: X:90.22, Y:-4.68, Z:-2.54 [[ 9.97932330e-01 6.41630925e-02 -3.76319045e-03 9.02238729e+01] [-6.41608877e-02 9.97939319e-01 7.03840173e-04 -4.67830042e+00] [ 3.80059628e-03 -4.60935224e-04 9.99992671e-01 -2.54058962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679072329 meters 0.08480806781652357 Centerline is valid? [True, True] Translation: X:90.29, Y:-4.69, Z:-2.54 [[ 9.97933512e-01 6.40881665e-02 -4.62729467e-03 9.02851396e+01] [-6.40848265e-02 9.97944079e-01 8.66662614e-04 -4.68836130e+00] [ 4.67332413e-03 -5.68332291e-04 9.99988918e-01 -2.54302498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739072329 meters 0.08401332515902288 Centerline is valid? [True, True] Translation: X:90.35, Y:-4.70, Z:-2.54 [[ 9.97910367e-01 6.44420645e-02 -4.70325860e-03 9.03468974e+01] [-6.44386111e-02 9.97921283e-01 8.82306080e-04 -4.69991139e+00] [ 4.75033948e-03 -5.77390932e-04 9.99988550e-01 -2.54276162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799072329 meters 0.08845583865903785 Centerline is valid? [True, True] Translation: X:90.41, Y:-4.72, Z:-2.54 [[ 9.97864258e-01 6.51959840e-02 -4.05048405e-03 9.04060616e+01] [-6.51934245e-02 9.97872356e-01 7.60893565e-04 -4.71801743e+00] [ 4.09147326e-03 -4.95203566e-04 9.99991507e-01 -2.54143660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859072329 meters 0.08624969585285616 Centerline is valid? [True, True] Translation: X:90.47, Y:-4.73, Z:-2.54 [[ 9.97865251e-01 6.51413210e-02 -4.64206587e-03 9.04679809e+01] [-6.51379530e-02 9.97875886e-01 8.73229084e-04 -4.72684543e+00] [ 4.68908889e-03 -5.68990291e-04 9.99988844e-01 -2.54258820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91907232900002 meters 0.09430304538387657 Centerline is valid? [True, True] Translation: X:90.53, Y:-4.75, Z:-2.54 [[ 9.97877251e-01 6.49485847e-02 -4.76161006e-03 9.05260622e+01] [-6.49450334e-02 9.97888440e-01 8.96851963e-04 -4.74897816e+00] [ 4.80980490e-03 -5.85705246e-04 9.99988261e-01 -2.54261358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979072329 meters 0.09465209984218573 Centerline is valid? [True, True] Translation: X:90.59, Y:-4.76, Z:-2.54 [[ 9.97827070e-01 6.57784258e-02 -3.78640423e-03 9.05862101e+01] [-6.57761857e-02 9.97834147e-01 7.13286982e-04 -4.76174764e+00] [ 3.82512232e-03 -4.62681832e-04 9.99992577e-01 -2.54146370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039072329 meters 0.08569419926747741 Centerline is valid? [True, True] Translation: X:90.65, Y:-4.76, Z:-2.54 [[ 9.97786912e-01 6.63809534e-02 -3.85325420e-03 9.06499928e+01] [-6.63786364e-02 9.97794242e-01 7.26247768e-04 -4.76187195e+00] [ 3.89296387e-03 -4.68866758e-04 9.99992312e-01 -2.54231834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099072329 meters 0.0874464674653754 Centerline is valid? [True, True] Translation: X:90.71, Y:-4.78, Z:-2.54 [[ 9.97739686e-01 6.70486464e-02 -4.47199105e-03 9.07106869e+01] [-6.70455268e-02 9.97749560e-01 8.44037822e-04 -4.77653333e+00] [ 4.51851869e-03 -5.42303036e-04 9.99989644e-01 -2.54306750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159072329 meters 0.09390373978540394 Centerline is valid? [True, True] Translation: X:90.77, Y:-4.80, Z:-2.54 [[ 9.97675765e-01 6.80470880e-02 -3.55821959e-03 9.07683805e+01] [-6.80451189e-02 9.97682019e-01 6.71682275e-04 -4.79744729e+00] [ 3.59567773e-03 -4.28001653e-04 9.99993444e-01 -2.54261026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219072329 meters 0.09495387084882789 Centerline is valid? [True, True] Translation: X:90.83, Y:-4.81, Z:-2.54 [[ 9.97622263e-01 6.88183745e-02 -3.72176195e-03 9.08292769e+01] [-6.88162221e-02 9.97629106e-01 7.03495746e-04 -4.81079677e+00] [ 3.76135148e-03 -4.45705421e-04 9.99992827e-01 -2.54290089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279072329 meters 0.08082643198513331 Centerline is valid? [True, True] Translation: X:90.89, Y:-4.81, Z:-2.54 [[ 9.97545642e-01 6.98796757e-02 -4.41844058e-03 9.08933901e+01] [-6.98766470e-02 9.97555289e-01 8.36359632e-04 -4.80511272e+00] [ 4.46608331e-03 -5.25561094e-04 9.99989889e-01 -2.54290733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339072329 meters 0.08408314640510242 Centerline is valid? [True, True] Translation: X:90.95, Y:-4.82, Z:-2.54 [[ 9.97480301e-01 7.08067768e-02 -4.41026355e-03 9.09527939e+01] [-7.08037631e-02 9.97489914e-01 8.35969044e-04 -4.82212492e+00] [ 4.45838568e-03 -5.21599397e-04 9.99989925e-01 -2.54358996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399072329 meters 0.08393559277654414 Centerline is valid? [True, True] Translation: X:91.01, Y:-4.83, Z:-2.54 [[ 9.97425900e-01 7.15711542e-02 -4.37537065e-03 9.10142079e+01] [-7.15681901e-02 9.97435364e-01 8.30503191e-04 -4.83350432e+00] [ 4.42358949e-03 -5.15228035e-04 9.99990083e-01 -2.54405733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459072329 meters 0.08411842459004698 Centerline is valid? [True, True] Translation: X:91.07, Y:-4.85, Z:-2.54 [[ 9.97328143e-01 7.29725134e-02 -3.40398988e-03 9.10744464e+01] [-7.29707268e-02 9.97333874e-01 6.46294515e-04 -4.84643609e+00] [ 3.44207615e-03 -3.96176092e-04 9.99993998e-01 -2.54187620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519072329 meters 0.08000389797917273 Centerline is valid? [True, True] Translation: X:91.14, Y:-4.85, Z:-2.54 [[ 9.97303461e-01 7.33147135e-02 -3.28010330e-03 9.11369290e+01] [-7.33130548e-02 9.97308782e-01 6.23256274e-04 -4.85325211e+00] [ 3.31696969e-03 -3.81101246e-04 9.99994426e-01 -2.54230061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579072329 meters 0.08140585327273443 Centerline is valid? [True, True] Translation: X:91.20, Y:-4.87, Z:-2.54 [[ 9.97205917e-01 7.45230392e-02 -5.16477917e-03 9.11967377e+01] [-7.45189418e-02 9.97219115e-01 9.81536164e-04 -4.86739420e+00] [ 5.22356358e-03 -5.93919792e-04 9.99986181e-01 -2.54477155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63907232900002 meters 0.08113103115839325 Centerline is valid? [True, True] Translation: X:91.26, Y:-4.88, Z:-2.55 [[ 9.97176918e-01 7.49351363e-02 -4.78743374e-03 9.12578300e+01] [-7.49316142e-02 9.97188259e-01 9.11117179e-04 -4.87901150e+00] [ 4.84224740e-03 -5.49814883e-04 9.99988125e-01 -2.54518847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69907232900002 meters 0.08174322630147106 Centerline is valid? [True, True] Translation: X:91.32, Y:-4.89, Z:-2.54 [[ 9.97096634e-01 7.60108100e-02 -4.54514072e-03 9.13178391e+01] [-7.60076454e-02 9.97106859e-01 8.65236310e-04 -4.89341142e+00] [ 4.59775830e-03 -5.17258768e-04 9.99989296e-01 -2.54378556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759072329 meters 0.08881969727225264 Centerline is valid? [True, True] Translation: X:91.38, Y:-4.92, Z:-2.54 [[ 9.97060000e-01 7.65426106e-02 -3.54751170e-03 9.13755153e+01] [-7.65406830e-02 9.97066230e-01 6.76195373e-04 -4.91539283e+00] [ 3.58886188e-03 -4.02678390e-04 9.99993479e-01 -2.54300814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819072329 meters 0.08242225772828703 Centerline is valid? [True, True] Translation: X:91.44, Y:-4.92, Z:-2.54 [[ 9.97022008e-01 7.70162991e-02 -3.95026161e-03 9.14376155e+01] [-7.70139085e-02 9.97029733e-01 7.53985223e-04 -4.91941896e+00] [ 3.99659744e-03 -4.47514774e-04 9.99991913e-01 -2.54422848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879072329 meters 0.07872770789759408 Centerline is valid? [True, True] Translation: X:91.50, Y:-4.93, Z:-2.55 [[ 9.96947225e-01 7.79399593e-02 -4.64691122e-03 9.14985167e+01] [-7.79366604e-02 9.96957918e-01 8.87096566e-04 -4.92768376e+00] [ 4.70191521e-03 -5.22223717e-04 9.99988810e-01 -2.54500373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939072329 meters 0.07837252850306291 Centerline is valid? [True, True] Translation: X:91.56, Y:-4.94, Z:-2.54 [[ 9.96958911e-01 7.78165559e-02 -4.18478759e-03 9.15594112e+01] [-7.78138746e-02 9.96967583e-01 8.00010633e-04 -4.94034339e+00] [ 4.23435164e-03 -4.71943193e-04 9.99990924e-01 -2.54458733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999072329 meters 0.07642398685347532 Centerline is valid? [True, True] Translation: X:91.62, Y:-4.95, Z:-2.54 [[ 9.96947510e-01 7.79972897e-02 -3.47648187e-03 9.16213917e+01] [-7.79954366e-02 9.96953494e-01 6.65678867e-04 -4.95111202e+00] [ 3.51781190e-03 -3.92497167e-04 9.99993735e-01 -2.54384642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059072329 meters 0.08150153100421265 Centerline is valid? [True, True] Translation: X:91.68, Y:-4.97, Z:-2.54 [[ 9.96973658e-01 7.76259006e-02 -4.21245737e-03 9.16800610e+01] [-7.76231742e-02 9.96982443e-01 8.07148041e-04 -4.97039262e+00] [ 4.26240163e-03 -4.77721023e-04 9.99990802e-01 -2.54491406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119072329 meters 0.08632135615974795 Centerline is valid? [True, True] Translation: X:91.74, Y:-4.99, Z:-2.55 [[ 9.96955452e-01 7.77852744e-02 -5.41087969e-03 9.17383820e+01] [-7.77807713e-02 9.96969946e-01 1.03806769e-03 -4.98995758e+00] [ 5.47523081e-03 -6.14044847e-04 9.99984822e-01 -2.54622090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179072329 meters 0.08705014526958298 Centerline is valid? [True, True] Translation: X:91.80, Y:-5.00, Z:-2.54 [[ 9.96979231e-01 7.75189222e-02 -4.81971771e-03 9.17991230e+01] [-7.75153403e-02 9.96990730e-01 9.25876621e-04 -5.00485390e+00] [ 4.87698683e-03 -5.49477703e-04 9.99987956e-01 -2.54468232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239072329 meters 0.08006579106617312 Centerline is valid? [True, True] Translation: X:91.86, Y:-5.01, Z:-2.54 [[ 9.96963974e-01 7.77309426e-02 -4.55366784e-03 9.18624325e+01] [-7.77277411e-02 9.96974238e-01 8.76148576e-04 -5.00911844e+00] [ 4.60799337e-03 -5.19542251e-04 9.99989248e-01 -2.54415827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299072329 meters 0.08598309671204007 Centerline is valid? [True, True] Translation: X:91.92, Y:-5.03, Z:-2.54 [[ 9.96972599e-01 7.75702153e-02 -5.33839017e-03 9.19201751e+01] [-7.75658093e-02 9.96986704e-01 1.02779556e-03 -5.03026032e+00] [ 5.40203035e-03 -6.10607459e-04 9.99985223e-01 -2.54472560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359072329 meters 0.08248210367588835 Centerline is valid? [True, True] Translation: X:91.98, Y:-5.04, Z:-2.55 [[ 9.96971267e-01 7.75737814e-02 -5.53176111e-03 9.19818306e+01] [-7.75690423e-02 9.96986412e-01 1.06648617e-03 -5.03854928e+00] [ 5.59782203e-03 -6.34162661e-04 9.99984131e-01 -2.54601147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41907232900002 meters 0.08772729249823637 Centerline is valid? [True, True] Translation: X:92.04, Y:-5.06, Z:-2.55 [[ 9.96997715e-01 7.71758184e-02 -6.28090778e-03 9.20402522e+01] [-7.71696915e-02 9.97017236e-01 1.21240811e-03 -5.05814708e+00] [ 6.35574190e-03 -7.24072398e-04 9.99979540e-01 -2.54705627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479072329 meters 0.08826053375864297 Centerline is valid? [True, True] Translation: X:92.10, Y:-5.07, Z:-2.54 [[ 9.97076270e-01 7.62313065e-02 -5.26305946e-03 9.21005475e+01] [-7.62269896e-02 9.97089972e-01 1.01629713e-03 -5.07254939e+00] [ 5.32521747e-03 -6.12138571e-04 9.99985634e-01 -2.54437184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539072329 meters 0.08431385619783131 Centerline is valid? [True, True] Translation: X:92.16, Y:-5.08, Z:-2.54 [[ 9.97102016e-01 7.59415709e-02 -4.52192111e-03 9.21626472e+01] [-7.59383758e-02 9.97112129e-01 8.74385008e-04 -5.08049861e+00] [ 4.57526456e-03 -5.28463709e-04 9.99989394e-01 -2.54356117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599072329 meters 0.08798937850844521 Centerline is valid? [True, True] Translation: X:92.22, Y:-5.10, Z:-2.54 [[ 9.97182975e-01 7.48101052e-02 -5.43722580e-03 9.22211316e+01] [-7.48054688e-02 9.97197591e-01 1.05143548e-03 -5.09856060e+00] [ 5.50064648e-03 -6.41739339e-04 9.99984665e-01 -2.54436405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659072329 meters 0.0838489544120625 Centerline is valid? [True, True] Translation: X:92.28, Y:-5.11, Z:-2.54 [[ 9.97262181e-01 7.37320231e-02 -5.63304187e-03 9.22817553e+01] [-7.37270285e-02 9.97277864e-01 1.08951742e-03 -5.10774901e+00] [ 5.69804029e-03 -6.71227080e-04 9.99983541e-01 -2.54408946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719072329 meters 0.08848786453246564 Centerline is valid? [True, True] Translation: X:92.34, Y:-5.13, Z:-2.54 [[ 9.97321943e-01 7.29356583e-02 -5.41584126e-03 9.23397090e+01] [-7.29310288e-02 9.97336436e-01 1.04771115e-03 -5.12680460e+00] [ 5.47783132e-03 -6.49922447e-04 9.99984785e-01 -2.54426822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779072329 meters 0.08514566690334456 Centerline is valid? [True, True] Translation: X:92.40, Y:-5.14, Z:-2.54 [[ 9.97328976e-01 7.28218845e-02 -5.64686182e-03 9.24008124e+01] [-7.28168417e-02 9.97344730e-01 1.09380245e-03 -5.13566480e+00] [ 5.71152064e-03 -6.79694237e-04 9.99983458e-01 -2.54330965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839072329 meters 0.08913184562711357 Centerline is valid? [True, True] Translation: X:92.46, Y:-5.15, Z:-2.54 [[ 9.97324917e-01 7.28237521e-02 -6.30164832e-03 9.24591643e+01] [-7.28174626e-02 9.97344536e-01 1.22213572e-03 -5.15461135e+00] [ 6.37391502e-03 -7.59996370e-04 9.99979398e-01 -2.54394370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899072329 meters 0.08793719937021997 Centerline is valid? [True, True] Translation: X:92.52, Y:-5.17, Z:-2.54 [[ 9.97363183e-01 7.22404327e-02 -6.92831850e-03 9.25205863e+01] [-7.22328127e-02 9.97386893e-01 1.34416325e-03 -5.16575729e+00] [ 7.00731699e-03 -8.40167001e-04 9.99975096e-01 -2.54422855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959072329 meters 0.09138838490889553 Centerline is valid? [True, True] Translation: X:92.58, Y:-5.18, Z:-2.54 [[ 9.97401436e-01 7.17637479e-02 -6.35143491e-03 9.25791907e+01] [-7.17573246e-02 9.97421357e-01 1.23377364e-03 -5.18354144e+00] [ 6.42359705e-03 -7.74805625e-04 9.99979068e-01 -2.54422031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019072329 meters 0.09195887805278086 Centerline is valid? [True, True] Translation: X:92.64, Y:-5.20, Z:-2.54 [[ 9.97424773e-01 7.15210047e-02 -5.34489924e-03 9.26398961e+01] [-7.15164452e-02 9.97438879e-01 1.03961294e-03 -5.19872704e+00] [ 5.40556447e-03 -6.54687508e-04 9.99985176e-01 -2.54265530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079072329 meters 0.0959300025632911 Centerline is valid? [True, True] Translation: X:92.70, Y:-5.22, Z:-2.54 [[ 9.97439446e-01 7.12879444e-02 -5.70800999e-03 9.26981723e+01] [-7.12827366e-02 9.97455531e-01 1.11093199e-03 -5.21629820e+00] [ 5.77268220e-03 -7.01204817e-04 9.99983092e-01 -2.54333615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13907232900002 meters 0.09560211088041544 Centerline is valid? [True, True] Translation: X:92.76, Y:-5.23, Z:-2.54 [[ 9.97430478e-01 7.13560701e-02 -6.38375034e-03 9.27590797e+01] [-7.13495471e-02 9.97450597e-01 1.24406322e-03 -5.22963566e+00] [ 6.45624705e-03 -7.85388881e-04 9.99978850e-01 -2.54454993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19907232900002 meters 0.09948737159234176 Centerline is valid? [True, True] Translation: X:92.82, Y:-5.25, Z:-2.55 [[ 9.97436471e-01 7.12234956e-02 -6.90647321e-03 9.28174924e+01] [-7.12158464e-02 9.97460018e-01 1.34751715e-03 -5.24841793e+00] [ 6.98490577e-03 -8.52212415e-04 9.99975242e-01 -2.54529604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259072329 meters 0.09403187344410296 Centerline is valid? [True, True] Translation: X:92.88, Y:-5.26, Z:-2.54 [[ 9.97498587e-01 7.04119338e-02 -6.22317083e-03 9.28789914e+01] [-7.04056985e-02 9.97517699e-01 1.21567190e-03 -5.25525182e+00] [ 6.29332086e-03 -7.74484310e-04 9.99979897e-01 -2.54422335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319072329 meters 0.09689508233908711 Centerline is valid? [True, True] Translation: X:92.94, Y:-5.27, Z:-2.54 [[ 9.97521004e-01 7.01130989e-02 -5.99993626e-03 9.29382105e+01] [-7.01072892e-02 9.97538767e-01 1.17346916e-03 -5.27190455e+00] [ 6.06744458e-03 -7.49920864e-04 9.99981312e-01 -2.54399638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379072329 meters 0.09694731438247567 Centerline is valid? [True, True] Translation: X:93.00, Y:-5.29, Z:-2.54 [[ 9.97556319e-01 6.95813726e-02 -6.31061143e-03 9.29984713e+01] [-6.95749324e-02 9.97575964e-01 1.23466327e-03 -5.28617730e+00] [ 6.38122384e-03 -7.92585779e-04 9.99979326e-01 -2.54399724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439072329 meters 0.09882237611240119 Centerline is valid? [True, True] Translation: X:93.06, Y:-5.30, Z:-2.54 [[ 9.97594770e-01 6.90115535e-02 -6.48693596e-03 9.30583655e+01] [-6.90047334e-02 9.97615525e-01 1.26962464e-03 -5.30220622e+00] [ 6.55908679e-03 -8.18941612e-04 9.99978154e-01 -2.54390028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499072329 meters 0.09860817520218658 Centerline is valid? [True, True] Translation: X:93.12, Y:-5.32, Z:-2.54 [[ 9.97651572e-01 6.82076065e-02 -6.25011751e-03 9.31191296e+01] [-6.82012570e-02 9.97670833e-01 1.22372068e-03 -5.31515386e+00] [ 6.31902701e-03 -7.94580994e-04 9.99979719e-01 -2.54386236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559072329 meters 0.1042357852387275 Centerline is valid? [True, False] Translation: X:93.10, Y:-5.31, Z:-2.54 [[ 9.98562306e-01 5.35592890e-02 -2.17350784e-03 9.31040482e+01] [-5.35235987e-02 9.98467563e-01 1.40623647e-02 -5.31326514e+00] [ 2.92334733e-03 -1.39258133e-02 9.99898758e-01 -2.54191894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619072329 meters 0.08913417643895216 Centerline is valid? [False, True] Translation: X:93.10, Y:-5.31, Z:-2.54 [[ 9.99106694e-01 4.14414351e-02 -8.27169693e-03 9.31042930e+01] [-4.12756668e-02 9.98961473e-01 1.92949515e-02 -5.31185127e+00] [ 9.06271703e-03 -1.89362954e-02 9.99779618e-01 -2.53836472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679072329 meters 0.10177634494469585 Centerline is valid? [True, False] Translation: X:93.10, Y:-5.31, Z:-2.54 [[ 9.99627608e-01 2.69172427e-02 -4.48401535e-03 9.31048855e+01] [-2.68069247e-02 9.99374320e-01 2.30728668e-02 -5.31152123e+00] [ 5.10226775e-03 -2.29440720e-02 9.99723730e-01 -2.53927371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739072329 meters 0.09345794756998116 Centerline is valid? [False, True] Translation: X:93.11, Y:-5.31, Z:-2.54 [[ 9.99898409e-01 1.31216966e-02 -5.56704087e-03 9.31078366e+01] [-1.30731853e-02 9.99877017e-01 8.66271269e-03 -5.30828780e+00] [ 5.68002570e-03 -8.58905368e-03 9.99946981e-01 -2.54183370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799072329 meters 0.09758853088010193 Centerline is valid? [True, True] Translation: X:93.17, Y:-5.32, Z:-2.55 [[ 9.99901314e-01 1.19848981e-02 -7.32972031e-03 9.31667118e+01] [-1.19775335e-02 9.99927718e-01 1.04782599e-03 -5.32297517e+00] [ 7.34174859e-03 -9.59930611e-04 9.99972588e-01 -2.54594580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859072329 meters 0.0951027148924753 Centerline is valid? [True, True] Translation: X:93.23, Y:-5.33, Z:-2.55 [[ 9.99912133e-01 1.10318955e-02 -7.35012429e-03 9.32270659e+01] [-1.10244635e-02 9.99938677e-01 1.05089538e-03 -5.32960906e+00] [ 7.36126692e-03 -9.69771864e-04 9.99972435e-01 -2.54548608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91907232900002 meters 0.09740204447062209 Centerline is valid? [True, True] Translation: X:93.29, Y:-5.34, Z:-2.55 [[ 9.99929802e-01 9.65914860e-03 -6.86229035e-03 9.32863408e+01] [-9.65263779e-03 9.99952931e-01 9.81270057e-04 -5.34383438e+00] [ 6.87144559e-03 -9.14961971e-04 9.99975973e-01 -2.54556614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979072329 meters 0.09892723499198909 Centerline is valid? [True, True] Translation: X:93.35, Y:-5.36, Z:-2.55 [[ 9.99934784e-01 9.37472726e-03 -6.52242418e-03 9.33470272e+01] [-9.36882978e-03 9.99955675e-01 9.34153211e-04 -5.35728766e+00] [ 6.53089250e-03 -8.72984807e-04 9.99978292e-01 -2.54562830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039072329 meters 0.09801435502481962 Centerline is valid? [True, True] Translation: X:93.41, Y:-5.37, Z:-2.55 [[ 9.99933005e-01 8.81701350e-03 -7.49970783e-03 9.34085229e+01] [-8.80919566e-03 9.99960621e-01 1.07481544e-03 -5.36705371e+00] [ 7.50888915e-03 -1.00867704e-03 9.99971299e-01 -2.54680742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099072329 meters 0.10866128609346244 Centerline is valid? [True, False] Translation: X:93.42, Y:-5.37, Z:-2.55 [[ 9.99987751e-01 3.76513315e-03 -3.21281269e-03 9.34210361e+01] [-3.74845291e-03 9.99979547e-01 5.18211021e-03 -5.36996566e+00] [ 3.23225831e-03 -5.17000366e-03 9.99981412e-01 -2.54737302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159072329 meters 0.10237425271856432 Centerline is valid? [False, False] Translation: X:93.42, Y:-5.37, Z:-2.55 [[ 9.99994769e-01 -4.43267286e-04 -3.20396033e-03 9.34209550e+01] [ 4.46846849e-04 9.99999277e-01 1.11660114e-03 -5.37075229e+00] [ 3.20346306e-03 -1.11802698e-03 9.99994244e-01 -2.54734247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219072329 meters 0.09953063626203437 Centerline is valid? [False, True] Translation: X:93.42, Y:-5.37, Z:-2.55 [[ 9.99995090e-01 -2.21330661e-04 -3.12574019e-03 9.34205920e+01] [ 2.26167708e-04 9.99998777e-01 1.54721981e-03 -5.37200578e+00] [ 3.12539392e-03 -1.54791916e-03 9.99993918e-01 -2.54706526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279072329 meters 0.11141475885629297 Centerline is valid? [True, False] Translation: X:93.42, Y:-5.37, Z:-2.55 [[ 9.99992915e-01 -1.03823780e-03 -3.61841744e-03 9.34232802e+01] [ 1.04229229e-03 9.99998831e-01 1.11880731e-03 -5.37384057e+00] [ 3.61725163e-03 -1.12257083e-03 9.99992828e-01 -2.54935556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339072329 meters 0.09683750148264 Centerline is valid? [False, True] Translation: X:93.42, Y:-5.38, Z:-2.55 [[ 9.99993304e-01 -7.41290149e-04 -3.58366574e-03 9.34232176e+01] [ 7.48019491e-04 9.99997959e-01 1.87680627e-03 -5.37646663e+00] [ 3.58226717e-03 -1.87947436e-03 9.99991817e-01 -2.54949022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399072329 meters 0.0987240616385582 Centerline is valid? [True, True] Translation: X:93.48, Y:-5.39, Z:-2.55 [[ 9.99993239e-01 -7.74968897e-04 -3.59457957e-03 9.34813082e+01] [ 7.76752246e-04 9.99999576e-01 4.94752371e-04 -5.38847635e+00] [ 3.59419463e-03 -4.97541124e-04 9.99993417e-01 -2.55052514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459072329 meters 0.0994815011538839 Centerline is valid? [True, True] Translation: X:93.54, Y:-5.40, Z:-2.55 [[ 9.99997229e-01 -9.37674227e-04 -2.15916279e-03 9.35396660e+01] [ 9.38317756e-04 9.99999516e-01 2.97051729e-04 -5.39999077e+00] [ 2.15888321e-03 -2.99076887e-04 9.99997625e-01 -2.54793153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519072329 meters 0.09948269790474798 Centerline is valid? [True, True] Translation: X:93.60, Y:-5.41, Z:-2.55 [[ 9.99997409e-01 -1.63838243e-03 -1.58014450e-03 9.35985215e+01] [ 1.63872780e-03 9.99998634e-01 2.17297692e-04 -5.41074083e+00] [ 1.57978633e-03 -2.19886556e-04 9.99998728e-01 -2.54715916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579072329 meters 0.09749543930898867 Centerline is valid? [True, True] Translation: X:93.66, Y:-5.42, Z:-2.55 [[ 9.99994164e-01 -2.51024150e-03 -2.31746953e-03 9.36576315e+01] [ 2.51098661e-03 9.99996797e-01 3.18665657e-04 -5.41733453e+00] [ 2.31666218e-03 -3.24482932e-04 9.99997264e-01 -2.54900648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63907232900002 meters 0.10124191115709985 Centerline is valid? [True, False] Translation: X:93.66, Y:-5.42, Z:-2.55 [[ 9.99994993e-01 -2.18538429e-03 -2.28861150e-03 9.36574398e+01] [ 2.18772683e-03 9.99997085e-01 1.02156023e-03 -5.41958074e+00] [ 2.28637233e-03 -1.02656198e-03 9.99996859e-01 -2.54890760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69907232900002 meters 0.0970151578845129 Centerline is valid? [False, True] Translation: X:93.66, Y:-5.42, Z:-2.55 [[ 9.99995645e-01 -1.91867584e-03 -2.24254841e-03 9.36570484e+01] [ 1.92225435e-03 9.99996881e-01 1.59466956e-03 -5.42134267e+00] [ 2.23948176e-03 -1.59897337e-03 9.99996214e-01 -2.54844077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759072329 meters 0.10289638883635616 Centerline is valid? [True, False] Translation: X:93.66, Y:-5.42, Z:-2.55 [[ 9.99996342e-01 -1.57933634e-03 -2.19594143e-03 9.36566341e+01] [ 1.58449077e-03 9.99995989e-01 2.34749514e-03 -5.42376255e+00] [ 2.19222514e-03 -2.35096601e-03 9.99994834e-01 -2.54795864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819072329 meters 0.09979425505943858 Centerline is valid? [False, True] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99996907e-01 -1.20447099e-03 -2.17626741e-03 9.36562461e+01] [ 1.21127865e-03 9.99994369e-01 3.12952980e-03 -5.42610478e+00] [ 2.17248573e-03 -3.13215618e-03 9.99992735e-01 -2.54749356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879072329 meters 0.10291879709176577 Centerline is valid? [True, False] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997104e-01 -1.03390016e-03 -2.17314194e-03 9.36562939e+01] [ 1.04160608e-03 9.99993164e-01 3.54784527e-03 -5.42758427e+00] [ 2.16945897e-03 -3.55009855e-03 9.99991345e-01 -2.54766257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939072329 meters 0.09835373950630208 Centerline is valid? [False, True] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997160e-01 -9.20608370e-04 -2.19824541e-03 9.36566497e+01] [ 9.29282435e-04 9.99991774e-01 3.94814828e-03 -5.42923199e+00] [ 2.19459263e-03 -3.95017986e-03 9.99989790e-01 -2.54826131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999072329 meters 0.10504165539767052 Centerline is valid? [True, False] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997326e-01 -7.04501996e-04 -2.20274707e-03 9.36564275e+01] [ 7.14221896e-04 9.99989999e-01 4.41495802e-03 -5.43075419e+00] [ 2.19961469e-03 -4.41651946e-03 9.99987828e-01 -2.54791559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059072329 meters 0.101612879129167 Centerline is valid? [False, False] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997502e-01 -4.15163157e-04 -2.19614909e-03 9.36560661e+01] [ 4.26150063e-04 9.99987386e-01 5.00470501e-03 -5.43251214e+00] [ 2.19404362e-03 -5.00562840e-03 9.99985065e-01 -2.54738211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119072329 meters 0.10150782283510429 Centerline is valid? [False, False] Translation: X:93.66, Y:-5.43, Z:-2.55 [[ 9.99997351e-01 -3.19513601e-04 -2.27927951e-03 9.36564391e+01] [ 3.31621555e-04 9.99985827e-01 5.31378634e-03 -5.43379333e+00] [ 2.27754938e-03 -5.31452812e-03 9.99983284e-01 -2.54778849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179072329 meters 0.09948416142578713 Centerline is valid? [False, True] Translation: X:93.66, Y:-5.44, Z:-2.55 [[ 9.99997490e-01 -1.13695445e-04 -2.23744897e-03 9.36561273e+01] [ 1.26533203e-04 9.99983527e-01 5.73837134e-03 -5.43512147e+00] [ 2.23675969e-03 -5.73864005e-03 9.99981032e-01 -2.54744674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239072329 meters 0.09644456339426492 Centerline is valid? [True, True] Translation: X:93.72, Y:-5.44, Z:-2.55 [[ 9.99999744e-01 5.56771565e-04 -4.49495119e-04 9.37161751e+01] [-5.56743623e-04 9.99999843e-01 6.22858792e-05 -5.44108145e+00] [ 4.49529727e-04 -6.20356097e-05 9.99999897e-01 -2.54785152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299072329 meters 0.09838220140650843 Centerline is valid? [True, True] Translation: X:93.78, Y:-5.45, Z:-2.55 [[ 9.99995405e-01 1.73293360e-03 -2.48725280e-03 9.37757224e+01] [-1.73207929e-03 9.99998440e-01 3.45586528e-04 -5.45363792e+00] [ 2.48784780e-03 -3.41276821e-04 9.99996847e-01 -2.55037879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359072329 meters 0.10033988093922233 Centerline is valid? [True, False] Translation: X:93.78, Y:-5.45, Z:-2.55 [[ 9.99995066e-01 1.80592013e-03 -2.57016740e-03 9.37759533e+01] [-1.80447617e-03 9.99998213e-01 5.64022673e-04 -5.45450783e+00] [ 2.57118139e-03 -5.59382085e-04 9.99996538e-01 -2.55051204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41907232900002 meters 0.09965359639027006 Centerline is valid? [False, True] Translation: X:93.78, Y:-5.46, Z:-2.55 [[ 9.99994518e-01 2.07960469e-03 -2.57664001e-03 9.37754670e+01] [-2.07687240e-03 9.99997279e-01 1.06262823e-03 -5.45588318e+00] [ 2.57884284e-03 -1.05727105e-03 9.99996116e-01 -2.54969639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479072329 meters 0.09769488689844849 Centerline is valid? [True, True] Translation: X:93.84, Y:-5.46, Z:-2.55 [[ 9.99994455e-01 2.44459723e-03 -2.26140186e-03 9.38358183e+01] [-2.44389742e-03 9.99996965e-01 3.12167446e-04 -5.46176017e+00] [ 2.26215812e-03 -3.06639081e-04 9.99997394e-01 -2.54935689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539072329 meters 0.09737098051993476 Centerline is valid? [True, True] Translation: X:93.90, Y:-5.47, Z:-2.55 [[ 9.99990786e-01 3.26479340e-03 -2.78725075e-03 9.38965931e+01] [-3.26373291e-03 9.99994600e-01 3.84942549e-04 -5.47146651e+00] [ 2.78849246e-03 -3.75842160e-04 9.99996042e-01 -2.55030585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599072329 meters 0.0972050370349825 Centerline is valid? [True, True] Translation: X:93.96, Y:-5.48, Z:-2.55 [[ 9.99987223e-01 3.13408516e-03 -3.96627637e-03 9.39574233e+01] [-3.13193626e-03 9.99994945e-01 5.47888390e-04 -5.48053836e+00] [ 3.96797345e-03 -5.35459265e-04 9.99991984e-01 -2.55245711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659072329 meters 0.09751207459446634 Centerline is valid? [True, True] Translation: X:94.02, Y:-5.49, Z:-2.55 [[ 9.99986422e-01 3.21263034e-03 -4.10302568e-03 9.40179421e+01] [-3.21033074e-03 9.99994686e-01 5.66927736e-04 -5.49156690e+00] [ 4.10482521e-03 -5.53747969e-04 9.99991422e-01 -2.55320795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719072329 meters 0.09536644550775758 Centerline is valid? [True, True] Translation: X:94.08, Y:-5.50, Z:-2.55 [[ 9.99989305e-01 3.40575194e-03 -3.12902769e-03 9.40787807e+01] [-3.40441504e-03 9.99994111e-01 4.32484724e-04 -5.49866173e+00] [ 3.13048220e-03 -4.21827590e-04 9.99995011e-01 -2.55263047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779072329 meters 0.09062984174538836 Centerline is valid? [True, True] Translation: X:94.14, Y:-5.50, Z:-2.55 [[ 9.99992082e-01 2.99650232e-03 -2.61867701e-03 9.41395442e+01] [-2.99556452e-03 9.99995448e-01 3.61968224e-04 -5.50302367e+00] [ 2.61974973e-03 -3.54120942e-04 9.99996506e-01 -2.55218290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839072329 meters 0.0938830820709235 Centerline is valid? [True, True] Translation: X:94.20, Y:-5.52, Z:-2.55 [[ 9.99992567e-01 2.68502953e-03 -2.76695809e-03 9.41996276e+01] [-2.68398095e-03 9.99996325e-01 3.82605515e-04 -5.51708186e+00] [ 2.76797523e-03 -3.75176209e-04 9.99996099e-01 -2.55312016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899072329 meters 0.0965469386219213 Centerline is valid? [True, True] Translation: X:94.26, Y:-5.53, Z:-2.55 [[ 9.99990204e-01 3.05583199e-03 -3.20213955e-03 9.42593281e+01] [-3.05442950e-03 9.99995237e-01 4.42785197e-04 -5.53116455e+00] [ 3.20347737e-03 -4.33000150e-04 9.99994775e-01 -2.55264631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959072329 meters 0.10665870352008434 Centerline is valid? [True, False] Translation: X:94.26, Y:-5.53, Z:-2.55 [[ 9.99989993e-01 3.10537909e-03 -3.22019142e-03 9.42594459e+01] [-3.10335975e-03 9.99994985e-01 6.31893697e-04 -5.53197395e+00] [ 3.22213754e-03 -6.21893961e-04 9.99994616e-01 -2.55278641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019072329 meters 0.09874766874197313 Centerline is valid? [False, True] Translation: X:94.26, Y:-5.53, Z:-2.55 [[ 9.99989734e-01 3.23090577e-03 -3.17685982e-03 9.42594108e+01] [-3.22793703e-03 9.99994349e-01 9.39174297e-04 -5.53302997e+00] [ 3.17987626e-03 -9.28909952e-04 9.99994513e-01 -2.55297541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079072329 meters 0.09427542274488981 Centerline is valid? [True, True] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99992177e-01 3.35508053e-03 -2.09489330e-03 9.43205686e+01] [-3.35447761e-03 9.99994331e-01 2.91254509e-04 -5.53679849e+00] [ 2.09585860e-03 -2.84224958e-04 9.99997763e-01 -2.55197798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13907232900002 meters 0.10143761830389633 Centerline is valid? [True, False] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99991493e-01 3.52189121e-03 -2.14695910e-03 9.43202440e+01] [-3.52066840e-03 9.99993638e-01 5.73065869e-04 -5.53751384e+00] [ 2.14896371e-03 -5.65502263e-04 9.99997531e-01 -2.55126940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19907232900002 meters 0.10014574958668525 Centerline is valid? [False, False] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99991154e-01 3.54397074e-03 -2.26524609e-03 9.43206883e+01] [-3.54226637e-03 9.99993440e-01 7.55971772e-04 -5.53845308e+00] [ 2.26791037e-03 -7.47940980e-04 9.99997149e-01 -2.55163188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259072329 meters 0.10017202900485554 Centerline is valid? [False, False] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99991398e-01 3.43172959e-03 -2.32970166e-03 9.43212605e+01] [-3.43017841e-03 9.99993893e-01 6.69496552e-04 -5.53857728e+00] [ 2.33198496e-03 -6.61499500e-04 9.99997062e-01 -2.55234558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319072329 meters 0.09999769656372735 Centerline is valid? [False, True] Translation: X:94.32, Y:-5.54, Z:-2.55 [[ 9.99991115e-01 3.53144453e-03 -2.30172696e-03 9.43211073e+01] [-3.52942136e-03 9.99993382e-01 8.82449917e-04 -5.53925245e+00] [ 2.30482805e-03 -8.74318312e-04 9.99996962e-01 -2.55220178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379072329 meters 0.09487460310314605 Centerline is valid? [True, True] Translation: X:94.38, Y:-5.54, Z:-2.55 [[ 9.99990587e-01 3.56257108e-03 -2.47653686e-03 9.43823251e+01] [-3.56173148e-03 9.99993598e-01 3.43347797e-04 -5.54177907e+00] [ 2.47774421e-03 -3.34523806e-04 9.99996874e-01 -2.55382454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439072329 meters 0.09654588966780074 Centerline is valid? [True, True] Translation: X:94.44, Y:-5.55, Z:-2.55 [[ 9.99988697e-01 3.55397080e-03 -3.15836154e-03 9.44428805e+01] [-3.55260493e-03 9.99993594e-01 4.37966298e-04 -5.55238339e+00] [ 3.15989783e-03 -4.26740937e-04 9.99994916e-01 -2.55472486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499072329 meters 0.09812239465780014 Centerline is valid? [True, True] Translation: X:94.50, Y:-5.56, Z:-2.55 [[ 9.99989604e-01 3.90015925e-03 -2.36240489e-03 9.45033683e+01] [-3.89939576e-03 9.99992344e-01 3.27703361e-04 -5.56334681e+00] [ 2.36366490e-03 -3.18488003e-04 9.99997156e-01 -2.55317406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559072329 meters 0.09745171205491122 Centerline is valid? [True, True] Translation: X:94.56, Y:-5.57, Z:-2.55 [[ 9.99990334e-01 4.13299355e-03 -1.49992912e-03 9.45645972e+01] [-4.13268452e-03 9.99991439e-01 2.09071139e-04 -5.57156984e+00] [ 1.50078037e-03 -2.02870384e-04 9.99998853e-01 -2.55223866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619072329 meters 0.09849932990430751 Centerline is valid? [True, True] Translation: X:94.63, Y:-5.58, Z:-2.55 [[ 9.99989927e-01 4.01211009e-03 -2.01237970e-03 9.46259778e+01] [-4.01155301e-03 9.99991914e-01 2.80786485e-04 -5.58206786e+00] [ 2.01348998e-03 -2.72710888e-04 9.99997936e-01 -2.55317534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679072329 meters 0.09912986807501234 Centerline is valid? [True, True] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99993654e-01 2.99815382e-03 -1.92430865e-03 9.46863065e+01] [-2.99764367e-03 9.99995471e-01 2.67939368e-04 -5.59167116e+00] [ 1.92510326e-03 -2.62169276e-04 9.99998113e-01 -2.55486979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739072329 meters 0.10201935130413008 Centerline is valid? [True, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99993259e-01 3.15995043e-03 -1.87011254e-03 9.46858617e+01] [-3.15903754e-03 9.99994890e-01 4.90904040e-04 -5.59207682e+00] [ 1.87165422e-03 -4.84992975e-04 9.99998131e-01 -2.55439544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799072329 meters 0.10557036725050013 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99993293e-01 3.11152443e-03 -1.93192164e-03 9.46859887e+01] [-3.11065405e-03 9.99995059e-01 4.53365691e-04 -5.59210889e+00] [ 1.93332275e-03 -4.47353110e-04 9.99998031e-01 -2.55435562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859072329 meters 0.09895191038299958 Centerline is valid? [False, True] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99992860e-01 3.18247396e-03 -2.03748403e-03 9.46862142e+01] [-3.18113912e-03 9.99994724e-01 6.58051141e-04 -5.59289574e+00] [ 2.03956751e-03 -6.51564922e-04 9.99997708e-01 -2.55440755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91907232900002 meters 0.10474872890976991 Centerline is valid? [True, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99993087e-01 3.11651766e-03 -2.02813255e-03 9.46865151e+01] [-3.11523420e-03 9.99994946e-01 6.35680145e-04 -5.59316189e+00] [ 2.03010341e-03 -6.29357642e-04 9.99997741e-01 -2.55492092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979072329 meters 0.10370751488966559 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99992971e-01 3.16219951e-03 -2.01479533e-03 9.46864457e+01] [-3.16059643e-03 9.99994687e-01 7.98339883e-04 -5.59384376e+00] [ 2.01730914e-03 -7.91966317e-04 9.99997652e-01 -2.55485767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039072329 meters 0.11043034283992985 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99992588e-01 3.27247101e-03 -2.02850195e-03 9.46863094e+01] [-3.27028352e-03 9.99994069e-01 1.08075773e-03 -5.59486670e+00] [ 2.03202666e-03 -1.07411594e-03 9.99997359e-01 -2.55461202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099072329 meters 0.1092374496454932 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.55 [[ 9.99992670e-01 3.22193498e-03 -2.06875386e-03 9.46865662e+01] [-3.21981937e-03 9.99994291e-01 1.02516677e-03 -5.59479054e+00] [ 2.07204507e-03 -1.01849824e-03 9.99997335e-01 -2.55492908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159072329 meters 0.10708342633426855 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992622e-01 3.18827061e-03 -2.14272984e-03 9.46869409e+01] [-3.18597146e-03 9.99994346e-01 1.07555919e-03 -5.59527582e+00] [ 2.14614690e-03 -1.06872457e-03 9.99997126e-01 -2.55530797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219072329 meters 0.1052200625511195 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992208e-01 3.28873192e-03 -2.18378049e-03 9.46868464e+01] [-3.28573242e-03 9.99993656e-01 1.37570658e-03 -5.59637530e+00] [ 2.18829097e-03 -1.36852054e-03 9.99996669e-01 -2.55504859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279072329 meters 0.1103854013424093 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.55 [[ 9.99992068e-01 3.38042139e-03 -2.10618573e-03 9.46865536e+01] [-3.37705164e-03 9.99993015e-01 1.60143669e-03 -5.59711764e+00] [ 2.11158455e-03 -1.59431129e-03 9.99996500e-01 -2.55486161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339072329 meters 0.1124166419308289 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.55 [[ 9.99991891e-01 3.43440117e-03 -2.10295429e-03 9.46864745e+01] [-3.43081907e-03 9.99992662e-01 1.70460714e-03 -5.59737810e+00] [ 2.10879316e-03 -1.69737846e-03 9.99996336e-01 -2.55477984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399072329 meters 0.11282478416930834 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993528e-01 2.51867023e-03 -2.56915466e-03 9.46893129e+01] [-2.51606640e-03 9.99996318e-01 1.01622851e-03 -5.59808877e+00] [ 2.57170474e-03 -1.00975777e-03 9.99996183e-01 -2.55739453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459072329 meters 0.11388340970779577 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993430e-01 2.54457265e-03 -2.58154204e-03 9.46893182e+01] [-2.54163669e-03 9.99996120e-01 1.13993426e-03 -5.59862138e+00] [ 2.58443267e-03 -1.13336543e-03 9.99996018e-01 -2.55737704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519072329 meters 0.11148771953740906 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993197e-01 2.58502410e-03 -2.63134978e-03 9.46892565e+01] [-2.58176164e-03 9.99995895e-01 1.24248527e-03 -5.59897411e+00] [ 2.63455084e-03 -1.23568330e-03 9.99995766e-01 -2.55709884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579072329 meters 0.11976954715949081 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993205e-01 2.56631598e-03 -2.64658666e-03 9.46893374e+01] [-2.56305997e-03 9.99995955e-01 1.23292505e-03 -5.59902656e+00] [ 2.64974003e-03 -1.22613331e-03 9.99995738e-01 -2.55718988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63907232900002 meters 0.12391728614414572 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993210e-01 2.45773399e-03 -2.74595755e-03 9.46898820e+01] [-2.45439879e-03 9.99996247e-01 1.21729284e-03 -5.59943675e+00] [ 2.74893903e-03 -1.21054490e-03 9.99995489e-01 -2.55776737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69907232900002 meters 0.12854186740011894 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993180e-01 2.57231281e-03 -2.65007743e-03 9.46897064e+01] [-2.56846121e-03 9.99995642e-01 1.45577115e-03 -5.60015160e+00] [ 2.65381058e-03 -1.44895460e-03 9.99995429e-01 -2.55789550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759072329 meters 0.12019468567793183 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993051e-01 2.60580401e-03 -2.66614053e-03 9.46897626e+01] [-2.60149043e-03 9.99995304e-01 1.62010195e-03 -5.60086659e+00] [ 2.67034968e-03 -1.61315476e-03 9.99995133e-01 -2.55795231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819072329 meters 0.11800250631015549 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993000e-01 2.57503416e-03 -2.71476428e-03 9.46898413e+01] [-2.57059225e-03 9.99995354e-01 1.63842856e-03 -5.60109422e+00] [ 2.71897067e-03 -1.63143854e-03 9.99994973e-01 -2.55789600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879072329 meters 0.11407129628155702 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992951e-01 2.52493749e-03 -2.77882674e-03 9.46900307e+01] [-2.52035879e-03 9.99995463e-01 1.64997922e-03 -5.60134440e+00] [ 2.78298022e-03 -1.64296395e-03 9.99994778e-01 -2.55799601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939072329 meters 0.10885562204936212 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992686e-01 2.49205021e-03 -2.90147019e-03 9.46903530e+01] [-2.48737066e-03 9.99995602e-01 1.61531133e-03 -5.60124286e+00] [ 2.90548287e-03 -1.60808249e-03 9.99994486e-01 -2.55813422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999072329 meters 0.12166077093795412 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99992903e-01 2.39903312e-03 -2.90483719e-03 9.46906458e+01] [-2.39438454e-03 9.99995849e-01 1.60271191e-03 -5.60156864e+00] [ 2.90867010e-03 -1.59574524e-03 9.99994497e-01 -2.55860388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059072329 meters 0.12535166757518326 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993085e-01 2.42773814e-03 -2.81706740e-03 9.46903831e+01] [-2.42317186e-03 9.99995747e-01 1.62321781e-03 -5.60148468e+00] [ 2.82099616e-03 -1.61638034e-03 9.99994715e-01 -2.55848399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119072329 meters 0.1156766750486476 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993286e-01 2.32423673e-03 -2.83303292e-03 9.46905290e+01] [-2.32027149e-03 9.99996325e-01 1.40213113e-03 -5.60073333e+00] [ 2.83628140e-03 -1.39554831e-03 9.99995004e-01 -2.55864846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179072329 meters 0.12126002090659825 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993226e-01 2.20477282e-03 -2.94722949e-03 9.46910132e+01] [-2.20100112e-03 9.99996756e-01 1.28237479e-03 -5.60063302e+00] [ 2.95004727e-03 -1.27587925e-03 9.99994835e-01 -2.55905232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239072329 meters 0.12244422044461183 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993096e-01 2.08089525e-03 -3.07873906e-03 9.46912897e+01] [-2.07762910e-03 9.99997276e-01 1.06369100e-03 -5.60006936e+00] [ 3.08094411e-03 -1.05728718e-03 9.99994695e-01 -2.55900233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299072329 meters 0.12125935539999434 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993288e-01 1.99619863e-03 -3.07225898e-03 9.46913457e+01] [-1.99337051e-03 9.99997587e-01 9.23319812e-04 -5.59967926e+00] [ 3.07409469e-03 -9.17189465e-04 9.99994854e-01 -2.55908681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359072329 meters 0.11752842614907315 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993478e-01 1.75977899e-03 -3.15406072e-03 9.46918571e+01] [-1.75810974e-03 9.99998313e-01 5.31933224e-04 -5.59870016e+00] [ 3.15499148e-03 -5.26384570e-04 9.99994884e-01 -2.55958678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41907232900002 meters 0.1272878794686524 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993713e-01 1.59512860e-03 -3.16699845e-03 9.46922860e+01] [-1.59433379e-03 9.99998697e-01 2.53473037e-04 -5.59796082e+00] [ 3.16739864e-03 -2.48422191e-04 9.99994953e-01 -2.56024426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479072329 meters 0.12754274223507192 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993618e-01 1.56074351e-03 -3.21362604e-03 9.46923308e+01] [-1.56027082e-03 9.99998772e-01 1.49591337e-04 -5.59752927e+00] [ 3.21385557e-03 -1.44576255e-04 9.99994825e-01 -2.56012757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539072329 meters 0.12086169968517191 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993812e-01 1.42445988e-03 -3.21666331e-03 9.46923341e+01] [-1.42487296e-03 9.99998977e-01 -1.26132585e-04 -5.59665847e+00] [ 3.21648034e-03 1.30715141e-04 9.99994819e-01 -2.56000961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599072329 meters 0.12012599165422783 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99993918e-01 1.19725196e-03 -3.27564164e-03 9.46926728e+01] [-1.19919567e-03 9.99999106e-01 -5.91482377e-04 -5.59526072e+00] [ 3.27493056e-03 5.95406915e-04 9.99994460e-01 -2.56027373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659072329 meters 0.12019574784073586 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99993928e-01 1.07052034e-03 -3.31632637e-03 9.46929806e+01] [-1.07325172e-03 9.99999086e-01 -8.21944173e-04 -5.59460316e+00] [ 3.31544343e-03 8.25498435e-04 9.99994163e-01 -2.56062536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719072329 meters 0.12123078014026357 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99994107e-01 7.77466391e-04 -3.34395720e-03 9.46937360e+01] [-7.81734329e-04 9.99998881e-01 -1.27519594e-03 -5.59360375e+00] [ 3.34296204e-03 1.27780251e-03 9.99993596e-01 -2.56174944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779072329 meters 0.11511432379478168 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99994226e-01 7.61870460e-04 -3.31167109e-03 9.46936660e+01] [-7.66394149e-04 9.99998775e-01 -1.36492963e-03 -5.59316498e+00] [ 3.31062714e-03 1.36745979e-03 9.99993585e-01 -2.56176469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839072329 meters 0.11890454614932708 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99994033e-01 5.44910340e-04 -3.41140207e-03 9.46939509e+01] [-5.51043897e-04 9.99998233e-01 -1.79727588e-03 -5.59184064e+00] [ 3.41041669e-03 1.79914499e-03 9.99992566e-01 -2.56179165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899072329 meters 0.12595875897002137 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99994035e-01 5.06266631e-04 -3.41671988e-03 9.46938218e+01] [-5.13066371e-04 9.99997889e-01 -1.98955379e-03 -5.59098035e+00] [ 3.41570543e-03 1.99129492e-03 9.99992184e-01 -2.56150968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959072329 meters 0.11441934994781747 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99993810e-01 3.80112044e-04 -3.49778468e-03 9.46941638e+01] [-3.87779082e-04 9.99997523e-01 -2.19155266e-03 -5.59051546e+00] [ 3.49694298e-03 2.19289546e-03 9.99991481e-01 -2.56175716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019072329 meters 0.11535083271356783 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.59, Z:-2.56 [[ 9.99993721e-01 2.90043103e-04 -3.53188762e-03 9.46944547e+01] [-2.98365569e-04 9.99997180e-01 -2.35608021e-03 -5.59002942e+00] [ 3.53119430e-03 2.35711921e-03 9.99990987e-01 -2.56214640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079072329 meters 0.11560087903555824 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.56 [[ 9.99993614e-01 3.56435724e-05 -3.57352937e-03 9.46950212e+01] [-4.56425044e-05 9.99996085e-01 -2.79801258e-03 -5.58888301e+00] [ 3.57341565e-03 2.79815782e-03 9.99989700e-01 -2.56289734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13907232900002 meters 0.12128613965232918 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.56 [[ 9.99993373e-01 -2.52824017e-04 -3.63175577e-03 9.46953309e+01] [ 2.40465849e-04 9.99994181e-01 -3.40284199e-03 -5.58701235e+00] [ 3.63259496e-03 3.40194613e-03 9.99987615e-01 -2.56304235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19907232900002 meters 0.1308523068903296 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.56 [[ 9.99993131e-01 -3.23080570e-04 -3.69245001e-03 9.46953828e+01] [ 3.09902922e-04 9.99993584e-01 -3.56882391e-03 -5.58648940e+00] [ 3.69357933e-03 3.56765510e-03 9.99986815e-01 -2.56283975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259072329 meters 0.1129124867251747 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99985036e-01 -3.67779704e-03 -4.04982793e-03 9.46812330e+01] [ 3.69883076e-03 9.99979647e-01 5.19854999e-03 -5.58429765e+00] [ 4.03062629e-03 -5.21345183e-03 9.99978287e-01 -2.56100970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319072329 meters 0.11120206628432217 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99984187e-01 -3.83406255e-03 -4.11408365e-03 9.46816883e+01] [ 3.85438914e-03 9.99980349e-01 4.94423064e-03 -5.58365868e+00] [ 4.09504631e-03 -4.96000974e-03 9.99979314e-01 -2.56153030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379072329 meters 0.11325592145972932 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983301e-01 -3.95312679e-03 -4.21539027e-03 9.46821248e+01] [ 3.97336361e-03 9.99980571e-01 4.80318005e-03 -5.58345657e+00] [ 4.19632079e-03 -4.81984913e-03 9.99979580e-01 -2.56191254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439072329 meters 0.12230713176633108 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983428e-01 -3.91393840e-03 -4.22195120e-03 9.46820935e+01] [ 3.93473912e-03 9.99980107e-01 4.92979763e-03 -5.58397086e+00] [ 4.20257229e-03 -4.94632821e-03 9.99978936e-01 -2.56182599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499072329 meters 0.11278823445873397 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983606e-01 -3.89462190e-03 -4.19753034e-03 9.46819246e+01] [ 3.91521050e-03 9.99980292e-01 4.90792599e-03 -5.58371494e+00] [ 4.17833310e-03 -4.92427975e-03 9.99979146e-01 -2.56163095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559072329 meters 0.12020172711830208 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983334e-01 -3.95179006e-03 -4.20882869e-03 9.46819433e+01] [ 3.97175166e-03 9.99980855e-01 4.74504125e-03 -5.58311267e+00] [ 4.18999671e-03 -4.76167860e-03 9.99979885e-01 -2.56157927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619072329 meters 0.12986318422162418 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983512e-01 -3.88344239e-03 -4.23020597e-03 9.46817319e+01] [ 3.90371522e-03 9.99980886e-01 4.79473087e-03 -5.58304575e+00] [ 4.21150506e-03 -4.81116533e-03 9.99979558e-01 -2.56113936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679072329 meters 0.12194713501932529 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983148e-01 -3.94522364e-03 -4.25895794e-03 9.46820386e+01] [ 3.96556067e-03 9.99980726e-01 4.77728233e-03 -5.58324538e+00] [ 4.24002840e-03 -4.79409098e-03 9.99979519e-01 -2.56153194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739072329 meters 0.12080096381664862 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983022e-01 -4.04726831e-03 -4.19227434e-03 9.46823239e+01] [ 4.06677113e-03 9.99980900e-01 4.65405650e-03 -5.58309594e+00] [ 4.17335805e-03 -4.67102650e-03 9.99980382e-01 -2.56222375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799072329 meters 0.12526294390743611 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99983271e-01 -4.00437477e-03 -4.17400181e-03 9.46821237e+01] [ 4.02392196e-03 9.99980928e-01 4.68525046e-03 -5.58307153e+00] [ 4.15516071e-03 -4.70196794e-03 9.99980313e-01 -2.56193804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859072329 meters 0.1295555953433811 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99982963e-01 -4.07994417e-03 -4.17455990e-03 9.46819444e+01] [ 4.09833942e-03 9.99981889e-01 4.40748846e-03 -5.58191880e+00] [ 4.15650199e-03 -4.42452214e-03 9.99981573e-01 -2.56156973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91907232900002 meters 0.12325071306674022 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99981646e-01 -4.22386664e-03 -4.34361838e-03 9.46825685e+01] [ 4.24223815e-03 9.99982059e-01 4.22906217e-03 -5.58164677e+00] [ 4.32567746e-03 -4.24741121e-03 9.99981624e-01 -2.56201760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979072329 meters 0.12889652321333592 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99981139e-01 -4.29801812e-03 -4.38735663e-03 9.46829599e+01] [ 4.31618188e-03 9.99982120e-01 4.13898489e-03 -5.58154306e+00] [ 4.36948875e-03 -4.15784345e-03 9.99981810e-01 -2.56251937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039072329 meters 0.12425774946710683 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99980650e-01 -4.40151413e-03 -4.39621723e-03 9.46831033e+01] [ 4.41876412e-03 9.99982547e-01 3.92185236e-03 -5.58083299e+00] [ 4.37887841e-03 -3.94120232e-03 9.99982646e-01 -2.56269078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099072329 meters 0.13336883643527567 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99980340e-01 -4.47830931e-03 -4.38913582e-03 9.46830342e+01] [ 4.49460320e-03 9.99983019e-01 3.70951517e-03 -5.58002715e+00] [ 4.37244893e-03 -3.72916966e-03 9.99983487e-01 -2.56251951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159072329 meters 0.11865443070797028 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99979684e-01 -4.56592858e-03 -4.44783240e-03 9.46831057e+01] [ 4.58124905e-03 9.99983588e-01 3.44040387e-03 -5.57897895e+00] [ 4.43205076e-03 -3.46071060e-03 9.99984190e-01 -2.56240821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219072329 meters 0.11155688533097136 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978777e-01 -4.67351589e-03 -4.53906398e-03 9.46833686e+01] [ 4.68802957e-03 9.99983916e-01 3.19214623e-03 -5.57814515e+00] [ 4.52407243e-03 -3.21335775e-03 9.99984603e-01 -2.56248427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279072329 meters 0.11412519585631134 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978392e-01 -4.70489990e-03 -4.59127174e-03 9.46834012e+01] [ 4.71908833e-03 9.99984108e-01 3.08437949e-03 -5.57770729e+00] [ 4.57668708e-03 -3.10597946e-03 9.99984703e-01 -2.56233603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339072329 meters 0.11812456591887248 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978666e-01 -4.65063413e-03 -4.58682337e-03 9.46831336e+01] [ 4.66477718e-03 9.99984384e-01 3.07754539e-03 -5.57741175e+00] [ 4.57243920e-03 -3.09887624e-03 9.99984745e-01 -2.56190690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399072329 meters 0.11828741685230824 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978270e-01 -4.77158566e-03 -4.54874401e-03 9.46833215e+01] [ 4.78459795e-03 9.99984481e-01 2.85405496e-03 -5.57677080e+00] [ 4.53505505e-03 -2.87575686e-03 9.99985582e-01 -2.56229419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459072329 meters 0.11843639576325357 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99978139e-01 -4.77404771e-03 -4.57497022e-03 9.46834979e+01] [ 4.78725247e-03 9.99984395e-01 2.87971450e-03 -5.57696883e+00] [ 4.56115093e-03 -2.90155308e-03 9.99985388e-01 -2.56251097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519072329 meters 0.11891562266721858 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99979872e-01 -4.49706686e-03 -4.47570250e-03 9.46829923e+01] [ 4.51227521e-03 9.99984061e-01 3.39370315e-03 -5.57847584e+00] [ 4.46036945e-03 -3.41383044e-03 9.99984225e-01 -2.56208758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579072329 meters 0.12132257174580355 Centerline is valid? [False, False] Translation: X:94.68, Y:-5.58, Z:-2.56 [[ 9.99980569e-01 -4.35850352e-03 -4.45708064e-03 9.46826881e+01] [ 4.37459477e-03 9.99983926e-01 3.60691319e-03 -5.57896474e+00] [ 4.44128826e-03 -3.62634103e-03 9.99983562e-01 -2.56168968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63907232900002 meters 0.12131900925976326 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.58, Z:-2.57 [[ 9.99999863e-01 1.17678840e-04 -5.10020836e-04 9.46981775e+01] [-1.19066171e-04 9.99996291e-01 -2.72097017e-03 -5.58222461e+00] [ 5.09698744e-04 2.72103052e-03 9.99996168e-01 -2.56700927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69907232900002 meters 0.11675183776313662 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.58, Z:-2.57 [[ 9.99999814e-01 3.64388455e-04 -4.88122708e-04 9.46979307e+01] [-3.65474107e-04 9.99997456e-01 -2.22589692e-03 -5.58375515e+00] [ 4.87310375e-04 2.22607490e-03 9.99997404e-01 -2.56679197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759072329 meters 0.11623256375940721 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999768e-01 4.84558780e-04 -4.77777033e-04 9.46980205e+01] [-4.85452780e-04 9.99998128e-01 -1.87282808e-03 -5.58512468e+00] [ 4.76868643e-04 1.87305958e-03 9.99998132e-01 -2.56707652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819072329 meters 0.12768946263581565 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999653e-01 6.79247543e-04 -4.82721416e-04 9.46977119e+01] [-6.79993974e-04 9.99998571e-01 -1.54782113e-03 -5.58598389e+00] [ 4.81669372e-04 1.54814884e-03 9.99998686e-01 -2.56662825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879072329 meters 0.11765725230564503 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999577e-01 8.32845699e-04 -3.89681339e-04 9.46973098e+01] [-8.33321759e-04 9.99998905e-01 -1.22310295e-03 -5.58707954e+00] [ 3.88662256e-04 1.22342716e-03 9.99999176e-01 -2.56630475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939072329 meters 0.12271211761132639 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999357e-01 1.08222128e-03 -3.38860255e-04 9.46970414e+01] [-1.08245535e-03 9.99999175e-01 -6.91327860e-04 -5.58877890e+00] [ 3.38111806e-04 6.91694217e-04 9.99999704e-01 -2.56616602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999072329 meters 0.12689216287373362 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999255e-01 1.14194174e-03 -4.30892940e-04 9.46973880e+01] [-1.14214027e-03 9.99999242e-01 -4.60763225e-04 -5.58984440e+00] [ 4.30366448e-04 4.61255022e-04 9.99999801e-01 -2.56648125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059072329 meters 0.11932551319555232 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99999035e-01 1.35421498e-03 -3.08489245e-04 9.46969187e+01] [-1.35423115e-03 9.99999082e-01 -5.22399465e-05 -5.59102317e+00] [ 3.08418218e-04 5.26576619e-05 9.99999951e-01 -2.56619087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119072329 meters 0.12036639178622321 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99998991e-01 1.39595951e-03 -2.65102877e-04 9.46968669e+01] [-1.39593059e-03 9.99999020e-01 1.09248753e-04 -5.59172088e+00] [ 2.65255124e-04 -1.08878577e-04 9.99999959e-01 -2.56626760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179072329 meters 0.1260232081650566 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99998955e-01 1.40164860e-03 -3.52800699e-04 9.46971377e+01] [-1.40158480e-03 9.99999001e-01 1.81018855e-04 -5.59215846e+00] [ 3.53054072e-04 -1.80524186e-04 9.99999921e-01 -2.56641883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239072329 meters 0.11778654587146209 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99998520e-01 1.68887018e-03 -3.28762954e-04 9.46967239e+01] [-1.68863295e-03 9.99998315e-01 7.20548342e-04 -5.59374812e+00] [ 3.29979312e-04 -7.19992115e-04 9.99999686e-01 -2.56591207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299072329 meters 0.12967930541253325 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.59, Z:-2.57 [[ 9.99998397e-01 1.75267791e-03 -3.65918149e-04 9.46968995e+01] [-1.75232306e-03 9.99997996e-01 9.67826496e-04 -5.59487446e+00] [ 3.67613704e-04 -9.67183738e-04 9.99999465e-01 -2.56612334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359072329 meters 0.12096096998442012 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99998104e-01 1.92251311e-03 -3.08524424e-04 9.46966889e+01] [-1.92211097e-03 9.99997310e-01 1.29846719e-03 -5.59587789e+00] [ 3.11019914e-04 -1.29787171e-03 9.99999109e-01 -2.56607110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41907232900002 meters 0.1313294795110756 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99998095e-01 1.91672301e-03 -3.68672243e-04 9.46969104e+01] [-1.91622364e-03 9.99997253e-01 1.35012819e-03 -5.59623218e+00] [ 3.71259052e-04 -1.34941916e-03 9.99999021e-01 -2.56624013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479072329 meters 0.13723275399434645 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99997679e-01 2.11776277e-03 -3.95277930e-04 9.46967251e+01] [-2.11704184e-03 9.99996111e-01 1.81546734e-03 -5.59787036e+00] [ 3.99121122e-04 -1.81462630e-03 9.99998274e-01 -2.56590424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539072329 meters 0.12567844441329484 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99997208e-01 2.33916610e-03 -3.35163379e-04 9.46963737e+01] [-2.33840362e-03 9.99994718e-01 2.25757106e-03 -5.59919123e+00] [ 3.40442442e-04 -2.25678101e-03 9.99997396e-01 -2.56562023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599072329 meters 0.14090559398614727 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99997158e-01 2.34877586e-03 -4.10146847e-04 9.46966395e+01] [-2.34781297e-03 9.99994523e-01 2.33257161e-03 -5.59964734e+00] [ 4.15623288e-04 -2.33160203e-03 9.99997195e-01 -2.56580694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659072329 meters 0.11746342945532348 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99996944e-01 2.43569343e-03 -4.23515950e-04 9.46965723e+01] [-2.43460717e-03 9.99993793e-01 2.54672850e-03 -5.60044557e+00] [ 4.29716371e-04 -2.54568962e-03 9.99996667e-01 -2.56565838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719072329 meters 0.1302628638091191 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99996903e-01 2.43620098e-03 -5.08435525e-04 9.46968406e+01] [-2.43486490e-03 9.99993624e-01 2.61211909e-03 -5.60080873e+00] [ 5.14795930e-04 -2.61087303e-03 9.99996459e-01 -2.56583405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779072329 meters 0.11740607997999249 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99996876e-01 2.42358204e-03 -6.12184836e-04 9.46971734e+01] [-2.42195090e-03 9.99993552e-01 2.65129895e-03 -5.60113873e+00] [ 6.18606529e-04 -2.64980799e-03 9.99996298e-01 -2.56604134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839072329 meters 0.12043383661339024 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99996469e-01 2.55908180e-03 -7.16860136e-04 9.46971765e+01] [-2.55694021e-03 9.99992313e-01 2.97260374e-03 -5.60222910e+00] [ 7.24461761e-04 -2.97076028e-03 9.99995325e-01 -2.56572717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899072329 meters 0.12486790832977208 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99995888e-01 2.76016591e-03 -7.77814951e-04 9.46969944e+01] [-2.75755540e-03 9.99990628e-01 3.33752725e-03 -5.60326654e+00] [ 7.87019791e-04 -3.33536866e-03 9.99994128e-01 -2.56529699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959072329 meters 0.11589157749642492 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.60, Z:-2.57 [[ 9.99995584e-01 2.87299800e-03 -7.60592087e-04 9.46970276e+01] [-2.87020266e-03 9.99989215e-01 3.65115298e-03 -5.60449207e+00] [ 7.71073640e-04 -3.64895381e-03 9.99993045e-01 -2.56545572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019072329 meters 0.12104055540255174 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.60, Z:-2.56 [[ 9.99999382e-01 1.08579037e-03 -2.37971598e-04 9.46946023e+01] [-1.08534368e-03 9.99997664e-01 1.86922472e-03 -5.60348783e+00] [ 2.40000628e-04 -1.86896529e-03 9.99998225e-01 -2.56367552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079072329 meters 0.12248182521033904 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999085e-01 1.33124671e-03 -2.41729249e-04 9.46943027e+01] [-1.33065947e-03 9.99996202e-01 2.41343706e-03 -5.60531306e+00] [ 2.44941211e-04 -2.41311319e-03 9.99997058e-01 -2.56322483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13907232900002 meters 0.11531499617244449 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99998816e-01 1.51880926e-03 -2.49104899e-04 9.46940681e+01] [-1.51810890e-03 9.99994961e-01 2.78800443e-03 -5.60642292e+00] [ 2.53338090e-04 -2.78762296e-03 9.99996082e-01 -2.56289274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19907232900002 meters 0.11537196521723561 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99998698e-01 1.59329614e-03 -2.55612718e-04 9.46941780e+01] [-1.59251309e-03 9.99994127e-01 3.03492343e-03 -5.60738406e+00] [ 2.60446748e-04 -3.03451241e-03 9.99995362e-01 -2.56312039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259072329 meters 0.1282529404052645 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99998229e-01 1.86088070e-03 -2.79624835e-04 9.46939735e+01] [-1.85985028e-03 9.99991641e-01 3.64114637e-03 -5.60942329e+00] [ 2.86398236e-04 -3.64061986e-03 9.99993332e-01 -2.56278092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319072329 meters 0.12074822540883202 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999358e-01 -1.06221828e-03 3.93615530e-04 9.46907796e+01] [ 1.06202430e-03 9.99999315e-01 4.92693307e-04 -5.60887769e+00] [-3.94138608e-04 -4.92274961e-04 9.99999801e-01 -2.56048056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379072329 meters 0.12776634467679182 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999600e-01 -7.97286027e-04 4.06492300e-04 9.46905515e+01] [ 7.96857478e-04 9.99999128e-01 1.05333528e-03 -5.61068401e+00] [-4.07331755e-04 -1.05301095e-03 9.99999363e-01 -2.56026323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439072329 meters 0.12720408113912712 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999792e-01 -4.45654946e-04 4.66927871e-04 9.46899930e+01] [ 4.44819108e-04 9.99998301e-01 1.78865544e-03 -5.61295995e+00] [-4.67724201e-04 -1.78844737e-03 9.99998291e-01 -2.55965541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499072329 meters 0.11989072024196133 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.61, Z:-2.56 [[ 9.99999859e-01 -2.72074194e-04 4.56924928e-04 9.46899380e+01] [ 2.71045465e-04 9.99997432e-01 2.24997214e-03 -5.61464184e+00] [-4.57535914e-04 -2.24984798e-03 9.99997364e-01 -2.55961398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559072329 meters 0.11766817538564872 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999918e-01 -2.49894535e-05 4.03305760e-04 9.46899230e+01] [ 2.38111928e-05 9.99995733e-01 2.92124770e-03 -5.61712392e+00] [-4.03377039e-04 -2.92123785e-03 9.99995652e-01 -2.55954711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619072329 meters 0.12372001017958989 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999895e-01 1.67809954e-04 4.25595406e-04 9.46897492e+01] [-1.69244696e-04 9.99994296e-01 3.37334815e-03 -5.61868251e+00] [-4.25026897e-04 -3.37341983e-03 9.99994220e-01 -2.55943442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679072329 meters 0.1353684003457833 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999816e-01 4.95484145e-04 3.50967325e-04 9.46894614e+01] [-4.96915239e-04 9.99991515e-01 4.08928657e-03 -5.62108468e+00] [-3.48938170e-04 -4.08946022e-03 9.99991577e-01 -2.55881335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739072329 meters 0.12107751910072526 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999754e-01 6.22107062e-04 3.23213030e-04 9.46894225e+01] [-6.23499618e-04 9.99990447e-01 4.32639086e-03 -5.62184105e+00] [-3.20518464e-04 -4.32659132e-03 9.99990589e-01 -2.55872535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799072329 meters 0.12706398657398577 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999816e-01 5.72052729e-04 2.03360762e-04 9.46899242e+01] [-5.72929510e-04 9.99990427e-01 4.33786407e-03 -5.62216212e+00] [-2.00877329e-04 -4.33797979e-03 9.99990571e-01 -2.55916250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859072329 meters 0.12418522292321807 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999724e-01 7.35110556e-04 1.11395371e-04 9.46897640e+01] [-7.35611598e-04 9.99989302e-01 4.56663944e-03 -5.62269044e+00] [-1.08037194e-04 -4.56672013e-03 9.99989567e-01 -2.55860087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91907232900002 meters 0.11339574111624062 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999756e-01 6.98393112e-04 5.23494925e-06 9.46900376e+01] [-6.98409649e-04 9.99989521e-01 4.52429568e-03 -5.62270770e+00] [-2.07515746e-06 -4.52429824e-03 9.99989765e-01 -2.55864584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979072329 meters 0.12500617301003222 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999785e-01 6.51732687e-04 -6.87990067e-05 9.46903211e+01] [-6.51427583e-04 9.99990347e-01 4.34530418e-03 -5.62207322e+00] [ 7.16303193e-05 -4.34525843e-03 9.99990557e-01 -2.55883334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039072329 meters 0.11235381792855734 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999827e-01 5.62687336e-04 -1.73134176e-04 9.46907424e+01] [-5.61952745e-04 9.99990963e-01 4.21408923e-03 -5.62183821e+00] [ 1.75503826e-04 -4.21399120e-03 9.99991106e-01 -2.55912706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099072329 meters 0.11438455093388447 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999715e-01 5.91524356e-04 -4.68189130e-04 9.46911582e+01] [-5.89526568e-04 9.99990770e-01 4.25574974e-03 -5.62207296e+00] [ 4.70702188e-04 -4.25547252e-03 9.99990835e-01 -2.55877445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159072329 meters 0.11835534117282612 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99999685e-01 4.80453420e-04 -6.32229543e-04 9.46915234e+01] [-4.77907089e-04 9.99991799e-01 4.02154906e-03 -5.62144720e+00] [ 6.34156525e-04 -4.02124565e-03 9.99991714e-01 -2.55871359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219072329 meters 0.12044411721193535 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.62, Z:-2.56 [[ 9.99985274e-01 5.00158801e-03 2.10621492e-03 9.47057414e+01] [-4.99381805e-03 9.99980766e-01 -3.67830634e-03 -5.62285378e+00] [-2.12457179e-03 3.66773412e-03 9.99991017e-01 -2.56231593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279072329 meters 0.12110876312779656 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99990826e-01 3.68632277e-03 -2.18138106e-03 9.46910243e+01] [-3.67267096e-03 9.99973852e-01 6.22958988e-03 -5.62103554e+00] [ 2.20428830e-03 -6.22152124e-03 9.99978217e-01 -2.55702243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339072329 meters 0.10497242824049695 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99997133e-01 -8.43039843e-04 -2.24106619e-03 9.46917140e+01] [ 8.45591959e-04 9.99998995e-01 1.13809198e-03 -5.61830078e+00] [ 2.24010448e-03 -1.13998375e-03 9.99996841e-01 -2.55793388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399072329 meters 0.10740449516254007 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996631e-01 -8.90529887e-04 -2.43809621e-03 9.46919881e+01] [ 8.93009483e-04 9.99999085e-01 1.01612155e-03 -5.61798854e+00] [ 2.43718910e-03 -1.01829537e-03 9.99996512e-01 -2.55763234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459072329 meters 0.10513643974655286 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996494e-01 -8.26988009e-04 -2.51564161e-03 9.46918627e+01] [ 8.29665197e-04 9.99999090e-01 1.06335916e-03 -5.61792703e+00] [ 2.51475993e-03 -1.06544257e-03 9.99996270e-01 -2.55716860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519072329 meters 0.10815228750457119 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996101e-01 -1.03022223e-03 -2.59563906e-03 9.46924093e+01] [ 1.03209631e-03 9.99999208e-01 7.20776261e-04 -5.61710502e+00] [ 2.59489444e-03 -7.23452400e-04 9.99996372e-01 -2.55772840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579072329 meters 0.10508441601526972 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996053e-01 -8.77693708e-04 -2.66890867e-03 9.46925877e+01] [ 8.80479033e-04 9.99999069e-01 1.04262371e-03 -5.61825302e+00] [ 2.66799108e-03 -1.04496952e-03 9.99995895e-01 -2.55786758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63907232900002 meters 0.11456459410940191 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996037e-01 -8.43755980e-04 -2.68594135e-03 9.46927454e+01] [ 8.46998141e-04 9.99998914e-01 1.20617695e-03 -5.61905387e+00] [ 2.68492071e-03 -1.20844716e-03 9.99995665e-01 -2.55808118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69907232900002 meters 0.10227855141680153 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996177e-01 -7.52314618e-04 -2.66090931e-03 9.46925228e+01] [ 7.55928481e-04 9.99998793e-01 1.35738598e-03 -5.61945175e+00] [ 2.65988491e-03 -1.35939225e-03 9.99995539e-01 -2.55783299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759072329 meters 0.10925832029471198 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996185e-01 -6.56898410e-04 -2.68296905e-03 9.46924787e+01] [ 6.61237013e-04 9.99998475e-01 1.61652361e-03 -5.62042298e+00] [ 2.68190307e-03 -1.61829152e-03 9.99995094e-01 -2.55772469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819072329 meters 0.11266158304785076 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996006e-01 -3.18104780e-04 -2.80849203e-03 9.46922329e+01] [ 3.24642125e-04 9.99997239e-01 2.32755747e-03 -5.62279511e+00] [ 2.80774387e-03 -2.32845993e-03 9.99993347e-01 -2.55701902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879072329 meters 0.11353304603371447 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996091e-01 -2.25017897e-04 -2.78695821e-03 9.46923895e+01] [ 2.32411456e-04 9.99996454e-01 2.65287390e-03 -5.62416677e+00] [ 2.78635139e-03 -2.65351125e-03 9.99992598e-01 -2.55744429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939072329 meters 0.10174992004974036 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.62, Z:-2.56 [[ 9.99996207e-01 -7.57637895e-05 -2.75310040e-03 9.46921361e+01] [ 8.38543759e-05 9.99995678e-01 2.93872166e-03 -5.62495319e+00] [ 2.75286585e-03 -2.93894138e-03 9.99991892e-01 -2.55720109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999072329 meters 0.1111196285042592 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99996093e-01 2.60074830e-04 -2.78338933e-03 9.46917092e+01] [-2.49870642e-04 9.99993250e-01 3.66582182e-03 -5.62745112e+00] [ 2.78432393e-03 -3.66511201e-03 9.99989407e-01 -2.55647844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059072329 meters 0.10824998438831308 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99996227e-01 3.52843768e-04 -2.72429878e-03 9.46916153e+01] [-3.42281078e-04 9.99992427e-01 3.87670717e-03 -5.62816566e+00] [ 2.72564602e-03 -3.87576006e-03 9.99988775e-01 -2.55657417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119072329 meters 0.11059016648569422 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99996215e-01 3.72804892e-04 -2.72583724e-03 9.46918942e+01] [-3.61792870e-04 9.99991777e-01 4.03924529e-03 -5.62902750e+00] [ 2.72732067e-03 -4.03824381e-03 9.99988127e-01 -2.55706692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179072329 meters 0.10676497824156966 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99996085e-01 6.67745092e-04 -2.71721156e-03 9.46913135e+01] [-6.55393162e-04 9.99989460e-01 4.54416509e-03 -5.63039206e+00] [ 2.72021727e-03 -4.54236646e-03 9.99985984e-01 -2.55624456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239072329 meters 0.11382632724959804 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99995835e-01 7.84716321e-04 -2.77731742e-03 9.46913437e+01] [-7.71229867e-04 9.99987923e-01 4.85367245e-03 -5.63154591e+00] [ 2.78109263e-03 -4.85151029e-03 9.99984364e-01 -2.55614486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299072329 meters 0.11364399673163608 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99995936e-01 8.43771633e-04 -2.72310496e-03 9.46914836e+01] [-8.29837616e-04 9.99986579e-01 5.11403903e-03 -5.63276770e+00] [ 2.72738349e-03 -5.11175852e-03 9.99983216e-01 -2.55658927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359072329 meters 0.1082396310542539 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99995980e-01 9.56336143e-04 -2.66929981e-03 9.46913353e+01] [-9.42028407e-04 9.99985212e-01 5.35622851e-03 -5.63358699e+00] [ 2.67438269e-03 -5.35369243e-03 9.99982093e-01 -2.55659051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41907232900002 meters 0.10862640530338913 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99990892e-01 -3.33562638e-03 -2.66246792e-03 9.46912544e+01] [ 3.33828668e-03 9.99993933e-01 9.95367251e-04 -5.63325168e+00] [ 2.65913159e-03 -1.00424627e-03 9.99995960e-01 -2.55647367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479072329 meters 0.10376170434335268 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.63, Z:-2.56 [[ 9.99991629e-01 -3.06974035e-03 -2.70544184e-03 9.46909796e+01] [ 3.07377762e-03 9.99994167e-01 1.48938320e-03 -5.63472120e+00] [ 2.70085404e-03 -1.49768666e-03 9.99995231e-01 -2.55600699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539072329 meters 0.10768147928203617 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99991377e-01 -3.14251267e-03 -2.71492566e-03 9.46914005e+01] [ 3.14667053e-03 9.99993881e-01 1.52857244e-03 -5.63530075e+00] [ 2.71010549e-03 -1.53710224e-03 9.99995146e-01 -2.55668183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599072329 meters 0.11217323358681927 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99991725e-01 -2.97945147e-03 -2.76998221e-03 9.46915168e+01] [ 2.98491980e-03 9.99993601e-01 1.97210678e-03 -5.63710027e+00] [ 2.76408868e-03 -1.98035864e-03 9.99994219e-01 -2.55677469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659072329 meters 0.10532043511979303 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99992606e-01 -2.69809241e-03 -2.73998520e-03 9.46909950e+01] [ 2.70487529e-03 9.99993279e-01 2.47483673e-03 -5.63853997e+00] [ 2.73328944e-03 -2.48222975e-03 9.99993184e-01 -2.55612934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719072329 meters 0.11589676652573616 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99993651e-01 -2.39592053e-03 -2.63757365e-03 9.46903860e+01] [ 2.40419101e-03 9.99992190e-01 3.13694744e-03 -5.64063077e+00] [ 2.63003718e-03 -3.14326876e-03 9.99991601e-01 -2.55559750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779072329 meters 0.1088828301386364 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.56 [[ 9.99994625e-01 -2.04696355e-03 -2.56114604e-03 9.46897963e+01] [ 2.05697767e-03 9.99990227e-01 3.91351031e-03 -5.64313451e+00] [ 2.55311020e-03 -3.91875750e-03 9.99989062e-01 -2.55503799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839072329 meters 0.11152606290234758 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.64, Z:-2.55 [[ 9.99995444e-01 -1.75557501e-03 -2.45564238e-03 9.46893170e+01] [ 1.76664627e-03 9.99988253e-01 4.51362190e-03 -5.64499080e+00] [ 2.44768953e-03 -4.51793959e-03 9.99986798e-01 -2.55476593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899072329 meters 0.11782957015946953 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.65, Z:-2.55 [[ 9.99995479e-01 -1.48783803e-03 -2.61324120e-03 9.46894409e+01] [ 1.50196840e-03 9.99984218e-01 5.41360588e-03 -5.64843210e+00] [ 2.60514539e-03 -5.41750641e-03 9.99981932e-01 -2.55472123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959072329 meters 0.11761709163395133 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.65, Z:-2.55 [[ 9.99995853e-01 -1.26596890e-03 -2.58679203e-03 9.46892444e+01] [ 1.28145256e-03 9.99981222e-01 5.99279713e-03 -5.65054041e+00] [ 2.57915676e-03 -5.99608712e-03 9.99978697e-01 -2.55464331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019072329 meters 0.11960856558673094 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.65, Z:-2.55 [[ 9.99995935e-01 -1.09497825e-03 -2.63280009e-03 9.46892092e+01] [ 1.11213220e-03 9.99978107e-01 6.52286604e-03 -5.65258519e+00] [ 2.62560006e-03 -6.52576754e-03 9.99975260e-01 -2.55453897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079072329 meters 0.11998563735102281 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.65, Z:-2.55 [[ 9.99996026e-01 -9.31824448e-04 -2.66061968e-03 9.46892050e+01] [ 9.50509110e-04 9.99974837e-01 7.03006599e-03 -5.65458801e+00] [ 2.65400194e-03 -7.03256700e-03 9.99971749e-01 -2.55453355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13907232900002 meters 0.1154746747272362 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.66, Z:-2.55 [[ 9.99996501e-01 -6.57055073e-04 -2.56229349e-03 9.46888100e+01] [ 6.77043392e-04 9.99969289e-01 7.80789912e-03 -5.65733936e+00] [ 2.55708458e-03 -7.80960659e-03 9.99966235e-01 -2.55436417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19907232900002 meters 0.11414908041097299 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.66, Z:-2.55 [[ 9.99985908e-01 -4.64931174e-03 -2.56291356e-03 9.46885635e+01] [ 4.65995315e-03 9.99980482e-01 4.16185967e-03 -5.65955385e+00] [ 2.54351375e-03 -4.17374408e-03 9.99988055e-01 -2.55410764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259072329 meters 0.12017567626950777 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.66, Z:-2.55 [[ 9.99987958e-01 -4.23864899e-03 -2.47352178e-03 9.46878497e+01] [ 4.25105386e-03 9.99978306e-01 5.03153942e-03 -5.66224178e+00] [ 2.45214119e-03 -5.04199391e-03 9.99984283e-01 -2.55345383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319072329 meters 0.12391039176699113 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.67, Z:-2.55 [[ 9.99989856e-01 -3.83037264e-03 -2.36968294e-03 9.46872409e+01] [ 3.84475141e-03 9.99974044e-01 6.09329935e-03 -5.66580216e+00] [ 2.34628183e-03 -6.10234839e-03 9.99978628e-01 -2.55306776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379072329 meters 0.12726501177305063 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.67, Z:-2.55 [[ 9.99991168e-01 -3.47034857e-03 -2.37078250e-03 9.46867573e+01] [ 3.48672768e-03 9.99969840e-01 6.93989227e-03 -5.66868259e+00] [ 2.34662715e-03 -6.94809725e-03 9.99973108e-01 -2.55245985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439072329 meters 0.12448367260051525 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.67, Z:-2.55 [[ 9.99993095e-01 -2.93996852e-03 -2.27301845e-03 9.46859212e+01] [ 2.95850612e-03 9.99962039e-01 8.19561108e-03 -5.67282015e+00] [ 2.24883733e-03 -8.20227923e-03 9.99963832e-01 -2.55168846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499072329 meters 0.12195458040843138 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.68, Z:-2.55 [[ 9.99993203e-01 -2.82258726e-03 -2.37215807e-03 9.46862569e+01] [ 2.84321429e-03 9.99957785e-01 8.73755713e-03 -5.67515377e+00] [ 2.34739541e-03 -8.74424229e-03 9.99959013e-01 -2.55205198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559072329 meters 0.1207943202957117 Centerline is valid? [False, False] Translation: X:94.69, Y:-5.67, Z:-2.55 [[ 9.99971382e-01 -7.15378660e-03 -2.46128648e-03 9.46866339e+01] [ 7.16436280e-03 9.99965024e-01 4.31537700e-03 -5.67478582e+00] [ 2.43032911e-03 -4.33288705e-03 9.99987660e-01 -2.55231527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619072329 meters 0.13602125942753343 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972950e-01 -2.06879112e-03 -7.05830904e-03 9.46983193e+01] [ 2.06042554e-03 9.99997167e-01 -1.19227619e-03 -5.68013365e+00] [ 7.06075561e-03 1.17770081e-03 9.99974379e-01 -2.54820049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679072329 meters 0.12443053180191287 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972709e-01 -2.02856123e-03 -7.10401409e-03 9.46985183e+01] [ 2.02105147e-03 9.99997391e-01 -1.06413474e-03 -5.68070124e+00] [ 7.10615422e-03 1.04974812e-03 9.99974200e-01 -2.54840578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739072329 meters 0.1403192059748381 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972882e-01 -1.85391066e-03 -7.12726934e-03 9.46983755e+01] [ 1.84839099e-03 9.99997987e-01 -7.80951977e-04 -5.68148615e+00] [ 7.12870280e-03 7.67756818e-04 9.99974296e-01 -2.54820112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799072329 meters 0.12805774687060753 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972376e-01 -1.46246954e-03 -7.28752036e-03 9.46978594e+01] [ 1.46104955e-03 9.99998913e-01 -2.00171972e-04 -5.68299418e+00] [ 7.28780518e-03 1.89519015e-04 9.99973426e-01 -2.54699084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859072329 meters 0.12287532575947442 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99972042e-01 -1.39098817e-03 -7.34713103e-03 9.46977357e+01] [ 1.39000598e-03 9.99999024e-01 -1.38788231e-04 -5.68297147e+00] [ 7.34731692e-03 1.28571795e-04 9.99973000e-01 -2.54661453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91907232900002 meters 0.11842114836375818 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99971251e-01 -1.34376988e-03 -7.46269636e-03 9.46979123e+01] [ 1.34203033e-03 9.99999071e-01 -2.38102346e-04 -5.68238066e+00] [ 7.46300938e-03 2.28080336e-04 9.99972125e-01 -2.54648480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979072329 meters 0.12002955905795312 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99970173e-01 -1.35495091e-03 -7.60376259e-03 9.46982285e+01] [ 1.35280824e-03 9.99999044e-01 -2.86927272e-04 -5.68228398e+00] [ 7.60414409e-03 2.76632281e-04 9.99971050e-01 -2.54649349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039072329 meters 0.11938998426394083 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99967961e-01 -1.54240648e-03 -7.85484681e-03 9.46989907e+01] [ 1.53644726e-03 9.99998527e-01 -7.64646214e-04 -5.68079459e+00] [ 7.85601464e-03 7.52553158e-04 9.99968858e-01 -2.54676222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099072329 meters 0.1199249175854305 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99966685e-01 -1.69814315e-03 -7.98407720e-03 9.46994569e+01] [ 1.68855879e-03 9.99997846e-01 -1.20702186e-03 -5.67916212e+00] [ 7.98610969e-03 1.19350006e-03 9.99967398e-01 -2.54698149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159072329 meters 0.11736549527535188 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99965771e-01 -1.69796441e-03 -8.09780832e-03 9.46996250e+01] [ 1.68470509e-03 9.99997230e-01 -1.64393611e-03 -5.67718264e+00] [ 8.10057723e-03 1.63023742e-03 9.99965861e-01 -2.54674379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219072329 meters 0.12241385386442301 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99965477e-01 -1.66309878e-03 -8.14117506e-03 9.46995284e+01] [ 1.64774545e-03 9.99996852e-01 -1.89223051e-03 -5.67581946e+00] [ 8.14429640e-03 1.87875061e-03 9.99965070e-01 -2.54636595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279072329 meters 0.11430193216832128 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.68, Z:-2.55 [[ 9.99962285e-01 2.73288868e-03 -8.24376982e-03 9.46994032e+01] [-2.71286882e-03 9.99993347e-01 2.43868993e-03 -5.67572971e+00] [ 8.25037964e-03 -2.41623368e-03 9.99963046e-01 -2.54579745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339072329 meters 0.1198719707395268 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.67, Z:-2.55 [[ 9.99962520e-01 2.57027582e-03 -8.26749272e-03 9.46996141e+01] [-2.55450400e-03 9.99994898e-01 1.91768565e-03 -5.67376789e+00] [ 8.27237952e-03 -1.89649443e-03 9.99963985e-01 -2.54591540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399072329 meters 0.11889467145086736 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.67, Z:-2.55 [[ 9.99960580e-01 2.25746595e-03 -8.58733857e-03 9.47006973e+01] [-2.24747745e-03 9.99996787e-01 1.17263884e-03 -5.67151286e+00] [ 8.58995817e-03 -1.15329276e-03 9.99962441e-01 -2.54641375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459072329 meters 0.11963947454267779 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.67, Z:-2.55 [[ 9.99959223e-01 2.01251165e-03 -8.80354502e-03 9.47014592e+01] [-2.00658347e-03 9.99997754e-01 6.82167007e-04 -5.67007360e+00] [ 8.80489812e-03 -6.64474142e-04 9.99961015e-01 -2.54682098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519072329 meters 0.10503863386845394 Centerline is valid? [False, False] Translation: X:94.70, Y:-5.67, Z:-2.55 [[ 9.99960085e-01 1.92387519e-03 -8.72509817e-03 9.47014000e+01] [-1.92481919e-03 9.99998143e-01 -9.97983162e-05 -5.66652292e+00] [ 8.72488997e-03 1.16588569e-04 9.99961931e-01 -2.54678845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579072329 meters 0.10625975201228036 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.67, Z:-2.55 [[ 9.99991303e-01 4.01856668e-03 -1.11580865e-03 9.47097951e+01] [-4.00780695e-03 9.99947000e-01 9.48334940e-03 -5.66777108e+00] [ 1.15385898e-03 -9.47879498e-03 9.99954409e-01 -2.54641012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63907232900002 meters 0.11108582988346004 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99999451e-01 -1.10028431e-04 -1.04199242e-03 9.47095526e+01] [ 1.14615869e-04 9.99990298e-01 4.40352803e-03 -5.66342846e+00] [ 1.04149780e-03 -4.40364504e-03 9.99989762e-01 -2.54618518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69907232900002 meters 0.10301437720352999 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99999100e-01 -4.76466975e-04 -1.25454952e-03 9.47103875e+01] [ 4.80950237e-04 9.99993491e-01 3.57572955e-03 -5.66082244e+00] [ 1.25283764e-03 -3.57632971e-03 9.99992820e-01 -2.54669184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759072329 meters 0.1135452812591753 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99998844e-01 -7.63521544e-04 -1.31469939e-03 9.47108158e+01] [ 7.67235457e-04 9.99995710e-01 2.82673063e-03 -5.65822220e+00] [ 1.31253548e-03 -2.82773605e-03 9.99995141e-01 -2.54700672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819072329 meters 0.10378674246847007 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99998656e-01 -8.97412467e-04 -1.37180837e-03 9.47110481e+01] [ 9.00805666e-04 9.99996532e-01 2.47490896e-03 -5.65688879e+00] [ 1.36958260e-03 -2.47614137e-03 9.99995996e-01 -2.54713228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879072329 meters 0.10543778552933872 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.66, Z:-2.55 [[ 9.99998291e-01 -1.07573085e-03 -1.50342824e-03 9.47115964e+01] [ 1.07902000e-03 9.99997023e-01 2.18867024e-03 -5.65616110e+00] [ 1.50106934e-03 -2.19028872e-03 9.99996475e-01 -2.54752240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939072329 meters 0.10144285765178801 Centerline is valid? [False, False] Translation: X:94.71, Y:-5.65, Z:-2.55 [[ 9.99998210e-01 -1.21757882e-03 -1.44800506e-03 9.47115959e+01] [ 1.21998496e-03 9.99997875e-01 1.66197453e-03 -5.65404735e+00] [ 1.44597840e-03 -1.66373810e-03 9.99997571e-01 -2.54755372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999072329 meters 0.09528018650765624 Centerline is valid? [False, True] Translation: X:94.71, Y:-5.65, Z:-2.55 [[ 9.99997740e-01 -1.50294180e-03 -1.50359590e-03 9.47119358e+01] [ 1.50449673e-03 9.99998334e-01 1.03354923e-03 -5.65189690e+00] [ 1.50204003e-03 -1.03580904e-03 9.99998335e-01 -2.54781243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059072329 meters 0.09262855810133275 Centerline is valid? [True, True] Translation: X:94.77, Y:-5.65, Z:-2.55 [[ 9.99995666e-01 -1.37581903e-03 -2.60303269e-03 9.47720659e+01] [ 1.37672316e-03 9.99998993e-01 3.45574737e-04 -5.65438036e+00] [ 2.60255462e-03 -3.49156895e-04 9.99996552e-01 -2.55058854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119072329 meters 0.09524735929210021 Centerline is valid? [True, True] Translation: X:94.83, Y:-5.66, Z:-2.55 [[ 9.99994198e-01 -1.18290615e-03 -3.19452777e-03 9.48309097e+01] [ 1.18426675e-03 9.99999209e-01 4.24058043e-04 -5.66474652e+00] [ 3.19402362e-03 -4.27838756e-04 9.99994808e-01 -2.55227370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179072329 meters 0.09738461564399216 Centerline is valid? [True, True] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99998410e-01 -1.24290215e-03 -1.27840422e-03 9.48898362e+01] [ 1.24311979e-03 9.99999213e-01 1.69465134e-04 -5.67493171e+00] [ 1.27819258e-03 -1.71054074e-04 9.99999168e-01 -2.55080465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239072329 meters 0.10593458368300515 Centerline is valid? [True, False] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99998219e-01 -1.39170974e-03 -1.27480920e-03 9.48899764e+01] [ 1.39153938e-03 9.99999023e-01 -1.34511919e-04 -5.67386721e+00] [ 1.27499516e-03 1.32737732e-04 9.99999178e-01 -2.55100999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299072329 meters 0.10589418777311582 Centerline is valid? [False, False] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99997907e-01 -1.55406769e-03 -1.33058412e-03 9.48903971e+01] [ 1.55354804e-03 9.99998717e-01 -3.91485293e-04 -5.67319853e+00] [ 1.33119081e-03 3.89417347e-04 9.99999038e-01 -2.55147078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359072329 meters 0.0954142424495497 Centerline is valid? [False, True] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99998076e-01 -1.45386983e-03 -1.31725279e-03 9.48901575e+01] [ 1.45354318e-03 9.99998913e-01 -2.48898449e-04 -5.67347357e+00] [ 1.31761322e-03 2.46983286e-04 9.99999101e-01 -2.55117056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41907232900002 meters 0.10638138097695474 Centerline is valid? [True, False] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99997800e-01 -1.67136640e-03 -1.26733403e-03 9.48904491e+01] [ 1.67060708e-03 9.99998425e-01 -5.99967045e-04 -5.67254361e+00] [ 1.26833480e-03 5.97848508e-04 9.99999017e-01 -2.55177301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479072329 meters 0.10344299896549775 Centerline is valid? [False, False] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99997609e-01 -1.76664070e-03 -1.28845883e-03 9.48904838e+01] [ 1.76556574e-03 9.99998093e-01 -8.34960530e-04 -5.67162334e+00] [ 1.28993145e-03 8.32683675e-04 9.99998821e-01 -2.55175871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539072329 meters 0.09687112953302002 Centerline is valid? [False, True] Translation: X:94.89, Y:-5.67, Z:-2.55 [[ 9.99997585e-01 -1.82012791e-03 -1.23134926e-03 9.48904252e+01] [ 1.81897839e-03 9.99997909e-01 -9.34022941e-04 -5.67127059e+00] [ 1.23304673e-03 9.31780888e-04 9.99998806e-01 -2.55184895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599072329 meters 0.0980844272566841 Centerline is valid? [True, True] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99995250e-01 -2.81217020e-03 -1.26155905e-03 9.49492608e+01] [ 2.81238512e-03 9.99996031e-01 1.68616565e-04 -5.67989491e+00] [ 1.26107987e-03 -1.72163754e-04 9.99999190e-01 -2.55283734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659072329 meters 0.10593280085478275 Centerline is valid? [True, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994902e-01 -2.91173716e-03 -1.31052452e-03 9.49493862e+01] [ 2.91172387e-03 9.99995761e-01 -1.20479212e-05 -5.67941220e+00] [ 1.31055404e-03 8.23197425e-06 9.99999141e-01 -2.55283072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719072329 meters 0.11320225139898825 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994859e-01 -2.93795596e-03 -1.28436231e-03 9.49492496e+01] [ 2.93781098e-03 9.99995678e-01 -1.14752266e-04 -5.67892477e+00] [ 1.28469389e-03 1.10978462e-04 9.99999169e-01 -2.55269721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779072329 meters 0.09831059110454822 Centerline is valid? [False, True] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994306e-01 -3.11138605e-03 -1.30641073e-03 9.49495821e+01] [ 3.11079980e-03 9.99995060e-01 -4.50541555e-04 -5.67790174e+00] [ 1.30780609e-03 4.46475008e-04 9.99999045e-01 -2.55314608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839072329 meters 0.10356934834728436 Centerline is valid? [True, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994020e-01 -3.22101562e-03 -1.25879619e-03 9.49497474e+01] [ 3.22021390e-03 9.99994611e-01 -6.38409335e-04 -5.67733051e+00] [ 1.26084573e-03 6.34351925e-04 9.99999004e-01 -2.55357848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899072329 meters 0.10769898534923786 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994241e-01 -3.15149262e-03 -1.25971019e-03 9.49496135e+01] [ 3.15082989e-03 9.99994897e-01 -5.27737499e-04 -5.67755468e+00] [ 1.26136692e-03 5.23765327e-04 9.99999067e-01 -2.55339990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959072329 meters 0.10209948679376671 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994360e-01 -3.13067490e-03 -1.21601377e-03 9.49494335e+01] [ 3.13005059e-03 9.99994969e-01 -5.14976689e-04 -5.67746371e+00] [ 1.21761988e-03 5.11167600e-04 9.99999128e-01 -2.55325696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019072329 meters 0.11054102598625366 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994186e-01 -3.19272675e-03 -1.19778738e-03 9.49494750e+01] [ 3.19202664e-03 9.99994734e-01 -5.85960115e-04 -5.67735966e+00] [ 1.19965189e-03 5.82133339e-04 9.99999111e-01 -2.55336158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079072329 meters 0.10474862536703838 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994317e-01 -3.17446687e-03 -1.13542112e-03 9.49491867e+01] [ 3.17380447e-03 9.99994793e-01 -5.84715980e-04 -5.67717450e+00] [ 1.13727137e-03 5.81109053e-04 9.99999184e-01 -2.55310445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13907232900002 meters 0.0998776176649211 Centerline is valid? [False, True] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994331e-01 -3.20491217e-03 -1.03277986e-03 9.49491715e+01] [ 3.20426188e-03 9.99994667e-01 -6.30689048e-04 -5.67709287e+00] [ 1.03479565e-03 6.27376175e-04 9.99999268e-01 -2.55341995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19907232900002 meters 0.1005652971843625 Centerline is valid? [True, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994035e-01 -3.30578651e-03 -1.00077253e-03 9.49492816e+01] [ 3.30493532e-03 9.99994177e-01 -8.50998094e-04 -5.67628881e+00] [ 1.00357992e-03 8.47685529e-04 9.99999137e-01 -2.55371815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259072329 meters 0.10282587833774985 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99993999e-01 -3.32503492e-03 -9.72804144e-04 9.49492638e+01] [ 3.32419237e-03 9.99994099e-01 -8.66436802e-04 -5.67628123e+00] [ 9.75679336e-04 8.63197815e-04 9.99999151e-01 -2.55380515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319072329 meters 0.10363251344228755 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994364e-01 -3.23385479e-03 -9.01788803e-04 9.49489577e+01] [ 3.23325822e-03 9.99994554e-01 -6.62209229e-04 -5.67695007e+00] [ 9.03925381e-04 6.59289781e-04 9.99999374e-01 -2.55353984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379072329 meters 0.111190414540532 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994593e-01 -3.19011536e-03 -7.98168251e-04 9.49488404e+01] [ 3.18967774e-03 9.99994762e-01 -5.48951346e-04 -5.67729552e+00] [ 7.99915289e-04 5.46402478e-04 9.99999531e-01 -2.55379261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439072329 meters 0.1080619971379835 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99994732e-01 -3.16491732e-03 -7.21150123e-04 9.49488301e+01] [ 3.16460129e-03 9.99994896e-01 -4.38958263e-04 -5.67780719e+00] [ 7.22535709e-04 4.36673798e-04 9.99999644e-01 -2.55405365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499072329 meters 0.10432897212420135 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99995536e-01 -2.91674016e-03 -6.48026332e-04 9.49481754e+01] [ 2.91674406e-03 9.99995746e-01 5.07202251e-06 -5.67894355e+00] [ 6.48008782e-04 -6.96212682e-06 9.99999790e-01 -2.55329268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559072329 meters 0.11307752761027161 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99995833e-01 -2.83466090e-03 -5.46982389e-04 9.49478519e+01] [ 2.83474768e-03 9.99995970e-01 1.57950331e-04 -5.67930201e+00] [ 5.46532449e-04 -1.59500230e-04 9.99999838e-01 -2.55316827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619072329 meters 0.10517473721479649 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99995856e-01 -2.84015778e-03 -4.71669154e-04 9.49478745e+01] [ 2.84027496e-03 9.99995936e-01 2.47941212e-04 -5.67981668e+00] [ 4.70963045e-04 -2.49279854e-04 9.99999858e-01 -2.55348695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679072329 meters 0.10823987223235981 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99996585e-01 -2.59172199e-03 -3.35527301e-04 9.49472517e+01] [ 2.59196632e-03 9.99996375e-01 7.29816694e-04 -5.68117409e+00] [ 3.33634602e-04 -7.30683877e-04 9.99999677e-01 -2.55300844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739072329 meters 0.10751666692000347 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99996890e-01 -2.48330424e-03 -2.28553061e-04 9.49468824e+01] [ 2.48351687e-03 9.99996479e-01 9.34821495e-04 -5.68170129e+00] [ 2.26230810e-04 -9.35386204e-04 9.99999537e-01 -2.55282387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799072329 meters 0.10095570157620044 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99996894e-01 -2.48153649e-03 -2.34273667e-04 9.49468776e+01] [ 2.48177019e-03 9.99996418e-01 1.00255686e-03 -5.68200350e+00] [ 2.31784947e-04 -1.00313516e-03 9.99999470e-01 -2.55281259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859072329 meters 0.1084650172662025 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99997197e-01 -2.36236556e-03 -1.57293618e-04 9.49466662e+01] [ 2.36256231e-03 9.99996412e-01 1.26263169e-03 -5.68286646e+00] [ 1.54310256e-04 -1.26299977e-03 9.99999191e-01 -2.55278358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91907232900002 meters 0.11064233312306071 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99997392e-01 -2.28187955e-03 -9.30167742e-05 9.49465851e+01] [ 2.28201729e-03 9.99996258e-01 1.50857655e-03 -5.68374594e+00] [ 8.95740362e-05 -1.50878488e-03 9.99998858e-01 -2.55295385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979072329 meters 0.11124858329169239 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.68, Z:-2.55 [[ 9.99997416e-01 -2.27209272e-03 -7.69179910e-05 9.49466111e+01] [ 2.27221301e-03 9.99996136e-01 1.60171928e-03 -5.68419338e+00] [ 7.32784391e-05 -1.60188992e-03 9.99998714e-01 -2.55308456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039072329 meters 0.12428155606570974 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998043e-01 -1.97841009e-03 -1.90038465e-05 9.49460076e+01] [ 1.97844667e-03 9.99995689e-01 2.16985930e-03 -5.68581620e+00] [ 1.47108931e-05 -2.16989265e-03 9.99997646e-01 -2.55238674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099072329 meters 0.1255624227831775 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998017e-01 -1.99060912e-03 6.03928802e-05 9.49460584e+01] [ 1.99046566e-03 9.99995399e-01 2.28910554e-03 -5.68649540e+00] [-6.49493167e-05 -2.28898079e-03 9.99997378e-01 -2.55276751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159072329 meters 0.10887227171636911 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998192e-01 -1.89839557e-03 1.11740948e-04 9.49457886e+01] [ 1.89811296e-03 9.99995130e-01 2.47713162e-03 -5.68701225e+00] [-1.16442980e-04 -2.47691505e-03 9.99996926e-01 -2.55254497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219072329 meters 0.11872493168490925 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998406e-01 -1.77831423e-03 1.60057368e-04 9.49454855e+01] [ 1.77787601e-03 9.99994781e-01 2.69761239e-03 -5.68761812e+00] [-1.64853735e-04 -2.69732353e-03 9.99996349e-01 -2.55225694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279072329 meters 0.11290128698101763 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998525e-01 -1.71716428e-03 3.81431115e-05 9.49456055e+01] [ 1.71704784e-03 9.99994414e-01 2.86770315e-03 -5.68820149e+00] [-4.30672158e-05 -2.86763342e-03 9.99995887e-01 -2.55208173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339072329 meters 0.11005015813116917 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998479e-01 -1.74413242e-03 -5.44132491e-06 9.49458890e+01] [ 1.74414085e-03 9.99994372e-01 2.86607066e-03 -5.68834570e+00] [ 4.42487533e-07 -2.86607579e-03 9.99995893e-01 -2.55241380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399072329 meters 0.11745057778172725 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998320e-01 -1.82963674e-03 -1.12768936e-04 9.49463012e+01] [ 1.82994383e-03 9.99994445e-01 2.78606120e-03 -5.68833780e+00] [ 1.07670830e-04 -2.78626288e-03 9.99996113e-01 -2.55270126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459072329 meters 0.11247594360730306 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998489e-01 -1.73558398e-03 -9.61172745e-05 9.49462451e+01] [ 1.73586599e-03 9.99993945e-01 3.01608746e-03 -5.68919403e+00] [ 9.08820194e-05 -3.01624975e-03 9.99995447e-01 -2.55271997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519072329 meters 0.11961874810850151 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998455e-01 -1.75456454e-03 -1.06254067e-04 9.49462851e+01] [ 1.75487400e-03 9.99994002e-01 2.98593447e-03 -5.68907825e+00] [ 1.01014415e-04 -2.98611632e-03 9.99995536e-01 -2.55274918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579072329 meters 0.11504504950996693 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998375e-01 -1.79457402e-03 -1.72572380e-04 9.49464223e+01] [ 1.79506966e-03 9.99994137e-01 2.91615165e-03 -5.68885756e+00] [ 1.67338118e-04 -2.91645669e-03 9.99995733e-01 -2.55271750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63907232900002 meters 0.11441344738076185 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998274e-01 -1.83098803e-03 -3.14920796e-04 9.49467468e+01] [ 1.83189163e-03 9.99994136e-01 2.89334959e-03 -5.68885975e+00] [ 3.09621261e-04 -2.89392149e-03 9.99995765e-01 -2.55278312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69907232900002 meters 0.11258178576519975 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998389e-01 -1.76365311e-03 -3.34755164e-04 9.49467773e+01] [ 1.76467316e-03 9.99993725e-01 3.07171238e-03 -5.68956560e+00] [ 3.29335629e-04 -3.07229816e-03 9.99995226e-01 -2.55278516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759072329 meters 0.11415521138485171 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998642e-01 -1.60918737e-03 -3.55478103e-04 9.49466920e+01] [ 1.61041862e-03 9.99992610e-01 3.49094115e-03 -5.69114304e+00] [ 3.49857898e-04 -3.49150888e-03 9.99993843e-01 -2.55266306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819072329 meters 0.12169444730671534 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998684e-01 -1.57869667e-03 -3.74054790e-04 9.49468068e+01] [ 1.58005560e-03 9.99992050e-01 3.66095980e-03 -5.69194581e+00] [ 3.68272272e-04 -3.66154601e-03 9.99993229e-01 -2.55281079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879072329 meters 0.11738276574787943 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998814e-01 -1.50307853e-03 -3.36407035e-04 9.49466807e+01] [ 1.50435631e-03 9.99991531e-01 3.83085414e-03 -5.69252237e+00] [ 3.30646111e-04 -3.83135567e-03 9.99992606e-01 -2.55277425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939072329 meters 0.11583411062444549 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99998989e-01 -1.37499009e-03 -3.62117749e-04 9.49466429e+01] [ 1.37649795e-03 9.99990244e-01 4.19719464e-03 -5.69396334e+00] [ 3.56343115e-04 -4.19768885e-03 9.99991126e-01 -2.55269721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999072329 meters 0.1101975213819836 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.69, Z:-2.55 [[ 9.99999039e-01 -1.32888710e-03 -3.94949996e-04 9.49467650e+01] [ 1.33060658e-03 9.99989497e-01 4.38577696e-03 -5.69481763e+00] [ 3.89117646e-04 -4.38629826e-03 9.99990304e-01 -2.55283210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059072329 meters 0.11555322285882526 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999289e-01 -1.15514390e-03 -2.97437901e-04 9.49465784e+01] [ 1.15658233e-03 9.99987413e-01 4.88218789e-03 -5.69661884e+00] [ 2.91794528e-04 -4.88252843e-03 9.99988038e-01 -2.55299073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119072329 meters 0.1148925403552474 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999364e-01 -1.09914732e-03 -2.50817555e-04 9.49465590e+01] [ 1.10042112e-03 9.99986204e-01 5.13628028e-03 -5.69773498e+00] [ 2.45168565e-04 -5.13655302e-03 9.99986778e-01 -2.55314167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179072329 meters 0.12925335596732013 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999586e-01 -8.65839814e-04 -2.81098609e-04 9.49462786e+01] [ 8.67466750e-04 9.99982570e-01 5.84018755e-03 -5.70031576e+00] [ 2.76037042e-04 -5.84042897e-03 9.99982906e-01 -2.55275212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239072329 meters 0.1226902041675023 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999788e-01 -6.04078035e-04 -2.44139380e-04 9.49459153e+01] [ 6.05675555e-04 9.99978055e-01 6.59724729e-03 -5.70304309e+00] [ 2.40148770e-04 -6.59739376e-03 9.99978208e-01 -2.55243942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299072329 meters 0.11559071472527559 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99999848e-01 -5.01005246e-04 -2.28454344e-04 9.49458836e+01] [ 5.02575838e-04 9.99975879e-01 6.92742684e-03 -5.70444932e+00] [ 2.24978156e-04 -6.92754061e-03 9.99975979e-01 -2.55249807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359072329 meters 0.12023434838555343 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.70, Z:-2.55 [[ 9.99988466e-01 -4.79378840e-03 -2.95047625e-04 9.49460911e+01] [ 4.79455606e-03 9.99984972e-01 2.65858525e-03 -5.70467215e+00] [ 2.82298495e-04 -2.65996921e-03 9.99996422e-01 -2.55258619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41907232900002 meters 0.13354063791494242 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.71, Z:-2.55 [[ 9.99990144e-01 -4.43000098e-03 -2.94044531e-04 9.49456463e+01] [ 4.43102886e-03 9.99983731e-01 3.59225780e-03 -5.70788832e+00] [ 2.78126041e-04 -3.59352532e-03 9.99993505e-01 -2.55214031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479072329 meters 0.1183944753603848 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.71, Z:-2.55 [[ 9.99990784e-01 -4.28765106e-03 -2.18385867e-04 9.49455491e+01] [ 4.28850580e-03 9.99982495e-01 4.07659465e-03 -5.70980415e+00] [ 2.00903029e-04 -4.07749363e-03 9.99991667e-01 -2.55236602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539072329 meters 0.1203896048753147 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.71, Z:-2.55 [[ 9.99991845e-01 -4.03113450e-03 -2.46543750e-04 9.49451302e+01] [ 4.03231722e-03 9.99979364e-01 5.00121270e-03 -5.71331624e+00] [ 2.26378101e-04 -5.00216605e-03 9.99987463e-01 -2.55182308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599072329 meters 0.13706795910079259 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.72, Z:-2.55 [[ 9.99992792e-01 -3.78282924e-03 -3.24666728e-04 9.49447275e+01] [ 3.78462403e-03 9.99976490e-01 5.71799815e-03 -5.71598029e+00] [ 3.03028884e-04 -5.71918568e-03 9.99983599e-01 -2.55107844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659072329 meters 0.13528685255907363 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.72, Z:-2.55 [[ 9.99993930e-01 -3.47597310e-03 -2.41767290e-04 9.49441844e+01] [ 3.47745423e-03 9.99973330e-01 6.42240866e-03 -5.71837102e+00] [ 2.19436723e-04 -6.42321041e-03 9.99979347e-01 -2.55061788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719072329 meters 0.12704261279375598 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.72, Z:-2.55 [[ 9.99994350e-01 -3.35407661e-03 -2.23124060e-04 9.49442118e+01] [ 3.35552729e-03 9.99970878e-01 6.85449783e-03 -5.72019112e+00] [ 2.00127051e-04 -6.85520780e-03 9.99976483e-01 -2.55081978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779072329 meters 0.13281634053344796 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.72, Z:-2.55 [[ 9.99994977e-01 -3.15344640e-03 -3.19881914e-04 9.49443479e+01] [ 3.15580098e-03 9.99965769e-01 7.64865989e-03 -5.72349457e+00] [ 2.95751325e-04 -7.64963095e-03 9.99970697e-01 -2.55092021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839072329 meters 0.12964141177427038 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99995554e-01 -2.95966858e-03 -3.64505821e-04 9.49442365e+01] [ 2.96259681e-03 9.99961053e-01 8.31351955e-03 -5.72624651e+00] [ 3.39886362e-04 -8.31456247e-03 9.99965376e-01 -2.55072023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899072329 meters 0.13431095763469134 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99982534e-01 -5.90913493e-03 1.15643508e-04 9.49413121e+01] [ 5.90848409e-03 9.99970086e-01 4.99173019e-03 -5.72512017e+00] [-1.45136855e-04 -4.99095973e-03 9.99987535e-01 -2.54823137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959072329 meters 0.1259251786781554 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99984456e-01 -5.56915259e-03 2.68316824e-04 9.49404763e+01] [ 5.56754446e-03 9.99968474e-01 5.66158891e-03 -5.72714028e+00] [-2.99838617e-04 -5.66000704e-03 9.99983937e-01 -2.54753299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019072329 meters 0.12552482625046785 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99985789e-01 -5.32696628e-03 2.13354619e-04 9.49403474e+01] [ 5.32552952e-03 9.99966303e-01 6.24752717e-03 -5.72933295e+00] [-2.46627796e-04 -6.24630216e-03 9.99980461e-01 -2.54729373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079072329 meters 0.1285629705831033 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.73, Z:-2.55 [[ 9.99986453e-01 -5.20436201e-03 8.81144649e-05 9.49405169e+01] [ 5.20366948e-03 9.99964807e-01 6.58077832e-03 -5.73065660e+00] [-1.22360117e-04 -6.58023065e-03 9.99978343e-01 -2.54724690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13907232900002 meters 0.12697318655010686 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.73, Z:-2.54 [[ 9.99989433e-01 8.10956421e-04 -4.52513018e-03 9.49499519e+01] [-7.99659938e-04 9.99996561e-01 2.49763961e-03 -5.73387425e+00] [ 4.52714009e-03 -2.49399465e-03 9.99986642e-01 -2.54181527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19907232900002 meters 0.1327222558645423 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.73, Z:-2.54 [[ 9.99989090e-01 9.65054772e-04 -4.57032579e-03 9.49498146e+01] [-9.52338788e-04 9.99995672e-01 2.78365229e-03 -5.73483757e+00] [ 4.57299239e-03 -2.77926942e-03 9.99985682e-01 -2.54148598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259072329 meters 0.12465123261300842 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99988672e-01 1.00940759e-03 -4.65157033e-03 9.49500504e+01] [-9.95414125e-04 9.99994976e-01 3.00966458e-03 -5.73596817e+00] [ 4.65458493e-03 -3.00500025e-03 9.99984652e-01 -2.54163122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319072329 meters 0.1277655910772271 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99988459e-01 1.02530414e-03 -4.69362678e-03 9.49503279e+01] [-1.01054570e-03 9.99994542e-01 3.14564939e-03 -5.73670390e+00] [ 4.69682641e-03 -3.14086997e-03 9.99984037e-01 -2.54196070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379072329 meters 0.12440787084668492 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99988218e-01 1.28467069e-03 -4.68118913e-03 9.49499934e+01] [-1.26740166e-03 9.99992388e-01 3.69012824e-03 -5.73857173e+00] [ 4.68589409e-03 -3.68415181e-03 9.99982235e-01 -2.54158682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439072329 meters 0.12610664343301747 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99987622e-01 1.44986252e-03 -4.75949583e-03 9.49498026e+01] [-1.43066882e-03 9.99990841e-01 4.03364872e-03 -5.73980698e+00] [ 4.76530047e-03 -4.02678953e-03 9.99980538e-01 -2.54106789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499072329 meters 0.11624986564965085 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99986871e-01 1.60397469e-03 -4.86664670e-03 9.49497305e+01] [-1.58277437e-03 9.99989256e-01 4.35697549e-03 -5.74096004e+00] [ 4.87358289e-03 -4.34921548e-03 9.99978666e-01 -2.54064734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559072329 meters 0.11934107857062823 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99986004e-01 1.57578504e-03 -5.05064316e-03 9.49504183e+01] [-1.55321200e-03 9.99988803e-01 4.47015020e-03 -5.74186449e+00] [ 5.05763060e-03 -4.46224292e-03 9.99977254e-01 -2.54120017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619072329 meters 0.11823867749161329 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99985565e-01 1.54643107e-03 -5.14580370e-03 9.49507869e+01] [-1.52340380e-03 9.99988823e-01 4.47587478e-03 -5.74206999e+00] [ 5.15266782e-03 -4.46797103e-03 9.99976743e-01 -2.54148735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679072329 meters 0.11948341527220746 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99984620e-01 1.58674099e-03 -5.31434888e-03 9.49508799e+01] [-1.56248609e-03 9.99988359e-01 4.56508634e-03 -5.74254903e+00] [ 5.32153063e-03 -4.55671253e-03 9.99975459e-01 -2.54105742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739072329 meters 0.11948587349924018 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99984091e-01 1.59369186e-03 -5.41098909e-03 9.49510486e+01] [-1.56891376e-03 9.99988279e-01 4.58037873e-03 -5.74272448e+00] [ 5.41822538e-03 -4.57181648e-03 9.99974870e-01 -2.54099904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799072329 meters 0.11593394455737045 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99983288e-01 1.43715977e-03 -5.59983516e-03 9.49518510e+01] [-1.41251896e-03 9.99989315e-01 4.40174722e-03 -5.74259190e+00] [ 5.60610134e-03 -4.39376379e-03 9.99974633e-01 -2.54162196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859072329 meters 0.12348619702845472 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99982865e-01 1.45464545e-03 -5.67037781e-03 9.49520168e+01] [-1.42941481e-03 9.99989072e-01 4.45106899e-03 -5.74283050e+00] [ 5.67679058e-03 -4.44288740e-03 9.99974017e-01 -2.54162443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91907232900002 meters 0.11690843405375181 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99982330e-01 1.28253944e-03 -5.80464213e-03 9.49525120e+01] [-1.25879956e-03 9.99990837e-01 4.09161805e-03 -5.74186725e+00] [ 5.80983660e-03 -4.08423887e-03 9.99974782e-01 -2.54187486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979072329 meters 0.11606167817429767 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99981384e-01 1.10965198e-03 -5.99999633e-03 9.49531407e+01] [-1.08691677e-03 9.99992223e-01 3.79113812e-03 -5.74109741e+00] [ 6.00415651e-03 -3.78454605e-03 9.99974813e-01 -2.54217764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039072329 meters 0.12068843481758373 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99980389e-01 1.01550151e-03 -6.17984963e-03 9.49536489e+01] [-9.93193452e-04 9.99992984e-01 3.61180418e-03 -5.74072700e+00] [ 6.18347406e-03 -3.60559557e-03 9.99974382e-01 -2.54233378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099072329 meters 0.11373302233695379 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99979871e-01 9.98395019e-04 -6.26576742e-03 9.49538334e+01] [-9.76695374e-04 9.99993519e-01 3.46531122e-03 -5.74002657e+00] [ 6.26918656e-03 -3.45912172e-03 9.99974366e-01 -2.54234051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159072329 meters 0.1132417748444855 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99979309e-01 8.25895092e-04 -6.37961821e-03 9.49543794e+01] [-8.05937996e-04 9.99994776e-01 3.13019625e-03 -5.73914842e+00] [ 6.38217010e-03 -3.12498991e-03 9.99974751e-01 -2.54276134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219072329 meters 0.11337530338261032 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.74, Z:-2.54 [[ 9.99978648e-01 6.64444098e-04 -6.50085616e-03 9.49547790e+01] [-6.46439635e-04 9.99995951e-01 2.77126204e-03 -5.73806372e+00] [ 6.50267118e-03 -2.76700046e-03 9.99975029e-01 -2.54289695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279072329 meters 0.11134990482887376 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99977952e-01 4.74876202e-04 -6.62339242e-03 9.49553032e+01] [-4.58926000e-04 9.99996992e-01 2.40947407e-03 -5.73706321e+00] [ 6.62451670e-03 -2.40638130e-03 9.99975162e-01 -2.54326386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339072329 meters 0.1102196336266445 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99977135e-01 4.30161500e-04 -6.74865466e-03 9.49555933e+01] [-4.15326099e-04 9.99997495e-01 2.19952267e-03 -5.73622577e+00] [ 6.74958391e-03 -2.19666948e-03 9.99974809e-01 -2.54328482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399072329 meters 0.10905406612131115 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976650e-01 2.35827387e-04 -6.82960542e-03 9.49560278e+01] [-2.23829247e-04 9.99998431e-01 1.75749484e-03 -5.73488918e+00] [ 6.83000917e-03 -1.75592514e-03 9.99975134e-01 -2.54361337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459072329 meters 0.1127891515891778 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976441e-01 4.98907948e-05 -6.86402648e-03 9.49563557e+01] [-4.02106228e-05 9.99999005e-01 1.41040681e-03 -5.73391015e+00] [ 6.86409001e-03 -1.41009757e-03 9.99975448e-01 -2.54393189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519072329 meters 0.11539725560865645 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976470e-01 1.48761896e-04 -6.85831587e-03 9.49561689e+01] [-1.38455378e-04 9.99998861e-01 1.50322707e-03 -5.73393407e+00] [ 6.85853168e-03 -1.50224213e-03 9.99975352e-01 -2.54366030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579072329 meters 0.11328536639974808 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976144e-01 5.30794719e-05 -6.90710024e-03 9.49565084e+01] [-4.34929871e-05 9.99999036e-01 1.38806024e-03 -5.73381739e+00] [ 6.90716725e-03 -1.38772671e-03 9.99975182e-01 -2.54401324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63907232900002 meters 0.11440171362416592 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975756e-01 -1.21346668e-04 -6.96220723e-03 9.49569705e+01] [ 1.28949928e-04 9.99999396e-01 1.09163768e-03 -5.73311518e+00] [ 6.96207056e-03 -1.09250899e-03 9.99975168e-01 -2.54449114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69907232900002 meters 0.10295957246097846 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99974897e-01 -1.29588411e-04 -7.08445831e-03 9.49570885e+01] [ 1.37190854e-04 9.99999415e-01 1.07264024e-03 -5.73310971e+00] [ 7.08431517e-03 -1.07358524e-03 9.99974330e-01 -2.54422219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759072329 meters 0.1081004835929571 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975483e-01 -7.75048381e-05 -7.00188642e-03 9.49568541e+01] [ 8.50800716e-05 9.99999411e-01 1.08159326e-03 -5.73285636e+00] [ 7.00179847e-03 -1.08216247e-03 9.99974902e-01 -2.54409889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819072329 meters 0.12090196344214979 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99976015e-01 -1.16806594e-04 -6.92503784e-03 9.49569302e+01] [ 1.24011099e-04 9.99999452e-01 1.03993575e-03 -5.73281898e+00] [ 6.92491257e-03 -1.04076959e-03 9.99975481e-01 -2.54448013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879072329 meters 0.10101509854358585 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975549e-01 -1.11129428e-04 -6.99213624e-03 9.49570362e+01] [ 1.19100911e-04 9.99999343e-01 1.13965798e-03 -5.73346875e+00] [ 6.99200500e-03 -1.14046288e-03 9.99974905e-01 -2.54441197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939072329 meters 0.10420560244906067 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975758e-01 -1.19223696e-04 -6.96194563e-03 9.49570190e+01] [ 1.27085937e-04 9.99999355e-01 1.12888516e-03 -5.73339730e+00] [ 6.96180655e-03 -1.12974256e-03 9.99975128e-01 -2.54446318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999072329 meters 0.10425723996391406 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975443e-01 -1.90098812e-04 -7.00550382e-03 9.49572290e+01] [ 1.97060002e-04 9.99999488e-01 9.92997619e-04 -5.73304406e+00] [ 7.00531146e-03 -9.94353739e-04 9.99974968e-01 -2.54460693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059072329 meters 0.10098079246280033 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975799e-01 7.37946711e-06 -6.95705658e-03 9.49566736e+01] [ 1.29197402e-06 9.99999223e-01 1.24641852e-03 -5.73349504e+00] [ 6.95706037e-03 -1.24639734e-03 9.99975023e-01 -2.54388038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119072329 meters 0.10152180722410746 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975536e-01 4.60425280e-06 -6.99482741e-03 9.49567827e+01] [ 4.85598111e-06 9.99999085e-01 1.35244379e-03 -5.73413554e+00] [ 6.99482724e-03 -1.35244467e-03 9.99974621e-01 -2.54392252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179072329 meters 0.10108239202341913 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.54 [[ 9.99975837e-01 -6.93177056e-05 -6.95129973e-03 9.49571645e+01] [ 7.88573793e-05 9.99999056e-01 1.37209358e-03 -5.73465390e+00] [ 6.95119806e-03 -1.37260858e-03 9.99974898e-01 -2.54471763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239072329 meters 0.10873353765876981 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975891e-01 4.34152573e-05 -6.94366905e-03 9.49570662e+01] [-3.20690857e-05 9.99998664e-01 1.63413416e-03 -5.73552653e+00] [ 6.94373072e-03 -1.63387208e-03 9.99974557e-01 -2.54465526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299072329 meters 0.10947209521431629 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99976017e-01 1.54973236e-04 -6.92392303e-03 9.49567458e+01] [-1.42660210e-04 9.99998408e-01 1.77878935e-03 -5.73578587e+00] [ 6.92418767e-03 -1.77775892e-03 9.99974447e-01 -2.54423385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359072329 meters 0.10618095509281411 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99976098e-01 4.24969256e-04 -6.90094113e-03 9.49561928e+01] [-4.09438797e-04 9.99997381e-01 2.25174117e-03 -5.73704743e+00] [ 6.90187997e-03 -2.24886184e-03 9.99973653e-01 -2.54352901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41907232900002 meters 0.10470288493926189 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99976014e-01 4.52752108e-04 -6.91127530e-03 9.49563746e+01] [-4.35913438e-04 9.99996934e-01 2.43771759e-03 -5.73796158e+00] [ 6.91235779e-03 -2.43464640e-03 9.99973146e-01 -2.54383253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479072329 meters 0.1064234363564169 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975543e-01 4.99179257e-04 -6.97597134e-03 9.49566545e+01] [-4.79949296e-04 9.99996082e-01 2.75800201e-03 -5.73954007e+00] [ 6.97732074e-03 -2.75458645e-03 9.99971864e-01 -2.54415054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539072329 meters 0.10746447502204436 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975385e-01 5.12342717e-04 -6.99768414e-03 9.49565989e+01] [-4.92293250e-04 9.99995770e-01 2.86657948e-03 -5.74008492e+00] [ 6.99912321e-03 -2.86306401e-03 9.99971407e-01 -2.54397200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599072329 meters 0.10732990264453353 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975725e-01 6.09355777e-04 -6.94110931e-03 9.49563190e+01] [-5.88284551e-04 9.99995214e-01 3.03735165e-03 -5.74047827e+00] [ 6.94292692e-03 -3.03319457e-03 9.99971297e-01 -2.54376270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659072329 meters 0.11106275103554641 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99975272e-01 6.16946073e-04 -7.00533898e-03 9.49566130e+01] [-5.94544395e-04 9.99994705e-01 3.19943315e-03 -5.74134156e+00] [ 7.00727576e-03 -3.19518905e-03 9.99970344e-01 -2.54405644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719072329 meters 0.11674951871430006 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99974940e-01 7.86668610e-04 -7.03569392e-03 9.49564710e+01] [-7.61384957e-04 9.99993246e-01 3.59558275e-03 -5.74275636e+00] [ 7.03847493e-03 -3.59013578e-03 9.99968785e-01 -2.54381207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779072329 meters 0.10368616330840981 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99974687e-01 6.84517844e-04 -7.08216765e-03 9.49567906e+01] [-6.59777425e-04 9.99993675e-01 3.49508675e-03 -5.74267978e+00] [ 7.08451531e-03 -3.49032562e-03 9.99968813e-01 -2.54414118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839072329 meters 0.10413469572122996 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99974419e-01 6.92482892e-04 -7.11907325e-03 9.49568077e+01] [-6.67405101e-04 9.99993567e-01 3.52439250e-03 -5.74289287e+00] [ 7.12146804e-03 -3.51955104e-03 9.99968448e-01 -2.54400446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899072329 meters 0.11922808034890837 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99974110e-01 6.37785603e-04 -7.16746162e-03 9.49570471e+01] [-6.12400951e-04 9.99993535e-01 3.54328838e-03 -5.74334153e+00] [ 7.16967515e-03 -3.53880729e-03 9.99968036e-01 -2.54421128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959072329 meters 0.11152321470075857 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99973514e-01 4.50938394e-04 -7.26418289e-03 9.49576423e+01] [-4.26709840e-04 9.99994343e-01 3.33654937e-03 -5.74316021e+00] [ 7.26564638e-03 -3.33336129e-03 9.99968049e-01 -2.54475013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019072329 meters 0.11245092115230917 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99973444e-01 3.23987966e-04 -7.28050899e-03 9.49578817e+01] [-3.01259575e-04 9.99995079e-01 3.12269333e-03 -5.74259044e+00] [ 7.28148487e-03 -3.12041708e-03 9.99968621e-01 -2.54497950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079072329 meters 0.1135072421644528 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.54 [[ 9.99973773e-01 3.57167841e-04 -7.23367368e-03 9.49577110e+01] [-3.34813857e-04 9.99995166e-01 3.09124236e-03 -5.74222692e+00] [ 7.23474280e-03 -3.08873935e-03 9.99969059e-01 -2.54487421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13907232900002 meters 0.1165200935881804 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973420e-01 1.64682200e-04 -7.28916028e-03 9.49582013e+01] [-1.44104759e-04 9.99996004e-01 2.82345453e-03 -5.74161798e+00] [ 7.28959612e-03 -2.82232908e-03 9.99969448e-01 -2.54535918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19907232900002 meters 0.1250635837867816 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973571e-01 -1.92278136e-05 -7.27024693e-03 9.49585689e+01] [ 3.80299736e-05 9.99996655e-01 2.58604961e-03 -5.74118578e+00] [ 7.27017289e-03 -2.58625775e-03 9.99970227e-01 -2.54592313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259072329 meters 0.12073439824546664 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974178e-01 5.73368153e-05 -7.18612411e-03 9.49581597e+01] [-3.83511449e-05 9.99996509e-01 2.64210029e-03 -5.74104781e+00] [ 7.18625051e-03 -2.64175647e-03 9.99970689e-01 -2.54556764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319072329 meters 0.11446175485599638 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973939e-01 -2.35798227e-05 -7.21946680e-03 9.49583041e+01] [ 4.18643908e-05 9.99996792e-01 2.53253504e-03 -5.74087046e+00] [ 7.21938393e-03 -2.53277128e-03 9.99970732e-01 -2.54562724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379072329 meters 0.11468402626305753 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973959e-01 -1.12170997e-04 -7.21585180e-03 9.49585008e+01] [ 1.30029998e-04 9.99996930e-01 2.47454626e-03 -5.74095235e+00] [ 7.21555208e-03 -2.47542010e-03 9.99970904e-01 -2.54592967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439072329 meters 0.1185936702500852 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974734e-01 -1.44163225e-04 -7.10707645e-03 9.49585363e+01] [ 1.61710963e-04 9.99996940e-01 2.46853864e-03 -5.74107413e+00] [ 7.10669883e-03 -2.46962556e-03 9.99971697e-01 -2.54634454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499072329 meters 0.11633461185903844 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974982e-01 -2.01514677e-04 -7.07070526e-03 9.49586732e+01] [ 2.18919899e-04 9.99996948e-01 2.46090881e-03 -5.74133339e+00] [ 7.07018777e-03 -2.46239516e-03 9.99971974e-01 -2.54665173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559072329 meters 0.11776468351492674 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974889e-01 -3.13294039e-04 -7.07980613e-03 9.49588979e+01] [ 3.30146106e-04 9.99997115e-01 2.37925724e-03 -5.74146941e+00] [ 7.07904029e-03 -2.38153487e-03 9.99972107e-01 -2.54692923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619072329 meters 0.12115898467405904 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975099e-01 -2.35589998e-04 -7.05309622e-03 9.49586153e+01] [ 2.53400448e-04 9.99996782e-01 2.52440890e-03 -5.74180812e+00] [ 7.05247879e-03 -2.52613330e-03 9.99971940e-01 -2.54658642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679072329 meters 0.12447665595948866 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975710e-01 -1.58024911e-04 -6.96804392e-03 9.49583289e+01] [ 1.76521566e-04 9.99996463e-01 2.65396234e-03 -5.74217523e+00] [ 6.96759988e-03 -2.65512789e-03 9.99972201e-01 -2.54645259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739072329 meters 0.1176552579092483 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975582e-01 -1.96738308e-04 -6.98543328e-03 9.49584964e+01] [ 2.16310326e-04 9.99996053e-01 2.80118821e-03 -5.74316016e+00] [ 6.98485461e-03 -2.80263083e-03 9.99971678e-01 -2.54668806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799072329 meters 0.11935850741339442 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975930e-01 -2.40131681e-04 -6.93411020e-03 9.49586665e+01] [ 2.59696468e-04 9.99995988e-01 2.82076553e-03 -5.74350518e+00] [ 6.93340502e-03 -2.82249840e-03 9.99971980e-01 -2.54712896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859072329 meters 0.12144487840236022 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973200e-01 -1.13861616e-03 -7.23206853e-03 9.49610763e+01] [ 1.15279163e-03 9.99997422e-01 1.95621998e-03 -5.74325634e+00] [ 7.22982251e-03 -1.96450462e-03 9.99971935e-01 -2.54949361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91907232900002 meters 0.13755982207928005 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973641e-01 -9.76810406e-04 -7.19463856e-03 9.49605483e+01] [ 9.92627416e-04 9.99997098e-01 2.19520134e-03 -5.74368087e+00] [ 7.19247338e-03 -2.20228507e-03 9.99971709e-01 -2.54886401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979072329 meters 0.12761739959957313 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974239e-01 -9.12484130e-04 -7.11960984e-03 9.49602058e+01] [ 9.28792032e-04 9.99996952e-01 2.28759111e-03 -5.74375672e+00] [ 7.11750075e-03 -2.29414482e-03 9.99972039e-01 -2.54859496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039072329 meters 0.1307500480779739 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974509e-01 -1.05822132e-03 -7.06125397e-03 9.49603996e+01] [ 1.07302654e-03 9.99997234e-01 2.09322542e-03 -5.74339364e+00] [ 7.05901934e-03 -2.10074898e-03 9.99972878e-01 -2.54903744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099072329 meters 0.13134199925738976 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974041e-01 -1.19396128e-03 -7.10570541e-03 9.49607213e+01] [ 1.20767559e-03 9.99997416e-01 1.92606339e-03 -5.74319466e+00] [ 7.10338740e-03 -1.93459477e-03 9.99972899e-01 -2.54935507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159072329 meters 0.11502619873542075 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99974274e-01 -1.17421851e-03 -7.07623130e-03 9.49605750e+01] [ 1.18745889e-03 9.99997552e-01 1.86719525e-03 -5.74270805e+00] [ 7.07402148e-03 -1.87554995e-03 9.99973220e-01 -2.54923454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219072329 meters 0.12056675420052963 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973752e-01 -1.49868582e-03 -7.08872945e-03 9.49612285e+01] [ 1.50797405e-03 9.99998011e-01 1.30511861e-03 -5.74106655e+00] [ 7.08675939e-03 -1.31577397e-03 9.99974023e-01 -2.55014971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279072329 meters 0.1381438399807371 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973485e-01 -1.66993001e-03 -7.08809975e-03 9.49615735e+01] [ 1.67697970e-03 9.99998105e-01 9.88754142e-04 -5.74008631e+00] [ 7.08643517e-03 -1.00061452e-03 9.99974390e-01 -2.55065805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339072329 meters 0.12497615353969786 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973677e-01 -1.61884325e-03 -7.07286672e-03 9.49612101e+01] [ 1.62548654e-03 9.99998243e-01 9.33617456e-04 -5.73940518e+00] [ 7.07134291e-03 -9.45089730e-04 9.99974551e-01 -2.55012552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399072329 meters 0.11450902351070884 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973674e-01 -1.78473042e-03 -7.03319923e-03 9.49612550e+01] [ 1.78875183e-03 9.99998240e-01 5.65525638e-04 -5.73809179e+00] [ 7.03217754e-03 -5.78091398e-04 9.99975107e-01 -2.55026106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459072329 meters 0.12917269783537783 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973554e-01 -1.93409971e-03 -7.01077377e-03 9.49615544e+01] [ 1.93636388e-03 9.99998075e-01 3.16181886e-04 -5.73740801e+00] [ 7.01014874e-03 -3.29748933e-04 9.99975374e-01 -2.55077383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519072329 meters 0.11857709898759065 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973569e-01 -1.98409332e-03 -6.99461692e-03 9.49615978e+01] [ 1.98530586e-03 9.99998015e-01 1.66413909e-04 -5.73673272e+00] [ 6.99427285e-03 -1.80295964e-04 9.99975524e-01 -2.55089701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579072329 meters 0.11709647916065011 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973873e-01 -1.95851559e-03 -6.95832392e-03 9.49614419e+01] [ 1.95950077e-03 9.99998071e-01 1.34769563e-04 -5.73638142e+00] [ 6.95804655e-03 -1.48400883e-04 9.99975781e-01 -2.55077490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63907232900002 meters 0.12312397088594958 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99973487e-01 -2.11868313e-03 -6.96676773e-03 9.49615492e+01] [ 2.11719912e-03 9.99997734e-01 -2.20381536e-04 -5.73511530e+00] [ 6.96721887e-03 2.05625658e-04 9.99975707e-01 -2.55083007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69907232900002 meters 0.12672008098613288 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.55 [[ 9.99974189e-01 -2.10382619e-03 -6.86995242e-03 9.49612079e+01] [ 2.10203262e-03 9.99997755e-01 -2.68284803e-04 -5.73463757e+00] [ 6.87050142e-03 2.53837014e-04 9.99976366e-01 -2.55060855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759072329 meters 0.12209624216271585 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.55 [[ 9.99973937e-01 -2.16248764e-03 -6.88830770e-03 9.49615634e+01] [ 2.16036576e-03 9.99997617e-01 -3.15467256e-04 -5.73465543e+00] [ 6.88897348e-03 3.00577770e-04 9.99976226e-01 -2.55114894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819072329 meters 0.11785704714742358 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.55 [[ 9.99974633e-01 -2.14547620e-03 -6.79185593e-03 9.49614512e+01] [ 2.14368881e-03 9.99997666e-01 -2.70436100e-04 -5.73474830e+00] [ 6.79242030e-03 2.55869614e-04 9.99976899e-01 -2.55129903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879072329 meters 0.1290619159624852 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.73, Z:-2.55 [[ 9.99975856e-01 -2.01591884e-03 -6.65003413e-03 9.49608750e+01] [ 2.01514397e-03 9.99997962e-01 -1.23218720e-04 -5.73488089e+00] [ 6.65026898e-03 1.09814969e-04 9.99977881e-01 -2.55085635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939072329 meters 0.11918244545272098 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99975524e-01 -2.02018124e-03 -6.69855984e-03 9.49608873e+01] [ 2.01997015e-03 9.99997959e-01 -3.82791864e-05 -5.73538463e+00] [ 6.69862350e-03 2.47473586e-05 9.99977564e-01 -2.55070502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999072329 meters 0.11567866390922296 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99976268e-01 -1.81208714e-03 -6.64673428e-03 9.49604895e+01] [ 1.81423685e-03 9.99998304e-01 3.17407727e-04 -5.73634950e+00] [ 6.64614783e-03 -3.29458944e-04 9.99977860e-01 -2.55032454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059072329 meters 0.11942926868513533 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99976999e-01 -1.67428185e-03 -6.57249595e-03 9.49602040e+01] [ 1.67889367e-03 9.99998348e-01 6.96228740e-04 -5.73769172e+00] [ 6.57131942e-03 -7.07247248e-04 9.99978159e-01 -2.55018459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119072329 meters 0.12296788299956449 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99978185e-01 -1.40769381e-03 -6.45348169e-03 9.49595653e+01] [ 1.41568687e-03 9.99998236e-01 1.23416584e-03 -5.73922914e+00] [ 6.45173298e-03 -1.24327503e-03 9.99978414e-01 -2.54963878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179072329 meters 0.12525733619652382 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99979151e-01 -1.21278576e-03 -6.34246785e-03 9.49591289e+01] [ 1.22283298e-03 9.99998003e-01 1.58047940e-03 -5.74019029e+00] [ 6.34053841e-03 -1.58820223e-03 9.99978637e-01 -2.54937566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239072329 meters 0.11853237308904047 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99980041e-01 -9.81204630e-04 -6.24142360e-03 9.49586755e+01] [ 9.94712444e-04 9.99997169e-01 2.16148413e-03 -5.74211859e+00] [ 6.23928507e-03 -2.16764941e-03 9.99978186e-01 -2.54907566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299072329 meters 0.12549089671962063 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.74, Z:-2.55 [[ 9.99980385e-01 -8.46524691e-04 -6.20589133e-03 9.49585382e+01] [ 8.63757419e-04 9.99995778e-01 2.77467958e-03 -5.74462714e+00] [ 6.20351629e-03 -2.77998554e-03 9.99976894e-01 -2.54908945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359072329 meters 0.13190521445425027 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.75, Z:-2.55 [[ 9.99981279e-01 -5.72772006e-04 -6.09204841e-03 9.49579853e+01] [ 5.94427187e-04 9.99993510e-01 3.55344682e-03 -5.74727165e+00] [ 6.08997356e-03 -3.55700158e-03 9.99975130e-01 -2.54870592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41907232900002 meters 0.1162408369573616 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.75, Z:-2.55 [[ 9.99981112e-01 -5.49719520e-04 -6.12163643e-03 9.49580395e+01] [ 5.72360947e-04 9.99993001e-01 3.69745309e-03 -5.74797819e+00] [ 6.11956102e-03 -3.70088703e-03 9.99974427e-01 -2.54870534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479072329 meters 0.1326255039071399 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.75, Z:-2.55 [[ 9.99981856e-01 -3.37554148e-04 -6.01450970e-03 9.49576249e+01] [ 3.63112979e-04 9.99990907e-01 4.24894350e-03 -5.74989777e+00] [ 6.01302076e-03 -4.25105036e-03 9.99972886e-01 -2.54846695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539072329 meters 0.131012936679712 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.75, Z:-2.55 [[ 9.99983141e-01 -2.47646637e-05 -5.80668159e-03 9.49568283e+01] [ 5.44765706e-05 9.99986908e-01 5.11674563e-03 -5.75280128e+00] [ 5.80647886e-03 -5.11697570e-03 9.99970050e-01 -2.54802250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599072329 meters 0.12598314947294137 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99983333e-01 2.73017206e-05 -5.77345443e-03 9.49568028e+01] [ 5.70424773e-06 9.99983659e-01 5.71675545e-03 -5.75556129e+00] [ 5.77351616e-03 -5.71669310e-03 9.99966992e-01 -2.54820902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659072329 meters 0.13585533133683872 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99983367e-01 1.52269624e-04 -5.76558895e-03 9.49567243e+01] [-1.14743320e-04 9.99978813e-01 6.50843942e-03 -5.75899905e+00] [ 5.76645784e-03 -6.50766961e-03 9.99962198e-01 -2.54826463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719072329 meters 0.13989195792060793 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99983008e-01 3.20437503e-04 -5.82069229e-03 9.49568643e+01] [-2.77817383e-04 9.99973159e-01 7.32150703e-03 -5.76247295e+00] [ 5.82288214e-03 -7.31976554e-03 9.99956257e-01 -2.54848995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779072329 meters 0.13700119830554414 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99983003e-01 4.00818381e-04 -5.81665157e-03 9.49570196e+01] [-3.55781867e-04 9.99969970e-01 7.74165756e-03 -5.76438005e+00] [ 5.81957989e-03 -7.73945652e-03 9.99953116e-01 -2.54885664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839072329 meters 0.15402160048055777 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.76, Z:-2.55 [[ 9.99975681e-01 -3.88590778e-03 -5.79110137e-03 9.49570123e+01] [ 3.90595676e-03 9.99986404e-01 3.45475187e-03 -5.76432784e+00] [ 5.77759779e-03 -3.47728765e-03 9.99977264e-01 -2.54895173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899072329 meters 0.1369798311089684 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99978531e-01 -3.41427742e-03 -5.59282886e-03 9.49558737e+01] [ 3.43877133e-03 9.99984514e-01 4.37577404e-03 -5.76706367e+00] [ 5.57780215e-03 -4.39491256e-03 9.99974786e-01 -2.54790003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959072329 meters 0.1293094781728614 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99979496e-01 -3.24997179e-03 -5.51767230e-03 9.49556167e+01] [ 3.27642667e-03 9.99983149e-01 4.79232256e-03 -5.76872388e+00] [ 5.50200441e-03 -4.81030255e-03 9.99973294e-01 -2.54777258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019072329 meters 0.13036139123111914 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99979201e-01 -3.20358355e-03 -5.59780121e-03 9.49558709e+01] [ 3.23156357e-03 9.99982296e-01 4.99651988e-03 -5.76973559e+00] [ 5.58169534e-03 -5.01450560e-03 9.99971849e-01 -2.54795085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079072329 meters 0.12889798937824085 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99979052e-01 -3.10940744e-03 -5.67681165e-03 9.49560323e+01] [ 3.13895905e-03 9.99981531e-01 5.20420251e-03 -5.77053485e+00] [ 5.66052482e-03 -5.22191277e-03 9.99970345e-01 -2.54800540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13907232900002 meters 0.1272777276027011 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99980079e-01 -2.84768822e-03 -5.63305815e-03 9.49555838e+01] [ 2.87986276e-03 9.99979540e-01 5.71189547e-03 -5.77216331e+00] [ 5.61667720e-03 -5.72800412e-03 9.99967821e-01 -2.54753196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19907232900002 meters 0.1262906571551369 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99981155e-01 -2.59965506e-03 -5.56158453e-03 9.49551351e+01] [ 2.63391874e-03 9.99977544e-01 6.16234805e-03 -5.77368150e+00] [ 5.54543966e-03 -6.17688068e-03 9.99965547e-01 -2.54707659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259072329 meters 0.1308781047113359 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.77, Z:-2.55 [[ 9.99980709e-01 -2.56808397e-03 -5.65573369e-03 9.49554083e+01] [ 2.60378607e-03 9.99976675e-01 6.31425934e-03 -5.77453048e+00] [ 5.63938622e-03 -6.32886385e-03 9.99964071e-01 -2.54721394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319072329 meters 0.13278624159618474 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.78, Z:-2.55 [[ 9.99981177e-01 -2.41015717e-03 -5.64240382e-03 9.49553479e+01] [ 2.44777409e-03 9.99974763e-01 6.66944061e-03 -5.77587318e+00] [ 5.62618703e-03 -6.68312640e-03 9.99961840e-01 -2.54723330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379072329 meters 0.12904549786159594 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.78, Z:-2.55 [[ 9.99982473e-01 -2.06868701e-03 -5.54747663e-03 9.49547246e+01] [ 2.10919443e-03 9.99971086e-01 7.30607140e-03 -5.77789306e+00] [ 5.53220226e-03 -7.31764405e-03 9.99957923e-01 -2.54668055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439072329 meters 0.13036972397573018 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.78, Z:-2.55 [[ 9.99982595e-01 -1.88908662e-03 -5.58940707e-03 9.49546956e+01] [ 1.93288285e-03 9.99967394e-01 7.84057922e-03 -5.78017381e+00] [ 5.57441329e-03 -7.85124642e-03 9.99953641e-01 -2.54659091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499072329 meters 0.12478280604744536 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.78, Z:-2.55 [[ 9.99983306e-01 -1.62835475e-03 -5.54398418e-03 9.49545617e+01] [ 1.67595111e-03 9.99961688e-01 8.59143321e-03 -5.78317507e+00] [ 5.52978189e-03 -8.60058123e-03 9.99947724e-01 -2.54670321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559072329 meters 0.12842087602104743 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.79, Z:-2.55 [[ 9.99968888e-01 -5.61298439e-03 -5.54235842e-03 9.49542760e+01] [ 5.64021713e-03 9.99972038e-01 4.91022178e-03 -5.78528494e+00] [ 5.51464245e-03 -4.94132912e-03 9.99972586e-01 -2.54636973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619072329 meters 0.137497212133898 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.79, Z:-2.55 [[ 9.99971494e-01 -5.30949990e-03 -5.36849561e-03 9.49535108e+01] [ 5.33906856e-03 9.99970575e-01 5.50856268e-03 -5.78722342e+00] [ 5.33908993e-03 -5.53706842e-03 9.99970417e-01 -2.54578934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679072329 meters 0.1263770820234046 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.79, Z:-2.54 [[ 9.99974612e-01 -4.76895022e-03 -5.29448507e-03 9.49526768e+01] [ 4.80368061e-03 9.99966902e-01 6.56650946e-03 -5.79060756e+00] [ 5.26299448e-03 -6.59177577e-03 9.99964424e-01 -2.54496773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739072329 meters 0.13789530188980623 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.79, Z:-2.54 [[ 9.99976639e-01 -4.36972279e-03 -5.25614079e-03 9.49523020e+01] [ 4.40921325e-03 9.99961964e-01 7.52522885e-03 -5.79421283e+00] [ 5.22305770e-03 -7.54822850e-03 9.99957871e-01 -2.54470424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799072329 meters 0.1313866849088757 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.80, Z:-2.54 [[ 9.99977432e-01 -4.15345712e-03 -5.28047399e-03 9.49521999e+01] [ 4.19578608e-03 9.99958953e-01 8.03048298e-03 -5.79625235e+00] [ 5.24690298e-03 -8.05245749e-03 9.99953813e-01 -2.54453576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859072329 meters 0.13316297016205628 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.80, Z:-2.54 [[ 9.99979120e-01 -3.78927448e-03 -5.23460634e-03 9.49516083e+01] [ 3.83460665e-03 9.99954998e-01 8.67737163e-03 -5.79828390e+00] [ 5.20148983e-03 -8.69726310e-03 9.99948650e-01 -2.54386134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91907232900002 meters 0.12574715274428722 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.80, Z:-2.55 [[ 9.99994749e-01 3.19279118e-03 5.54873553e-04 9.49569582e+01] [-3.19311853e-03 9.99994728e-01 5.90080303e-04 -5.80277442e+00] [-5.52986624e-04 -5.91848982e-04 9.99999672e-01 -2.54981876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979072329 meters 0.13028150578243083 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99993499e-01 3.57370710e-03 4.79184459e-04 9.49565619e+01] [-3.57431987e-03 9.99992788e-01 1.28408139e-03 -5.80503274e+00] [-4.74592072e-04 -1.28578580e-03 9.99999061e-01 -2.54909829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039072329 meters 0.1316194782351013 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99993110e-01 3.69826584e-03 3.21604131e-04 9.49567873e+01] [-3.69877381e-03 9.99991890e-01 1.59352992e-03 -5.80641030e+00] [-3.15708226e-04 -1.59470848e-03 9.99998679e-01 -2.54899010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099072329 meters 0.13143428509526395 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99993212e-01 3.68427930e-03 5.16037952e-05 9.49575000e+01] [-3.68435910e-03 9.99991864e-01 1.64268652e-03 -5.80702072e+00] [-4.55512594e-05 -1.64286549e-03 9.99998649e-01 -2.54925423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159072329 meters 0.12493233596733261 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99991858e-01 4.03520691e-03 -3.07650150e-05 9.49570861e+01] [-4.03512854e-03 9.99989387e-01 2.22323642e-03 -5.80874292e+00] [ 3.97359075e-05 -2.22309418e-03 9.99997528e-01 -2.54845465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219072329 meters 0.12023170759260907 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99991235e-01 4.18236796e-03 -1.96245696e-04 9.49572023e+01] [-4.18186051e-03 9.99988084e-01 2.51859329e-03 -5.80992326e+00] [ 2.06777042e-04 -2.51775054e-03 9.99996809e-01 -2.54814644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279072329 meters 0.1263348260362378 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99991559e-01 4.09889768e-03 -2.83900556e-04 9.49576028e+01] [-4.09819804e-03 9.99988668e-01 2.42260633e-03 -5.80992293e+00] [ 2.93827354e-04 -2.42142240e-03 9.99997025e-01 -2.54843332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339072329 meters 0.13196232992855278 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99991541e-01 4.08811986e-03 -4.53879653e-04 9.49580916e+01] [-4.08700160e-03 9.99988676e-01 2.43794347e-03 -5.81025412e+00] [ 4.63841119e-04 -2.43606784e-03 9.99996925e-01 -2.54863998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399072329 meters 0.12278603032801137 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99990925e-01 4.20018578e-03 -7.13219144e-04 9.49586030e+01] [-4.19822525e-03 9.99987465e-01 2.72844911e-03 -5.81173384e+00] [ 7.24670197e-04 -2.72543009e-03 9.99996023e-01 -2.54866931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459072329 meters 0.12979928324905796 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99990769e-01 4.19708762e-03 -9.19733421e-04 9.49591963e+01] [-4.19451490e-03 9.99987334e-01 2.78154966e-03 -5.81234021e+00] [ 9.31396180e-04 -2.77766615e-03 9.99995709e-01 -2.54892843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519072329 meters 0.12027944876194034 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99990808e-01 4.15118643e-03 -1.07321809e-03 9.49597243e+01] [-4.14820629e-03 9.99987575e-01 2.76429817e-03 -5.81267629e+00] [ 1.08467988e-03 -2.75982083e-03 9.99995603e-01 -2.54922653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579072329 meters 0.12114420814163047 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99990158e-01 4.22942114e-03 -1.34043583e-03 9.49601469e+01] [-4.22549840e-03 9.99986821e-01 2.91591601e-03 -5.81340037e+00] [ 1.35275080e-03 -2.91022330e-03 9.99994850e-01 -2.54902936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63907232900002 meters 0.12145646067388212 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99999109e-01 2.31515157e-04 -1.31435795e-03 9.49599112e+01] [-2.33434526e-04 9.99998906e-01 -1.46034343e-03 -5.81221471e+00] [ 1.31401842e-03 1.46064894e-03 9.99998070e-01 -2.54875184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69907232900002 meters 0.1218222702470048 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99998917e-01 3.19799759e-04 -1.43638956e-03 9.49600469e+01] [-3.21692174e-04 9.99999080e-01 -1.31744275e-03 -5.81274815e+00] [ 1.43596692e-03 1.31790340e-03 9.99998101e-01 -2.54859546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759072329 meters 0.11726199132244074 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99998704e-01 3.47721534e-04 -1.57228318e-03 9.49605005e+01] [-3.49618349e-04 9.99999211e-01 -1.20629443e-03 -5.81345212e+00] [ 1.57186249e-03 1.20684257e-03 9.99998036e-01 -2.54886375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819072329 meters 0.10622045384214798 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.81, Z:-2.55 [[ 9.99998358e-01 6.52613799e-04 -1.69072304e-03 9.49602653e+01] [-6.53876766e-04 9.99999508e-01 -7.46553104e-04 -5.81478600e+00] [ 1.69023500e-03 7.47657403e-04 9.99998292e-01 -2.54823188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879072329 meters 0.12160540728658986 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99998104e-01 8.25260310e-04 -1.76375744e-03 9.49601737e+01] [-8.25999411e-04 9.99999571e-01 -4.18361834e-04 -5.81603164e+00] [ 1.76341142e-03 4.19817904e-04 9.99998357e-01 -2.54789171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939072329 meters 0.11617941527384325 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99997787e-01 1.11714456e-03 -1.78257316e-03 9.49598219e+01] [-1.11704041e-03 9.99999374e-01 5.94246507e-05 -5.81745186e+00] [ 1.78263843e-03 -5.74333129e-05 9.99998409e-01 -2.54739598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999072329 meters 0.11812323832622534 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99997546e-01 1.16562506e-03 -1.88371249e-03 9.49601699e+01] [-1.16516042e-03 9.99999291e-01 2.47740615e-04 -5.81853877e+00] [ 1.88399993e-03 -2.45545180e-04 9.99998195e-01 -2.54763901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059072329 meters 0.11544454030084499 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99996897e-01 1.51061817e-03 -1.98098364e-03 9.49598972e+01] [-1.50876749e-03 9.99998424e-01 9.35385841e-04 -5.82102086e+00] [ 1.98239353e-03 -9.32394094e-04 9.99997600e-01 -2.54705196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119072329 meters 0.11555077095083528 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99996446e-01 1.73812016e-03 -2.02143678e-03 9.49597046e+01] [-1.73524623e-03 9.99997483e-01 1.42261317e-03 -5.82299927e+00] [ 2.02390436e-03 -1.41910043e-03 9.99996945e-01 -2.54669031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179072329 meters 0.11665751018710327 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.82, Z:-2.55 [[ 9.99996113e-01 1.89186899e-03 -2.04804197e-03 9.49596575e+01] [-1.88814101e-03 9.99996560e-01 1.82067303e-03 -5.82474467e+00] [ 2.05147940e-03 -1.81679897e-03 9.99996245e-01 -2.54657499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239072329 meters 0.10438630569844375 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99995183e-01 2.25195542e-03 -2.13590031e-03 9.49595269e+01] [-2.24640790e-03 9.99994107e-01 2.59612452e-03 -5.82781644e+00] [ 2.14173408e-03 -2.59131391e-03 9.99994349e-01 -2.54625001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299072329 meters 0.11680398698485064 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99994746e-01 2.35209906e-03 -2.23063465e-03 9.49599336e+01] [-2.34547583e-03 9.99992847e-01 2.96719287e-03 -5.82983883e+00] [ 2.23759782e-03 -2.96194538e-03 9.99993110e-01 -2.54664723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359072329 meters 0.10449299001046422 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99993904e-01 2.60016334e-03 -2.33042266e-03 9.49598441e+01] [-2.59205928e-03 9.99990607e-01 3.47380687e-03 -5.83181071e+00] [ 2.33943324e-03 -3.46774510e-03 9.99991251e-01 -2.54624852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41907232900002 meters 0.10390432760236148 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99993068e-01 2.79587733e-03 -2.45908063e-03 9.49598861e+01] [-2.78622501e-03 9.99988436e-01 3.91987952e-03 -5.83371469e+00] [ 2.47001170e-03 -3.91300080e-03 9.99989294e-01 -2.54596090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479072329 meters 0.11569314143200495 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.83, Z:-2.55 [[ 9.99992686e-01 2.88472347e-03 -2.51119548e-03 9.49599838e+01] [-2.87434347e-03 9.99987352e-01 4.12733024e-03 -5.83469401e+00] [ 2.52306993e-03 -4.12008201e-03 9.99988329e-01 -2.54597131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539072329 meters 0.10300858484637042 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.84, Z:-2.55 [[ 9.99992516e-01 2.89545535e-03 -2.56580080e-03 9.49602500e+01] [-2.88460467e-03 9.99986924e-01 4.22261980e-03 -5.83539945e+00] [ 2.57799366e-03 -4.21518688e-03 9.99987793e-01 -2.54616560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599072329 meters 0.09959794595120512 Centerline is valid? [False, True] Translation: X:94.96, Y:-5.84, Z:-2.55 [[ 9.99992183e-01 2.88132434e-03 -2.70773917e-03 9.49608247e+01] [-2.86962543e-03 9.99986575e-01 4.31454480e-03 -5.83638302e+00] [ 2.72013442e-03 -4.30674088e-03 9.99987026e-01 -2.54657375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659072329 meters 0.09770766375808598 Centerline is valid? [True, True] Translation: X:95.02, Y:-5.84, Z:-2.55 [[ 9.99978608e-01 5.68927183e-03 -3.22744650e-03 9.50214704e+01] [-5.68777189e-03 9.99983712e-01 4.73732778e-04 -5.84371182e+00] [ 3.23008913e-03 -4.55365664e-04 9.99994680e-01 -2.55021880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719072329 meters 0.0985771168414363 Centerline is valid? [True, True] Translation: X:95.08, Y:-5.86, Z:-2.55 [[ 9.99960244e-01 8.72745678e-03 -1.82785697e-03 9.50809577e+01] [-8.72698084e-03 9.99961883e-01 2.68192429e-04 -5.85605566e+00] [ 1.83012793e-03 -2.52230094e-04 9.99998294e-01 -2.54919653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779072329 meters 0.0973927948460235 Centerline is valid? [True, True] Translation: X:95.14, Y:-5.86, Z:-2.55 [[ 9.99941169e-01 1.06940019e-02 -1.81547976e-03 9.51416681e+01] [-1.06935350e-02 9.99942787e-01 2.66665471e-04 -5.86422257e+00] [ 1.81822761e-03 -2.47235887e-04 9.99998316e-01 -2.55019283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839072329 meters 0.09041414842842155 Centerline is valid? [True, True] Translation: X:95.20, Y:-5.87, Z:-2.55 [[ 9.99904143e-01 1.36615540e-02 -2.25113520e-03 9.52030903e+01] [-1.36608437e-02 9.99906632e-01 3.30583716e-04 -5.86524848e+00] [ 2.25544130e-03 -2.99799621e-04 9.99997412e-01 -2.55067586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899072329 meters 0.09540244807641053 Centerline is valid? [True, True] Translation: X:95.26, Y:-5.88, Z:-2.55 [[ 9.99880845e-01 1.53595682e-02 -1.54263754e-03 9.52607706e+01] [-1.53592371e-02 9.99882014e-01 2.26232115e-04 -5.88099082e+00] [ 1.54593036e-03 -2.02511423e-04 9.99998785e-01 -2.55170393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959072329 meters 0.09725493847697332 Centerline is valid? [True, True] Translation: X:95.32, Y:-5.89, Z:-2.55 [[ 9.99860309e-01 1.66676722e-02 -1.24543134e-03 9.53197070e+01] [-1.66674570e-02 9.99861072e-01 1.82963798e-04 -5.89339583e+00] [ 1.24830789e-03 -1.62180066e-04 9.99999208e-01 -2.55279644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019072329 meters 0.0998006602619793 Centerline is valid? [True, True] Translation: X:95.38, Y:-5.91, Z:-2.55 [[ 9.99841788e-01 1.77406754e-02 -1.29125910e-03 9.53788584e+01] [-1.77404449e-02 9.99842608e-01 1.89713700e-04 -5.90648558e+00] [ 1.29442151e-03 -1.66776174e-04 9.99999148e-01 -2.55349273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079072329 meters 0.09582851288354079 Centerline is valid? [True, True] Translation: X:95.44, Y:-5.91, Z:-2.55 [[ 9.99821319e-01 1.88960537e-02 -5.19515387e-04 9.54403729e+01] [-1.88960163e-02 9.99821451e-01 7.67716825e-05 -5.91188061e+00] [ 5.20873311e-04 -6.69411936e-05 9.99999862e-01 -2.55269233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13907232900002 meters 0.09001368392417292 Centerline is valid? [True, True] Translation: X:95.50, Y:-5.91, Z:-2.55 [[ 9.99809737e-01 1.95012142e-02 -4.37666557e-04 9.55029023e+01] [-1.95011868e-02 9.99809832e-01 6.66866264e-05 -5.91488889e+00] [ 4.38883797e-04 -5.81389212e-05 9.99999902e-01 -2.55306080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199072329 meters 0.09492254565861868 Centerline is valid? [True, True] Translation: X:95.56, Y:-5.93, Z:-2.55 [[ 9.99798862e-01 2.00470635e-02 -5.91548852e-04 9.55623308e+01] [-2.00470141e-02 9.99799034e-01 8.92797311e-05 -5.93080860e+00] [ 5.93219768e-04 -7.74029854e-05 9.99999821e-01 -2.55410119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259072329 meters 0.09276046600911712 Centerline is valid? [True, True] Translation: X:95.62, Y:-5.94, Z:-2.55 [[ 9.99799879e-01 1.99572548e-02 -1.38167488e-03 9.56238813e+01] [-1.99569884e-02 9.99800818e-01 2.06293658e-04 -5.93871133e+00] [ 1.38551673e-03 -1.78678304e-04 9.99999024e-01 -2.55469690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319072329 meters 0.09625975720411503 Centerline is valid? [True, True] Translation: X:95.68, Y:-5.95, Z:-2.56 [[ 9.99794832e-01 2.02145135e-02 -1.29095731e-03 9.56837781e+01] [-2.02142803e-02 9.99795652e-01 1.93403225e-04 -5.95356226e+00] [ 1.29460305e-03 -1.67267772e-04 9.99999148e-01 -2.55591724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379072329 meters 0.09776110395677957 Centerline is valid? [True, True] Translation: X:95.74, Y:-5.96, Z:-2.56 [[ 9.99798730e-01 2.00267293e-02 -1.19583164e-03 9.57442155e+01] [-2.00265289e-02 9.99799433e-01 1.79284674e-04 -5.96484549e+00] [ 1.19918228e-03 -1.55300232e-04 9.99999269e-01 -2.55701023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439072329 meters 0.09727038390165256 Centerline is valid? [True, True] Translation: X:95.81, Y:-5.97, Z:-2.56 [[ 9.99812638e-01 1.93566684e-02 -8.70146556e-05 9.58054666e+01] [-1.93566673e-02 9.99812642e-01 1.35351206e-05 -5.97464753e+00] [ 8.72603476e-05 -1.18482709e-05 9.99999996e-01 -2.55649897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499072329 meters 0.09509226133238557 Centerline is valid? [True, True] Translation: X:95.87, Y:-5.98, Z:-2.56 [[ 9.99814648e-01 1.92485796e-02 -4.01655621e-04 9.58668306e+01] [-1.92485563e-02 9.99814727e-01 6.19134333e-05 -5.98165317e+00] [ 4.02772951e-04 -5.41706667e-05 9.99999917e-01 -2.55756756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559072329 meters 0.09783274067791077 Centerline is valid? [True, True] Translation: X:95.93, Y:-5.99, Z:-2.56 [[ 9.99808243e-01 1.94756076e-02 -2.04382972e-03 9.59273284e+01] [-1.94750212e-02 9.99810297e-01 3.06440463e-04 -5.99439847e+00] [ 2.04941012e-03 -2.66578074e-04 9.99997864e-01 -2.56190660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619072329 meters 0.10024867874839731 Centerline is valid? [True, False] Translation: X:95.92, Y:-5.99, Z:-2.56 [[ 9.99955195e-01 9.46559632e-03 -1.02768301e-04 9.59178741e+01] [-9.46518675e-03 9.99949284e-01 3.44083219e-03 -5.99032626e+00] [ 1.35332617e-04 -3.43970530e-03 9.99994075e-01 -2.56425834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679072329 meters 0.09373303543646241 Centerline is valid? [False, True] Translation: X:95.92, Y:-5.99, Z:-2.56 [[ 9.99985712e-01 5.34492077e-03 8.40536187e-05 9.59172897e+01] [-5.34482719e-03 9.99985137e-01 -1.07676731e-03 -5.98865762e+00] [-8.98076053e-05 1.07630268e-03 9.99999417e-01 -2.56398151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739072329 meters 0.0965269930425796 Centerline is valid? [True, True] Translation: X:95.98, Y:-6.00, Z:-2.56 [[ 9.99980689e-01 6.18811461e-03 5.72659119e-04 9.59775657e+01] [-6.18807271e-03 9.99980851e-01 -7.49094787e-05 -6.00022017e+00] [-5.73111701e-04 7.13643759e-05 9.99999833e-01 -2.56418644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799072329 meters 0.09539875270223376 Centerline is valid? [True, True] Translation: X:96.04, Y:-6.01, Z:-2.57 [[ 9.99980139e-01 6.29753498e-03 2.51140827e-04 9.60395307e+01] [-6.29752723e-03 9.99980170e-01 -3.16362840e-05 -6.00702382e+00] [-2.51335078e-04 3.00540894e-05 9.99999968e-01 -2.56582403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859072329 meters 0.10357273385807625 Centerline is valid? [True, False] Translation: X:96.04, Y:-6.01, Z:-2.57 [[ 9.99980302e-01 6.27480186e-03 1.49662076e-04 9.60398730e+01] [-6.27481156e-03 9.99980311e-01 6.44116710e-05 -6.00788449e+00] [-1.49254958e-04 -6.53495035e-05 9.99999987e-01 -2.56602920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91907232900002 meters 0.0972993335170291 Centerline is valid? [False, True] Translation: X:96.04, Y:-6.01, Z:-2.57 [[ 9.99980515e-01 6.24092859e-03 1.45595627e-04 9.60399250e+01] [-6.24093477e-03 9.99980524e-01 4.20690018e-05 -6.00799510e+00] [-1.45330241e-04 -4.29768348e-05 9.99999989e-01 -2.56604881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979072329 meters 0.09680470523762366 Centerline is valid? [True, True] Translation: X:96.10, Y:-6.02, Z:-2.57 [[ 9.99976590e-01 6.64432890e-03 1.63445264e-03 9.61013326e+01] [-6.64398183e-03 9.99977905e-01 -2.17683933e-04 -6.01685458e+00] [-1.63586289e-03 2.06819564e-04 9.99998641e-01 -2.56546747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039072329 meters 0.10337082098510318 Centerline is valid? [True, False] Translation: X:96.10, Y:-6.02, Z:-2.57 [[ 9.99976619e-01 6.65067239e-03 1.59032406e-03 9.61014675e+01] [-6.65053812e-03 9.99977881e-01 -8.96987849e-05 -6.01771405e+00] [-1.59088544e-03 7.91201769e-05 9.99998731e-01 -2.56550573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099072329 meters 0.09282794928897095 Centerline is valid? [False, True] Translation: X:96.10, Y:-6.02, Z:-2.56 [[ 9.99992727e-01 3.22048971e-03 2.04308365e-03 9.60992882e+01] [-3.21285989e-03 9.99987894e-01 -3.72681637e-03 -6.01733708e+00] [-2.05506109e-03 3.72022512e-03 9.99990968e-01 -2.56390681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159072329 meters 0.10461783509826296 Centerline is valid? [True, False] Translation: X:96.10, Y:-6.02, Z:-2.56 [[ 9.99993117e-01 3.17567157e-03 1.91853751e-03 9.60997224e+01] [-3.16865684e-03 9.99988325e-01 -3.64833122e-03 -6.01818044e+00] [-1.93010101e-03 3.64222693e-03 9.99991504e-01 -2.56417584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219072329 meters 0.09526034303906998 Centerline is valid? [False, True] Translation: X:96.10, Y:-6.02, Z:-2.56 [[ 9.99993521e-01 3.10820869e-03 1.81554347e-03 9.61001039e+01] [-3.10141897e-03 9.99988231e-01 -3.73069224e-03 -6.01807590e+00] [-1.82711788e-03 3.72503730e-03 9.99991393e-01 -2.56443751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279072329 meters 0.08613213582377738 Centerline is valid? [True, True] Translation: X:96.16, Y:-6.01, Z:-2.56 [[ 9.99990412e-01 4.19944879e-03 1.24117320e-03 9.61622264e+01] [-4.19925361e-03 9.99991170e-01 -1.59819526e-04 -6.01482333e+00] [-1.24183340e-03 1.54605993e-04 9.99999217e-01 -2.56137911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339072329 meters 0.09769872313094675 Centerline is valid? [True, True] Translation: X:96.22, Y:-6.04, Z:-2.56 [[ 9.99980314e-01 6.16038706e-03 1.19224154e-03 9.62193649e+01] [-6.16020798e-03 9.99981014e-01 -1.53811992e-04 -6.03809737e+00] [-1.19316645e-03 1.46464508e-04 9.99999277e-01 -2.56378096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399072329 meters 0.08440721026454649 Centerline is valid? [True, True] Translation: X:96.28, Y:-6.03, Z:-2.56 [[ 9.99963203e-01 8.39338490e-03 1.77289413e-03 9.62821089e+01] [-8.39299261e-03 9.99964752e-01 -2.28592852e-04 -6.02826036e+00] [-1.77475031e-03 2.13704553e-04 9.99998402e-01 -2.56188957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459072329 meters 0.08064966320802437 Centerline is valid? [True, True] Translation: X:96.34, Y:-6.03, Z:-2.56 [[ 9.99924318e-01 1.21534231e-02 1.91092175e-03 9.63426491e+01] [-1.21529737e-02 9.99926119e-01 -2.46581188e-04 -6.03013839e+00] [-1.91377737e-03 2.23339145e-04 9.99998144e-01 -2.56210140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519072329 meters 0.08124727816674944 Centerline is valid? [True, True] Translation: X:96.40, Y:-6.04, Z:-2.56 [[ 9.99856930e-01 1.68458230e-02 1.52900000e-03 9.64022795e+01] [-1.68455407e-02 9.99858084e-01 -1.97302027e-04 -6.03804858e+00] [-1.53210672e-03 1.71516967e-04 9.99998812e-01 -2.56468157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579072329 meters 0.0768486071774488 Centerline is valid? [True, True] Translation: X:96.46, Y:-6.04, Z:-2.56 [[ 9.99754699e-01 2.19433224e-02 3.00525645e-03 9.64637039e+01] [-2.19422548e-02 9.99759165e-01 -3.87731445e-04 -6.03945045e+00] [-3.01304079e-03 3.21694232e-04 9.99995409e-01 -2.56443182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63907232900002 meters 0.07461232203203622 Centerline is valid? [True, True] Translation: X:96.52, Y:-6.04, Z:-2.56 [[ 9.99675307e-01 2.53410841e-02 2.66654980e-03 9.65240551e+01] [-2.53402554e-02 9.99678825e-01 -3.44088332e-04 -6.04268069e+00] [-2.67441294e-03 2.76405556e-04 9.99996386e-01 -2.56479472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699072329 meters 0.07162952936972353 Centerline is valid? [True, True] Translation: X:96.58, Y:-6.04, Z:-2.57 [[ 9.99507563e-01 3.13048532e-02 2.15350365e-03 9.65846033e+01] [-3.13043265e-02 9.99509861e-01 -2.77863539e-04 -6.04399801e+00] [-2.16114661e-03 2.10312727e-04 9.99997643e-01 -2.56751106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759072329 meters 0.06455509774329075 Centerline is valid? [True, True] Translation: X:96.65, Y:-6.04, Z:-2.57 [[ 9.99335877e-01 3.63937254e-02 1.81709392e-03 9.66458777e+01] [-3.63933587e-02 9.99337515e-01 -2.34491078e-04 -6.04088377e+00] [-1.82442413e-03 1.68205196e-04 9.99998322e-01 -2.56789152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819072329 meters 0.0792774339500355 Centerline is valid? [True, True] Translation: X:96.70, Y:-6.07, Z:-2.57 [[ 9.99221826e-01 3.93815236e-02 2.19945141e-03 9.67030233e+01] [-3.93809934e-02 9.99224227e-01 -2.83858422e-04 -6.06733012e+00] [-2.20892391e-03 1.97020949e-04 9.99997541e-01 -2.57011066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879072329 meters 0.06094790869835877 Centerline is valid? [True, True] Translation: X:96.77, Y:-6.05, Z:-2.57 [[ 9.99120849e-01 4.18093737e-02 3.08301712e-03 9.67662910e+01] [-4.18083437e-02 9.99125570e-01 -3.97810176e-04 -6.04990311e+00] [-3.09695343e-03 2.68564602e-04 9.99995168e-01 -2.56973635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939072329 meters 0.06310269883916318 Centerline is valid? [True, True] Translation: X:96.82, Y:-6.06, Z:-2.57 [[ 9.98970626e-01 4.52606042e-02 3.02763600e-03 9.68249387e+01] [-4.52596265e-02 9.98975182e-01 -3.90715526e-04 -6.05954166e+00] [-3.04221724e-03 2.53283659e-04 9.99995340e-01 -2.57078965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999072329 meters 0.057034192596579054 Centerline is valid? [True, True] Translation: X:96.89, Y:-6.06, Z:-2.57 [[ 9.98837796e-01 4.79802425e-02 4.57748614e-03 9.68858438e+01] [-4.79780365e-02 9.98848216e-01 -5.90592561e-04 -6.05959096e+00] [-4.60055064e-03 3.70287375e-04 9.99989349e-01 -2.56811103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059072329 meters 0.05979344392539815 Centerline is valid? [True, True] Translation: X:96.95, Y:-6.07, Z:-2.57 [[ 9.98775327e-01 4.92467219e-02 4.75465251e-03 9.69456412e+01] [-4.92443565e-02 9.98786572e-01 -6.13345967e-04 -6.07083746e+00] [-4.77908836e-03 3.78455015e-04 9.99988508e-01 -2.56863640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119072329 meters 0.06204176949964918 Centerline is valid? [True, True] Translation: X:97.01, Y:-6.08, Z:-2.57 [[ 9.98736105e-01 5.00954310e-02 4.07914750e-03 9.70059665e+01] [-5.00936981e-02 9.98744384e-01 -5.25948933e-04 -6.08159448e+00] [-4.10037329e-03 3.20944606e-04 9.99991542e-01 -2.57074332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179072329 meters 0.058951392191501716 Centerline is valid? [True, True] Translation: X:97.07, Y:-6.09, Z:-2.57 [[ 9.98690809e-01 5.10665752e-02 2.97879628e-03 9.70677257e+01] [-5.10656565e-02 9.98695225e-01 -3.83700973e-04 -6.08564603e+00] [-2.99450392e-03 2.31084447e-04 9.99995490e-01 -2.57372318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239072329 meters 0.05424932877459336 Centerline is valid? [True, True] Translation: X:97.13, Y:-6.09, Z:-2.57 [[ 9.98656810e-01 5.16791293e-02 3.72063595e-03 9.71300644e+01] [-5.16776949e-02 9.98663700e-01 -4.80691519e-04 -6.08829053e+00] [-3.74050578e-03 2.87771970e-04 9.99992963e-01 -2.57313580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299072329 meters 0.06056529280964842 Centerline is valid? [True, True] Translation: X:97.19, Y:-6.11, Z:-2.57 [[ 9.98652035e-01 5.16721222e-02 4.90976179e-03 9.71893492e+01] [-5.16696140e-02 9.98664031e-01 -6.36410829e-04 -6.10609103e+00] [-4.93608720e-03 3.81867472e-04 9.99987745e-01 -2.57252746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359072329 meters 0.057986283367759475 Centerline is valid? [True, True] Translation: X:97.25, Y:-6.11, Z:-2.57 [[ 9.98701487e-01 5.07200072e-02 4.77719077e-03 9.72517103e+01] [-5.07176140e-02 9.98712841e-01 -6.20865109e-04 -6.11084031e+00] [-4.80253205e-03 3.77771190e-04 9.99988396e-01 -2.57374022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41907232900002 meters 0.05600535934763127 Centerline is valid? [True, True] Translation: X:97.31, Y:-6.12, Z:-2.57 [[ 9.98713284e-01 5.05162441e-02 4.45928512e-03 9.73127392e+01] [-5.05141579e-02 9.98723177e-01 -5.79318798e-04 -6.11815595e+00] [-4.48285641e-03 3.53316347e-04 9.99989890e-01 -2.57475972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479072329 meters 0.06362885263858489 Centerline is valid? [True, True] Translation: X:97.37, Y:-6.14, Z:-2.58 [[ 9.98722350e-01 5.03519827e-02 4.28319018e-03 9.73720123e+01] [-5.03500506e-02 9.98731476e-01 -5.57804166e-04 -6.13754257e+00] [-4.30584340e-03 3.41432645e-04 9.99990672e-01 -2.57523920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539072329 meters 0.05441603368176394 Centerline is valid? [True, True] Translation: X:97.44, Y:-6.13, Z:-2.58 [[ 9.98698173e-01 5.08666477e-02 3.81349336e-03 9.74352602e+01] [-5.08651200e-02 9.98705408e-01 -4.96595789e-04 -6.13464077e+00] [-3.83381661e-03 3.01975510e-04 9.99992605e-01 -2.57638275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599072329 meters 0.056391673922648385 Centerline is valid? [True, True] Translation: X:97.50, Y:-6.15, Z:-2.58 [[ 9.98704077e-01 5.07590276e-02 3.69962388e-03 9.74956618e+01] [-5.07575851e-02 9.98710886e-01 -4.82836372e-04 -6.14681718e+00] [-3.71936294e-03 2.94426680e-04 9.99993040e-01 -2.57847135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659072329 meters 0.05433766146845611 Centerline is valid? [True, True] Translation: X:97.56, Y:-6.15, Z:-2.58 [[ 9.98709917e-01 5.06146860e-02 4.08110918e-03 9.75573249e+01] [-5.06129247e-02 9.98718202e-01 -5.33773115e-04 -6.15374258e+00] [-4.10289478e-03 3.26527632e-04 9.99991530e-01 -2.57808357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719072329 meters 0.05418595990638367 Centerline is valid? [True, True] Translation: X:97.62, Y:-6.16, Z:-2.58 [[ 9.98681797e-01 5.11082738e-02 4.75526221e-03 9.76182304e+01] [-5.11058800e-02 9.98693046e-01 -6.23635822e-04 -6.16275043e+00] [-4.78092026e-03 3.79791883e-04 9.99988499e-01 -2.57711349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779072329 meters 0.05442594727635725 Centerline is valid? [True, True] Translation: X:97.68, Y:-6.17, Z:-2.58 [[ 9.98607745e-01 5.24678901e-02 5.44902883e-03 9.76787726e+01] [-5.24647542e-02 9.98622519e-01 -7.16950168e-04 -6.17185181e+00] [-5.47913976e-03 4.30070032e-04 9.99984897e-01 -2.57594908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839072329 meters 0.054853771592347014 Centerline is valid? [True, True] Translation: X:97.74, Y:-6.18, Z:-2.58 [[ 9.98503323e-01 5.43623114e-02 5.98775458e-03 9.77382650e+01] [-5.43585568e-02 9.98521170e-01 -7.88131260e-04 -6.18071896e+00] [-6.02174435e-03 4.61465984e-04 9.99981763e-01 -2.57705902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899072329 meters 0.05356898106550521 Centerline is valid? [True, True] Translation: X:97.80, Y:-6.19, Z:-2.58 [[ 9.98441419e-01 5.55844035e-02 5.01071402e-03 9.78000249e+01] [-5.55817923e-02 9.98453920e-01 -6.58982028e-04 -6.18715979e+00] [-5.03959617e-03 3.79450485e-04 9.99987229e-01 -2.57939365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959072329 meters 0.056362551344520215 Centerline is valid? [True, True] Translation: X:97.86, Y:-6.20, Z:-2.58 [[ 9.98329980e-01 5.75647102e-02 4.85330182e-03 9.78591089e+01] [-5.75622744e-02 9.98341712e-01 -6.40212444e-04 -6.19928223e+00] [-4.88210729e-03 3.59776186e-04 9.99988018e-01 -2.58013671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019072329 meters 0.05223285831130275 Centerline is valid? [True, True] Translation: X:97.92, Y:-6.20, Z:-2.58 [[ 9.98261738e-01 5.86235147e-02 6.06506685e-03 9.79217430e+01] [-5.86197297e-02 9.98280064e-01 -8.00106757e-04 -6.20240409e+00] [-6.10154039e-03 4.43183383e-04 9.99981287e-01 -2.57886324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079072329 meters 0.0531187573531824 Centerline is valid? [True, True] Translation: X:97.98, Y:-6.21, Z:-2.58 [[ 9.98162244e-01 6.02235968e-02 6.72698046e-03 9.79818181e+01] [-6.02189715e-02 9.98184796e-01 -8.88203689e-04 -6.21192164e+00] [-6.76826044e-03 4.81479543e-04 9.99976979e-01 -2.57821987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13907232900002 meters 0.05079827108704785 Centerline is valid? [True, True] Translation: X:98.04, Y:-6.22, Z:-2.58 [[ 9.98145335e-01 6.06381416e-02 5.37636070e-03 9.80443248e+01] [-6.06351954e-02 9.98159742e-01 -7.09453239e-04 -6.21683824e+00] [-5.40948673e-03 3.82140759e-04 9.99985296e-01 -2.58157183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199072329 meters 0.051219227096665494 Centerline is valid? [True, True] Translation: X:98.11, Y:-6.23, Z:-2.58 [[ 9.98146792e-01 6.06371851e-02 5.11015925e-03 9.81060597e+01] [-6.06345154e-02 9.98159806e-01 -6.75901053e-04 -6.22611600e+00] [-5.14174030e-03 3.64796438e-04 9.99986715e-01 -2.58309216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259072329 meters 0.05209644281866063 Centerline is valid? [True, True] Translation: X:98.17, Y:-6.24, Z:-2.58 [[ 9.98184829e-01 5.98224973e-02 6.95092643e-03 9.81667441e+01] [-5.98175196e-02 9.98208903e-01 -9.22007718e-04 -6.23622112e+00] [-6.99363345e-03 5.04546939e-04 9.99975417e-01 -2.58027898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319072329 meters 0.052280197872841654 Centerline is valid? [True, True] Translation: X:98.23, Y:-6.24, Z:-2.58 [[ 9.98234763e-01 5.90001130e-02 6.80765849e-03 9.82277501e+01] [-5.89953079e-02 9.98257850e-01 -9.04678445e-04 -6.24475077e+00] [-6.84917466e-03 5.01461565e-04 9.99976418e-01 -2.58058304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379072329 meters 0.0512159741239018 Centerline is valid? [True, True] Translation: X:98.29, Y:-6.25, Z:-2.58 [[ 9.98258747e-01 5.86543785e-02 6.25610123e-03 9.82894688e+01] [-5.86503049e-02 9.98278242e-01 -8.32784237e-04 -6.25130779e+00] [-6.29417618e-03 4.64411904e-04 9.99980084e-01 -2.58280742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439072329 meters 0.0500627812396043 Centerline is valid? [True, True] Translation: X:98.35, Y:-6.26, Z:-2.58 [[ 9.98254221e-01 5.87433200e-02 6.14272370e-03 9.83510791e+01] [-5.87393841e-02 9.98273015e-01 -8.19355117e-04 -6.25846565e+00] [-6.18024695e-03 4.57104897e-04 9.99980798e-01 -2.58168152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499072329 meters 0.05243092127007079 Centerline is valid? [True, True] Translation: X:98.41, Y:-6.27, Z:-2.58 [[ 9.98217796e-01 5.92823539e-02 6.84359139e-03 9.84107482e+01] [-5.92774661e-02 9.98241126e-01 -9.15023893e-04 -6.26906921e+00] [-6.88579915e-03 5.07722377e-04 9.99976164e-01 -2.58242579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559072329 meters 0.053503489343582705 Centerline is valid? [True, True] Translation: X:98.47, Y:-6.28, Z:-2.58 [[ 9.98192816e-01 5.97008531e-02 6.84907247e-03 9.84715953e+01] [-5.96959552e-02 9.98216185e-01 -9.17508980e-04 -6.27801989e+00] [-6.89163106e-03 5.06988950e-04 9.99976124e-01 -2.58364983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619072329 meters 0.05132583024745218 Centerline is valid? [True, True] Translation: X:98.53, Y:-6.28, Z:-2.58 [[ 9.98128114e-01 6.06635304e-02 7.75917618e-03 9.85337396e+01] [-6.06572548e-02 9.98158110e-01 -1.04179295e-03 -6.28314957e+00] [-7.80808346e-03 5.69192510e-04 9.99969354e-01 -2.58382239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679072329 meters 0.05218770355374748 Centerline is valid? [True, True] Translation: X:98.60, Y:-6.29, Z:-2.58 [[ 9.98079605e-01 6.15300656e-02 7.15210637e-03 9.85953121e+01] [-6.15247427e-02 9.98105095e-01 -9.62092793e-04 -6.29208159e+00] [-7.19775144e-03 5.20213691e-04 9.99973961e-01 -2.58473611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739072329 meters 0.05127681949663192 Centerline is valid? [True, True] Translation: X:98.66, Y:-6.30, Z:-2.59 [[ 9.98037545e-01 6.23272808e-02 6.03064965e-03 9.86574297e+01] [-6.23235029e-02 9.98055670e-01 -8.12549643e-04 -6.29712517e+00] [-6.06956808e-03 4.35103841e-04 9.99981485e-01 -2.58787331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799072329 meters 0.052208711861049306 Centerline is valid? [True, True] Translation: X:98.72, Y:-6.31, Z:-2.59 [[ 9.98017134e-01 6.26371767e-02 6.19547169e-03 9.87196510e+01] [-6.26331847e-02 9.98036264e-01 -8.36464815e-04 -6.30710414e+00] [-6.23569922e-03 4.46764094e-04 9.99980458e-01 -2.58779685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859072329 meters 0.05356895812577071 Centerline is valid? [True, True] Translation: X:98.78, Y:-6.32, Z:-2.59 [[ 9.98055239e-01 6.18800453e-02 7.52324404e-03 9.87807773e+01] [-6.18741162e-02 9.98083442e-01 -1.01854909e-03 -6.31701488e+00] [-7.57185317e-03 5.51074183e-04 9.99971181e-01 -2.58669990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91907232900002 meters 0.05060841645444478 Centerline is valid? [True, True] Translation: X:98.84, Y:-6.32, Z:-2.59 [[ 9.98102721e-01 6.12281056e-02 6.48673192e-03 9.88426091e+01] [-6.12236746e-02 9.98123684e-01 -8.79668676e-04 -6.32091421e+00] [-6.52842121e-03 4.80858135e-04 9.99978574e-01 -2.58928676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979072329 meters 0.05141712579113272 Centerline is valid? [True, True] Translation: X:98.90, Y:-6.33, Z:-2.59 [[ 9.98091269e-01 6.13798782e-02 6.80650135e-03 9.89049576e+01] [-6.13749895e-02 9.98114350e-01 -9.25011996e-04 -6.33048672e+00] [-6.85044379e-03 5.05497448e-04 9.99976408e-01 -2.59035655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039072329 meters 0.052899816020825934 Centerline is valid? [True, True] Translation: X:98.97, Y:-6.34, Z:-2.59 [[ 9.98078489e-01 6.16314154e-02 6.39520064e-03 9.89668545e+01] [-6.16270925e-02 9.98098864e-01 -8.71010856e-04 -6.34119092e+00] [-6.43672413e-03 4.75219577e-04 9.99979171e-01 -2.59018982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099072329 meters 0.051398094272989234 Centerline is valid? [True, True] Translation: X:99.03, Y:-6.35, Z:-2.59 [[ 9.98038223e-01 6.21637029e-02 7.44170733e-03 9.90283437e+01] [-6.21578439e-02 9.98065814e-01 -1.01625406e-03 -6.34674478e+00] [-7.49048780e-03 5.51699909e-04 9.99971794e-01 -2.59018843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159072329 meters 0.051416459235508125 Centerline is valid? [True, True] Translation: X:99.09, Y:-6.35, Z:-2.59 [[ 9.97942305e-01 6.35499527e-02 8.51820009e-03 9.90891404e+01] [-6.35423056e-02 9.97978465e-01 -1.16566742e-03 -6.35394277e+00] [-8.57505836e-03 6.22002763e-04 9.99963040e-01 -2.59039165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219072329 meters 0.05238330500690483 Centerline is valid? [True, True] Translation: X:99.15, Y:-6.36, Z:-2.59 [[ 9.97826173e-01 6.53544589e-02 8.46893125e-03 9.91494430e+01] [-6.53469618e-02 9.97861930e-01 -1.15925613e-03 -6.36209118e+00] [-8.52658664e-03 6.03317179e-04 9.99963466e-01 -2.59181747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279072329 meters 0.05162822338335685 Centerline is valid? [True, True] Translation: X:99.21, Y:-6.37, Z:-2.59 [[ 9.97751969e-01 6.65002330e-02 8.29015872e-03 9.92109279e+01] [-6.64930842e-02 9.97786240e-01 -1.13529117e-03 -6.36895295e+00] [-8.34730343e-03 5.81500783e-04 9.99964992e-01 -2.59239141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339072329 meters 0.0467388129822767 Centerline is valid? [True, True] Translation: X:99.27, Y:-6.37, Z:-2.59 [[ 9.97649972e-01 6.78362588e-02 9.63197975e-03 9.92730977e+01] [-6.78266421e-02 9.97696246e-01 -1.32196228e-03 -6.36996421e+00] [-9.69946701e-03 6.65550793e-04 9.99952738e-01 -2.59101119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399072329 meters 0.04670881437625319 Centerline is valid? [True, True] Translation: X:99.33, Y:-6.38, Z:-2.59 [[ 9.97590491e-01 6.86276541e-02 1.01714156e-02 9.93341572e+01] [-6.86169409e-02 9.97642099e-01 -1.39894382e-03 -6.37807847e+00] [-1.02434386e-02 6.97641627e-04 9.99947291e-01 -2.59034107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459072329 meters 0.050983063224768504 Centerline is valid? [True, True] Translation: X:99.39, Y:-6.39, Z:-2.59 [[ 9.97582322e-01 6.88721313e-02 9.28120694e-03 9.93948464e+01] [-6.88632009e-02 9.97625293e-01 -1.27874656e-03 -6.39154381e+00] [-9.34723679e-03 6.36521346e-04 9.99956111e-01 -2.59252827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519072329 meters 0.04936105810839607 Centerline is valid? [True, True] Translation: X:99.46, Y:-6.40, Z:-2.59 [[ 9.97678374e-01 6.75245833e-02 8.84830711e-03 9.94571295e+01] [-6.75164005e-02 9.97717418e-01 -1.22059701e-03 -6.39708727e+00] [-8.91053043e-03 6.20357390e-04 9.99960108e-01 -2.59376737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579072329 meters 0.04998540759919769 Centerline is valid? [True, True] Translation: X:99.52, Y:-6.41, Z:-2.59 [[ 9.97788374e-01 6.56495319e-02 1.04163236e-02 9.95178228e+01] [-6.56380817e-02 9.97842460e-01 -1.43770123e-03 -6.40610991e+00] [-1.04882344e-02 7.50814068e-04 9.99944715e-01 -2.59354384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63907232900002 meters 0.05230967206282609 Centerline is valid? [True, True] Translation: X:99.58, Y:-6.42, Z:-2.59 [[ 9.98056307e-01 6.12468220e-02 1.15080117e-02 9.95771375e+01] [-6.12325501e-02 9.98122262e-01 -1.58878247e-03 -6.41891367e+00] [-1.15837106e-02 8.81029458e-04 9.99932518e-01 -2.59148750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699072329 meters 0.05991170185183616 Centerline is valid? [True, True] Translation: X:99.63, Y:-6.44, Z:-2.59 [[ 9.98453847e-01 5.45798231e-02 1.05337008e-02 9.96345215e+01] [-5.45674938e-02 9.98509025e-01 -1.45455796e-03 -6.43829708e+00] [-1.05973848e-02 8.77511336e-04 9.99943461e-01 -2.59275654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759072329 meters 0.06459322242516667 Centerline is valid? [True, True] Translation: X:99.69, Y:-6.45, Z:-2.59 [[ 9.98741307e-01 4.88663879e-02 1.13083289e-02 9.96937161e+01] [-4.88518098e-02 9.98804816e-01 -1.56196629e-03 -6.45309820e+00] [-1.13711410e-02 1.00756792e-03 9.99934839e-01 -2.59363810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819072329 meters 0.07137844269855775 Centerline is valid? [True, True] Translation: X:99.75, Y:-6.47, Z:-2.59 [[ 9.99183390e-01 3.84630243e-02 1.23753674e-02 9.97521297e+01] [-3.84447710e-02 9.99259264e-01 -1.70958452e-03 -6.47189438e+00] [-1.24319563e-02 1.23242029e-03 9.99921961e-01 -2.59275265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879072329 meters 0.07727916273520924 Centerline is valid? [True, True] Translation: X:99.81, Y:-6.49, Z:-2.59 [[ 9.99495593e-01 2.94128855e-02 1.19766956e-02 9.98111060e+01] [-2.93951434e-02 9.99566500e-01 -1.65477072e-03 -6.48892460e+00] [-1.20201752e-02 1.30187936e-03 9.99926908e-01 -2.59410800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939072329 meters 0.0874503817093878 Centerline is valid? [True, True] Translation: X:99.87, Y:-6.51, Z:-2.60 [[ 9.99836145e-01 1.43205844e-02 1.10726814e-02 9.98687474e+01] [-1.43045050e-02 9.99896515e-01 -1.53000448e-03 -6.51276057e+00] [-1.10934461e-02 1.37136455e-03 9.99937525e-01 -2.59617791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999072329 meters 0.10314363651850446 Centerline is valid? [True, False] Translation: X:99.87, Y:-6.51, Z:-2.59 [[ 9.99985734e-01 5.11305624e-04 5.31707968e-03 9.98689505e+01] [-5.24278818e-04 9.99996889e-01 2.43880212e-03 -6.51491138e+00] [-5.31581616e-03 -2.44155496e-03 9.99982890e-01 -2.59355956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059072329 meters 0.09979685452763257 Centerline is valid? [False, True] Translation: X:99.87, Y:-6.52, Z:-2.59 [[ 9.99985978e-01 2.32659268e-04 5.29060900e-03 9.98691966e+01] [-2.47146575e-04 9.99996222e-01 2.73781712e-03 -6.51716519e+00] [-5.28995203e-03 -2.73908628e-03 9.99982257e-01 -2.59393765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119072329 meters 0.08529168105281708 Centerline is valid? [True, True] Translation: X:99.93, Y:-6.51, Z:-2.60 [[ 9.99888411e-01 -1.38677751e-02 5.55433223e-03 9.99325274e+01] [ 1.38725974e-02 9.99903426e-01 -8.30626108e-04 -6.50654360e+00] [-5.54227689e-03 9.07586434e-04 9.99984230e-01 -2.59873731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179072329 meters 0.09899498927630809 Centerline is valid? [True, True] Translation: X:99.99, Y:-6.53, Z:-2.60 [[ 9.99705002e-01 -2.36406350e-02 5.57047779e-03 9.99889226e+01] [ 2.36456325e-02 9.99720056e-01 -8.32975315e-04 -6.53344545e+00] [-5.54922631e-03 9.64447059e-04 9.99984138e-01 -2.59825508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239072329 meters 0.09999024082052757 Centerline is valid? [True, True] Translation: X:100.05, Y:-6.54, Z:-2.60 [[ 9.99315096e-01 -3.63968576e-02 6.67885916e-03 1.00048632e+02] [ 3.64043170e-02 9.99336644e-01 -9.98666759e-04 -6.54043144e+00] [-6.63808037e-03 1.24112207e-03 9.99977197e-01 -2.60006242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299072329 meters 0.10975102753954344 Centerline is valid? [True, False] Translation: X:100.06, Y:-6.54, Z:-2.60 [[ 9.99387467e-01 -3.17366525e-02 1.47470426e-02 1.00059157e+02] [ 3.18246318e-02 9.99476813e-01 -5.76996187e-03 -6.54361155e+00] [-1.45562078e-02 6.23574678e-03 9.99874608e-01 -2.60405488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359072329 meters 0.11022733782693514 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.60 [[ 9.99518298e-01 -2.71176574e-02 1.50932053e-02 1.00057222e+02] [ 2.71242066e-02 9.99632045e-01 -2.29339620e-04 -6.54718124e+00] [-1.50814326e-02 6.38620367e-04 9.99886065e-01 -2.60217289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41907232900002 meters 0.12264862579040416 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.60 [[ 9.99508842e-01 -2.74064687e-02 1.51973607e-02 1.00057386e+02] [ 2.74116342e-02 9.99624222e-01 -1.31657498e-04 -6.54831270e+00] [-1.51880416e-02 5.48177327e-04 9.99884505e-01 -2.60278923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479072329 meters 0.14388588626240692 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.61 [[ 9.99585040e-01 -2.08924944e-02 1.98305608e-02 1.00061804e+02] [ 2.11058774e-02 9.99720917e-01 -1.06126934e-02 -6.54868974e+00] [-1.96033008e-02 1.10268309e-02 9.99747028e-01 -2.61024890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539072329 meters 0.15589497041926406 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.61 [[ 9.99666115e-01 -1.65812841e-02 1.98171693e-02 1.00061155e+02] [ 1.66957930e-02 9.99844782e-01 -5.62684760e-03 -6.55122563e+00] [-1.97207929e-02 5.95583224e-03 9.99787787e-01 -2.60937764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599072329 meters 0.18304726442100563 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.55, Z:-2.61 [[ 9.99727333e-01 -1.30025569e-02 1.93956743e-02 1.00062305e+02] [ 1.30306088e-02 9.99914226e-01 -1.32061284e-03 -6.55372654e+00] [-1.93768393e-02 1.57299020e-03 9.99811014e-01 -2.60998997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.659072329 meters 0.19238032195850274 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.56, Z:-2.61 [[ 9.99778790e-01 -9.73938852e-03 1.86417874e-02 1.00064872e+02] [ 9.69146025e-03 9.99949500e-01 2.65963089e-03 -6.55636988e+00] [-1.86667491e-02 -2.47837641e-03 9.99822689e-01 -2.61154359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.719072329 meters 0.21609663235372026 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.56, Z:-2.61 [[ 9.99819948e-01 -6.80207311e-03 1.77145164e-02 1.00067807e+02] [ 6.68871249e-03 9.99956824e-01 6.45071206e-03 -6.56033397e+00] [-1.77576298e-02 -6.33106329e-03 9.99822276e-01 -2.61306736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779072329 meters 0.2327920111751596 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.56, Z:-2.62 [[ 9.99824317e-01 -8.00838228e-03 1.69469978e-02 1.00071037e+02] [ 7.91104117e-03 9.99951868e-01 5.80312145e-03 -6.56231813e+00] [-1.69926557e-02 -5.66803354e-03 9.99839549e-01 -2.61542071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839072329 meters 0.2430873506350794 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.56, Z:-2.62 [[ 9.99832101e-01 -9.05386003e-03 1.59309940e-02 1.00074735e+02] [ 8.97113560e-03 9.99945943e-01 5.25649823e-03 -6.56423291e+00] [-1.59777244e-02 -5.11269656e-03 9.99859276e-01 -2.61779439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899072329 meters 0.2600520623183355 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.57, Z:-2.62 [[ 9.99837308e-01 -1.01286315e-02 1.49254178e-02 1.00078183e+02] [ 1.00533670e-02 9.99936411e-01 5.10914004e-03 -6.56854384e+00] [-1.49762173e-02 -4.95825812e-03 9.99875557e-01 -2.61975819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959072329 meters 0.2617461456488688 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.57, Z:-2.62 [[ 9.99841406e-01 -1.01694510e-02 1.46199944e-02 1.00078895e+02] [ 1.00919989e-02 9.99934700e-01 5.36173934e-03 -6.56999715e+00] [-1.46735656e-02 -5.21334403e-03 9.99878746e-01 -2.61982284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019072329 meters 0.26936505961081697 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.58, Z:-2.62 [[ 9.99847879e-01 -1.12411139e-02 1.33363073e-02 1.00082983e+02] [ 1.11693202e-02 9.99922793e-01 5.44565658e-03 -6.57514191e+00] [-1.33964928e-02 -5.29587069e-03 9.99896238e-01 -2.62188380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079072329 meters 0.2428901912280958 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.58, Z:-2.63 [[ 9.99847787e-01 -1.31939145e-02 1.14159164e-02 1.00089365e+02] [ 1.31409542e-02 9.99902599e-01 4.70180523e-03 -6.58149512e+00] [-1.14768397e-02 -4.55107352e-03 9.99923782e-01 -2.62524431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13907232900002 meters 0.24172146883703555 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.59, Z:-2.63 [[ 9.99843646e-01 -1.44121541e-02 1.02456080e-02 1.00093758e+02] [ 1.43697297e-02 9.99887919e-01 4.20236156e-03 -6.58573484e+00] [-1.03050247e-02 -4.05447789e-03 9.99938682e-01 -2.62784343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199072329 meters 0.2553658257278544 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.59, Z:-2.63 [[ 9.99839476e-01 -1.56963241e-02 8.63984551e-03 1.00098933e+02] [ 1.56636040e-02 9.99869937e-01 3.84184403e-03 -6.59058037e+00] [-8.69902462e-03 -3.70589620e-03 9.99955296e-01 -2.63026565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259072329 meters 0.25784401439372545 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.59, Z:-2.63 [[ 9.99844233e-01 -1.56916179e-02 8.07972081e-03 1.00100234e+02] [ 1.56561032e-02 9.99867577e-01 4.44017845e-03 -6.59330018e+00] [-8.14832445e-03 -4.31298988e-03 9.99957501e-01 -2.63047134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319072329 meters 0.2436157357425836 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.60, Z:-2.63 [[ 9.99993648e-01 -3.53434522e-03 4.61138699e-04 1.00103446e+02] [ 3.53379189e-03 9.99993042e-01 1.19527221e-03 -6.60082512e+00] [-4.65359995e-04 -1.19363505e-03 9.99999179e-01 -2.63083570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379072329 meters 0.2501288942251158 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99999594e-01 -7.10856256e-04 -5.54242948e-04 1.00107006e+02] [ 7.13435542e-04 9.99988853e-01 4.66748387e-03 -6.60605159e+00] [ 5.50918859e-04 -4.66787739e-03 9.99988954e-01 -2.63259530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439072329 meters 0.24298208886791026 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99999269e-01 -7.38186860e-04 -9.58026334e-04 1.00107983e+02] [ 7.42714357e-04 9.99988518e-01 4.73413873e-03 -6.60656608e+00] [ 9.54520655e-04 -4.73484680e-03 9.99988335e-01 -2.63277828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499072329 meters 0.24727190402856192 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998553e-01 -8.96983871e-04 -1.44544850e-03 1.00109265e+02] [ 9.03830080e-04 9.99988345e-01 4.74271869e-03 -6.60712253e+00] [ 1.44117751e-03 -4.74401827e-03 9.99987709e-01 -2.63309690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.559072329 meters 0.24364894964229739 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998017e-01 -9.61392545e-04 -1.74430874e-03 1.00110026e+02] [ 9.69693516e-04 9.99988180e-01 4.76430069e-03 -6.60744985e+00] [ 1.73970776e-03 -4.76598269e-03 9.99987129e-01 -2.63333854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.619072329 meters 0.24403326095761677 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998037e-01 -9.26673639e-04 -1.75119105e-03 1.00110040e+02] [ 9.35322424e-04 9.99987339e-01 4.94445332e-03 -6.60795769e+00] [ 1.74658698e-03 -4.94608154e-03 9.99986243e-01 -2.63340678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.679072329 meters 0.24365842064895046 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998079e-01 -9.14782267e-04 -1.73342315e-03 1.00109917e+02] [ 9.23841914e-04 9.99985882e-01 5.23287540e-03 -6.60904557e+00] [ 1.72861174e-03 -5.23446676e-03 9.99984806e-01 -2.63328414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.739072329 meters 0.2422060043821366 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998437e-01 -1.07431241e-03 -1.40448004e-03 1.00109248e+02] [ 1.08225063e-03 9.99983376e-01 5.66358143e-03 -6.61071872e+00] [ 1.39837224e-03 -5.66509257e-03 9.99982975e-01 -2.63343578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.799072329 meters 0.24692129332837018 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.61, Z:-2.63 [[ 9.99998659e-01 -1.38028998e-03 -8.81766773e-04 1.00108369e+02] [ 1.38574699e-03 9.99979705e-01 6.21838956e-03 -6.61294731e+00] [ 8.73165697e-04 -6.21960312e-03 9.99980277e-01 -2.63409510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.859072329 meters 0.23779381391952137 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.62, Z:-2.63 [[ 9.99998883e-01 -1.47875444e-03 -2.17610945e-04 1.00106940e+02] [ 1.48021271e-03 9.99975367e-01 6.86105801e-03 -6.61528691e+00] [ 2.07459764e-04 -6.86137246e-03 9.99976439e-01 -2.63415341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91907232900002 meters 0.23991717627229417 Centerline is valid? [False, False] Translation: X:100.11, Y:-6.62, Z:-2.63 [[ 9.99982703e-01 -5.84294268e-03 6.73227166e-04 1.00105131e+02] [ 5.84058652e-03 9.99976992e-01 3.45017507e-03 -6.61796208e+00] [-6.93370851e-04 -3.44618335e-03 9.99993822e-01 -2.63469287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979072329 meters 0.23721545058940288 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.62, Z:-2.63 [[ 9.99976794e-01 -6.36692481e-03 2.42372911e-03 1.00101446e+02] [ 6.35523848e-03 9.99968289e-01 4.79917730e-03 -6.62327747e+00] [-2.45420825e-03 -4.78366255e-03 9.99985547e-01 -2.63489054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039072329 meters 0.2338270799094141 Centerline is valid? [False, False] Translation: X:100.10, Y:-6.63, Z:-2.63 [[ 9.99971730e-01 -6.60479885e-03 3.59383391e-03 1.00098887e+02] [ 6.58396099e-03 9.99961624e-01 5.77949003e-03 -6.62688945e+00] [-3.63186836e-03 -5.75566498e-03 9.99976841e-01 -2.63483515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.099072329 meters 0.2336021542625261 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.63, Z:-2.63 [[ 9.99955472e-01 -7.54411027e-03 5.66918056e-03 1.00094419e+02] [ 7.50559670e-03 9.99948818e-01 6.78433984e-03 -6.63187508e+00] [-5.72007221e-03 -6.74148717e-03 9.99960916e-01 -2.63462390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.159072329 meters 0.23221562646841926 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.64, Z:-2.63 [[ 9.99906723e-01 -1.16989512e-02 7.04836142e-03 1.00091073e+02] [ 1.16710568e-02 9.99923947e-01 3.98580493e-03 -6.63608296e+00] [-7.09445511e-03 -3.90317132e-03 9.99967216e-01 -2.63428155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.219072329 meters 0.23189443495712117 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.64, Z:-2.63 [[ 9.99894422e-01 -1.20841292e-02 8.06967433e-03 1.00088930e+02] [ 1.20438064e-02 9.99914835e-01 5.02687039e-03 -6.64008790e+00] [-8.12973243e-03 -4.92915006e-03 9.99954804e-01 -2.63452855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.279072329 meters 0.23315136038921472 Centerline is valid? [False, False] Translation: X:100.09, Y:-6.64, Z:-2.63 [[ 9.99820029e-01 -1.65283873e-02 9.31247789e-03 1.00086353e+02] [ 1.65115332e-02 9.99861901e-01 1.88383235e-03 -6.64362755e+00] [-9.34232856e-03 -1.72973002e-03 9.99954863e-01 -2.63481660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339072329 meters 0.23419225008354064 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.65, Z:-2.64 [[ 9.99785227e-01 -1.73533541e-02 1.13296295e-02 1.00082362e+02] [ 1.73197947e-02 9.99845338e-01 3.05352429e-03 -6.64877380e+00] [-1.13808662e-02 -2.85664162e-03 9.99931155e-01 -2.63525029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399072329 meters 0.23264249463295447 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.65, Z:-2.64 [[ 9.99764102e-01 -1.77171036e-02 1.25636200e-02 1.00079801e+02] [ 1.76670299e-02 9.99835579e-01 4.08547172e-03 -6.65271086e+00] [-1.26339370e-02 -3.86254611e-03 9.99912728e-01 -2.63534832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.459072329 meters 0.2331277575078131 Centerline is valid? [False, False] Translation: X:100.08, Y:-6.66, Z:-2.64 [[ 9.99741894e-01 -1.80467865e-02 1.38006982e-02 1.00077179e+02] [ 1.79791702e-02 9.99825820e-01 5.00796779e-03 -6.65597556e+00] [-1.38886722e-02 -4.75855010e-03 9.99892225e-01 -2.63535462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.519072329 meters 0.2335737826099979 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.66, Z:-2.63 [[ 9.99698959e-01 -1.85357868e-02 1.60753164e-02 1.00072169e+02] [ 1.84333874e-02 9.99808995e-01 6.49494077e-03 -6.66098190e+00] [-1.61926348e-02 -6.19666300e-03 9.99849689e-01 -2.63498516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.579072329 meters 0.2360106141818322 Centerline is valid? [False, False] Translation: X:100.07, Y:-6.67, Z:-2.64 [[ 9.99572479e-01 -2.32395313e-02 1.77421356e-02 1.00068818e+02] [ 2.31782698e-02 9.99724682e-01 3.65077007e-03 -6.66592339e+00] [-1.78220931e-02 -3.23797729e-03 9.99835931e-01 -2.63511729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63907232900002 meters 0.23789713187188413 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.67, Z:-2.63 [[ 9.99502442e-01 -2.41991069e-02 2.02304855e-02 1.00063470e+02] [ 2.40977631e-02 9.99695882e-01 5.23835400e-03 -6.67188778e+00] [-2.03510966e-02 -4.74823816e-03 9.99781620e-01 -2.63488324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699072329 meters 0.23815764622953114 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.68, Z:-2.63 [[ 9.99466259e-01 -2.45305687e-02 2.15742390e-02 1.00060555e+02] [ 2.43990543e-02 9.99682206e-01 6.33818720e-03 -6.67548747e+00] [-2.17228622e-02 -5.80841322e-03 9.99747158e-01 -2.63473672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759072329 meters 0.23912167748769514 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.68, Z:-2.63 [[ 9.99304515e-01 -2.91662061e-02 2.32340051e-02 1.00057166e+02] [ 2.90890312e-02 9.99570150e-01 3.65278471e-03 -6.68100408e+00] [-2.33305559e-02 -2.97438955e-03 9.99723381e-01 -2.63453388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.819072329 meters 0.23956152042271645 Centerline is valid? [False, False] Translation: X:100.06, Y:-6.68, Z:-2.63 [[ 9.99286040e-01 -2.92209226e-02 2.39488806e-02 1.00055625e+02] [ 2.91237645e-02 9.99566148e-01 4.39576999e-03 -6.68353075e+00] [-2.40669387e-02 -3.69515002e-03 9.99703520e-01 -2.63441514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.879072329 meters 0.24088897927601496 Centerline is valid? [False, False] Translation: X:100.05, Y:-6.69, Z:-2.63 [[ 9.99097995e-01 -3.37982985e-02 2.57074058e-02 1.00051985e+02] [ 3.37594235e-02 9.99428096e-01 1.94483935e-03 -6.68914865e+00] [-2.57584358e-02 -1.07521790e-03 9.99667618e-01 -2.63425547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.939072329 meters 0.24249438363866413 Centerline is valid? [False, False] Translation: X:100.05, Y:-6.69, Z:-2.63 [[ 9.99049017e-01 -3.41610070e-02 2.70940383e-02 1.00048985e+02] [ 3.40871986e-02 9.99413799e-01 3.18149348e-03 -6.69335605e+00] [-2.71868388e-02 -2.25490807e-03 9.99627826e-01 -2.63398713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.999072329 meters 0.24390764474209453 Centerline is valid? [False, False] Translation: X:100.05, Y:-6.70, Z:-2.63 [[ 9.98848753e-01 -3.85981472e-02 2.84842394e-02 1.00046259e+02] [ 3.85965139e-02 9.99254692e-01 6.07350572e-04 -6.69881215e+00] [-2.84864525e-02 4.92740980e-04 9.99594057e-01 -2.63379703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.059072329 meters 0.24503013054734873 Centerline is valid? [False, False] Translation: X:100.04, Y:-6.70, Z:-2.63 [[ 9.98794606e-01 -3.91157608e-02 2.96528593e-02 1.00043898e+02] [ 3.90762163e-02 9.99234403e-01 1.91212077e-03 -6.70402076e+00] [-2.97049512e-02 -7.51094372e-04 9.99558428e-01 -2.63369439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.119072329 meters 0.2467603827144412 Centerline is valid? [False, False] Translation: X:100.04, Y:-6.71, Z:-2.63 [[ 9.98706903e-01 -3.99400861e-02 3.14533276e-02 1.00040279e+02] [ 3.98431680e-02 9.99199087e-01 3.70233212e-03 -6.71052236e+00] [-3.15760077e-02 -2.44434443e-03 9.99498365e-01 -2.63376572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.179072329 meters 0.2476210506861621 Centerline is valid? [False, False] Translation: X:100.03, Y:-6.72, Z:-2.64 [[ 9.99011150e-01 -3.41327440e-02 2.84899557e-02 1.00029251e+02] [ 3.40662405e-02 9.99415608e-01 2.81653453e-03 -6.71680126e+00] [-2.85694424e-02 -1.84320372e-03 9.99590111e-01 -2.63562186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.239072329 meters 0.24805653102941144 Centerline is valid? [False, False] Translation: X:100.03, Y:-6.72, Z:-2.64 [[ 9.98967363e-01 -3.46021335e-02 2.94431665e-02 1.00027229e+02] [ 3.44834528e-02 9.99395006e-01 4.52924861e-03 -6.72396951e+00] [-2.95820753e-02 -3.50926949e-03 9.99556194e-01 -2.63525566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.299072329 meters 0.25050545541694963 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99280844e-01 -2.88176112e-02 2.46442731e-02 1.00017347e+02] [ 2.87447541e-02 9.99581318e-01 3.30558402e-03 -6.72666121e+00] [-2.47292140e-02 -2.59481322e-03 9.99690819e-01 -2.63645365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.359072329 meters 0.2492797417316804 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99277194e-01 -2.86882485e-02 2.49414243e-02 1.00016498e+02] [ 2.85870116e-02 9.99581597e-01 4.40618221e-03 -6.73032814e+00] [-2.50573944e-02 -3.68999661e-03 9.99679204e-01 -2.63600938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41907232900002 meters 0.24931688208803823 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99274255e-01 -2.85424548e-02 2.52248014e-02 1.00015554e+02] [ 2.84035178e-02 9.99579425e-01 5.84925973e-03 -6.73558878e+00] [-2.53811447e-02 -5.12854157e-03 9.99664692e-01 -2.63526934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479072329 meters 0.24972432680887183 Centerline is valid? [False, False] Translation: X:100.01, Y:-6.74, Z:-2.63 [[ 9.99282574e-01 -2.82100476e-02 2.52691801e-02 1.00014933e+02] [ 2.80444460e-02 9.99582972e-01 6.88415681e-03 -6.73898080e+00] [-2.54528445e-02 -6.17055777e-03 9.99656980e-01 -2.63428549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539072329 meters 0.24981118368743332 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.63 [[ 9.99294863e-01 -2.80045236e-02 2.50104767e-02 1.00015308e+02] [ 2.78255837e-02 9.99584850e-01 7.47425539e-03 -6.74093655e+00] [-2.52094066e-02 -6.77305390e-03 9.99659248e-01 -2.63405196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.599072329 meters 0.2463294978253996 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.63 [[ 9.99310936e-01 -2.77912011e-02 2.46028884e-02 1.00016011e+02] [ 2.75961189e-02 9.99585245e-01 8.23363363e-03 -6.74371467e+00] [-2.48215068e-02 -7.54901589e-03 9.99663396e-01 -2.63382091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.659072329 meters 0.2455422770753226 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99325037e-01 -2.76446631e-02 2.41918126e-02 1.00016700e+02] [ 2.74427629e-02 9.99586050e-01 8.63844083e-03 -6.74518936e+00] [-2.44206052e-02 -7.96872003e-03 9.99670012e-01 -2.63353709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.719072329 meters 0.24704774960923037 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99346735e-01 -2.75595701e-02 2.33789060e-02 1.00018334e+02] [ 2.73615303e-02 9.99587316e-01 8.74894279e-03 -6.74582162e+00] [-2.36103750e-02 -8.10354477e-03 9.99688393e-01 -2.63353151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.779072329 meters 0.24592763807406176 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99362691e-01 -2.75383614e-02 2.27123632e-02 1.00019758e+02] [ 2.73462695e-02 9.99587940e-01 8.72531432e-03 -6.74599248e+00] [-2.29432852e-02 -8.09865519e-03 9.99703965e-01 -2.63368079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.839072329 meters 0.245113620054681 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99369482e-01 -2.75557081e-02 2.23902215e-02 1.00020486e+02] [ 2.73647620e-02 9.99586865e-01 8.79025630e-03 -6.74640904e+00] [-2.26231930e-02 -8.17201080e-03 9.99710663e-01 -2.63381431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.899072329 meters 0.24607680020971645 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.75, Z:-2.63 [[ 9.99372929e-01 -2.76641517e-02 2.21007451e-02 1.00021502e+02] [ 2.74822387e-02 9.99586213e-01 8.49289055e-03 -6.74558721e+00] [-2.23265488e-02 -7.88018695e-03 9.99719675e-01 -2.63472808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.959072329 meters 0.24544128095335274 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.63 [[ 9.99371568e-01 -2.77184970e-02 2.20942055e-02 1.00021602e+02] [ 2.75423935e-02 9.99586711e-01 8.23547682e-03 -6.74475518e+00] [-2.23133492e-02 -7.62177408e-03 9.99721973e-01 -2.63491867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.019072329 meters 0.24602329362499342 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99370507e-01 -2.78530513e-02 2.19726400e-02 1.00021946e+02] [ 2.76845124e-02 9.99585194e-01 7.93771033e-03 -6.74389938e+00] [-2.21846151e-02 -7.32441177e-03 9.99727061e-01 -2.63509454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.079072329 meters 0.24710331030278868 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99368861e-01 -2.80490401e-02 2.17975022e-02 1.00022751e+02] [ 2.78990468e-02 9.99585137e-01 7.15517613e-03 -6.74112575e+00] [-2.19891550e-02 -6.54253068e-03 9.99736802e-01 -2.63602574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13907232900002 meters 0.24766647769990968 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99364609e-01 -2.82021686e-02 2.17948682e-02 1.00023052e+02] [ 2.80616502e-02 9.99583562e-01 6.72654272e-03 -6.73976830e+00] [-2.19754951e-02 -6.11066877e-03 9.99739835e-01 -2.63666844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199072329 meters 0.24964040330582465 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99353181e-01 -2.84510669e-02 2.19944798e-02 1.00022868e+02] [ 2.83226700e-02 9.99580053e-01 6.12737940e-03 -6.73791026e+00] [-2.21595738e-02 -5.50047370e-03 9.99739315e-01 -2.63709639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259072329 meters 0.2479881086175403 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.74, Z:-2.64 [[ 9.99348182e-01 -2.86972469e-02 2.19015939e-02 1.00023303e+02] [ 2.85844500e-02 9.99576545e-01 5.44603547e-03 -6.73570233e+00] [-2.20486058e-02 -4.81644063e-03 9.99745298e-01 -2.63759185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.319072329 meters 0.251417905158042 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99338347e-01 -2.90038742e-02 2.19463718e-02 1.00023701e+02] [ 2.89082957e-02 9.99571206e-01 4.65995412e-03 -6.73311629e+00] [-2.20721180e-02 -4.02243864e-03 9.99748289e-01 -2.63857095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.379072329 meters 0.25409403711881684 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99320681e-01 -2.92923592e-02 2.23636803e-02 1.00023291e+02] [ 2.92102403e-02 9.99565327e-01 3.98992433e-03 -6.73091649e+00] [-2.24708337e-02 -3.33396543e-03 9.99741940e-01 -2.63949123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.439072329 meters 0.254336580848852 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99307555e-01 -2.95235864e-02 2.26444087e-02 1.00023006e+02] [ 2.94527754e-02 9.99560204e-01 3.45432312e-03 -6.72911362e+00] [-2.27364338e-02 -2.78499051e-03 9.99737615e-01 -2.64014401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.499072329 meters 0.257166906052215 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.73, Z:-2.64 [[ 9.99292048e-01 -2.98328436e-02 2.29216968e-02 1.00022954e+02] [ 2.97788190e-02 9.99552880e-01 2.69472521e-03 -6.72648566e+00] [-2.29918394e-02 -2.01023641e-03 9.99733632e-01 -2.64121861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.559072329 meters 0.2585088283646541 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99259458e-01 -3.02636118e-02 2.37623728e-02 1.00021466e+02] [ 3.02236730e-02 9.99541082e-01 2.03818996e-03 -6.72442250e+00] [-2.38131508e-02 -1.31849441e-03 9.99715557e-01 -2.64167615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.619072329 meters 0.26201490607604183 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99235799e-01 -3.06106220e-02 2.43065350e-02 1.00020682e+02] [ 3.05800537e-02 9.99530994e-01 1.62841404e-03 -6.72320718e+00] [-2.43449819e-02 -8.83874462e-04 9.99703226e-01 -2.64236687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.679072329 meters 0.2615395535993796 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99205006e-01 -3.10559536e-02 2.49976886e-02 1.00019672e+02] [ 3.10427574e-02 9.99517638e-01 9.15879116e-04 -6.72077682e+00] [-2.50140742e-02 -1.39153814e-04 9.99687089e-01 -2.64326287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.739072329 meters 0.2650271392340244 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99429407e-01 -3.22165965e-02 1.01465200e-02 1.00021567e+02] [ 3.22242397e-02 9.99480490e-01 -5.90650400e-04 -6.71717366e+00] [-1.01222200e-02 9.17277271e-04 9.99948348e-01 -2.64038613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.799072329 meters 0.26428691585511555 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.72, Z:-2.64 [[ 9.99399870e-01 -3.27833502e-02 1.11871642e-02 1.00019803e+02] [ 3.27981016e-02 9.99461350e-01 -1.13763963e-03 -6.71544428e+00] [-1.11438426e-02 1.50387464e-03 9.99936775e-01 -2.64124852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.859072329 meters 0.2685022668653478 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.71, Z:-2.64 [[ 9.99374935e-01 -3.32328838e-02 1.20546211e-02 1.00018422e+02] [ 3.32523733e-02 9.99445978e-01 -1.41990426e-03 -6.71451891e+00] [-1.20007551e-02 1.81986149e-03 9.99926332e-01 -2.64217744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91907232900002 meters 0.26655366950006965 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.71, Z:-2.64 [[ 9.99323972e-01 -3.41988897e-02 1.34920173e-02 1.00015755e+02] [ 3.42290595e-02 9.99411990e-01 -2.01150654e-03 -6.71292445e+00] [-1.34152926e-02 2.47196577e-03 9.99906955e-01 -2.64291037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979072329 meters 0.5082438017224227 Centerline is valid? [False, False] Translation: X:100.01, Y:-6.71, Z:-2.64 [[ 9.99259104e-01 -3.54474290e-02 1.49907521e-02 1.00012527e+02] [ 3.54986792e-02 9.99364707e-01 -3.16654156e-03 -6.70999746e+00] [-1.48689828e-02 3.69634738e-03 9.99882618e-01 -2.64285665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039072329 meters 0.5095961280118032 Centerline is valid? [False, False] Translation: X:100.01, Y:-6.71, Z:-2.64 [[ 9.99221558e-01 -3.60421575e-02 1.60387489e-02 1.00010707e+02] [ 3.61057621e-02 9.99341148e-01 -3.69385815e-03 -6.70831649e+00] [-1.58950471e-02 4.27007394e-03 9.99864548e-01 -2.64362328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.099072329 meters 0.5124752844958745 Centerline is valid? [False, False] Translation: X:100.01, Y:-6.71, Z:-2.64 [[ 9.99141291e-01 -3.74084287e-02 1.78126133e-02 1.00007533e+02] [ 3.74928156e-02 9.99287090e-01 -4.42721915e-03 -6.70645707e+00] [-1.76342992e-02 5.09126248e-03 9.99831541e-01 -2.64486341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.159072329 meters 0.5146213295274891 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.70, Z:-2.65 [[ 9.99131535e-01 -3.64348858e-02 2.02157172e-02 1.00001899e+02] [ 3.64921042e-02 9.99330892e-01 -2.46863108e-03 -6.70272618e+00] [-2.01122464e-02 3.20420121e-03 9.99792594e-01 -2.64516901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.219072329 meters 0.5188085643722118 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.70, Z:-2.65 [[ 9.99079424e-01 -3.72064009e-02 2.13538984e-02 9.99997981e+01] [ 3.72761126e-02 9.99300866e-01 -2.87574607e-03 -6.70143898e+00] [-2.12319730e-02 3.66908905e-03 9.99767844e-01 -2.64584366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.279072329 meters 0.5190660823133034 Centerline is valid? [False, False] Translation: X:99.99, Y:-6.70, Z:-2.65 [[ 9.98844438e-01 -4.07539319e-02 2.54736259e-02 9.99906206e+01] [ 4.08579075e-02 9.99158573e-01 -3.57441252e-03 -6.70124197e+00] [-2.53065203e-02 4.61108112e-03 9.99669104e-01 -2.64576256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.339072329 meters 0.5182710966583703 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.70, Z:-2.65 [[ 9.98493770e-01 -4.68271431e-02 2.85903909e-02 9.99844213e+01] [ 4.70574162e-02 9.98864517e-01 -7.43484803e-03 -6.70310574e+00] [-2.82097743e-02 8.76903936e-03 9.99563561e-01 -2.64613620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.399072329 meters 0.5209516766476524 Centerline is valid? [False, False] Translation: X:99.96, Y:-6.70, Z:-2.65 [[ 9.96613660e-01 -7.51790751e-02 3.33064559e-02 9.99626624e+01] [ 7.54754862e-02 9.97117682e-01 -7.73169500e-03 -6.69937145e+00] [-3.26291944e-02 1.02193338e-02 9.99415279e-01 -2.64915136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.459072329 meters 0.5218867644558827 Centerline is valid? [False, False] Translation: X:99.94, Y:-6.69, Z:-2.65 [[ 9.93870522e-01 -1.05087536e-01 3.43219440e-02 9.99383588e+01] [ 1.05420766e-01 9.94395179e-01 -8.04303769e-03 -6.69446681e+00] [-3.32843527e-02 1.16119837e-02 9.99378464e-01 -2.64894622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.519072329 meters 0.5251518648432405 Centerline is valid? [False, False] Translation: X:99.91, Y:-6.69, Z:-2.65 [[ 9.91077563e-01 -1.26915432e-01 4.07153242e-02 9.99107556e+01] [ 1.27199954e-01 9.91867046e-01 -4.46478666e-03 -6.68639827e+00] [-3.98175381e-02 9.60393724e-03 9.99160812e-01 -2.65090991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.579072329 meters 0.528254196035715 Centerline is valid? [False, False] Translation: X:99.87, Y:-6.67, Z:-2.65 [[ 9.86152959e-01 -1.59952414e-01 4.37900220e-02 9.98652446e+01] [ 1.60210626e-01 9.87079862e-01 -2.42922861e-03 -6.66843876e+00] [-4.28356879e-02 9.41121783e-03 9.99037803e-01 -2.65149588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63907232900002 meters 0.4957490697382196 Centerline is valid? [False, False] Translation: X:99.81, Y:-6.65, Z:-2.65 [[ 9.80584514e-01 -1.90934870e-01 4.46977275e-02 9.98138600e+01] [ 1.91101882e-01 9.81570055e-01 5.45992705e-04 -6.64564412e+00] [-4.39781999e-02 8.00642786e-03 9.99000408e-01 -2.64967167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699072329 meters 0.534680364892406 Centerline is valid? [False, False] Translation: X:99.76, Y:-6.62, Z:-2.65 [[ 9.77373867e-01 -2.06553644e-01 4.55622195e-02 9.97632251e+01] [ 2.06701900e-01 9.78402842e-01 1.48450329e-03 -6.61932439e+00] [-4.48848346e-02 7.96688262e-03 9.98960400e-01 -2.64866558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759072329 meters 0.5360138669526922 Centerline is valid? [False, False] Translation: X:99.71, Y:-6.59, Z:-2.65 [[ 9.70693988e-01 -2.35514931e-01 4.78110676e-02 9.97051384e+01] [ 2.35678801e-01 9.71828375e-01 2.26092257e-03 -6.58904605e+00] [-4.69966332e-02 9.07339114e-03 9.98853838e-01 -2.64722003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819072329 meters 0.5657417798250163 Centerline is valid? [False, False] Translation: X:99.65, Y:-6.56, Z:-2.65 [[ 9.67323108e-01 -2.48650370e-01 4.95882824e-02 9.96490969e+01] [ 2.48767907e-01 9.68555330e-01 3.88592312e-03 -6.55703287e+00] [-4.89952315e-02 8.57703001e-03 9.98762185e-01 -2.64633677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879072329 meters 0.5272434115249408 Centerline is valid? [False, False] Translation: X:99.61, Y:-6.53, Z:-2.65 [[ 9.59624723e-01 -2.76686273e-01 5.06467961e-02 9.96052904e+01] [ 2.76622132e-01 9.60941957e-01 8.41143744e-03 -6.53216000e+00] [-5.09959607e-02 5.93820138e-03 9.98681205e-01 -2.64529574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939072329 meters 0.527723976461585 Centerline is valid? [False, False] Translation: X:99.55, Y:-6.50, Z:-2.64 [[ 9.53201444e-01 -2.98089782e-01 5.04924563e-02 9.95549752e+01] [ 2.98041653e-01 9.54513625e-01 8.65524483e-03 -6.50004759e+00] [-5.07757776e-02 6.79866327e-03 9.98686937e-01 -2.64252089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999072329 meters 0.6462358476797082 Centerline is valid? [False, False] Translation: X:99.51, Y:-6.47, Z:-2.64 [[ 9.49918239e-01 -3.08283715e-01 5.11516358e-02 9.95056654e+01] [ 3.08226923e-01 9.51268452e-01 9.19220034e-03 -6.46624622e+00] [-5.14927431e-02 7.03447256e-03 9.98648594e-01 -2.64020166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059072329 meters 0.5501248918097189 Centerline is valid? [False, False] Translation: X:99.49, Y:-6.45, Z:-2.64 [[ 9.45197205e-01 -3.22596942e-01 5.03334538e-02 9.94865122e+01] [ 3.22535004e-01 9.46509142e-01 9.57156566e-03 -6.45365528e+00] [-5.07288320e-02 7.18728363e-03 9.98686602e-01 -2.63969375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.119072329 meters 0.5686483470879584 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.45, Z:-2.64 [[ 9.47750962e-01 -3.15582566e-01 4.66450311e-02 9.94739031e+01] [ 3.15650669e-01 9.48855913e-01 6.09193527e-03 -6.45450002e+00] [-4.61819221e-02 8.94989775e-03 9.98892952e-01 -2.63563075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.179072329 meters 0.5518254920491669 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.46, Z:-2.64 [[ 9.46847121e-01 -3.17916561e-01 4.90875811e-02 9.94696927e+01] [ 3.17997829e-01 9.48070153e-01 6.35341683e-03 -6.45697938e+00] [-4.85583270e-02 9.59402978e-03 9.98774271e-01 -2.63519852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.239072329 meters 0.5525540861233841 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.46, Z:-2.63 [[ 9.46305062e-01 -3.19596310e-01 4.86305319e-02 9.94720967e+01] [ 3.19610185e-01 9.47517829e-01 7.70023093e-03 -6.46199788e+00] [-4.85392614e-02 8.25604579e-03 9.98787153e-01 -2.63342047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.299072329 meters 0.568023332102059 Centerline is valid? [False, False] Translation: X:99.45, Y:-6.46, Z:-2.63 [[ 9.49856920e-01 -3.08959706e-01 4.81220419e-02 9.94515723e+01] [ 3.09008145e-01 9.51036377e-01 6.61639916e-03 -6.46275030e+00] [-4.78100131e-02 8.58547038e-03 9.98819549e-01 -2.63169053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.359072329 meters 0.5415119676036322 Centerline is valid? [False, False] Translation: X:99.45, Y:-6.46, Z:-2.63 [[ 9.51833223e-01 -3.02396780e-01 5.06922398e-02 9.94493176e+01] [ 3.02561504e-01 9.53118877e-01 4.57640364e-03 -6.46266795e+00] [-4.96996204e-02 1.09815473e-02 9.98703837e-01 -2.63225007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41907232900002 meters 0.6499878050748507 Centerline is valid? [False, False] Translation: X:99.45, Y:-6.47, Z:-2.63 [[ 9.55158529e-01 -2.91607718e-01 5.13529251e-02 9.94529786e+01] [ 2.91763060e-01 9.56479507e-01 4.61184762e-03 -6.46674264e+00] [-5.04628709e-02 1.05778410e-02 9.98669919e-01 -2.63239376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479072329 meters 0.5335650756602288 Centerline is valid? [False, False] Translation: X:99.46, Y:-6.47, Z:-2.63 [[ 9.59200943e-01 -2.78243486e-01 5.01409438e-02 9.94577700e+01] [ 2.78570710e-01 9.60415602e-01 4.80589071e-04 -6.47089862e+00] [-4.82898655e-02 1.35068168e-02 9.98742036e-01 -2.63086447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.539072329 meters 0.5152487637187867 Centerline is valid? [False, False] Translation: X:99.46, Y:-6.47, Z:-2.63 [[ 9.63412728e-01 -2.63419640e-01 4.94571487e-02 9.94591011e+01] [ 2.63870048e-01 9.64554481e-01 -2.69260861e-03 -6.47067665e+00] [-4.69948284e-02 1.56443536e-02 9.98772617e-01 -2.62906007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.599072329 meters 0.5103722217732893 Centerline is valid? [False, False] Translation: X:99.46, Y:-6.47, Z:-2.63 [[ 9.68014803e-01 -2.46221629e-01 4.81897383e-02 9.94589766e+01] [ 2.46707676e-01 9.69080320e-01 -4.31932084e-03 -6.47000784e+00] [-4.56362168e-02 1.60699448e-02 9.98828861e-01 -2.62677461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.659072329 meters 0.5197821031003659 Centerline is valid? [False, False] Translation: X:99.46, Y:-6.47, Z:-2.63 [[ 9.71994893e-01 -2.30313967e-01 4.67055080e-02 9.94612023e+01] [ 2.30873568e-01 9.72959364e-01 -6.88992327e-03 -6.47015759e+00] [-4.38557158e-02 1.74800375e-02 9.98884941e-01 -2.62552405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.719072329 meters 0.5157777968087209 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.47, Z:-2.63 [[ 9.75674100e-01 -2.14671315e-01 4.44553474e-02 9.94685595e+01] [ 2.15303026e-01 9.76497211e-01 -9.88960228e-03 -6.47461162e+00] [-4.12875089e-02 1.92203996e-02 9.98962421e-01 -2.62606962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.779072329 meters 0.5068528833771693 Centerline is valid? [False, False] Translation: X:99.47, Y:-6.47, Z:-2.62 [[ 9.79541233e-01 -1.96962198e-01 4.12900097e-02 9.94720137e+01] [ 1.97608224e-01 9.80205700e-01 -1.21563135e-02 -6.47451023e+00] [-3.80783686e-02 2.00668558e-02 9.99073250e-01 -2.62365424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.839072329 meters Centerline is valid? [False, False] Translation: X:99.49, Y:-6.48, Z:-2.63 [[ 9.84124668e-01 -1.72428706e-01 4.20354563e-02 9.94894568e+01] [ 1.73164854e-01 9.84785776e-01 -1.45226705e-02 -6.48002517e+00] [-3.88917942e-02 2.15711819e-02 9.99010567e-01 -2.62598538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.899072329 meters Centerline is valid? [False, False] Translation: X:99.50, Y:-6.48, Z:-2.63 [[ 9.86998741e-01 -1.55713826e-01 3.98332838e-02 9.94984733e+01] [ 1.56483947e-01 9.87534390e-01 -1.69883254e-02 -6.48318483e+00] [-3.66914205e-02 2.30007252e-02 9.99061913e-01 -2.62823468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.959072329 meters Centerline is valid? [False, False] Translation: X:99.50, Y:-6.48, Z:-2.63 [[ 9.89671037e-01 -1.38526640e-01 3.68999881e-02 9.95032574e+01] [ 1.39324585e-01 9.90044818e-01 -1.99979488e-02 -6.48319924e+00] [-3.37623934e-02 2.49324663e-02 9.99118848e-01 -2.62749877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.019072329 meters Centerline is valid? [False, False] Translation: X:99.52, Y:-6.49, Z:-2.63 [[ 9.92799586e-01 -1.13287785e-01 3.89211961e-02 9.95191279e+01] [ 1.14203822e-01 9.93209893e-01 -2.21719416e-02 -6.48808194e+00] [-3.61451069e-02 2.64572438e-02 9.98996269e-01 -2.62821587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.079072329 meters Centerline is valid? [False, False] /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) Translation: X:99.54, Y:-6.49, Z:-2.63 [[ 9.94436379e-01 -9.89140566e-02 3.62256530e-02 9.95380849e+01] [ 9.97271713e-02 9.94785352e-01 -2.13680753e-02 -6.49369251e+00] [-3.39231459e-02 2.48618733e-02 9.99115162e-01 -2.62790207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13907232900002 meters 0.5335699614784717 Centerline is valid? [False, False] Translation: X:99.54, Y:-6.49, Z:-2.63 [[ 9.95974994e-01 -8.27681492e-02 3.43983169e-02 9.95437878e+01] [ 8.36462022e-02 9.96183853e-01 -2.49207546e-02 -6.49353791e+00] [-3.22044031e-02 2.76977370e-02 9.99097449e-01 -2.62912621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199072329 meters Centerline is valid? [False, False] Translation: X:99.55, Y:-6.49, Z:-2.63 [[ 9.97535554e-01 -6.32010327e-02 3.04704359e-02 9.95519838e+01] [ 6.40068680e-02 9.97604466e-01 -2.62383536e-02 -6.49470851e+00] [-2.87391519e-02 2.81240078e-02 9.99191224e-01 -2.62929171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259072329 meters 0.5462012707352124 Centerline is valid? [False, False] Translation: X:99.57, Y:-6.50, Z:-2.63 [[ 9.98490380e-01 -4.79537100e-02 2.67843858e-02 9.95711146e+01] [ 4.86413883e-02 9.98487115e-01 -2.56416802e-02 -6.49854410e+00] [-2.55142504e-02 2.69058007e-02 9.99312314e-01 -2.62944502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.319072329 meters Centerline is valid? [False, False] Translation: X:99.58, Y:-6.50, Z:-2.63 [[ 9.98858539e-01 -4.19930751e-02 2.27640045e-02 9.95797729e+01] [ 4.24937233e-02 9.98855051e-01 -2.19743050e-02 -6.49881118e+00] [-2.18151723e-02 2.29165495e-02 9.99499340e-01 -2.62903327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.379072329 meters 0.5532569059979802 Centerline is valid? [False, False] Translation: X:99.60, Y:-6.50, Z:-2.63 [[ 9.99424742e-01 -2.84174580e-02 1.85103733e-02 9.96016170e+01] [ 2.88541137e-02 9.99301062e-01 -2.37660895e-02 -6.50277251e+00] [-1.78220638e-02 2.42865183e-02 9.99546167e-01 -2.63081950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.439072329 meters 0.5504060853509959 Centerline is valid? [False, False] Translation: X:99.63, Y:-6.51, Z:-2.62 [[ 9.99775087e-01 -2.00260247e-02 6.98092798e-03 9.96282833e+01] [ 2.01188132e-02 9.99706650e-01 -1.34850491e-02 -6.50840509e+00] [-6.70882820e-03 1.36224641e-02 9.99884703e-01 -2.62032569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.499072329 meters 0.5519203926546357 Centerline is valid? [False, False] Translation: X:99.64, Y:-6.51, Z:-2.62 [[ 9.99887355e-01 -1.46052093e-02 3.45914436e-03 9.96362260e+01] [ 1.46396342e-02 9.99841369e-01 -1.01448830e-02 -6.50744737e+00] [-3.31042749e-03 1.01943809e-02 9.99942556e-01 -2.62004397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.559072329 meters 0.5628670150625672 Centerline is valid? [False, False] Translation: X:99.65, Y:-6.51, Z:-2.62 [[ 9.99970866e-01 -2.85329007e-03 7.07990191e-03 9.96502538e+01] [ 2.94203890e-03 9.99916833e-01 -1.25567305e-02 -6.50908067e+00] [-7.04348511e-03 1.25771941e-02 9.99896096e-01 -2.62187070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.619072329 meters 0.5626683764652347 Centerline is valid? [False, False] Translation: X:99.66, Y:-6.51, Z:-2.62 [[ 9.99989164e-01 2.20684072e-03 4.09894599e-03 9.96575033e+01] [-2.16789305e-03 9.99952694e-01 -9.48213487e-03 -6.50752732e+00] [-4.11967764e-03 9.47314604e-03 9.99946642e-01 -2.62196485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.679072329 meters 0.5778545355664202 Centerline is valid? [False, False] Translation: X:99.69, Y:-6.51, Z:-2.61 [[ 9.99952347e-01 3.64525725e-03 -9.05630590e-03 9.96892369e+01] [-3.71624994e-03 9.99962403e-01 -7.83461193e-03 -6.51271283e+00] [ 9.02740624e-03 7.86789408e-03 9.99928299e-01 -2.61301962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.739072329 meters 0.5722829945394081 Centerline is valid? [False, False] Translation: X:99.71, Y:-6.52, Z:-2.61 [[ 9.99950222e-01 8.96779702e-03 -4.37412642e-03 9.97145470e+01] [-9.00452816e-03 9.99923745e-01 -8.45123020e-03 -6.51648334e+00] [ 4.29800395e-03 8.49019646e-03 9.99954721e-01 -2.61440867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.799072329 meters 0.5805061494511896 Centerline is valid? [False, False] Translation: X:99.73, Y:-6.52, Z:-2.61 [[ 9.99879367e-01 9.67398711e-03 -1.21517274e-02 9.97335661e+01] [-9.77253827e-03 9.99919626e-01 -8.07702509e-03 -6.51811269e+00] [ 1.20726137e-02 8.19480396e-03 9.99893543e-01 -2.60939794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.859072329 meters 0.5757763985265426 Centerline is valid? [False, False] Translation: X:99.76, Y:-6.52, Z:-2.61 [[ 9.99874353e-01 1.39944653e-02 -7.44529494e-03 9.97601611e+01] [-1.40587004e-02 9.99863787e-01 -8.64638594e-03 -6.52316679e+00] [ 7.32327925e-03 8.74997073e-03 9.99934902e-01 -2.61218616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91907232900002 meters 0.5860096260931937 Centerline is valid? [False, False] Translation: X:99.81, Y:-6.54, Z:-2.61 [[ 9.99842981e-01 1.25647035e-02 -1.24956439e-02 9.98058568e+01] [-1.26353080e-02 9.99904560e-01 -5.58752141e-03 -6.53622533e+00] [ 1.24242458e-02 5.74453037e-03 9.99906315e-01 -2.60737780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979072329 meters 0.5904050311710964 Centerline is valid? [False, False] Translation: X:99.84, Y:-6.55, Z:-2.61 [[ 9.99861364e-01 1.08905349e-02 -1.25955822e-02 9.98403374e+01] [-1.09529042e-02 9.99928042e-01 -4.89333787e-03 -6.54704919e+00] [ 1.25413848e-02 5.03061768e-03 9.99908699e-01 -2.60770580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.039072329 meters 0.5973295272862804 Centerline is valid? [False, False] Translation: X:99.86, Y:-6.55, Z:-2.60 [[ 9.99793190e-01 6.29006041e-03 -1.93393742e-02 9.98579044e+01] [-6.46736196e-03 9.99937506e-01 -9.11907116e-03 -6.54674155e+00] [ 1.92808061e-02 9.24225999e-03 9.99771389e-01 -2.60388764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.099072329 meters 0.6080083221707564 Centerline is valid? [False, False] Translation: X:99.88, Y:-6.55, Z:-2.61 [[ 9.99852840e-01 1.13196074e-02 -1.28905199e-02 9.98797796e+01] [-1.14435416e-02 9.99888614e-01 -9.58153788e-03 -6.54906967e+00] [ 1.27806248e-02 9.72764106e-03 9.99871006e-01 -2.60567670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.159072329 meters 0.6004765946086728 Centerline is valid? [False, False] Translation: X:99.91, Y:-6.56, Z:-2.61 [[ 9.99892711e-01 6.54159119e-03 -1.31062312e-02 9.99124996e+01] [-6.65173361e-03 9.99942781e-01 -8.37792858e-03 -6.55787472e+00] [ 1.30506763e-02 8.46420888e-03 9.99879011e-01 -2.60686335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.219072329 meters 0.611268436453148 Centerline is valid? [False, False] Translation: X:99.93, Y:-6.56, Z:-2.61 [[ 9.99919302e-01 1.10416017e-02 -6.28267740e-03 9.99342817e+01] [-1.10970255e-02 9.99899206e-01 -8.85629236e-03 -6.56115514e+00] [ 6.18425649e-03 8.92529671e-03 9.99941045e-01 -2.60980502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.279072329 meters 0.6084126574442216 Centerline is valid? [False, False] Translation: X:99.94, Y:-6.56, Z:-2.61 [[ 9.99911808e-01 1.10618668e-02 -7.34921025e-03 9.99374743e+01] [-1.11326623e-02 9.99891339e-01 -9.66303648e-03 -6.55927036e+00] [ 7.24152045e-03 9.74400056e-03 9.99926305e-01 -2.61055591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.339072329 meters 0.6386274977702545 Centerline is valid? [False, False] Translation: X:99.94, Y:-6.56, Z:-2.61 [[ 9.99896850e-01 1.08892203e-02 -9.36558124e-03 9.99437615e+01] [-1.09888973e-02 9.99882817e-01 -1.06581273e-02 -6.55752818e+00] [ 9.24842506e-03 1.07599453e-02 9.99899340e-01 -2.61208867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.399072329 meters 0.6487751329010102 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.56, Z:-2.61 [[ 9.99946056e-01 3.46241163e-03 -9.79271420e-03 9.99777747e+01] [-3.55711019e-03 9.99946923e-01 -9.66947923e-03 -6.56440221e+00] [ 9.75871471e-03 9.70379138e-03 9.99905297e-01 -2.61284902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.459072329 meters 0.6475577190349114 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.57, Z:-2.62 [[ 9.99961780e-01 -5.60782349e-03 -6.70755688e-03 1.00000597e+02] [ 5.53139014e-03 9.99920175e-01 -1.13598914e-02 -6.56769346e+00] [ 6.77072572e-03 1.13223551e-02 9.99912977e-01 -2.61991449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.519072329 meters 0.6242201767988068 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.57, Z:-2.62 [[ 9.99971680e-01 -1.88339957e-03 -7.28645295e-03 1.00001623e+02] [ 1.82391155e-03 9.99965025e-01 -8.16224328e-03 -6.56522105e+00] [ 7.30157087e-03 8.14872228e-03 9.99940141e-01 -2.61929443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.579072329 meters 0.6236451731489608 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.56, Z:-2.62 [[ 9.99969803e-01 2.07256417e-03 -7.48984544e-03 1.00002329e+02] [-2.10544370e-03 9.99988171e-01 -4.38466484e-03 -6.56415841e+00] [ 7.48066934e-03 4.40030189e-03 9.99962338e-01 -2.61942097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63907232900002 meters 0.6154045030326913 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.56, Z:-2.62 [[ 9.99968360e-01 1.91964490e-03 -7.71973245e-03 1.00003270e+02] [-1.95417209e-03 9.99988111e-01 -4.46753653e-03 -6.56420500e+00] [ 7.71106459e-03 4.48248086e-03 9.99960223e-01 -2.61983782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699072329 meters 0.6020761024570387 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.56, Z:-2.62 [[ 9.99969746e-01 1.75957474e-03 -7.57702244e-03 1.00002610e+02] [-1.79247448e-03 9.99988987e-01 -4.33744165e-03 -6.56481761e+00] [ 7.56930694e-03 4.35089204e-03 9.99961887e-01 -2.61933122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759072329 meters 0.6044221067852558 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.57, Z:-2.62 [[ 9.99969447e-01 1.67068011e-03 -7.63634313e-03 1.00003119e+02] [-1.70268648e-03 9.99989786e-01 -4.18674445e-03 -6.56560140e+00] [ 7.62927042e-03 4.19961883e-03 9.99962078e-01 -2.61979982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.819072329 meters 0.5651358404731442 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.57, Z:-2.62 [[ 9.99962139e-01 5.17074630e-03 -6.99885617e-03 1.00001768e+02] [-5.16950370e-03 9.99986619e-01 1.95622659e-04 -6.56696306e+00] [ 6.99977404e-03 -1.59434640e-04 9.99975489e-01 -2.61995238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.879072329 meters 0.555199195144433 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.57, Z:-2.62 [[ 9.99963920e-01 5.10834518e-03 -6.78706923e-03 1.00001456e+02] [-5.10491742e-03 9.99986833e-01 5.22270950e-04 -6.56822338e+00] [ 6.78964781e-03 -4.87604678e-04 9.99976831e-01 -2.62027488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.939072329 meters 0.5167305005274649 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.57, Z:-2.62 [[ 9.99951319e-01 8.07879034e-03 -5.66507453e-03 9.99976883e+01] [-8.05435583e-03 9.99958219e-01 4.32281529e-03 -6.56861898e+00] [ 5.69976096e-03 -4.27697633e-03 9.99974610e-01 -2.61922201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.999072329 meters 0.5043673683599504 Centerline is valid? [False, False] Translation: X:100.00, Y:-6.57, Z:-2.62 [[ 9.99959677e-01 7.68306143e-03 -4.64911497e-03 9.99951705e+01] [-7.66042815e-03 9.99958816e-01 4.86667812e-03 -6.57031786e+00] [ 4.68631448e-03 -4.83086767e-03 9.99977350e-01 -2.61940411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.059072329 meters 0.4663593726500996 Centerline is valid? [False, False] Translation: X:99.99, Y:-6.57, Z:-2.62 [[ 9.99963566e-01 7.52860994e-03 -4.02318587e-03 9.99936430e+01] [-7.50712870e-03 9.99957627e-01 5.32805175e-03 -6.57183242e+00] [ 4.06312822e-03 -5.29765506e-03 9.99977713e-01 -2.61958211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.119072329 meters 0.4477183892822421 Centerline is valid? [False, False] Translation: X:99.99, Y:-6.58, Z:-2.62 [[ 9.99969077e-01 7.29531951e-03 -2.93639903e-03 9.99920365e+01] [-7.27590583e-03 9.99951956e-01 6.56864739e-03 -6.57596513e+00] [ 2.98417834e-03 -6.54707931e-03 9.99974115e-01 -2.62136855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.179072329 meters 0.44681410551521517 Centerline is valid? [False, False] Translation: X:99.99, Y:-6.58, Z:-2.62 [[ 9.99971420e-01 7.29089038e-03 -2.00054547e-03 9.99903907e+01] [-7.27530835e-03 9.99943976e-01 7.68864806e-03 -6.57941143e+00] [ 2.05649048e-03 -7.67387374e-03 9.99968441e-01 -2.62259738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.239072329 meters 0.44078107374459463 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.58, Z:-2.62 [[ 9.99976826e-01 6.79947649e-03 3.39526777e-04 9.99846595e+01] [-6.80238978e-03 9.99931933e-01 9.47926865e-03 -6.58449766e+00] [-2.75049602e-04 -9.48135857e-03 9.99955013e-01 -2.62296062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.299072329 meters 0.4330255200460893 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.59, Z:-2.62 [[ 9.99976145e-01 5.95017612e-03 3.50773524e-03 9.99767231e+01] [-5.99100707e-03 9.99913054e-01 1.17470037e-02 -6.59102405e+00] [-3.43753352e-03 -1.17677384e-02 9.99924849e-01 -2.62294091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.359072329 meters 0.4280150842291614 Centerline is valid? [False, False] Translation: X:99.97, Y:-6.60, Z:-2.62 [[ 9.99966763e-01 5.16685745e-03 6.30681528e-03 9.99707145e+01] [-5.25509599e-03 9.99887407e-01 1.40555302e-02 -6.59746719e+00] [-6.23348226e-03 -1.40882060e-02 9.99881326e-01 -2.62421944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41907232900002 meters 0.4181500525718862 Centerline is valid? [False, False] Translation: X:99.95, Y:-6.60, Z:-2.62 [[ 9.99975006e-01 -6.55537019e-03 2.64850324e-03 9.99474303e+01] [ 6.52282195e-03 9.99905317e-01 1.21165012e-02 -6.60086908e+00] [-2.72768062e-03 -1.20989227e-02 9.99923085e-01 -2.62440335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479072329 meters 0.4086508375209895 Centerline is valid? [False, False] Translation: X:99.93, Y:-6.61, Z:-2.63 [[ 9.99886899e-01 -1.16414546e-02 9.52187374e-03 9.99318068e+01] [ 1.15295439e-02 9.99864792e-01 1.17246532e-02 -6.61210155e+00] [-9.65707832e-03 -1.16135443e-02 9.99885927e-01 -2.62786752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.539072329 meters 0.3817481474029254 Centerline is valid? [False, False] Translation: X:99.92, Y:-6.62, Z:-2.63 [[ 9.99799654e-01 -1.34294725e-02 1.48425397e-02 9.99197867e+01] [ 1.32072699e-02 9.99800734e-01 1.49686389e-02 -6.62039246e+00] [-1.50406030e-02 -1.47696105e-02 9.99777795e-01 -2.62869483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.599072329 meters 0.5625789493202513 Centerline is valid? [False, False] Translation: X:99.89, Y:-6.63, Z:-2.63 [[ 9.99539911e-01 -2.69882374e-02 1.38419797e-02 9.98916918e+01] [ 2.68118387e-02 9.99558867e-01 1.27748406e-02 -6.62688366e+00] [-1.41806440e-02 -1.23978341e-02 9.99822586e-01 -2.62933491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.659072329 meters 0.5641317938982356 Centerline is valid? [False, False] Translation: X:99.87, Y:-6.63, Z:-2.63 [[ 9.99325507e-01 -2.87039580e-02 2.29044475e-02 9.98705167e+01] [ 2.83696501e-02 9.99488083e-01 1.47896584e-02 -6.63231144e+00] [-2.33172441e-02 -1.41298917e-02 9.99628257e-01 -2.63363896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.719072329 meters 0.5698986395754185 Centerline is valid? [False, False] Translation: X:99.84, Y:-6.64, Z:-2.63 [[ 9.98775857e-01 -4.36922527e-02 2.31899575e-02 9.98416332e+01] [ 4.33963989e-02 9.98971891e-01 1.31115704e-02 -6.64131350e+00] [-2.37389898e-02 -1.20891593e-02 9.99645093e-01 -2.63462203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.779072329 meters 0.5686598439388187 Centerline is valid? [False, False] Translation: X:99.81, Y:-6.65, Z:-2.64 [[ 9.97877630e-01 -5.99357869e-02 2.54545961e-02 9.98092073e+01] [ 5.96565663e-02 9.98151660e-01 1.15913109e-02 -6.65076029e+00] [-2.61022817e-02 -1.00481760e-02 9.99608776e-01 -2.63530480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.839072329 meters 0.572041181387561 Centerline is valid? [False, False] Translation: X:99.78, Y:-6.67, Z:-2.64 [[ 9.96415095e-01 -7.49326901e-02 3.92689396e-02 9.97818629e+01] [ 7.45821164e-02 9.97161477e-01 1.03197421e-02 -6.67049490e+00] [-3.99307598e-02 -7.35398619e-03 9.99175387e-01 -2.64019776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.899072329 meters 0.571397018522753 Centerline is valid? [False, False] Translation: X:99.75, Y:-6.67, Z:-2.64 [[ 9.95068341e-01 -9.05477705e-02 4.04981171e-02 9.97527972e+01] [ 9.02983374e-02 9.95883027e-01 7.95026975e-03 -6.66953597e+00] [-4.10512667e-02 -4.25414909e-03 9.99147985e-01 -2.64137368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.959072329 meters 0.5677247545578403 Centerline is valid? [False, False] Translation: X:99.71, Y:-6.67, Z:-2.64 [[ 9.92500173e-01 -1.12211842e-01 4.84964837e-02 9.97129489e+01] [ 1.12014785e-01 9.93683473e-01 6.77078790e-03 -6.67425081e+00] [-4.89499169e-02 -1.28768496e-03 9.98800404e-01 -2.64353552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.019072329 meters 0.56333019802134 Centerline is valid? [False, False] Translation: X:99.68, Y:-6.68, Z:-2.64 [[ 9.86509063e-01 -1.55445233e-01 5.13483086e-02 9.96838636e+01] [ 1.55454046e-01 9.87835636e-01 3.84657317e-03 -6.67962121e+00] [-5.13216205e-02 4.18762304e-03 9.98673398e-01 -2.64409267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.079072329 meters 0.5567126249350414 Centerline is valid? [False, False] Translation: X:99.65, Y:-6.68, Z:-2.65 [[ 9.84790709e-01 -1.60574529e-01 6.63557138e-02 9.96502373e+01] [ 1.60669159e-01 9.87000443e-01 3.94294529e-03 -6.67856335e+00] [-6.61262555e-02 6.77834083e-03 9.97788240e-01 -2.64942113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13907232900002 meters 0.5505681399100357 Centerline is valid? [False, False] Translation: X:99.64, Y:-6.69, Z:-2.65 [[ 9.75569584e-01 -2.09255902e-01 6.69025669e-02 9.96355763e+01] [ 2.09567121e-01 9.77791292e-01 2.41082294e-03 -6.69392753e+00] [-6.59212262e-02 1.16686528e-02 9.97756601e-01 -2.64966967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199072329 meters 0.5375858988379312 Centerline is valid? [False, False] Translation: X:99.63, Y:-6.71, Z:-2.65 [[ 9.67748360e-01 -2.41197793e-01 7.27099462e-02 9.96258785e+01] [ 2.41808537e-01 9.70323894e-01 4.14894600e-04 -6.70565023e+00] [-7.06522698e-02 1.71803721e-02 9.97353043e-01 -2.65240522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259072329 meters 0.5290939402076323 Centerline is valid? [False, False] Translation: X:99.62, Y:-6.72, Z:-2.65 [[ 9.53269804e-01 -2.92351035e-01 7.62073031e-02 9.96155994e+01] [ 2.93348480e-01 9.56003509e-01 -1.98974608e-03 -6.72313256e+00] [-7.22727449e-02 2.42520614e-02 9.97090010e-01 -2.65329502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.319072329 meters 0.5161078462860075 Centerline is valid? [False, False] Translation: X:99.63, Y:-6.76, Z:-2.65 [[ 9.34507793e-01 -3.47720503e-01 7.60633727e-02 9.96260096e+01] [ 3.49013152e-01 9.37109338e-01 -3.98852316e-03 -6.75805413e+00] [-6.98928056e-02 3.02744235e-02 9.97095008e-01 -2.65350326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.379072329 meters 0.5103306395108609 Centerline is valid? [False, False] Translation: X:99.64, Y:-6.79, Z:-2.66 [[ 9.19745725e-01 -3.84479543e-01 7.90144393e-02 9.96383076e+01] [ 3.86132972e-01 9.22422139e-01 -6.22301710e-03 -6.78679272e+00] [-7.04920453e-02 3.62336736e-02 9.96854048e-01 -2.65781340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.439072329 meters 0.5000446202007649 Centerline is valid? [False, False] Translation: X:99.66, Y:-6.82, Z:-2.66 [[ 9.02491194e-01 -4.23145886e-01 8.03567255e-02 9.96585530e+01] [ 4.25018512e-01 9.05157665e-01 -6.99035319e-03 -6.82136292e+00] [-6.97775669e-02 4.04618281e-02 9.96741657e-01 -2.65992616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.499072329 meters 0.5216745495195146 Centerline is valid? [False, False] Translation: X:99.68, Y:-6.86, Z:-2.66 [[ 8.82929446e-01 -4.62220391e-01 8.23887364e-02 9.96831251e+01] [ 4.64323607e-01 8.85635033e-01 -7.36039684e-03 -6.85880254e+00] [-6.95642258e-02 4.47537464e-02 9.96573088e-01 -2.66259422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.559072329 meters 0.5139263928023077 Centerline is valid? [False, False] Translation: X:99.74, Y:-6.93, Z:-2.67 [[ 8.47063861e-01 -5.24646047e-01 8.50255293e-02 9.97409732e+01] [ 5.27192997e-01 8.49696536e-01 -9.12910270e-03 -6.92902075e+00] [-6.74563501e-02 5.25577966e-02 9.96336950e-01 -2.66889687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.619072329 meters 0.47424385007895353 Centerline is valid? [False, False] Translation: X:99.80, Y:-6.99, Z:-2.68 [[ 8.17997583e-01 -5.68302125e-01 8.89530696e-02 9.98020323e+01] [ 5.71341990e-01 8.20637150e-01 -1.10904675e-02 -6.99486049e+00] [-6.66954572e-02 5.98945994e-02 9.95974072e-01 -2.67709955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.679072329 meters 0.5105713546651426 Centerline is valid? [False, False] Translation: X:99.86, Y:-7.05, Z:-2.68 [[ 7.73030891e-01 -6.28086309e-01 8.90552098e-02 9.98558249e+01] [ 6.31417747e-01 7.75339952e-01 -1.26327792e-02 -7.05279348e+00] [-6.11135865e-02 6.59965685e-02 9.95946576e-01 -2.68251987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.739072329 meters 0.5151409317650315 Centerline is valid? [False, False] Translation: X:99.90, Y:-7.10, Z:-2.69 [[ 7.42264928e-01 -6.63816194e-01 9.16015125e-02 9.99029708e+01] [ 6.67359360e-01 7.44647952e-01 -1.14417053e-02 -7.09977101e+00] [-6.06156893e-02 6.96239033e-02 9.95730009e-01 -2.68649189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.799072329 meters 0.5012097543793682 Centerline is valid? [False, False] Translation: X:99.99, Y:-7.18, Z:-2.69 [[ 6.92574505e-01 -7.14866939e-01 9.64666542e-02 9.99860581e+01] [ 7.18782107e-01 6.95179683e-01 -8.80293903e-03 -7.17745713e+00] [-6.07687280e-02 7.54351961e-02 9.95297289e-01 -2.69470088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.859072329 meters 0.48854423694328647 Centerline is valid? [False, False] Translation: X:100.04, Y:-7.23, Z:-2.70 [[ 6.35916414e-01 -7.65466053e-01 9.83465131e-02 1.00044967e+02] [ 7.69759842e-01 6.38262898e-01 -9.50045281e-03 -7.22804477e+00] [-5.54986564e-02 8.17446903e-02 9.95106881e-01 -2.70145558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91907232900002 meters 0.4950558030257839 Centerline is valid? [False, False] Translation: X:100.08, Y:-7.26, Z:-2.70 [[ 5.96219051e-01 -7.96795262e-01 9.81842853e-02 1.00080433e+02] [ 8.01230215e-01 5.98267405e-01 -1.03080181e-02 -7.25559382e+00] [-5.05270776e-02 8.48140527e-02 9.95114863e-01 -2.70471154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979072329 meters 0.5452346150631003 Centerline is valid? [False, False] Translation: X:100.09, Y:-7.26, Z:-2.70 [[ 5.35014237e-01 -8.39261274e-01 9.69550391e-02 1.00091140e+02] [ 8.43659436e-01 5.36807450e-01 -8.74741041e-03 -7.25626056e+00] [-4.47048245e-02 8.64770227e-02 9.95250322e-01 -2.70380038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.039072329 meters 0.5257727149350653 Centerline is valid? [False, False] Translation: X:100.07, Y:-7.22, Z:-2.70 [[ 4.69592435e-01 -8.77798099e-01 9.46226333e-02 1.00071350e+02] [ 8.82086176e-01 4.71019413e-01 -8.04300108e-03 -7.22246052e+00] [-3.75089662e-02 8.72422493e-02 9.95480722e-01 -2.69938345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.099072329 meters 0.5220518512287926 Centerline is valid? [False, False] Translation: X:99.99, Y:-7.13, Z:-2.69 [[ 4.30426599e-01 -8.97986248e-01 9.13982616e-02 9.99932778e+01] [ 9.02029681e-01 4.31610388e-01 -7.41124519e-03 -7.13391148e+00] [-3.27932429e-02 8.56339418e-02 9.95786840e-01 -2.68827338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.159072329 meters 0.5236499614507968 Centerline is valid? [False, False] Translation: X:99.86, Y:-7.00, Z:-2.67 [[ 4.05178246e-01 -9.09940509e-01 8.85373324e-02 9.98566990e+01] [ 9.13900081e-01 4.05756528e-01 -1.21771282e-02 -7.00128089e+00] [-2.48441383e-02 8.58481827e-02 9.95998423e-01 -2.67326899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.219072329 meters 0.4708219841851419 Centerline is valid? [False, False] Translation: X:99.72, Y:-6.86, Z:-2.66 [[ 3.92881418e-01 -9.15810414e-01 8.32795145e-02 9.97187430e+01] [ 9.19519752e-01 3.92349996e-01 -2.33432239e-02 -6.85663539e+00] [-1.12967496e-02 8.57482775e-02 9.96252787e-01 -2.65767880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.279072329 meters 0.4466683546429277 Centerline is valid? [False, False] Translation: X:99.59, Y:-6.71, Z:-2.64 [[ 4.05177087e-01 -9.11099252e-01 7.56946634e-02 9.95906581e+01] [ 9.14232457e-01 4.03489345e-01 -3.70858830e-02 -6.71455542e+00] [ 3.24693013e-03 8.42288682e-02 9.96441145e-01 -2.63965326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.339072329 meters 0.4152648380195945 Centerline is valid? [False, False] Translation: X:99.45, Y:-6.56, Z:-2.62 [[ 4.27256233e-01 -9.01490942e-01 6.90376254e-02 9.94471066e+01] [ 9.03960489e-01 4.24447619e-01 -5.19581797e-02 -6.56109852e+00] [ 1.75369727e-02 8.46067417e-02 9.96260083e-01 -2.61613443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.399072329 meters 0.4049304675407666 Centerline is valid? [False, False] Translation: X:99.29, Y:-6.37, Z:-2.59 [[ 4.76903548e-01 -8.76882802e-01 6.03287452e-02 9.92930270e+01] [ 8.78381306e-01 4.72987153e-01 -6.87708832e-02 -6.37322492e+00] [ 3.17692833e-02 8.57887202e-02 9.95806712e-01 -2.58763684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.459072329 meters 0.3989627240803826 Centerline is valid? [False, False] Translation: X:99.14, Y:-6.17, Z:-2.55 [[ 5.51030277e-01 -8.33404061e-01 4.24653342e-02 9.91425950e+01] [ 8.32260454e-01 5.45135714e-01 -1.00844391e-01 -6.16701267e+00] [ 6.08947547e-02 9.09105310e-02 9.93995525e-01 -2.54749156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.519072329 meters 0.4060562112328415 Centerline is valid? [False, False] Translation: X:99.01, Y:-5.97, Z:-2.50 [[ 6.54340745e-01 -7.55973220e-01 1.85116390e-02 9.90141942e+01] [ 7.50651993e-01 6.46385694e-01 -1.36773975e-01 -5.97088793e+00] [ 9.14318039e-02 1.03392584e-01 9.90429300e-01 -2.50246000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.579072329 meters 0.4163407572225489 Centerline is valid? [False, False] Translation: X:98.93, Y:-5.79, Z:-2.46 [[ 7.46154716e-01 -6.65730462e-01 -7.48940925e-03 9.89307563e+01] [ 6.55647232e-01 7.36714815e-01 -1.65462953e-01 -5.79371623e+00] [ 1.15671287e-01 1.18550553e-01 9.86187568e-01 -2.45861084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63907232900002 meters 0.4295894694647661 Centerline is valid? [False, False] Translation: X:98.89, Y:-5.65, Z:-2.42 [[ 7.99378447e-01 -5.99976566e-01 -3.19721673e-02 9.88915143e+01] [ 5.85303236e-01 7.89638676e-01 -1.84094768e-01 -5.64541241e+00] [ 1.35699007e-01 1.28447977e-01 9.82388364e-01 -2.41829041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699072329 meters 0.43973789309020367 Centerline is valid? [False, False] Translation: X:98.88, Y:-5.59, Z:-2.40 [[ 8.27005521e-01 -5.59992828e-01 -4.96980964e-02 9.88775759e+01] [ 5.42965201e-01 8.18514729e-01 -1.87676395e-01 -5.59466841e+00] [ 1.45776059e-01 1.28225078e-01 9.80972818e-01 -2.40177138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759072329 meters 0.4519782724818429 Centerline is valid? [False, False] Translation: X:98.88, Y:-5.60, Z:-2.40 [[ 8.18406841e-01 -5.71291098e-01 -6.19412931e-02 9.88836365e+01] [ 5.53063531e-01 8.12348793e-01 -1.84959910e-01 -5.59514342e+00] [ 1.55983885e-01 1.17114985e-01 9.80792082e-01 -2.40064577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.819072329 meters 0.4524295705924886 Centerline is valid? [False, False] Translation: X:98.89, Y:-5.62, Z:-2.41 [[ 7.93219950e-01 -6.04962467e-01 -6.94443997e-02 9.88938385e+01] [ 5.86504716e-01 7.89684276e-01 -1.80030449e-01 -5.62475329e+00] [ 1.63750815e-01 1.02074276e-01 9.81206662e-01 -2.40809741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.879072329 meters 0.44692200348059175 Centerline is valid? [False, False] Translation: X:98.89, Y:-5.66, Z:-2.42 [[ 7.74414220e-01 -6.28123874e-01 -7.57826789e-02 9.88939416e+01] [ 6.09364432e-01 7.72723658e-01 -1.77688315e-01 -5.66020992e+00] [ 1.70169342e-01 9.14250889e-02 9.81164537e-01 -2.41625166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.939072329 meters 0.4329255581138359 Centerline is valid? [False, False] Translation: X:98.89, Y:-5.70, Z:-2.42 [[ 7.54554429e-01 -6.51044013e-01 -8.23972452e-02 9.88893531e+01] [ 6.32001210e-01 7.54744289e-01 -1.75884990e-01 -5.70148262e+00] [ 1.76697720e-01 8.06396393e-02 9.80956250e-01 -2.42483495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.999072329 meters 0.4055413112233169 Centerline is valid? [False, False] Translation: X:98.88, Y:-5.75, Z:-2.43 [[ 7.24017615e-01 -6.84086151e-01 -8.84569406e-02 9.88842663e+01] [ 6.64895431e-01 7.26269432e-01 -1.74490051e-01 -5.75384128e+00] [ 1.83609799e-01 6.75192548e-02 9.80677619e-01 -2.43404688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.059072329 meters 0.3700760137337827 Centerline is valid? [False, False] Translation: X:98.87, Y:-5.81, Z:-2.45 [[ 6.95911890e-01 -7.12091156e-01 -9.29130104e-02 9.88713192e+01] [ 6.92905097e-01 6.99814756e-01 -1.73614036e-01 -5.81292548e+00] [ 1.88650915e-01 5.64401734e-02 9.80421001e-01 -2.44608167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.119072329 meters 0.35062036779817396 Centerline is valid? [False, False] Translation: X:98.86, Y:-5.87, Z:-2.46 [[ 6.70841347e-01 -7.35141002e-01 -9.76708515e-02 9.88554772e+01] [ 7.15835065e-01 6.76307939e-01 -1.73746170e-01 -5.87345332e+00] [ 1.93783506e-01 4.66398946e-02 9.79935035e-01 -2.45886134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.179072329 meters 0.3419572625550137 Centerline is valid? [False, False] Translation: X:98.83, Y:-5.93, Z:-2.47 [[ 6.57930391e-01 -7.45922490e-01 -1.03572387e-01 9.88330808e+01] [ 7.26492341e-01 6.64892735e-01 -1.73569955e-01 -5.93361785e+00] [ 1.98334260e-01 3.89524026e-02 9.79360113e-01 -2.47178958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.239072329 meters 0.34019582219753036 Centerline is valid? [False, False] Translation: X:98.81, Y:-6.00, Z:-2.49 [[ 6.40782065e-01 -7.59927445e-01 -1.09126644e-01 9.88088569e+01] [ 7.40771479e-01 6.49341248e-01 -1.72085907e-01 -6.00410911e+00] [ 2.01633234e-01 2.94316574e-02 9.79018803e-01 -2.48622591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.299072329 meters 0.34274396180746314 Centerline is valid? [False, False] Translation: X:98.78, Y:-6.08, Z:-2.50 [[ 6.29187922e-01 -7.68892579e-01 -1.13695916e-01 9.87804938e+01] [ 7.49958927e-01 6.38987109e-01 -1.71047016e-01 -6.07836134e+00] [ 2.04167006e-01 2.23534493e-02 9.78680825e-01 -2.50036176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.359072329 meters 0.34410445201040357 Centerline is valid? [False, False] Translation: X:98.75, Y:-6.15, Z:-2.51 [[ 6.33471826e-01 -7.64613991e-01 -1.18654498e-01 9.87487563e+01] [ 7.45729466e-01 6.44202814e-01 -1.69971462e-01 -6.14542121e+00] [ 2.06400120e-01 1.91879775e-02 9.78279516e-01 -2.51431880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41907232900002 meters 0.34846794555218885 Centerline is valid? [False, False] Translation: X:98.72, Y:-6.22, Z:-2.53 [[ 6.34703622e-01 -7.62797801e-01 -1.23656085e-01 9.87154611e+01] [ 7.43950623e-01 6.46453423e-01 -1.69220101e-01 -6.21788183e+00] [ 2.09018620e-01 1.54105897e-02 9.77790228e-01 -2.52955256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479072329 meters 0.3542297824034934 Centerline is valid? [False, False] Translation: X:98.68, Y:-6.29, Z:-2.55 [[ 6.35577113e-01 -7.61576642e-01 -1.26659983e-01 9.86803427e+01] [ 7.42571520e-01 6.47928724e-01 -1.69634629e-01 -6.29360774e+00] [ 2.11256412e-01 1.37617915e-02 9.77333792e-01 -2.54691591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.539072329 meters 0.35632486210786446 Centerline is valid? [False, False] Translation: X:98.64, Y:-6.37, Z:-2.56 [[ 6.42218867e-01 -7.55270841e-01 -1.30846795e-01 9.86412914e+01] [ 7.36228229e-01 6.55299596e-01 -1.68968737e-01 -6.37207197e+00] [ 2.13361012e-01 1.21818063e-02 9.76897478e-01 -2.56412827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.599072329 meters 0.35752373262794956 Centerline is valid? [False, False] Translation: X:98.60, Y:-6.44, Z:-2.58 [[ 6.55308389e-01 -7.43063112e-01 -1.35750235e-01 9.86036239e+01] [ 7.24100949e-01 6.69126716e-01 -1.67174321e-01 -6.44292688e+00] [ 2.15055180e-01 1.12538610e-02 9.76537055e-01 -2.57891939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.659072329 meters 0.3597014420416599 Centerline is valid? [False, False] Translation: X:98.56, Y:-6.52, Z:-2.59 [[ 6.69067007e-01 -7.29980960e-01 -1.39560518e-01 9.85617638e+01] [ 7.10433120e-01 6.83334474e-01 -1.68341257e-01 -6.51689097e+00] [ 2.18252426e-01 1.34831664e-02 9.75799202e-01 -2.59366790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.719072329 meters 0.3602111959664482 Centerline is valid? [False, False] Translation: X:98.52, Y:-6.59, Z:-2.61 [[ 6.86131085e-01 -7.13387052e-01 -1.42488763e-01 9.85196581e+01] [ 6.93359311e-01 7.00565012e-01 -1.68705453e-01 -6.58809487e+00] [ 2.20174928e-01 1.69581452e-02 9.75312987e-01 -2.60995597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.779072329 meters 0.36093036300693687 Centerline is valid? [False, False] Translation: X:98.47, Y:-6.66, Z:-2.63 [[ 7.03325837e-01 -6.95510965e-01 -1.46960083e-01 9.84726761e+01] [ 6.75273111e-01 7.18273715e-01 -1.67598019e-01 -6.66048370e+00] [ 2.22123825e-01 1.86378251e-02 9.74840314e-01 -2.62611726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.839072329 meters 0.3584462560304105 Centerline is valid? [False, False] Translation: X:98.42, Y:-6.73, Z:-2.64 [[ 7.20945294e-01 -6.76888839e-01 -1.48524013e-01 9.84235854e+01] [ 6.56258206e-01 7.35717540e-01 -1.67466023e-01 -6.73134969e+00] [ 2.22627603e-01 2.32637394e-02 9.74625953e-01 -2.64285731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.899072329 meters 0.35959806581502285 Centerline is valid? [False, False] Translation: X:98.37, Y:-6.80, Z:-2.66 [[ 7.37894316e-01 -6.57931440e-01 -1.50459961e-01 9.83732318e+01] [ 6.36686183e-01 7.52543791e-01 -1.68251439e-01 -6.79969565e+00] [ 2.23925621e-01 2.83560025e-02 9.74193643e-01 -2.65945801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.959072329 meters 0.3582224739246082 Centerline is valid? [False, False] Translation: X:98.32, Y:-6.86, Z:-2.67 [[ 7.54799666e-01 -6.37723398e-01 -1.53578419e-01 9.83245702e+01] [ 6.15844361e-01 7.69564255e-01 -1.68838918e-01 -6.86310478e+00] [ 2.25860990e-01 3.28591551e-02 9.73605202e-01 -2.67452753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.019072329 meters 0.35976318573860033 Centerline is valid? [False, False] Translation: X:98.28, Y:-6.92, Z:-2.69 [[ 7.72247792e-01 -6.16139058e-01 -1.54938724e-01 9.82792746e+01] [ 5.93187181e-01 7.86595614e-01 -1.71453517e-01 -6.92014766e+00] [ 2.27513329e-01 4.04969345e-02 9.72932517e-01 -2.68755511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.079072329 meters 0.355381758567394 Centerline is valid? [False, False] Translation: X:98.23, Y:-6.98, Z:-2.70 [[ 7.90629637e-01 -5.92250494e-01 -1.55383816e-01 9.82288335e+01] [ 5.68095420e-01 8.04211600e-01 -1.74674829e-01 -6.98194537e+00] [ 2.28412721e-01 4.98302623e-02 9.72288318e-01 -2.70124772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13907232900002 meters 0.3590256832431831 Centerline is valid? [False, False] Translation: X:98.18, Y:-7.04, Z:-2.71 [[ 8.07223896e-01 -5.69078895e-01 -1.56648628e-01 9.81810071e+01] [ 5.44166068e-01 8.20319518e-01 -1.75952206e-01 -7.03820212e+00] [ 2.28632614e-01 5.67899578e-02 9.71854942e-01 -2.71461128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199072329 meters 0.35633762794672236 Centerline is valid? [False, False] Translation: X:98.14, Y:-7.08, Z:-2.72 [[ 8.23143245e-01 -5.45410681e-01 -1.57994898e-01 9.81428818e+01] [ 5.19194066e-01 8.35585610e-01 -1.79538882e-01 -7.08338726e+00] [ 2.29940688e-01 6.57562043e-02 9.70980639e-01 -2.72246829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259072329 meters 0.360825917916426 Centerline is valid? [False, False] Translation: X:98.10, Y:-7.13, Z:-2.73 [[ 8.38442223e-01 -5.21109290e-01 -1.59561104e-01 9.81045787e+01] [ 4.93749119e-01 8.50264475e-01 -1.82379083e-01 -7.13037315e+00] [ 2.30708573e-01 7.41311692e-02 9.70194890e-01 -2.73213598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.319072329 meters 0.36351237469960207 Centerline is valid? [False, False] Translation: X:98.07, Y:-7.17, Z:-2.74 [[ 8.53529216e-01 -4.95902950e-01 -1.59900412e-01 9.80733948e+01] [ 4.67725070e-01 8.64450242e-01 -1.84279784e-01 -7.17073246e+00] [ 2.29610839e-01 8.24987481e-02 9.69779779e-01 -2.74183429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.379072329 meters 0.3638780607236704 Centerline is valid? [False, False] Translation: X:98.04, Y:-7.22, Z:-2.75 [[ 8.69443268e-01 -4.67558838e-01 -1.59552929e-01 9.80420184e+01] [ 4.38680032e-01 8.79195217e-01 -1.85945152e-01 -7.21668079e+00] [ 2.27218471e-01 9.16760763e-02 9.69519089e-01 -2.75319649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.439072329 meters 0.36885311189023884 Centerline is valid? [False, False] Translation: X:98.02, Y:-7.26, Z:-2.76 [[ 0.88508816 -0.43690145 -0.16042465 98.01512498] [ 0.40721333 0.89384811 -0.18765091 -7.26330918] [ 0.22538022 0.10076055 0.96904647 -2.76446495] [ 0. 0. 0. 1. ]] SLAMing on 219.499072329 meters 0.3788594197811801 Centerline is valid? [False, False] Translation: X:97.99, Y:-7.30, Z:-2.77 [[ 0.89910444 -0.40639217 -0.16265485 97.99472884] [ 0.37572345 0.90713251 -0.18958506 -7.300282 ] [ 0.22459539 0.10934353 0.96829794 -2.77182243] [ 0. 0. 0. 1. ]] SLAMing on 219.559072329 meters 0.3696138660835624 Centerline is valid? [False, False] Translation: X:97.97, Y:-7.34, Z:-2.78 [[ 0.91202513 -0.37585925 -0.16413403 97.97447546] [ 0.34453079 0.91922805 -0.19057367 -7.33769259] [ 0.22250548 0.11725874 0.96785417 -2.77990247] [ 0. 0. 0. 1. ]] SLAMing on 219.619072329 meters 0.36789642395820715 Centerline is valid? [False, False] Translation: X:97.96, Y:-7.37, Z:-2.79 [[ 0.92416298 -0.34486769 -0.16428347 97.95771902] [ 0.31287167 0.93009502 -0.19244367 -7.36833037] [ 0.21916684 0.12644968 0.96745872 -2.78602906] [ 0. 0. 0. 1. ]] SLAMing on 219.679072329 meters 0.3738187672165686 Centerline is valid? [False, False] Translation: X:97.94, Y:-7.40, Z:-2.79 [[ 0.93578618 -0.31173361 -0.16470089 97.93863783] [ 0.27916719 0.9404643 -0.19388807 -7.40066817] [ 0.21533673 0.13545869 0.96709929 -2.79343394] [ 0. 0. 0. 1. ]] SLAMing on 219.739072329 meters 0.3700315015118068 Centerline is valid? [False, False] Translation: X:97.92, Y:-7.43, Z:-2.80 [[ 0.94555041 -0.28057713 -0.16495723 97.92384664] [ 0.24757547 0.94902589 -0.1950801 -7.42854248] [ 0.2112837 0.1436187 0.96681584 -2.80052894] [ 0. 0. 0. 1. ]] SLAMing on 219.799072329 meters 0.3736383717100979 Centerline is valid? [False, False] Translation: X:97.91, Y:-7.45, Z:-2.81 [[ 0.95301553 -0.25435347 -0.16451661 97.91487906] [ 0.22126285 0.95543274 -0.19542524 -7.44934174] [ 0.20689164 0.14984188 0.96682121 -2.80534982] [ 0. 0. 0. 1. ]] SLAMing on 219.859072329 meters 0.4513069536073009 Centerline is valid? [False, False] Translation: X:97.91, Y:-7.47, Z:-2.81 [[ 0.95980962 -0.22783495 -0.16388022 97.91084261] [ 0.19504463 0.9613724 -0.19421815 -7.46936914] [ 0.20179961 0.1544485 0.96717247 -2.81080732] [ 0. 0. 0. 1. ]] SLAMing on 219.91907232900002 meters 0.45592611866983335 Centerline is valid? [False, False] Translation: X:97.91, Y:-7.49, Z:-2.82 [[ 0.96553105 -0.20350188 -0.16228612 97.90925087] [ 0.17088196 0.96589669 -0.19453264 -7.48758011] [ 0.19633938 0.16009553 0.96737804 -2.81701308] [ 0. 0. 0. 1. ]] SLAMing on 219.979072329 meters 0.37281392101772615 Centerline is valid? [False, False] Translation: X:97.91, Y:-7.50, Z:-2.82 [[ 0.96876007 -0.18738918 -0.1624476 97.91055366] [ 0.15447589 0.96838995 -0.19585223 -7.49750472] [ 0.19401321 0.16463959 0.96708463 -2.81777844] [ 0. 0. 0. 1. ]] SLAMing on 220.039072329 meters 0.4526299108902341 Centerline is valid? [False, False] Translation: X:97.90, Y:-7.51, Z:-2.83 [[ 0.97361586 -0.17610023 -0.1451236 97.90079693] [ 0.14863987 0.97195844 -0.18221687 -7.51317661] [ 0.17314254 0.15583809 0.97248967 -2.83253965] [ 0. 0. 0. 1. ]] SLAMing on 220.099072329 meters 0.4533420972037498 Centerline is valid? [False, False] Translation: X:97.89, Y:-7.53, Z:-2.84 [[ 0.97831074 -0.15986792 -0.13172072 97.89100467] [ 0.13539193 0.97476574 -0.17748456 -7.53027596] [ 0.15677093 0.15580113 0.97526862 -2.84464017] [ 0. 0. 0. 1. ]] SLAMing on 220.159072329 meters 0.45251698438798055 Centerline is valid? [False, False] Translation: X:97.88, Y:-7.54, Z:-2.86 [[ 0.98181506 -0.15132397 -0.11463094 97.8837461 ] [ 0.13131804 0.97741968 -0.16554863 -7.54358344] [ 0.13709402 0.14748503 0.97951692 -2.86028425] [ 0. 0. 0. 1. ]] SLAMing on 220.219072329 meters 0.452917447946229 Centerline is valid? [False, False] Translation: X:97.88, Y:-7.55, Z:-2.87 [[ 0.98433744 -0.14539598 -0.09969862 97.88050593] [ 0.12895414 0.97943341 -0.15518064 -7.55239034] [ 0.1202108 0.13989357 0.98284238 -2.87250036] [ 0. 0. 0. 1. ]] SLAMing on 220.279072329 meters 0.44534961289536135 Centerline is valid? [False, False] Translation: X:97.87, Y:-7.57, Z:-2.88 [[ 9.86134638e-01 -1.34753661e-01 -9.68500160e-02 9.78741257e+01] [ 1.19400263e-01 9.81473527e-01 -1.49844233e-01 -7.56774701e+00] [ 1.15247786e-01 1.36202671e-01 9.83954664e-01 -2.88096061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.339072329 meters 0.42280362062447296 Centerline is valid? [False, False] Translation: X:97.87, Y:-7.58, Z:-2.89 [[ 9.87549689e-01 -1.26514871e-01 -9.34858266e-02 9.78654285e+01] [ 1.12010869e-01 9.82804767e-01 -1.46793581e-01 -7.57968558e+00] [ 1.10449887e-01 1.34494527e-01 9.84739582e-01 -2.88754683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.399072329 meters 0.4328374340588197 Centerline is valid? [False, False] Translation: X:97.85, Y:-7.60, Z:-2.90 [[ 9.90288428e-01 -1.17201942e-01 -7.47832536e-02 9.78544558e+01] [ 1.06324280e-01 9.85016990e-01 -1.35781725e-01 -7.59648535e+00] [ 8.95766572e-02 1.26511796e-01 9.87912338e-01 -2.90136917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.459072329 meters 0.4214747475788572 Centerline is valid? [False, False] Translation: X:97.85, Y:-7.61, Z:-2.91 [[ 9.91591761e-01 -1.07878089e-01 -7.14709582e-02 9.78465216e+01] [ 9.78810050e-02 9.86530500e-01 -1.31060601e-01 -7.61224226e+00] [ 8.46468473e-02 1.22962963e-01 9.88794732e-01 -2.90809703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.519072329 meters 0.4141037010248508 Centerline is valid? [False, False] Translation: X:97.84, Y:-7.62, Z:-2.92 [[ 9.93310496e-01 -1.02210851e-01 -5.37326835e-02 9.78387734e+01] [ 9.50505023e-02 9.87947775e-01 -1.22166260e-01 -7.62477398e+00] [ 6.55718025e-02 1.16241710e-01 9.91054087e-01 -2.92026335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.579072329 meters 0.3991150912060487 Centerline is valid? [False, False] Translation: X:97.83, Y:-7.64, Z:-2.93 [[ 9.94218608e-01 -9.50604525e-02 -4.99286411e-02 9.78289520e+01] [ 8.85819442e-02 9.88940246e-01 -1.18955572e-01 -7.63967972e+00] [ 6.06844131e-02 1.13845067e-01 9.91643435e-01 -2.92600512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63907232900002 meters 0.38261154572112993 Centerline is valid? [False, False] Translation: X:97.83, Y:-7.65, Z:-2.94 [[ 9.95377453e-01 -8.98253325e-02 -3.39872807e-02 9.78252334e+01] [ 8.56172302e-02 9.90266663e-01 -1.09734339e-01 -7.65161389e+00] [ 4.35133945e-02 1.06317190e-01 9.93379706e-01 -2.93611505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699072329 meters 0.3636716192738721 Centerline is valid? [False, False] Translation: X:97.82, Y:-7.67, Z:-2.94 [[ 9.96041247e-01 -8.34768080e-02 -3.05525404e-02 9.78169393e+01] [ 7.97768174e-02 9.91053733e-01 -1.06996064e-01 -7.66811186e+00] [ 3.92108992e-02 1.04135109e-01 9.93789910e-01 -2.94140089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.759072329 meters 0.3381644632430004 Centerline is valid? [False, False] Translation: X:97.81, Y:-7.68, Z:-2.95 [[ 9.96590161e-01 -7.78313840e-02 -2.73921018e-02 9.78101880e+01] [ 7.45887166e-02 9.91752319e-01 -1.04229844e-01 -7.68360094e+00] [ 3.52785335e-02 1.01831295e-01 9.94175946e-01 -2.94712750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.819072329 meters 0.3172852140673557 Centerline is valid? [False, False] Translation: X:97.81, Y:-7.69, Z:-2.95 [[ 9.96974542e-01 -7.23294498e-02 -2.84642538e-02 9.78132348e+01] [ 6.92481052e-02 9.92833098e-01 -9.74019474e-02 -7.69270182e+00] [ 3.53052825e-02 9.51361663e-02 9.94838000e-01 -2.94931569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.879072329 meters 0.30059928020689597 Centerline is valid? [False, False] Translation: X:97.81, Y:-7.71, Z:-2.95 [[ 9.97256590e-01 -6.87724833e-02 -2.73795524e-02 9.78114997e+01] [ 6.59230738e-02 9.93382161e-01 -9.40533361e-02 -7.70763628e+00] [ 3.36666404e-02 9.19903650e-02 9.95190600e-01 -2.95251366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.939072329 meters 0.2974142680659523 Centerline is valid? [False, False] Translation: X:97.81, Y:-7.72, Z:-2.96 [[ 9.97695048e-01 -6.66289621e-02 -1.28519781e-02 9.78117380e+01] [ 6.52467766e-02 9.93978562e-01 -8.80311158e-02 -7.71946224e+00] [ 1.86400125e-02 8.69896581e-02 9.96034813e-01 -2.96020478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.999072329 meters 0.2833171499485474 Centerline is valid? [False, False] Translation: X:97.82, Y:-7.74, Z:-2.96 [[ 9.98422189e-01 -5.54831874e-02 -8.64567370e-03 9.78164198e+01] [ 5.44882565e-02 9.94484059e-01 -8.96241362e-02 -7.73675771e+00] [ 1.35706174e-02 8.90116386e-02 9.95938134e-01 -2.96146452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.059072329 meters 0.2718189753116981 Centerline is valid? [False, False] Translation: X:97.82, Y:-7.75, Z:-2.96 [[ 9.98528847e-01 -5.34341041e-02 -9.21624525e-03 9.78187783e+01] [ 5.24560660e-02 9.94970539e-01 -8.53345651e-02 -7.75142858e+00] [ 1.37296685e-02 8.47255769e-02 9.96309727e-01 -2.96310961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.119072329 meters 0.27062910164808124 Centerline is valid? [False, False] Translation: X:97.82, Y:-7.76, Z:-2.96 [[ 9.98601367e-01 -5.19947532e-02 -9.58413860e-03 9.78202944e+01] [ 5.10344261e-02 9.95308636e-01 -8.21961488e-02 -7.76169346e+00] [ 1.38129444e-02 8.15920656e-02 9.96570087e-01 -2.96441562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.179072329 meters 0.26268805237877013 Centerline is valid? [False, False] Translation: X:97.82, Y:-7.78, Z:-2.97 [[ 9.98690628e-01 -5.01395757e-02 -1.01514857e-02 9.78226812e+01] [ 4.92030233e-02 9.95763510e-01 -7.76794368e-02 -7.77704108e+00] [ 1.40032931e-02 7.70782418e-02 9.96926704e-01 -2.96604631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.239072329 meters 0.2568635994355777 Centerline is valid? [False, False] Translation: X:97.82, Y:-7.79, Z:-2.97 [[ 9.98776019e-01 -4.83382513e-02 -1.04822840e-02 9.78239628e+01] [ 4.74476548e-02 9.96203133e-01 -7.29934084e-02 -7.79250241e+00] [ 1.39708579e-02 7.24067060e-02 9.97277336e-01 -2.96670157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.299072329 meters 0.2515999863639603 Centerline is valid? [False, False] Translation: X:97.82, Y:-7.80, Z:-2.97 [[ 9.98842396e-01 -4.68728202e-02 -1.08077592e-02 9.78246183e+01] [ 4.60088811e-02 9.96505721e-01 -6.97103302e-02 -7.80313261e+00] [ 1.40375136e-02 6.91323803e-02 9.97508728e-01 -2.96679147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.359072329 meters 0.2443656441525419 Centerline is valid? [False, False] Translation: X:97.83, Y:-7.82, Z:-2.97 [[ 9.98723626e-01 -4.93047747e-02 -1.09616949e-02 9.78255313e+01] [ 4.84223475e-02 9.96380839e-01 -6.98605809e-02 -7.81642066e+00] [ 1.43664830e-02 6.92406217e-02 9.97496537e-01 -2.96704818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41907232900002 meters 0.24624501682471717 Centerline is valid? [False, False] Translation: X:97.83, Y:-7.83, Z:-2.98 [[ 9.98735935e-01 -5.02087900e-02 2.36851111e-03 9.78295123e+01] [ 5.02563398e-02 9.96606639e-01 -6.51882387e-02 -7.82767486e+00] [ 9.12548688e-04 6.52248692e-02 9.97870174e-01 -2.97569192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479072329 meters 0.2428861187295915 Centerline is valid? [False, False] Translation: X:97.83, Y:-7.84, Z:-2.98 [[ 9.98811679e-01 -4.87003188e-02 1.87294931e-03 9.78310213e+01] [ 4.87245357e-02 9.96987396e-01 -6.03494087e-02 -7.84341724e+00] [ 1.07172859e-03 6.03689528e-02 9.98175556e-01 -2.97584163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.539072329 meters 0.24150803067907353 Centerline is valid? [False, False] Translation: X:97.83, Y:-7.85, Z:-2.98 [[ 9.98869935e-01 -4.75038548e-02 1.49580231e-03 9.78320346e+01] [ 4.75117077e-02 9.97236844e-01 -5.71079269e-02 -7.85403804e+00] [ 1.22117749e-03 5.71144593e-02 9.98366890e-01 -2.97612959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.599072329 meters 0.23446844436511785 Centerline is valid? [False, False] Translation: X:97.83, Y:-7.87, Z:-2.98 [[ 9.98746861e-01 -5.00304526e-02 1.28868372e-03 9.78332277e+01] [ 5.00225938e-02 9.97123043e-01 -5.69506507e-02 -7.86813682e+00] [ 1.56429059e-03 5.69437469e-02 9.98376163e-01 -2.97636298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.659072329 meters 0.23486392315336832 Centerline is valid? [False, False] Translation: X:97.83, Y:-7.88, Z:-2.98 [[ 9.98617478e-01 -5.25566053e-02 9.67670041e-04 9.78347377e+01] [ 5.25267836e-02 9.97006087e-01 -5.67432723e-02 -7.88232443e+00] [ 2.01746084e-03 5.67156520e-02 9.98388334e-01 -2.97654111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.719072329 meters 0.23711067563474528 Centerline is valid? [False, False] Translation: X:97.84, Y:-7.89, Z:-2.98 [[ 9.98666263e-01 -5.16287828e-02 4.05337725e-04 9.78362186e+01] [ 5.15760072e-02 9.97223740e-01 -5.37096579e-02 -7.89267928e+00] [ 2.36875185e-03 5.36589290e-02 9.98556512e-01 -2.97678551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.779072329 meters 0.22934413558983005 Centerline is valid? [False, False] Translation: X:97.84, Y:-7.91, Z:-2.98 [[ 9.98530552e-01 -5.41910696e-02 2.54185511e-04 9.78370028e+01] [ 5.41271851e-02 9.97102722e-01 -5.34453932e-02 -7.90693035e+00] [ 2.64281396e-03 5.33806163e-02 9.98570741e-01 -2.97651028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.839072329 meters 0.23176858422401608 Centerline is valid? [False, False] Translation: X:97.84, Y:-7.92, Z:-2.98 [[ 9.98589056e-01 -5.30959628e-02 -8.46441234e-04 9.78403183e+01] [ 5.29908640e-02 9.97393214e-01 -4.89769873e-02 -7.92190539e+00] [ 3.44471504e-03 4.88630298e-02 9.98799549e-01 -2.97705303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.899072329 meters 0.23025170099582368 Centerline is valid? [False, False] Translation: X:97.84, Y:-7.93, Z:-2.98 [[ 9.98626504e-01 -5.23756817e-02 -1.37628489e-03 9.78417384e+01] [ 5.22562780e-02 9.97564091e-01 -4.62078628e-02 -7.93140871e+00] [ 3.79310070e-03 4.60724770e-02 9.98930898e-01 -2.97728027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.959072329 meters 0.2317191611233729 Centerline is valid? [False, False] Translation: X:97.84, Y:-7.94, Z:-2.98 [[ 9.98470549e-01 -5.52637588e-02 -1.57464546e-03 9.78426246e+01] [ 5.51319163e-02 9.97406706e-01 -4.62637434e-02 -7.94469509e+00] [ 4.12727030e-03 4.61061720e-02 9.98928019e-01 -2.97689802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.019072329 meters 0.23088942047652203 Centerline is valid? [False, False] Translation: X:97.84, Y:-7.95, Z:-2.98 [[ 9.98501994e-01 -5.46718086e-02 -2.18186295e-03 9.78445334e+01] [ 5.45245994e-02 9.97556603e-01 -4.36794148e-02 -7.95365851e+00] [ 4.56456440e-03 4.34950176e-02 9.99043216e-01 -2.97762457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.079072329 meters 0.23204613177946617 Centerline is valid? [False, False] Translation: X:97.85, Y:-7.97, Z:-2.98 [[ 9.98547447e-01 -5.37529677e-02 -3.68977875e-03 9.78491434e+01] [ 5.35677216e-02 9.97795415e-01 -3.91766331e-02 -7.96801044e+00] [ 5.78750461e-03 3.89220739e-02 9.99225489e-01 -2.97852255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13907232900002 meters 0.23557243576626125 Centerline is valid? [False, False] Translation: X:97.85, Y:-7.98, Z:-2.98 [[ 9.98579922e-01 -5.30932106e-02 -4.38754417e-03 9.78507570e+01] [ 5.29075253e-02 9.97984087e-01 -3.50507683e-02 -7.98110407e+00] [ 6.23965709e-03 3.47688594e-02 9.99375902e-01 -2.97747398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199072329 meters 0.23565189344269305 Centerline is valid? [False, False] Translation: X:97.85, Y:-7.99, Z:-2.98 [[ 9.98602011e-01 -5.26116034e-02 -5.10328824e-03 9.78522657e+01] [ 5.24098971e-02 9.98053120e-01 -3.38108172e-02 -7.98573432e+00] [ 6.87219406e-03 3.34960873e-02 9.99415222e-01 -2.97696405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.259072329 meters 0.2460451836134609 Centerline is valid? [False, False] Translation: X:97.86, Y:-8.00, Z:-2.97 [[ 9.98836492e-01 -4.73718448e-02 -9.03161981e-03 9.78637072e+01] [ 4.70296973e-02 9.98282462e-01 -3.49332629e-02 -7.99757327e+00] [ 1.06709608e-02 3.44678634e-02 9.99348836e-01 -2.97213964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.319072329 meters 0.24576324801522512 Centerline is valid? [False, False] Translation: X:97.87, Y:-8.00, Z:-2.97 [[ 9.98849742e-01 -4.70048138e-02 -9.47318790e-03 9.78650622e+01] [ 4.66701266e-02 9.98368385e-01 -3.29008790e-02 -8.00471372e+00] [ 1.10042310e-02 3.24209197e-02 9.99413724e-01 -2.97269659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.379072329 meters 0.25144640435159865 Centerline is valid? [False, False] Translation: X:97.87, Y:-8.01, Z:-2.97 [[ 9.98869275e-01 -4.65004577e-02 -9.89334374e-03 9.78661158e+01] [ 4.61875541e-02 9.98488172e-01 -2.98006782e-02 -8.01484748e+00] [ 1.12641319e-02 2.93100325e-02 9.99506899e-01 -2.97234068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.439072329 meters 0.25775255390012614 Centerline is valid? [False, False] Translation: X:97.87, Y:-8.02, Z:-2.97 [[ 9.98884846e-01 -4.61185295e-02 -1.01067191e-02 9.78665479e+01] [ 4.58199238e-02 9.98556795e-01 -2.80153720e-02 -8.02093568e+00] [ 1.13841608e-02 2.75210415e-02 9.99556398e-01 -2.97213012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.499072329 meters 0.262502894513616 Centerline is valid? [False, False] Translation: X:97.87, Y:-8.03, Z:-2.97 [[ 9.98900700e-01 -4.56992966e-02 -1.04386888e-02 9.78674694e+01] [ 4.54218739e-02 9.98644300e-01 -2.54246911e-02 -8.02968675e+00] [ 1.15864275e-02 2.49225969e-02 9.99622238e-01 -2.97218035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.559072329 meters 0.2700955289997621 Centerline is valid? [False, False] Translation: X:97.87, Y:-8.04, Z:-2.97 [[ 9.98917625e-01 -4.52986322e-02 -1.05646664e-02 9.78677485e+01] [ 4.50425114e-02 9.98712446e-01 -2.33371517e-02 -8.03652177e+00] [ 1.16082049e-02 2.28360331e-02 9.99671829e-01 -2.97213523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.619072329 meters 0.2848310900435562 Centerline is valid? [False, False] Translation: X:97.87, Y:-8.04, Z:-2.97 [[ 9.98925460e-01 -4.50988689e-02 -1.06779302e-02 9.78681596e+01] [ 4.48590084e-02 9.98757017e-01 -2.17276328e-02 -8.04200233e+00] [ 1.16445494e-02 2.12252843e-02 9.99706903e-01 -2.97236299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.679072329 meters 0.2886938203579769 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.05, Z:-2.97 [[ 9.99091671e-01 -4.01467576e-02 -1.42853609e-02 9.78778866e+01] [ 3.97808933e-02 9.98894766e-01 -2.50345017e-02 -8.04531094e+00] [ 1.52746263e-02 2.44434777e-02 9.99584515e-01 -2.96802674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.739072329 meters 0.2986400660348947 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.05, Z:-2.97 [[ 9.99091832e-01 -4.01208071e-02 -1.43468227e-02 9.78782845e+01] [ 3.97705907e-02 9.98922599e-01 -2.39153055e-02 -8.04935180e+00] [ 1.52908668e-02 2.33230048e-02 9.99611038e-01 -2.96856851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.799072329 meters 0.3042605699785991 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.05, Z:-2.97 [[ 9.99096515e-01 -3.99973168e-02 -1.43655580e-02 9.78782307e+01] [ 3.96578655e-02 9.98944311e-01 -2.31844015e-02 -8.05176534e+00] [ 1.52777063e-02 2.25937474e-02 9.99627988e-01 -2.96852767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.859072329 meters 0.319698839398845 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.05, Z:-2.97 [[ 9.99098461e-01 -3.99746522e-02 -1.42931244e-02 9.78781812e+01] [ 3.96496431e-02 9.98963837e-01 -2.23418291e-02 -8.05466656e+00] [ 1.51714212e-02 2.17549698e-02 9.99648213e-01 -2.96890779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91907232900002 meters 0.3311970656696448 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.06, Z:-2.97 [[ 9.99093485e-01 -4.00662534e-02 -1.43841328e-02 9.78786732e+01] [ 3.97453432e-02 9.98968881e-01 -2.19427123e-02 -8.05629200e+00] [ 1.52484633e-02 2.13511187e-02 9.99655748e-01 -2.96955012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979072329 meters 0.34222623814532 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.06, Z:-2.97 [[ 9.99076954e-01 -4.03854883e-02 -1.46373273e-02 9.78797884e+01] [ 4.00620699e-02 9.98960370e-01 -2.17533956e-02 -8.05747207e+00] [ 1.55006314e-02 2.11469146e-02 9.99656210e-01 -2.97061433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.039072329 meters 0.35288666675164565 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.06, Z:-2.97 [[ 9.99069578e-01 -4.06184912e-02 -1.44953664e-02 9.78793155e+01] [ 4.02993421e-02 9.98952656e-01 -2.16691953e-02 -8.05781680e+00] [ 1.53603548e-02 2.10648801e-02 9.99660107e-01 -2.97035460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.099072329 meters 0.3616933586286259 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.06, Z:-2.97 [[ 9.99057342e-01 -4.08647011e-02 -1.46459554e-02 9.78795095e+01] [ 4.05361136e-02 9.98934282e-01 -2.20708641e-02 -8.05649078e+00] [ 1.55322663e-02 2.14563687e-02 9.99649125e-01 -2.97010800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.159072329 meters 0.38026838010105507 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.05, Z:-2.97 [[ 9.99025891e-01 -4.15668026e-02 -1.48145327e-02 9.78805533e+01] [ 4.12215858e-02 9.98887744e-01 -2.28922689e-02 -8.05425159e+00] [ 1.57496135e-02 2.22592908e-02 9.99628168e-01 -2.97110319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.219072329 meters 0.3915040181278358 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.05, Z:-2.97 [[ 9.99151861e-01 -3.83666202e-02 -1.49519444e-02 9.78808112e+01] [ 3.80620136e-02 9.99072187e-01 -2.01506529e-02 -8.05021700e+00] [ 1.57111842e-02 1.95644612e-02 9.99685146e-01 -2.97134798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.279072329 meters 0.3964367330724022 Centerline is valid? [False, False] Translation: X:97.88, Y:-8.05, Z:-2.97 [[ 9.99136037e-01 -3.88271164e-02 -1.48200725e-02 9.78805762e+01] [ 3.85080615e-02 9.99032552e-01 -2.12388479e-02 -8.04659140e+00] [ 1.56303781e-02 2.06498060e-02 9.99664582e-01 -2.97130509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.339072329 meters 0.40864861863638424 Centerline is valid? [False, False] Translation: X:97.91, Y:-8.04, Z:-2.97 [[ 9.99195409e-01 -3.83846483e-02 -1.16255711e-02 9.79089177e+01] [ 3.81081618e-02 9.99005725e-01 -2.31371895e-02 -8.04358122e+00] [ 1.25021249e-02 2.26755443e-02 9.99664702e-01 -2.97180827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.399072329 meters 0.4234795882486466 Centerline is valid? [False, False] Translation: X:97.91, Y:-8.04, Z:-2.97 [[ 9.99319154e-01 -3.49159085e-02 -1.19209346e-02 9.79099951e+01] [ 3.46683070e-02 9.99191036e-01 -2.03809133e-02 -8.03900558e+00] [ 1.26229091e-02 1.99537584e-02 9.99721216e-01 -2.97276896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.459072329 meters 0.4240919906668778 Centerline is valid? [False, False] Translation: X:97.94, Y:-8.03, Z:-2.97 [[ 9.99458050e-01 -3.17104667e-02 -8.83468737e-03 9.79385316e+01] [ 3.15293390e-02 9.99303953e-01 -1.99376614e-02 -8.03350116e+00] [ 9.46077056e-03 1.96483044e-02 9.99762191e-01 -2.97368914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.519072329 meters 0.42765136145203814 Centerline is valid? [False, False] Translation: X:97.97, Y:-8.02, Z:-2.98 [[ 9.99517689e-01 -3.05757487e-02 -5.43256473e-03 9.79665873e+01] [ 3.04456549e-02 9.99280838e-01 -2.26024287e-02 -8.02476636e+00] [ 6.11974402e-03 2.24261294e-02 9.99729772e-01 -2.97534330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.579072329 meters 0.43535926290919313 Centerline is valid? [False, False] Translation: X:97.97, Y:-8.02, Z:-2.98 [[ 9.99610508e-01 -2.73736704e-02 -5.43274088e-03 9.79670655e+01] [ 2.72540811e-02 9.99408247e-01 -2.09850181e-02 -8.01634680e+00] [ 6.00396301e-03 2.08287802e-02 9.99765030e-01 -2.97591109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63907232900002 meters 0.4459941411120109 Centerline is valid? [False, False] Translation: X:97.97, Y:-8.00, Z:-2.97 [[ 9.99740475e-01 -2.21287168e-02 -5.41321872e-03 9.79662645e+01] [ 2.20245114e-02 9.99584271e-01 -1.86066298e-02 -7.99993946e+00] [ 5.82270913e-03 1.84825774e-02 9.99812228e-01 -2.97468054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699072329 meters 0.4370632410745902 Centerline is valid? [False, False] Translation: X:97.99, Y:-7.99, Z:-2.98 [[ 9.99822710e-01 -1.87032682e-02 -2.17641160e-03 9.79941832e+01] [ 1.86598058e-02 9.99654360e-01 -1.85194944e-02 -7.99390115e+00] [ 2.52203442e-03 1.84755997e-02 9.99826131e-01 -2.97614453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.759072329 meters 0.4447956948851305 Centerline is valid? [False, False] Translation: X:98.02, Y:-7.98, Z:-2.98 [[ 9.99888986e-01 -1.47952004e-02 1.76580214e-03 9.80203370e+01] [ 1.48275790e-02 9.99689988e-01 -2.00017925e-02 -7.97959550e+00] [-1.46932419e-03 2.00257546e-02 9.99798385e-01 -2.97841464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.819072329 meters 0.44644296098154207 Centerline is valid? [False, False] Translation: X:98.05, Y:-7.96, Z:-2.98 [[ 9.99927038e-01 -1.06803907e-02 5.64331995e-03 9.80467083e+01] [ 1.07989963e-02 9.99712197e-01 -2.14220744e-02 -7.96386932e+00] [-5.41289966e-03 2.14814536e-02 9.99754594e-01 -2.98086375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.879072329 meters 0.44380055221669845 Centerline is valid? [False, False] Translation: X:98.05, Y:-7.95, Z:-2.98 [[ 9.99977069e-01 -3.68535082e-03 5.68146612e-03 9.80472544e+01] [ 3.77859463e-03 9.99856899e-01 -1.64895009e-02 -7.95240748e+00] [-5.61988350e-03 1.65105908e-02 9.99847897e-01 -2.98081203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.939072329 meters 0.44706637600994625 Centerline is valid? [False, False] Translation: X:98.04, Y:-7.93, Z:-2.98 [[ 9.99974638e-01 1.48469595e-03 6.96563107e-03 9.80438857e+01] [-1.36413543e-03 9.99849744e-01 -1.72808519e-02 -7.92673515e+00] [-6.99024126e-03 1.72709115e-02 9.99826411e-01 -2.98015848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.999072329 meters 0.46971821363269634 Centerline is valid? [False, False] Translation: X:98.05, Y:-7.90, Z:-2.98 [[ 9.99975410e-01 5.38580603e-03 4.49131415e-03 9.80517236e+01] [-5.32067794e-03 9.99882318e-01 -1.43889088e-02 -7.90498590e+00] [-4.56828147e-03 1.43646581e-02 9.99886387e-01 -2.97774499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.059072329 meters 0.4552805032445805 Centerline is valid? [False, False] Translation: X:98.05, Y:-7.90, Z:-2.98 [[ 9.99951430e-01 8.79768410e-03 4.44283769e-03 9.80523618e+01] [-8.74380184e-03 9.99889706e-01 -1.20050792e-02 -7.89874036e+00] [-4.54796457e-03 1.19656489e-02 9.99918066e-01 -2.97800199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.119072329 meters 0.45136138615725463 Centerline is valid? [False, False] Translation: X:98.06, Y:-7.87, Z:-2.97 [[ 9.99967682e-01 7.86901557e-03 1.64721144e-03 9.80607570e+01] [-7.84581259e-03 9.99876078e-01 -1.36481520e-02 -7.87118152e+00] [-1.75440484e-03 1.36347872e-02 9.99905503e-01 -2.97379279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.179072329 meters 0.46263135987362375 Centerline is valid? [False, False] Translation: X:98.06, Y:-7.85, Z:-2.97 [[ 9.99949017e-01 9.97268355e-03 1.58390562e-03 9.80616327e+01] [-9.94861260e-03 9.99844792e-01 -1.45402072e-02 -7.85493465e+00] [-1.72866467e-03 1.45237082e-02 9.99893031e-01 -2.97330849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.239072329 meters 0.45922858411669865 Centerline is valid? [False, False] Translation: X:98.07, Y:-7.83, Z:-2.97 [[ 9.99905912e-01 1.36969700e-02 -7.48571989e-04 9.80692886e+01] [-1.37051221e-02 9.99830895e-01 -1.22617855e-02 -7.83081411e+00] [ 5.80496094e-04 1.22708911e-02 9.99924541e-01 -2.97063175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.299072329 meters 0.47600962830017335 Centerline is valid? [False, False] Translation: X:98.08, Y:-7.80, Z:-2.97 [[ 9.99908037e-01 1.28380275e-02 -4.37055867e-03 9.80802084e+01] [-1.28983205e-02 9.99817979e-01 -1.40585199e-02 -7.80307804e+00] [ 4.18927947e-03 1.41135999e-02 9.99891622e-01 -2.96616680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.359072329 meters 0.47556873391655075 Centerline is valid? [False, False] Translation: X:98.08, Y:-7.79, Z:-2.97 [[ 9.99880484e-01 1.47056261e-02 -4.77088730e-03 9.80819951e+01] [-1.47762700e-02 9.99776403e-01 -1.51263430e-02 -7.78644463e+00] [ 4.54737820e-03 1.51950311e-02 9.99874208e-01 -2.96543250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41907232900002 meters 0.47563907243227155 Centerline is valid? [False, False] Translation: X:98.08, Y:-7.76, Z:-2.96 [[ 9.99784630e-01 2.02284202e-02 -4.63722522e-03 9.80828405e+01] [-2.02986222e-02 9.99671818e-01 -1.56276429e-02 -7.75954558e+00] [ 4.31958084e-03 1.57184065e-02 9.99867128e-01 -2.96494882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479072329 meters 0.47349114897596006 Centerline is valid? [False, False] Translation: X:98.09, Y:-7.73, Z:-2.96 [[ 9.99667381e-01 2.52018001e-02 -5.47700089e-03 9.80865506e+01] [-2.52812598e-02 9.99568462e-01 -1.49582123e-02 -7.73390502e+00] [ 5.09766348e-03 1.50917024e-02 9.99873119e-01 -2.96366983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.539072329 meters 0.47771453497856264 Centerline is valid? [False, False] Translation: X:98.09, Y:-7.72, Z:-2.96 [[ 9.99616816e-01 2.70033113e-02 -6.08621830e-03 9.80887776e+01] [-2.70982864e-02 9.99503053e-01 -1.61037228e-02 -7.71694347e+00] [ 5.64833993e-03 1.62624782e-02 9.99851803e-01 -2.96242178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.599072329 meters 0.4747323183704727 Centerline is valid? [False, False] Translation: X:98.09, Y:-7.69, Z:-2.96 [[ 9.99554730e-01 2.91004772e-02 -6.59578742e-03 9.80906325e+01] [-2.92318908e-02 9.99356432e-01 -2.07898770e-02 -7.68835286e+00] [ 5.98654724e-03 2.09734272e-02 9.99762110e-01 -2.96022544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.659072329 meters 0.4750644996661881 Centerline is valid? [False, False] Translation: X:98.10, Y:-7.66, Z:-2.96 [[ 9.99371301e-01 3.46113296e-02 -7.68490224e-03 9.80951746e+01] [-3.47648372e-02 9.99178390e-01 -2.08314937e-02 -7.66235933e+00] [ 6.95758256e-03 2.10855613e-02 9.99753465e-01 -2.95907665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.719072329 meters 0.47313465115318715 Centerline is valid? [False, False] Translation: X:98.10, Y:-7.64, Z:-2.96 [[ 9.99142132e-01 4.04462656e-02 -8.89385328e-03 9.81000146e+01] [-4.06259380e-02 9.98952757e-01 -2.10457431e-02 -7.63617774e+00] [ 8.03331753e-03 2.13890097e-02 9.99738954e-01 -2.95753650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.779072329 meters 0.47840015112825374 Centerline is valid? [False, False] Translation: X:98.10, Y:-7.62, Z:-2.96 [[ 9.99045616e-01 4.25664664e-02 -9.79555759e-03 9.81026132e+01] [-4.27784131e-02 9.98829992e-01 -2.25533710e-02 -7.61847486e+00] [ 8.82407940e-03 2.29508848e-02 9.99697651e-01 -2.95530260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.839072329 meters 0.48020464572556587 Centerline is valid? [False, False] Translation: X:98.12, Y:-7.59, Z:-2.95 [[ 9.99226961e-01 3.72022581e-02 -1.27071511e-02 9.81173357e+01] [-3.74930726e-02 9.99021223e-01 -2.34705281e-02 -7.58833339e+00] [ 1.18215570e-02 2.39288147e-02 9.99643768e-01 -2.94905633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.899072329 meters 0.47103250181301015 Centerline is valid? [False, False] Translation: X:98.12, Y:-7.57, Z:-2.95 [[ 9.99124098e-01 3.94458429e-02 -1.39664379e-02 9.81207289e+01] [-3.97885565e-02 9.98890919e-01 -2.51754451e-02 -7.56978543e+00] [ 1.29578814e-02 2.57090982e-02 9.99585482e-01 -2.94645122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.959072329 meters 0.4683260949781607 Centerline is valid? [False, False] Translation: X:98.14, Y:-7.54, Z:-2.94 [[ 9.99286175e-01 3.36783447e-02 -1.71145890e-02 9.81380221e+01] [-3.41232604e-02 9.99068740e-01 -2.64055975e-02 -7.53923022e+00] [ 1.62093541e-02 2.69707541e-02 9.99504795e-01 -2.94172123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.019072329 meters 0.4605536719293582 Centerline is valid? [False, False] Translation: X:98.15, Y:-7.51, Z:-2.93 [[ 9.99248230e-01 3.18605103e-02 -2.20880744e-02 9.81533054e+01] [-3.24635189e-02 9.99094486e-01 -2.75014280e-02 -7.51010143e+00] [ 2.11918638e-02 2.81978099e-02 9.99377701e-01 -2.93397063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.079072329 meters 0.468207362681378 Centerline is valid? [False, False] Translation: X:98.17, Y:-7.49, Z:-2.93 [[ 9.99434562e-01 2.46550566e-02 -2.28622899e-02 9.81705429e+01] [-2.52769338e-02 9.99307020e-01 -2.73231664e-02 -7.48932090e+00] [ 2.21727925e-02 2.78856054e-02 9.99365179e-01 -2.93251617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13907232900002 meters 0.46268855579301665 Centerline is valid? [False, False] Translation: X:98.18, Y:-7.46, Z:-2.93 [[ 9.99332013e-01 2.43066669e-02 -2.72894559e-02 9.81837117e+01] [-2.50301316e-02 9.99335671e-01 -2.64898109e-02 -7.46072809e+00] [ 2.66274477e-02 2.71551747e-02 9.99276526e-01 -2.92500575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199072329 meters 0.4572160093598184 Centerline is valid? [False, False] Translation: X:98.19, Y:-7.43, Z:-2.92 [[ 9.99111078e-01 3.00358123e-02 -2.95787872e-02 9.81906321e+01] [-3.08523687e-02 9.99144256e-01 -2.75479171e-02 -7.43294786e+00] [ 2.87260512e-02 2.84360048e-02 9.99182770e-01 -2.92297943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.259072329 meters 0.4530403917425436 Centerline is valid? [False, False] Translation: X:98.19, Y:-7.42, Z:-2.92 [[ 9.98999222e-01 3.21801445e-02 -3.10643241e-02 9.81941942e+01] [-3.30739869e-02 9.99040688e-01 -2.87021691e-02 -7.41551828e+00] [ 3.01108838e-02 2.97008657e-02 9.99105196e-01 -2.92056508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.319072329 meters 0.45023647569178776 Centerline is valid? [False, False] Translation: X:98.20, Y:-7.39, Z:-2.92 [[ 9.98720695e-01 3.85577509e-02 -3.27150256e-02 9.81986311e+01] [-3.95163570e-02 9.98792786e-01 -2.91792549e-02 -7.38821751e+00] [ 3.15504451e-02 3.04347043e-02 9.99038687e-01 -2.91648153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.379072329 meters 0.46171605771284063 Centerline is valid? [False, False] Translation: X:98.21, Y:-7.37, Z:-2.91 [[ 9.98625144e-01 3.72149827e-02 -3.69170268e-02 9.82112901e+01] [-3.82619608e-02 9.98873384e-01 -2.80710703e-02 -7.36959654e+00] [ 3.58307711e-02 2.94449944e-02 9.98923995e-01 -2.90960556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.439072329 meters 0.4512421604011132 Centerline is valid? [False, False] Translation: X:98.22, Y:-7.34, Z:-2.91 [[ 9.98306838e-01 4.34415428e-02 -3.86818902e-02 9.82165767e+01] [-4.45151440e-02 9.98634542e-01 -2.73396032e-02 -7.34329348e+00] [ 3.74413972e-02 2.90152427e-02 9.98877499e-01 -2.90714748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.499072329 meters 0.4492623093884745 Centerline is valid? [False, False] Translation: X:98.26, Y:-7.32, Z:-2.91 [[ 9.98779178e-01 3.17776929e-02 -3.78197234e-02 9.82608018e+01] [-3.28173303e-02 9.99091357e-01 -2.71934282e-02 -7.31632962e+00] [ 3.69212144e-02 2.84013722e-02 9.98914504e-01 -2.90660764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.559072329 meters 0.43776018461542066 Centerline is valid? [False, False] Translation: X:98.28, Y:-7.29, Z:-2.90 [[ 9.98803567e-01 2.77086099e-02 -4.02947665e-02 9.82767850e+01] [-2.87575191e-02 9.99256278e-01 -2.56884532e-02 -7.28727088e+00] [ 3.95530070e-02 2.68164962e-02 9.98857565e-01 -2.90268791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.619072329 meters 0.4325988495215743 Centerline is valid? [False, False] Translation: X:98.29, Y:-7.27, Z:-2.90 [[ 9.98930825e-01 2.18689584e-02 -4.07302871e-02 9.82912322e+01] [-2.28184311e-02 9.99475159e-01 -2.29940315e-02 -7.26765603e+00] [ 4.02060546e-02 2.38988481e-02 9.98905560e-01 -2.90165487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.679072329 meters 0.4193753349132423 Centerline is valid? [False, False] Translation: X:98.30, Y:-7.24, Z:-2.91 [[ 9.99154256e-01 2.87010417e-02 -2.94452570e-02 9.83012090e+01] [-2.93923579e-02 9.99295883e-01 -2.33201112e-02 -7.24034733e+00] [ 2.87552126e-02 2.41658538e-02 9.99294326e-01 -2.90968136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.739072329 meters 0.4061378115141774 Centerline is valid? [False, False] Translation: X:98.31, Y:-7.22, Z:-2.90 [[ 9.99143140e-01 2.44338603e-02 -3.34061639e-02 9.83115181e+01] [-2.52578123e-02 9.99381459e-01 -2.44692248e-02 -7.22234891e+00] [ 3.27876231e-02 2.52920247e-02 9.99142275e-01 -2.90300503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.799072329 meters 0.40746775907086336 Centerline is valid? [False, False] Translation: X:98.34, Y:-7.19, Z:-2.90 [[ 9.99314190e-01 1.37854844e-02 -3.43672714e-02 9.83368423e+01] [-1.44935194e-02 9.99686049e-01 -2.04387226e-02 -7.19423064e+00] [ 3.40747241e-02 2.09228083e-02 9.99200255e-01 -2.90010783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.859072329 meters 0.3993073593149604 Centerline is valid? [False, False] Translation: X:98.34, Y:-7.17, Z:-2.91 [[ 9.99584472e-01 2.06109434e-02 -2.01512496e-02 9.83381771e+01] [-2.09621638e-02 9.99629260e-01 -1.73761583e-02 -7.16857887e+00] [ 1.97856397e-02 1.77913519e-02 9.99645935e-01 -2.90844269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91907232900002 meters 0.38989717438457366 Centerline is valid? [False, False] Translation: X:98.35, Y:-7.14, Z:-2.90 [[ 9.99591148e-01 1.62614886e-02 -2.35180858e-02 9.83495496e+01] [-1.66840019e-02 9.99700890e-01 -1.78822386e-02 -7.14191897e+00] [ 2.32202594e-02 1.82673032e-02 9.99563467e-01 -2.90329580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979072329 meters 0.3941387597687834 Centerline is valid? [False, False] Translation: X:98.36, Y:-7.13, Z:-2.91 [[ 9.99730002e-01 7.49347523e-03 -2.19948142e-02 9.83628673e+01] [-7.81612395e-03 9.99862570e-01 -1.46201833e-02 -7.13164914e+00] [ 2.18822355e-02 1.47881501e-02 9.99651178e-01 -2.90528098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.039072329 meters 0.38732417256224444 Centerline is valid? [False, False] Translation: X:98.37, Y:-7.11, Z:-2.91 [[ 9.99866165e-01 1.40659236e-02 -8.35473800e-03 9.83657594e+01] [-1.41643256e-02 9.99829603e-01 -1.18379643e-02 -7.10521303e+00] [ 8.18680247e-03 1.19547192e-02 9.99895025e-01 -2.91390735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.099072329 meters 0.3838672049313951 Centerline is valid? [False, False] Translation: X:98.37, Y:-7.09, Z:-2.91 [[ 9.99822945e-01 1.64536700e-02 -9.12989193e-03 9.83675469e+01] [-1.65637860e-02 9.99789358e-01 -1.21194372e-02 -7.09041267e+00] [ 8.92855957e-03 1.22685170e-02 9.99884876e-01 -2.91261134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.159072329 meters 0.3769657674158084 Centerline is valid? [False, False] Translation: X:98.37, Y:-7.07, Z:-2.91 [[ 9.99762839e-01 1.91345308e-02 -1.03988689e-02 9.83710112e+01] [-1.92811529e-02 9.99713437e-01 -1.41873719e-02 -7.06700083e+00] [ 1.01244202e-02 1.43845094e-02 9.99845279e-01 -2.91098955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.219072329 meters 0.37257008868768665 Centerline is valid? [False, False] Translation: X:98.37, Y:-7.04, Z:-2.91 [[ 9.99631098e-01 2.47347585e-02 -1.12187296e-02 9.83735176e+01] [-2.48805931e-02 9.99605230e-01 -1.30514452e-02 -7.04459063e+00] [ 1.08914765e-02 1.33257591e-02 9.99851889e-01 -2.90956641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.279072329 meters 0.37761839151150045 Centerline is valid? [False, False] Translation: X:98.38, Y:-7.03, Z:-2.90 [[ 9.99706741e-01 1.94773761e-02 -1.43897005e-02 9.83821020e+01] [-1.96459182e-02 9.99738941e-01 -1.16656664e-02 -7.02830668e+00] [ 1.41587274e-02 1.19449442e-02 9.99828410e-01 -2.90417932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.339072329 meters 0.37681287069589425 Centerline is valid? [False, False] Translation: X:98.38, Y:-7.01, Z:-2.90 [[ 9.99596258e-01 2.42607018e-02 -1.47898684e-02 9.83833548e+01] [-2.44263561e-02 9.99639732e-01 -1.11246919e-02 -7.00683487e+00] [ 1.45146472e-02 1.14814630e-02 9.99828736e-01 -2.90209462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.399072329 meters 0.3834092961610509 Centerline is valid? [False, False] Translation: X:98.39, Y:-6.99, Z:-2.90 [[ 9.99471906e-01 2.84101264e-02 -1.57725518e-02 9.83875250e+01] [-2.85787059e-02 9.99535684e-01 -1.05676322e-02 -6.98557448e+00] [ 1.54650006e-02 1.10128107e-02 9.99819760e-01 -2.90138358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459072329 meters 0.38827855586150756 Centerline is valid? [False, False] Translation: X:98.40, Y:-6.97, Z:-2.90 [[ 9.99588316e-01 2.19504792e-02 -1.84763259e-02 9.83989880e+01] [-2.21042408e-02 9.99722375e-01 -8.15939256e-03 -6.96914250e+00] [ 1.82920938e-02 8.56443863e-03 9.99796004e-01 -2.89984397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519072329 meters 0.3908453453366093 Centerline is valid? [False, False] Translation: X:98.40, Y:-6.95, Z:-2.90 [[ 9.99451031e-01 2.75351380e-02 -1.84242424e-02 9.84011587e+01] [-2.76519499e-02 9.99598904e-01 -6.11564189e-03 -6.95015295e+00] [ 1.82484574e-02 6.62175082e-03 9.99811555e-01 -2.90045020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.579072329 meters 0.3956656898517741 Centerline is valid? [False, False] Translation: X:98.40, Y:-6.94, Z:-2.90 [[ 9.99359878e-01 3.04982331e-02 -1.87000701e-02 9.84024506e+01] [-3.05977417e-02 9.99518980e-01 -5.05840953e-03 -6.93869762e+00] [ 1.85368024e-02 5.62735144e-03 9.99812342e-01 -2.89972428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63907232900002 meters 0.40454498993242366 Centerline is valid? [False, False] Translation: X:98.40, Y:-6.92, Z:-2.90 [[ 9.99263876e-01 3.33049130e-02 -1.90391436e-02 9.84044396e+01] [-3.34011760e-02 9.99430687e-01 -4.76053383e-03 -6.92176779e+00] [ 1.88697552e-02 5.39295927e-03 9.99807406e-01 -2.89923470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699072329 meters 0.40574821620802615 Centerline is valid? [False, False] Translation: X:98.42, Y:-6.91, Z:-2.90 [[ 9.99673377e-01 1.69098942e-02 -1.91623323e-02 9.84230374e+01] [-1.69378552e-02 9.99855702e-01 -1.29779697e-03 -6.90825195e+00] [ 1.91376216e-02 1.62194189e-03 9.99815543e-01 -2.90048373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.759072329 meters 0.41644599060429716 Centerline is valid? [False, False] Translation: X:98.42, Y:-6.89, Z:-2.90 [[ 9.99626129e-01 1.92462742e-02 -1.94211940e-02 9.84229325e+01] [-1.92623885e-02 9.99814256e-01 -6.42983500e-04 -6.89236479e+00] [ 1.94052116e-02 1.01684169e-03 9.99811184e-01 -2.89906815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.819072329 meters 0.45324589052002207 Centerline is valid? [False, False] Translation: X:98.42, Y:-6.88, Z:-2.90 [[ 9.99630050e-01 1.82028666e-02 -2.02093802e-02 9.84226167e+01] [-1.82437311e-02 9.99831877e-01 -1.83951787e-03 -6.87606974e+00] [ 2.01724980e-02 2.20753184e-03 9.99794077e-01 -2.89795363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.879072329 meters 0.4544012652254845 Centerline is valid? [False, False] Translation: X:98.43, Y:-6.87, Z:-2.91 [[ 9.99862229e-01 5.79352164e-03 -1.55550329e-02 9.84254060e+01] [-5.73056154e-03 9.99975220e-01 4.08909735e-03 -6.86536371e+00] [ 1.55783377e-02 -3.99939492e-03 9.99870652e-01 -2.90712147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.939072329 meters 0.46302569335191984 Centerline is valid? [False, False] Translation: X:98.42, Y:-6.85, Z:-2.92 [[ 9.99930502e-01 -6.39679996e-03 -9.90317955e-03 9.84159063e+01] [ 6.52665692e-03 9.99892414e-01 1.31363444e-02 -6.85175986e+00] [ 9.81808354e-03 -1.32000661e-02 9.99864673e-01 -2.91828879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.999072329 meters 0.49058226022279855 Centerline is valid? [False, False] Translation: X:98.40, Y:-6.84, Z:-2.93 [[ 9.99959163e-01 -7.54719579e-03 -4.97114375e-03 9.83968285e+01] [ 7.63129078e-03 9.99824308e-01 1.71206734e-02 -6.83887547e+00] [ 4.84105728e-03 -1.71579105e-02 9.99841073e-01 -2.92640678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.059072329 meters 0.4990400217962005 Centerline is valid? [False, False] Translation: X:98.37, Y:-6.82, Z:-2.94 [[ 9.99944267e-01 -1.05443814e-02 5.28413772e-04 9.83721295e+01] [ 1.05309184e-02 9.99722803e-01 2.10574654e-02 -6.82358297e+00] [-7.50305243e-04 -2.10507271e-02 9.99778127e-01 -2.93523676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.119072329 meters 0.5169210447947017 Centerline is valid? [False, False] Translation: X:98.36, Y:-6.82, Z:-2.94 [[ 9.99938617e-01 -9.93702629e-03 4.90071846e-03 9.83571550e+01] [ 9.80951231e-03 9.99629467e-01 2.53909950e-02 -6.81643152e+00] [-5.15121357e-03 -2.53413628e-02 9.99665584e-01 -2.94241173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.179072329 meters 0.6166376734561532 Centerline is valid? [False, False] Translation: X:98.36, Y:-6.83, Z:-2.96 [[ 9.99958808e-01 1.23555408e-03 8.99193156e-03 9.83566501e+01] [-1.56648569e-03 9.99318116e-01 3.68896924e-02 -6.83376151e+00] [-8.94022089e-03 -3.69022586e-02 9.99278888e-01 -2.95634083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.239072329 meters 0.6139395998262912 Centerline is valid? [False, False] Translation: X:98.36, Y:-6.85, Z:-2.97 [[ 9.99892159e-01 9.94279076e-03 1.08079373e-02 9.83607383e+01] [-1.04343060e-02 9.98867757e-01 4.64147446e-02 -6.84651547e+00] [-1.03342080e-02 -4.65225125e-02 9.98863784e-01 -2.96792764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.299072329 meters 0.5683382153383313 Centerline is valid? [False, False] Translation: X:98.35, Y:-6.88, Z:-2.98 [[ 9.98847752e-01 4.78465293e-02 -3.72529564e-03 9.83543763e+01] [-4.75247907e-02 9.96950402e-01 6.18974243e-02 -6.87872859e+00] [ 6.67551191e-03 -6.16490593e-02 9.98075564e-01 -2.97757536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.359072329 meters 0.39936209843782544 Centerline is valid? [False, False] Translation: X:98.35, Y:-6.91, Z:-3.00 [[ 9.96770798e-01 7.93894889e-02 -1.20534199e-02 9.83545641e+01] [-7.84474982e-02 9.94801602e-01 6.49289031e-02 -6.90786734e+00] [ 1.71454338e-02 -6.37736739e-02 9.97817094e-01 -2.99649781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41907232900002 meters 0.34669636604887394 Centerline is valid? [False, False] Translation: X:98.37, Y:-6.92, Z:-3.01 [[ 9.96709678e-01 8.04868876e-02 -9.57494979e-03 9.83662445e+01] [-7.97989092e-02 9.95111561e-01 5.81817506e-02 -6.91724132e+00] [ 1.42110113e-02 -5.72262433e-02 9.98260088e-01 -3.00569579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.479072329 meters 0.36479408841574507 Centerline is valid? [False, False] Translation: X:98.37, Y:-6.93, Z:-3.02 [[ 9.93534005e-01 1.13052103e-01 -1.04595944e-02 9.83741449e+01] [-1.12071673e-01 9.91301623e-01 6.90002394e-02 -6.93396398e+00] [ 1.81692351e-02 -6.73818600e-02 9.97561810e-01 -3.01657688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.539072329 meters 0.31696681842161956 Centerline is valid? [False, False] Translation: X:98.38, Y:-6.96, Z:-3.02 [[ 9.86291217e-01 1.63758588e-01 -2.03164810e-02 9.83752212e+01] [-1.62034089e-01 9.84404191e-01 6.85079829e-02 -6.96465286e+00] [ 3.12183995e-02 -6.42768594e-02 9.97443681e-01 -3.01890206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.599072329 meters 0.28000428355935875 Centerline is valid? [False, False] Translation: X:98.39, Y:-6.98, Z:-3.02 [[ 9.85644823e-01 1.67239573e-01 -2.31345679e-02 9.83892269e+01] [-1.65477133e-01 9.84127167e-01 6.41173705e-02 -6.98177204e+00] [ 3.34903185e-02 -5.93687123e-02 9.97674173e-01 -3.01965946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.659072329 meters 0.28645937538773514 Centerline is valid? [False, False] Translation: X:98.35, Y:-6.98, Z:-3.01 [[ 9.83278140e-01 1.81262971e-01 -1.75451980e-02 9.83493975e+01] [-1.80249319e-01 9.82441194e-01 4.81610172e-02 -6.98496892e+00] [ 2.59669343e-02 -4.41931654e-02 9.98685477e-01 -3.00608872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.719072329 meters 0.24785666113218283 Centerline is valid? [False, False] Translation: X:98.28, Y:-6.97, Z:-2.99 [[ 9.83487071e-01 1.80436729e-01 1.39917288e-02 9.82789636e+01] [-1.80780656e-01 9.83085195e-01 2.93573594e-02 -6.97257135e+00] [-8.45791554e-03 -3.14020173e-02 9.99471049e-01 -2.99398434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.779072329 meters 0.21233769856638035 Centerline is valid? [False, False] Translation: X:98.25, Y:-6.96, Z:-2.99 [[ 9.82317567e-01 1.86537416e-01 1.59996678e-02 9.82462111e+01] [-1.86921005e-01 9.81995325e-01 2.73078486e-02 -6.96188611e+00] [-1.06176634e-02 -2.98156534e-02 9.99499021e-01 -2.98673344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.839072329 meters 0.2081860921704088 Centerline is valid? [False, False] Translation: X:98.21, Y:-6.95, Z:-2.98 [[ 9.81889566e-01 1.88711690e-01 1.67564498e-02 9.82100724e+01] [-1.89121459e-01 9.81563338e-01 2.76855039e-02 -6.95022125e+00] [-1.12229386e-02 -3.03531117e-02 9.99476230e-01 -2.98199700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.899072329 meters 0.21643548425408535 Centerline is valid? [False, False] Translation: X:98.17, Y:-6.94, Z:-2.98 [[ 9.80763091e-01 1.95095039e-01 6.45632743e-03 9.81713636e+01] [-1.95193943e-01 9.80484352e-01 2.34469486e-02 -6.93657748e+00] [-1.75594465e-03 -2.42561378e-02 9.99704234e-01 -2.97754411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.959072329 meters 0.19794175910056622 Centerline is valid? [False, False] Translation: X:98.15, Y:-6.93, Z:-2.97 [[ 9.78496993e-01 2.06238439e-01 3.05623909e-03 9.81506931e+01] [-2.06243821e-01 9.78115995e-01 2.74333180e-02 -6.92734689e+00] [ 2.66844833e-03 -2.74737496e-02 9.99618964e-01 -2.97207845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.019072329 meters 0.18797115619755034 Centerline is valid? [False, False] Translation: X:98.10, Y:-6.89, Z:-2.97 [[ 9.75291230e-01 2.20314306e-01 1.63897552e-02 9.81026406e+01] [-2.20641298e-01 9.75108935e-01 2.19085047e-02 -6.89185322e+00] [-1.11550397e-02 -2.49834293e-02 9.99625627e-01 -2.96787330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.079072329 meters 0.16692078010076017 Centerline is valid? [False, False] Translation: X:98.09, Y:-6.87, Z:-2.96 [[ 9.74669183e-01 2.23551437e-01 6.68866447e-03 9.80892596e+01] [-2.23651355e-01 9.74264001e-01 2.81020920e-02 -6.87071994e+00] [-2.34261939e-04 -2.88861720e-02 9.99582680e-01 -2.95951368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13907232900002 meters 0.16099760556476755 Centerline is valid? [False, False] Translation: X:98.04, Y:-6.82, Z:-2.96 [[ 9.70219687e-01 2.41450768e-01 1.93723168e-02 9.80377179e+01] [-2.41725142e-01 9.70253300e-01 1.33224883e-02 -6.82492843e+00] [-1.55793293e-02 -1.76085165e-02 9.99723574e-01 -2.95814493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199072329 meters 0.14136300118897704 Centerline is valid? [False, False] Translation: X:98.02, Y:-6.80, Z:-2.95 [[ 9.70220998e-01 2.41943037e-01 1.16095789e-02 9.80191495e+01] [-2.42144375e-01 9.70006472e-01 2.12966262e-02 -6.79774691e+00] [-6.10879628e-03 -2.34736282e-02 9.99705792e-01 -2.94817861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.259072329 meters 0.12918096685898234 Centerline is valid? [False, False] Translation: X:97.97, Y:-6.75, Z:-2.95 [[ 9.64668462e-01 2.62172846e-01 2.60798314e-02 9.79696725e+01] [-2.62433815e-01 9.64923990e-01 7.08422807e-03 -6.74776265e+00] [-2.33077627e-02 -1.36781610e-02 9.99634761e-01 -2.95220163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.319072329 meters 0.11276508893867492 Centerline is valid? [False, False] Translation: X:97.93, Y:-6.70, Z:-2.95 [[ 9.57267561e-01 2.86577248e-01 3.88882625e-02 9.79300288e+01] [-2.86767534e-01 9.57999934e-01 -7.12969115e-04 -6.70047381e+00] [-3.74592736e-02 -1.04693889e-02 9.99243311e-01 -2.95459055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.379072329 meters 0.09706401892576169 Centerline is valid? [False, True] Translation: X:97.89, Y:-6.66, Z:-2.96 [[ 9.52166771e-01 3.01458851e-01 5.00100056e-02 9.78899950e+01] [-3.01706432e-01 9.53397046e-01 -2.70224466e-03 -6.66375382e+00] [-4.84940071e-02 -1.25153528e-02 9.98745061e-01 -2.95806339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.439072329 meters 0.08198113702997004 Centerline is valid? [True, True] Translation: X:97.98, Y:-6.61, Z:-2.96 [[ 9.35699931e-01 3.51061404e-01 3.49503901e-02 9.79764623e+01] [-3.50788812e-01 9.36352179e-01 -1.38494435e-02 -6.60757683e+00] [-3.75878790e-02 6.98717547e-04 9.99293082e-01 -2.96208504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.499072329 meters 0.08425647806266069 Centerline is valid? [True, True] Translation: X:98.05, Y:-6.57, Z:-2.97 [[ 9.17362105e-01 3.96674097e-01 3.31123666e-02 9.80540922e+01] [-3.96458386e-01 9.17958865e-01 -1.31251408e-02 -6.57334131e+00] [-3.56021938e-02 -1.08716863e-03 9.99365450e-01 -2.96508582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.559072329 meters 0.09091118307469515 Centerline is valid? [True, True] Translation: X:98.12, Y:-6.57, Z:-2.97 [[ 9.05647638e-01 4.22286701e-01 3.84226310e-02 9.81179934e+01] [-4.22019420e-01 9.06459057e-01 -1.52179549e-02 -6.57173218e+00] [-4.12548818e-02 -2.43299153e-03 9.99145693e-01 -2.96517786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.619072329 meters 0.10994874071311767 Centerline is valid? [True, False] Translation: X:98.03, Y:-6.53, Z:-2.97 [[ 8.91632825e-01 4.48352238e-01 6.30172666e-02 9.80265249e+01] [-4.47717235e-01 8.93835243e-01 -2.46543282e-02 -6.53379977e+00] [-6.73808770e-02 -6.23130805e-03 9.97707867e-01 -2.96916285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.679072329 meters 0.1462935532752357 Centerline is valid? [False, False] Translation: X:97.92, Y:-6.50, Z:-2.97 [[ 8.75880472e-01 4.73647544e-01 9.21488077e-02 9.79227612e+01] [-4.72358361e-01 8.80641200e-01 -3.67240482e-02 -6.50036221e+00] [-9.85442918e-02 -1.13613831e-02 9.95067808e-01 -2.97201913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.739072329 meters 0.16895446343499768 Centerline is valid? [False, False] Translation: X:97.79, Y:-6.47, Z:-2.97 [[ 8.61965254e-01 4.89153292e-01 1.33210203e-01 9.77864811e+01] [-4.86229216e-01 8.72040380e-01 -5.59171339e-02 -6.46503446e+00] [-1.43516726e-01 -1.65720660e-02 9.89509129e-01 -2.97278362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.799072329 meters 0.19197610590543263 Centerline is valid? [False, False] Translation: X:97.65, Y:-6.43, Z:-2.97 [[ 8.54398061e-01 4.90034546e-01 1.72829677e-01 9.76488246e+01] [-4.87103453e-01 8.71143029e-01 -6.19681363e-02 -6.43077070e+00] [-1.80925895e-01 -3.12404768e-02 9.83000434e-01 -2.97165219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.859072329 meters 0.20175716409785924 Centerline is valid? [False, False] Translation: X:97.45, Y:-6.39, Z:-2.95 [[ 8.34589147e-01 5.01637286e-01 2.27642239e-01 9.74482771e+01] [-4.97535681e-01 8.63801117e-01 -7.94095500e-02 -6.39415472e+00] [-2.36472412e-01 -4.69857880e-02 9.70501486e-01 -2.95474440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91907232900002 meters 0.19553592389848184 Centerline is valid? [False, False] Translation: X:97.26, Y:-6.36, Z:-2.93 [[ 8.20117654e-01 5.01455979e-01 2.75588341e-01 9.72605490e+01] [-4.98075018e-01 8.62702998e-01 -8.75489185e-02 -6.35997896e+00] [-2.81652817e-01 -6.54632544e-02 9.57280655e-01 -2.93435697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.979072329 meters 0.1953927519554863 Centerline is valid? [False, False] Translation: X:97.10, Y:-6.35, Z:-2.92 [[ 8.05041745e-01 5.01388035e-01 3.17045465e-01 9.70980095e+01] [-5.04603215e-01 8.59783657e-01 -7.84070077e-02 -6.35467860e+00] [-3.11902845e-01 -9.68612467e-02 9.45163750e-01 -2.91705374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.039072329 meters 0.19391884097271667 Centerline is valid? [False, False] Translation: X:96.95, Y:-6.34, Z:-2.90 [[ 7.94874308e-01 4.97188527e-01 3.47819498e-01 9.69527868e+01] [-5.07805906e-01 8.58847864e-01 -6.71826527e-02 -6.34488831e+00] [-3.32126477e-01 -1.23223031e-01 9.35151372e-01 -2.89527887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.099072329 meters 0.19637212021869827 Centerline is valid? [False, False] Translation: X:96.81, Y:-6.35, Z:-2.87 [[ 7.78797007e-01 5.07446271e-01 3.68745853e-01 9.68081095e+01] [-5.25007424e-01 8.49012676e-01 -5.95372290e-02 -6.35477512e+00] [-3.43281848e-01 -1.47226894e-01 9.27621590e-01 -2.86627184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.159072329 meters 0.20987710336727808 Centerline is valid? [False, False] Translation: X:96.65, Y:-6.35, Z:-2.82 [[ 7.68700152e-01 5.06089296e-01 3.91118526e-01 9.66548750e+01] [-5.29765555e-01 8.46421143e-01 -5.40343046e-02 -6.34862900e+00] [-3.58397173e-01 -1.65664945e-01 9.18752737e-01 -2.82183577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.219072329 meters 0.22307036353518542 Centerline is valid? [False, False] Translation: X:96.49, Y:-6.36, Z:-2.76 [[ 7.55271739e-01 5.12301490e-01 4.08793082e-01 9.64856132e+01] [-5.41952990e-01 8.38917590e-01 -5.00423202e-02 -6.35911026e+00] [-3.68580462e-01 -1.83751083e-01 9.11254071e-01 -2.76460805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.279072329 meters 0.22208284447377383 Centerline is valid? [False, False] Translation: X:96.31, Y:-6.37, Z:-2.70 [[ 7.48813102e-01 5.16721339e-01 4.15063846e-01 9.63139848e+01] [-5.51431329e-01 8.33143860e-01 -4.23650660e-02 -6.37191784e+00] [-3.67698828e-01 -1.97155692e-01 9.08805372e-01 -2.69717016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.339072329 meters 0.20415343767969427 Centerline is valid? [False, False] Translation: X:96.13, Y:-6.37, Z:-2.61 [[ 7.44396121e-01 5.20838926e-01 4.17853118e-01 9.61269988e+01] [-5.56732866e-01 8.29615021e-01 -4.22780380e-02 -6.36702389e+00] [-3.68677271e-01 -2.01160957e-01 9.07530352e-01 -2.61284665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.399072329 meters 0.2035960864066735 Centerline is valid? [False, False] Translation: X:95.91, Y:-6.37, Z:-2.52 [[ 7.31534009e-01 5.31634226e-01 4.26875911e-01 9.59133046e+01] [-5.70753294e-01 8.19988429e-01 -4.31237004e-02 -6.37276133e+00] [-3.72959343e-01 -2.12094379e-01 9.03281408e-01 -2.51648597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.459072329 meters 0.2158693833636333 Centerline is valid? [False, False] Translation: X:95.69, Y:-6.36, Z:-2.42 [[ 7.27675718e-01 5.32951151e-01 4.31799861e-01 9.56913265e+01] [-5.74033537e-01 8.17756502e-01 -4.19499966e-02 -6.36052472e+00] [-3.75464443e-01 -2.17341607e-01 9.00993384e-01 -2.41516795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.519072329 meters 0.19452880223577435 Centerline is valid? [False, False] Translation: X:95.47, Y:-6.37, Z:-2.31 [[ 7.27540861e-01 5.32914106e-01 4.32072739e-01 9.54714904e+01] [-5.75633327e-01 8.16816160e-01 -3.81789579e-02 -6.36853885e+00] [-3.73270101e-01 -2.20938717e-01 9.01030252e-01 -2.31353877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.579072329 meters 0.20320035153278895 Centerline is valid? [False, False] Translation: X:95.25, Y:-6.37, Z:-2.21 [[ 7.24595186e-01 5.35834008e-01 4.33409428e-01 9.52477976e+01] [-5.77640406e-01 8.15203568e-01 -4.21272296e-02 -6.37372281e+00] [-3.75890115e-01 -2.19829610e-01 9.00211955e-01 -2.20707927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63907232900002 meters 0.22890267358929942 Centerline is valid? [False, False] Translation: X:95.03, Y:-6.38, Z:-2.10 [[ 7.28167214e-01 5.32797110e-01 4.31160932e-01 9.50277818e+01] [-5.74604912e-01 8.17465499e-01 -3.97410708e-02 -6.37689087e+00] [-3.73633114e-01 -2.18809044e-01 9.01399411e-01 -2.09537194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699072329 meters 0.21192068619235774 Centerline is valid? [False, False] Translation: X:94.81, Y:-6.36, Z:-1.98 [[ 7.35961016e-01 5.26793710e-01 4.25264352e-01 9.48052035e+01] [-5.67267156e-01 8.22684816e-01 -3.73853905e-02 -6.36268040e+00] [-3.69552914e-01 -2.13724309e-01 9.04296723e-01 -1.97913582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759072329 meters 0.2326768858875325 Centerline is valid? [False, False] Translation: X:94.59, Y:-6.34, Z:-1.87 [[ 7.43339012e-01 5.24342669e-01 4.15345494e-01 9.45917911e+01] [-5.61319189e-01 8.26678395e-01 -3.90332989e-02 -6.33658315e+00] [-3.63823970e-01 -2.04126422e-01 9.08825903e-01 -1.87030604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819072329 meters 0.23724530968343543 Centerline is valid? [False, False] Translation: X:94.39, Y:-6.34, Z:-1.78 [[ 7.54052392e-01 5.15931664e-01 4.06472026e-01 9.43868108e+01] [-5.45631187e-01 8.36554896e-01 -4.96237303e-02 -6.34008796e+00] [-3.65638617e-01 -1.84364922e-01 9.12314626e-01 -1.77908357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879072329 meters 0.2538460075630768 Centerline is valid? [False, False] Translation: X:94.20, Y:-6.34, Z:-1.69 [[ 7.70660647e-01 5.02463345e-01 3.91934629e-01 9.42022975e+01] [-5.28971728e-01 8.47379284e-01 -4.62305032e-02 -6.34009771e+00] [-3.55346419e-01 -1.71694309e-01 9.18830772e-01 -1.68927874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939072329 meters 0.2491459581977245 Centerline is valid? [False, False] Translation: X:94.03, Y:-6.33, Z:-1.60 [[ 7.86059915e-01 4.90882636e-01 3.75691426e-01 9.40308359e+01] [-5.16016530e-01 8.55716293e-01 -3.84261085e-02 -6.32578617e+00] [-3.40347984e-01 -1.63657762e-01 9.25947831e-01 -1.60076015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.999072329 meters 0.22239357990242106 Centerline is valid? [False, False] Translation: X:93.87, Y:-6.33, Z:-1.53 [[ 8.00323860e-01 4.83089827e-01 3.55113979e-01 9.38705335e+01] [-4.98554349e-01 8.65210968e-01 -5.34185535e-02 -6.32940036e+00] [-3.33054469e-01 -1.34291476e-01 9.33295516e-01 -1.53155798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.059072329 meters 0.2315338868113629 Centerline is valid? [False, False] Translation: X:93.72, Y:-6.33, Z:-1.47 [[ 8.15022463e-01 4.71903624e-01 3.36222180e-01 9.37170559e+01] [-4.84249903e-01 8.73383987e-01 -5.19850288e-02 -6.32698492e+00] [-3.18182992e-01 -1.20446592e-01 9.40346852e-01 -1.46901926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.119072329 meters 0.22349668583460897 Centerline is valid? [False, False] Translation: X:93.59, Y:-6.31, Z:-1.41 [[ 8.28007047e-01 4.62524835e-01 3.16978085e-01 9.35883650e+01] [-4.76009139e-01 8.78593245e-01 -3.85902815e-02 -6.31068956e+00] [-2.96343768e-01 -1.18931441e-01 9.47647447e-01 -1.40574760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.179072329 meters 0.2291290899476616 Centerline is valid? [False, False] Translation: X:93.45, Y:-6.30, Z:-1.35 [[ 8.34677657e-01 4.61796018e-01 3.00096062e-01 9.34524402e+01] [-4.69309162e-01 8.81546787e-01 -5.12266781e-02 -6.30435828e+00] [-2.88204995e-01 -9.80800676e-02 9.52532509e-01 -1.35314185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.239072329 meters 0.23059776299078408 Centerline is valid? [False, False] Translation: X:93.31, Y:-6.29, Z:-1.31 [[ 8.36289345e-01 4.67787975e-01 2.85997450e-01 9.33138137e+01] [-4.71894596e-01 8.79680992e-01 -5.89647478e-02 -6.29139729e+00] [-2.79169521e-01 -8.56490610e-02 9.56414459e-01 -1.30649670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.299072329 meters 0.2196738797862598 Centerline is valid? [False, False] Translation: X:93.16, Y:-6.27, Z:-1.26 [[ 8.40688770e-01 4.65635369e-01 2.76452701e-01 9.31647116e+01] [-4.73071182e-01 8.79948941e-01 -4.35145659e-02 -6.26637395e+00] [-2.63526183e-01 -9.41995995e-02 9.60041867e-01 -1.25606293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.359072329 meters 0.23766936801745392 Centerline is valid? [False, False] Translation: X:93.01, Y:-6.24, Z:-1.21 [[ 8.37648913e-01 4.74035297e-01 2.71357394e-01 9.30064909e+01] [-4.81180150e-01 8.75512348e-01 -4.40884476e-02 -6.24333231e+00] [-2.58476230e-01 -9.36411516e-02 9.61468342e-01 -1.20882153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419072329 meters 0.27547463956187246 Centerline is valid? [False, False] Translation: X:92.84, Y:-6.22, Z:-1.16 [[ 8.33380176e-01 4.84743060e-01 2.65521465e-01 9.28361975e+01] [-4.89967465e-01 8.70252437e-01 -5.09173784e-02 -6.22000133e+00] [-2.55752547e-01 -8.76633452e-02 9.62759457e-01 -1.16141734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479072329 meters 0.2408881313431781 Centerline is valid? [False, False] Translation: X:92.65, Y:-6.18, Z:-1.10 [[ 8.18071452e-01 5.01675464e-01 2.81213138e-01 9.26514964e+01] [-5.11669810e-01 8.58135405e-01 -4.23984932e-02 -6.18310939e+00] [-2.62589234e-01 -1.09203276e-01 9.58708266e-01 -1.10335468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539072329 meters 0.24400787105403704 Centerline is valid? [False, False] Translation: X:92.44, Y:-6.15, Z:-1.04 [[ 8.06931269e-01 5.11804170e-01 2.94819299e-01 9.24393232e+01] [-5.24763887e-01 8.50314907e-01 -3.98424614e-02 -6.14704801e+00] [-2.71080783e-01 -1.22560393e-01 9.54722032e-01 -1.03691478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599072329 meters 0.26589404226130636 Centerline is valid? [False, False] Translation: X:92.22, Y:-6.11, Z:-0.99 [[ 7.94066986e-01 5.32836375e-01 2.92477382e-01 9.22239498e+01] [-5.43726927e-01 8.37768586e-01 -5.00482264e-02 -6.11218340e+00] [-2.71695878e-01 -1.19286184e-01 9.54961861e-01 -9.88250988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659072329 meters 0.24658910709510495 Centerline is valid? [False, False] Translation: X:91.97, Y:-6.07, Z:-0.93 [[ 7.83966044e-01 5.43616752e-01 2.99796712e-01 9.19722144e+01] [-5.59676124e-01 8.27858279e-01 -3.75939798e-02 -6.06977305e+00] [-2.68625907e-01 -1.38316658e-01 9.53262096e-01 -9.30861885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719072329 meters 0.229433671068406 Centerline is valid? [False, False] Translation: X:91.70, Y:-6.03, Z:-0.86 [[ 7.81295978e-01 5.40216227e-01 3.12638806e-01 9.16961147e+01] [-5.59945837e-01 8.27938190e-01 -3.12891893e-02 -6.03318736e+00] [-2.75748535e-01 -1.50614680e-01 9.49356605e-01 -8.58733951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779072329 meters 0.26229918823723264 Centerline is valid? [False, False] Translation: X:91.40, Y:-5.98, Z:-0.78 [[ 7.57612595e-01 5.65894244e-01 3.25248921e-01 9.14042174e+01] [-5.85084650e-01 8.09673444e-01 -4.58788334e-02 -5.97934449e+00] [-2.89307982e-01 -1.55539769e-01 9.44514834e-01 -7.77861304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839072329 meters 0.2900140934593095 Centerline is valid? [False, False] Translation: X:91.04, Y:-5.86, Z:-0.67 [[ 6.88497427e-01 6.41394382e-01 3.38503381e-01 9.10371400e+01] [-6.68455761e-01 7.42274535e-01 -4.68552046e-02 -5.85657358e+00] [-2.81315105e-01 -1.94014847e-01 9.39797878e-01 -6.74374246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.899072329 meters 0.23880147789849177 Centerline is valid? [False, False] Translation: X:90.59, Y:-5.74, Z:-0.51 [[ 6.41559487e-01 6.62392580e-01 3.86830059e-01 9.05876650e+01] [-7.17507466e-01 6.96545396e-01 -2.74740880e-03 -5.74169932e+00] [-2.71264560e-01 -2.75790829e-01 9.22146928e-01 -5.11024960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.959072329 meters 0.18239990225420236 Centerline is valid? [False, False] Translation: X:90.13, Y:-5.69, Z:-0.32 [[ 6.28151707e-01 6.46906216e-01 4.32363018e-01 9.01315163e+01] [-7.27522143e-01 6.85359467e-01 3.15266933e-02 -5.68620367e+00] [-2.75929274e-01 -3.34357216e-01 9.01148316e-01 -3.24419670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.019072329 meters 0.2036181457131343 Centerline is valid? [False, False] Translation: X:89.70, Y:-5.66, Z:-0.13 [[ 6.20358108e-01 6.31810957e-01 4.64726514e-01 8.97005780e+01] [-7.28159866e-01 6.84124004e-01 4.19232269e-02 -5.66340099e+00] [-2.91443009e-01 -3.64402610e-01 8.84461254e-01 -1.27370212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.079072329 meters 0.20946796465513287 Centerline is valid? [False, False] Translation: X:89.28, Y:-5.67, Z:0.09 [[ 6.03545365e-01 6.29051088e-01 4.89926240e-01 8.92838696e+01] [-7.34527623e-01 6.77688972e-01 3.47394289e-02 -5.66618000e+00] [-3.10164734e-01 -3.80831178e-01 8.71071439e-01 8.73058326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13907232900002 meters 0.19616126185910757 Centerline is valid? [False, False] Translation: X:88.86, Y:-5.67, Z:0.34 [[ 5.69568089e-01 6.39226446e-01 5.16702761e-01 8.88585940e+01] [-7.61213798e-01 6.47374219e-01 3.82122351e-02 -5.67301260e+00] [-3.10073775e-01 -4.15085741e-01 8.55311687e-01 3.44464659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199072329 meters 0.2065620310241105 Centerline is valid? [False, False] Translation: X:88.42, Y:-5.67, Z:0.64 [[ 5.47571143e-01 6.34717345e-01 5.45251993e-01 8.84162470e+01] [-7.80132088e-01 6.22886890e-01 5.83596325e-02 -5.67207098e+00] [-3.02588447e-01 -4.57324627e-01 8.36238254e-01 6.42181416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.259072329 meters 0.2510885225310684 Centerline is valid? [False, False] Translation: X:87.95, Y:-5.66, Z:0.99 [[ 5.05445373e-01 6.25743019e-01 5.94113331e-01 8.79519844e+01] [-8.11725716e-01 5.78329882e-01 8.14610932e-02 -5.65930916e+00] [-2.92619782e-01 -5.23431201e-01 8.00245863e-01 9.91844751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.319072329 meters 0.26849246603705057 Centerline is valid? [False, False] Translation: X:87.50, Y:-5.65, Z:1.30 [[ 4.86826485e-01 6.39523539e-01 5.94987073e-01 8.75023706e+01] [-8.27209771e-01 5.56331921e-01 7.88593031e-02 -5.65457775e+00] [-2.80577920e-01 -5.30569917e-01 7.99857233e-01 1.30216125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.379072329 meters 0.3148824552892367 Centerline is valid? [False, False] Translation: X:87.03, Y:-5.65, Z:1.62 [[ 4.68304103e-01 6.56051012e-01 5.91851617e-01 8.70253815e+01] [-8.41853064e-01 5.34687949e-01 7.34317070e-02 -5.64838703e+00] [-2.68280981e-01 -5.32640467e-01 8.02695115e-01 1.61662899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.439072329 meters 0.32680426935456247 Centerline is valid? [False, False] Translation: X:86.54, Y:-5.65, Z:1.98 [[ 0.45915684 0.63440501 0.62185632 86.5376265 ] [-0.84546167 0.52695638 0.08666912 -5.64524615] [-0.27270783 -0.5655504 0.77832074 1.98125479] [ 0. 0. 0. 1. ]] SLAMing on 231.499072329 meters 0.2918529686957177 Centerline is valid? [False, False] Translation: X:86.09, Y:-5.65, Z:2.32 [[ 0.47745252 0.62315393 0.61944998 86.09445678] [-0.83314125 0.54503706 0.09386296 -5.65029337] [-0.27913212 -0.56090444 0.77940456 2.32157031] [ 0. 0. 0. 1. ]] SLAMing on 231.559072329 meters 0.2663398423761879 Centerline is valid? [False, False] Translation: X:85.68, Y:-5.66, Z:2.65 [[ 0.49540404 0.61212388 0.6163434 85.68210906] [-0.81890378 0.56579462 0.09629672 -5.65640247] [-0.28977826 -0.55243172 0.7815675 2.64577619] [ 0. 0. 0. 1. ]] SLAMing on 231.619072329 meters 0.23341073019300326 Centerline is valid? [False, False] Translation: X:85.30, Y:-5.66, Z:2.96 [[ 0.51318574 0.58923089 0.62405717 85.29785285] [-0.7957785 0.59904407 0.08878499 -5.66035166] [-0.32152289 -0.54217447 0.77631815 2.96474748] [ 0. 0. 0. 1. ]] SLAMing on 231.679072329 meters 0.23668338071154635 Centerline is valid? [False, False] Translation: X:84.93, Y:-5.67, Z:3.27 [[ 5.15954895e-01 5.84587446e-01 6.26137416e-01 8.49343695e+01] [-7.87788651e-01 6.10882287e-01 7.88154391e-02 -5.66890321e+00] [-3.36421740e-01 -5.33929162e-01 7.75719062e-01 3.26632996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.739072329 meters 0.19546618494892332 Centerline is valid? [False, False] Translation: X:84.59, Y:-5.68, Z:3.55 [[ 5.40306595e-01 5.71351172e-01 6.17759356e-01 8.45904299e+01] [-7.61217853e-01 6.44766794e-01 6.94489888e-02 -5.67954665e+00] [-3.58630958e-01 -5.07773197e-01 7.83294463e-01 3.54995174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.799072329 meters 0.17315612444063588 Centerline is valid? [False, False] Translation: X:84.28, Y:-5.69, Z:3.82 [[ 5.71851384e-01 5.49567650e-01 6.09066000e-01 8.42765977e+01] [-7.33032139e-01 6.75636484e-01 7.86080455e-02 -5.68797377e+00] [-3.68306772e-01 -4.91417072e-01 7.89214409e-01 3.82146629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.859072329 meters 0.16223648465951113 Centerline is valid? [False, False] Translation: X:83.98, Y:-5.70, Z:4.07 [[ 5.86975806e-01 5.41378243e-01 6.01970931e-01 8.39844054e+01] [-7.15925303e-01 6.94276153e-01 7.36992855e-02 -5.69508104e+00] [-3.78034872e-01 -4.74225918e-01 7.95109687e-01 4.07166542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919072329 meters 0.15644266038365034 Centerline is valid? [False, False] Translation: X:83.69, Y:-5.70, Z:4.31 [[ 6.00043152e-01 5.33296459e-01 5.96274351e-01 8.36933431e+01] [-6.93182016e-01 7.18676903e-01 5.47923526e-02 -5.70229981e+00] [-3.99308036e-01 -4.46204433e-01 8.00908669e-01 4.30916771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.979072329 meters 0.16412735746951235 Centerline is valid? [False, False] Translation: X:83.42, Y:-5.71, Z:4.53 [[ 6.12227979e-01 5.24890858e-01 5.91326042e-01 8.34171571e+01] [-6.74189676e-01 7.37271281e-01 4.35814183e-02 -5.70759928e+00] [-4.13092220e-01 -4.25347676e-01 8.05254104e-01 4.53133410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.039072329 meters 0.17814469792965637 Centerline is valid? [False, False] Translation: X:83.15, Y:-5.71, Z:4.75 [[ 6.19118150e-01 5.20821371e-01 5.87739581e-01 8.31537130e+01] [-6.66102063e-01 7.44690529e-01 4.17619215e-02 -5.70840768e+00] [-4.15933599e-01 -4.17350111e-01 8.07971612e-01 4.74606079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.099072329 meters 0.1861494713330728 Centerline is valid? [False, False] Translation: X:82.89, Y:-5.71, Z:4.95 [[ 6.28449519e-01 5.22063540e-01 5.76628878e-01 8.28941055e+01] [-6.59743552e-01 7.50446711e-01 3.96002565e-02 -5.70801276e+00] [-4.12055395e-01 -4.05313946e-01 8.16045928e-01 4.94637968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.159072329 meters 0.1758298913018007 Centerline is valid? [False, False] Translation: X:82.62, Y:-5.71, Z:5.14 [[ 6.28491094e-01 5.24850654e-01 5.74047677e-01 8.26219122e+01] [-6.57537248e-01 7.52756756e-01 3.16549131e-02 -5.70688773e+00] [-4.15504165e-01 -3.97352561e-01 8.18209772e-01 5.13844204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.219072329 meters 0.15831592218662838 Centerline is valid? [False, False] Translation: X:82.34, Y:-5.71, Z:5.34 [[ 6.23727777e-01 5.28069328e-01 5.76286774e-01 8.23377702e+01] [-6.58434859e-01 7.52276851e-01 2.33039863e-02 -5.70869167e+00] [-4.21221079e-01 -3.93982644e-01 8.16915221e-01 5.33619006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.279072329 meters 0.1685711698703556 Centerline is valid? [False, False] Translation: X:82.06, Y:-5.71, Z:5.55 [[ 6.18248622e-01 5.29435122e-01 5.80919180e-01 8.20589526e+01] [-6.63618863e-01 7.47657455e-01 2.48663365e-02 -5.71352661e+00] [-4.21163444e-01 -4.00882504e-01 8.13581325e-01 5.54735622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.339072329 meters 0.16301067613269016 Centerline is valid? [False, False] Translation: X:81.77, Y:-5.72, Z:5.76 [[ 6.12490264e-01 5.35752797e-01 5.81226820e-01 8.17748981e+01] [-6.73439844e-01 7.38681802e-01 2.87744912e-02 -5.72445483e+00] [-4.13925661e-01 -4.09045395e-01 8.13232692e-01 5.75567886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.399072329 meters 0.15561189453381863 Centerline is valid? [False, False] Translation: X:81.48, Y:-5.74, Z:5.97 [[ 6.09357820e-01 5.42697927e-01 5.78067477e-01 8.14764345e+01] [-6.80588457e-01 7.32044290e-01 3.01746438e-02 -5.73592020e+00] [-4.06795279e-01 -4.11813207e-01 8.15430857e-01 5.96680360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.459072329 meters 0.16457117003124436 Centerline is valid? [False, False] Translation: X:81.16, Y:-5.75, Z:6.19 [[ 5.97775669e-01 5.51657023e-01 5.81668960e-01 8.11615628e+01] [-6.94510264e-01 7.18768185e-01 3.20591642e-02 -5.75453039e+00] [-4.00399479e-01 -4.23139251e-01 8.12793597e-01 6.18819686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.519072329 meters 0.16852155992981432 Centerline is valid? [False, False] Translation: X:80.83, Y:-5.78, Z:6.43 [[ 5.80538237e-01 5.61728019e-01 5.89437857e-01 8.08314398e+01] [-7.13152835e-01 7.00125626e-01 3.51730193e-02 -5.77648901e+00] [-3.92922878e-01 -4.40778562e-01 8.07047626e-01 6.42507644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.579072329 meters 0.1761711226167037 Centerline is valid? [False, False] Translation: X:80.48, Y:-5.80, Z:6.68 [[ 5.71617078e-01 5.67440162e-01 5.92676622e-01 8.04777570e+01] [-7.24847006e-01 6.87708617e-01 4.06654108e-02 -5.79687602e+00] [-3.84513633e-01 -4.52844918e-01 8.04413293e-01 6.67982882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63907232900002 meters 0.1849249837152085 Centerline is valid? [False, False] Translation: X:80.13, Y:-5.82, Z:6.94 [[ 5.64962476e-01 5.72504736e-01 5.94184927e-01 8.01263398e+01] [-7.35056278e-01 6.76359439e-01 4.72247456e-02 -5.81993974e+00] [-3.74846194e-01 -4.63439570e-01 8.02940904e-01 6.93816988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699072329 meters 0.20383161123996554 Centerline is valid? [False, False] Translation: X:79.76, Y:-5.85, Z:7.21 [[ 5.45170288e-01 5.84884549e-01 6.00582569e-01 7.97557781e+01] [-7.54352079e-01 6.54779102e-01 4.70878813e-02 -5.85300658e+00] [-3.65707940e-01 -4.78721623e-01 7.98174987e-01 7.21332255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.759072329 meters 0.2150586754351517 Centerline is valid? [False, False] Translation: X:79.37, Y:-5.88, Z:7.50 [[ 5.38731837e-01 5.90105775e-01 6.01284610e-01 7.93727781e+01] [-7.61282536e-01 6.46683743e-01 4.74240092e-02 -5.88347993e+00] [-3.60855801e-01 -4.83296296e-01 7.97626342e-01 7.49898333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.819072329 meters 0.23562047759293078 Centerline is valid? [False, False] Translation: X:78.99, Y:-5.92, Z:7.80 [[ 5.29429933e-01 5.93074689e-01 6.06602307e-01 7.89856054e+01] [-7.71656043e-01 6.33755232e-01 5.38633296e-02 -5.92096613e+00] [-3.52492408e-01 -4.96605195e-01 7.93178657e-01 7.79565573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.879072329 meters 0.2487121783120815 Centerline is valid? [False, False] Translation: X:78.58, Y:-5.96, Z:8.11 [[ 5.25360501e-01 5.91742366e-01 6.11422371e-01 7.85804587e+01] [-7.76870028e-01 6.26700038e-01 6.09919848e-02 -5.95966497e+00] [-3.47086882e-01 -5.07038494e-01 7.88950355e-01 8.10962229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.939072329 meters 0.24775144349668674 Centerline is valid? [False, False] Translation: X:78.16, Y:-6.01, Z:8.42 [[ 5.20949334e-01 5.99368470e-01 6.07757541e-01 7.81635227e+01] [-7.84992399e-01 6.16052071e-01 6.53205881e-02 -6.01178469e+00] [-3.35259191e-01 -5.11113767e-01 7.91431609e-01 8.42384365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.999072329 meters 0.26142320913748435 Centerline is valid? [False, False] Translation: X:77.73, Y:-6.07, Z:8.75 [[ 5.19224519e-01 5.98690962e-01 6.09897558e-01 7.77332280e+01] [-7.90896124e-01 6.07031174e-01 7.74369100e-02 -6.06532659e+00] [-3.23866052e-01 -5.22572757e-01 7.88687830e-01 8.75473330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.059072329 meters 0.28533401016745513 Centerline is valid? [False, False] Translation: X:77.29, Y:-6.12, Z:9.10 [[ 0.51712105 0.5894644 0.6205784 77.29480282] [-0.79316221 0.60252919 0.08861308 -6.12120243] [-0.32168234 -0.53804302 0.77912141 9.10392659] [ 0. 0. 0. 1. ]] SLAMing on 233.119072329 meters 0.2883015107295037 Centerline is valid? [False, False] Translation: X:76.86, Y:-6.18, Z:9.44 [[ 0.51855613 0.58966291 0.61919075 76.86374651] [-0.79313194 0.60226032 0.0906875 -6.17588826] [-0.31943897 -0.53812652 0.77998628 9.44432966] [ 0. 0. 0. 1. ]] SLAMing on 233.179072329 meters 0.2928455108940256 Centerline is valid? [False, False] Translation: X:76.43, Y:-6.24, Z:9.79 [[ 0.52123626 0.593829 0.6129273 76.42573206] [-0.79486327 0.599245 0.09538244 -6.23734067] [-0.31065276 -0.53691019 0.78436109 9.78909048] [ 0. 0. 0. 1. ]] SLAMing on 233.239072329 meters 0.3062109452164613 Centerline is valid? [False, False] Translation: X:75.98, Y:-6.29, Z:10.14 [[ 0.52503494 0.58774436 0.61554438 75.98084301] [-0.7944355 0.59789755 0.10672746 -6.29474139] [-0.30530402 -0.54504595 0.78084209 10.14435505] [ 0. 0. 0. 1. ]] SLAMing on 233.299072329 meters 0.31710800588547744 Centerline is valid? [False, False] Translation: X:75.54, Y:-6.36, Z:10.50 [[ 0.5221829 0.58416089 0.62135423 75.53833594] [-0.79647309 0.59450394 0.11043408 -6.35897594] [-0.30488627 -0.55255871 0.77570822 10.49818525] [ 0. 0. 0. 1. ]] SLAMing on 233.359072329 meters 0.32397860910377646 Centerline is valid? [False, False] Translation: X:75.10, Y:-6.43, Z:10.85 [[ 0.5193334 0.59051402 0.61772649 75.09577278] [-0.7994947 0.59103968 0.10714626 -6.42903585] [-0.3018295 -0.54951368 0.77905948 10.84648506] [ 0. 0. 0. 1. ]] SLAMing on 233.419072329 meters 0.330714553733266 Centerline is valid? [False, False] Translation: X:74.63, Y:-6.50, Z:11.22 [[ 0.52282569 0.58224028 0.62261509 74.63336656] [-0.79846886 0.59025552 0.11851543 -6.49593653] [-0.29849754 -0.55910167 0.77350148 11.21732498] [ 0. 0. 0. 1. ]] SLAMing on 233.479072329 meters 0.3163993408643624 Centerline is valid? [False, False] Translation: X:74.18, Y:-6.57, Z:11.59 [[ 0.52324442 0.57018668 0.63332648 74.18278928] [-0.796431 0.59158672 0.12539063 -6.56569745] [-0.30317147 -0.57001079 0.7636588 11.59134936] [ 0. 0. 0. 1. ]] SLAMing on 233.539072329 meters 0.3164217181073884 Centerline is valid? [False, False] Translation: X:73.74, Y:-6.64, Z:11.96 [[ 0.5226276 0.56949693 0.63445538 73.73568499] [-0.79453835 0.59518928 0.12024361 -6.6380189 ] [-0.30914268 -0.56694177 0.7635495 11.95669848] [ 0. 0. 0. 1. ]] SLAMing on 233.599072329 meters 0.31749185720176976 Centerline is valid? [False, False] Translation: X:73.29, Y:-6.71, Z:12.32 [[ 0.52209916 0.56901296 0.63532411 73.29000635] [-0.79378449 0.59665426 0.11794014 -6.71384071] [-0.31195937 -0.56588687 0.76318635 12.32217627] [ 0. 0. 0. 1. ]] SLAMing on 233.659072329 meters 0.3228798322316971 Centerline is valid? [False, False] Translation: X:72.84, Y:-6.80, Z:12.71 [[ 0.52332549 0.55564817 0.64605383 72.83521702] [-0.79228763 0.59638799 0.1288475 -6.79600532] [-0.31370487 -0.57928964 0.7523382 12.70868929] [ 0. 0. 0. 1. ]] SLAMing on 233.719072329 meters 0.3147665843347324 Centerline is valid? [False, False] Translation: X:72.39, Y:-6.88, Z:13.09 [[ 0.5247858 0.54424413 0.65452135 72.39343228] [-0.78918166 0.59926001 0.13446099 -6.87587484] [-0.31904887 -0.58709946 0.74399062 13.09269891] [ 0. 0. 0. 1. ]] SLAMing on 233.779072329 meters 0.31485989911151196 Centerline is valid? [False, False] Translation: X:71.97, Y:-6.96, Z:13.46 [[ 0.52786445 0.54348649 0.65267263 71.97409952] [-0.78460878 0.60626733 0.12972658 -6.96232508] [-0.32518945 -0.58057072 0.74645124 13.46275412] [ 0. 0. 0. 1. ]] SLAMing on 233.839072329 meters 0.3201230170942527 Centerline is valid? [False, False] Translation: X:71.55, Y:-7.04, Z:13.84 [[ 0.53226131 0.53517205 0.655964 71.54710563] [-0.7799828 0.61124051 0.13420831 -7.04420739] [-0.32912723 -0.58307453 0.74276467 13.84003331] [ 0. 0. 0. 1. ]] SLAMing on 233.899072329 meters 0.302077059504618 Centerline is valid? [False, False] Translation: X:71.13, Y:-7.13, Z:14.23 [[ 0.53260514 0.52211505 0.66612885 71.127932 ] [-0.77565006 0.6160454 0.13731372 -7.12685245] [-0.33867205 -0.58981687 0.73308751 14.23028028] [ 0. 0. 0. 1. ]] SLAMing on 233.959072329 meters 0.3019485491175779 Centerline is valid? [False, False] Translation: X:70.72, Y:-7.21, Z:14.61 [[ 0.53335583 0.51714031 0.66940082 70.72008106] [-0.77086138 0.62298144 0.13291677 -7.21152598] [-0.34828766 -0.58690717 0.73091427 14.61291696] [ 0. 0. 0. 1. ]] SLAMing on 234.019072329 meters 0.29992183346392065 Centerline is valid? [False, False] Translation: X:70.31, Y:-7.29, Z:14.99 [[ 0.53940444 0.51670775 0.66487288 70.31399479] [-0.76632239 0.62847824 0.13328581 -7.29361924] [-0.34898832 -0.58140193 0.73496867 14.99001603] [ 0. 0. 0. 1. ]] SLAMing on 234.079072329 meters 0.2902464484918676 Centerline is valid? [False, False] Translation: X:69.92, Y:-7.38, Z:15.37 [[ 0.5442845 0.50911102 0.66675359 69.91526177] [-0.76139512 0.63346227 0.13785143 -7.37611323] [-0.35218156 -0.58269333 0.73241834 15.36900159] [ 0. 0. 0. 1. ]] SLAMing on 234.13907232900002 meters 0.28702437482240656 Centerline is valid? [False, False] Translation: X:69.53, Y:-7.46, Z:15.74 [[ 0.54770589 0.50471661 0.66729259 69.52501688] [-0.75683602 0.63887465 0.13797979 -7.45686577] [-0.35667563 -0.58060341 0.73190312 15.74187293] [ 0. 0. 0. 1. ]] SLAMing on 234.199072329 meters 0.2825103820903649 Centerline is valid? [False, False] Translation: X:69.14, Y:-7.54, Z:16.11 [[ 0.54925356 0.5060747 0.66498791 69.13567867] [-0.75333564 0.64426941 0.13191793 -7.53541634] [-0.36167104 -0.57341549 0.73511138 16.10866862] [ 0. 0. 0. 1. ]] SLAMing on 234.259072329 meters 0.2783747329053386 Centerline is valid? [False, False] Translation: X:68.75, Y:-7.62, Z:16.48 [[ 0.55033309 0.50192751 0.66723479 68.74967669] [-0.74891723 0.65004385 0.12870888 -7.61905518] [-0.36912935 -0.57053639 0.7336428 16.48444583] [ 0. 0. 0. 1. ]] SLAMing on 234.319072329 meters 0.2785649291970244 Centerline is valid? [False, False] Translation: X:68.36, Y:-7.70, Z:16.86 [[ 0.55363349 0.50010717 0.66586994 68.36387441] [-0.74500155 0.65472773 0.12768826 -7.70182812] [-0.3721057 -0.56676663 0.73505981 16.8568644 ] [ 0. 0. 0. 1. ]] SLAMing on 234.379072329 meters 0.27335581610725607 Centerline is valid? [False, False] Translation: X:67.98, Y:-7.78, Z:17.22 [[ 0.55586533 0.50336652 0.66154054 67.97527839] [-0.74308922 0.65759992 0.12401923 -7.78271052] [-0.37260188 -0.56052163 0.73958323 17.22078902] [ 0. 0. 0. 1. ]] SLAMing on 234.439072329 meters 0.272399323636513 Centerline is valid? [False, False] Translation: X:67.58, Y:-7.87, Z:17.59 [[ 0.55678606 0.50445041 0.65993868 67.57601295] [-0.74228922 0.65874491 0.12272678 -7.871798 ] [-0.37282168 -0.55819793 0.74122808 17.59199846] [ 0. 0. 0. 1. ]] SLAMing on 234.499072329 meters 0.2773376794312207 Centerline is valid? [False, False] Translation: X:67.19, Y:-7.95, Z:17.95 [[ 0.55306489 0.50845054 0.65999794 67.19477383] [-0.74381422 0.65820211 0.11623416 -7.9539527 ] [-0.37531271 -0.55520088 0.74222122 17.95203659] [ 0. 0. 0. 1. ]] SLAMing on 234.559072329 meters 0.2750173917395584 Centerline is valid? [False, False] Translation: X:66.80, Y:-8.03, Z:18.31 [[ 0.55105714 0.51110714 0.65962529 66.80197141] [-0.74290918 0.66048067 0.10886335 -8.03269117] [-0.38002892 -0.55003161 0.74366878 18.31331009] [ 0. 0. 0. 1. ]] SLAMing on 234.619072329 meters 0.2745805405936356 Centerline is valid? [False, False] Translation: X:66.40, Y:-8.12, Z:18.68 [[ 0.54763909 0.51258869 0.66132009 66.40143281] [-0.74242026 0.66219614 0.10153041 -8.11511021] [-0.38588028 -0.54657945 0.74320072 18.67989419] [ 0. 0. 0. 1. ]] SLAMing on 234.679072329 meters 0.27275925328682227 Centerline is valid? [False, False] Translation: X:66.00, Y:-8.20, Z:19.05 [[ 0.54692233 0.51043033 0.66357882 65.99657199] [-0.73846246 0.66754615 0.09515946 -8.19742818] [-0.39439721 -0.54207288 0.74202953 19.05064068] [ 0. 0. 0. 1. ]] SLAMing on 234.739072329 meters 0.2626790895894128 Centerline is valid? [False, False] Translation: X:65.60, Y:-8.27, Z:19.42 [[ 0.54982919 0.50698093 0.66382091 65.59969588] [-0.73033826 0.67745433 0.08753093 -8.2743578 ] [-0.40533183 -0.53294087 0.74275173 19.41518418] [ 0. 0. 0. 1. ]] SLAMing on 234.799072329 meters 0.25348748762048817 Centerline is valid? [False, False] Translation: X:65.21, Y:-8.35, Z:19.77 [[ 0.55542714 0.5013389 0.66344555 65.21417966] [-0.72105889 0.68777043 0.08393998 -8.35158494] [-0.41421586 -0.52500585 0.74350123 19.77481891] [ 0. 0. 0. 1. ]] SLAMing on 234.859072329 meters 0.2497341182891783 Centerline is valid? [False, False] Translation: X:64.84, Y:-8.43, Z:20.12 [[ 0.55868795 0.50244823 0.65985874 64.83627328] [-0.71665636 0.69292007 0.07915453 -8.42853565] [-0.41745831 -0.51711465 0.74720881 20.12072304] [ 0. 0. 0. 1. ]] SLAMing on 234.919072329 meters 0.2510298718189254 Centerline is valid? [False, False] Translation: X:64.45, Y:-8.51, Z:20.47 [[ 0.55633041 0.50476874 0.66007954 64.45385734] [-0.71749719 0.69249381 0.07516712 -8.50717061] [-0.41915898 -0.51542297 0.74742552 20.4684098 ] [ 0. 0. 0. 1. ]] SLAMing on 234.979072329 meters 0.25922910066610166 Centerline is valid? [False, False] Translation: X:64.07, Y:-8.59, Z:20.82 [[ 0.5522407 0.50384042 0.66421009 64.06889352] [-0.71765266 0.69275379 0.07118177 -8.58583911] [-0.42426981 -0.5159816 0.74414926 20.81607005] [ 0. 0. 0. 1. ]] SLAMing on 235.039072329 meters 0.25608273671134274 Centerline is valid? [False, False] Translation: X:63.68, Y:-8.67, Z:21.17 [[ 0.55001365 0.50438732 0.66564136 63.67975002] [-0.71657753 0.69438409 0.06593475 -8.66571262] [-0.42895412 -0.51324865 0.74335334 21.16821175] [ 0. 0. 0. 1. ]] SLAMing on 235.099072329 meters 0.260768656287743 Centerline is valid? [False, False] Translation: X:63.29, Y:-8.75, Z:21.52 [[ 0.55154639 0.49933832 0.66817499 63.28522025] [-0.71316508 0.69776455 0.06723246 -8.74681493] [-0.43265708 -0.51360089 0.74096017 21.52085003] [ 0. 0. 0. 1. ]] SLAMing on 235.159072329 meters 0.26091908404737296 Centerline is valid? [False, False] Translation: X:62.90, Y:-8.83, Z:21.87 [[ 0.55471314 0.49372386 0.66972389 62.89751804] [-0.7087426 0.70203676 0.06948616 -8.82593001] [-0.43586381 -0.51320673 0.73935214 21.86828435] [ 0. 0. 0. 1. ]] SLAMing on 235.219072329 meters 0.24822539474731717 Centerline is valid? [False, False] Translation: X:62.50, Y:-8.91, Z:22.22 [[ 0.55293438 0.48779429 0.67551484 62.50431289] [-0.70734464 0.70327943 0.07114496 -8.90734379] [-0.44037159 -0.5171603 0.73390605 22.22452804] [ 0. 0. 0. 1. ]] SLAMing on 235.279072329 meters 0.25687827785433737 Centerline is valid? [False, False] Translation: X:62.11, Y:-8.99, Z:22.58 [[ 0.54791604 0.4844708 0.68196485 62.11410829] [-0.70887048 0.70175585 0.07100262 -8.98832135] [-0.44417413 -0.52232822 0.72793033 22.58285985] [ 0. 0. 0. 1. ]] SLAMing on 235.339072329 meters 0.2561786023026702 Centerline is valid? [False, False] Translation: X:61.73, Y:-9.07, Z:22.94 [[ 0.54619624 0.48469634 0.68318308 61.72692175] [-0.71027442 0.70033616 0.07098952 -9.06827423] [-0.44404945 -0.52402168 0.72678839 22.94156402] [ 0. 0. 0. 1. ]] SLAMing on 235.399072329 meters 0.25634213520499266 Centerline is valid? [False, False] Translation: X:61.34, Y:-9.15, Z:23.31 [[ 0.54286573 0.4783118 0.69030038 61.33891117] [-0.71069083 0.6995852 0.07415589 -9.15197429] [-0.4474543 -0.53084684 0.71971264 23.3086109 ] [ 0. 0. 0. 1. ]] SLAMing on 235.459072329 meters 0.2621503809884569 Centerline is valid? [False, False] Translation: X:60.96, Y:-9.24, Z:23.68 [[ 0.53498813 0.47711134 0.69724635 60.95974894] [-0.71614247 0.69395276 0.07462927 -9.23770461] [-0.44824956 -0.5392535 0.71293618 23.67984713] [ 0. 0. 0. 1. ]] SLAMing on 235.519072329 meters 0.26996942736649465 Centerline is valid? [False, False] Translation: X:60.58, Y:-9.33, Z:24.05 [[ 0.53490749 0.47438988 0.69916252 60.57933681] [-0.71633152 0.69343868 0.07753677 -9.32758042] [-0.44804367 -0.54230715 0.71074596 24.05092525] [ 0. 0. 0. 1. ]] SLAMing on 235.579072329 meters 0.27760131310836084 Centerline is valid? [False, False] Translation: X:60.21, Y:-9.42, Z:24.41 [[ 0.53814611 0.47598431 0.69558444 60.20630907] [-0.71952225 0.68924559 0.08501917 -9.42004632] [-0.43896071 -0.54624121 0.71339613 24.41477351] [ 0. 0. 0. 1. ]] SLAMing on 235.63907232900002 meters 0.2696925804027711 Centerline is valid? [False, False] Translation: X:59.83, Y:-9.51, Z:24.80 [[ 0.54114886 0.46469414 0.70086894 59.83010919] [-0.71576995 0.69200268 0.09383852 -9.51428444] [-0.44139697 -0.55244154 0.70709056 24.79697741] [ 0. 0. 0. 1. ]] SLAMing on 235.699072329 meters 0.26751169834942956 Centerline is valid? [False, False] Translation: X:59.47, Y:-9.60, Z:25.18 [[ 0.53978755 0.45473336 0.70841159 59.46559658] [-0.71205977 0.69550883 0.09611635 -9.60499752] [-0.4489992 -0.5563138 0.69922434 25.18033768] [ 0. 0. 0. 1. ]] SLAMing on 235.759072329 meters 0.2675336554297519 Centerline is valid? [False, False] Translation: X:59.10, Y:-9.70, Z:25.55 [[ 0.54216102 0.45648338 0.70546747 59.10254001] [-0.70983272 0.6980965 0.09380188 -9.69776967] [-0.44966537 -0.55161962 0.70250755 25.54817561] [ 0. 0. 0. 1. ]] SLAMing on 235.819072329 meters 0.2703885571556781 Centerline is valid? [False, False] Translation: X:58.74, Y:-9.79, Z:25.92 [[ 0.54436784 0.45013555 0.70784295 58.74483852] [-0.71012672 0.69646605 0.10322349 -9.79119999] [-0.44652402 -0.55884974 0.698787 25.92314644] [ 0. 0. 0. 1. ]] SLAMing on 235.879072329 meters 0.27539454387996276 Centerline is valid? [False, False] Translation: X:58.40, Y:-9.89, Z:26.30 [[ 0.54398701 0.44587319 0.71082715 58.39609528] [-0.71163258 0.69399985 0.10928529 -9.88599265] [-0.44458656 -0.56529754 0.69482479 26.29592795] [ 0. 0. 0. 1. ]] SLAMing on 235.939072329 meters 0.27475844685688416 Centerline is valid? [False, False] Translation: X:58.05, Y:-9.98, Z:26.66 [[ 0.54538175 0.44976746 0.70729624 58.04888246] [-0.71375897 0.69160797 0.11057369 -9.98226324] [-0.43943927 -0.56514392 0.69821593 26.65957274] [ 0. 0. 0. 1. ]] SLAMing on 235.999072329 meters 0.2774320279832856 Centerline is valid? [False, False] Translation: X:57.70, Y:-10.08, Z:27.03 [[ 0.54674641 0.44912942 0.70664781 57.70013081] [ -0.71585212 0.68850335 0.11627074 -10.07645067] [ -0.43430878 -0.56942594 0.69794698 27.03238551] [ 0. 0. 0. 1. ]] SLAMing on 236.059072329 meters 0.28027653207496683 Centerline is valid? [False, False] Translation: X:57.34, Y:-10.17, Z:27.41 [[ 0.54659068 0.44175096 0.71140335 57.3412663 ] [ -0.71537926 0.68791841 0.12247766 -10.17459338] [ -0.43528284 -0.57586834 0.69202926 27.41250687] [ 0. 0. 0. 1. ]] SLAMing on 236.119072329 meters 0.29182219428025097 Centerline is valid? [False, False] Translation: X:56.98, Y:-10.28, Z:27.79 [[ 0.54798598 0.43822334 0.71251082 56.98161934] [ -0.71731351 0.68436982 0.13076422 -10.27564568] [ -0.43031697 -0.5827506 0.68936859 27.79335184] [ 0. 0. 0. 1. ]] SLAMing on 236.179072329 meters 0.2884837990731898 Centerline is valid? [False, False] Translation: X:56.63, Y:-10.38, Z:28.17 [[ 0.55741228 0.43260398 0.70862215 56.63296567] [ -0.71463789 0.68444934 0.14429753 -10.378076 ] [ -0.42259228 -0.58684146 0.69067566 28.17366729] [ 0. 0. 0. 1. ]] SLAMing on 236.239072329 meters 0.2870395962232804 Centerline is valid? [False, False] Translation: X:56.31, Y:-10.48, Z:28.55 [[ 0.56033001 0.43382353 0.70556886 56.30997344] [ -0.71483887 0.68358039 0.14738804 -10.47666842] [ -0.41837264 -0.58695399 0.69314454 28.54542412] [ 0. 0. 0. 1. ]] SLAMing on 236.299072329 meters 0.2936432198616789 Centerline is valid? [False, False] Translation: X:55.98, Y:-10.58, Z:28.91 [[ 0.5610658 0.43928729 0.70159236 55.98182429] [ -0.71855403 0.67924957 0.14933229 -10.57543792] [ -0.41095653 -0.58791726 0.69675535 28.91140509] [ 0. 0. 0. 1. ]] SLAMing on 236.359072329 meters 0.30167091832105425 Centerline is valid? [False, False] Translation: X:55.65, Y:-10.68, Z:29.27 [[ 0.56601648 0.44782721 0.69215326 55.64766848] [ -0.7208415 0.67623965 0.15194561 -10.6759452 ] [ -0.4000161 -0.58493651 0.70557522 29.27296137] [ 0. 0. 0. 1. ]] SLAMing on 236.419072329 meters 0.307916107979391 Centerline is valid? [False, False] Translation: X:55.29, Y:-10.78, Z:29.66 [[ 0.56847652 0.44309489 0.69318206 55.29310681] [ -0.72240168 0.672018 0.16287301 -10.78462061] [ -0.39366262 -0.59334537 0.70211895 29.65519894] [ 0. 0. 0. 1. ]] SLAMing on 236.479072329 meters 0.3095822347892902 Centerline is valid? [False, False] Translation: X:54.95, Y:-10.89, Z:30.03 [[ 0.57120079 0.44215238 0.69154243 54.94704908] [ -0.72251369 0.6706345 0.16799801 -10.89312945] [ -0.3894915 -0.59560947 0.7025281 30.03214799] [ 0. 0. 0. 1. ]] SLAMing on 236.539072329 meters 0.31778272737234015 Centerline is valid? [False, False] Translation: X:54.61, Y:-11.00, Z:30.39 [[ 0.57385937 0.44935529 0.68466433 54.60983916] [ -0.7238559 0.66933134 0.16741621 -10.99724807] [ -0.38303793 -0.59167168 0.70937054 30.3930635 ] [ 0. 0. 0. 1. ]] SLAMing on 236.599072329 meters 0.32567130341352657 Centerline is valid? [False, False] Translation: X:54.26, Y:-11.11, Z:30.76 [[ 0.57683152 0.45284913 0.67984782 54.26366361] [ -0.72486828 0.66747433 0.17042299 -11.10794939] [ -0.37660507 -0.59110547 0.71327621 30.76196824] [ 0. 0. 0. 1. ]] SLAMing on 236.659072329 meters 0.3264104243459586 Centerline is valid? [False, False] Translation: X:53.92, Y:-11.22, Z:31.12 [[ 0.57749391 0.45741753 0.67621741 53.92009921] [ -0.72815838 0.66314425 0.17327746 -11.21623768] [ -0.36916954 -0.59246005 0.71603417 31.12493508] [ 0. 0. 0. 1. ]] SLAMing on 236.719072329 meters 0.33413693965146524 Centerline is valid? [False, False] Translation: X:53.58, Y:-11.33, Z:31.48 [[ 0.58040395 0.46107965 0.67122039 53.57733218] [ -0.72880735 0.6618263 0.17557277 -11.32592397] [ -0.36327827 -0.59109348 0.72016484 31.48195795] [ 0. 0. 0. 1. ]] SLAMing on 236.779072329 meters 0.3327625202031216 Centerline is valid? [False, False] Translation: X:53.24, Y:-11.43, Z:31.83 [[ 0.57833086 0.46613915 0.66951304 53.237723 ] [ -0.73204215 0.65874216 0.17370394 -11.43087002] [ -0.36006626 -0.59057011 0.72220443 31.83493802] [ 0. 0. 0. 1. ]] SLAMing on 236.839072329 meters 0.33099337062383977 Centerline is valid? [False, False] Translation: X:52.89, Y:-11.54, Z:32.19 [[ 0.57540214 0.47133505 0.66839782 52.88929289] [ -0.73517597 0.65616724 0.17017889 -11.53984269] [ -0.35836947 -0.58931131 0.72407423 32.19130835] [ 0. 0. 0. 1. ]] SLAMing on 236.899072329 meters 0.34042118148260075 Centerline is valid? [False, False] Translation: X:52.54, Y:-11.65, Z:32.54 [[ 0.57709977 0.48058318 0.66029968 52.53627131] [ -0.73759219 0.65380911 0.16879399 -11.64996698] [ -0.35059039 -0.58444286 0.73178748 32.54338478] [ 0. 0. 0. 1. ]] SLAMing on 236.959072329 meters 0.34400182517996963 Centerline is valid? [False, False] Translation: X:52.18, Y:-11.76, Z:32.90 [[ 0.57689103 0.48217764 0.65931894 52.17884214] [ -0.7396527 0.65084964 0.17119767 -11.76410021] [ -0.3465698 -0.58642943 0.73211331 32.900836 ] [ 0. 0. 0. 1. ]] SLAMing on 237.019072329 meters 0.3571466457227477 Centerline is valid? [False, False] Translation: X:51.82, Y:-11.88, Z:33.26 [[ 0.57526452 0.4845359 0.65901115 51.81559566] [ -0.7423394 0.64761095 0.17184954 -11.88177414] [ -0.34351557 -0.58806889 0.73223769 33.26080614] [ 0. 0. 0. 1. ]] SLAMing on 237.079072329 meters 0.3752906453423718 Centerline is valid? [False, False] Translation: X:51.45, Y:-12.00, Z:33.61 [[ 0.57781312 0.49121934 0.6517941 51.45204877] [ -0.74314869 0.64682061 0.17132752 -11.99939978] [ -0.33743447 -0.58337522 0.73879045 33.61382715] [ 0. 0. 0. 1. ]] SLAMing on 237.13907232900002 meters 0.35974001147479456 Centerline is valid? [False, False] Translation: X:51.08, Y:-12.12, Z:33.97 [[ 0.57905489 0.49493567 0.6478689 51.08154715] [ -0.74532809 0.64342267 0.17462336 -12.1176788 ] [ -0.33042621 -0.5839914 0.7414665 33.96695773] [ 0. 0. 0. 1. ]] SLAMing on 237.199072329 meters 0.36435050053733437 Centerline is valid? [False, False] Translation: X:50.70, Y:-12.24, Z:34.33 [[ 0.57735089 0.49233273 0.65136352 50.70413985] [ -0.74676112 0.64099288 0.17741463 -12.23960891] [ -0.33017235 -0.58884345 0.73773275 34.32910372] [ 0. 0. 0. 1. ]] SLAMing on 237.259072329 meters 0.3628665507750783 Centerline is valid? [False, False] Translation: X:50.32, Y:-12.36, Z:34.69 [[ 0.57637876 0.4959783 0.64945596 50.32358521] [ -0.74870484 0.6389797 0.17648233 -12.36146663] [ -0.32745777 -0.58797149 0.73963568 34.6850957 ] [ 0. 0. 0. 1. ]] SLAMing on 237.319072329 meters 0.3787285711873469 Centerline is valid? [False, False] Translation: X:49.94, Y:-12.48, Z:35.04 [[ 0.57762232 0.49568155 0.6485771 49.94380172] [ -0.74889827 0.63793376 0.17942102 -12.48457803] [ -0.32481354 -0.58935586 0.73969983 35.04376375] [ 0. 0. 0. 1. ]] SLAMing on 237.379072329 meters 0.3803288842277981 Centerline is valid? [False, False] Translation: X:49.57, Y:-12.61, Z:35.40 [[ 0.57719397 0.49232778 0.65150631 49.56787692] [ -0.74915855 0.63674333 0.18253602 -12.60842544] [ -0.32497475 -0.59344021 0.73635598 35.40384449] [ 0. 0. 0. 1. ]] SLAMing on 237.439072329 meters 0.371099311764566 Centerline is valid? [False, False] Translation: X:49.20, Y:-12.73, Z:35.75 [[ 0.57590212 0.49306293 0.65209332 49.2041914 ] [ -0.75052163 0.63511674 0.18260342 -12.73098628] [ -0.32412041 -0.59457183 0.73581947 35.7526471 ] [ 0. 0. 0. 1. ]] SLAMing on 237.499072329 meters 0.37535953116912196 Centerline is valid? [False, False] Translation: X:48.85, Y:-12.85, Z:36.10 [[ 0.57699971 0.49790166 0.64742974 48.8456394 ] [ -0.75182296 0.63350686 0.18284225 -12.8524059 ] [ -0.31911372 -0.59225247 0.73986718 36.0966682 ] [ 0. 0. 0. 1. ]] SLAMing on 237.559072329 meters 0.3697190913273186 Centerline is valid? [False, False] Translation: X:48.49, Y:-12.97, Z:36.45 [[ 0.5799747 0.49608082 0.64616806 48.48568747] [ -0.74921645 0.63625457 0.18399686 -12.9744678 ] [ -0.31985006 -0.59083326 0.74068346 36.45060106] [ 0. 0. 0. 1. ]] SLAMing on 237.619072329 meters 0.37912007437122763 Centerline is valid? [False, False] Translation: X:48.13, Y:-13.10, Z:36.79 [[ 0.58059618 0.49926919 0.64314723 48.13026885] [ -0.74836175 0.63840237 0.17999196 -13.09754397] [ -0.32072227 -0.58580943 0.74428794 36.79383965] [ 0. 0. 0. 1. ]] SLAMing on 237.679072329 meters 0.3765944772461768 Centerline is valid? [False, False] Translation: X:47.77, Y:-13.22, Z:37.13 [[ 0.58041349 0.50360565 0.63992307 47.77359904] [ -0.74921507 0.63814484 0.17733567 -13.21970324] [ -0.31905636 -0.58236802 0.74769682 37.1339883 ] [ 0. 0. 0. 1. ]] SLAMing on 237.739072329 meters 0.38925261271785483 Centerline is valid? [False, False] Translation: X:47.41, Y:-13.34, Z:37.48 [[ 0.58010743 0.49962665 0.64331064 47.4114481 ] [ -0.74889365 0.63778004 0.17998593 -13.34261259] [ -0.32036491 -0.58618242 0.74414816 37.48345898] [ 0. 0. 0. 1. ]] SLAMing on 237.799072329 meters 0.4022966098164936 Centerline is valid? [False, False] Translation: X:47.05, Y:-13.46, Z:37.82 [[ 0.58012466 0.50313221 0.64055707 47.05488736] [ -0.74853765 0.63939046 0.17570209 -13.464913 ] [ -0.3211647 -0.5814102 0.74753958 37.81592457] [ 0. 0. 0. 1. ]] SLAMing on 237.859072329 meters 0.3744790238112107 Centerline is valid? [False, False] Translation: X:46.69, Y:-13.59, Z:38.16 [[ 0.57974219 0.5044372 0.63987663 46.68691687] [ -0.74875897 0.63953595 0.17422334 -13.59069772] [ -0.32133938 -0.58011799 0.74846785 38.15883256] [ 0. 0. 0. 1. ]] SLAMing on 237.919072329 meters 0.3661273160346998 Centerline is valid? [False, False] Translation: X:46.32, Y:-13.71, Z:38.50 [[ 0.58288497 0.49861868 0.64157971 46.32204485] [ -0.74651945 0.64040817 0.18051614 -13.71404297] [ -0.32086417 -0.58417188 0.74551284 38.50384181] [ 0. 0. 0. 1. ]] SLAMing on 237.979072329 meters 0.3722064606917461 Centerline is valid? [False, False] Translation: X:45.96, Y:-13.84, Z:38.83 [[ 0.58426963 0.50007882 0.6391793 45.96142395] [ -0.74440349 0.6439392 0.17665151 -13.83640891] [ -0.32325292 -0.57901941 0.74849453 38.83425811] [ 0. 0. 0. 1. ]] SLAMing on 238.039072329 meters 0.3787673534800717 Centerline is valid? [False, False] Translation: X:45.60, Y:-13.96, Z:39.17 [[ 0.58524781 0.4980808 0.63984414 45.59756076] [ -0.74223504 0.64677009 0.17542971 -13.96114387] [ -0.32645388 -0.5775846 0.74821381 39.17264295] [ 0. 0. 0. 1. ]] SLAMing on 238.099072329 meters 0.36673778258899886 Centerline is valid? [False, False] Translation: X:45.24, Y:-14.08, Z:39.52 [[ 0.58646841 0.49337245 0.64236939 45.23671723] [ -0.74118162 0.6467344 0.1799567 -14.0835125 ] [ -0.32665671 -0.5816513 0.74496789 39.52136596] [ 0. 0. 0. 1. ]] SLAMing on 238.159072329 meters 0.3645084792114289 Centerline is valid? [False, False] Translation: X:44.88, Y:-14.21, Z:39.85 [[ 0.58935222 0.49585387 0.63780318 44.88067548] [ -0.73832851 0.65104776 0.17609037 -14.20582005] [ -0.32792525 -0.57468752 0.74979949 39.85096581] [ 0. 0. 0. 1. ]] SLAMing on 238.219072329 meters 0.3698066693552961 Centerline is valid? [False, False] Translation: X:44.52, Y:-14.33, Z:40.18 [[ 0.5914579 0.49412579 0.63719484 44.52421894] [ -0.73581933 0.65393455 0.17589632 -14.33132496] [ -0.32976881 -0.57289555 0.75036206 40.18347357] [ 0. 0. 0. 1. ]] SLAMing on 238.279072329 meters 0.37476020890759404 Centerline is valid? [False, False] Translation: X:44.17, Y:-14.46, Z:40.52 [[ 0.59500774 0.48819818 0.63845777 44.17333619] [ -0.73291519 0.65559792 0.18173246 -14.45509277] [ -0.32985013 -0.57606762 0.7478937 40.52125405] [ 0. 0. 0. 1. ]] SLAMing on 238.339072329 meters 0.35903267039402725 Centerline is valid? [False, False] Translation: X:43.82, Y:-14.58, Z:40.84 [[ 0.59980342 0.48831863 0.6338618 43.8238724 ] [ -0.72577207 0.66555625 0.17403959 -14.58066509] [ -0.33688391 -0.56442873 0.75361093 40.84421823] [ 0. 0. 0. 1. ]] SLAMing on 238.399072329 meters 0.34304263088931625 Centerline is valid? [False, False] Translation: X:43.47, Y:-14.71, Z:41.17 [[ 0.60219883 0.48638422 0.63307737 43.47288006] [ -0.72210684 0.67002921 0.17211208 -14.70574163] [ -0.34046773 -0.56079519 0.75471218 41.17027998] [ 0. 0. 0. 1. ]] SLAMing on 238.459072329 meters 0.3329744560358588 Centerline is valid? [False, False] Translation: X:43.13, Y:-14.83, Z:41.49 [[ 0.60653428 0.47919232 0.6344217 43.13301592] [ -0.71693686 0.67458315 0.17589518 -14.82846619] [ -0.34368257 -0.56152676 0.75270844 41.49455945] [ 0. 0. 0. 1. ]] SLAMing on 238.519072329 meters 0.3322796665848694 Centerline is valid? [False, False] Translation: X:42.80, Y:-14.95, Z:41.80 [[ 0.61042727 0.48046261 0.62970964 42.7993102 ] [ -0.71251611 0.6803491 0.17159807 -14.94895115] [ -0.34597594 -0.5534264 0.75764099 41.80229092] [ 0. 0. 0. 1. ]] SLAMing on 238.579072329 meters 0.326475727578383 Centerline is valid? [False, False] Translation: X:42.46, Y:-15.07, Z:42.11 [[ 0.61534057 0.48073626 0.62469883 42.46437036] [ -0.70651185 0.68780522 0.16662829 -15.070926 ] [ -0.34956685 -0.54389027 0.76288032 42.10613452] [ 0. 0. 0. 1. ]] SLAMing on 238.63907232900002 meters 0.3188510133727923 Centerline is valid? [False, False] Translation: X:42.13, Y:-15.19, Z:42.42 [[ 0.6152439 0.4723641 0.63114745 42.12572559] [ -0.70388353 0.68967787 0.16997767 -15.19166368] [ -0.35499708 -0.54883202 0.75680941 42.42283244] [ 0. 0. 0. 1. ]] SLAMing on 238.699072329 meters 0.3219571900425746 Centerline is valid? [False, False] Translation: X:41.80, Y:-15.31, Z:42.71 [[ 0.61840083 0.47906017 0.62296209 41.80150924] [ -0.70078372 0.69490658 0.1612669 -15.30878538] [ -0.35564391 -0.53628928 0.76544838 42.71497377] [ 0. 0. 0. 1. ]] SLAMing on 238.759072329 meters 0.3203149835297353 Centerline is valid? [False, False] Translation: X:41.46, Y:-15.43, Z:43.02 [[ 0.61812444 0.47959566 0.62282436 41.46317869] [ -0.70044154 0.69566588 0.15946983 -15.42845429] [ -0.35679662 -0.53482425 0.76593681 43.02061028] [ 0. 0. 0. 1. ]] SLAMing on 238.819072329 meters 0.3272189877873446 Centerline is valid? [False, False] Translation: X:41.12, Y:-15.55, Z:43.34 [[ 0.61393493 0.47404372 0.63116278 41.12371599] [ -0.70258089 0.69264005 0.16318657 -15.54978593] [ -0.35981105 -0.54362884 0.75828998 43.33673531] [ 0. 0. 0. 1. ]] SLAMing on 238.879072329 meters 0.328048751740713 Centerline is valid? [False, False] Translation: X:40.80, Y:-15.67, Z:43.63 [[ 0.61677698 0.48267845 0.62177783 40.79532697] [ -0.70234959 0.69410379 0.15787651 -15.6710841 ] [ -0.35537476 -0.53408 0.76711625 43.62679179] [ 0. 0. 0. 1. ]] SLAMing on 238.939072329 meters 0.32025717744455534 Centerline is valid? [False, False] Translation: X:40.46, Y:-15.79, Z:43.93 [[ 0.6177533 0.482573 0.62088982 40.45608564] [ -0.70256015 0.69338218 0.16009496 -15.79318707] [ -0.35325643 -0.53511163 0.76737568 43.92979835] [ 0. 0. 0. 1. ]] SLAMing on 238.999072329 meters 0.3258044649887064 Centerline is valid? [False, False] Translation: X:40.11, Y:-15.92, Z:44.24 [[ 0.61637007 0.47755163 0.6261249 40.11390196] [ -0.70327706 0.69153095 0.16488276 -15.91798948] [ -0.35424471 -0.54196808 0.76209008 44.24474214] [ 0. 0. 0. 1. ]] SLAMing on 239.059072329 meters 0.32050886251571836 Centerline is valid? [False, False] Translation: X:39.77, Y:-16.04, Z:44.55 [[ 0.61719582 0.48235311 0.62161467 39.76949861] [ -0.70252309 0.69359845 0.15931887 -16.04437053] [ -0.35430301 -0.5350296 0.76695026 44.54672248] [ 0. 0. 0. 1. ]] SLAMing on 239.119072329 meters 0.3256340954605961 Centerline is valid? [False, False] Translation: X:39.42, Y:-16.17, Z:44.86 [[ 0.61894286 0.47699657 0.62400642 39.417335 ] [ -0.70108886 0.69368872 0.16513742 -16.17011517] [ -0.35409623 -0.53969457 0.76377066 44.86012973] [ 0. 0. 0. 1. ]] SLAMing on 239.179072329 meters 0.33598376351298553 Centerline is valid? [False, False] Translation: X:39.07, Y:-16.30, Z:45.17 [[ 0.6198715 0.47394635 0.62540722 39.06845843] [ -0.69889066 0.69584621 0.16537806 -16.29509685] [ -0.35680691 -0.53960441 0.76257191 45.16888522] [ 0. 0. 0. 1. ]] SLAMing on 239.239072329 meters 0.3308938304575781 Centerline is valid? [False, False] Translation: X:38.72, Y:-16.42, Z:45.48 [[ 0.61951387 0.47606891 0.62414818 38.72047382] [ -0.7000495 0.69479468 0.16489711 -16.42367884] [ -0.35515245 -0.53909066 0.76370675 45.47730442] [ 0. 0. 0. 1. ]] SLAMing on 239.299072329 meters 0.3492535697412405 Centerline is valid? [False, False] Translation: X:38.37, Y:-16.55, Z:45.79 [[ 0.6219089 0.47310041 0.6240235 38.37184499] [ -0.69809104 0.69600875 0.16804976 -16.55054639] [ -0.3548214 -0.54013686 0.76312119 45.78709504] [ 0. 0. 0. 1. ]] SLAMing on 239.359072329 meters 0.3256029269532935 Centerline is valid? [False, False] Translation: X:38.03, Y:-16.68, Z:46.09 [[ 0.62500673 0.47268041 0.62124055 38.02718631] [ -0.69665993 0.69679294 0.17071772 -16.67836161] [ -0.35218111 -0.53949312 0.76479777 46.09367652] [ 0. 0. 0. 1. ]] SLAMing on 239.419072329 meters 0.3341028210377245 Centerline is valid? [False, False] Translation: X:37.68, Y:-16.81, Z:46.40 [[ 0.62391325 0.4705804 0.62392816 37.68129293] [ -0.69693433 0.69625572 0.17178624 -16.8076955 ] [ -0.35357431 -0.54201667 0.7623668 46.40376686] [ 0. 0. 0. 1. ]] SLAMing on 239.479072329 meters 0.33153292295968967 Centerline is valid? [False, False] Translation: X:37.34, Y:-16.94, Z:46.71 [[ 0.62513477 0.46801585 0.62463404 37.33958453] [ -0.69560924 0.69705929 0.17388538 -16.93586151] [ -0.35402585 -0.54320301 0.76131215 46.71214501] [ 0. 0. 0. 1. ]] SLAMing on 239.539072329 meters 0.3409125500711224 Centerline is valid? [False, False] Translation: X:37.00, Y:-17.07, Z:47.02 [[ 0.62603717 0.46843055 0.62341822 37.00309659] [ -0.69446781 0.69853737 0.17251088 -17.06537324] [ -0.35467156 -0.54094211 0.7626203 47.01648757] [ 0. 0. 0. 1. ]] SLAMing on 239.599072329 meters 0.3300741918093087 Centerline is valid? [False, False] Translation: X:36.67, Y:-17.20, Z:47.32 [[ 0.62615776 0.46897459 0.62288787 36.6659557 ] [ -0.69534893 0.69728831 0.17400825 -17.196996 ] [ -0.35272698 -0.54208103 0.76271346 47.32305095] [ 0. 0. 0. 1. ]] SLAMing on 239.659072329 meters 0.3407714481256329 Centerline is valid? [False, False] Translation: X:36.34, Y:-17.33, Z:47.62 [[ 0.62861731 0.46939238 0.62008957 36.33623722] [ -0.69493186 0.69697795 0.17689388 -17.32761438] [ -0.34915612 -0.54211855 0.76432812 47.62259107] [ 0. 0. 0. 1. ]] SLAMing on 239.719072329 meters 0.3370588229730121 Centerline is valid? [False, False] Translation: X:36.00, Y:-17.46, Z:47.93 [[ 0.62985115 0.46807502 0.61983329 36.00218232] [ -0.69481102 0.69623251 0.18027182 -17.46091283] [ -0.34716736 -0.54421141 0.76374653 47.92641064] [ 0. 0. 0. 1. ]] SLAMing on 239.779072329 meters 0.34828277535551116 Centerline is valid? [False, False] Translation: X:35.67, Y:-17.60, Z:48.23 [[ 0.62938306 0.46878644 0.61977111 35.66755677] [ -0.69574558 0.69518568 0.18070682 -17.5958614 ] [ -0.34614309 -0.54493683 0.76369419 48.2290818 ] [ 0. 0. 0. 1. ]] SLAMing on 239.839072329 meters 0.34180566815835706 Centerline is valid? [False, False] Translation: X:35.34, Y:-17.73, Z:48.52 [[ 0.63257173 0.47148245 0.61445691 35.34074543] [ -0.6953972 0.695045 0.18257926 -17.72678378] [ -0.34099229 -0.54278609 0.7675334 48.52480725] [ 0. 0. 0. 1. ]] SLAMing on 239.899072329 meters 0.34026177693997917 Centerline is valid? [False, False] Translation: X:35.01, Y:-17.86, Z:48.83 [[ 0.6333641 0.47015514 0.61465767 35.00639441] [ -0.69530777 0.69441168 0.18530925 -17.86153226] [ -0.33970137 -0.54474449 0.76671796 48.82991456] [ 0. 0. 0. 1. ]] SLAMing on 239.959072329 meters 0.3455887377665282 Centerline is valid? [False, False] Translation: X:34.68, Y:-17.99, Z:49.13 [[ 0.63235676 0.47335479 0.61323745 34.67569373] [ -0.69712226 0.69294547 0.18397591 -17.99346552] [ -0.33785423 -0.54383989 0.76817491 49.12589685] [ 0. 0. 0. 1. ]] SLAMing on 240.019072329 meters 0.3581485383997666 Centerline is valid? [False, False] Translation: X:34.34, Y:-18.13, Z:49.42 [[ 0.63439892 0.47636253 0.608783 34.34414885] [ -0.69697337 0.693099 0.18396171 -18.12540711] [ -0.33431442 -0.54101065 0.77171326 49.42295979] [ 0. 0. 0. 1. ]] SLAMing on 240.079072329 meters 0.3611161758937177 Centerline is valid? [False, False] Translation: X:34.01, Y:-18.26, Z:49.72 [[ 0.63558282 0.47531495 0.60836681 34.00776053] [ -0.69642584 0.69308486 0.18607639 -18.26047633] [ -0.33320494 -0.54194932 0.77153445 49.72369963] [ 0. 0. 0. 1. ]] SLAMing on 240.13907232900002 meters 0.35044043078721165 Centerline is valid? [False, False] Translation: X:33.68, Y:-18.39, Z:50.02 [[ 0.63660843 0.47803831 0.60515211 33.67735991] [ -0.69616427 0.69383242 0.18426038 -18.39283218] [ -0.33179063 -0.53858699 0.77449276 50.01552982] [ 0. 0. 0. 1. ]] SLAMing on 240.199072329 meters 0.35796637812170606 Centerline is valid? [False, False] Translation: X:33.34, Y:-18.53, Z:50.31 [[ 0.63782838 0.47844776 0.6035418 33.34439094] [ -0.69552706 0.69438765 0.18457492 -18.52831633] [ -0.33078252 -0.53750678 0.77567351 50.31455498] [ 0. 0. 0. 1. ]] SLAMing on 240.259072329 meters 0.352023762595061 Centerline is valid? [False, False] Translation: X:33.01, Y:-18.66, Z:50.61 [[ 0.63964083 0.47937121 0.60088505 33.00995063] [ -0.69453781 0.69537562 0.18458055 -18.66450497] [ -0.32935821 -0.53540265 0.77773207 50.61400765] [ 0. 0. 0. 1. ]] SLAMing on 240.319072329 meters 0.35739036621455933 Centerline is valid? [False, False] Translation: X:32.68, Y:-18.80, Z:50.90 [[ 0.64230785 0.48143962 0.59636945 32.68370885] [ -0.69286849 0.69739046 0.18324794 -18.79826737] [ -0.32767954 -0.53090719 0.78151371 50.89953785] [ 0. 0. 0. 1. ]] SLAMing on 240.379072329 meters 0.35211992171023304 Centerline is valid? [False, False] Translation: X:32.35, Y:-18.93, Z:51.19 [[ 0.64317393 0.48251636 0.59456309 32.35091914] [ -0.692852 0.6973159 0.18359367 -18.93347181] [ -0.32601135 -0.53002689 0.78280783 51.18928294] [ 0. 0. 0. 1. ]] SLAMing on 240.439072329 meters 0.34866728743411324 Centerline is valid? [False, False] Translation: X:32.02, Y:-19.07, Z:51.47 [[ 0.64451086 0.48594262 0.59030968 32.01894942] [ -0.69289128 0.69763817 0.18221595 -19.0679449 ] [ -0.32327607 -0.52646059 0.78634078 51.47470404] [ 0. 0. 0. 1. ]] SLAMing on 240.499072329 meters 0.3548458396704754 Centerline is valid? [False, False] Translation: X:31.69, Y:-19.20, Z:51.76 [[ 0.64509004 0.48680558 0.58896448 31.68743093] [ -0.69242595 0.69837057 0.18117629 -19.20131948] [ -0.32311784 -0.52468931 0.78758872 51.7577415 ] [ 0. 0. 0. 1. ]] SLAMing on 240.559072329 meters 0.3557113745314158 Centerline is valid? [False, False] Translation: X:31.36, Y:-19.33, Z:52.04 [[ 0.64398824 0.48742542 0.58965719 31.36013766] [ -0.69352921 0.69731803 0.18101046 -19.33403773] [ -0.32294949 -0.5255131 0.78710839 52.0386987 ] [ 0. 0. 0. 1. ]] SLAMing on 240.619072329 meters 0.35846100785184687 Centerline is valid? [False, False] Translation: X:31.03, Y:-19.47, Z:52.32 [[ 0.6433289 0.49046197 0.58785626 31.02776837] [ -0.69450751 0.69698224 0.17853593 -19.46732313] [ -0.32216029 -0.52312791 0.78901834 52.31814674] [ 0. 0. 0. 1. ]] SLAMing on 240.679072329 meters 0.3515786498945948 Centerline is valid? [False, False] Translation: X:30.70, Y:-19.60, Z:52.59 [[ 0.64303224 0.49456479 0.58473516 30.69556031] [ -0.69593999 0.69604164 0.17661699 -19.60089118] [ -0.31965147 -0.52051101 0.79176463 52.59416162] [ 0. 0. 0. 1. ]] SLAMing on 240.739072329 meters 0.35876446574092485 Centerline is valid? [False, False] Translation: X:30.36, Y:-19.74, Z:52.87 [[ 0.6433342 0.49558529 0.58353777 30.36432496] [ -0.69697447 0.69450771 0.17856548 -19.73527668] [ -0.31677706 -0.5215882 0.79221086 52.87024519] [ 0. 0. 0. 1. ]] SLAMing on 240.799072329 meters 0.36523971193411486 Centerline is valid? [False, False] Translation: X:30.03, Y:-19.87, Z:53.15 [[ 0.6429279 0.49590272 0.58371586 30.02781105] [ -0.69706988 0.69465155 0.17763108 -19.87245636] [ -0.31739139 -0.52109473 0.79228971 53.1489974 ] [ 0. 0. 0. 1. ]] SLAMing on 240.859072329 meters 0.3860055566030221 Centerline is valid? [False, False] Translation: X:29.70, Y:-20.01, Z:53.42 [[ 0.64256877 0.49841881 0.58196568 29.69573212] [ -0.69778011 0.69442758 0.17570785 -20.00698274] [ -0.31655693 -0.51898845 0.79400422 53.42127879] [ 0. 0. 0. 1. ]] SLAMing on 240.919072329 meters 0.37100544408630814 Centerline is valid? [False, False] Translation: X:29.36, Y:-20.14, Z:53.70 [[ 0.64306245 0.49786533 0.58189415 29.35711308] [ -0.6974102 0.69462193 0.17640689 -20.1447076 ] [ -0.31636956 -0.51925956 0.79390164 53.69771009] [ 0. 0. 0. 1. ]] SLAMing on 240.979072329 meters 0.3660672748943792 Centerline is valid? [False, False] Translation: X:29.02, Y:-20.28, Z:53.97 [[ 0.64372676 0.49872469 0.58042187 29.02265396] [ -0.69696237 0.69528658 0.17555635 -20.28363628] [ -0.31600525 -0.51754252 0.79516691 53.97083343] [ 0. 0. 0. 1. ]] SLAMing on 241.039072329 meters 0.36790519092776025 Centerline is valid? [False, False] Translation: X:28.69, Y:-20.42, Z:54.24 [[ 0.64376057 0.49850851 0.58057007 28.68766282] [ -0.6965138 0.69593778 0.17475447 -20.42403696] [ -0.31692406 -0.5168751 0.79523536 54.24476225] [ 0. 0. 0. 1. ]] SLAMing on 241.099072329 meters 0.368358713098247 Centerline is valid? [False, False] Translation: X:28.35, Y:-20.56, Z:54.52 [[ 0.64481078 0.49772908 0.58007312 28.35335887] [ -0.69544355 0.69693101 0.17505839 -20.56442128] [ -0.3171393 -0.51628764 0.7955311 54.51689009] [ 0. 0. 0. 1. ]] SLAMing on 241.159072329 meters 0.3727980108840512 Centerline is valid? [False, False] Translation: X:28.02, Y:-20.71, Z:54.79 [[ 0.64565334 0.49808198 0.57883167 28.01596604] [ -0.69509708 0.69718708 0.17541444 -20.70561805] [ -0.31618319 -0.51560112 0.7963565 54.79095933] [ 0. 0. 0. 1. ]] SLAMing on 241.219072329 meters 0.3829178867285343 Centerline is valid? [False, False] Translation: X:27.68, Y:-20.85, Z:55.06 [[ 0.64597298 0.49762392 0.57886902 27.67992412] [ -0.69425522 0.69826045 0.17447646 -20.84791086] [ -0.31737769 -0.51458992 0.79653539 55.06039147] [ 0. 0. 0. 1. ]] SLAMing on 241.279072329 meters 0.36825460339748123 Centerline is valid? [False, False] Translation: X:27.34, Y:-20.99, Z:55.33 [[ 0.64562945 0.49456708 0.58186426 27.3419334 ] [ -0.69363936 0.69850352 0.17594679 -20.99185254] [ -0.31941675 -0.51720038 0.79402564 55.33346167] [ 0. 0. 0. 1. ]] SLAMing on 241.339072329 meters 0.37260200443884334 Centerline is valid? [False, False] Translation: X:27.01, Y:-21.13, Z:55.61 [[ 0.64425611 0.48950906 0.58763504 27.00709262] [ -0.69324531 0.69828195 0.17836274 -21.13483837] [ -0.32302477 -0.52228652 0.78922227 55.61184473] [ 0. 0. 0. 1. ]] SLAMing on 241.399072329 meters 0.3854319872998894 Centerline is valid? [False, False] Translation: X:26.68, Y:-21.28, Z:55.88 [[ 0.64563747 0.49199702 0.58403013 26.67954107] [ -0.69221431 0.70002219 0.17552291 -21.27613176] [ -0.3224773 -0.51759818 0.79252793 55.87792625] [ 0. 0. 0. 1. ]] SLAMing on 241.459072329 meters 0.3710823575372186 Centerline is valid? [False, False] Translation: X:26.34, Y:-21.42, Z:56.15 [[ 0.64552348 0.48922735 0.58647765 26.34492556] [ -0.6919218 0.6997115 0.17789896 -21.42149008] [ -0.32333212 -0.52063463 0.79018727 56.15330177] [ 0. 0. 0. 1. ]] SLAMing on 241.519072329 meters 0.37273370021710395 Centerline is valid? [False, False] Translation: X:26.02, Y:-21.57, Z:56.42 [[ 0.64484699 0.48616916 0.5897558 26.02098459] [ -0.69206313 0.6988841 0.1805814 -21.56580865] [ -0.32437784 -0.52459562 0.78713306 56.42468837] [ 0. 0. 0. 1. ]] SLAMing on 241.579072329 meters 0.37664442306154083 Centerline is valid? [False, False] Translation: X:25.70, Y:-21.71, Z:56.69 [[ 0.64612216 0.48740387 0.58733603 25.70487969] [ -0.6910739 0.70022891 0.17915448 -21.7080672 ] [ -0.32394909 -0.52164828 0.78926552 56.68656735] [ 0. 0. 0. 1. ]] SLAMing on 241.63907232900002 meters 0.3753298350423385 Centerline is valid? [False, False] Translation: X:25.39, Y:-21.85, Z:56.95 [[ 0.64776852 0.48577045 0.58687565 25.39021731] [ -0.69099188 0.69903019 0.18408428 -21.85065845] [ -0.32082109 -0.5247703 0.78847318 56.95161907] [ 0. 0. 0. 1. ]] SLAMing on 241.699072329 meters 0.3819179210637738 Centerline is valid? [False, False] Translation: X:25.08, Y:-21.99, Z:57.22 [[ 0.647137 0.48356331 0.58938971 25.07953906] [ -0.69184785 0.69725363 0.1875738 -21.99318244] [ -0.32025031 -0.52915395 0.78577085 57.2189955 ] [ 0. 0. 0. 1. ]] SLAMing on 241.759072329 meters 0.38953316135310406 Centerline is valid? [False, False] Translation: X:24.77, Y:-22.14, Z:57.48 [[ 0.64939292 0.48526255 0.58549901 24.77245293] [ -0.69135759 0.69741248 0.18878694 -22.1351198 ] [ -0.31672308 -0.52738609 0.78838468 57.47894654] [ 0. 0. 0. 1. ]] SLAMing on 241.819072329 meters 0.3932452123165554 Centerline is valid? [False, False] Translation: X:24.46, Y:-22.28, Z:57.74 [[ 0.6499436 0.48871949 0.58200221 24.46232327] [ -0.69292819 0.6956016 0.18970749 -22.2768138 ] [ -0.31212792 -0.52658491 0.79074932 57.74219763] [ 0. 0. 0. 1. ]] SLAMing on 241.879072329 meters 0.38910148369604286 Centerline is valid? [False, False] Translation: X:24.15, Y:-22.42, Z:58.01 [[ 0.64923583 0.48765606 0.58368176 24.14801822] [ -0.69422835 0.69344035 0.19284058 -22.42046506] [ -0.3107086 -0.53040744 0.78875098 58.01304425] [ 0. 0. 0. 1. ]] SLAMing on 241.939072329 meters 0.40377573001896516 Centerline is valid? [False, False] Translation: X:23.84, Y:-22.57, Z:58.28 [[ 0.6503341 0.48977861 0.58067416 23.8375476 ] [ -0.69446585 0.69311379 0.19315913 -22.56540707] [ -0.30786806 -0.52887634 0.79089005 58.27701119] [ 0. 0. 0. 1. ]] SLAMing on 241.999072329 meters 0.39508562867579905 Centerline is valid? [False, False] Translation: X:23.53, Y:-22.71, Z:58.54 [[ 0.6505597 0.49407458 0.57676892 23.52841066] [ -0.69621964 0.69138731 0.19303319 -22.70930122] [ -0.30339791 -0.52713746 0.79377315 58.53870984] [ 0. 0. 0. 1. ]] SLAMing on 242.059072329 meters 0.39664569630238794 Centerline is valid? [False, False] Translation: X:23.21, Y:-22.86, Z:58.81 [[ 0.65011371 0.49502588 0.57645602 23.21436652] [ -0.69844292 0.6880712 0.19681339 -22.85658504] [ -0.29921506 -0.53057271 0.79307184 58.81013251] [ 0. 0. 0. 1. ]] SLAMing on 242.119072329 meters 0.39531611745268064 Centerline is valid? [False, False] Translation: X:22.90, Y:-23.01, Z:59.08 [[ 0.65028283 0.49759193 0.57405097 22.89806752] [ -0.69962415 0.68674263 0.19725771 -23.00856995] [ -0.29607143 -0.52989323 0.79470427 59.07978839] [ 0. 0. 0. 1. ]] SLAMing on 242.179072329 meters 0.41955152574553845 Centerline is valid? [False, False] Translation: X:22.58, Y:-23.16, Z:59.35 [[ 0.65159166 0.50383678 0.56707743 22.58094007] [ -0.70095864 0.68568036 0.19621274 -23.16175476] [ -0.28997466 -0.52534841 0.79995234 59.34541553] [ 0. 0. 0. 1. ]] SLAMing on 242.239072329 meters 0.4262324713533585 Centerline is valid? [False, False] Translation: X:22.26, Y:-23.32, Z:59.62 [[ 0.65016006 0.50632804 0.56650137 22.25965518] [ -0.70484831 0.68032054 0.2008801 -23.31784057] [ -0.28369129 -0.52990176 0.79920171 59.61964218] [ 0. 0. 0. 1. ]] SLAMing on 242.299072329 meters 0.4232205136521078 Centerline is valid? [False, False] Translation: X:21.94, Y:-23.48, Z:59.89 [[ 0.64971956 0.51038994 0.56335301 21.94007636] [ -0.70694126 0.67812492 0.20094936 -23.47513469] [ -0.27946118 -0.52881821 0.80140673 59.88585419] [ 0. 0. 0. 1. ]] SLAMing on 242.359072329 meters 0.4266870484101719 Centerline is valid? [False, False] Translation: X:21.62, Y:-23.63, Z:60.15 [[ 0.64965195 0.51692439 0.55744193 21.61766832] [ -0.70935099 0.67591386 0.19990405 -23.63402779] [ -0.27344745 -0.52529004 0.80578959 60.14883132] [ 0. 0. 0. 1. ]] SLAMing on 242.419072329 meters 0.439070206958694 Centerline is valid? [False, False] Translation: X:21.30, Y:-23.79, Z:60.42 [[ 0.64525225 0.51968376 0.55998064 21.2975865 ] [ -0.71457473 0.66983415 0.20175524 -23.79165679] [ -0.27024523 -0.53033104 0.80356487 60.41628708] [ 0. 0. 0. 1. ]] SLAMing on 242.479072329 meters 0.4665392244575605 Centerline is valid? [False, False] Translation: X:20.98, Y:-23.95, Z:60.68 [[ 0.6427434 0.52578451 0.55716387 20.97636962] [ -0.71839801 0.66625929 0.20000715 -23.94931278] [ -0.26605494 -0.52881868 0.80595631 60.67935126] [ 0. 0. 0. 1. ]] SLAMing on 242.539072329 meters 0.4612380827947341 Centerline is valid? [False, False] Translation: X:20.65, Y:-24.11, Z:60.94 [[ 0.6427522 0.52688677 0.55611144 20.64887798] [ -0.71948221 0.66448156 0.20201389 -24.11222372] [ -0.26308736 -0.52995716 0.80618264 60.94413814] [ 0. 0. 0. 1. ]] SLAMing on 242.599072329 meters 0.4565058778575677 Centerline is valid? [False, False] Translation: X:20.32, Y:-24.28, Z:61.21 [[ 0.63867143 0.52847033 0.55930127 20.31920746] [ -0.72383984 0.65921997 0.20367846 -24.27843059] [ -0.26106455 -0.53492816 0.80355284 61.21240474] [ 0. 0. 0. 1. ]] SLAMing on 242.659072329 meters 0.4463329703077966 Centerline is valid? [False, False] Translation: X:20.00, Y:-24.44, Z:61.48 [[ 0.63777726 0.53221561 0.5567645 19.99586337] [ -0.72679309 0.65514738 0.2062855 -24.44011116] [ -0.25497444 -0.53621679 0.80464873 61.47569619] [ 0. 0. 0. 1. ]] SLAMing on 242.719072329 meters 0.45414087026646743 Centerline is valid? [False, False] Translation: X:19.67, Y:-24.61, Z:61.74 [[ 0.63891637 0.53099207 0.5566267 19.66648719] [ -0.7268508 0.65366146 0.21074774 -24.60691761] [ -0.25194005 -0.53923474 0.80358702 61.74118315] [ 0. 0. 0. 1. ]] SLAMing on 242.779072329 meters 0.458614672212096 Centerline is valid? [False, False] Translation: X:19.34, Y:-24.77, Z:62.01 [[ 0.63430031 0.5323242 0.56061935 19.34071721] [ -0.73114483 0.64867439 0.21130258 -24.77375413] [ -0.25117794 -0.54392323 0.80066045 62.00815184] [ 0. 0. 0. 1. ]] SLAMing on 242.839072329 meters 0.4646965385216153 Centerline is valid? [False, False] Translation: X:19.01, Y:-24.94, Z:62.28 [[ 0.63129977 0.53598337 0.56051978 19.00974452] [ -0.73571167 0.64252703 0.21421331 -24.9422373 ] [ -0.24533434 -0.54761376 0.79995639 62.27778716] [ 0. 0. 0. 1. ]] SLAMing on 242.899072329 meters 0.47389164071260004 Centerline is valid? [False, False] Translation: X:18.68, Y:-25.11, Z:62.55 [[ 0.63082124 0.53685775 0.56022168 18.68069772] [ -0.73745136 0.63935464 0.21769506 -25.11185954] [ -0.24130905 -0.5504629 0.79922496 62.54945246] [ 0. 0. 0. 1. ]] SLAMing on 242.959072329 meters 0.4881013200552551 Centerline is valid? [False, False] Translation: X:18.34, Y:-25.29, Z:62.83 [[ 0.62840845 0.53769186 0.56213013 18.34357733] [ -0.74077749 0.63417738 0.22151245 -25.28630813] [ -0.23738478 -0.55561364 0.79683245 62.82777653] [ 0. 0. 0. 1. ]] SLAMing on 243.019072329 meters 0.507947385393234 Centerline is valid? [False, False] Translation: X:18.01, Y:-25.46, Z:63.11 [[ 0.62579479 0.54079477 0.5620693 18.00762669] [ -0.74444084 0.62917769 0.2234799 -25.46060673] [ -0.2327847 -0.5582799 0.79632583 63.10899396] [ 0. 0. 0. 1. ]] SLAMing on 243.079072329 meters 0.5173147631705765 Centerline is valid? [False, False] Translation: X:17.67, Y:-25.64, Z:63.39 [[ 0.6261376 0.54109343 0.56139969 17.66865784] [ -0.74518586 0.62716219 0.22663985 -25.63504275] [ -0.22945533 -0.56025484 0.795905 63.3923744 ] [ 0. 0. 0. 1. ]] SLAMing on 243.13907232900002 meters 0.5015209602673577 Centerline is valid? [False, False] Translation: X:17.34, Y:-25.81, Z:63.67 [[ 0.62587762 0.53994533 0.56279325 17.33585428] [ -0.74578935 0.62547389 0.22930474 -25.80720556] [ -0.22820046 -0.56324192 0.79415558 63.67225726] [ 0. 0. 0. 1. ]] SLAMing on 243.199072329 meters 0.517648174667162 Centerline is valid? [False, False] Translation: X:17.00, Y:-25.98, Z:63.95 [[ 0.62500055 0.53918352 0.56449574 17.0008828 ] [ -0.7467642 0.62363445 0.23113482 -25.98087071] [ -0.22741491 -0.5660046 0.79241482 63.95390514] [ 0. 0. 0. 1. ]] SLAMing on 243.259072329 meters 0.526989567890645 Centerline is valid? [False, False] Translation: X:16.67, Y:-26.16, Z:64.24 [[ 0.62632708 0.53779734 0.56434777 16.66806702] [ -0.74568771 0.62438899 0.23256877 -26.15554492] [ -0.22729767 -0.56649131 0.7921006 64.23684855] [ 0. 0. 0. 1. ]] SLAMing on 243.319072329 meters 0.5148754388853446 Centerline is valid? [False, False] Translation: X:16.34, Y:-26.33, Z:64.52 [[ 0.62805804 0.53572082 0.56439907 16.34490712] [ -0.74448578 0.62473864 0.23546244 -26.32564007] [ -0.22645978 -0.56807116 0.79120865 64.51529584] [ 0. 0. 0. 1. ]] SLAMing on 243.379072329 meters 0.5291275659135426 Centerline is valid? [False, False] Translation: X:16.02, Y:-26.50, Z:64.80 [[ 0.63191398 0.53204637 0.56357021 16.02155493] [ -0.74059457 0.62888165 0.23670142 -26.49734072] [ -0.22848283 -0.56695197 0.79142975 64.79628456] [ 0. 0. 0. 1. ]] SLAMing on 243.439072329 meters 0.5062333312865712 Centerline is valid? [False, False] Translation: X:15.71, Y:-26.67, Z:65.07 [[ 0.63477127 0.52888356 0.56333615 15.70830816] [ -0.73641809 0.63485236 0.23377529 -26.66692647] [ -0.23399538 -0.56324477 0.79246545 65.07229148] [ 0. 0. 0. 1. ]] SLAMing on 243.499072329 meters 0.4943348488345914 Centerline is valid? [False, False] Translation: X:15.40, Y:-26.84, Z:65.35 [[ 0.63869046 0.52566781 0.56191445 15.40002744] [ -0.73243775 0.63913688 0.2346039 -26.83629547] [ -0.23581654 -0.56140663 0.79322957 65.34592041] [ 0. 0. 0. 1. ]] SLAMing on 243.559072329 meters 0.4921986416684491 Centerline is valid? [False, False] Translation: X:15.10, Y:-27.00, Z:65.61 [[ 0.64491027 0.52074914 0.55938455 15.09744029] [ -0.72634491 0.64529965 0.23666733 -27.00229619] [ -0.23772635 -0.55893532 0.79440386 65.61457293] [ 0. 0. 0. 1. ]] SLAMing on 243.619072329 meters 0.5021185310112032 Centerline is valid? [False, False] Translation: X:14.80, Y:-27.17, Z:65.88 [[ 0.64871373 0.51984133 0.55581966 14.79731055] [ -0.72230907 0.65057601 0.23456441 -27.16925131] [ -0.23966666 -0.55363873 0.79752369 65.87684627] [ 0. 0. 0. 1. ]] SLAMing on 243.679072329 meters 0.48194476031724987 Centerline is valid? [False, False] Translation: X:14.50, Y:-27.34, Z:66.14 [[ 0.65296843 0.51795478 0.55258943 14.49916082] [ -0.71729416 0.65713906 0.23164055 -27.33613975] [ -0.24314877 -0.54762314 0.80061699 66.13771941] [ 0. 0. 0. 1. ]] SLAMing on 243.739072329 meters 0.47109332819698985 Centerline is valid? [False, False] Translation: X:14.20, Y:-27.50, Z:66.40 [[ 0.65779696 0.51322963 0.55126991 14.20187082] [ -0.71178493 0.66292401 0.23215074 -27.50138087] [ -0.24630342 -0.54509366 0.80137851 66.40022637] [ 0. 0. 0. 1. ]] SLAMing on 243.799072329 meters 0.46941243516932174 Centerline is valid? [False, False] Translation: X:13.91, Y:-27.66, Z:66.65 [[ 0.66061053 0.5156019 0.54566327 13.91115991] [ -0.70804071 0.6695143 0.22456394 -27.66411071] [ -0.24954377 -0.53470111 0.80735533 66.65263138] [ 0. 0. 0. 1. ]] SLAMing on 243.859072329 meters 0.46154763532178644 Centerline is valid? [False, False] Translation: X:13.62, Y:-27.83, Z:66.90 [[ 0.6612343 0.51665279 0.54391093 13.62084298] [ -0.70636226 0.67296032 0.21949205 -27.82704614] [ -0.25262929 -0.52933383 0.80992848 66.90150543] [ 0. 0. 0. 1. ]] SLAMing on 243.919072329 meters 0.457784150226431 Centerline is valid? [False, False] Translation: X:13.33, Y:-27.99, Z:67.15 [[ 0.66208184 0.51694801 0.54259781 13.33380734] [ -0.7053203 0.67454217 0.21798196 -27.98654657] [ -0.25331976 -0.52702715 0.81121605 67.14755951] [ 0. 0. 0. 1. ]] SLAMing on 243.979072329 meters 0.4608126216405096 Centerline is valid? [False, False] Translation: X:13.05, Y:-28.15, Z:67.39 [[ 0.66190213 0.52374734 0.53625954 13.04820098] [ -0.70674228 0.67445148 0.21361308 -28.14950159] [ -0.24980176 -0.52038824 0.81657526 67.38523514] [ 0. 0. 0. 1. ]] SLAMing on 244.039072329 meters 0.46217278519941046 Centerline is valid? [False, False] Translation: X:12.75, Y:-28.32, Z:67.63 [[ 0.66192406 0.52532979 0.53468228 12.74603341] [ -0.70684959 0.67483903 0.21202817 -28.32056698] [ -0.24943975 -0.5182865 0.81802134 67.63178765] [ 0. 0. 0. 1. ]] SLAMing on 244.099072329 meters 0.4643232938334213 Centerline is valid? [False, False] Translation: X:12.44, Y:-28.49, Z:67.88 [[ 0.66128949 0.52545907 0.53534006 12.44376879] [ -0.70798247 0.67305195 0.2139203 -28.49153647] [ -0.24790531 -0.52047462 0.81709799 67.87785775] [ 0. 0. 0. 1. ]] SLAMing on 244.159072329 meters 0.4699271076278272 Centerline is valid? [False, False] Translation: X:12.14, Y:-28.66, Z:68.12 [[ 0.66202218 0.52758167 0.53233843 12.13895441] [ -0.70784522 0.67357344 0.21272979 -28.66336799] [ -0.24633669 -0.51764506 0.81936673 68.11845196] [ 0. 0. 0. 1. ]] SLAMing on 244.219072329 meters 0.46987882753454435 Centerline is valid? [False, False] Translation: X:11.83, Y:-28.84, Z:68.36 [[ 0.66363591 0.52543196 0.53245529 11.82796003] [ -0.70657836 0.67401095 0.21553712 -28.83836731] [ -0.2456306 -0.51925956 0.81855673 68.36306519] [ 0. 0. 0. 1. ]] SLAMing on 244.279072329 meters 0.47213935462673934 Centerline is valid? [False, False] Translation: X:11.52, Y:-29.01, Z:68.61 [[ 0.66573547 0.52494762 0.53030772 11.52226937] [ -0.70525916 0.67479769 0.21738812 -29.01137659] [ -0.24373306 -0.51872736 0.81946087 68.60681439] [ 0. 0. 0. 1. ]] SLAMing on 244.339072329 meters 0.4859649826082379 Centerline is valid? [False, False] Translation: X:11.22, Y:-29.18, Z:68.85 [[ 0.665033 0.52656261 0.52958751 11.22053478] [ -0.70675373 0.67288086 0.21847315 -29.1833648 ] [ -0.24130951 -0.5195798 0.81963806 68.84628284] [ 0. 0. 0. 1. ]] SLAMing on 244.399072329 meters 0.4930406241493273 Centerline is valid? [False, False] Translation: X:10.92, Y:-29.35, Z:69.09 [[ 0.66450345 0.52978822 0.52702904 10.91856675] [ -0.70874635 0.67036582 0.21974592 -29.35384075] [ -0.23688345 -0.51955183 0.82094587 69.08594951] [ 0. 0. 0. 1. ]] SLAMing on 244.459072329 meters 0.5081242679372379 Centerline is valid? [False, False] Translation: X:10.62, Y:-29.53, Z:69.33 [[ 0.66437716 0.52941935 0.52755866 10.61626899] [ -0.70899588 0.66977933 0.22072719 -29.5250138 ] [ -0.23649064 -0.52068302 0.82034223 69.32851003] [ 0. 0. 0. 1. ]] SLAMing on 244.519072329 meters 0.5166524126188056 Centerline is valid? [False, False] Translation: X:10.32, Y:-29.69, Z:69.57 [[ 0.66292954 0.53109112 0.5276994 10.31731903] [ -0.71042427 0.66866121 0.21952119 -29.69401764] [ -0.23626636 -0.52041754 0.82057528 69.56830917] [ 0. 0. 0. 1. ]] SLAMing on 244.579072329 meters 0.5188177570096637 Centerline is valid? [False, False] Translation: X:10.02, Y:-29.86, Z:69.80 [[ 0.66298286 0.53426646 0.52441689 10.02212882] [ -0.71097518 0.66871725 0.21755814 -29.8576207 ] [ -0.2344526 -0.51708471 0.82319827 69.80005004] [ 0. 0. 0. 1. ]] SLAMing on 244.63907232900002 meters 0.48512886768656444 Centerline is valid? [False, False] Translation: X:9.71, Y:-30.03, Z:70.04 [[ 0.66297227 0.53307295 0.52564342 9.71489052] [ -0.71069554 0.66884801 0.21806923 -30.02817075] [ -0.23532875 -0.51814628 0.82228025 70.03945866] [ 0. 0. 0. 1. ]] SLAMing on 244.699072329 meters 0.48821111054530203 Centerline is valid? [False, False] Translation: X:9.41, Y:-30.20, Z:70.28 [[ 0.66411695 0.53063116 0.52666806 9.41392368] [ -0.7092415 0.66998393 0.21931263 -30.19704416] [ -0.23648502 -0.51918408 0.82129333 70.27585647] [ 0. 0. 0. 1. ]] SLAMing on 244.759072329 meters 0.4816541764786593 Centerline is valid? [False, False] Translation: X:9.10, Y:-30.37, Z:70.52 [[ 0.66691539 0.52875464 0.52501656 9.1011274 ] [ -0.70678991 0.67200942 0.22102343 -30.37200997] [ -0.23594891 -0.51848034 0.82189187 70.52017013] [ 0. 0. 0. 1. ]] SLAMing on 244.819072329 meters 0.49364585852124787 Centerline is valid? [False, False] Translation: X:8.80, Y:-30.54, Z:70.76 [[ 0.67060757 0.52997378 0.51905037 8.79547196] [ -0.70378997 0.67568493 0.21938447 -30.5431372 ] [ -0.2344465 -0.51242333 0.82610966 70.75765885] [ 0. 0. 0. 1. ]] SLAMing on 244.879072329 meters 0.4931594223927983 Centerline is valid? [False, False] Translation: X:8.49, Y:-30.71, Z:70.99 [[ 0.66959207 0.53104874 0.51926265 8.49382456] [ -0.70444864 0.67563278 0.21742232 -30.71453425] [ -0.23536902 -0.51137813 0.82649491 70.99114457] [ 0. 0. 0. 1. ]] SLAMing on 244.939072329 meters 0.503042822602418 Centerline is valid? [False, False] Translation: X:8.19, Y:-30.89, Z:71.23 [[ 0.6678541 0.53254539 0.5199676 8.18790447] [ -0.70603419 0.67438823 0.21613939 -30.8884947 ] [ -0.23555599 -0.51146448 0.8263882 71.23237024] [ 0. 0. 0. 1. ]] SLAMing on 244.999072329 meters 0.4867863568719014 Centerline is valid? [False, False] Translation: X:7.89, Y:-31.06, Z:71.47 [[ 0.66777705 0.53408979 0.51848039 7.89074572] [ -0.70685857 0.6733039 0.21682439 -31.05904245] [ -0.23329118 -0.51128265 0.82714284 71.46823973] [ 0. 0. 0. 1. ]] SLAMing on 245.059072329 meters 0.49195423292899876 Centerline is valid? [False, False] Translation: X:7.59, Y:-31.23, Z:71.70 [[ 0.66749485 0.53419571 0.51873458 7.58907389] [ -0.70679505 0.67374405 0.2156611 -31.23199558] [ -0.2342891 -0.51059171 0.82728757 71.7035875 ] [ 0. 0. 0. 1. ]] SLAMing on 245.119072329 meters 0.49441606743568073 Centerline is valid? [False, False] Translation: X:7.28, Y:-31.41, Z:71.94 [[ 0.66658544 0.53467324 0.51941156 7.28479396] [ -0.70777991 0.67261786 0.21594632 -31.40993345] [ -0.23390478 -0.51157574 0.82678825 71.93922905] [ 0. 0. 0. 1. ]] SLAMing on 245.179072329 meters 0.48642061912916107 Centerline is valid? [False, False] Translation: X:6.98, Y:-31.59, Z:72.18 [[ 0.66715238 0.53183966 0.52158823 6.98132696] [ -0.70704949 0.6725167 0.21863739 -31.59003528] [ -0.23449676 -0.51465314 0.82470808 72.17625199] [ 0. 0. 0. 1. ]] SLAMing on 245.239072329 meters 0.49395277957984907 Centerline is valid? [False, False] Translation: X:6.68, Y:-31.77, Z:72.41 [[ 0.67021259 0.52927899 0.52026804 6.67998781] [ -0.70321876 0.67699297 0.21717249 -31.76840883] [ -0.23727297 -0.51141399 0.82592813 72.4113868 ] [ 0. 0. 0. 1. ]] SLAMing on 245.299072329 meters 0.47743177866243186 Centerline is valid? [False, False] Translation: X:6.39, Y:-31.95, Z:72.64 [[ 0.67828524 0.52323374 0.51590269 6.38727653] [ -0.69387905 0.68712255 0.21539374 -31.94500931] [ -0.24178711 -0.50407246 0.82912601 72.63893141] [ 0. 0. 0. 1. ]] SLAMing on 245.359072329 meters 0.46228127435958966 Centerline is valid? [False, False] Translation: X:6.10, Y:-32.12, Z:72.86 [[ 0.68703875 0.51115844 0.51642503 6.10375993] [ -0.6815105 0.69982766 0.21397356 -32.11732989] [ -0.25203413 -0.49895721 0.82916856 72.8640687 ] [ 0. 0. 0. 1. ]] SLAMing on 245.419072329 meters 0.46288498208712325 Centerline is valid? [False, False] Translation: X:5.82, Y:-32.29, Z:73.09 [[ 0.69269794 0.50345257 0.51643497 5.82457068] [ -0.67279026 0.70904895 0.21119389 -32.2864157 ] [ -0.25985156 -0.49374598 0.82987473 73.08549833] [ 0. 0. 0. 1. ]] SLAMing on 245.479072329 meters 0.48785935516109663 Centerline is valid? [False, False] Translation: X:5.55, Y:-32.45, Z:73.30 [[ 0.70328433 0.49268131 0.51250003 5.55190641] [ -0.65797518 0.72407628 0.20683858 -32.45394022] [ -0.26918361 -0.48267863 0.83340358 73.2978193 ] [ 0. 0. 0. 1. ]] SLAMing on 245.539072329 meters 0.4253735346335449 Centerline is valid? [False, False] Translation: X:5.29, Y:-32.62, Z:73.51 [[ 0.71093014 0.48461412 0.50963466 5.28733359] [ -0.64712175 0.73451108 0.20427165 -32.61593727] [ -0.27533937 -0.47501855 0.83579041 73.50716996] [ 0. 0. 0. 1. ]] SLAMing on 245.599072329 meters 0.40515910133519645 Centerline is valid? [False, False] Translation: X:5.03, Y:-32.78, Z:73.71 [[ 0.72266101 0.46873011 0.50798932 5.02745119] [ -0.62878237 0.75101181 0.20152914 -32.77566682] [ -0.2870432 -0.46505198 0.83745618 73.71238113] [ 0. 0. 0. 1. ]] SLAMing on 245.659072329 meters 0.3710797733376164 Centerline is valid? [False, False] Translation: X:4.79, Y:-32.92, Z:73.90 [[ 0.73359636 0.45645283 0.50347512 4.78510795] [ -0.6101955 0.76855321 0.19232114 -32.92389407] [ -0.29916189 -0.44830434 0.8423333 73.9019288 ] [ 0. 0. 0. 1. ]] SLAMing on 245.719072329 meters 0.3542854156002157 Centerline is valid? [False, False] Translation: X:4.55, Y:-33.07, Z:74.09 [[ 0.74339244 0.44106832 0.50281847 4.54638663] [ -0.59160668 0.7843207 0.18666163 -33.06975862] [ -0.31204041 -0.43623362 0.84399705 74.09003071] [ 0. 0. 0. 1. ]] SLAMing on 245.779072329 meters 0.3512106361194818 Centerline is valid? [False, False] Translation: X:4.31, Y:-33.21, Z:74.27 [[ 0.74841112 0.43383191 0.50166788 4.31396931] [ -0.58023948 0.79466239 0.17842037 -33.20865439] [ -0.32125214 -0.4246193 0.84646058 74.26901226] [ 0. 0. 0. 1. ]] SLAMing on 245.839072329 meters 0.34535761090192674 Centerline is valid? [False, False] Translation: X:4.09, Y:-33.35, Z:74.44 [[ 0.75824212 0.4220931 0.49689667 4.08809681] [ -0.56276159 0.80854246 0.17192579 -33.34506953] [ -0.32919337 -0.40999574 0.85060873 74.43612085] [ 0. 0. 0. 1. ]] SLAMing on 245.899072329 meters 0.3058857436577095 Centerline is valid? [False, False] Translation: X:3.87, Y:-33.48, Z:74.60 [[ 0.76467166 0.4168512 0.49143904 3.86743456] [ -0.55196548 0.81725057 0.16563699 -33.47662645] [ -0.33258286 -0.3979153 0.85501582 74.60044985] [ 0. 0. 0. 1. ]] SLAMing on 245.959072329 meters 0.30193180589565044 Centerline is valid? [False, False] Translation: X:3.65, Y:-33.61, Z:74.76 [[ 0.77162963 0.40585069 0.48976825 3.64740141] [ -0.5377072 0.82753681 0.1614119 -33.60831967] [ -0.33979212 -0.38790212 0.85678076 74.76031141] [ 0. 0. 0. 1. ]] SLAMing on 246.019072329 meters 0.2803600515815222 Centerline is valid? [False, False] Translation: X:3.44, Y:-33.73, Z:74.91 [[ 0.77500121 0.40147276 0.48804995 3.43816825] [ -0.52935914 0.83423953 0.15434799 -33.73467846] [ -0.34518405 -0.37797358 0.85905992 74.9138022 ] [ 0. 0. 0. 1. ]] SLAMing on 246.079072329 meters 0.28003098763344064 Centerline is valid? [False, False] Translation: X:3.23, Y:-33.86, Z:75.05 [[ 0.78068131 0.39738489 0.48230897 3.23357534] [ -0.5209746 0.8400925 0.15109622 -33.85720799] [ -0.34514079 -0.36922872 0.86287194 75.0538335 ] [ 0. 0. 0. 1. ]] SLAMing on 246.13907232900002 meters 0.27466495193677154 Centerline is valid? [False, False] Translation: X:3.02, Y:-33.98, Z:75.20 [[ 0.78234819 0.39671873 0.4801516 3.02116623] [ -0.51871477 0.84173784 0.1497077 -33.98143234] [ -0.34476992 -0.36618528 0.86431594 75.20085367] [ 0. 0. 0. 1. ]] SLAMing on 246.199072329 meters 0.27903476211314765 Centerline is valid? [False, False] Translation: X:2.81, Y:-34.10, Z:75.35 [[ 0.78015103 0.40024215 0.48080203 2.81124545] [ -0.52138956 0.84070741 0.14616423 -34.10389302] [ -0.34571274 -0.36471533 0.86456083 75.34745846] [ 0. 0. 0. 1. ]] SLAMing on 246.259072329 meters 0.2959946954942405 Centerline is valid? [False, False] Translation: X:2.60, Y:-34.23, Z:75.49 [[ 0.78003798 0.40626897 0.47590573 2.59717836] [ -0.52401944 0.83978643 0.14199428 -34.22819815] [ -0.34197131 -0.36014478 0.86795816 75.48777381] [ 0. 0. 0. 1. ]] SLAMing on 246.319072329 meters 0.28917452853015985 Centerline is valid? [False, False] Translation: X:2.38, Y:-34.35, Z:75.64 [[ 0.7793488 0.40939379 0.47435448 2.37660158] [ -0.52693063 0.83785782 0.14261268 -34.3544799 ] [ -0.33905687 -0.36109692 0.86870562 75.63584382] [ 0. 0. 0. 1. ]] SLAMing on 246.379072329 meters 0.30123745081965636 Centerline is valid? [False, False] Translation: X:2.15, Y:-34.48, Z:75.78 [[ 0.77686547 0.41642957 0.47229912 2.1526432 ] [ -0.53330942 0.83392704 0.14193926 -34.48158859] [ -0.3347553 -0.36214928 0.86993493 75.78123115] [ 0. 0. 0. 1. ]] SLAMing on 246.439072329 meters 0.2928379373912739 Centerline is valid? [False, False] Translation: X:1.93, Y:-34.61, Z:75.92 [[ 0.77396618 0.42749817 0.46714202 1.92684237] [ -0.54170385 0.82902531 0.13883071 -34.60950763] [ -0.32792268 -0.36050291 0.87321496 75.92159967] [ 0. 0. 0. 1. ]] SLAMing on 246.499072329 meters 0.3017046347837913 Centerline is valid? [False, False] Translation: X:1.69, Y:-34.74, Z:76.07 [[ 0.77177593 0.4314984 0.46708784 1.69411413] [ -0.54685475 0.82523085 0.14122299 -34.74078509] [ -0.3245178 -0.36442171 0.87286025 76.07125625] [ 0. 0. 0. 1. ]] SLAMing on 246.559072329 meters 0.308676985658315 Centerline is valid? [False, False] Translation: X:1.45, Y:-34.88, Z:76.22 [[ 0.76670055 0.44113822 0.46644114 1.45396065] [ -0.55735524 0.8179425 0.14256647 -34.87553436] [ -0.31863051 -0.36927921 0.87298767 76.22186799] [ 0. 0. 0. 1. ]] SLAMing on 246.619072329 meters 0.3309533094918277 Centerline is valid? [False, False] Translation: X:1.21, Y:-35.01, Z:76.37 [[ 0.76344289 0.44965315 0.46364533 1.20908831] [ -0.5657625 0.81185524 0.14423544 -35.01470998] [ -0.31155697 -0.37242867 0.874202 76.37309164] [ 0. 0. 0. 1. ]] SLAMing on 246.679072329 meters 0.32730952606482716 Centerline is valid? [False, False] Translation: X:0.96, Y:-35.16, Z:76.53 [[ 0.76092903 0.4528967 0.46461983 0.9550648 ] [ -0.57149655 0.80688198 0.14944289 -35.15754149] [ -0.30721118 -0.37924406 0.87280882 76.53243549] [ 0. 0. 0. 1. ]] SLAMing on 246.739072329 meters 0.3419623808812279 Centerline is valid? [False, False] Translation: X:0.70, Y:-35.30, Z:76.69 [[ 0.75568285 0.46104708 0.46516558 0.69812672] [ -0.58142916 0.79918708 0.15244717 -35.30285533] [ -0.301469 -0.38566255 0.87199819 76.69134795] [ 0. 0. 0. 1. ]] SLAMing on 246.799072329 meters 0.3674788654279513 Centerline is valid? [False, False] Translation: X:0.43, Y:-35.45, Z:76.85 [[ 0.75219352 0.46837424 0.46349809 0.4344526 ] [ -0.58979513 0.79222398 0.15659778 -35.45109729] [ -0.29384794 -0.39116076 0.87215059 76.85427634] [ 0. 0. 0. 1. ]] SLAMing on 246.859072329 meters 0.3582984728185519 Centerline is valid? [False, False] Translation: X:0.16, Y:-35.61, Z:77.03 [[ 0.74915129 0.47211503 0.46462861 0.1607779 ] [ -0.59592363 0.78662389 0.16154838 -35.60610897] [ -0.28921855 -0.39790734 0.87064481 77.02812876] [ 0. 0. 0. 1. ]] SLAMing on 246.919072329 meters 0.3954777742774767 Centerline is valid? [False, False] Translation: X:-0.11, Y:-35.76, Z:77.20 [[ 0.74623541 0.47624575 0.46510503 -0.11216519] [ -0.60157261 0.78162469 0.16484309 -35.76078519] [ -0.28503176 -0.4028062 0.86977242 77.20077725] [ 0. 0. 0. 1. ]] SLAMing on 246.979072329 meters 0.40468185081354824 Centerline is valid? [False, False] Translation: X:-0.39, Y:-35.92, Z:77.37 [[ 0.74439552 0.48055195 0.46362176 -0.38860867] [ -0.60588688 0.77793863 0.16647096 -35.91715367] [ -0.28067133 -0.40482258 0.87025415 77.37413261] [ 0. 0. 0. 1. ]] SLAMing on 247.039072329 meters 0.382648319760877 Centerline is valid? [False, False] Translation: X:-0.67, Y:-36.08, Z:77.55 [[ 0.73918235 0.48752927 0.46467695 -0.67158117] [ -0.61425714 0.7709603 0.16825092 -36.07641695] [ -0.27622023 -0.40979924 0.86934858 77.55267072] [ 0. 0. 0. 1. ]] SLAMing on 247.099072329 meters 0.39946850596045874 Centerline is valid? [False, False] Translation: X:-0.95, Y:-36.24, Z:77.73 [[ 0.73481451 0.4927047 0.46614345 -0.95428067] [ -0.62147533 0.76437744 0.17174269 -36.23665234] [ -0.27169111 -0.41589567 0.86787945 77.73268088] [ 0. 0. 0. 1. ]] SLAMing on 247.159072329 meters 0.41265999146221777 Centerline is valid? [False, False] Translation: X:-1.24, Y:-36.40, Z:77.91 [[ 0.73251112 0.49632209 0.46593116 -1.23809142] [ -0.62617337 0.75976444 0.17511402 -36.39929163] [ -0.26708497 -0.42002665 0.86731957 77.91482599] [ 0. 0. 0. 1. ]] SLAMing on 247.219072329 meters 0.40462216212400787 Centerline is valid? [False, False] Translation: X:-1.53, Y:-36.57, Z:78.10 [[ 0.73115867 0.49672626 0.46762167 -1.5251285 ] [ -0.62873506 0.75666311 0.17931303 -36.56691375] [ -0.26476257 -0.42511642 0.86555001 78.09967623] [ 0. 0. 0. 1. ]] SLAMing on 247.279072329 meters 0.42103465064029266 Centerline is valid? [False, False] Translation: X:-1.82, Y:-36.74, Z:78.29 [[ 0.72831712 0.50136595 0.46710424 -1.81544294] [ -0.63408716 0.75153249 0.18202304 -36.73621535] [ -0.25978386 -0.42875529 0.86526369 78.28619312] [ 0. 0. 0. 1. ]] SLAMing on 247.339072329 meters 0.42462966087709875 Centerline is valid? [False, False] Translation: X:-2.10, Y:-36.91, Z:78.47 [[ 0.72748131 0.50143456 0.46833142 -2.10040367] [ -0.635939 0.74902236 0.18586846 -36.90576052] [ -0.25758983 -0.43304605 0.86378157 78.47324986] [ 0. 0. 0. 1. ]] SLAMing on 247.399072329 meters 0.42456304319629595 Centerline is valid? [False, False] Translation: X:-2.38, Y:-37.08, Z:78.66 [[ 0.72570678 0.50328881 0.46909491 -2.38482001] [ -0.6388705 0.74599358 0.1879842 -37.07588355] [ -0.25533145 -0.43611231 0.86290898 78.66245649] [ 0. 0. 0. 1. ]] SLAMing on 247.459072329 meters 0.4404083390351078 Centerline is valid? [False, False] Translation: X:-2.67, Y:-37.25, Z:78.85 [[ 0.72543474 0.50476919 0.4679236 -2.66515851] [ -0.63978636 0.74520616 0.18799253 -37.24576544] [ -0.25380671 -0.43574745 0.86354288 78.84921259] [ 0. 0. 0. 1. ]] SLAMing on 247.519072329 meters 0.4428670578507851 Centerline is valid? [False, False] Translation: X:-2.94, Y:-37.42, Z:79.04 [[ 0.72524532 0.50347597 0.46960748 -2.9447409 ] [ -0.63994479 0.74454343 0.19006775 -37.41569781] [ -0.25394862 -0.4383686 0.86217345 79.04283301] [ 0. 0. 0. 1. ]] SLAMing on 247.579072329 meters 0.4405035470172741 Centerline is valid? [False, False] Translation: X:-3.22, Y:-37.58, Z:79.23 [[ 0.72464212 0.50442536 0.46951982 -3.21748276] [ -0.63985736 0.74548891 0.18662487 -37.58269421] [ -0.25588351 -0.43566195 0.86297294 79.22792117] [ 0. 0. 0. 1. ]] SLAMing on 247.63907232900002 meters 0.44973794891194535 Centerline is valid? [False, False] Translation: X:-3.49, Y:-37.75, Z:79.41 [[ 0.72490808 0.50629858 0.46708675 -3.48783418] [ -0.64021895 0.74543707 0.185589 -37.75010915] [ -0.25422033 -0.43357275 0.86451529 79.40842212] [ 0. 0. 0. 1. ]] SLAMing on 247.699072329 meters 0.452759752870703 Centerline is valid? [False, False] Translation: X:-3.77, Y:-37.92, Z:79.60 [[ 0.72613848 0.50111833 0.47074763 -3.76505424] [ -0.63838249 0.74565658 0.19095563 -37.92143664] [ -0.2553247 -0.43917728 0.8613551 79.59687664] [ 0. 0. 0. 1. ]] SLAMing on 247.759072329 meters 0.43426704289337165 Centerline is valid? [False, False] Translation: X:-4.04, Y:-38.09, Z:79.78 [[ 0.72841967 0.49937596 0.46907189 -4.03947103] [ -0.63571063 0.74794247 0.19092945 -38.0935414 ] [ -0.25549321 -0.43727076 0.86227461 79.77942225] [ 0. 0. 0. 1. ]] SLAMing on 247.819072329 meters 0.42682485578484997 Centerline is valid? [False, False] Translation: X:-4.31, Y:-38.27, Z:79.96 [[ 0.73061675 0.49813715 0.46696738 -4.31273196] [ -0.63295853 0.75060526 0.18961869 -38.26525154] [ -0.25605206 -0.43410958 0.86370494 79.9643478 ] [ 0. 0. 0. 1. ]] SLAMing on 247.879072329 meters 0.43085251629833976 Centerline is valid? [False, False] Translation: X:-4.59, Y:-38.44, Z:80.16 [[ 0.73319521 0.49052188 0.47097036 -4.58561692] [ -0.62833975 0.75351981 0.19338318 -38.43851719] [ -0.26002681 -0.43771701 0.86069151 80.15505904] [ 0. 0. 0. 1. ]] SLAMing on 247.939072329 meters 0.42637792271563485 Centerline is valid? [False, False] Translation: X:-4.85, Y:-38.60, Z:80.33 [[ 0.73607017 0.4885059 0.46857517 -4.84593404] [ -0.62395533 0.75804435 0.18986445 -38.6047643 ] [ -0.26245086 -0.43212353 0.8627797 80.33465101] [ 0. 0. 0. 1. ]] SLAMing on 247.999072329 meters 0.4084561101779625 Centerline is valid? [False, False] Translation: X:-5.11, Y:-38.78, Z:80.52 [[ 0.73919189 0.486221 0.46603057 -5.11373662] [ -0.61923558 0.76276247 0.18638859 -38.77560299] [ -0.26484458 -0.42635964 0.86491318 80.51915853] [ 0. 0. 0. 1. ]] SLAMing on 248.059072329 meters 0.40241176555413655 Centerline is valid? [False, False] Translation: X:-5.38, Y:-38.95, Z:80.71 [[ 0.7437493 0.47848988 0.4667809 -5.38277448] [ -0.61181601 0.76858294 0.18697974 -38.94788291] [ -0.26929192 -0.42465009 0.8643808 80.7056391 ] [ 0. 0. 0. 1. ]] SLAMing on 248.119072329 meters 0.40396747656238663 Centerline is valid? [False, False] Translation: X:-5.64, Y:-39.11, Z:80.88 [[ 0.74953516 0.47216951 0.46395366 -5.63579017] [ -0.60274566 0.77655938 0.18344807 -39.11202549] [ -0.27366898 -0.41714683 0.86665668 80.87965748] [ 0. 0. 0. 1. ]] SLAMing on 248.179072329 meters 0.387861530555345 Centerline is valid? [False, False] Translation: X:-5.89, Y:-39.27, Z:81.05 [[ 0.7541732 0.46793724 0.46071415 -5.88762037] [ -0.5960797 0.78218576 0.18131305 -39.27421916] [ -0.27552092 -0.41136379 0.86883143 81.05063594] [ 0. 0. 0. 1. ]] SLAMing on 248.239072329 meters 0.3796951132630693 Centerline is valid? [False, False] Translation: X:-6.13, Y:-39.43, Z:81.22 [[ 0.76006066 0.45986654 0.4591629 -6.13098862] [ -0.58609295 0.79030152 0.17865766 -39.43209644] [ -0.28071846 -0.40490279 0.87020163 81.21869524] [ 0. 0. 0. 1. ]] SLAMing on 248.299072329 meters 0.38707644561702087 Centerline is valid? [False, False] Translation: X:-6.37, Y:-39.59, Z:81.38 [[ 0.7638916 0.45662622 0.45602865 -6.37262474] [ -0.57914821 0.79681214 0.17227237 -39.58917935] [ -0.28470509 -0.39570559 0.87313235 81.38230459] [ 0. 0. 0. 1. ]] SLAMing on 248.359072329 meters 0.3697223101273705 Centerline is valid? [False, False] Translation: X:-6.61, Y:-39.74, Z:81.54 [[ 0.7664551 0.45528794 0.45305571 -6.61425048] [ -0.57495294 0.80075921 0.16796964 -39.74485393] [ -0.28631399 -0.3892269 0.87551512 81.54394308] [ 0. 0. 0. 1. ]] SLAMing on 248.419072329 meters 0.3678397657360687 Centerline is valid? [False, False] Translation: X:-6.85, Y:-39.90, Z:81.70 [[ 0.76856452 0.45116054 0.45361079 -6.85184359] [ -0.57034558 0.8043938 0.16630257 -39.89897569] [ -0.28985255 -0.38652916 0.87554595 81.70168237] [ 0. 0. 0. 1. ]] SLAMing on 248.479072329 meters 0.37452333343975275 Centerline is valid? [False, False] Translation: X:-7.09, Y:-40.05, Z:81.85 [[ 0.77045205 0.45017348 0.45138396 -7.08587326] [ -0.56692734 0.80764294 0.16219206 -40.0506328 ] [ -0.2915425 -0.38086311 0.87746582 81.85491819] [ 0. 0. 0. 1. ]] SLAMing on 248.539072329 meters 0.3748955733915214 Centerline is valid? [False, False] Translation: X:-7.32, Y:-40.20, Z:82.00 [[ 0.77356976 0.44713686 0.44906397 -7.3194734 ] [ -0.56193885 0.81157247 0.1599214 -40.20248608] [ -0.2929412 -0.37605685 0.8790715 82.00423762] [ 0. 0. 0. 1. ]] SLAMing on 248.599072329 meters 0.3587896083459848 Centerline is valid? [False, False] Translation: X:-7.56, Y:-40.36, Z:82.16 [[ 0.77517776 0.4418141 0.45155259 -7.5576058 ] [ -0.55769622 0.81436102 0.16059597 -40.35905598] [ -0.29677326 -0.3763196 0.8776726 82.15690307] [ 0. 0. 0. 1. ]] SLAMing on 248.659072329 meters 0.36392545958985645 Centerline is valid? [False, False] Translation: X:-7.79, Y:-40.51, Z:82.30 [[ 0.77880775 0.44004498 0.44701108 -7.79033285] [ -0.55284171 0.81822424 0.15771855 -40.51291136] [ -0.29635205 -0.3699588 0.88051459 82.30214922] [ 0. 0. 0. 1. ]] SLAMing on 248.719072329 meters 0.34650464969879435 Centerline is valid? [False, False] Translation: X:-8.02, Y:-40.67, Z:82.45 [[ 0.78070755 0.43702254 0.44666209 -8.02270355] [ -0.55008155 0.8197559 0.15940687 -40.66523379] [ -0.29648949 -0.37015073 0.88038766 82.44882151] [ 0. 0. 0. 1. ]] SLAMing on 248.779072329 meters 0.3409745281471009 Centerline is valid? [False, False] Translation: X:-8.25, Y:-40.82, Z:82.60 [[ 0.78214229 0.43293791 0.44812744 -8.25456647] [ -0.54689451 0.82162352 0.16075194 -40.82039185] [ -0.29859643 -0.37080932 0.87939787 82.59738635] [ 0. 0. 0. 1. ]] SLAMing on 248.839072329 meters 0.34530868203922715 Centerline is valid? [False, False] Translation: X:-8.48, Y:-40.97, Z:82.74 [[ 0.7828859 0.43405728 0.44573977 -8.48311525] [ -0.54592881 0.82288794 0.15753467 -40.96809398] [ -0.29841481 -0.36667385 0.88119174 82.74040501] [ 0. 0. 0. 1. ]] SLAMing on 248.899072329 meters 0.3466230375658905 Centerline is valid? [False, False] Translation: X:-8.71, Y:-41.12, Z:82.88 [[ 0.78524033 0.43479832 0.44084922 -8.70765964] [ -0.54430064 0.82412622 0.1566933 -41.11861367] [ -0.29518542 -0.36299641 0.88379815 82.8782274 ] [ 0. 0. 0. 1. ]] SLAMing on 248.959072329 meters 0.3529169840734075 Centerline is valid? [False, False] Translation: X:-8.94, Y:-41.27, Z:83.02 [[ 0.78613522 0.43264538 0.44137218 -8.94123527] [ -0.54381318 0.82355449 0.16132337 -41.27496875] [ -0.29369823 -0.36684599 0.88270345 83.02492366] [ 0. 0. 0. 1. ]] SLAMing on 249.019072329 meters 0.3519453046156539 Centerline is valid? [False, False] Translation: X:-9.17, Y:-41.43, Z:83.17 [[ 0.7864442 0.4344298 0.43906294 -9.17214896] [ -0.54374512 0.8241477 0.15849864 -41.43049356] [ -0.29299618 -0.36338866 0.88436526 83.16737988] [ 0. 0. 0. 1. ]] SLAMing on 249.079072329 meters 0.3512834121960559 Centerline is valid? [False, False] Translation: X:-9.41, Y:-41.59, Z:83.31 [[ 0.78800799 0.43354615 0.4371283 -9.40949305] [ -0.54256291 0.82458961 0.16024188 -41.58574565] [ -0.2909792 -0.36344149 0.88500926 83.30965292] [ 0. 0. 0. 1. ]] SLAMing on 249.13907232900002 meters 0.36114975391868787 Centerline is valid? [False, False] Translation: X:-9.65, Y:-41.74, Z:83.46 [[ 0.78811276 0.43449976 0.4359911 -9.64627112] [ -0.54399385 0.82309185 0.1630659 -41.74422674] [ -0.28800863 -0.36569079 0.88505439 83.45700427] [ 0. 0. 0. 1. ]] SLAMing on 249.199072329 meters 0.36573668809682364 Centerline is valid? [False, False] Translation: X:-9.88, Y:-41.90, Z:83.60 [[ 0.78658491 0.43820004 0.43504587 -9.88341273] [ -0.54734332 0.82093313 0.16273931 -41.90479626] [ -0.2858312 -0.36612774 0.88557947 83.60109104] [ 0. 0. 0. 1. ]] SLAMing on 249.259072329 meters 0.36145272069411266 Centerline is valid? [False, False] Translation: X:-10.13, Y:-42.07, Z:83.75 [[ 0.78662443 0.43955123 0.43360895 -10.13020001] [ -0.54934549 0.81883248 0.16653198 -42.06940028] [ -0.28185376 -0.36919924 0.88557912 83.75012127] [ 0. 0. 0. 1. ]] SLAMing on 249.319072329 meters 0.35973968097485276 Centerline is valid? [False, False] Translation: X:-10.38, Y:-42.23, Z:83.90 [[ 0.78612665 0.43855565 0.4355156 -10.38018913] [ -0.54997797 0.81786889 0.16915884 -42.23357318] [ -0.28200909 -0.37250426 0.88414447 83.9009009 ] [ 0. 0. 0. 1. ]] SLAMing on 249.379072329 meters 0.3661093359742502 Centerline is valid? [False, False] Translation: X:-10.62, Y:-42.40, Z:84.05 [[ 0.78520072 0.44152584 0.43418286 -10.62423485] [ -0.55274372 0.8158306 0.16998476 -42.39868431] [ -0.279167 -0.37346401 0.88464141 84.05018984] [ 0. 0. 0. 1. ]] SLAMing on 249.439072329 meters 0.37306839039181516 Centerline is valid? [False, False] Translation: X:-10.87, Y:-42.56, Z:84.20 [[ 0.78475073 0.44225897 0.43425027 -10.86712685] [ -0.55384674 0.81487511 0.17097469 -42.560383 ] [ -0.27824464 -0.37468061 0.88441753 84.1981819 ] [ 0. 0. 0. 1. ]] SLAMing on 249.499072329 meters 0.3725284678141583 Centerline is valid? [False, False] Translation: X:-11.10, Y:-42.72, Z:84.34 [[ 0.78313868 0.44335945 0.43603464 -11.10488301] [ -0.55666294 0.81235681 0.17378945 -42.71962278] [ -0.27716451 -0.37882557 0.88298982 84.34423962] [ 0. 0. 0. 1. ]] SLAMing on 249.559072329 meters 0.3802380526847513 Centerline is valid? [False, False] Translation: X:-11.35, Y:-42.88, Z:84.49 [[ 0.78204607 0.44393156 0.43741138 -11.34680467] [ -0.55846455 0.81071199 0.17567987 -42.88258407] [ -0.27662481 -0.3816685 0.88193416 84.49362022] [ 0. 0. 0. 1. ]] SLAMing on 249.619072329 meters 0.3819347933854942 Centerline is valid? [False, False] Translation: X:-11.59, Y:-43.05, Z:84.64 [[ 0.78203748 0.44478579 0.4365581 -11.58929264] [ -0.55875844 0.81065407 0.17501137 -43.04568722] [ -0.27605503 -0.38079597 0.88248969 84.64313807] [ 0. 0. 0. 1. ]] SLAMing on 249.679072329 meters 0.3818063562719577 Centerline is valid? [False, False] Translation: X:-11.83, Y:-43.21, Z:84.79 [[ 0.78211314 0.44342606 0.43780403 -11.83227189] [ -0.5583144 0.81067876 0.17630932 -43.20879233] [ -0.27673828 -0.38232613 0.88161366 84.79381022] [ 0. 0. 0. 1. ]] SLAMing on 249.739072329 meters 0.38879572587420635 Centerline is valid? [False, False] Translation: X:-12.07, Y:-43.37, Z:84.94 [[ 0.78247669 0.44055746 0.44004473 -12.07077564] [ -0.55704558 0.81106997 0.17850971 -43.37152683] [ -0.27826328 -0.38480466 0.88005393 84.94479371] [ 0. 0. 0. 1. ]] SLAMing on 249.799072329 meters 0.3786980427134904 Centerline is valid? [False, False] Translation: X:-12.31, Y:-43.53, Z:85.09 [[ 0.78334755 0.43826305 0.44078578 -12.30831945] [ -0.55528324 0.81208296 0.17939284 -43.53384119] [ -0.27933337 -0.3852879 0.87950333 85.09389233] [ 0. 0. 0. 1. ]] SLAMing on 249.859072329 meters 0.3889797902977675 Centerline is valid? [False, False] Translation: X:-12.54, Y:-43.70, Z:85.24 [[ 0.78487589 0.4354209 0.44088375 -12.54473962] [ -0.55214116 0.81438726 0.17864359 -43.69727782] [ -0.28126496 -0.38364311 0.87960672 85.24388362] [ 0. 0. 0. 1. ]] SLAMing on 249.919072329 meters 0.3704257782282793 Centerline is valid? [False, False] Translation: X:-12.78, Y:-43.86, Z:85.39 [[ 0.78812755 0.43122503 0.43920375 -12.77507421] [ -0.54704965 0.81780266 0.17870503 -43.85814952] [ -0.28211991 -0.38110861 0.88043431 85.39248775] [ 0. 0. 0. 1. ]] SLAMing on 249.979072329 meters 0.36681203926667644 Centerline is valid? [False, False] Translation: X:-13.00, Y:-44.02, Z:85.54 [[ 0.79061261 0.42732436 0.43854943 -13.0004837 ] [ -0.54273126 0.82065926 0.17877684 -44.01581687] [ -0.28350395 -0.3793577 0.88074585 85.53787196] [ 0. 0. 0. 1. ]] SLAMing on 250.039072329 meters 0.3655600198438569 Centerline is valid? [False, False] Translation: X:-13.22, Y:-44.17, Z:85.68 [[ 0.79383635 0.42231936 0.43757309 -13.2241854 ] [ -0.53683909 0.82469984 0.17797181 -44.1740377 ] [ -0.28570552 -0.37618683 0.88139425 85.68358141] [ 0. 0. 0. 1. ]] SLAMing on 250.099072329 meters 0.35830461996510504 Centerline is valid? [False, False] Translation: X:-13.44, Y:-44.33, Z:85.83 [[ 0.79894505 0.41631733 0.43401232 -13.44378609] [ -0.52870079 0.83016235 0.17693486 -44.32875411] [ -0.28663964 -0.37082389 0.8833614 85.82679179] [ 0. 0. 0. 1. ]] SLAMing on 250.159072329 meters 0.3537574546966985 Centerline is valid? [False, False] Translation: X:-13.66, Y:-44.48, Z:85.97 [[ 0.80153042 0.41476456 0.43071958 -13.65997615] [ -0.52488411 0.83308721 0.17453475 -44.48158641] [ -0.28643614 -0.36597277 0.88544806 85.96762966] [ 0. 0. 0. 1. ]] SLAMing on 250.219072329 meters 0.3545499696887755 Centerline is valid? [False, False] Translation: X:-13.88, Y:-44.64, Z:86.11 [[ 0.80388178 0.41202371 0.4289645 -13.87678381] [ -0.52061855 0.83618626 0.1724786 -44.63531133] [ -0.28762895 -0.36197928 0.88670209 86.10703381] [ 0. 0. 0. 1. ]] SLAMing on 250.279072329 meters 0.34851469771724203 Centerline is valid? [False, False] Translation: X:-14.09, Y:-44.78, Z:86.24 [[ 0.80730412 0.40916816 0.42525459 -14.08901554] [ -0.51544476 0.83978974 0.17049895 -44.78472354] [ -0.2873617 -0.35683976 0.8888693 86.24174838] [ 0. 0. 0. 1. ]] SLAMing on 250.339072329 meters 0.34144227431467844 Centerline is valid? [False, False] Translation: X:-14.30, Y:-44.94, Z:86.38 [[ 0.80942269 0.4079558 0.42238249 -14.30367812] [ -0.51179873 0.84275705 0.16680112 -44.93600084] [ -0.28791834 -0.35118743 0.89093794 86.37696013] [ 0. 0. 0. 1. ]] SLAMing on 250.399072329 meters 0.3391766120252912 Centerline is valid? [False, False] Translation: X:-14.52, Y:-45.08, Z:86.51 [[ 0.81034893 0.40825399 0.42031333 -14.51681488] [ -0.5103386 0.84420437 0.16393136 -45.08420675] [ -0.28790472 -0.34734372 0.89244788 86.50893402] [ 0. 0. 0. 1. ]] SLAMing on 250.459072329 meters 0.3412434967516759 Centerline is valid? [False, False] Translation: X:-14.73, Y:-45.23, Z:86.64 [[ 0.81163377 0.4082267 0.41785354 -14.72930851] [ -0.50830341 0.8460368 0.16077739 -45.23216705] [ -0.28788585 -0.34288874 0.89417507 86.63779857] [ 0. 0. 0. 1. ]] SLAMing on 250.519072329 meters 0.3414906016383305 Centerline is valid? [False, False] Translation: X:-14.94, Y:-45.38, Z:86.77 [[ 0.81296024 0.40826704 0.41522726 -14.94157134] [ -0.50678595 0.84724978 0.15917229 -45.38108064] [ -0.2868164 -0.33983208 0.89568438 86.7664785 ] [ 0. 0. 0. 1. ]] SLAMing on 250.579072329 meters 0.3503608904370819 Centerline is valid? [False, False] Translation: X:-15.15, Y:-45.53, Z:86.89 [[ 0.81355833 0.40877418 0.41355352 -15.15091567] [ -0.50663314 0.84735334 0.15910744 -45.52843562] [ -0.28538694 -0.3389631 0.89646991 86.89264388] [ 0. 0. 0. 1. ]] SLAMing on 250.63907232900002 meters 0.34485810799844363 Centerline is valid? [False, False] Translation: X:-15.36, Y:-45.68, Z:87.02 [[ 0.81449761 0.41027343 0.41020648 -15.36118876] [ -0.50662283 0.84751281 0.15828882 -45.67648656] [ -0.28271355 -0.33674583 0.89815104 87.0165784 ] [ 0. 0. 0. 1. ]] SLAMing on 250.699072329 meters 0.3385984520178293 Centerline is valid? [False, False] Translation: X:-15.57, Y:-45.82, Z:87.14 [[ 0.81449562 0.411958 0.40851865 -15.56668064] [ -0.50710974 0.84758217 0.15634637 -45.81851745] [ -0.28184498 -0.33450722 0.89925988 87.13717878] [ 0. 0. 0. 1. ]] SLAMing on 250.759072329 meters 0.3447314695241732 Centerline is valid? [False, False] Translation: X:-15.78, Y:-45.97, Z:87.26 [[ 0.81423237 0.41348091 0.40750361 -15.78001611] [ -0.50839271 0.8467591 0.15663929 -45.96841062] [ -0.28029003 -0.33471265 0.89966935 87.26175122] [ 0. 0. 0. 1. ]] SLAMing on 250.819072329 meters 0.35138533828474866 Centerline is valid? [False, False] Translation: X:-15.99, Y:-46.11, Z:87.38 [[ 0.81450106 0.41536216 0.40504604 -15.98961802] [ -0.50914075 0.84646433 0.15580064 -46.11493382] [ -0.27814333 -0.33312523 0.9009239 87.38043035] [ 0. 0. 0. 1. ]] SLAMing on 250.879072329 meters 0.3485864740576382 Centerline is valid? [False, False] Translation: X:-16.20, Y:-46.26, Z:87.50 [[ 0.81450865 0.41449606 0.40591708 -16.2038168 ] [ -0.50890467 0.84640995 0.15686374 -46.26349806] [ -0.27855285 -0.33433997 0.90034721 87.50186763] [ 0. 0. 0. 1. ]] SLAMing on 250.939072329 meters 0.3404870816895975 Centerline is valid? [False, False] Translation: X:-16.42, Y:-46.41, Z:87.62 [[ 0.81563575 0.41254323 0.4056432 -16.4169572 ] [ -0.50716869 0.84721174 0.1581524 -46.41344369] [ -0.27842098 -0.33472429 0.90024519 87.62392613] [ 0. 0. 0. 1. ]] SLAMing on 250.999072329 meters 0.33998605659466025 Centerline is valid? [False, False] Translation: X:-16.63, Y:-46.56, Z:87.74 [[ 0.81784419 0.40991596 0.40385615 -16.63053936] [ -0.50411568 0.8488116 0.15933065 -46.56284459] [ -0.27748561 -0.33389786 0.90084069 87.7442143 ] [ 0. 0. 0. 1. ]] SLAMing on 251.059072329 meters 0.33935508898181727 Centerline is valid? [False, False] Translation: X:-16.85, Y:-46.71, Z:87.87 [[ 0.81887767 0.40642362 0.40528904 -16.84538858] [ -0.50151053 0.85006872 0.16084267 -46.71088528] [ -0.27915327 -0.3349672 0.89992801 87.86606584] [ 0. 0. 0. 1. ]] SLAMing on 251.119072329 meters 0.33897355411105623 Centerline is valid? [False, False] Translation: X:-17.06, Y:-46.86, Z:87.99 [[ 0.82067758 0.40280754 0.40525842 -17.06154131] [ -0.49803772 0.85192961 0.16178495 -46.86081342] [ -0.28008345 -0.33460726 0.89977288 87.98984458] [ 0. 0. 0. 1. ]] SLAMing on 251.179072329 meters 0.3357070487090552 Centerline is valid? [False, False] Translation: X:-17.27, Y:-47.01, Z:88.11 [[ 0.8218595 0.40102935 0.40462628 -17.27440632] [ -0.4956488 0.85350322 0.16082453 -47.00896749] [ -0.28085448 -0.3327277 0.90022944 88.11193819] [ 0. 0. 0. 1. ]] SLAMing on 251.239072329 meters 0.33376162263628106 Centerline is valid? [False, False] Translation: X:-17.49, Y:-47.16, Z:88.23 [[ 0.82338489 0.39754921 0.40495919 -17.48686884] [ -0.49261184 0.85498818 0.16226147 -47.15575963] [ -0.2817284 -0.33309133 0.8998218 88.23492972] [ 0. 0. 0. 1. ]] SLAMing on 251.299072329 meters 0.32964943930995133 Centerline is valid? [False, False] Translation: X:-17.69, Y:-47.30, Z:88.35 [[ 0.82493258 0.39598111 0.40334252 -17.69153999] [ -0.48960243 0.85717265 0.1598265 -47.29787152] [ -0.2824459 -0.32932357 0.90098296 88.35178318] [ 0. 0. 0. 1. ]] SLAMing on 251.359072329 meters 0.33018898943419805 Centerline is valid? [False, False] Translation: X:-17.89, Y:-47.44, Z:88.46 [[ 0.82655225 0.39417312 0.40179463 -17.88926963] [ -0.48691059 0.85883944 0.15910025 -47.43584343] [ -0.28236403 -0.32714273 0.90180274 88.46432343] [ 0. 0. 0. 1. ]] SLAMing on 251.419072329 meters 0.3308210723298127 Centerline is valid? [False, False] Translation: X:-18.09, Y:-47.58, Z:88.58 [[ 0.82922917 0.39083924 0.39952931 -18.08948364] [ -0.48273942 0.86110654 0.15955622 -47.57665205] [ -0.28167647 -0.32517721 0.90272817 88.57928066] [ 0. 0. 0. 1. ]] SLAMing on 251.479072329 meters 0.3244315863379759 Centerline is valid? [False, False] Translation: X:-18.29, Y:-47.72, Z:88.69 [[ 0.82993708 0.38835802 0.40047784 -18.28965661] [ -0.48015513 0.86276228 0.1584055 -47.71822606] [ -0.28399913 -0.32375809 0.9025105 88.69351458] [ 0. 0. 0. 1. ]] SLAMing on 251.539072329 meters 0.3289742255451483 Centerline is valid? [False, False] Translation: X:-18.49, Y:-47.86, Z:88.81 [[ 0.83091083 0.38651481 0.40024179 -18.48640678] [ -0.47807482 0.86396101 0.15816396 -47.85789395] [ -0.28466059 -0.32276567 0.90265756 88.80646698] [ 0. 0. 0. 1. ]] SLAMing on 251.599072329 meters 0.31892779937486115 Centerline is valid? [False, False] Translation: X:-18.68, Y:-48.00, Z:88.92 [[ 0.8339867 0.38274983 0.39745283 -18.68100405] [ -0.47306291 0.86675424 0.15795116 -47.99749554] [ -0.28403815 -0.31974936 0.90392626 88.91754209] [ 0. 0. 0. 1. ]] SLAMing on 251.659072329 meters 0.31547488023965353 Centerline is valid? [False, False] Translation: X:-18.87, Y:-48.14, Z:89.03 [[ 0.8355142 0.37891751 0.3979165 -18.87097153] [ -0.46873244 0.86939864 0.15631985 -48.13693307] [ -0.28671574 -0.31712383 0.90400584 89.02959044] [ 0. 0. 0. 1. ]] SLAMing on 251.719072329 meters 0.3224669021945327 Centerline is valid? [False, False] Translation: X:-19.05, Y:-48.27, Z:89.14 [[ 0.83693239 0.37629626 0.39742333 -19.0527295 ] [ -0.46453655 0.87236304 0.15227776 -48.26997378] [ -0.28939587 -0.31206385 0.90491225 89.13524254] [ 0. 0. 0. 1. ]] SLAMing on 251.779072329 meters 0.3140480998950683 Centerline is valid? [False, False] Translation: X:-19.23, Y:-48.40, Z:89.24 [[ 0.83949648 0.37223853 0.39583347 -19.2334313 ] [ -0.45854782 0.87616317 0.1485665 -48.40129265] [ -0.29151253 -0.30622963 0.90622506 89.23862634] [ 0. 0. 0. 1. ]] SLAMing on 251.839072329 meters 0.28766209887116717 Centerline is valid? [False, False] Translation: X:-19.41, Y:-48.53, Z:89.34 [[ 0.8502013 0.35129091 0.39211281 -19.41056348] [ -0.43415294 0.88912661 0.14479327 -48.52607644] [ -0.29777337 -0.29334036 0.90845058 89.33794558] [ 0. 0. 0. 1. ]] SLAMing on 251.899072329 meters 0.2743579326858374 Centerline is valid? [False, False] Translation: X:-19.58, Y:-48.64, Z:89.43 [[ 0.85542283 0.33906869 0.39151527 -19.57616492] [ -0.41900058 0.89739215 0.1382962 -48.64277757] [ -0.30445082 -0.28234685 0.90971971 89.43282804] [ 0. 0. 0. 1. ]] SLAMing on 251.959072329 meters 0.26759385030865346 Centerline is valid? [False, False] Translation: X:-19.74, Y:-48.76, Z:89.52 [[ 0.85897546 0.33358461 0.38843593 -19.73675367] [ -0.41028579 0.90229264 0.13241435 -48.75656649] [ -0.30631149 -0.27311042 0.91191226 89.52293141] [ 0. 0. 0. 1. ]] SLAMing on 252.019072329 meters 0.26065375991729006 Centerline is valid? [False, False] Translation: X:-19.90, Y:-48.87, Z:89.61 [[ 0.86312364 0.3257634 0.38587018 -19.8957221 ] [ -0.40000322 0.90743982 0.12864833 -48.87153879] [ -0.30824505 -0.26538873 0.91353917 89.61291585] [ 0. 0. 0. 1. ]] SLAMing on 252.079072329 meters 0.25898239768838466 Centerline is valid? [False, False] Translation: X:-20.05, Y:-48.98, Z:89.70 [[ 0.8646235 0.32290653 0.38491244 -20.05228165] [ -0.39535163 0.91003449 0.12463672 -48.98448991] [ -0.31003758 -0.2599396 0.91449883 89.69839052] [ 0. 0. 0. 1. ]] SLAMing on 252.13907232900002 meters 0.25561304554325764 Centerline is valid? [False, False] Translation: X:-20.21, Y:-49.10, Z:89.78 [[ 0.86575124 0.32471688 0.38083295 -20.20818311] [ -0.39484888 0.91073291 0.12107817 -49.09529545] [ -0.30752098 -0.25519504 0.91668224 89.78040833] [ 0. 0. 0. 1. ]] SLAMing on 252.199072329 meters 0.2625802223486823 Centerline is valid? [False, False] Translation: X:-20.37, Y:-49.21, Z:89.87 [[ 0.86594259 0.32625786 0.37907683 -20.37050517] [ -0.39596306 0.9102461 0.12110035 -49.21081646] [ -0.30554327 -0.25496637 0.91740692 89.8671072 ] [ 0. 0. 0. 1. ]] SLAMing on 252.259072329 meters 0.25808703785723236 Centerline is valid? [False, False] Translation: X:-20.53, Y:-49.33, Z:89.95 [[ 0.86495202 0.32872028 0.379211 -20.53416104] [ -0.39853363 0.90914637 0.12092903 -49.32724411] [ -0.30500648 -0.25572615 0.91737407 89.9519045 ] [ 0. 0. 0. 1. ]] SLAMing on 252.319072329 meters 0.2616047719194571 Centerline is valid? [False, False] Translation: X:-20.70, Y:-49.44, Z:90.04 [[ 0.86312529 0.33409349 0.378677 -20.69943754] [ -0.40386821 0.90685154 0.12046062 -49.44476624] [ -0.30315871 -0.25690821 0.91765624 90.03652925] [ 0. 0. 0. 1. ]] SLAMing on 252.379072329 meters 0.2583277277093444 Centerline is valid? [False, False] Translation: X:-20.87, Y:-49.56, Z:90.12 [[ 0.86740799 0.32657634 0.37543479 -20.8653913 ] [ -0.39519138 0.91060039 0.1209574 -49.55689881] [ -0.30236924 -0.25328801 0.91892221 90.11768558] [ 0. 0. 0. 1. ]] SLAMing on 252.439072329 meters 0.2530859434117538 Centerline is valid? [False, False] Translation: X:-21.02, Y:-49.66, Z:90.20 [[ 0.86937677 0.32042218 0.376183 -21.02385946] [ -0.3887623 0.91343616 0.1204087 -49.66071381] [ -0.30503754 -0.2509263 0.91868825 90.19965615] [ 0. 0. 0. 1. ]] SLAMing on 252.499072329 meters 0.254133608642179 Centerline is valid? [False, False] Translation: X:-21.18, Y:-49.76, Z:90.28 [[ 0.86978234 0.32065091 0.3750489 -21.1780187 ] [ -0.38891234 0.91327837 0.12111902 -49.76247128] [ -0.30368712 -0.25120833 0.91905849 90.27875005] [ 0. 0. 0. 1. ]] SLAMing on 252.559072329 meters 0.26090368085899834 Centerline is valid? [False, False] Translation: X:-21.34, Y:-49.87, Z:90.36 [[ 0.86941891 0.3251811 0.37197852 -21.33540207] [ -0.39144914 0.91272796 0.11702666 -49.86979436] [ -0.30146034 -0.24735586 0.92083481 90.35800341] [ 0. 0. 0. 1. ]] SLAMing on 252.619072329 meters 0.25901086407948454 Centerline is valid? [False, False] Translation: X:-21.50, Y:-49.98, Z:90.44 [[ 0.867365 0.33018858 0.372362 -21.49582554] [ -0.39671167 0.91049328 0.11671261 -49.97651701] [ -0.30049593 -0.24895278 0.92071967 90.43754477] [ 0. 0. 0. 1. ]] SLAMing on 252.679072329 meters 0.2632189494776166 Centerline is valid? [False, False] Translation: X:-21.66, Y:-50.09, Z:90.52 [[ 0.86789846 0.3295769 0.37166024 -21.66215435] [ -0.39711952 0.90981456 0.12055516 -50.09030439] [ -0.2984097 -0.25222318 0.92050808 90.51761377] [ 0. 0. 0. 1. ]] SLAMing on 252.739072329 meters 0.27019204000439917 Centerline is valid? [False, False] Translation: X:-21.82, Y:-50.20, Z:90.60 [[ 0.86515996 0.33574989 0.3725188 -21.82475182] [ -0.40399287 0.90671966 0.12103395 -50.19861553] [ -0.29713298 -0.25520867 0.92009811 90.59864502] [ 0. 0. 0. 1. ]] SLAMing on 252.799072329 meters 0.2725664397549332 Centerline is valid? [False, False] Translation: X:-21.99, Y:-50.31, Z:90.68 [[ 0.86221635 0.34321232 0.37254298 -21.99006593] [ -0.41140151 0.90355565 0.11973298 -50.30889255] [ -0.29551948 -0.25650048 0.92025852 90.68108171] [ 0. 0. 0. 1. ]] SLAMing on 252.859072329 meters 0.2788834023885495 Centerline is valid? [False, False] Translation: X:-22.16, Y:-50.42, Z:90.76 [[ 0.8619363 0.34466127 0.37185269 -22.16002067] [ -0.41440532 0.9014636 0.1250264 -50.42413657] [ -0.29211991 -0.26186253 0.91983367 90.76187272] [ 0. 0. 0. 1. ]] SLAMing on 252.919072329 meters 0.2818114095115518 Centerline is valid? [False, False] Translation: X:-22.33, Y:-50.54, Z:90.85 [[ 0.8600331 0.34893437 0.37227393 -22.32894757] [ -0.42057148 0.89789619 0.13000792 -50.53789292] [ -0.28889911 -0.26837892 0.91897229 90.84619157] [ 0. 0. 0. 1. ]] SLAMing on 252.979072329 meters 0.28670424186638543 Centerline is valid? [False, False] Translation: X:-22.50, Y:-50.66, Z:90.93 [[ 0.85855471 0.35438135 0.37053699 -22.50199583] [ -0.4262754 0.89494309 0.13178068 -50.65506216] [ -0.2849089 -0.27109173 0.91942166 90.92962404] [ 0. 0. 0. 1. ]] SLAMing on 253.039072329 meters 0.2956613373022054 Centerline is valid? [False, False] Translation: X:-22.67, Y:-50.77, Z:91.01 [[ 0.85639767 0.35701327 0.37299404 -22.66810792] [ -0.43025181 0.89281242 0.13330177 -50.77091576] [ -0.28542321 -0.27464068 0.91820808 91.01217065] [ 0. 0. 0. 1. ]] SLAMing on 253.099072329 meters 0.3008158024674017 Centerline is valid? [False, False] Translation: X:-22.85, Y:-50.89, Z:91.10 [[ 0.85425109 0.36077016 0.37429931 -22.84624344] [ -0.43594525 0.88937391 0.13771636 -50.89365586] [ -0.28320809 -0.28081835 0.91702466 91.1020529 ] [ 0. 0. 0. 1. ]] SLAMing on 253.159072329 meters 0.3114458101828549 Centerline is valid? [False, False] Translation: X:-23.02, Y:-51.02, Z:91.19 [[ 0.85219335 0.3665569 0.3733665 -23.02215756] [ -0.4417036 0.88651085 0.13782757 -51.01811476] [ -0.28047181 -0.28237307 0.91738815 91.19190991] [ 0. 0. 0. 1. ]] SLAMing on 253.219072329 meters 0.31240837006718175 Centerline is valid? [False, False] Translation: X:-23.20, Y:-51.15, Z:91.28 [[ 0.85074726 0.37061514 0.37265736 -23.20247147] [ -0.44750608 0.88264089 0.1438171 -51.1465855 ] [ -0.27562183 -0.28911844 0.91675686 91.281672 ] [ 0. 0. 0. 1. ]] SLAMing on 253.279072329 meters 0.3194438530520152 Centerline is valid? [False, False] Translation: X:-23.39, Y:-51.28, Z:91.38 [[ 0.85047843 0.37135975 0.3725297 -23.38816748] [ -0.45019008 0.88018271 0.1503572 -51.28017289] [ -0.27205759 -0.29558473 0.91575889 91.37507225] [ 0. 0. 0. 1. ]] SLAMing on 253.339072329 meters 0.31915025140140013 Centerline is valid? [False, False] Translation: X:-23.57, Y:-51.41, Z:91.47 [[ 0.84925424 0.37580464 0.37086131 -23.57308535] [ -0.45513113 0.87710581 0.15343095 -51.41488101] [ -0.26762454 -0.29909241 0.91592622 91.47202939] [ 0. 0. 0. 1. ]] SLAMing on 253.399072329 meters 0.3257670127198776 Centerline is valid? [False, False] Translation: X:-23.76, Y:-51.55, Z:91.57 [[ 0.84716589 0.38187162 0.36943744 -23.75968454] [ -0.46134261 0.87359158 0.15492174 -51.5526427 ] [ -0.26357722 -0.30168165 0.91625064 91.57227305] [ 0. 0. 0. 1. ]] SLAMing on 253.459072329 meters 0.3316942507816769 Centerline is valid? [False, False] Translation: X:-23.95, Y:-51.69, Z:91.67 [[ 0.84591399 0.38594315 0.36807255 -23.9476788 ] [ -0.46548269 0.87113713 0.15635207 -51.69193618] [ -0.26029866 -0.3035918 0.91655694 91.67463332] [ 0. 0. 0. 1. ]] SLAMing on 253.519072329 meters 0.3420557058285945 Centerline is valid? [False, False] Translation: X:-24.14, Y:-51.84, Z:91.78 [[ 0.84414032 0.38986735 0.36800893 -24.14395249] [ -0.47076363 0.86747456 0.16083998 -51.83551472] [ -0.25653213 -0.30901673 0.91580562 91.77718872] [ 0. 0. 0. 1. ]] SLAMing on 253.579072329 meters 0.35008702051422824 Centerline is valid? [False, False] Translation: X:-24.34, Y:-51.98, Z:91.88 [[ 0.84307733 0.39320541 0.36689251 -24.34144159] [ -0.47449095 0.86497805 0.16331353 -51.98315737] [ -0.25313821 -0.31177311 0.9158158 91.88072709] [ 0. 0. 0. 1. ]] SLAMing on 253.63907232900002 meters 0.3481498916455736 Centerline is valid? [False, False] Translation: X:-24.54, Y:-52.13, Z:91.99 [[ 0.84210267 0.39615962 0.36595171 -24.53801227] [ -0.47709433 0.86361236 0.1629561 -52.13127983] [ -0.2514838 -0.31181926 0.91625578 91.98733071] [ 0. 0. 0. 1. ]] SLAMing on 253.699072329 meters 0.35807954594080804 Centerline is valid? [False, False] Translation: X:-24.73, Y:-52.28, Z:92.09 [[ 0.84044653 0.40136255 0.36408479 -24.73271064] [ -0.48218272 0.86049518 0.16446238 -52.27800424] [ -0.24728417 -0.31377723 0.91673027 92.09354978] [ 0. 0. 0. 1. ]] SLAMing on 253.759072329 meters 0.36438235032064203 Centerline is valid? [False, False] Translation: X:-24.93, Y:-52.43, Z:92.20 [[ 0.83867388 0.40307764 0.36627114 -24.93117834] [ -0.48483646 0.85891183 0.16493661 -52.42856708] [ -0.24811236 -0.31590963 0.91577364 92.20045429] [ 0. 0. 0. 1. ]] SLAMing on 253.819072329 meters 0.36680035905945363 Centerline is valid? [False, False] Translation: X:-25.13, Y:-52.58, Z:92.31 [[ 0.83778091 0.40323873 0.36813269 -25.12779342] [ -0.48571807 0.85837311 0.1651471 -52.57865235] [ -0.2494015 -0.31716579 0.91498894 92.30674024] [ 0. 0. 0. 1. ]] SLAMing on 253.879072329 meters 0.36078582560111827 Centerline is valid? [False, False] Translation: X:-25.32, Y:-52.73, Z:92.41 [[ 0.83886663 0.4014761 0.36758635 -25.32090269] [ -0.48357937 0.85967748 0.16463787 -52.7264113 ] [ -0.24990753 -0.31586639 0.9153003 92.41184083] [ 0. 0. 0. 1. ]] SLAMing on 253.939072329 meters 0.3541493397264985 Centerline is valid? [False, False] Translation: X:-25.51, Y:-52.87, Z:92.51 [[ 0.84115737 0.39611172 0.36817087 -25.50978078] [ -0.47837945 0.86251736 0.16497547 -52.87170254] [ -0.25220505 -0.31489571 0.91500454 92.51422822] [ 0. 0. 0. 1. ]] SLAMing on 253.999072329 meters 0.34925252093382164 Centerline is valid? [False, False] Translation: X:-25.70, Y:-53.02, Z:92.62 [[ 0.84313758 0.39045471 0.36968114 -25.69991179] [ -0.47275923 0.86584767 0.16372696 -53.01725697] [ -0.25615959 -0.31281452 0.91461978 92.61666357] [ 0. 0. 0. 1. ]] SLAMing on 254.059072329 meters 0.3461135593318894 Centerline is valid? [False, False] Translation: X:-25.88, Y:-53.16, Z:92.72 [[ 0.84692298 0.3816153 0.37025834 -25.88433813] [ -0.46332389 0.87129745 0.16177681 -53.16136519] [ -0.26086864 -0.30856203 0.91473331 92.71743903] [ 0. 0. 0. 1. ]] SLAMing on 254.119072329 meters 0.33004966841994166 Centerline is valid? [False, False] Translation: X:-26.06, Y:-53.30, Z:92.82 [[ 0.85209872 0.37044992 0.36972236 -26.06266062] [ -0.45133833 0.87776199 0.16070967 -53.30098998] [ -0.26499335 -0.30381038 0.91513812 92.81672033] [ 0. 0. 0. 1. ]] SLAMing on 254.179072329 meters 0.3239431307443015 Centerline is valid? [False, False] Translation: X:-26.23, Y:-53.43, Z:92.91 [[ 0.85758641 0.35819225 0.36911227 -26.23206606] [ -0.4374655 0.88538761 0.15720282 -53.43421989] [ -0.2704986 -0.29628888 0.91599312 92.91017854] [ 0. 0. 0. 1. ]] SLAMing on 254.239072329 meters 0.30812912151955996 Centerline is valid? [False, False] Translation: X:-26.40, Y:-53.56, Z:93.00 [[ 0.86214277 0.34893321 0.36736285 -26.39840158] [ -0.42561609 0.89213594 0.15147413 -53.56217755] [ -0.27488324 -0.28694787 0.91766014 93.00155547] [ 0. 0. 0. 1. ]] SLAMing on 254.299072329 meters 0.2981009474452974 Centerline is valid? [False, False] Translation: X:-26.56, Y:-53.69, Z:93.09 [[ 0.86805896 0.33444563 0.36690566 -26.55718194] [ -0.40992068 0.89975742 0.14967168 -53.68500526] [ -0.28006906 -0.28032606 0.91813867 93.08922923] [ 0. 0. 0. 1. ]] SLAMing on 254.359072329 meters 0.2925133502624142 Centerline is valid? [False, False] Translation: X:-26.71, Y:-53.81, Z:93.17 [[ 0.87286127 0.32406779 0.3648195 -26.71201059] [ -0.39767451 0.90568143 0.14695623 -53.80628014] [ -0.28278647 -0.27335182 0.91940774 93.17415733] [ 0. 0. 0. 1. ]] SLAMing on 254.419072329 meters 0.2792678529279277 Centerline is valid? [False, False] Translation: X:-26.86, Y:-53.92, Z:93.25 [[ 0.87719517 0.31842361 0.35935365 -26.85904861] [ -0.38846402 0.91054751 0.14141762 -53.92377151] [ -0.28217786 -0.26364682 0.92242399 93.25364945] [ 0. 0. 0. 1. ]] SLAMing on 254.479072329 meters 0.27623619406880306 Centerline is valid? [False, False] Translation: X:-27.01, Y:-54.04, Z:93.33 [[ 0.87978896 0.31344276 0.35738638 -27.00562621] [ -0.38254353 0.91313685 0.14086001 -54.03719511] [ -0.28219112 -0.26064293 0.92327322 93.33169293] [ 0. 0. 0. 1. ]] SLAMing on 254.539072329 meters 0.27268802936973924 Centerline is valid? [False, False] Translation: X:-27.15, Y:-54.15, Z:93.41 [[ 0.88161712 0.31012793 0.35576948 -27.15364038] [ -0.37843051 0.91495032 0.14020081 -54.15099803] [ -0.28203121 -0.25823746 0.92399773 93.40915917] [ 0. 0. 0. 1. ]] SLAMing on 254.599072329 meters 0.2683574337156323 Centerline is valid? [False, False] Translation: X:-27.30, Y:-54.26, Z:93.48 [[ 0.8839362 0.30683029 0.35286254 -27.29612402] [ -0.37358528 0.91723222 0.13827177 -54.26106479] [ -0.28123092 -0.25404767 0.92540205 93.48179695] [ 0. 0. 0. 1. ]] SLAMing on 254.659072329 meters 0.2662986653217247 Centerline is valid? [False, False] Translation: X:-27.43, Y:-54.36, Z:93.55 [[ 0.88420803 0.30896683 0.35030795 -27.42833292] [ -0.37291263 0.9185567 0.13110974 -54.36199649] [ -0.28126916 -0.24656254 0.92741284 93.55227963] [ 0. 0. 0. 1. ]] SLAMing on 254.719072329 meters 0.2609643793776811 Centerline is valid? [False, False] Translation: X:-27.57, Y:-54.47, Z:93.62 [[ 0.88693522 0.30307125 0.34855951 -27.5714501 ] [ -0.36651747 0.9210287 0.13179939 -54.4708098 ] [ -0.2810887 -0.24465067 0.9279737 93.6246431 ] [ 0. 0. 0. 1. ]] SLAMing on 254.779072329 meters 0.25681982468026293 Centerline is valid? [False, False] Translation: X:-27.71, Y:-54.57, Z:93.69 [[ 0.89052441 0.29493232 0.34638304 -27.7121045 ] [ -0.35690447 0.92506247 0.12991778 -54.57452697] [ -0.28210899 -0.2393206 0.92905337 93.69335139] [ 0. 0. 0. 1. ]] SLAMing on 254.839072329 meters 0.24957258561405887 Centerline is valid? [False, False] Translation: X:-27.85, Y:-54.67, Z:93.76 [[ 0.89412073 0.28872708 0.34232265 -27.84707944] [ -0.3486117 0.92857456 0.12735448 -54.67249992] [ -0.28110141 -0.23320796 0.9309114 93.75934312] [ 0. 0. 0. 1. ]] SLAMing on 254.899072329 meters 0.2459740046092954 Centerline is valid? [False, False] Translation: X:-27.98, Y:-54.77, Z:93.83 [[ 0.89409625 0.28672526 0.34406471 -27.97890227] [ -0.34534078 0.93051788 0.12196809 -54.76702608] [ -0.28518703 -0.22787079 0.93099047 93.8278108 ] [ 0. 0. 0. 1. ]] SLAMing on 254.959072329 meters 0.24448542784987662 Centerline is valid? [False, False] Translation: X:-28.11, Y:-54.87, Z:93.89 [[ 0.89619774 0.28600268 0.3391638 -28.11250374] [ -0.3425716 0.93187467 0.11939139 -54.86622017] [ -0.2819119 -0.22318618 0.93312036 93.89255324] [ 0. 0. 0. 1. ]] SLAMing on 255.019072329 meters 0.24327639334037968 Centerline is valid? [False, False] Translation: X:-28.24, Y:-54.96, Z:93.96 [[ 0.8978763 0.28651596 0.33425551 -28.24484748] [ -0.34159491 0.93236032 0.11839403 -54.96435664] [ -0.2777248 -0.22048318 0.93501663 93.95570325] [ 0. 0. 0. 1. ]] SLAMing on 255.079072329 meters 0.2730302434596091 Centerline is valid? [False, False] Translation: X:-28.38, Y:-55.07, Z:94.02 [[ 0.89842872 0.28872034 0.33085708 -28.3821632 ] [ -0.34292947 0.93192361 0.11797356 -55.06519788] [ -0.27427216 -0.21945148 0.93627765 94.02036141] [ 0. 0. 0. 1. ]] SLAMing on 255.13907232900002 meters 0.25728295947793806 Centerline is valid? [False, False] Translation: X:-28.52, Y:-55.17, Z:94.08 [[ 0.8985459 0.29124393 0.32831728 -28.5207161 ] [ -0.34496097 0.93115968 0.11808292 -55.1653168 ] [ -0.27132488 -0.21935957 0.9371575 94.08374649] [ 0. 0. 0. 1. ]] SLAMing on 255.199072329 meters 0.25140282344947695 Centerline is valid? [False, False] Translation: X:-28.66, Y:-55.26, Z:94.15 [[ 0.89906575 0.29434379 0.32410261 -28.6555543 ] [ -0.34691509 0.93053868 0.1172505 -55.26293248] [ -0.26707806 -0.217852 0.93872776 94.14501282] [ 0. 0. 0. 1. ]] SLAMing on 255.259072329 meters 0.2611277747781122 Centerline is valid? [False, False] Translation: X:-28.79, Y:-55.36, Z:94.21 [[ 0.89834992 0.29942475 0.32142221 -28.79381466] [ -0.35146804 0.92885521 0.11703938 -55.36258139] [ -0.2635102 -0.21811195 0.93967524 94.20591435] [ 0. 0. 0. 1. ]] SLAMing on 255.319072329 meters 0.2561747720630093 Centerline is valid? [False, False] Translation: X:-28.94, Y:-55.46, Z:94.27 [[ 0.89659543 0.30624616 0.31989049 -28.93621355] [ -0.35862289 0.92589861 0.11874923 -55.46429125] [ -0.25981966 -0.22119007 0.93998335 94.26909225] [ 0. 0. 0. 1. ]] SLAMing on 255.379072329 meters 0.2640402268060182 Centerline is valid? [False, False] Translation: X:-29.08, Y:-55.57, Z:94.33 [[ 0.89498894 0.31308736 0.31775951 -29.07996969] [ -0.36526701 0.92324968 0.11912193 -55.56819153] [ -0.25607579 -0.22267988 0.94065874 94.33089585] [ 0. 0. 0. 1. ]] SLAMing on 255.439072329 meters 0.26500151064516786 Centerline is valid? [False, False] Translation: X:-29.23, Y:-55.68, Z:94.39 [[ 0.89390983 0.31642599 0.31748985 -29.22906363] [ -0.36880159 0.92176843 0.11970106 -55.67730777] [ -0.25477559 -0.22409271 0.94067628 94.39425908] [ 0. 0. 0. 1. ]] SLAMing on 255.499072329 meters 0.276237752919621 Centerline is valid? [False, False] Translation: X:-29.38, Y:-55.79, Z:94.46 [[ 0.89219628 0.32099476 0.31772341 -29.38129903] [ -0.37395516 0.91950259 0.12113016 -55.78928527] [ -0.25326536 -0.22688618 0.94041444 94.45918151] [ 0. 0. 0. 1. ]] SLAMing on 255.559072329 meters 0.2744244059210174 Centerline is valid? [False, False] Translation: X:-29.53, Y:-55.90, Z:94.52 [[ 0.89134486 0.32367156 0.31739732 -29.53372243] [ -0.37682482 0.91823534 0.12184791 -55.90278063] [ -0.25200673 -0.2282117 0.94043183 94.52393266] [ 0. 0. 0. 1. ]] SLAMing on 255.619072329 meters 0.279425422289611 Centerline is valid? [False, False] Translation: X:-29.68, Y:-56.02, Z:94.59 [[ 0.89099459 0.32479649 0.31723158 -29.68373504] [ -0.37836963 0.91738599 0.12344782 -56.01616885] [ -0.25092839 -0.23002213 0.94027909 94.58840624] [ 0. 0. 0. 1. ]] SLAMing on 255.679072329 meters 0.28043740780248316 Centerline is valid? [False, False] Translation: X:-29.84, Y:-56.13, Z:94.65 [[ 0.89029378 0.32681186 0.31712929 -29.83536146] [ -0.3809853 0.91601312 0.12557936 -56.13255617] [ -0.24945377 -0.23262412 0.94003129 94.6537104 ] [ 0. 0. 0. 1. ]] SLAMing on 255.739072329 meters 0.282205279767578 Centerline is valid? [False, False] Translation: X:-29.98, Y:-56.25, Z:94.72 [[ 0.8929716 0.32149478 0.31502831 -29.98130741] [ -0.37503856 0.91843541 0.1257874 -56.24538783] [ -0.24889316 -0.23047234 0.94070968 94.7192232 ] [ 0. 0. 0. 1. ]] SLAMing on 255.799072329 meters 0.26124486068296837 Centerline is valid? [False, False] Translation: X:-30.12, Y:-56.35, Z:94.78 [[ 0.90208358 0.29843995 0.31173516 -30.11981812] [ -0.34863635 0.92969575 0.1188213 -56.34742203] [ -0.25435783 -0.21586896 0.94271029 94.78214294] [ 0. 0. 0. 1. ]] SLAMing on 255.859072329 meters 0.2514781294215748 Centerline is valid? [False, False] Translation: X:-30.25, Y:-56.45, Z:94.84 [[ 0.90652893 0.28765036 0.30897016 -30.25277696] [ -0.33759941 0.93341235 0.12152381 -56.44736693] [ -0.25344019 -0.21447299 0.94327589 94.84126721] [ 0. 0. 0. 1. ]] SLAMing on 255.919072329 meters 0.24490974124268736 Centerline is valid? [False, False] Translation: X:-30.38, Y:-56.55, Z:94.90 [[ 0.91098257 0.27742235 0.30520091 -30.38255426] [ -0.32705961 0.93673289 0.12475379 -56.54596171] [ -0.25128224 -0.21346741 0.94408098 94.89927311] [ 0. 0. 0. 1. ]] SLAMing on 255.979072329 meters 0.24093377064698399 Centerline is valid? [False, False] Translation: X:-30.50, Y:-56.64, Z:94.95 [[ 0.91247164 0.2758818 0.30213364 -30.49736503] [ -0.32221885 0.93963745 0.11513679 -56.63705268] [ -0.25213194 -0.20241221 0.94628684 94.95274256] [ 0. 0. 0. 1. ]] SLAMing on 256.03907232899996 meters 0.23902848038845068 Centerline is valid? [False, False] Translation: X:-30.62, Y:-56.73, Z:95.01 [[ 0.91190481 0.27819085 0.30172747 -30.61558755] [ -0.32292291 0.94010524 0.10919219 -56.72727724] [ -0.2532793 -0.1970076 0.94712069 95.00589632] [ 0. 0. 0. 1. ]] SLAMing on 256.09907232899997 meters 0.24219307871818735 Centerline is valid? [False, False] Translation: X:-30.74, Y:-56.82, Z:95.06 [[ 0.91003535 0.28344711 0.30247875 -30.73603847] [ -0.32801799 0.93854922 0.1073758 -56.81873487] [ -0.25345584 -0.19693424 0.94708872 95.05910984] [ 0. 0. 0. 1. ]] SLAMing on 256.15907232899997 meters 0.24786062636544479 Centerline is valid? [False, False] Translation: X:-30.86, Y:-56.92, Z:95.11 [[ 0.90981863 0.28967413 0.29718507 -30.85916835] [ -0.33262131 0.93722273 0.10476936 -56.91500015] [ -0.24817963 -0.1941712 0.94905448 95.10935423] [ 0. 0. 0. 1. ]] SLAMing on 256.21907232899997 meters 0.25001389488434106 Centerline is valid? [False, False] Translation: X:-30.99, Y:-57.01, Z:95.16 [[ 0.90799744 0.29456293 0.29794853 -30.98551288] [ -0.33758131 0.93554903 0.1038599 -57.01142752] [ -0.24815218 -0.19488638 0.94891506 95.16119295] [ 0. 0. 0. 1. ]] SLAMing on 256.279072329 meters 0.254459602094248 Centerline is valid? [False, False] Translation: X:-31.12, Y:-57.12, Z:95.22 [[ 0.90675508 0.29994938 0.29635382 -31.12307815] [ -0.34399017 0.93268234 0.10850996 -57.11698489] [ -0.24385648 -0.20033476 0.9488941 95.21581374] [ 0. 0. 0. 1. ]] SLAMing on 256.339072329 meters 0.27077082145813935 Centerline is valid? [False, False] Translation: X:-31.26, Y:-57.22, Z:95.27 [[ 0.90696803 0.30297491 0.29260074 -31.25805812] [ -0.34693766 0.93128576 0.11109047 -57.22057557] [ -0.23883728 -0.20226972 0.94975982 95.26864859] [ 0. 0. 0. 1. ]] SLAMing on 256.399072329 meters 0.2675567830010133 Centerline is valid? [False, False] Translation: X:-31.40, Y:-57.33, Z:95.32 [[ 0.90585058 0.30808005 0.29072567 -31.39836361] [ -0.35255453 0.92878859 0.11426747 -57.32765576] [ -0.23481916 -0.20600591 0.9499587 95.32406551] [ 0. 0. 0. 1. ]] SLAMing on 256.459072329 meters 0.2620231308244322 Centerline is valid? [False, False] Translation: X:-31.54, Y:-57.43, Z:95.38 [[ 0.90678669 0.30481575 0.29124775 -31.53835251] [ -0.34983112 0.92956387 0.11631505 -57.43120454] [ -0.23527873 -0.20736046 0.94955019 95.37869559] [ 0. 0. 0. 1. ]] SLAMing on 256.519072329 meters 0.25798877063341363 Centerline is valid? [False, False] Translation: X:-31.67, Y:-57.53, Z:95.43 [[ 0.90716812 0.30201024 0.29297751 -31.67200084] [ -0.34652047 0.93120637 0.11304095 -57.52836319] [ -0.238683 -0.20406985 0.94941346 95.43416528] [ 0. 0. 0. 1. ]] SLAMing on 256.579072329 meters 0.25611887117157933 Centerline is valid? [False, False] Translation: X:-31.81, Y:-57.63, Z:95.49 [[ 0.90906662 0.29896313 0.29020498 -31.8095675 ] [ -0.34286103 0.93252293 0.1133459 -57.62785394] [ -0.23673656 -0.20253895 0.95022828 95.48953689] [ 0. 0. 0. 1. ]] SLAMing on 256.639072329 meters 0.25551200329544277 Centerline is valid? [False, False] Translation: X:-31.94, Y:-57.73, Z:95.54 [[ 0.90997122 0.29990618 0.28637155 -31.94483144] [ -0.34307382 0.93240455 0.11367547 -57.7259046 ] [ -0.23292216 -0.20168799 0.95135126 95.54223297] [ 0. 0. 0. 1. ]] SLAMing on 256.699072329 meters 0.26273373246492704 Centerline is valid? [False, False] Translation: X:-32.08, Y:-57.82, Z:95.60 [[ 0.90783991 0.30421808 0.28857938 -32.07840985] [ -0.34730504 0.93116458 0.11095828 -57.82291574] [ -0.23495938 -0.20095743 0.95100484 95.59527295] [ 0. 0. 0. 1. ]] SLAMing on 256.759072329 meters 0.264565333281637 Centerline is valid? [False, False] Translation: X:-32.21, Y:-57.92, Z:95.65 [[ 0.90845192 0.30551266 0.28526676 -32.21379647] [ -0.34832764 0.93057938 0.11264938 -57.92400973] [ -0.23104756 -0.20170284 0.95180512 95.64785698] [ 0. 0. 0. 1. ]] SLAMing on 256.819072329 meters 0.2718539751257448 Centerline is valid? [False, False] Translation: X:-32.36, Y:-58.03, Z:95.71 [[ 0.90769838 0.30800267 0.28498773 -32.3586252 ] [ -0.35164007 0.9289131 0.11605905 -58.03010953] [ -0.22898233 -0.20555972 0.951479 95.7050008 ] [ 0. 0. 0. 1. ]] SLAMing on 256.879072329 meters 0.2748220876731849 Centerline is valid? [False, False] Translation: X:-32.50, Y:-58.13, Z:95.76 [[ 0.90576638 0.31359096 0.28504029 -32.49796879] [ -0.35719208 0.92688509 0.1153163 -58.13183562] [ -0.22803744 -0.20626376 0.95155356 95.75840405] [ 0. 0. 0. 1. ]] SLAMing on 256.939072329 meters 0.27420981865498867 Centerline is valid? [False, False] Translation: X:-32.63, Y:-58.23, Z:95.81 [[ 0.90489609 0.31784513 0.28308573 -32.63254231] [ -0.36117616 0.92530519 0.11559447 -58.23195679] [ -0.22519956 -0.2068448 0.95210314 95.81036259] [ 0. 0. 0. 1. ]] SLAMing on 256.999072329 meters 0.2771855701210672 Centerline is valid? [False, False] Translation: X:-32.78, Y:-58.34, Z:95.87 [[ 0.90385562 0.32055554 0.28335342 -32.77635172] [ -0.36515426 0.92311929 0.12047053 -58.33784187] [ -0.22295151 -0.21235568 0.95141878 95.8665683 ] [ 0. 0. 0. 1. ]] SLAMing on 257.05907232899995 meters 0.28024508791779634 Centerline is valid? [False, False] Translation: X:-32.92, Y:-58.44, Z:95.92 [[ 0.90376566 0.32322476 0.28059469 -32.91751503] [ -0.36711339 0.92241986 0.11987231 -58.44166825] [ -0.22008041 -0.21134655 0.95231153 95.91948016] [ 0. 0. 0. 1. ]] SLAMing on 257.11907232899995 meters 0.2814123628628823 Centerline is valid? [False, False] Translation: X:-33.06, Y:-58.55, Z:95.98 [[ 0.90390366 0.32292889 0.28049084 -33.06131274] [ -0.36690867 0.9224332 0.12039523 -58.54865364] [ -0.21985497 -0.21174021 0.95227616 95.97500676] [ 0. 0. 0. 1. ]] SLAMing on 257.17907232899995 meters 0.2809218613683416 Centerline is valid? [False, False] Translation: X:-33.21, Y:-58.65, Z:96.03 [[ 0.90342942 0.32144983 0.28369929 -33.20578352] [ -0.36616024 0.9227131 0.12052891 -58.6540299 ] [ -0.22302906 -0.21276876 0.95130831 96.03291768] [ 0. 0. 0. 1. ]] SLAMing on 257.23907232899995 meters 0.28296427168995225 Centerline is valid? [False, False] Translation: X:-33.35, Y:-58.76, Z:96.09 [[ 0.90441694 0.32058806 0.28151964 -33.34915353] [ -0.36443285 0.92359237 0.11902031 -58.7614878 ] [ -0.2218529 -0.21023899 0.9521454 96.08790041] [ 0. 0. 0. 1. ]] SLAMing on 257.29907232899996 meters 0.27826085834238773 Centerline is valid? [False, False] Translation: X:-33.49, Y:-58.87, Z:96.14 [[ 0.90633764 0.31778467 0.27850492 -33.48805114] [ -0.36109087 0.92479412 0.11987169 -58.86748921] [ -0.21946633 -0.2092098 0.95292486 96.14236409] [ 0. 0. 0. 1. ]] SLAMing on 257.35907232899996 meters 0.2778448211073875 Centerline is valid? [False, False] Translation: X:-33.62, Y:-58.97, Z:96.20 [[ 0.90564936 0.31733704 0.28124088 -33.62488459] [ -0.36074346 0.92520745 0.1177087 -58.97033609] [ -0.22285283 -0.20805861 0.9523908 96.19879225] [ 0. 0. 0. 1. ]] SLAMing on 257.41907232899996 meters 0.2787790736954509 Centerline is valid? [False, False] Translation: X:-33.77, Y:-59.08, Z:96.25 [[ 0.90675754 0.31646725 0.2786382 -33.76711661] [ -0.35928713 0.92576808 0.11775495 -59.07839063] [ -0.22068876 -0.20688631 0.95314979 96.25250619] [ 0. 0. 0. 1. ]] SLAMing on 257.47907232899996 meters 0.27843626950618666 Centerline is valid? [False, False] Translation: X:-33.91, Y:-59.19, Z:96.31 [[ 0.90726905 0.31576421 0.27776938 -33.91134879] [ -0.35835621 0.92614036 0.11766421 -59.18844355] [ -0.22009929 -0.20629348 0.95341455 96.30831499] [ 0. 0. 0. 1. ]] SLAMing on 257.53907232899996 meters 0.2779253611853875 Centerline is valid? [False, False] Translation: X:-34.06, Y:-59.30, Z:96.37 [[ 0.90770987 0.3144513 0.27781859 -34.05758605] [ -0.35737205 0.92632949 0.11915912 -59.2992483 ] [ -0.21988182 -0.20744651 0.95321453 96.3658454 ] [ 0. 0. 0. 1. ]] SLAMing on 257.59907232899997 meters 0.28024817472501595 Centerline is valid? [False, False] Translation: X:-34.20, Y:-59.41, Z:96.42 [[ 0.90825574 0.31372724 0.27685148 -34.20429255] [ -0.35627105 0.92683585 0.11851689 -59.4109781 ] [ -0.2194139 -0.20627781 0.9535759 96.42345247] [ 0. 0. 0. 1. ]] SLAMing on 257.65907232899997 meters 0.3002094284911564 Centerline is valid? [False, False] Translation: X:-34.34, Y:-59.52, Z:96.48 [[ 0.90902869 0.31394017 0.27405914 -34.34339281] [ -0.35611541 0.92675898 0.11958094 -59.5191866 ] [ -0.21644551 -0.20629919 0.95424944 96.47625205] [ 0. 0. 0. 1. ]] SLAMing on 257.71907232899997 meters 0.28141247224102445 Centerline is valid? [False, False] Translation: X:-34.48, Y:-59.63, Z:96.53 [[ 0.91015923 0.31274689 0.27166074 -34.48282524] [ -0.35461707 0.92719214 0.12067089 -59.62745267] [ -0.21414226 -0.20616526 0.95479787 96.52892745] [ 0. 0. 0. 1. ]] SLAMing on 257.779072329 meters 0.2770985741052533 Centerline is valid? [False, False] Translation: X:-34.62, Y:-59.73, Z:96.58 [[ 0.90973816 0.31198773 0.27393454 -34.61827473] [ -0.35364337 0.92796016 0.11758534 -59.73331309] [ -0.21751515 -0.203847 0.95453316 96.58249657] [ 0. 0. 0. 1. ]] SLAMing on 257.839072329 meters 0.2779832500810659 Centerline is valid? [False, False] Translation: X:-34.75, Y:-59.84, Z:96.64 [[ 0.90976663 0.31057923 0.27543641 -34.75218422] [ -0.35216751 0.92872156 0.11599272 -59.83967823] [ -0.2197788 -0.20252605 0.9542958 96.63571966] [ 0. 0. 0. 1. ]] SLAMing on 257.899072329 meters 0.27490228685276025 Centerline is valid? [False, False] Translation: X:-34.89, Y:-59.95, Z:96.69 [[ 0.91144949 0.30724486 0.27360634 -34.88948752] [ -0.34883158 0.92972554 0.11801253 -59.95069583] [ -0.21812006 -0.20300499 0.95457457 96.68970566] [ 0. 0. 0. 1. ]] SLAMing on 257.959072329 meters 0.2733455025760439 Centerline is valid? [False, False] Translation: X:-35.02, Y:-60.05, Z:96.74 [[ 0.91148029 0.30509451 0.27590038 -35.0180338 ] [ -0.34674822 0.93071523 0.11633933 -60.05253333] [ -0.22129019 -0.20170897 0.95411956 96.73935957] [ 0. 0. 0. 1. ]] SLAMing on 258.019072329 meters 0.2710291804968222 Centerline is valid? [False, False] Translation: X:-35.15, Y:-60.16, Z:96.79 [[ 0.91339783 0.3017024 0.27327652 -35.15182363] [ -0.34324343 0.93172715 0.11861056 -60.16357107] [ -0.21883406 -0.202139 0.95459493 96.7903918 ] [ 0. 0. 0. 1. ]] SLAMing on 258.079072329 meters 0.2714837439961885 Centerline is valid? [False, False] Translation: X:-35.28, Y:-60.27, Z:96.84 [[ 0.91375555 0.30015254 0.27378687 -35.27879182] [ -0.34132827 0.93267364 0.11668287 -60.26687024] [ -0.22033114 -0.20007081 0.95468626 96.84052628] [ 0. 0. 0. 1. ]] SLAMing on 258.139072329 meters 0.2707424868715383 Centerline is valid? [False, False] Translation: X:-35.40, Y:-60.37, Z:96.89 [[ 0.91389727 0.29879746 0.27479421 -35.40155342] [ -0.33972628 0.93349001 0.1148149 -60.36512693] [ -0.22221125 -0.19828384 0.95462332 96.88831682] [ 0. 0. 0. 1. ]] SLAMing on 258.199072329 meters 0.270226440139796 Centerline is valid? [False, False] Translation: X:-35.53, Y:-60.47, Z:96.94 [[ 0.91444355 0.29650319 0.27546116 -35.52721876] [ -0.33709782 0.93466407 0.11299615 -60.46781431] [ -0.22395993 -0.19618596 0.95464811 96.93641958] [ 0. 0. 0. 1. ]] SLAMing on 258.259072329 meters 0.26923247801771333 Centerline is valid? [False, False] Translation: X:-35.65, Y:-60.57, Z:96.98 [[ 0.91487554 0.29462513 0.27604128 -35.64903737] [ -0.33511495 0.93547124 0.11221198 -60.56695534] [ -0.22516821 -0.19516556 0.95457304 96.98299804] [ 0. 0. 0. 1. ]] SLAMing on 258.319072329 meters 0.2698726401606084 Centerline is valid? [False, False] Translation: X:-35.77, Y:-60.67, Z:97.03 [[ 0.91462722 0.29378873 0.27775029 -35.77490747] [ -0.3345667 0.93569298 0.11199901 -60.66680978] [ -0.22698495 -0.19536334 0.95410219 97.03196649] [ 0. 0. 0. 1. ]] SLAMing on 258.379072329 meters 0.2710625198237256 Centerline is valid? [False, False] Translation: X:-35.90, Y:-60.77, Z:97.08 [[ 0.91322122 0.29521312 0.28084909 -35.9022945 ] [ -0.33701422 0.93464497 0.1134028 -60.76998423] [ -0.22901619 -0.19821198 0.95302864 97.08220495] [ 0. 0. 0. 1. ]] SLAMing on 258.439072329 meters 0.2749532924413345 Centerline is valid? [False, False] Translation: X:-36.02, Y:-60.87, Z:97.13 [[ 0.91267187 0.29714505 0.28059735 -36.02426572] [ -0.33865657 0.93419272 0.11223051 -60.867599 ] [ -0.22878326 -0.19745577 0.95324154 97.12840763] [ 0. 0. 0. 1. ]] SLAMing on 258.499072329 meters 0.2789311419435727 Centerline is valid? [False, False] Translation: X:-36.16, Y:-60.98, Z:97.18 [[ 0.9118941 0.30106049 0.27894755 -36.15607436] [ -0.3430397 0.93221795 0.11529727 -60.97560925] [ -0.22532846 -0.20082898 0.95335975 97.17898688] [ 0. 0. 0. 1. ]] SLAMing on 258.55907232899995 meters 0.2815599446639031 Centerline is valid? [False, False] Translation: X:-36.29, Y:-61.08, Z:97.23 [[ 0.90985936 0.30332357 0.28310909 -36.28624728] [ -0.34695181 0.93040479 0.11820052 -61.08131561] [ -0.22755305 -0.20577107 0.95177617 97.23080599] [ 0. 0. 0. 1. ]] SLAMing on 258.61907232899995 meters 0.28660875649815143 Centerline is valid? [False, False] Translation: X:-36.42, Y:-61.19, Z:97.28 [[ 0.90967443 0.30641597 0.28035993 -36.41797958] [ -0.34985116 0.9291306 0.1196683 -61.19065828] [ -0.22382271 -0.20694343 0.95240633 97.28180675] [ 0. 0. 0. 1. ]] SLAMing on 258.67907232899995 meters 0.2983217707259056 Centerline is valid? [False, False] Translation: X:-36.55, Y:-61.30, Z:97.33 [[ 0.90912542 0.30914518 0.27914196 -36.54717934] [ -0.35185577 0.92865335 0.11747539 -61.2975685 ] [ -0.22290916 -0.20501757 0.95303688 97.33338982] [ 0. 0. 0. 1. ]] SLAMing on 258.73907232899995 meters 0.2912590824520029 Centerline is valid? [False, False] Translation: X:-36.68, Y:-61.41, Z:97.39 [[ 0.90897545 0.30811498 0.28076467 -36.68021018] [ -0.35176094 0.92836285 0.12002777 -61.40655714] [ -0.22366914 -0.20786434 0.95224185 97.38759161] [ 0. 0. 0. 1. ]] SLAMing on 258.79907232899996 meters 0.27890031715539176 Centerline is valid? [False, False] Translation: X:-36.81, Y:-61.51, Z:97.44 [[ 0.91366315 0.29446073 0.28020087 -36.80999631] [ -0.33761199 0.93364223 0.11970935 -61.50914864] [ -0.22635766 -0.2039732 0.95244798 97.4392618 ] [ 0. 0. 0. 1. ]] SLAMing on 258.85907232899996 meters 0.26623382000827 Centerline is valid? [False, False] Translation: X:-36.93, Y:-61.61, Z:97.49 [[ 0.91977154 0.28079388 0.27418081 -36.93360317] [ -0.32202083 0.93931402 0.11828678 -61.60819179] [ -0.22432767 -0.19708874 0.95437578 97.48758836] [ 0. 0. 0. 1. ]] SLAMing on 258.91907232899996 meters 0.2615619354829021 Centerline is valid? [False, False] Translation: X:-37.05, Y:-61.70, Z:97.54 [[ 0.92129971 0.27538692 0.27453393 -37.04850853] [ -0.31628257 0.94141469 0.11706292 -61.69773673] [ -0.22621268 -0.19468033 0.95442516 97.53517822] [ 0. 0. 0. 1. ]] SLAMing on 258.97907232899996 meters 0.25687698323140473 Centerline is valid? [False, False] Translation: X:-37.16, Y:-61.79, Z:97.58 [[ 0.9232688 0.26961077 0.27365079 -37.15965638] [ -0.30932475 0.94417124 0.11339693 -61.78605163] [ -0.22780017 -0.18934281 0.95512113 97.58047359] [ 0. 0. 0. 1. ]] SLAMing on 259.03907232899996 meters 0.26236499400549856 Centerline is valid? [False, False] Translation: X:-37.27, Y:-61.87, Z:97.62 [[ 0.92526243 0.26566521 0.27076083 -37.26681715] [ -0.30330249 0.94681454 0.10747017 -61.87477415] [ -0.2278092 -0.18156054 0.95662884 97.62412133] [ 0. 0. 0. 1. ]] SLAMing on 259.09907232899997 meters 0.25267407882540566 Centerline is valid? [False, False] Translation: X:-37.37, Y:-61.96, Z:97.67 [[ 0.92659155 0.26259428 0.2692069 -37.3742469 ] [ -0.29968602 0.94804819 0.1067376 -61.96437298] [ -0.22719243 -0.1795797 0.95714927 97.66855669] [ 0. 0. 0. 1. ]] SLAMing on 259.15907232899997 meters 0.24982632997358545 Centerline is valid? [False, False] Translation: X:-37.48, Y:-62.05, Z:97.71 [[ 0.92721667 0.2639326 0.26572323 -37.47969159] [ -0.29970978 0.94836268 0.10383768 -62.05223625] [ -0.22459585 -0.17591988 0.95844087 97.70909308] [ 0. 0. 0. 1. ]] SLAMing on 259.21907232899997 meters 0.25605063519100374 Centerline is valid? [False, False] Translation: X:-37.59, Y:-62.15, Z:97.75 [[ 0.92644724 0.26948453 0.26281857 -37.58858052] [ -0.3044843 0.94700872 0.10229275 -62.14597223] [ -0.22132516 -0.17479296 0.95940742 97.74974507] [ 0. 0. 0. 1. ]] SLAMing on 259.279072329 meters 0.26153787236448517 Centerline is valid? [False, False] Translation: X:-37.70, Y:-62.24, Z:97.79 [[ 0.92611025 0.2712395 0.26220018 -37.70052328] [ -0.30663479 0.94608991 0.10435031 -62.24043453] [ -0.21976102 -0.17703959 0.95935503 97.79094123] [ 0. 0. 0. 1. ]] SLAMing on 259.339072329 meters 0.2596243254249623 Centerline is valid? [False, False] Translation: X:-37.81, Y:-62.34, Z:97.83 [[ 0.92637792 0.27136501 0.26112254 -37.81377592] [ -0.30673784 0.94597011 0.10513063 -62.33677291] [ -0.21848534 -0.17748686 0.95956374 97.83226762] [ 0. 0. 0. 1. ]] SLAMing on 259.399072329 meters 0.2528020833843696 Centerline is valid? [False, False] Translation: X:-37.93, Y:-62.43, Z:97.87 [[ 0.92804887 0.2646824 0.26204679 -37.92941871] [ -0.2994803 0.9485807 0.1024998 -62.42777797] [ -0.22144263 -0.17360268 0.95959641 97.87296299] [ 0. 0. 0. 1. ]] SLAMing on 259.459072329 meters 0.2540533866951734 Centerline is valid? [False, False] Translation: X:-38.04, Y:-62.52, Z:97.92 [[ 0.92783213 0.26654257 0.26092643 -38.04210613] [ -0.30109182 0.94810916 0.10214072 -62.51799075] [ -0.22016189 -0.17333226 0.95993993 97.91519644] [ 0. 0. 0. 1. ]] SLAMing on 259.519072329 meters 0.2601066026665775 Centerline is valid? [False, False] Translation: X:-38.15, Y:-62.61, Z:97.96 [[ 0.9261151 0.27453637 0.25872881 -38.15288307] [ -0.30920981 0.94531911 0.10373563 -62.60966654] [ -0.21610209 -0.17607262 0.96036364 97.95511999] [ 0. 0. 0. 1. ]] SLAMing on 259.579072329 meters 0.254767522527761 Centerline is valid? [False, False] Translation: X:-38.27, Y:-62.70, Z:98.00 [[ 0.92824577 0.26615446 0.25984916 -38.27279361] [ -0.30029518 0.94845643 0.10125806 -62.7048835 ] [ -0.21950533 -0.17202382 0.96032558 97.99893645] [ 0. 0. 0. 1. ]] SLAMing on 259.639072329 meters 0.2616823880502954 Centerline is valid? [False, False] Translation: X:-38.39, Y:-62.80, Z:98.04 [[ 0.92706138 0.27023693 0.25986383 -38.39132511] [ -0.30475107 0.94690076 0.10249751 -62.79976387] [ -0.21836664 -0.17421526 0.96019011 98.04226952] [ 0. 0. 0. 1. ]] SLAMing on 259.699072329 meters 0.2675740486674085 Centerline is valid? [False, False] Translation: X:-38.52, Y:-62.90, Z:98.08 [[ 0.92620325 0.27801381 0.25466814 -38.5160562 ] [ -0.31338418 0.94322775 0.11005346 -62.90264265] [ -0.20961368 -0.18174084 0.96074574 98.08463253] [ 0. 0. 0. 1. ]] SLAMing on 259.759072329 meters 0.27947603333097587 Centerline is valid? [False, False] Translation: X:-38.64, Y:-63.00, Z:98.13 [[ 0.92617005 0.27904615 0.2536578 -38.63574062] [ -0.31387921 0.94325595 0.10838847 -62.99698614] [ -0.20901885 -0.18000407 0.96120219 98.12727972] [ 0. 0. 0. 1. ]] SLAMing on 259.819072329 meters 0.2788838675935103 Centerline is valid? [False, False] Translation: X:-38.76, Y:-63.10, Z:98.17 [[ 0.92301461 0.28794904 0.25520459 -38.75902236] [ -0.32306834 0.94024095 0.10758158 -63.09715772] [ -0.20897579 -0.18174789 0.96088336 98.17236129] [ 0. 0. 0. 1. ]] SLAMing on 259.879072329 meters 0.2831020149095555 Centerline is valid? [False, False] Translation: X:-38.89, Y:-63.20, Z:98.22 [[ 0.92087936 0.29274206 0.2574554 -38.88518902] [ -0.32911795 0.93775077 0.11092734 -63.19644821] [ -0.2089559 -0.18688389 0.959902 98.21821049] [ 0. 0. 0. 1. ]] SLAMing on 259.939072329 meters 0.28875144250263074 Centerline is valid? [False, False] Translation: X:-39.02, Y:-63.30, Z:98.26 [[ 0.92046925 0.29663679 0.25444642 -39.01642037] [ -0.33308311 0.93601423 0.11372336 -63.3002883 ] [ -0.20443094 -0.18943066 0.96037702 98.26284393] [ 0. 0. 0. 1. ]] SLAMing on 259.999072329 meters 0.302205674808724 Centerline is valid? [False, False] Translation: X:-39.15, Y:-63.40, Z:98.31 [[ 0.91552508 0.31067372 0.25553019 -39.14574574] [ -0.34820004 0.93012832 0.11669636 -63.40267007] [ -0.20142137 -0.19581407 0.9597324 98.31175234] [ 0. 0. 0. 1. ]] SLAMing on 260.05907232899995 meters 0.3073840626757351 Centerline is valid? [False, False] Translation: X:-39.28, Y:-63.51, Z:98.36 [[ 0.91266394 0.31820243 0.25649901 -39.27786876] [ -0.35612826 0.92707476 0.11706861 -63.51175318] [ -0.20054224 -0.19819084 0.95942858 98.36178509] [ 0. 0. 0. 1. ]] SLAMing on 260.11907232899995 meters 0.31528440880028324 Centerline is valid? [False, False] Translation: X:-39.41, Y:-63.62, Z:98.41 [[ 0.91041139 0.32362702 0.25771428 -39.41260066] [ -0.36114103 0.92558139 0.11347357 -63.61873532] [ -0.20181243 -0.19637883 0.95953483 98.41268205] [ 0. 0. 0. 1. ]] SLAMing on 260.17907232899995 meters 0.3180854406435692 Centerline is valid? [False, False] Translation: X:-39.55, Y:-63.73, Z:98.46 [[ 0.90960223 0.32807373 0.25493412 -39.55195811] [ -0.36668126 0.92240901 0.12127024 -63.73317473] [ -0.19536795 -0.20378724 0.95932378 98.46264502] [ 0. 0. 0. 1. ]] SLAMing on 260.23907232899995 meters 0.32965845111083475 Centerline is valid? [False, False] Translation: X:-39.69, Y:-63.85, Z:98.51 [[ 0.90830282 0.33289004 0.25331838 -39.69449407] [ -0.37240911 0.91930448 0.12724281 -63.85082258] [ -0.19051886 -0.20991307 0.95897814 98.51375638] [ 0. 0. 0. 1. ]] SLAMing on 260.29907232899996 meters 0.3390778963399713 Centerline is valid? [False, False] Translation: X:-39.83, Y:-63.97, Z:98.57 [[ 0.90526519 0.34068819 0.25382376 -39.8300821 ] [ -0.38036452 0.91607581 0.12699581 -63.96568185] [ -0.18925583 -0.21151044 0.95887724 98.56612894] [ 0. 0. 0. 1. ]] SLAMing on 260.35907232899996 meters 0.34132021083726044 Centerline is valid? [False, False] Translation: X:-39.97, Y:-64.09, Z:98.62 [[ 0.90392563 0.34454019 0.25339793 -39.96791912] [ -0.38436388 0.91426468 0.12800197 -64.08618437] [ -0.18757096 -0.21310128 0.95885608 98.62161467] [ 0. 0. 0. 1. ]] SLAMing on 260.41907232899996 meters 0.33963900570177324 Centerline is valid? [False, False] Translation: X:-40.10, Y:-64.21, Z:98.68 [[ 0.9036097 0.34670817 0.25156102 -40.10291887] [ -0.38609402 0.91357137 0.12774492 -64.20792374] [ -0.18552874 -0.21255775 0.9593739 98.67656114] [ 0. 0. 0. 1. ]] SLAMing on 260.47907232899996 meters 0.33341082218496726 Centerline is valid? [False, False] Translation: X:-40.24, Y:-64.32, Z:98.73 [[ 0.90726721 0.33698644 0.25160752 -40.23767334] [ -0.37593179 0.91804056 0.12600326 -64.32343035] [ -0.18852452 -0.20890589 0.95959201 98.72701344] [ 0. 0. 0. 1. ]] SLAMing on 260.53907232899996 meters 0.3338218919626466 Centerline is valid? [False, False] Translation: X:-40.38, Y:-64.45, Z:98.78 [[ 0.91019433 0.33247956 0.24698911 -40.37840099] [ -0.37119787 0.91935968 0.13034538 -64.44651067] [ -0.18373465 -0.21032145 0.96021168 98.77944763] [ 0. 0. 0. 1. ]] SLAMing on 260.59907232899997 meters 0.32844252163775284 Centerline is valid? [False, False] Translation: X:-40.51, Y:-64.56, Z:98.83 [[ 0.91219026 0.32633359 0.24782112 -40.51154618] [ -0.36518171 0.92175913 0.13039337 -64.56230548] [ -0.18587964 -0.2094433 0.95999076 98.83172881] [ 0. 0. 0. 1. ]] SLAMing on 260.65907232899997 meters 0.3311484926890665 Centerline is valid? [False, False] Translation: X:-40.64, Y:-64.68, Z:98.89 [[ 0.91092899 0.33011699 0.2474493 -40.64403893] [ -0.3690701 0.92009981 0.13116249 -64.67839554] [ -0.18437909 -0.21080584 0.9599819 98.88612821] [ 0. 0. 0. 1. ]] SLAMing on 260.71907232899997 meters 0.33581238428707116 Centerline is valid? [False, False] Translation: X:-40.78, Y:-64.79, Z:98.94 [[ 0.91011403 0.3333177 0.24615396 -40.7762384 ] [ -0.37208929 0.91882715 0.13155316 -64.79394397] [ -0.18232394 -0.21131963 0.96026142 98.94075256] [ 0. 0. 0. 1. ]] SLAMing on 260.779072329 meters 0.3482833644544846 Centerline is valid? [False, False] Translation: X:-40.91, Y:-64.91, Z:99.00 [[ 0.9077481 0.33989263 0.24589915 -40.91230959] [ -0.37902604 0.91571243 0.13345413 -64.91070234] [ -0.17981283 -0.21434492 0.96006437 98.99668424] [ 0. 0. 0. 1. ]] SLAMing on 260.839072329 meters 0.35553903486211913 Centerline is valid? [False, False] Translation: X:-41.05, Y:-65.03, Z:99.05 [[ 0.90695383 0.34296599 0.24455897 -41.04953486] [ -0.38207019 0.91425123 0.13478526 -65.0290437 ] [ -0.17736158 -0.2156827 0.96022073 99.05402173] [ 0. 0. 0. 1. ]] SLAMing on 260.899072329 meters 0.3510173582197714 Centerline is valid? [False, False] Translation: X:-41.19, Y:-65.15, Z:99.11 [[ 0.90602473 0.34617347 0.24348126 -41.19253962] [ -0.38515507 0.91287804 0.13531168 -65.15356501] [ -0.17542738 -0.21637377 0.96042055 99.11487594] [ 0. 0. 0. 1. ]] SLAMing on 260.959072329 meters 0.35723302327516565 Centerline is valid? [False, False] Translation: X:-41.34, Y:-65.28, Z:99.18 [[ 0.9037912 0.35238938 0.24286455 -41.33803306] [ -0.3917694 0.90964762 0.13805053 -65.2807319 ] [ -0.17227362 -0.21991575 0.96018689 99.17699349] [ 0. 0. 0. 1. ]] SLAMing on 261.019072329 meters 0.36089902792433337 Centerline is valid? [False, False] Translation: X:-41.49, Y:-65.41, Z:99.24 [[ 0.90220297 0.35387217 0.24658525 -41.49125916] [ -0.39493487 0.90758864 0.14251076 -65.41413173] [ -0.17336737 -0.22595874 0.95858562 99.24287711] [ 0. 0. 0. 1. ]] SLAMing on 261.079072329 meters 0.3647514710242714 Centerline is valid? [False, False] Translation: X:-41.64, Y:-65.54, Z:99.31 [[ 0.90115455 0.35861971 0.24354133 -41.63882709] [ -0.39869814 0.90619802 0.14087208 -65.54338338] [ -0.17017716 -0.22404699 0.95960548 99.30647291] [ 0. 0. 0. 1. ]] SLAMing on 261.139072329 meters 0.37596201735060975 Centerline is valid? [False, False] Translation: X:-41.79, Y:-65.67, Z:99.37 [[ 0.89857069 0.36607519 0.24199107 -41.78944894] [ -0.40601559 0.90277455 0.14194877 -65.67352127] [ -0.16649945 -0.22580315 0.95983898 99.37186075] [ 0. 0. 0. 1. ]] SLAMing on 261.199072329 meters 0.37801483397331204 Centerline is valid? [False, False] Translation: X:-41.95, Y:-65.81, Z:99.44 [[ 0.89656969 0.369922 0.24355802 -41.94551038] [ -0.41082038 0.90007523 0.1452281 -65.81170718] [ -0.16549747 -0.23026571 0.95895166 99.44048757] [ 0. 0. 0. 1. ]] SLAMing on 261.259072329 meters 0.37992524135609024 Centerline is valid? [False, False] Translation: X:-42.10, Y:-65.95, Z:99.51 [[ 0.89696263 0.36981219 0.24227462 -42.09760441] [ -0.41048669 0.90014684 0.14572697 -65.94764607] [ -0.16419112 -0.23016215 0.95920105 99.50829272] [ 0. 0. 0. 1. ]] SLAMing on 261.319072329 meters 0.38529453363471894 Centerline is valid? [False, False] Translation: X:-42.24, Y:-66.08, Z:99.57 [[ 0.89987121 0.36496085 0.2388208 -42.24113974] [ -0.4044302 0.90322607 0.14359277 -66.0794186 ] [ -0.16330344 -0.22580135 0.96038833 99.5719386 ] [ 0. 0. 0. 1. ]] SLAMing on 261.379072329 meters 0.3732267766173506 Centerline is valid? [False, False] Translation: X:-42.39, Y:-66.21, Z:99.64 [[ 0.90352231 0.35595536 0.23862777 -42.38777951] [ -0.39564422 0.90683074 0.14533981 -66.20899381] [ -0.16466051 -0.22572946 0.96017349 99.63590717] [ 0. 0. 0. 1. ]] SLAMing on 261.439072329 meters 0.37786670209400025 Centerline is valid? [False, False] Translation: X:-42.53, Y:-66.34, Z:99.70 [[ 0.90493374 0.34884369 0.24372731 -42.53482944] [ -0.3907398 0.90800499 0.15115998 -66.34038227] [ -0.16857441 -0.23202373 0.95799147 99.70382777] [ 0. 0. 0. 1. ]] SLAMing on 261.499072329 meters 0.36979852931332485 Centerline is valid? [False, False] Translation: X:-42.67, Y:-66.47, Z:99.77 [[ 0.90694495 0.34466864 0.24218669 -42.67183424] [ -0.38562096 0.91070968 0.14800119 -66.46541544] [ -0.16955039 -0.2276212 0.95887499 99.76661994] [ 0. 0. 0. 1. ]] SLAMing on 261.55907232899995 meters 0.3640230992741941 Centerline is valid? [False, False] Translation: X:-42.80, Y:-66.59, Z:99.83 [[ 0.91033723 0.33804179 0.2387758 -42.80491224] [ -0.37784178 0.91425597 0.14619033 -66.58626581] [ -0.16888376 -0.22330197 0.96000756 99.82691132] [ 0. 0. 0. 1. ]] SLAMing on 261.61907232899995 meters 0.3529933291590159 Centerline is valid? [False, False] Translation: X:-42.94, Y:-66.71, Z:99.89 [[ 0.9136545 0.32827555 0.23973029 -42.93854901] [ -0.36860496 0.91770341 0.14815814 -66.71270707] [ -0.17136461 -0.22373113 0.95946785 99.88851471] [ 0. 0. 0. 1. ]] SLAMing on 261.67907232899995 meters 0.3516384400331721 Centerline is valid? [False, False] Translation: X:-43.06, Y:-66.83, Z:99.95 [[ 0.91550343 0.32592003 0.23585929 -43.06380583] [ -0.3647318 0.91979774 0.14471638 -66.82595033] [ -0.16977687 -0.21851373 0.96095139 99.94532105] [ 0. 0. 0. 1. ]] SLAMing on 261.73907232899995 meters 0.3434874676569298 Centerline is valid? [False, False] Translation: X:-43.19, Y:-66.94, Z:100.00 [[ 0.91820196 0.31887562 0.2349968 -43.1904142 ] [ -0.35749334 0.92260349 0.14491827 -66.93954678] [ -0.17059796 -0.21707403 0.96113225 100.00379764] [ 0. 0. 0. 1. ]] SLAMing on 261.79907232899996 meters 0.3478117318799466 Centerline is valid? [False, False] Translation: X:-43.31, Y:-67.05, Z:100.06 [[ 0.91831459 0.32054015 0.2322764 -43.31100496] [ -0.35834989 0.92244996 0.1437756 -67.04978344] [ -0.16817751 -0.21526745 0.96196479 100.0574948 ] [ 0. 0. 0. 1. ]] SLAMing on 261.85907232899996 meters 0.3474307143104894 Centerline is valid? [False, False] Translation: X:-43.44, Y:-67.16, Z:100.11 [[ 0.91779226 0.32392379 0.22963177 -43.43591865] [ -0.36116008 0.92134792 0.14381031 -67.16312624] [ -0.16498717 -0.21492182 0.96259433 100.11226184] [ 0. 0. 0. 1. ]] SLAMing on 261.91907232899996 meters 0.3517131543083637 Centerline is valid? [False, False] Translation: X:-43.56, Y:-67.28, Z:100.17 [[ 0.91564207 0.33010986 0.22940593 -43.56286656] [ -0.3682242 0.91769069 0.14918021 -67.28260748] [ -0.16127783 -0.22106849 0.96183064 100.16974872] [ 0. 0. 0. 1. ]] SLAMing on 261.97907232899996 meters 0.3471968209918064 Centerline is valid? [False, False] Translation: X:-43.68, Y:-67.40, Z:100.22 [[ 0.91798635 0.32608283 0.2257677 -43.68327283] [ -0.36258696 0.9206715 0.14454995 -67.3957333 ] [ -0.16072263 -0.21455531 0.96339725 100.22176823] [ 0. 0. 0. 1. ]] SLAMing on 262.03907232899996 meters 0.34947623896305247 Centerline is valid? [False, False] Translation: X:-43.80, Y:-67.50, Z:100.27 [[ 0.91841764 0.32506364 0.2254832 -43.79843937] [ -0.36086448 0.92193648 0.14074784 -67.50421205] [ -0.16212918 -0.21063418 0.96402665 100.27444717] [ 0. 0. 0. 1. ]] SLAMing on 262.09907232899997 meters 0.3520600845687171 Centerline is valid? [False, False] Translation: X:-43.92, Y:-67.62, Z:100.33 [[ 0.91914245 0.32462783 0.22314551 -43.92043704] [ -0.36023716 0.92188356 0.1426881 -67.61630499] [ -0.15939365 -0.211536 0.96428532 100.328382 ] [ 0. 0. 0. 1. ]] SLAMing on 262.15907232899997 meters 0.3527481378096631 Centerline is valid? [False, False] Translation: X:-44.04, Y:-67.73, Z:100.38 [[ 0.91979364 0.32317342 0.22257269 -44.04386791] [ -0.35902246 0.922007 0.14493434 -67.73008939] [ -0.15837465 -0.21321828 0.96408269 100.38222615] [ 0. 0. 0. 1. ]] SLAMing on 262.21907232899997 meters 0.34883046604312484 Centerline is valid? [False, False] Translation: X:-44.16, Y:-67.84, Z:100.44 [[ 0.9200155 0.32142183 0.22418629 -44.16446178] [ -0.35683496 0.92358536 0.14021016 -67.8402973 ] [ -0.16198857 -0.20899303 0.96440739 100.43701062] [ 0. 0. 0. 1. ]] SLAMing on 262.279072329 meters 0.34761099009332147 Centerline is valid? [False, False] Translation: X:-44.29, Y:-67.96, Z:100.49 [[ 0.91979117 0.32374732 0.22174734 -44.28696181] [ -0.35885155 0.92260702 0.1414986 -67.95524355] [ -0.15877586 -0.20972354 0.96478301 100.48922736] [ 0. 0. 0. 1. ]] SLAMing on 262.339072329 meters 0.343192290808826 Centerline is valid? [False, False] Translation: X:-44.41, Y:-68.07, Z:100.54 [[ 0.92226658 0.31693634 0.22130456 -44.41045709] [ -0.35193894 0.92525108 0.14159596 -68.06878561] [ -0.15988538 -0.20847491 0.96487039 100.5419532 ] [ 0. 0. 0. 1. ]] SLAMing on 262.399072329 meters 0.3400600970295526 Centerline is valid? [False, False] Translation: X:-44.53, Y:-68.18, Z:100.59 [[ 0.92378147 0.31452924 0.21840135 -44.52764827] [ -0.34890726 0.9263897 0.14165396 -68.17825373] [ -0.15777045 -0.20705912 0.96552318 100.59264743] [ 0. 0. 0. 1. ]] SLAMing on 262.459072329 meters 0.336698937698553 Centerline is valid? [False, False] Translation: X:-44.64, Y:-68.28, Z:100.64 [[ 0.92512399 0.31068856 0.21821602 -44.63961308] [ -0.34453052 0.92847144 0.13870654 -68.28178888] [ -0.1595128 -0.20350283 0.96599289 100.64447868] [ 0. 0. 0. 1. ]] SLAMing on 262.519072329 meters 0.33631624355732914 Centerline is valid? [False, False] Translation: X:-44.75, Y:-68.38, Z:100.69 [[ 0.92625435 0.3055138 0.22071295 -44.75123543] [ -0.33922784 0.93097373 0.13495331 -68.38446202] [ -0.16424786 -0.19987307 0.96595724 100.69471923] [ 0. 0. 0. 1. ]] SLAMing on 262.579072329 meters 0.3288041580757493 Centerline is valid? [False, False] Translation: X:-44.87, Y:-68.50, Z:100.74 [[ 0.92750799 0.3032503 0.21855933 -44.86757491] [ -0.33619923 0.93233377 0.13313079 -68.49544725] [ -0.16339829 -0.19695935 0.96669955 100.74403437] [ 0. 0. 0. 1. ]] SLAMing on 262.639072329 meters 0.33745123689083467 Centerline is valid? [False, False] Translation: X:-44.98, Y:-68.60, Z:100.80 [[ 0.92969981 0.29435607 0.22138825 -44.97666936] [ -0.32764166 0.93553207 0.1320253 -68.59622484] [ -0.16825337 -0.19527991 0.96620731 100.79614588] [ 0. 0. 0. 1. ]] SLAMing on 262.699072329 meters 0.3161183162040897 Centerline is valid? [False, False] Translation: X:-45.09, Y:-68.70, Z:100.84 [[ 0.93013599 0.29075628 0.22429407 -45.08502855] [ -0.32400971 0.93726431 0.12865969 -68.69644933] [ -0.17281421 -0.19234446 0.96599113 100.84330859] [ 0. 0. 0. 1. ]] SLAMing on 262.759072329 meters 0.31802738289746185 Centerline is valid? [False, False] Translation: X:-45.19, Y:-68.80, Z:100.89 [[ 0.93140713 0.29019313 0.21970139 -45.19184952] [ -0.32249003 0.93781641 0.12845453 -68.79726403] [ -0.16876295 -0.19049497 0.96707328 100.88761395] [ 0. 0. 0. 1. ]] SLAMing on 262.819072329 meters 0.3221706807919282 Centerline is valid? [False, False] Translation: X:-45.30, Y:-68.90, Z:100.94 [[ 0.93048185 0.29386309 0.21874188 -45.30433619] [ -0.32637002 0.93617168 0.13063381 -68.89983916] [ -0.1663915 -0.19294318 0.96699886 100.93637769] [ 0. 0. 0. 1. ]] SLAMing on 262.879072329 meters 0.3234538681625448 Centerline is valid? [False, False] Translation: X:-45.41, Y:-68.99, Z:100.98 [[ 0.93161463 0.29491972 0.21240653 -45.41028323] [ -0.3257027 0.93679144 0.12782626 -68.99485226] [ -0.16128213 -0.18826619 0.96878476 100.97587959] [ 0. 0. 0. 1. ]] SLAMing on 262.939072329 meters 0.3295329968511974 Centerline is valid? [False, False] Translation: X:-45.52, Y:-69.10, Z:101.02 [[ 0.93044394 0.29580504 0.21627171 -45.52097476] [ -0.32739617 0.93616547 0.12808574 -69.09628977] [ -0.1645777 -0.18998313 0.96789493 101.02353808] [ 0. 0. 0. 1. ]] SLAMing on 262.999072329 meters 0.327431321224537 Centerline is valid? [False, False] Translation: X:-45.64, Y:-69.20, Z:101.07 [[ 0.92846183 0.29754261 0.22232188 -45.63804285] [ -0.33041728 0.93505021 0.12847385 -69.20372072] [ -0.16965568 -0.19274206 0.96647165 101.07498758] [ 0. 0. 0. 1. ]] SLAMing on 263.05907232899995 meters 0.33181886258978166 Centerline is valid? [False, False] Translation: X:-45.75, Y:-69.31, Z:101.12 [[ 0.92857988 0.29961977 0.2190146 -45.7497625 ] [ -0.33163354 0.93478849 0.12723862 -69.30920284] [ -0.16660912 -0.19078381 0.96738976 101.11933946] [ 0. 0. 0. 1. ]] SLAMing on 263.11907232899995 meters 0.3361527209911837 Centerline is valid? [False, False] Translation: X:-45.87, Y:-69.42, Z:101.17 [[ 0.92786621 0.30271061 0.21778562 -45.86788435] [ -0.33476379 0.93345985 0.12878633 -69.41838774] [ -0.16430915 -0.19240323 0.9674624 101.16765043] [ 0. 0. 0. 1. ]] SLAMing on 263.17907232899995 meters 0.3460648107060057 Centerline is valid? [False, False] Translation: X:-45.98, Y:-69.53, Z:101.21 [[ 0.92702991 0.3077957 0.21418997 -45.98277132] [ -0.33927108 0.93173732 0.1294631 -69.52679387] [ -0.15972061 -0.19268463 0.96817455 101.21475956] [ 0. 0. 0. 1. ]] SLAMing on 263.23907232899995 meters 0.3378763642846176 Centerline is valid? [False, False] Translation: X:-46.10, Y:-69.64, Z:101.26 [[ 0.92846001 0.30502638 0.21194554 -46.10394383] [ -0.33624148 0.93266337 0.13069318 -69.63980473] [ -0.15780898 -0.19260828 0.96850316 101.2642369 ] [ 0. 0. 0. 1. ]] SLAMing on 263.29907232899996 meters 0.3373695819107302 Centerline is valid? [False, False] Translation: X:-46.22, Y:-69.75, Z:101.31 [[ 0.92963754 0.30212531 0.21093683 -46.22262654] [ -0.33367057 0.9331098 0.13405242 -69.7511507 ] [ -0.1563266 -0.19500357 0.96826422 101.31286688] [ 0. 0. 0. 1. ]] SLAMing on 263.35907232899996 meters 0.3382387785677252 Centerline is valid? [False, False] Translation: X:-46.34, Y:-69.86, Z:101.36 [[ 0.92891112 0.30137063 0.21517405 -46.33586831] [ -0.33345861 0.93345551 0.13215965 -69.85582181] [ -0.16102637 -0.19451621 0.96759183 101.3635003 ] [ 0. 0. 0. 1. ]] SLAMing on 263.41907232899996 meters 0.33957812446225916 Centerline is valid? [False, False] Translation: X:-46.45, Y:-69.97, Z:101.41 [[ 0.92871737 0.30256132 0.21433782 -46.45407451] [ -0.33462729 0.93291576 0.13301413 -69.96752301] [ -0.1597142 -0.19525582 0.96766034 101.41267233] [ 0. 0. 0. 1. ]] SLAMing on 263.47907232899996 meters 0.3400752863041918 Centerline is valid? [False, False] Translation: X:-46.57, Y:-70.07, Z:101.46 [[ 0.93062327 0.29805408 0.21237723 -46.56535532] [ -0.32978392 0.93456963 0.13349969 -70.0720025 ] [ -0.15869118 -0.19427651 0.96802569 101.45915648] [ 0. 0. 0. 1. ]] SLAMing on 263.53907232899996 meters 0.32742715822314067 Centerline is valid? [False, False] Translation: X:-46.68, Y:-70.18, Z:101.50 [[ 0.93465857 0.28742115 0.20929031 -46.67544898] [ -0.31819158 0.93883712 0.1316776 -70.17984877] [ -0.15864258 -0.18966801 0.96894715 101.50464094] [ 0. 0. 0. 1. ]] SLAMing on 263.59907232899997 meters 0.3204818948436684 Centerline is valid? [False, False] Translation: X:-46.78, Y:-70.28, Z:101.55 [[ 0.93657955 0.28169755 0.2084832 -46.77969801] [ -0.31136283 0.94188829 0.12609376 -70.28220787] [ -0.16084759 -0.18301076 0.96986345 101.5511999 ] [ 0. 0. 0. 1. ]] SLAMing on 263.65907232899997 meters 0.30825463373483897 Centerline is valid? [False, False] Translation: X:-46.88, Y:-70.38, Z:101.59 [[ 0.94177404 0.2671391 0.20420177 -46.87962989] [ -0.29525995 0.94758377 0.12209241 -70.38199836] [ -0.16088263 -0.17527607 0.97128527 101.59340476] [ 0. 0. 0. 1. ]] SLAMing on 263.71907232899997 meters 0.3006124956592543 Centerline is valid? [False, False] Translation: X:-46.97, Y:-70.47, Z:101.64 [[ 0.94407295 0.25742998 0.20604869 -46.97264332] [ -0.28509756 0.95122878 0.11782694 -70.47433428] [ -0.16566726 -0.16998121 0.97142202 101.63506739] [ 0. 0. 0. 1. ]] SLAMing on 263.779072329 meters 0.28925146433646254 Centerline is valid? [False, False] Translation: X:-47.06, Y:-70.56, Z:101.67 [[ 0.94831725 0.24237536 0.20481352 -47.05933239] [ -0.26862421 0.95676549 0.11153846 -70.56228274] [ -0.16892433 -0.16079172 0.97242511 101.67384069] [ 0. 0. 0. 1. ]] SLAMing on 263.839072329 meters 0.2727057815340912 Centerline is valid? [False, False] Translation: X:-47.14, Y:-70.65, Z:101.71 [[ 0.95322045 0.22574715 0.20101988 -47.13909596] [ -0.24969142 0.96286243 0.10271386 -70.64592872] [ -0.17036712 -0.14810189 0.97418729 101.70727277] [ 0. 0. 0. 1. ]] SLAMing on 263.899072329 meters 0.25210647175749035 Centerline is valid? [False, False] Translation: X:-47.20, Y:-70.72, Z:101.74 [[ 9.60521540e-01 1.97652408e-01 1.95785333e-01 -4.72038453e+01] [-2.19219029e-01 9.71019304e-01 9.52078237e-02 -7.07230538e+01] [-1.71293282e-01 -1.34369036e-01 9.76014126e-01 1.01738773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.959072329 meters 0.23713590033691923 Centerline is valid? [False, False] Translation: X:-47.26, Y:-70.79, Z:101.77 [[ 9.66083414e-01 1.70232297e-01 1.94174672e-01 -4.72643820e+01] [-1.91395823e-01 9.76818213e-01 9.58844001e-02 -7.07938497e+01] [-1.73350734e-01 -1.29796550e-01 9.76269624e-01 1.01767074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.019072329 meters 0.2338991816460621 Centerline is valid? [False, False] Translation: X:-47.32, Y:-70.85, Z:101.79 [[ 9.67275637e-01 1.58683506e-01 1.97983299e-01 -4.73154409e+01] [-1.79311311e-01 9.79582409e-01 9.09162113e-02 -7.08490189e+01] [-1.79514054e-01 -1.23441681e-01 9.75979946e-01 1.01792856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.079072329 meters 0.24665661812712458 Centerline is valid? [False, False] Translation: X:-47.36, Y:-70.90, Z:101.82 [[ 9.69663930e-01 1.47704133e-01 1.94769999e-01 -4.73560025e+01] [-1.65313977e-01 9.83198602e-01 7.74067024e-02 -7.08959710e+01] [-1.80064301e-01 -1.07256690e-01 9.77789778e-01 1.01815515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.139072329 meters 0.23651567883954483 Centerline is valid? [False, False] Translation: X:-47.39, Y:-70.94, Z:101.83 [[ 9.74120495e-01 1.32260077e-01 1.83293572e-01 -4.73915158e+01] [-1.48318783e-01 9.85952449e-01 7.68069490e-02 -7.09440445e+01] [-1.70560254e-01 -1.02005103e-01 9.80053141e-01 1.01832747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.199072329 meters 0.2149816018163144 Centerline is valid? [False, False] Translation: X:-47.42, Y:-70.98, Z:101.85 [[ 9.77623111e-01 1.09653142e-01 1.79525043e-01 -4.74173062e+01] [-1.24002936e-01 9.89757704e-01 7.07316012e-02 -7.09835664e+01] [-1.69930352e-01 -9.14104804e-02 9.81207317e-01 1.01850371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.259072329 meters 0.2340727984893946 Centerline is valid? [False, False] Translation: X:-47.44, Y:-71.01, Z:101.86 [[ 9.79769904e-01 1.01629720e-01 1.72401666e-01 -4.74395386e+01] [-1.13702311e-01 9.91601195e-01 6.16348486e-02 -7.10127871e+01] [-1.64689766e-01 -7.99904375e-02 9.83096542e-01 1.01860822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.319072329 meters 0.24220611094483657 Centerline is valid? [False, False] Translation: X:-47.46, Y:-71.04, Z:101.87 [[ 9.81969625e-01 8.89182569e-02 1.66820858e-01 -4.74600766e+01] [-1.00005670e-01 9.93220105e-01 5.92679485e-02 -7.10424544e+01] [-1.60419827e-01 -7.48823568e-02 9.84204304e-01 1.01873591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.379072329 meters 0.24322141120838137 Centerline is valid? [False, False] Translation: X:-47.47, Y:-71.07, Z:101.89 [[ 9.84828402e-01 7.75287560e-02 1.55249189e-01 -4.74712905e+01] [-8.67633797e-02 9.94785570e-01 5.36077058e-02 -7.10673453e+01] [-1.50283514e-01 -6.62643356e-02 9.86419740e-01 1.01886151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.439072329 meters 0.24453270514537964 Centerline is valid? [False, False] Translation: X:-47.47, Y:-71.09, Z:101.90 [[ 9.89608422e-01 6.88397925e-02 1.26238876e-01 -4.74682583e+01] [-7.48691476e-02 9.96237557e-01 4.36502007e-02 -7.10883745e+01] [-1.22759039e-01 -5.26480033e-02 9.91039054e-01 1.01900145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.499072329 meters 0.22959498737690479 Centerline is valid? [False, False] Translation: X:-47.47, Y:-71.11, Z:101.91 [[ 9.92044596e-01 5.73198190e-02 1.12080142e-01 -4.74708053e+01] [-6.18134290e-02 9.97400382e-01 3.70348276e-02 -7.11063881e+01] [-1.09665947e-01 -4.36682585e-02 9.93008793e-01 1.01907833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55907232899995 meters 0.2372454596280742 Centerline is valid? [False, False] Translation: X:-47.47, Y:-71.13, Z:101.92 [[ 9.95647770e-01 4.14396356e-02 8.34761865e-02 -4.74663707e+01] [-4.38551222e-02 9.98664480e-01 2.73127305e-02 -7.11313349e+01] [-8.22328728e-02 -3.08547176e-02 9.96135403e-01 1.01916079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61907232899995 meters 0.22112950663024752 Centerline is valid? [False, False] Translation: X:-47.47, Y:-71.15, Z:101.92 [[ 9.97008113e-01 3.44919227e-02 6.91746272e-02 -4.74666695e+01] [-3.62882577e-02 9.99031568e-01 2.48814889e-02 -7.11471329e+01] [-6.82494259e-02 -2.73172730e-02 9.97294231e-01 1.01922292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67907232899995 meters 0.24151716994031133 Centerline is valid? [False, False] Translation: X:-47.47, Y:-71.16, Z:101.93 [[ 9.98160663e-01 2.08598246e-02 5.69223978e-02 -4.74664289e+01] [-2.23348936e-02 9.99427790e-01 2.54016677e-02 -7.11588959e+01] [-5.63599519e-02 -2.66263011e-02 9.98055407e-01 1.01926721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73907232899995 meters 0.2622988752391975 Centerline is valid? [False, False] Translation: X:-47.44, Y:-71.16, Z:101.93 [[ 9.98778824e-01 -4.94338809e-04 4.94025930e-02 -4.74441979e+01] [-2.99768454e-04 9.99870897e-01 1.60655003e-02 -7.11625074e+01] [-4.94041568e-02 -1.60606908e-02 9.98649730e-01 1.01932857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79907232899996 meters 0.2504189861145263 Centerline is valid? [False, False] Translation: X:-47.44, Y:-71.18, Z:101.94 [[ 9.99302273e-01 -1.58966042e-02 3.37974041e-02 -4.74388959e+01] [ 1.54570819e-02 9.99793049e-01 1.32263777e-02 -7.11800792e+01] [-3.40006642e-02 -1.26947400e-02 9.99341182e-01 1.01942035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85907232899996 meters 0.24500135834759526 Centerline is valid? [False, False] Translation: X:-47.42, Y:-71.19, Z:101.95 [[ 9.98960299e-01 -3.67392591e-02 2.69916360e-02 -4.74171876e+01] [ 3.66372089e-02 9.99319527e-01 4.26583438e-03 -7.11867361e+01] [-2.71299925e-02 -3.27250098e-03 9.99626557e-01 1.01947849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91907232899996 meters 0.2503494810959539 Centerline is valid? [False, False] Translation: X:-47.40, Y:-71.19, Z:101.95 [[ 9.98495401e-01 -5.01771035e-02 2.21177101e-02 -4.74023564e+01] [ 5.02114457e-02 9.98738109e-01 -9.99747291e-04 -7.11911412e+01] [-2.20396356e-02 2.10880527e-03 9.99754874e-01 1.01952729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97907232899996 meters 0.2666880881585666 Centerline is valid? [False, False] Translation: X:-47.40, Y:-71.20, Z:101.96 [[ 9.98291355e-01 -5.80513304e-02 6.66428247e-03 -4.73979699e+01] [ 5.80652766e-02 9.98310945e-01 -1.91846898e-03 -7.12040428e+01] [-6.54165646e-03 2.30215440e-03 9.99975953e-01 1.01960572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03907232899996 meters 0.26038698793831544 Centerline is valid? [False, False] Translation: X:-47.40, Y:-71.22, Z:101.97 [[ 9.97311042e-01 -7.31389670e-02 -4.62354094e-03 -4.73973225e+01] [ 7.31399907e-02 9.97321683e-01 5.24891800e-05 -7.12222717e+01] [ 4.60731863e-03 -3.90513781e-04 9.99989310e-01 1.01968203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09907232899997 meters 0.2543486112806426 Centerline is valid? [False, False] Translation: X:-47.39, Y:-71.24, Z:101.98 [[ 9.96268819e-01 -8.41047867e-02 -1.93604116e-02 -4.73940538e+01] [ 8.40491755e-02 9.96454850e-01 -3.66984841e-03 -7.12376407e+01] [ 1.96004278e-02 2.02892891e-03 9.99805834e-01 1.01976422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15907232899997 meters 0.2611615890924628 Centerline is valid? [False, False] Translation: X:-47.39, Y:-71.26, Z:101.98 [[ 9.94394143e-01 -1.00189593e-01 -3.37984423e-02 -4.73894409e+01] [ 9.98137350e-02 9.94925919e-01 -1.26345959e-02 -7.12562997e+01] [ 3.48928014e-02 9.19021943e-03 9.99348804e-01 1.01984325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21907232899997 meters 0.2727679691366151 Centerline is valid? [False, False] Translation: X:-47.38, Y:-71.27, Z:101.99 [[ 9.93337772e-01 -1.09265114e-01 -3.66224739e-02 -4.73831335e+01] [ 1.08741695e-01 9.93941304e-01 -1.59977320e-02 -7.12669162e+01] [ 3.81485834e-02 1.19087615e-02 9.99201114e-01 1.01991699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279072329 meters 0.2662362894783147 Centerline is valid? [False, False] Translation: X:-47.38, Y:-71.27, Z:101.99 [[ 9.92918831e-01 -1.12726632e-01 -3.74820236e-02 -4.73814007e+01] [ 1.12143215e-01 9.93540992e-01 -1.73261623e-02 -7.12743022e+01] [ 3.91930468e-02 1.30001182e-02 9.99147087e-01 1.01994911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339072329 meters 0.28939119676957387 Centerline is valid? [False, False] Translation: X:-47.38, Y:-71.28, Z:102.00 [[ 9.91925000e-01 -1.20778250e-01 -3.86963771e-02 -4.73779969e+01] [ 1.20020390e-01 9.92541792e-01 -2.13517444e-02 -7.12847124e+01] [ 4.09865978e-02 1.65349748e-02 9.99022869e-01 1.01999887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399072329 meters 0.3180371608044455 Centerline is valid? [False, False] Translation: X:-47.37, Y:-71.30, Z:102.01 [[ 9.90378881e-01 -1.32490967e-01 -3.99476686e-02 -4.73730717e+01] [ 1.31455556e-01 9.90939726e-01 -2.75299193e-02 -7.13000225e+01] [ 4.32331974e-02 2.20137077e-02 9.98822450e-01 1.02006052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459072329 meters 0.29408918458466393 Centerline is valid? [False, False] Translation: X:-47.37, Y:-71.31, Z:102.01 [[ 9.89282853e-01 -1.40341689e-01 -4.02944944e-02 -4.73705060e+01] [ 1.39076870e-01 9.89743013e-01 -3.26556695e-02 -7.13087910e+01] [ 4.44641461e-02 2.67016618e-02 9.98654075e-01 1.02008857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519072329 meters 0.2654200268906749 Centerline is valid? [False, False] Translation: X:-47.37, Y:-71.33, Z:102.01 [[ 9.86299345e-01 -1.60391009e-01 -3.85788438e-02 -4.73705312e+01] [ 1.59188616e-01 9.86714246e-01 -3.24650850e-02 -7.13304541e+01] [ 4.32734025e-02 2.58789793e-02 9.98728037e-01 1.02008734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579072329 meters 0.28030522958263565 Centerline is valid? [False, False] Translation: X:-47.38, Y:-71.37, Z:102.01 [[ 9.82106646e-01 -1.83162806e-01 -4.37940807e-02 -4.73772398e+01] [ 1.81857875e-01 9.82798824e-01 -3.21587543e-02 -7.13667116e+01] [ 4.89310586e-02 2.36190280e-02 9.98522856e-01 1.02013919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639072329 meters 0.3046469975877667 Centerline is valid? [False, False] Translation: X:-47.40, Y:-71.40, Z:102.02 [[ 9.78908025e-01 -1.99567442e-01 -4.37254442e-02 -4.73968157e+01] [ 1.98518192e-01 9.79719828e-01 -2.71953360e-02 -7.14033501e+01] [ 4.82659883e-02 1.79414366e-02 9.98673370e-01 1.02016897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699072329 meters 0.2672446475492869 Centerline is valid? [False, False] Translation: X:-47.41, Y:-71.45, Z:102.02 [[ 9.72662497e-01 -2.27989420e-01 -4.41417268e-02 -4.74119269e+01] [ 2.27295289e-01 9.73615949e-01 -2.02196871e-02 -7.14485356e+01] [ 4.75869640e-02 9.63372477e-03 9.98820641e-01 1.02021888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759072329 meters 0.22468817129672616 Centerline is valid? [False, False] Translation: X:-47.44, Y:-71.49, Z:102.02 [[ 9.69126678e-01 -2.43315972e-01 -3.98850862e-02 -4.74400464e+01] [ 2.42797156e-01 9.69920176e-01 -1.74468536e-02 -7.14913869e+01] [ 4.29304480e-02 7.22422577e-03 9.99051944e-01 1.02022839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819072329 meters 0.2455630341872254 Centerline is valid? [False, False] Translation: X:-47.47, Y:-71.55, Z:102.02 [[ 9.64013460e-01 -2.64057301e-01 -3.08511166e-02 -4.74749169e+01] [ 2.63793912e-01 9.64499485e-01 -1.23901137e-02 -7.15486511e+01] [ 3.30275860e-02 3.80589962e-03 9.99447194e-01 1.02023819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879072329 meters 0.23766885131412516 Centerline is valid? [False, False] Translation: X:-47.50, Y:-71.60, Z:102.03 [[ 9.58754104e-01 -2.83179351e-01 -2.44953524e-02 -4.75034249e+01] [ 2.82978593e-01 9.59058720e-01 -1.13792443e-02 -7.16008448e+01] [ 2.67148484e-02 3.97823684e-03 9.99635179e-01 1.02026143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939072329 meters 0.23340364934967736 Centerline is valid? [False, False] Translation: X:-47.53, Y:-71.63, Z:102.03 [[ 9.60129423e-01 -2.78171126e-01 -2.77905758e-02 -4.75295551e+01] [ 2.77603175e-01 9.60429388e-01 -2.26245149e-02 -7.16306835e+01] [ 3.29843725e-02 1.40077104e-02 9.99357701e-01 1.02033526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999072329 meters 0.22277246868473596 Centerline is valid? [False, False] Translation: X:-47.57, Y:-71.68, Z:102.03 [[ 9.54409844e-01 -2.98008666e-01 -1.71080135e-02 -4.75684563e+01] [ 2.97825733e-01 9.54539000e-01 -1.24551410e-02 -7.16845048e+01] [ 2.00420060e-02 6.79210254e-03 9.99776068e-01 1.02028666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05907232899995 meters 0.22260414248610316 Centerline is valid? [False, False] Translation: X:-47.60, Y:-71.72, Z:102.03 [[ 9.52493039e-01 -3.04065572e-01 -1.73533381e-02 -4.75973475e+01] [ 3.03777942e-01 9.52584229e-01 -1.73852951e-02 -7.17210739e+01] [ 2.18167859e-02 1.12878112e-02 9.99698261e-01 1.02032041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11907232899995 meters 0.20420042354468726 Centerline is valid? [False, False] Translation: X:-47.63, Y:-71.76, Z:102.04 [[ 9.49135611e-01 -3.14588743e-01 -1.32481980e-02 -4.76283680e+01] [ 3.14349404e-01 9.49147389e-01 -1.74265698e-02 -7.17636358e+01] [ 1.80566952e-02 1.23756148e-02 9.99760371e-01 1.02036777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17907232899995 meters 0.19760629093181034 Centerline is valid? [False, False] Translation: X:-47.66, Y:-71.80, Z:102.04 [[ 9.46753422e-01 -3.21709035e-01 -1.26986305e-02 -4.76584931e+01] [ 3.21395378e-01 9.46692924e-01 -2.18521901e-02 -7.18028667e+01] [ 1.90517506e-02 1.66073546e-02 9.99680562e-01 1.02043195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23907232899995 meters 0.2011073651124906 Centerline is valid? [False, False] Translation: X:-47.69, Y:-71.84, Z:102.05 [[ 9.49086928e-01 -3.14556189e-01 -1.69825631e-02 -4.76920199e+01] [ 3.13917409e-01 9.48901765e-01 -3.22691994e-02 -7.18354353e+01] [ 2.62652605e-02 2.52951531e-02 9.99334924e-01 1.02053065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29907232899996 meters 0.20318060961608242 Centerline is valid? [False, False] Translation: X:-47.73, Y:-71.87, Z:102.06 [[ 9.49503683e-01 -3.13325862e-01 -1.64213560e-02 -4.77321362e+01] [ 3.12721856e-01 9.49323028e-01 -3.14774278e-02 -7.18717637e+01] [ 2.54518636e-02 2.47526167e-02 9.99369557e-01 1.02058547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35907232899996 meters 0.18480281920046512 Centerline is valid? [False, False] Translation: X:-47.78, Y:-71.91, Z:102.07 [[ 9.51582772e-01 -3.06987819e-01 -1.57704720e-02 -4.77833537e+01] [ 3.06421925e-01 9.51402592e-01 -3.06383950e-02 -7.19113841e+01] [ 2.44096820e-02 2.43225505e-02 9.99406114e-01 1.02065583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41907232899996 meters 0.19930937767790266 Centerline is valid? [False, False] Translation: X:-47.82, Y:-71.94, Z:102.08 [[ 9.54699899e-01 -2.96863737e-01 -2.04945107e-02 -4.78228540e+01] [ 2.95941770e-01 9.54416113e-01 -3.88374979e-02 -7.19399238e+01] [ 3.10897360e-02 3.10129736e-02 9.99035347e-01 1.02075796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47907232899996 meters 0.20266310639157648 Centerline is valid? [False, False] Translation: X:-47.88, Y:-71.98, Z:102.08 [[ 9.57830664e-01 -2.86487555e-01 -2.20295200e-02 -4.78754478e+01] [ 2.85675302e-01 9.57725135e-01 -3.39438966e-02 -7.19751799e+01] [ 3.08227290e-02 2.62192152e-02 9.99180921e-01 1.02083727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53907232899996 meters 0.2192094732485925 Centerline is valid? [False, False] Translation: X:-47.91, Y:-72.01, Z:102.09 [[ 9.58089188e-01 -2.85590734e-01 -2.24285545e-02 -4.79147304e+01] [ 2.84855895e-01 9.58065908e-01 -3.10939798e-02 -7.20074071e+01] [ 3.03681859e-02 2.34018999e-02 9.99264792e-01 1.02091792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59907232899997 meters 0.2125363730735557 Centerline is valid? [False, False] Translation: X:-47.96, Y:-72.04, Z:102.10 [[ 9.59172238e-01 -2.81978971e-01 -2.18283509e-02 -4.79606628e+01] [ 2.81336813e-01 9.59188084e-01 -2.84221161e-02 -7.20412903e+01] [ 2.89519331e-02 2.11205860e-02 9.99357647e-01 1.02099752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65907232899997 meters 0.18087041352223496 Centerline is valid? [False, False] Translation: X:-48.00, Y:-72.07, Z:102.10 [[ 9.59435497e-01 -2.80972402e-01 -2.31956140e-02 -4.79954040e+01] [ 2.80373191e-01 9.59538123e-01 -2.60281427e-02 -7.20701752e+01] [ 2.95702657e-02 1.84688957e-02 9.99392065e-01 1.02103960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71907232899997 meters 0.17964361140567955 Centerline is valid? [False, False] Translation: X:-48.03, Y:-72.10, Z:102.11 [[ 9.60069488e-01 -2.78234598e-01 -2.91905126e-02 -4.80316962e+01] [ 2.77495809e-01 9.60348540e-01 -2.69584471e-02 -7.20991306e+01] [ 3.55338389e-02 1.77817376e-02 9.99210266e-01 1.02109161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779072329 meters 0.16931939462724707 Centerline is valid? [False, False] Translation: X:-48.06, Y:-72.12, Z:102.12 [[ 9.61842672e-01 -2.71292219e-01 -3.54852895e-02 -4.80595047e+01] [ 2.70136767e-01 9.62215466e-01 -3.41690570e-02 -7.21213233e+01] [ 4.34142936e-02 2.32793757e-02 9.98785898e-01 1.02117239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839072329 meters 0.17652729218887928 Centerline is valid? [False, False] Translation: X:-48.10, Y:-72.15, Z:102.12 [[ 9.61501381e-01 -2.72526805e-01 -3.52737154e-02 -4.80969628e+01] [ 2.71407766e-01 9.61882965e-01 -3.34512409e-02 -7.21502515e+01] [ 4.30455458e-02 2.25898540e-02 9.98817691e-01 1.02121772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899072329 meters 0.17127541412358627 Centerline is valid? [False, False] Translation: X:-48.14, Y:-72.18, Z:102.13 [[ 9.61980972e-01 -2.70735522e-01 -3.59845453e-02 -4.81352017e+01] [ 2.69690330e-01 9.62436135e-01 -3.13657875e-02 -7.21810377e+01] [ 4.31246595e-02 2.04686069e-02 9.98860000e-01 1.02125130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959072329 meters 0.16484629113244684 Centerline is valid? [False, False] Translation: X:-48.17, Y:-72.21, Z:102.13 [[ 9.61995718e-01 -2.70552953e-01 -3.69504946e-02 -4.81697670e+01] [ 2.69582765e-01 9.62534339e-01 -2.92023815e-02 -7.22093610e+01] [ 4.34669105e-02 1.81313495e-02 9.98890325e-01 1.02128675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019072329 meters 0.1560937118666411 Centerline is valid? [False, False] Translation: X:-48.20, Y:-72.24, Z:102.13 [[ 9.60916577e-01 -2.74274629e-01 -3.75867029e-02 -4.82010860e+01] [ 2.73293229e-01 9.61486091e-01 -2.92456301e-02 -7.22375970e+01] [ 4.41604264e-02 1.78304194e-02 9.98865323e-01 1.02131659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079072329 meters 0.16981538530790422 Centerline is valid? [False, False] Translation: X:-48.23, Y:-72.26, Z:102.13 [[ 9.60385914e-01 -2.75887173e-01 -3.93085701e-02 -4.82326003e+01] [ 2.74928002e-01 9.61053516e-01 -2.81199917e-02 -7.22646246e+01] [ 4.55355845e-02 1.61990173e-02 9.98831368e-01 1.02134562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139072329 meters 0.1398289400045154 Centerline is valid? [False, False] Translation: X:-48.26, Y:-72.30, Z:102.14 [[ 9.58472949e-01 -2.82247803e-01 -4.08140110e-02 -4.82591795e+01] [ 2.81177850e-01 9.59185042e-01 -3.00511439e-02 -7.22950133e+01] [ 4.76300582e-02 1.73272127e-02 9.98714747e-01 1.02136955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199072329 meters 0.13786948890348502 Centerline is valid? [False, False] Translation: X:-48.29, Y:-72.33, Z:102.14 [[ 9.56354578e-01 -2.89096518e-01 -4.25337934e-02 -4.82854542e+01] [ 2.87959293e-01 9.57143056e-01 -3.09292223e-02 -7.23271336e+01] [ 4.96524555e-02 1.73313023e-02 9.98616172e-01 1.02142207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259072329 meters 0.12586176528520698 Centerline is valid? [False, False] Translation: X:-48.31, Y:-72.36, Z:102.15 [[ 9.54153920e-01 -2.96104823e-01 -4.37290655e-02 -4.83129428e+01] [ 2.94893616e-01 9.54990903e-01 -3.20956351e-02 -7.23591011e+01] [ 5.12645321e-02 1.77287538e-02 9.98527736e-01 1.02147620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319072329 meters 0.11776186930129592 Centerline is valid? [False, False] Translation: X:-48.34, Y:-72.39, Z:102.15 [[ 9.53859235e-01 -2.95822261e-01 -5.13979466e-02 -4.83421519e+01] [ 2.94323401e-01 9.55072182e-01 -3.47974482e-02 -7.23858472e+01] [ 5.93826089e-02 1.80642489e-02 9.98071835e-01 1.02154527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379072329 meters 0.1119945939374267 Centerline is valid? [False, False] Translation: X:-48.38, Y:-72.42, Z:102.16 [[ 9.52632173e-01 -2.99650640e-01 -5.19753546e-02 -4.83750142e+01] [ 2.98170335e-01 9.53892645e-01 -3.43987471e-02 -7.24160732e+01] [ 5.98865151e-02 1.72718443e-02 9.98055754e-01 1.02159257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439072329 meters 0.1024353205959176 Centerline is valid? [False, False] Translation: X:-48.41, Y:-72.45, Z:102.16 [[ 9.51001288e-01 -3.04650344e-01 -5.27704310e-02 -4.84058811e+01] [ 3.03122796e-01 9.52306252e-01 -3.50624135e-02 -7.24450075e+01] [ 6.09353877e-02 1.73484798e-02 9.97990936e-01 1.02163153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499072329 meters 0.09539001211344002 Centerline is valid? [False, True] Translation: X:-48.43, Y:-72.47, Z:102.17 [[ 9.50019106e-01 -3.05731230e-01 -6.31831681e-02 -4.84260039e+01] [ 3.03903447e-01 9.51984390e-01 -3.69920946e-02 -7.24687066e+01] [ 7.14590284e-02 1.59416141e-02 9.97316135e-01 1.02174498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55907232899995 meters 0.09476367974908778 Centerline is valid? [True, True] Translation: X:-48.37, Y:-72.46, Z:102.18 [[ 9.47878120e-01 -3.11760607e-01 -6.58209234e-02 -4.83669581e+01] [ 3.10760116e-01 9.50154519e-01 -2.51900858e-02 -7.24600635e+01] [ 7.03933243e-02 3.42261336e-03 9.97513441e-01 1.02180466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61907232899995 meters 0.0910777039235521 Centerline is valid? [True, True] Translation: X:-48.31, Y:-72.45, Z:102.18 [[ 9.45813230e-01 -3.17543175e-01 -6.78503251e-02 -4.83058955e+01] [ 3.16493836e-01 9.48238757e-01 -2.59790665e-02 -7.24533755e+01] [ 7.25877832e-02 3.09713508e-03 9.97357219e-01 1.02182050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67907232899995 meters 0.09025611884547986 Centerline is valid? [True, True] Translation: X:-48.25, Y:-72.44, Z:102.18 [[ 9.45276429e-01 -3.18992821e-01 -6.85277601e-02 -4.82497118e+01] [ 3.17924897e-01 9.47752280e-01 -2.62559521e-02 -7.24358105e+01] [ 7.33228011e-02 3.03245160e-03 9.97303650e-01 1.02183496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73907232899995 meters 0.09114003142876999 Centerline is valid? [True, True] Translation: X:-48.20, Y:-72.41, Z:102.19 [[ 9.46336897e-01 -3.16033889e-01 -6.75948057e-02 -4.81958033e+01] [ 3.14986589e-01 9.48742412e-01 -2.59091396e-02 -7.24128334e+01] [ 7.23182252e-02 3.22731748e-03 9.97376388e-01 1.02188819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79907232899996 meters 0.09286171509430363 Centerline is valid? [True, True] Translation: X:-48.14, Y:-72.39, Z:102.19 [[ 9.48010690e-01 -3.11101743e-01 -6.70181823e-02 -4.81427083e+01] [ 3.10059088e-01 9.50369852e-01 -2.57003040e-02 -7.23866358e+01] [ 7.16874694e-02 3.58456648e-03 9.97420702e-01 1.02192907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85907232899996 meters 0.09284805221600377 Centerline is valid? [True, True] Translation: X:-48.09, Y:-72.36, Z:102.19 [[ 9.48084898e-01 -3.10912838e-01 -6.68448435e-02 -4.80880131e+01] [ 3.09873847e-01 9.50431587e-01 -2.56514650e-02 -7.23648460e+01] [ 7.15068204e-02 3.60629779e-03 9.97433591e-01 1.02194652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91907232899996 meters 0.09241387481900074 Centerline is valid? [True, True] Translation: X:-48.03, Y:-72.34, Z:102.20 [[ 9.47646200e-01 -3.12122104e-01 -6.74275267e-02 -4.80327166e+01] [ 3.11066633e-01 9.50035313e-01 -2.58931144e-02 -7.23438261e+01] [ 7.21403449e-02 3.56305777e-03 9.97388127e-01 1.02195424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97907232899996 meters 0.09557384612087691 Centerline is valid? [True, True] Translation: X:-47.98, Y:-72.31, Z:102.19 [[ 9.48280292e-01 -3.10137334e-01 -6.76706878e-02 -4.79816178e+01] [ 3.09068250e-01 9.50684410e-01 -2.59994112e-02 -7.23143022e+01] [ 7.23968560e-02 3.73986824e-03 9.97368893e-01 1.02193282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03907232899996 meters 0.09417892605005804 Centerline is valid? [True, True] Translation: X:-47.93, Y:-72.30, Z:102.20 [[ 9.47743373e-01 -3.11634466e-01 -6.83114764e-02 -4.79251808e+01] [ 3.10547850e-01 9.50194962e-01 -2.62596122e-02 -7.22972497e+01] [ 7.30926210e-02 3.67339135e-03 9.97318392e-01 1.02197030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09907232899997 meters 0.09263901936787537 Centerline is valid? [True, True] Translation: X:-47.87, Y:-72.28, Z:102.20 [[ 9.47089816e-01 -3.13289446e-01 -6.97897052e-02 -4.78699163e+01] [ 3.12158182e-01 9.49650704e-01 -2.68479059e-02 -7.22801079e+01] [ 7.46870082e-02 3.64195078e-03 9.97200375e-01 1.02198166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15907232899997 meters 0.09275441393442926 Centerline is valid? [True, True] Translation: X:-47.82, Y:-72.26, Z:102.20 [[ 9.46615550e-01 -3.15055515e-01 -6.82570318e-02 -4.78154950e+01] [ 3.13976901e-01 9.49067009e-01 -2.62739076e-02 -7.22599424e+01] [ 7.30582365e-02 3.44015818e-03 9.97321743e-01 1.02199366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21907232899997 meters 0.091922806704232 Centerline is valid? [True, True] Translation: X:-47.76, Y:-72.24, Z:102.20 [[ 9.46276609e-01 -3.16433814e-01 -6.65599007e-02 -4.77589887e+01] [ 3.15410639e-01 9.48608975e-01 -2.56347546e-02 -7.22416317e+01] [ 7.12510223e-02 3.26386784e-03 9.97453076e-01 1.02204805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279072329 meters 0.09083576427936345 Centerline is valid? [True, True] Translation: X:-47.70, Y:-72.22, Z:102.21 [[ 9.46195771e-01 -3.17266598e-01 -6.36825629e-02 -4.77030326e+01] [ 3.16331063e-01 9.48331404e-01 -2.45399076e-02 -7.22240473e+01] [ 6.81778673e-02 3.07478391e-03 9.97668444e-01 1.02209473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339072329 meters 0.09141478165495986 Centerline is valid? [True, True] Translation: X:-47.65, Y:-72.21, Z:102.21 [[ 9.44745983e-01 -3.21385206e-01 -6.45490218e-02 -4.76482153e+01] [ 3.20432950e-01 9.46944335e-01 -2.48827514e-02 -7.22056490e+01] [ 6.91212787e-02 2.82424598e-03 9.97604266e-01 1.02206096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399072329 meters 0.08966456447033842 Centerline is valid? [True, True] Translation: X:-47.59, Y:-72.19, Z:102.21 [[ 9.44713328e-01 -3.21429671e-01 -6.48050472e-02 -4.75915493e+01] [ 3.20469096e-01 9.46929184e-01 -2.49935731e-02 -7.21881877e+01] [ 6.93994664e-02 2.84374673e-03 9.97584897e-01 1.02210325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459072329 meters 0.09112249993259118 Centerline is valid? [True, True] Translation: X:-47.54, Y:-72.16, Z:102.21 [[ 9.44146913e-01 -3.22851327e-01 -6.59820310e-02 -4.75388774e+01] [ 3.21858070e-01 9.46445548e-01 -2.54599189e-02 -7.21643578e+01] [ 7.06681681e-02 2.80105468e-03 9.97495947e-01 1.02206294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519072329 meters 0.09191170318548535 Centerline is valid? [True, True] Translation: X:-47.49, Y:-72.14, Z:102.21 [[ 9.44718471e-01 -3.20773003e-01 -6.79094253e-02 -4.74853447e+01] [ 3.19714441e-01 9.47151171e-01 -2.62170950e-02 -7.21396761e+01] [ 7.27302280e-02 3.05615001e-03 9.97346968e-01 1.02208120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.579072329 meters 0.0925608884990464 Centerline is valid? [True, True] Translation: X:-47.43, Y:-72.11, Z:102.21 [[ 9.45663284e-01 -3.18113761e-01 -6.72650661e-02 -4.74326240e+01] [ 3.17067770e-01 9.48047014e-01 -2.59786092e-02 -7.21136753e+01] [ 7.20345981e-02 3.23943239e-03 9.97396873e-01 1.02211040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639072329 meters 0.09490060665731309 Centerline is valid? [True, True] Translation: X:-47.38, Y:-72.08, Z:102.21 [[ 9.47430889e-01 -3.12892289e-01 -6.68814294e-02 -4.73815202e+01] [ 3.11844380e-01 9.49781690e-01 -2.58422876e-02 -7.20828435e+01] [ 7.16086095e-02 3.62718363e-03 9.97426213e-01 1.02213790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699072329 meters 0.0952726293260908 Centerline is valid? [True, True] Translation: X:-47.33, Y:-72.06, Z:102.22 [[ 9.48236163e-01 -3.10727944e-01 -6.55463474e-02 -4.73278533e+01] [ 3.09715175e-01 9.50491571e-01 -2.53433255e-02 -7.20581789e+01] [ 7.01761301e-02 3.73075923e-03 9.97527640e-01 1.02218520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759072329 meters 0.0947586019517429 Centerline is valid? [True, True] Translation: X:-47.27, Y:-72.04, Z:102.22 [[ 9.48512574e-01 -3.10131844e-01 -6.43594264e-02 -4.72736366e+01] [ 3.09152838e-01 9.50686264e-01 -2.49028017e-02 -7.20370537e+01] [ 6.89087744e-02 3.72372127e-03 9.97616016e-01 1.02223793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819072329 meters 0.09624262500935202 Centerline is valid? [True, True] Translation: X:-47.22, Y:-72.01, Z:102.22 [[ 9.49111218e-01 -3.08254301e-01 -6.45537125e-02 -4.72197197e+01] [ 3.07263823e-01 9.51296045e-01 -2.49955613e-02 -7.20108923e+01] [ 6.91146806e-02 3.88854717e-03 9.97601143e-01 1.02223722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879072329 meters 0.09639293566135892 Centerline is valid? [True, True] Translation: X:-47.17, Y:-71.99, Z:102.23 [[ 9.49277708e-01 -3.07667054e-01 -6.49062143e-02 -4.71653199e+01] [ 3.06663186e-01 9.51485803e-01 -2.51487118e-02 -7.19886047e+01] [ 6.94947715e-02 3.96876501e-03 9.97574421e-01 1.02225276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939072329 meters 0.09725925912217442 Centerline is valid? [True, True] Translation: X:-47.11, Y:-71.97, Z:102.22 [[ 9.48547121e-01 -3.09765126e-01 -6.56043175e-02 -4.71111288e+01] [ 3.08743707e-01 9.50805244e-01 -2.54305284e-02 -7.19676408e+01] [ 7.02544200e-02 3.86713433e-03 9.97521610e-01 1.02224010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999072329 meters 0.0958929107830843 Centerline is valid? [True, True] Translation: X:-47.05, Y:-71.95, Z:102.23 [[ 9.47597329e-01 -3.12723234e-01 -6.52953353e-02 -4.70542846e+01] [ 3.11717600e-01 9.49837311e-01 -2.53223444e-02 -7.19493595e+01] [ 6.99388311e-02 3.64168069e-03 9.97544635e-01 1.02225703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05907232899995 meters 0.09689409068894991 Centerline is valid? [True, True] Translation: X:-47.00, Y:-71.93, Z:102.23 [[ 9.47871957e-01 -3.11686172e-01 -6.62607278e-02 -4.69995892e+01] [ 3.10646858e-01 9.50177549e-01 -2.57129347e-02 -7.19260829e+01] [ 7.09738222e-02 3.78888281e-03 9.97470983e-01 1.02226150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11907232899995 meters 0.09763569572941225 Centerline is valid? [True, True] Translation: X:-46.94, Y:-71.90, Z:102.23 [[ 9.48717285e-01 -3.09472072e-01 -6.45178253e-02 -4.69448661e+01] [ 3.08480580e-01 9.50900676e-01 -2.50526665e-02 -7.19035673e+01] [ 6.91031443e-02 3.86540152e-03 9.97602032e-01 1.02230966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17907232899995 meters 0.09563665227821218 Centerline is valid? [True, True] Translation: X:-46.89, Y:-71.89, Z:102.23 [[ 9.47594704e-01 -3.12915144e-01 -6.44079873e-02 -4.68871431e+01] [ 3.11933802e-01 9.49774173e-01 -2.50264589e-02 -7.18897360e+01] [ 6.90042009e-02 3.62391159e-03 9.97609787e-01 1.02234820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23907232899995 meters 0.09418329362104823 Centerline is valid? [True, True] Translation: X:-46.83, Y:-71.87, Z:102.24 [[ 9.47033711e-01 -3.14646939e-01 -6.42219170e-02 -4.68304374e+01] [ 3.13674194e-01 9.49202318e-01 -2.49691633e-02 -7.18731546e+01] [ 6.88160633e-02 3.50188130e-03 9.97623219e-01 1.02238153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29907232899996 meters 0.09684836709265184 Centerline is valid? [True, True] Translation: X:-46.78, Y:-71.85, Z:102.23 [[ 9.47087916e-01 -3.14667065e-01 -6.33175889e-02 -4.67794500e+01] [ 3.13720957e-01 9.49195800e-01 -2.46270963e-02 -7.18452919e+01] [ 6.78501256e-02 3.45997075e-03 9.97689525e-01 1.02234721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35907232899996 meters 0.09388620174832742 Centerline is valid? [True, True] Translation: X:-46.72, Y:-71.83, Z:102.24 [[ 9.46476386e-01 -3.16583619e-01 -6.29067813e-02 -4.67214578e+01] [ 3.15653239e-01 9.48558826e-01 -2.44782604e-02 -7.18313020e+01] [ 6.74201989e-02 3.31136618e-03 9.97719175e-01 1.02239737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41907232899996 meters 0.09500769341354443 Centerline is valid? [True, True] Translation: X:-46.67, Y:-71.81, Z:102.24 [[ 9.46801061e-01 -3.15770566e-01 -6.21023430e-02 -4.66681164e+01] [ 3.14861079e-01 9.48829694e-01 -2.41808275e-02 -7.18053355e+01] [ 6.65601407e-02 3.34082235e-03 9.97776822e-01 1.02241400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47907232899996 meters 0.09498676852295582 Centerline is valid? [True, True] Translation: X:-46.61, Y:-71.78, Z:102.25 [[ 9.47205359e-01 -3.14463710e-01 -6.25666229e-02 -4.66135980e+01] [ 3.13537016e-01 9.49263160e-01 -2.43719796e-02 -7.17843525e+01] [ 6.70562932e-02 3.46831743e-03 9.97743166e-01 1.02245351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53907232899996 meters 0.09593079071631123 Centerline is valid? [True, True] Translation: X:-46.56, Y:-71.76, Z:102.25 [[ 9.47427383e-01 -3.13595753e-01 -6.35535893e-02 -4.65591259e+01] [ 3.12636862e-01 9.49549773e-01 -2.47673221e-02 -7.17611094e+01] [ 6.81142234e-02 3.59604441e-03 9.97671049e-01 1.02246506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59907232899997 meters 0.09576796107045657 Centerline is valid? [True, True] Translation: X:-46.50, Y:-71.74, Z:102.25 [[ 9.46790717e-01 -3.15511320e-01 -6.35605608e-02 -4.65049906e+01] [ 3.14555542e-01 9.48915460e-01 -2.47842719e-02 -7.17394796e+01] [ 6.81333171e-02 3.47219199e-03 9.97670183e-01 1.02246161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65907232899997 meters 0.09692696786470456 Centerline is valid? [True, True] Translation: X:-46.45, Y:-71.72, Z:102.25 [[ 9.46781323e-01 -3.15425827e-01 -6.41223353e-02 -4.64524101e+01] [ 3.14452225e-01 9.48943714e-01 -2.50125234e-02 -7.17159684e+01] [ 6.87380829e-02 3.51797900e-03 9.97628538e-01 1.02245562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71907232899997 meters 0.09841397508656123 Centerline is valid? [True, True] Translation: X:-46.40, Y:-71.69, Z:102.25 [[ 9.47469524e-01 -3.13472219e-01 -6.35347896e-02 -4.63989777e+01] [ 3.12511295e-01 9.49590409e-01 -2.47940637e-02 -7.16903909e+01] [ 6.81042770e-02 3.63628033e-03 9.97671582e-01 1.02247425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779072329 meters 0.09604424499764601 Centerline is valid? [True, True] Translation: X:-46.34, Y:-71.67, Z:102.25 [[ 9.47797327e-01 -3.12392964e-01 -6.39598578e-02 -4.63428843e+01] [ 3.11415583e-01 9.49945548e-01 -2.49757986e-02 -7.16723476e+01] [ 6.85606460e-02 3.75389879e-03 9.97639888e-01 1.02253178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839072329 meters 0.09759192428524584 Centerline is valid? [True, True] Translation: X:-46.29, Y:-71.65, Z:102.25 [[ 9.47963687e-01 -3.12083730e-01 -6.29967669e-02 -4.62906206e+01] [ 3.11134210e-01 9.50047282e-01 -2.46102618e-02 -7.16468043e+01] [ 6.75303695e-02 3.72918523e-03 9.97710250e-01 1.02254165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899072329 meters 0.09905480311164354 Centerline is valid? [True, True] Translation: X:-46.24, Y:-71.62, Z:102.26 [[ 9.48989430e-01 -3.08812313e-01 -6.36711695e-02 -4.62372816e+01] [ 3.07834205e-01 9.51114520e-01 -2.48851852e-02 -7.16201663e+01] [ 6.82434254e-02 4.01561391e-03 9.97660619e-01 1.02257041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959072329 meters 0.09837276180107905 Centerline is valid? [True, True] Translation: X:-46.18, Y:-71.60, Z:102.26 [[ 9.49692015e-01 -3.06738973e-01 -6.32161244e-02 -4.61829645e+01] [ 3.05769571e-01 9.51784654e-01 -2.47172328e-02 -7.15971763e+01] [ 6.77498757e-02 4.14419141e-03 9.97693731e-01 1.02260341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019072329 meters 0.09860553847711839 Centerline is valid? [True, True] Translation: X:-46.13, Y:-71.58, Z:102.26 [[ 9.49489928e-01 -3.07286910e-01 -6.35895547e-02 -4.61283059e+01] [ 3.06306359e-01 9.51607904e-01 -2.48759445e-02 -7.15759564e+01] [ 6.81563750e-02 4.14157379e-03 9.97666054e-01 1.02261248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079072329 meters 0.09754489660783494 Centerline is valid? [True, True] Translation: X:-46.07, Y:-71.56, Z:102.27 [[ 9.49522400e-01 -3.07512367e-01 -6.19948018e-02 -4.60731749e+01] [ 3.06579758e-01 9.51535515e-01 -2.42696419e-02 -7.15557063e+01] [ 6.64534707e-02 4.03821729e-03 9.97781353e-01 1.02266217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139072329 meters 0.09666243727200366 Centerline is valid? [True, True] Translation: X:-46.02, Y:-71.54, Z:102.27 [[ 9.48812884e-01 -3.09937768e-01 -6.07675119e-02 -4.60177293e+01] [ 3.09046036e-01 9.50749246e-01 -2.37995428e-02 -7.15363806e+01] [ 6.51510433e-02 3.80135419e-03 9.97868173e-01 1.02268588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199072329 meters 0.09990058551773812 Centerline is valid? [True, True] Translation: X:-45.97, Y:-71.51, Z:102.26 [[ 9.48326698e-01 -3.11500881e-01 -6.03628651e-02 -4.59654918e+01] [ 3.10623572e-01 9.50238746e-01 -2.36499722e-02 -7.15087496e+01] [ 6.47261204e-02 3.67777123e-03 9.97896289e-01 1.02264959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259072329 meters 0.10028480275150825 Centerline is valid? [True, False] Translation: X:-46.00, Y:-71.53, Z:102.27 [[ 9.51545979e-01 -2.99556659e-01 -6.94698407e-02 -4.60021547e+01] [ 2.98157598e-01 9.54046769e-01 -2.99467852e-02 -7.15253997e+01] [ 7.52482360e-02 7.78278215e-03 9.97134460e-01 1.02270223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319072329 meters 0.09931474550993402 Centerline is valid? [False, True] Translation: X:-46.04, Y:-71.54, Z:102.28 [[ 9.54415261e-01 -2.88809650e-01 -7.53690672e-02 -4.60373221e+01] [ 2.86935256e-01 9.57315826e-01 -3.48506577e-02 -7.15427535e+01] [ 8.22172071e-02 1.16359569e-02 9.96546504e-01 1.02276984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379072329 meters 0.09939483597271881 Centerline is valid? [True, True] Translation: X:-45.98, Y:-71.52, Z:102.29 [[ 9.54748425e-01 -2.87357900e-01 -7.66869091e-02 -4.59820245e+01] [ 2.86023002e-01 9.57810803e-01 -2.80946258e-02 -7.15247570e+01] [ 8.15247627e-02 4.88907979e-03 9.96659325e-01 1.02285625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439072329 meters 0.1046777228142011 Centerline is valid? [True, False] Translation: X:-46.02, Y:-71.54, Z:102.29 [[ 9.57955900e-01 -2.74518654e-01 -8.34266282e-02 -4.60163815e+01] [ 2.72841181e-01 9.61556018e-01 -3.11081082e-02 -7.15408788e+01] [ 8.87591324e-02 7.03797608e-03 9.96028254e-01 1.02291881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499072329 meters 0.10377729891584869 Centerline is valid? [False, False] Translation: X:-46.06, Y:-71.56, Z:102.30 [[ 9.61212814e-01 -2.64439028e-01 -7.83704491e-02 -4.60573775e+01] [ 2.62525298e-01 9.64326665e-01 -3.39786981e-02 -7.15607153e+01] [ 8.45600076e-02 1.20865345e-02 9.96345081e-01 1.02295720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55907232899995 meters 0.10360239629318009 Centerline is valid? [False, False] Translation: X:-46.10, Y:-71.58, Z:102.30 [[ 9.63167107e-01 -2.57158214e-01 -7.86051985e-02 -4.61035019e+01] [ 2.55728580e-01 9.66345489e-01 -2.79157504e-02 -7.15813078e+01] [ 8.31385435e-02 6.78593671e-03 9.96514894e-01 1.02298114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61907232899995 meters 0.10205366914016781 Centerline is valid? [False, False] Translation: X:-46.15, Y:-71.60, Z:102.30 [[ 9.64926106e-01 -2.50392330e-01 -7.88751581e-02 -4.61479583e+01] [ 2.49494025e-01 9.68144136e-01 -2.12052649e-02 -7.15998052e+01] [ 8.16721575e-02 7.82633028e-04 9.96658942e-01 1.02300887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67907232899995 meters 0.10707496787362591 Centerline is valid? [False, False] Translation: X:-46.18, Y:-71.61, Z:102.30 [[ 9.67616836e-01 -2.40328507e-01 -7.72001815e-02 -4.61794254e+01] [ 2.39283921e-01 9.70685520e-01 -2.26456859e-02 -7.16135511e+01] [ 8.03795022e-02 3.43958477e-03 9.96758398e-01 1.02304578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73907232899995 meters 0.10794080017158873 Centerline is valid? [False, False] Translation: X:-46.21, Y:-71.62, Z:102.31 [[ 9.70044157e-01 -2.31120898e-01 -7.48162040e-02 -4.62095492e+01] [ 2.29923764e-01 9.72903830e-01 -2.43557279e-02 -7.16246377e+01] [ 7.84180891e-02 6.42410830e-03 9.96899862e-01 1.02306824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79907232899996 meters 0.10764370600816833 Centerline is valid? [False, False] Translation: X:-46.24, Y:-71.64, Z:102.31 [[ 9.72256081e-01 -2.20653289e-01 -7.76546168e-02 -4.62437587e+01] [ 2.19134396e-01 9.75302188e-01 -2.76723548e-02 -7.16392153e+01] [ 8.18427138e-02 9.88781764e-03 9.96596208e-01 1.02313577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85907232899996 meters 0.10369843099928427 Centerline is valid? [False, False] Translation: X:-46.27, Y:-71.65, Z:102.32 [[ 9.74988237e-01 -2.09737427e-01 -7.35401155e-02 -4.62692829e+01] [ 2.08526633e-01 9.77725607e-01 -2.38596161e-02 -7.16503231e+01] [ 7.69063085e-02 7.92777236e-03 9.97006805e-01 1.02315480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91907232899996 meters 0.10606289722108847 Centerline is valid? [False, False] Translation: X:-46.29, Y:-71.66, Z:102.32 [[ 9.76411874e-01 -2.04591637e-01 -6.90080799e-02 -4.62921998e+01] [ 2.03349542e-01 9.78796036e-01 -2.46431482e-02 -7.16596520e+01] [ 7.25866170e-02 1.00291011e-02 9.97311687e-01 1.02317358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97907232899996 meters 0.10483559416608976 Centerline is valid? [False, False] Translation: X:-46.32, Y:-71.67, Z:102.32 [[ 9.77818448e-01 -1.99367696e-01 -6.42152951e-02 -4.63155640e+01] [ 1.98093808e-01 9.79846259e-01 -2.56934275e-02 -7.16679879e+01] [ 6.80435561e-02 1.24028551e-02 9.97605254e-01 1.02319088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03907232899996 meters 0.10449062370816534 Centerline is valid? [False, False] Translation: X:-46.33, Y:-71.68, Z:102.32 [[ 9.79352919e-01 -1.92569720e-01 -6.15204282e-02 -4.63315955e+01] [ 1.91571384e-01 9.81236783e-01 -2.17894744e-02 -7.16762342e+01] [ 6.45621000e-02 9.55403182e-03 9.97867955e-01 1.02323259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09907232899997 meters 0.1048386179947993 Centerline is valid? [False, False] Translation: X:-46.34, Y:-71.68, Z:102.33 [[ 9.79854421e-01 -1.90366026e-01 -6.03828532e-02 -4.63372656e+01] [ 1.89485707e-01 9.81679003e-01 -2.00375371e-02 -7.16799963e+01] [ 6.30910454e-02 8.19218177e-03 9.97974152e-01 1.02325256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15907232899997 meters 0.10520097864768015 Centerline is valid? [False, False] Translation: X:-46.35, Y:-71.68, Z:102.33 [[ 9.80742729e-01 -1.86465005e-01 -5.80904592e-02 -4.63479776e+01] [ 1.85695658e-01 9.82434646e-01 -1.84198018e-02 -7.16832702e+01] [ 6.05047281e-02 7.27794063e-03 9.98141377e-01 1.02326328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21907232899997 meters 0.10446911431687321 Centerline is valid? [False, False] Translation: X:-46.35, Y:-71.68, Z:102.33 [[ 9.82064283e-01 -1.76475527e-01 -6.63787108e-02 -4.63475757e+01] [ 1.75034684e-01 9.84192652e-01 -2.69755951e-02 -7.16839629e+01] [ 7.00899717e-02 1.48731918e-02 9.97429789e-01 1.02330099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279072329 meters 0.10772262952786746 Centerline is valid? [False, False] Translation: X:-46.36, Y:-71.69, Z:102.33 [[ 9.82917731e-01 -1.72452152e-01 -6.42883263e-02 -4.63582990e+01] [ 1.71195260e-01 9.84929615e-01 -2.46137334e-02 -7.16884902e+01] [ 6.75641678e-02 1.31874183e-02 9.97627774e-01 1.02332982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339072329 meters 0.11084226963823907 Centerline is valid? [False, False] Translation: X:-46.36, Y:-71.69, Z:102.34 [[ 9.83408312e-01 -1.70046193e-01 -6.31853149e-02 -4.63647287e+01] [ 1.68933712e-01 9.85368509e-01 -2.25898567e-02 -7.16919749e+01] [ 6.61021387e-02 1.15409231e-02 9.97746117e-01 1.02336067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399072329 meters 0.10812290128118225 Centerline is valid? [False, False] Translation: X:-46.38, Y:-71.70, Z:102.34 [[ 9.84179406e-01 -1.66247940e-01 -6.12578101e-02 -4.63750267e+01] [ 1.65294951e-01 9.86034311e-01 -2.03449387e-02 -7.16955113e+01] [ 6.37846067e-02 9.89746299e-03 9.97914608e-01 1.02338868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459072329 meters 0.10630911980507328 Centerline is valid? [False, False] Translation: X:-46.38, Y:-71.70, Z:102.34 [[ 9.84225304e-01 -1.66890008e-01 -5.87220321e-02 -4.63847024e+01] [ 1.65859482e-01 9.85903060e-01 -2.20406167e-02 -7.17011902e+01] [ 6.15725898e-02 1.19533269e-02 9.98031029e-01 1.02341564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519072329 meters 0.10599815796871533 Centerline is valid? [False, False] Translation: X:-46.39, Y:-71.70, Z:102.34 [[ 9.84317805e-01 -1.66368142e-01 -5.86523670e-02 -4.63858488e+01] [ 1.65384502e-01 9.85999599e-01 -2.12781115e-02 -7.17025042e+01] [ 6.13712102e-02 1.12442315e-02 9.98051673e-01 1.02342800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579072329 meters 0.10982578999911373 Centerline is valid? [False, False] Translation: X:-46.39, Y:-71.71, Z:102.34 [[ 9.84449569e-01 -1.65569743e-01 -5.87001341e-02 -4.63867903e+01] [ 1.64658321e-01 9.86146426e-01 -2.00714632e-02 -7.17054598e+01] [ 6.12101544e-02 1.00938778e-02 9.98073860e-01 1.02344236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639072329 meters 0.10524865108413507 Centerline is valid? [False, False] Translation: X:-46.39, Y:-71.71, Z:102.35 [[ 9.84797897e-01 -1.63701024e-01 -5.80954135e-02 -4.63907950e+01] [ 1.62911530e-01 9.86474509e-01 -1.81073749e-02 -7.17098848e+01] [ 6.02738403e-02 8.36769203e-03 9.98146806e-01 1.02346760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699072329 meters 0.10645659649473936 Centerline is valid? [False, False] Translation: X:-46.39, Y:-71.71, Z:102.35 [[ 9.84965817e-01 -1.62782928e-01 -5.78278319e-02 -4.63929502e+01] [ 1.62063549e-01 9.86634722e-01 -1.69508860e-02 -7.17120486e+01] [ 5.98142617e-02 7.32425968e-03 9.98182653e-01 1.02348563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759072329 meters 0.10461422056652417 Centerline is valid? [False, False] Translation: X:-46.40, Y:-71.72, Z:102.35 [[ 9.84459145e-01 -1.66177535e-01 -5.67910109e-02 -4.63951334e+01] [ 1.65304484e-01 9.86044355e-01 -1.97726550e-02 -7.17154391e+01] [ 5.92842268e-02 1.00775622e-02 9.98190274e-01 1.02350265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819072329 meters 0.10189972846542418 Centerline is valid? [False, False] Translation: X:-46.40, Y:-71.72, Z:102.35 [[ 9.84562253e-01 -1.65333238e-01 -5.74638148e-02 -4.63950390e+01] [ 1.64581304e-01 9.86206247e-01 -1.76134058e-02 -7.17208300e+01] [ 5.95832546e-02 7.88402499e-03 9.98192205e-01 1.02353375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879072329 meters 0.09998560468262917 Centerline is valid? [False, True] Translation: X:-46.39, Y:-71.72, Z:102.35 [[ 9.84485421e-01 -1.65526505e-01 -5.82188292e-02 -4.63924598e+01] [ 1.64804708e-01 9.86179329e-01 -1.70217391e-02 -7.17241960e+01] [ 6.02317549e-02 7.16291690e-03 9.98158719e-01 1.02352945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939072329 meters 0.09785652924644617 Centerline is valid? [True, True] Translation: X:-46.33, Y:-71.72, Z:102.36 [[ 9.83587956e-01 -1.70607783e-01 -5.87172672e-02 -4.63313416e+01] [ 1.70110000e-01 9.85333815e-01 -1.34112200e-02 -7.17218261e+01] [ 6.01441674e-02 3.20272013e-03 9.98184563e-01 1.02357860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999072329 meters 0.09708698301102056 Centerline is valid? [True, True] Translation: X:-46.27, Y:-71.71, Z:102.36 [[ 9.83410056e-01 -1.71978930e-01 -5.76880380e-02 -4.62732570e+01] [ 1.71500521e-01 9.85095848e-01 -1.31811035e-02 -7.17116444e+01] [ 5.90951188e-02 3.06890110e-03 9.98247639e-01 1.02360822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05907232899995 meters 0.09545076450290345 Centerline is valid? [True, True] Translation: X:-46.21, Y:-71.70, Z:102.36 [[ 9.83016250e-01 -1.74764830e-01 -5.60027291e-02 -4.62139577e+01] [ 1.74318026e-01 9.84606153e-01 -1.28042939e-02 -7.17017454e+01] [ 5.73783719e-02 2.82454377e-03 9.98348508e-01 1.02364773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11907232899995 meters 0.09815158810827408 Centerline is valid? [True, True] Translation: X:-46.16, Y:-71.68, Z:102.36 [[ 9.83133988e-01 -1.74486786e-01 -5.47898098e-02 -4.61588550e+01] [ 1.74058293e-01 9.84655573e-01 -1.25345048e-02 -7.16811950e+01] [ 5.61361970e-02 2.78647697e-03 9.98419232e-01 1.02363907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17907232899995 meters 0.09964135770318977 Centerline is valid? [True, True] Translation: X:-46.10, Y:-71.66, Z:102.37 [[ 9.83816868e-01 -1.70687954e-01 -5.44976434e-02 -4.61025647e+01] [ 1.70257996e-01 9.85320596e-01 -1.24715116e-02 -7.16619102e+01] [ 5.58263873e-02 2.99102394e-03 9.98436011e-01 1.02366848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23907232899995 meters 0.09952220049065967 Centerline is valid? [True, True] Translation: X:-46.04, Y:-71.65, Z:102.37 [[ 9.84720555e-01 -1.65628284e-01 -5.37838339e-02 -4.60448053e+01] [ 1.65201595e-01 9.86182924e-01 -1.23155843e-02 -7.16456498e+01] [ 5.50805077e-02 3.24223388e-03 9.98476653e-01 1.02373714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29907232899996 meters 0.10149932547775112 Centerline is valid? [True, False] Translation: X:-46.05, Y:-71.65, Z:102.38 [[ 9.86097481e-01 -1.53826362e-01 -6.28427268e-02 -4.60497254e+01] [ 1.52828992e-01 9.88041873e-01 -2.04097224e-02 -7.16451818e+01] [ 6.52307988e-02 1.05217853e-02 9.97814730e-01 1.02377535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35907232899996 meters 0.1055511075177654 Centerline is valid? [False, False] Translation: X:-46.06, Y:-71.65, Z:102.38 [[ 9.86444758e-01 -1.52067993e-01 -6.16608859e-02 -4.60555327e+01] [ 1.51160536e-01 9.88323693e-01 -1.91512345e-02 -7.16457380e+01] [ 6.38532043e-02 9.57094228e-03 9.97913406e-01 1.02379780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41907232899996 meters 0.10605759802235451 Centerline is valid? [False, False] Translation: X:-46.06, Y:-71.65, Z:102.38 [[ 9.86796904e-01 -1.50258243e-01 -6.04510635e-02 -4.60611263e+01] [ 1.49435221e-01 9.88608782e-01 -1.79385552e-02 -7.16473238e+01] [ 6.24578680e-02 8.66819266e-03 9.98009958e-01 1.02381592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47907232899996 meters 0.10442519903487346 Centerline is valid? [False, False] Translation: X:-46.06, Y:-71.65, Z:102.38 [[ 9.86969835e-01 -1.49283821e-01 -6.00407027e-02 -4.60641019e+01] [ 1.48524484e-01 9.88763591e-01 -1.69422037e-02 -7.16483410e+01] [ 6.18952578e-02 7.80392955e-03 9.98052141e-01 1.02383791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53907232899996 meters 0.11523443448515272 Centerline is valid? [False, False] Translation: X:-46.07, Y:-71.65, Z:102.39 [[ 9.87142329e-01 -1.48316915e-01 -5.95996201e-02 -4.60668008e+01] [ 1.47619694e-01 9.88915412e-01 -1.59604051e-02 -7.16497183e+01] [ 6.13061809e-02 6.95711373e-03 9.98094760e-01 1.02385521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59907232899997 meters 0.10864898332878976 Centerline is valid? [False, False] Translation: X:-46.07, Y:-71.65, Z:102.39 [[ 9.87255120e-01 -1.47596242e-01 -5.95203889e-02 -4.60681700e+01] [ 1.46958591e-01 9.89029266e-01 -1.49760773e-02 -7.16517178e+01] [ 6.10778193e-02 6.03817655e-03 9.98114743e-01 1.02387038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65907232899997 meters 0.10327959156954745 Centerline is valid? [False, False] Translation: X:-46.07, Y:-71.65, Z:102.39 [[ 9.86847444e-01 -1.50809417e-01 -5.82120505e-02 -4.60717020e+01] [ 1.50010980e-01 9.88522718e-01 -1.78757225e-02 -7.16540602e+01] [ 6.02397617e-02 8.90816429e-03 9.98144186e-01 1.02388941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71907232899997 meters 0.10178839261036007 Centerline is valid? [False, False] Translation: X:-46.07, Y:-71.66, Z:102.39 [[ 9.86905995e-01 -1.50378554e-01 -5.83339319e-02 -4.60719632e+01] [ 1.49625456e-01 9.88594954e-01 -1.70950246e-02 -7.16561290e+01] [ 6.02393558e-02 8.14294109e-03 9.98150746e-01 1.02389833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779072329 meters 0.10166943956367464 Centerline is valid? [False, False] Translation: X:-46.07, Y:-71.66, Z:102.39 [[ 9.86990285e-01 -1.49737333e-01 -5.85568812e-02 -4.60723909e+01] [ 1.49052033e-01 9.88701100e-01 -1.59256660e-02 -7.16592342e+01] [ 6.02799196e-02 6.99045542e-03 9.98157034e-01 1.02391407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839072329 meters 0.0992583639106002 Centerline is valid? [False, True] Translation: X:-46.08, Y:-71.66, Z:102.39 [[ 9.86563566e-01 -1.53008718e-01 -5.72770608e-02 -4.60755001e+01] [ 1.52158161e-01 9.88174407e-01 -1.89534992e-02 -7.16617536e+01] [ 5.94997762e-02 9.98365951e-03 9.98178392e-01 1.02392947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899072329 meters 0.0989457639316042 Centerline is valid? [True, True] Translation: X:-46.02, Y:-71.65, Z:102.40 [[ 9.85843758e-01 -1.57106858e-01 -5.85621100e-02 -4.60165159e+01] [ 1.56637207e-01 9.87576413e-01 -1.25544379e-02 -7.16548608e+01] [ 5.98069468e-02 3.20370884e-03 9.98204821e-01 1.02396768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959072329 meters 0.09758437898716552 Centerline is valid? [True, True] Translation: X:-45.96, Y:-71.64, Z:102.40 [[ 9.85343082e-01 -1.60322401e-01 -5.82729688e-02 -4.59576413e+01] [ 1.59862793e-01 9.87060154e-01 -1.24956134e-02 -7.16447472e+01] [ 5.95222522e-02 2.99678665e-03 9.98222481e-01 1.02396489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019072329 meters 0.10055607346460574 Centerline is valid? [True, False] Translation: X:-45.96, Y:-71.65, Z:102.40 [[ 9.85637805e-01 -1.58794267e-01 -5.74673584e-02 -4.59618580e+01] [ 1.58412488e-01 9.87309857e-01 -1.11682205e-02 -7.16469913e+01] [ 5.85115389e-02 1.90427310e-03 9.98284916e-01 1.02398493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079072329 meters 0.09916418837752694 Centerline is valid? [False, True] Translation: X:-45.97, Y:-71.65, Z:102.40 [[ 9.87378746e-01 -1.46720666e-01 -5.96343643e-02 -4.59655771e+01] [ 1.45827650e-01 9.89125917e-01 -1.90844799e-02 -7.16475270e+01] [ 6.17859828e-02 1.01472706e-02 9.98037838e-01 1.02400684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139072329 meters 0.09902424861355379 Centerline is valid? [True, True] Translation: X:-45.91, Y:-71.64, Z:102.41 [[ 9.87507961e-01 -1.45395687e-01 -6.07298999e-02 -4.59066843e+01] [ 1.44913357e-01 9.89367943e-01 -1.22960455e-02 -7.16405617e+01] [ 6.18720081e-02 3.34186910e-03 9.98078497e-01 1.02409935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199072329 meters 0.09883291505631617 Centerline is valid? [True, True] Translation: X:-45.85, Y:-71.63, Z:102.41 [[ 9.87408393e-01 -1.46443823e-01 -5.98236688e-02 -4.58492102e+01] [ 1.45977151e-01 9.89213694e-01 -1.21218175e-02 -7.16286148e+01] [ 6.09535577e-02 3.23629560e-03 9.98135357e-01 1.02411054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259072329 meters 0.10263760910255927 Centerline is valid? [True, False] Translation: X:-45.85, Y:-71.63, Z:102.41 [[ 9.87500680e-01 -1.45858539e-01 -5.97301703e-02 -4.58505332e+01] [ 1.45439915e-01 9.89302318e-01 -1.13205169e-02 -7.16298924e+01] [ 6.07423901e-02 2.49186726e-03 9.98150366e-01 1.02412433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319072329 meters 0.0997235408230762 Centerline is valid? [False, True] Translation: X:-45.85, Y:-71.63, Z:102.41 [[ 9.89042196e-01 -1.35597721e-01 -5.83848681e-02 -4.58516983e+01] [ 1.34741957e-01 9.90710406e-01 -1.83710706e-02 -7.16299706e+01] [ 6.03335717e-02 1.03028726e-02 9.98125098e-01 1.02414801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379072329 meters 0.10014080992487673 Centerline is valid? [True, False] Translation: X:-45.85, Y:-71.63, Z:102.42 [[ 9.89116413e-01 -1.35153126e-01 -5.81580070e-02 -4.58531723e+01] [ 1.34326037e-01 9.90775122e-01 -1.79212984e-02 -7.16302711e+01] [ 6.00436260e-02 9.91411581e-03 9.98146519e-01 1.02415840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439072329 meters 0.09921863091607835 Centerline is valid? [False, True] Translation: X:-45.85, Y:-71.63, Z:102.42 [[ 9.89143290e-01 -1.34809850e-01 -5.84966356e-02 -4.58529888e+01] [ 1.34031037e-01 9.90830326e-01 -1.70571738e-02 -7.16327772e+01] [ 6.02597155e-02 9.03162434e-03 9.98141872e-01 1.02417043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499072329 meters 0.10105035110178731 Centerline is valid? [True, False] Translation: X:-45.85, Y:-71.63, Z:102.42 [[ 9.89755558e-01 -1.29865678e-01 -5.93198238e-02 -4.58535886e+01] [ 1.29384272e-01 9.91523099e-01 -1.19018655e-02 -7.16343303e+01] [ 6.03626193e-02 4.10488530e-03 9.98168074e-01 1.02418960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55907232899995 meters 0.09968941106131861 Centerline is valid? [False, True] Translation: X:-45.85, Y:-71.64, Z:102.42 [[ 9.89814481e-01 -1.29433332e-01 -5.92815882e-02 -4.58544988e+01] [ 1.28989935e-01 9.91581946e-01 -1.12623443e-02 -7.16355586e+01] [ 6.02402754e-02 3.50090323e-03 9.98177766e-01 1.02420077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61907232899995 meters 0.09908037865684133 Centerline is valid? [True, True] Translation: X:-45.80, Y:-71.63, Z:102.43 [[ 9.89903497e-01 -1.28956505e-01 -5.88327053e-02 -4.57964418e+01] [ 1.28542015e-01 9.91645340e-01 -1.07920847e-02 -7.16280686e+01] [ 5.97328876e-02 3.12064787e-03 9.98209519e-01 1.02425677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67907232899995 meters 0.10031688887223508 Centerline is valid? [True, False] Translation: X:-45.79, Y:-71.63, Z:102.43 [[ 9.90839054e-01 -1.20668268e-01 -6.06394065e-02 -4.57911241e+01] [ 1.19795471e-01 9.92638262e-01 -1.78416647e-02 -7.16275837e+01] [ 6.23459179e-02 1.04138919e-02 9.98000269e-01 1.02429433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73907232899995 meters 0.0971275764484513 Centerline is valid? [False, True] Translation: X:-45.79, Y:-71.63, Z:102.43 [[ 9.90358742e-01 -1.24779555e-01 -6.01633222e-02 -4.57914631e+01] [ 1.23703490e-01 9.92090492e-01 -2.13049707e-02 -7.16298038e+01] [ 6.23458847e-02 1.36571511e-02 9.97961158e-01 1.02430204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79907232899996 meters 0.09635849483113423 Centerline is valid? [True, True] Translation: X:-45.73, Y:-71.63, Z:102.44 [[ 9.89815478e-01 -1.27222619e-01 -6.38727207e-02 -4.57321233e+01] [ 1.26768904e-01 9.91869911e-01 -1.11231269e-02 -7.16293157e+01] [ 6.47685432e-02 2.91276839e-03 9.97896063e-01 1.02437295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85907232899996 meters 0.09789235602851902 Centerline is valid? [True, True] Translation: X:-45.68, Y:-71.62, Z:102.44 [[ 9.89726914e-01 -1.28490375e-01 -6.26965712e-02 -4.56754514e+01] [ 1.28055142e-01 9.91706839e-01 -1.09282319e-02 -7.16165193e+01] [ 6.35807911e-02 2.78734688e-03 9.97972802e-01 1.02436592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91907232899996 meters 0.09537612344723723 Centerline is valid? [True, True] Translation: X:-45.62, Y:-71.62, Z:102.44 [[ 9.89674386e-01 -1.27871748e-01 -6.47566685e-02 -4.56157767e+01] [ 1.27405787e-01 9.91786399e-01 -1.12917633e-02 -7.16155955e+01] [ 6.56686806e-02 2.92479464e-03 9.97837196e-01 1.02444190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97907232899996 meters 0.09761194648165492 Centerline is valid? [True, True] Translation: X:-45.56, Y:-71.60, Z:102.44 [[ 9.89892904e-01 -1.24829117e-01 -6.73032723e-02 -4.55577145e+01] [ 1.24318473e-01 9.92172921e-01 -1.17393326e-02 -7.15996346e+01] [ 6.82418948e-02 3.25364200e-03 9.97663499e-01 1.02441807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03907232899996 meters 0.0969509793152206 Centerline is valid? [True, True] Translation: X:-45.50, Y:-71.60, Z:102.44 [[ 9.89290961e-01 -1.28860051e-01 -6.85454679e-02 -4.54989874e+01] [ 1.28339734e-01 9.91658146e-01 -1.19596617e-02 -7.15954152e+01] [ 6.95147942e-02 3.03447805e-03 9.97576306e-01 1.02442723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09907232899997 meters 0.09804310186398588 Centerline is valid? [True, True] Translation: X:-45.44, Y:-71.58, Z:102.44 [[ 9.89252883e-01 -1.29043278e-01 -6.87500273e-02 -4.54420182e+01] [ 1.28519950e-01 9.91634317e-01 -1.20001637e-02 -7.15828451e+01] [ 6.97234268e-02 3.03544645e-03 9.97561742e-01 1.02442223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15907232899997 meters 0.09540186433860552 Centerline is valid? [True, True] Translation: X:-45.38, Y:-71.58, Z:102.45 [[ 9.88859138e-01 -1.32715929e-01 -6.74098506e-02 -4.53816862e+01] [ 1.32220719e-01 9.91150353e-01 -1.17753311e-02 -7.15799072e+01] [ 6.83760713e-02 2.73116476e-03 9.97655879e-01 1.02447557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21907232899997 meters 0.09719072709027257 Centerline is valid? [True, True] Translation: X:-45.33, Y:-71.57, Z:102.44 [[ 9.88728263e-01 -1.33423043e-01 -6.79316796e-02 -4.53259660e+01] [ 1.32921104e-01 9.91055463e-01 -1.18763978e-02 -7.15665916e+01] [ 6.89086473e-02 2.71297626e-03 9.97619285e-01 1.02444564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279072329 meters 0.09493624445131404 Centerline is valid? [True, True] Translation: X:-45.27, Y:-71.56, Z:102.45 [[ 9.88663958e-01 -1.32972242e-01 -6.97277684e-02 -4.52663556e+01] [ 1.32441893e-01 9.91115744e-01 -1.21953786e-02 -7.15622168e+01] [ 7.07299358e-02 2.82225366e-03 9.97491509e-01 1.02451017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339072329 meters 0.09433975293125833 Centerline is valid? [True, True] Translation: X:-45.21, Y:-71.56, Z:102.45 [[ 9.88103821e-01 -1.36022514e-01 -7.17545425e-02 -4.52079391e+01] [ 1.35468061e-01 9.90702092e-01 -1.25606132e-02 -7.15558812e+01] [ 7.27959016e-02 2.69074120e-03 9.97343229e-01 1.02452093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399072329 meters 0.0951259207668417 Centerline is valid? [True, True] Translation: X:-45.15, Y:-71.54, Z:102.45 [[ 9.88081858e-01 -1.36559455e-01 -7.10334890e-02 -4.51511092e+01] [ 1.36016606e-01 9.90628368e-01 -1.24466476e-02 -7.15432374e+01] [ 7.20674967e-02 2.63657260e-03 9.97396273e-01 1.02451693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459072329 meters 0.09617846861961923 Centerline is valid? [True, True] Translation: X:-45.09, Y:-71.53, Z:102.45 [[ 9.88515646e-01 -1.33478465e-01 -7.08541886e-02 -4.50934962e+01] [ 1.32930045e-01 9.91047588e-01 -1.24210235e-02 -7.15286915e+01] [ 7.18778118e-02 2.85972566e-03 9.97409345e-01 1.02454404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519072329 meters 0.09695068471433917 Centerline is valid? [True, True] Translation: X:-45.04, Y:-71.52, Z:102.46 [[ 9.88580415e-01 -1.32640271e-01 -7.15214789e-02 -4.50363155e+01] [ 1.32078913e-01 9.91159845e-01 -1.25428527e-02 -7.15171107e+01] [ 7.25529053e-02 2.95313936e-03 9.97360193e-01 1.02455359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579072329 meters 0.09561768092498245 Centerline is valid? [True, True] Translation: X:-44.98, Y:-71.51, Z:102.46 [[ 9.88592485e-01 -1.32950416e-01 -7.07748916e-02 -4.49777329e+01] [ 1.32400677e-01 9.91118414e-01 -1.24237745e-02 -7.15091323e+01] [ 7.17980443e-02 2.91140656e-03 9.97414941e-01 1.02461950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639072329 meters 0.09554478499009057 Centerline is valid? [True, True] Translation: X:-44.92, Y:-71.50, Z:102.46 [[ 9.88646109e-01 -1.32825621e-01 -7.02582753e-02 -4.49212655e+01] [ 1.32282300e-01 9.91135130e-01 -1.23509721e-02 -7.14964255e+01] [ 7.12759703e-02 2.91681419e-03 9.97452369e-01 1.02463974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699072329 meters 0.09621995646755707 Centerline is valid? [True, True] Translation: X:-44.86, Y:-71.48, Z:102.46 [[ 9.88524049e-01 -1.32870583e-01 -7.18721939e-02 -4.48639499e+01] [ 1.32301207e-01 9.91128877e-01 -1.26467184e-02 -7.14849858e+01] [ 7.29149837e-02 2.99280727e-03 9.97333669e-01 1.02464182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759072329 meters 0.0962467169162603 Centerline is valid? [True, True] Translation: X:-44.81, Y:-71.47, Z:102.47 [[ 9.88545335e-01 -1.32677435e-01 -7.19362192e-02 -4.48064722e+01] [ 1.32105641e-01 9.91154663e-01 -1.26701598e-02 -7.14724525e+01] [ 7.29809634e-02 3.02184703e-03 9.97328756e-01 1.02466115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819072329 meters 0.09753133986142558 Centerline is valid? [True, True] Translation: X:-44.75, Y:-71.46, Z:102.47 [[ 9.88577622e-01 -1.31326286e-01 -7.39438410e-02 -4.47487823e+01] [ 1.30717576e-01 9.91333973e-01 -1.30333730e-02 -7.14572749e+01] [ 7.50146661e-02 3.21874119e-03 9.97177236e-01 1.02465863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879072329 meters 0.096732023455391 Centerline is valid? [True, True] Translation: X:-44.69, Y:-71.45, Z:102.47 [[ 9.88737378e-01 -1.29833412e-01 -7.44424825e-02 -4.46903861e+01] [ 1.29211889e-01 9.91530131e-01 -1.31257875e-02 -7.14476559e+01] [ 7.55161303e-02 3.35910292e-03 9.97138922e-01 1.02472809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939072329 meters 0.09898551376963015 Centerline is valid? [True, True] Translation: X:-44.63, Y:-71.43, Z:102.47 [[ 9.89256957e-01 -1.25979866e-01 -7.41602754e-02 -4.46339458e+01] [ 1.25351911e-01 9.92026106e-01 -1.30806585e-02 -7.14275923e+01] [ 7.52168288e-02 3.64400018e-03 9.97160544e-01 1.02472744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999072329 meters 0.09991200179324233 Centerline is valid? [True, True] Translation: X:-44.58, Y:-71.42, Z:102.47 [[ 9.89167038e-01 -1.25271922e-01 -7.65213464e-02 -4.45762225e+01] [ 1.24600829e-01 9.92115089e-01 -1.35012055e-02 -7.14152499e+01] [ 7.76093043e-02 3.82032426e-03 9.96976530e-01 1.02472958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05907232899995 meters 0.09964249810205003 Centerline is valid? [True, True] Translation: X:-44.52, Y:-71.40, Z:102.48 [[ 9.89223661e-01 -1.24095479e-01 -7.76972362e-02 -4.45173409e+01] [ 1.23399695e-01 9.92262315e-01 -1.37118082e-02 -7.14049389e+01] [ 7.87976128e-02 3.97622986e-03 9.96882704e-01 1.02475547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11907232899995 meters 0.09997139198452143 Centerline is valid? [True, True] Translation: X:-44.46, Y:-71.40, Z:102.47 [[ 9.88500096e-01 -1.28121627e-01 -8.03268869e-02 -4.44595954e+01] [ 1.27390486e-01 9.91751233e-01 -1.41829757e-02 -7.13973546e+01] [ 8.14814351e-02 3.78699166e-03 9.96667665e-01 1.02471474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17907232899995 meters 0.09660163609069577 Centerline is valid? [True, True] Translation: X:-44.40, Y:-71.40, Z:102.48 [[ 9.88003557e-01 -1.30711231e-01 -8.22407770e-02 -4.44008024e+01] [ 1.29952163e-01 9.91413663e-01 -1.45390233e-02 -7.13981816e+01] [ 8.34350436e-02 3.67723989e-03 9.96506433e-01 1.02477721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23907232899995 meters 0.0969239506787166 Centerline is valid? [True, True] Translation: X:-44.34, Y:-71.39, Z:102.48 [[ 9.87739565e-01 -1.32593947e-01 -8.23978015e-02 -4.43432760e+01] [ 1.31837400e-01 9.91164128e-01 -1.45798594e-02 -7.13891029e+01] [ 8.36029461e-02 3.53799208e-03 9.96492865e-01 1.02477110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29907232899996 meters 0.09388638008974906 Centerline is valid? [True, True] Translation: X:-44.28, Y:-71.39, Z:102.48 [[ 9.86805696e-01 -1.39726827e-01 -8.17981188e-02 -4.42822058e+01] [ 1.39005309e-01 9.90185794e-01 -1.44781914e-02 -7.13936534e+01] [ 8.30183270e-02 2.91678892e-03 9.96543752e-01 1.02481644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35907232899996 meters 0.09254481948389824 Centerline is valid? [True, True] Translation: X:-44.22, Y:-71.39, Z:102.48 [[ 9.86161620e-01 -1.44215397e-01 -8.17751770e-02 -4.42225660e+01] [ 1.43509374e-01 9.89543056e-01 -1.44775932e-02 -7.13899673e+01] [ 8.30079503e-02 2.54174229e-03 9.96545644e-01 1.02481384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41907232899996 meters 0.09276147843015772 Centerline is valid? [True, True] Translation: X:-44.16, Y:-71.38, Z:102.48 [[ 9.85618156e-01 -1.47591390e-01 -8.23020739e-02 -4.41645957e+01] [ 1.46886812e-01 9.89045781e-01 -1.45844768e-02 -7.13814943e+01] [ 8.35530621e-02 2.28563589e-03 9.96500708e-01 1.02477646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47907232899996 meters 0.0911600832999291 Centerline is valid? [True, True] Translation: X:-44.11, Y:-71.38, Z:102.48 [[ 9.85303545e-01 -1.50670101e-01 -8.04701487e-02 -4.41054915e+01] [ 1.50006034e-01 9.88582098e-01 -1.42697333e-02 -7.13772151e+01] [ 8.17013705e-02 1.98901103e-03 9.96654870e-01 1.02482700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53907232899996 meters 0.09124265767666742 Centerline is valid? [True, True] Translation: X:-44.05, Y:-71.37, Z:102.48 [[ 9.84977589e-01 -1.52775119e-01 -8.04916880e-02 -4.40481796e+01] [ 1.52117232e-01 9.88259302e-01 -1.42793354e-02 -7.13696354e+01] [ 8.17281866e-02 1.82065257e-03 9.96652993e-01 1.02483268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59907232899997 meters 0.09174578553008299 Centerline is valid? [True, True] Translation: X:-43.99, Y:-71.36, Z:102.48 [[ 9.84946588e-01 -1.52428870e-01 -8.15209074e-02 -4.39913791e+01] [ 1.51752271e-01 9.88312656e-01 -1.44686794e-02 -7.13552560e+01] [ 8.27735890e-02 1.87989362e-03 9.96566605e-01 1.02482376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65907232899997 meters 0.09141649801914449 Centerline is valid? [True, True] Translation: X:-43.93, Y:-71.34, Z:102.49 [[ 9.85129714e-01 -1.50001163e-01 -8.37800552e-02 -4.39329964e+01] [ 1.49277271e-01 9.88683489e-01 -1.48746317e-02 -7.13436998e+01] [ 8.50631693e-02 2.14698368e-03 9.96373247e-01 1.02490123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71907232899997 meters 0.09320686159754006 Centerline is valid? [True, True] Translation: X:-43.88, Y:-71.33, Z:102.49 [[ 9.85474241e-01 -1.48065403e-01 -8.31694474e-02 -4.38771693e+01] [ 1.47344674e-01 9.88974890e-01 -1.47720685e-02 -7.13258644e+01] [ 8.44397274e-02 2.30291783e-03 9.96425928e-01 1.02486878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779072329 meters 0.09323867619040405 Centerline is valid? [True, True] Translation: X:-43.82, Y:-71.31, Z:102.49 [[ 9.86129463e-01 -1.44515478e-01 -8.16330782e-02 -4.38207370e+01] [ 1.43808482e-01 9.89499215e-01 -1.45060175e-02 -7.13102827e+01] [ 8.28722108e-02 2.56528217e-03 9.96556880e-01 1.02492121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839072329 meters 0.09471270067202259 Centerline is valid? [True, True] Translation: X:-43.76, Y:-71.29, Z:102.50 [[ 9.87063774e-01 -1.38345383e-01 -8.10287711e-02 -4.37637013e+01] [ 1.37627705e-01 9.90379301e-01 -1.44033050e-02 -7.12903278e+01] [ 8.22418484e-02 3.06517682e-03 9.96607688e-01 1.02495816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899072329 meters 0.09501818552092946 Centerline is valid? [True, True] Translation: X:-43.71, Y:-71.28, Z:102.50 [[ 9.87257996e-01 -1.36834637e-01 -8.12276494e-02 -4.37056799e+01] [ 1.36107237e-01 9.90588696e-01 -1.44518144e-02 -7.12800145e+01] [ 8.24407001e-02 3.21199845e-03 9.96590796e-01 1.02499302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.959072329 meters 0.09497018451732682 Centerline is valid? [True, True] Translation: X:-43.65, Y:-71.27, Z:102.50 [[ 9.87123354e-01 -1.37671403e-01 -8.14497969e-02 -4.36470469e+01] [ 1.36941255e-01 9.90472885e-01 -1.45105434e-02 -7.12725835e+01] [ 8.26715022e-02 3.16985883e-03 9.96571811e-01 1.02501364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.019072329 meters 0.09503699566015722 Centerline is valid? [True, True] Translation: X:-43.59, Y:-71.26, Z:102.50 [[ 9.86466415e-01 -1.40461841e-01 -8.45841738e-02 -4.35887700e+01] [ 1.39682769e-01 9.90081334e-01 -1.50889494e-02 -7.12632948e+01] [ 8.58646332e-02 3.06979022e-03 9.96302083e-01 1.02496430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.079072329 meters 0.09339694589613705 Centerline is valid? [True, True] Translation: X:-43.53, Y:-71.26, Z:102.50 [[ 9.86006604e-01 -1.44118896e-01 -8.37897469e-02 -4.35293728e+01] [ 1.43366727e-01 9.89556599e-01 -1.49572537e-02 -7.12592334e+01] [ 8.50703198e-02 2.73528916e-03 9.96371195e-01 1.02499535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.139072329 meters 0.09216846667553046 Centerline is valid? [True, True] Translation: X:-43.47, Y:-71.25, Z:102.50 [[ 9.85889450e-01 -1.45536843e-01 -8.27104552e-02 -4.34707537e+01] [ 1.44808509e-01 9.89349458e-01 -1.47697836e-02 -7.12548732e+01] [ 8.39790917e-02 2.58419616e-03 9.96464166e-01 1.02504691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.199072329 meters 0.09290849309879658 Centerline is valid? [True, True] Translation: X:-43.41, Y:-71.24, Z:102.50 [[ 9.85941797e-01 -1.46508909e-01 -8.03362479e-02 -4.34135643e+01] [ 1.45824705e-01 9.89206357e-01 -1.43505853e-02 -7.12394042e+01] [ 8.15716157e-02 2.43383214e-03 9.96664511e-01 1.02501164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.259072329 meters 0.09332750847338551 Centerline is valid? [True, True] Translation: X:-43.36, Y:-71.23, Z:102.51 [[ 9.86511851e-01 -1.42475654e-01 -8.05919100e-02 -4.33553453e+01] [ 1.41773114e-01 9.89794395e-01 -1.44027654e-02 -7.12259585e+01] [ 8.18214642e-02 2.78273270e-03 9.96643118e-01 1.02506747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319072329 meters 0.09311252448509263 Centerline is valid? [True, True] Translation: X:-43.30, Y:-71.21, Z:102.51 [[ 9.86936314e-01 -1.39353734e-01 -8.08532601e-02 -4.32971674e+01] [ 1.38635710e-01 9.90237947e-01 -1.44550663e-02 -7.12148429e+01] [ 8.20783337e-02 3.05708077e-03 9.96621193e-01 1.02513843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379072329 meters 0.0931165846156693 Centerline is valid? [True, True] Translation: X:-43.24, Y:-71.21, Z:102.51 [[ 9.86611537e-01 -1.41199737e-01 -8.16107188e-02 -4.32394762e+01] [ 1.40473969e-01 9.89976772e-01 -1.45963816e-02 -7.12062621e+01] [ 8.28537212e-02 2.93677695e-03 9.96557392e-01 1.02512886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439072329 meters 0.09329047958534634 Centerline is valid? [True, True] Translation: X:-43.18, Y:-71.19, Z:102.51 [[ 9.86460650e-01 -1.40946347e-01 -8.38421938e-02 -4.31813199e+01] [ 1.40178775e-01 9.90012550e-01 -1.50020783e-02 -7.11948654e+01] [ 8.51193122e-02 3.04606388e-03 9.96366110e-01 1.02511984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499072329 meters 0.09298647432737174 Centerline is valid? [True, True] Translation: X:-43.12, Y:-71.18, Z:102.52 [[ 9.86669295e-01 -1.40786675e-01 -8.16260641e-02 -4.31227799e+01] [ 1.40057570e-01 9.90035434e-01 -1.46190181e-02 -7.11839562e+01] [ 8.28708588e-02 2.99178804e-03 9.96555804e-01 1.02516010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55907232899995 meters 0.09326814071826292 Centerline is valid? [True, True] Translation: X:-43.07, Y:-71.17, Z:102.52 [[ 9.86890234e-01 -1.39216469e-01 -8.16482780e-02 -4.30651479e+01] [ 1.38480022e-01 9.90256984e-01 -1.46420665e-02 -7.11723506e+01] [ 8.28911942e-02 3.14345708e-03 9.96553646e-01 1.02517588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61907232899995 meters 0.09486775381024407 Centerline is valid? [True, True] Translation: X:-43.01, Y:-71.16, Z:102.51 [[ 9.86843656e-01 -1.39553372e-01 -8.16361152e-02 -4.30096520e+01] [ 1.38816895e-01 9.90209599e-01 -1.46567054e-02 -7.11587117e+01] [ 8.28822576e-02 3.13140476e-03 9.96554427e-01 1.02514214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67907232899995 meters 0.09429389147328875 Centerline is valid? [True, True] Translation: X:-42.95, Y:-71.15, Z:102.52 [[ 9.86737867e-01 -1.40332446e-01 -8.15793321e-02 -4.29518103e+01] [ 1.39598209e-01 9.90099647e-01 -1.46638417e-02 -7.11492242e+01] [ 8.28294807e-02 3.08103918e-03 9.96558972e-01 1.02515740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73907232899995 meters 0.0925309431680163 Centerline is valid? [True, True] Translation: X:-42.89, Y:-71.14, Z:102.52 [[ 9.86661202e-01 -1.41935484e-01 -7.97119247e-02 -4.28921229e+01] [ 1.41238384e-01 9.89871676e-01 -1.43451778e-02 -7.11433936e+01] [ 8.09406662e-02 2.89544697e-03 9.96714716e-01 1.02520644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79907232899996 meters 0.09127309147159894 Centerline is valid? [True, True] Translation: X:-42.83, Y:-71.14, Z:102.52 [[ 9.86524960e-01 -1.43590796e-01 -7.84231242e-02 -4.28332440e+01] [ 1.42920629e-01 9.89633400e-01 -1.41218555e-02 -7.11359865e+01] [ 7.96379116e-02 2.72328077e-03 9.96820138e-01 1.02521868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85907232899996 meters 0.08980222936781497 Centerline is valid? [True, True] Translation: X:-42.77, Y:-71.13, Z:102.52 [[ 9.86166894e-01 -1.46361039e-01 -7.78029836e-02 -4.27737486e+01] [ 1.45709107e-01 9.89228103e-01 -1.40220267e-02 -7.11313167e+01] [ 7.90171763e-02 2.49145522e-03 9.96870141e-01 1.02523585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91907232899996 meters 0.08920172512760385 Centerline is valid? [True, True] Translation: X:-42.72, Y:-71.12, Z:102.52 [[ 9.86016009e-01 -1.47623343e-01 -7.73290310e-02 -4.27151579e+01] [ 1.46981812e-01 9.89040758e-01 -1.39544498e-02 -7.11219538e+01] [ 7.85415660e-02 2.39334982e-03 9.96907967e-01 1.02524704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97907232899996 meters 0.08809011093625595 Centerline is valid? [True, True] Translation: X:-42.66, Y:-71.11, Z:102.53 [[ 9.86054008e-01 -1.48537805e-01 -7.50600691e-02 -4.26567695e+01] [ 1.47935352e-01 9.88904144e-01 -1.35545329e-02 -7.11120117e+01] [ 7.62405739e-02 2.26146379e-03 9.97086887e-01 1.02528948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03907232899996 meters 0.08810193617235296 Centerline is valid? [True, True] Translation: X:-42.60, Y:-71.10, Z:102.53 [[ 9.86021864e-01 -1.49396329e-01 -7.37673388e-02 -4.26000395e+01] [ 1.48816490e-01 9.88775031e-01 -1.33263264e-02 -7.11009317e+01] [ 7.49302069e-02 2.16225276e-03 9.97186436e-01 1.02529229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09907232899997 meters 0.08652390821284586 Centerline is valid? [True, True] Translation: X:-42.54, Y:-71.09, Z:102.53 [[ 9.85828123e-01 -1.51427250e-01 -7.21990279e-02 -4.25409023e+01] [ 1.50876465e-01 9.88466430e-01 -1.30540688e-02 -7.10935265e+01] [ 7.33430571e-02 1.97593411e-03 9.97304814e-01 1.02533358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15907232899997 meters 0.0856732778074373 Centerline is valid? [True, True] Translation: X:-42.48, Y:-71.08, Z:102.53 [[ 9.85433319e-01 -1.53703449e-01 -7.27765290e-02 -4.24825190e+01] [ 1.53148774e-01 9.88115314e-01 -1.31749475e-02 -7.10844750e+01] [ 7.39366377e-02 1.83739600e-03 9.97261248e-01 1.02532911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21907232899997 meters 0.08517174993193251 Centerline is valid? [True, True] Translation: X:-42.42, Y:-71.07, Z:102.53 [[ 9.85165304e-01 -1.56260480e-01 -7.09364901e-02 -4.24248926e+01] [ 1.55739475e-01 9.87714564e-01 -1.28512852e-02 -7.10739789e+01] [ 7.20731524e-02 1.61302864e-03 9.97398044e-01 1.02530894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.279072329 meters 0.08411029238699536 Centerline is valid? [True, True] Translation: X:-42.37, Y:-71.07, Z:102.54 [[ 9.84963576e-01 -1.58055705e-01 -6.97506190e-02 -4.23658894e+01] [ 1.57556065e-01 9.87429114e-01 -1.26424578e-02 -7.10670813e+01] [ 7.08720045e-02 1.46272734e-03 9.97484345e-01 1.02536009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.339072329 meters 0.0829159402412244 Centerline is valid? [True, True] Translation: X:-42.31, Y:-71.06, Z:102.54 [[ 9.84735465e-01 -1.60220991e-01 -6.80095441e-02 -4.23073342e+01] [ 1.59750762e-01 9.87080339e-01 -1.23328085e-02 -7.10599849e+01] [ 6.91068586e-02 1.27997736e-03 9.97608442e-01 1.02542820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399072329 meters 0.08317371535092784 Centerline is valid? [True, True] Translation: X:-42.25, Y:-71.05, Z:102.54 [[ 9.84788416e-01 -1.60013668e-01 -6.77303562e-02 -4.22511526e+01] [ 1.59546447e-01 9.87113950e-01 -1.22874111e-02 -7.10475658e+01] [ 6.88237332e-02 1.29436239e-03 9.97627996e-01 1.02542837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459072329 meters 0.08462106820251619 Centerline is valid? [True, True] Translation: X:-42.20, Y:-71.03, Z:102.54 [[ 9.84857673e-01 -1.59227224e-01 -6.85715305e-02 -4.21954396e+01] [ 1.58746001e-01 9.87241009e-01 -1.24458124e-02 -7.10306047e+01] [ 6.96783391e-02 1.37189764e-03 9.97568568e-01 1.02537840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519072329 meters 0.0840632828122029 Centerline is valid? [True, True] Translation: X:-42.14, Y:-71.02, Z:102.55 [[ 9.85185187e-01 -1.58064369e-01 -6.65267099e-02 -4.21378737e+01] [ 1.57608091e-01 9.87427788e-01 -1.20852754e-02 -7.10206181e+01] [ 6.76005734e-02 1.42108654e-03 9.97711453e-01 1.02546322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579072329 meters 0.08428557371821109 Centerline is valid? [True, True] Translation: X:-42.08, Y:-71.01, Z:102.55 [[ 9.85321836e-01 -1.57881378e-01 -6.49180185e-02 -4.20814180e+01] [ 1.57445894e-01 9.87457081e-01 -1.18026915e-02 -7.10079116e+01] [ 6.59671823e-02 1.40837425e-03 9.97820799e-01 1.02547089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639072329 meters 0.08343721156636212 Centerline is valid? [True, True] Translation: X:-42.02, Y:-71.00, Z:102.55 [[ 9.85353063e-01 -1.58072279e-01 -6.39726177e-02 -4.20235405e+01] [ 1.57649147e-01 9.87426572e-01 -1.16409100e-02 -7.09996997e+01] [ 6.50083678e-02 1.38517771e-03 9.97883757e-01 1.02552596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.699072329 meters 0.0836328524558431 Centerline is valid? [True, True] Translation: X:-41.97, Y:-70.99, Z:102.56 [[ 9.85649087e-01 -1.55572333e-01 -6.55219592e-02 -4.19653032e+01] [ 1.55122298e-01 9.87823213e-01 -1.19320338e-02 -7.09896977e+01] [ 6.65804066e-02 1.59688138e-03 9.97779785e-01 1.02556243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.759072329 meters 0.08437916231716455 Centerline is valid? [True, True] Translation: X:-41.91, Y:-70.98, Z:102.56 [[ 9.86030281e-01 -1.52831862e-01 -6.62322150e-02 -4.19073274e+01] [ 1.52365598e-01 9.88250558e-01 -1.20648068e-02 -7.09763989e+01] [ 6.72979103e-02 1.80475379e-03 9.97731294e-01 1.02557036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.819072329 meters 0.08561634994454337 Centerline is valid? [True, True] Translation: X:-41.85, Y:-70.96, Z:102.56 [[ 9.86391282e-01 -1.50468164e-01 -6.62689180e-02 -4.18504216e+01] [ 1.49995750e-01 9.88612889e-01 -1.20760446e-02 -7.09641594e+01] [ 6.73313667e-02 1.97164911e-03 9.97728720e-01 1.02555985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879072329 meters 0.08401605389407908 Centerline is valid? [True, True] Translation: X:-41.79, Y:-70.96, Z:102.56 [[ 9.86112876e-01 -1.53307621e-01 -6.38605460e-02 -4.17900103e+01] [ 1.52874296e-01 9.88177012e-01 -1.16465532e-02 -7.09644857e+01] [ 6.48910289e-02 1.72218008e-03 9.97890870e-01 1.02563446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939072329 meters 0.0820037722944068 Centerline is valid? [True, True] Translation: X:-41.73, Y:-70.97, Z:102.57 [[ 9.85001081e-01 -1.60546041e-01 -6.32284683e-02 -4.17292279e+01] [ 1.60135607e-01 9.87027572e-01 -1.15394612e-02 -7.09680078e+01] [ 6.42608564e-02 1.24125253e-03 9.97932363e-01 1.02566239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99907232899994 meters 0.08134350948647309 Centerline is valid? [True, True] Translation: X:-41.67, Y:-70.97, Z:102.57 [[ 9.84183685e-01 -1.65064047e-01 -6.43143468e-02 -4.16698329e+01] [ 1.64648370e-01 9.86282371e-01 -1.17472917e-02 -7.09657946e+01] [ 6.53711619e-02 9.72240440e-04 9.97860544e-01 1.02566768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05907232899995 meters 0.08022534321554886 Centerline is valid? [True, True] Translation: X:-41.61, Y:-70.96, Z:102.57 [[ 9.83336770e-01 -1.70784587e-01 -6.23010523e-02 -4.16094816e+01] [ 1.70405139e-01 9.85308216e-01 -1.13933474e-02 -7.09642734e+01] [ 6.33315468e-02 5.87077909e-04 9.97992370e-01 1.02569779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11907232899995 meters 0.07976185746154055 Centerline is valid? [True, True] Translation: X:-41.55, Y:-70.96, Z:102.57 [[ 9.82610151e-01 -1.74664373e-01 -6.30051402e-02 -4.15517988e+01] [ 1.74283446e-01 9.84627966e-01 -1.15346601e-02 -7.09626204e+01] [ 6.40513172e-02 3.53321124e-04 9.97946544e-01 1.02571103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17907232899995 meters 0.07938484322507708 Centerline is valid? [True, True] Translation: X:-41.49, Y:-70.95, Z:102.58 [[ 9.82396680e-01 -1.76478552e-01 -6.12542527e-02 -4.14933676e+01] [ 1.76121248e-01 9.84304456e-01 -1.12269185e-02 -7.09542961e+01] [ 6.22741443e-02 2.41112048e-04 9.98059053e-01 1.02576144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23907232899995 meters 0.07936673596718519 Centerline is valid? [True, True] Translation: X:-41.44, Y:-70.94, Z:102.58 [[ 9.81999999e-01 -1.78415330e-01 -6.19997791e-02 -4.14355413e+01] [ 1.78052173e-01 9.83955259e-01 -1.13785528e-02 -7.09437328e+01] [ 6.30351169e-02 1.34543462e-04 9.98011301e-01 1.02577436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29907232899996 meters 0.0803327959144028 Centerline is valid? [True, True] Translation: X:-41.38, Y:-70.93, Z:102.57 [[ 9.81927866e-01 -1.78091096e-01 -6.40408291e-02 -4.13788537e+01] [ 1.77702229e-01 9.84013990e-01 -1.17637274e-02 -7.09311560e+01] [ 6.51120869e-02 1.70933640e-04 9.97877942e-01 1.02571562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35907232899996 meters 0.07987101418672218 Centerline is valid? [True, True] Translation: X:-41.32, Y:-70.92, Z:102.58 [[ 9.81889491e-01 -1.78246284e-01 -6.41972712e-02 -4.13215034e+01] [ 1.77855090e-01 9.83985890e-01 -1.18040006e-02 -7.09202428e+01] [ 6.52732284e-02 1.72412759e-04 9.97867414e-01 1.02576810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41907232899996 meters 0.07993732787939144 Centerline is valid? [True, True] Translation: X:-41.26, Y:-70.90, Z:102.58 [[ 9.82010774e-01 -1.77745711e-01 -6.37283369e-02 -4.12642525e+01] [ 1.77358118e-01 9.84076427e-01 -1.17338989e-02 -7.09046570e+01] [ 6.47992043e-02 2.20077247e-04 9.97898299e-01 1.02579840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47907232899996 meters 0.0800206947050339 Centerline is valid? [True, True] Translation: X:-41.21, Y:-70.89, Z:102.58 [[ 9.81945833e-01 -1.78231514e-01 -6.33711883e-02 -4.12078826e+01] [ 1.77848613e-01 9.83988561e-01 -1.16782837e-02 -7.08930139e+01] [ 6.44379626e-02 1.96964126e-04 9.97921695e-01 1.02581657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53907232899996 meters 0.07951547204088096 Centerline is valid? [True, True] Translation: X:-41.15, Y:-70.88, Z:102.59 [[ 9.81983662e-01 -1.78012886e-01 -6.33995235e-02 -4.11507982e+01] [ 1.77628433e-01 9.84028131e-01 -1.16951746e-02 -7.08800167e+01] [ 6.44688064e-02 2.22912348e-04 9.97919698e-01 1.02586973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59907232899997 meters 0.08011428168439096 Centerline is valid? [True, True] Translation: X:-41.09, Y:-70.86, Z:102.59 [[ 9.82255912e-01 -1.75664994e-01 -6.56896750e-02 -4.10940115e+01] [ 1.75246260e-01 9.84449922e-01 -1.21284697e-02 -7.08610721e+01] [ 6.67987429e-02 4.01391213e-04 9.97766389e-01 1.02585448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65907232899997 meters 0.08067056402888333 Centerline is valid? [True, True] Translation: X:-41.04, Y:-70.84, Z:102.59 [[ 9.82825507e-01 -1.72487616e-01 -6.55899710e-02 -4.10389855e+01] [ 1.72062777e-01 9.85011491e-01 -1.21146309e-02 -7.08428088e+01] [ 6.66964990e-02 6.20975755e-04 9.97773116e-01 1.02587076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71907232899997 meters 0.0807666707804333 Centerline is valid? [True, True] Translation: X:-40.98, Y:-70.83, Z:102.59 [[ 9.83211058e-01 -1.70749712e-01 -6.43471178e-02 -4.09813565e+01] [ 1.70336465e-01 9.85314161e-01 -1.18950664e-02 -7.08279749e+01] [ 6.54332055e-02 7.34700251e-04 9.97856681e-01 1.02591455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.779072329 meters 0.08200999229246506 Centerline is valid? [True, True] Translation: X:-40.93, Y:-70.81, Z:102.59 [[ 9.83629991e-01 -1.67500023e-01 -6.64513598e-02 -4.09258094e+01] [ 1.67051217e-01 9.85871573e-01 -1.22935650e-02 -7.08083835e+01] [ 6.75716790e-02 9.91538675e-04 9.97713929e-01 1.02588031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.839072329 meters 0.08354605039754827 Centerline is valid? [True, True] Translation: X:-40.87, Y:-70.79, Z:102.58 [[ 9.84006828e-01 -1.64477213e-01 -6.83945040e-02 -4.08699329e+01] [ 1.63994126e-01 9.86380105e-01 -1.26576032e-02 -7.07897659e+01] [ 6.95448654e-02 1.23887111e-03 9.97578056e-01 1.02583319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.899072329 meters 0.08279496264224684 Centerline is valid? [True, True] Translation: X:-40.81, Y:-70.78, Z:102.59 [[ 9.84208948e-01 -1.63939416e-01 -6.67578847e-02 -4.08120111e+01] [ 1.63477291e-01 9.86469609e-01 -1.23646681e-02 -7.07788542e+01] [ 6.78816809e-02 1.25601882e-03 9.97692588e-01 1.02588684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.959072329 meters 0.08314337862013553 Centerline is valid? [True, True] Translation: X:-40.75, Y:-70.77, Z:102.59 [[ 9.84304618e-01 -1.63341006e-01 -6.68141861e-02 -4.07544982e+01] [ 1.62875705e-01 9.86568797e-01 -1.23900510e-02 -7.07662315e+01] [ 6.79405946e-02 1.31317674e-03 9.97688504e-01 1.02591459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.019072329 meters 0.0835799571449425 Centerline is valid? [True, True] Translation: X:-40.70, Y:-70.75, Z:102.60 [[ 9.84682609e-01 -1.61175702e-01 -6.65022770e-02 -4.06967486e+01] [ 1.60708795e-01 9.86924633e-01 -1.23471660e-02 -7.07524005e+01] [ 6.76227984e-02 1.47053880e-03 9.97709875e-01 1.02595082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.079072329 meters 0.08395075274095377 Centerline is valid? [True, True] Translation: X:-40.64, Y:-70.74, Z:102.60 [[ 9.85017254e-01 -1.59613649e-01 -6.53030806e-02 -4.06402577e+01] [ 1.59158964e-01 9.87178319e-01 -1.21404264e-02 -7.07380879e+01] [ 6.64035631e-02 1.56495880e-03 9.97791620e-01 1.02597117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.139072329 meters 0.08489516767649134 Centerline is valid? [True, True] Translation: X:-40.58, Y:-70.73, Z:102.60 [[ 9.85157211e-01 -1.57910648e-01 -6.73015410e-02 -4.05813261e+01] [ 1.57422956e-01 9.87451868e-01 -1.25228042e-02 -7.07289066e+01] [ 6.84345165e-02 1.74212332e-03 9.97654089e-01 1.02599324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199072329 meters 0.08489099118462122 Centerline is valid? [True, True] Translation: X:-40.52, Y:-70.72, Z:102.60 [[ 9.85139899e-01 -1.57221286e-01 -6.91436676e-02 -4.05216734e+01] [ 1.56704238e-01 9.87561672e-01 -1.28734674e-02 -7.07213510e+01] [ 7.03076191e-02 1.84706059e-03 9.97523647e-01 1.02601860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259072329 meters 0.08503784014804897 Centerline is valid? [True, True] Translation: X:-40.46, Y:-70.71, Z:102.60 [[ 9.84889114e-01 -1.58512030e-01 -6.97665352e-02 -4.04637737e+01] [ 1.57987764e-01 9.87355431e-01 -1.30045856e-02 -7.07145549e+01] [ 7.09457507e-02 1.78581586e-03 9.97478577e-01 1.02600700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319072329 meters 0.08464050388405203 Centerline is valid? [True, True] Translation: X:-40.41, Y:-70.71, Z:102.60 [[ 9.84659388e-01 -1.59844492e-01 -6.99687679e-02 -4.04052675e+01] [ 1.59319279e-01 9.87140723e-01 -1.30598816e-02 -7.07076942e+01] [ 7.11565702e-02 1.71216139e-03 9.97463689e-01 1.02603893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379072329 meters 0.08354226609601709 Centerline is valid? [True, True] Translation: X:-40.35, Y:-70.71, Z:102.61 [[ 9.84200535e-01 -1.62833094e-01 -6.95319339e-02 -4.03459242e+01] [ 1.62321165e-01 9.86652494e-01 -1.29882869e-02 -7.07053863e+01] [ 7.07187790e-02 1.49657436e-03 9.97495170e-01 1.02607971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439072329 meters 0.08228943278579444 Centerline is valid? [True, True] Translation: X:-40.29, Y:-70.71, Z:102.61 [[ 9.83430307e-01 -1.67562711e-01 -6.91922601e-02 -4.02856265e+01] [ 1.67066700e-01 9.85860735e-01 -1.29355724e-02 -7.07050384e+01] [ 7.03814520e-02 1.16151143e-03 9.97519475e-01 1.02611250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49907232899994 meters 0.08153401960863466 Centerline is valid? [True, True] Translation: X:-40.22, Y:-70.70, Z:102.61 [[ 9.82228869e-01 -1.74746929e-01 -6.84832865e-02 -4.02249019e+01] [ 1.74277427e-01 9.84613164e-01 -1.28178140e-02 -7.07049706e+01] [ 6.96694190e-02 6.54935921e-04 9.97569919e-01 1.02612391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55907232899995 meters 0.08123551475105394 Centerline is valid? [True, True] Translation: X:-40.17, Y:-70.70, Z:102.61 [[ 9.81142605e-01 -1.80836306e-01 -6.82452891e-02 -4.01658747e+01] [ 1.80383989e-01 9.83513181e-01 -1.27843735e-02 -7.07030682e+01] [ 6.94320202e-02 2.32936077e-04 9.97586658e-01 1.02610493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61907232899995 meters 0.08082122105105806 Centerline is valid? [True, True] Translation: X:-40.11, Y:-70.70, Z:102.62 [[ 9.80388578e-01 -1.84805637e-01 -6.84478784e-02 -4.01079954e+01] [ 1.84359291e-01 9.82775089e-01 -1.28365305e-02 -7.06951677e+01] [ 6.96411329e-02 -3.42144064e-05 9.97572108e-01 1.02615470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67907232899995 meters 0.08087357251066814 Centerline is valid? [True, True] Translation: X:-40.05, Y:-70.68, Z:102.62 [[ 9.79908090e-01 -1.87099945e-01 -6.90922969e-02 -4.00496300e+01] [ 1.86649574e-01 9.82340866e-01 -1.29753302e-02 -7.06841186e+01] [ 7.02998703e-02 -1.81416754e-04 9.97525887e-01 1.02617438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73907232899995 meters 0.08102599995602151 Centerline is valid? [True, True] Translation: X:-39.99, Y:-70.67, Z:102.62 [[ 9.79619879e-01 -1.88561311e-01 -6.92063983e-02 -3.99928188e+01] [ 1.88112323e-01 9.82061381e-01 -1.30076149e-02 -7.06730528e+01] [ 7.04176640e-02 -2.76058231e-04 9.97517557e-01 1.02619965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79907232899996 meters 0.08121037736709226 Centerline is valid? [True, True] Translation: X:-39.94, Y:-70.65, Z:102.62 [[ 9.79523726e-01 -1.88701891e-01 -7.01773958e-02 -3.99359800e+01] [ 1.88239678e-01 9.82034378e-01 -1.32024453e-02 -7.06548829e+01] [ 7.14079416e-02 -2.78062025e-04 9.97447156e-01 1.02620792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85907232899996 meters 0.08157040955893842 Centerline is valid? [True, True] Translation: X:-39.88, Y:-70.64, Z:102.62 [[ 9.79851124e-01 -1.86349556e-01 -7.18722373e-02 -3.98797895e+01] [ 1.85857562e-01 9.82483503e-01 -1.35326716e-02 -7.06390772e+01] [ 7.31350949e-02 -9.79953138e-05 9.97322038e-01 1.02619358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91907232899996 meters 0.08148790407610128 Centerline is valid? [True, True] Translation: X:-39.83, Y:-70.62, Z:102.62 [[ 9.80727890e-01 -1.82265522e-01 -7.03710566e-02 -3.98253997e+01] [ 1.81782845e-01 9.83249325e-01 -1.32575151e-02 -7.06172403e+01] [ 7.16086818e-02 2.09763946e-04 9.97432781e-01 1.02621491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97907232899996 meters 0.08114491003432976 Centerline is valid? [True, True] Translation: X:-39.77, Y:-70.60, Z:102.63 [[ 9.81162481e-01 -1.80466627e-01 -6.89346290e-02 -3.97689009e+01] [ 1.79998125e-01 9.83581047e-01 -1.29999487e-02 -7.06004965e+01] [ 7.01488514e-02 3.46957946e-04 9.97536475e-01 1.02627375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03907232899996 meters 0.08128004036738866 Centerline is valid? [True, True] Translation: X:-39.71, Y:-70.58, Z:102.63 [[ 9.81951396e-01 -1.76428391e-01 -6.81504054e-02 -3.97131961e+01] [ 1.75959524e-01 9.84313266e-01 -1.28701429e-02 -7.05814970e+01] [ 6.93520067e-02 6.46141923e-04 9.97592042e-01 1.02630603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09907232899997 meters 0.08232641027650897 Centerline is valid? [True, True] Translation: X:-39.66, Y:-70.56, Z:102.63 [[ 9.82805084e-01 -1.71067447e-01 -6.94988922e-02 -3.96569823e+01] [ 1.70565634e-01 9.85258755e-01 -1.31358524e-02 -7.05596321e+01] [ 7.07215087e-02 1.05585993e-03 9.97495541e-01 1.02628927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15907232899997 meters 0.08352528679260121 Centerline is valid? [True, True] Translation: X:-39.60, Y:-70.54, Z:102.63 [[ 9.83756093e-01 -1.65628016e-01 -6.92192798e-02 -3.96002787e+01] [ 1.65116526e-01 9.86187240e-01 -1.30866380e-02 -7.05412641e+01] [ 7.04306844e-02 1.44481286e-03 9.97515630e-01 1.02630559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21907232899997 meters 0.08399071998403848 Centerline is valid? [True, True] Translation: X:-39.54, Y:-70.53, Z:102.63 [[ 9.83946857e-01 -1.64361780e-01 -6.95254480e-02 -3.95426000e+01] [ 1.63841815e-01 9.86398902e-01 -1.31554774e-02 -7.05283317e+01] [ 7.07420833e-02 1.55311509e-03 9.97493431e-01 1.02630992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.279072329 meters 0.08394058328665947 Centerline is valid? [True, True] Translation: X:-39.48, Y:-70.52, Z:102.63 [[ 9.83986042e-01 -1.64783256e-01 -6.79554894e-02 -3.94844421e+01] [ 1.64286422e-01 9.86328655e-01 -1.28746289e-02 -7.05191563e+01] [ 6.91479698e-02 1.50429092e-03 9.97605280e-01 1.02632729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.339072329 meters 0.0844460296595357 Centerline is valid? [True, True] Translation: X:-39.43, Y:-70.51, Z:102.63 [[ 9.83587394e-01 -1.67022520e-01 -6.82591883e-02 -3.94264453e+01] [ 1.66525869e-01 9.85952138e-01 -1.29428055e-02 -7.05123376e+01] [ 6.94620327e-02 1.36345965e-03 9.97583664e-01 1.02629370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.399072329 meters 0.08389835303741246 Centerline is valid? [True, True] Translation: X:-39.37, Y:-70.51, Z:102.63 [[ 9.82995638e-01 -1.70390826e-01 -6.84583186e-02 -3.93674357e+01] [ 1.69898622e-01 9.85375901e-01 -1.29919913e-02 -7.05089880e+01] [ 6.96708935e-02 1.14009678e-03 9.97569379e-01 1.02630094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.459072329 meters 0.08353710245681442 Centerline is valid? [True, True] Translation: X:-39.31, Y:-70.50, Z:102.63 [[ 9.82447373e-01 -1.73415367e-01 -6.87333196e-02 -3.93090957e+01] [ 1.72925444e-01 9.84848322e-01 -1.30603998e-02 -7.05022372e+01] [ 6.99567685e-02 9.45415651e-04 9.97549576e-01 1.02630920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.519072329 meters 0.08327113440489813 Centerline is valid? [True, True] Translation: X:-39.25, Y:-70.50, Z:102.63 [[ 9.81971669e-01 -1.76461466e-01 -6.77716188e-02 -3.92498991e+01] [ 1.75991358e-01 9.84307276e-01 -1.28929779e-02 -7.04956919e+01] [ 6.89832113e-02 7.33319834e-04 9.97617551e-01 1.02633911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.579072329 meters 0.08316422798494236 Centerline is valid? [True, True] Translation: X:-39.19, Y:-70.49, Z:102.64 [[ 9.81688125e-01 -1.78245295e-01 -6.72089244e-02 -3.91923972e+01] [ 1.77786472e-01 9.83985894e-01 -1.27957378e-02 -7.04884465e+01] [ 6.84134136e-02 6.12586288e-04 9.97656870e-01 1.02635322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.639072329 meters 0.08297595354622962 Centerline is valid? [True, True] Translation: X:-39.13, Y:-70.48, Z:102.64 [[ 9.81260936e-01 -1.80698881e-01 -6.68946198e-02 -3.91336185e+01] [ 1.80249264e-01 9.83538363e-01 -1.27472141e-02 -7.04799575e+01] [ 6.80968321e-02 4.50637278e-04 9.97678615e-01 1.02639009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.699072329 meters 0.08314521781433874 Centerline is valid? [True, True] Translation: X:-39.08, Y:-70.47, Z:102.64 [[ 9.81119217e-01 -1.81462265e-01 -6.69068566e-02 -3.90758663e+01] [ 1.81013067e-01 9.83397821e-01 -1.27669682e-02 -7.04700001e+01] [ 6.81127800e-02 4.14902563e-04 9.97677542e-01 1.02638474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.759072329 meters 0.08370644890536562 Centerline is valid? [True, True] Translation: X:-39.02, Y:-70.46, Z:102.64 [[ 9.81111685e-01 -1.81315602e-01 -6.74130099e-02 -3.90194967e+01] [ 1.80858424e-01 9.83424862e-01 -1.28752188e-02 -7.04582005e+01] [ 6.86301079e-02 4.39816850e-04 9.97642078e-01 1.02636679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.819072329 meters 0.08343165520316387 Centerline is valid? [True, True] Translation: X:-38.96, Y:-70.44, Z:102.64 [[ 9.81336550e-01 -1.80849409e-01 -6.53610457e-02 -3.89616373e+01] [ 1.80417969e-01 9.83510687e-01 -1.24933770e-02 -7.04445084e+01] [ 6.65427069e-02 4.67900346e-04 9.97783468e-01 1.02642630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.879072329 meters 0.08342656861751369 Centerline is valid? [True, True] Translation: X:-38.90, Y:-70.43, Z:102.64 [[ 9.81282680e-01 -1.81482746e-01 -6.44074172e-02 -3.89041750e+01] [ 1.81064229e-01 9.83394034e-01 -1.23255643e-02 -7.04333618e+01] [ 6.55747470e-02 4.32983425e-04 9.97847566e-01 1.02643491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.939072329 meters 0.0839433040706847 Centerline is valid? [True, True] Translation: X:-38.85, Y:-70.42, Z:102.65 [[ 9.81641521e-01 -1.79145033e-01 -6.54750499e-02 -3.88476233e+01] [ 1.78706285e-01 9.83822484e-01 -1.25452616e-02 -7.04169899e+01] [ 6.66632475e-02 6.14146718e-04 9.97775343e-01 1.02645101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99907232899994 meters 0.08509647939499598 Centerline is valid? [True, True] Translation: X:-38.79, Y:-70.40, Z:102.64 [[ 9.81998220e-01 -1.77086511e-01 -6.57256611e-02 -3.87914104e+01] [ 1.76639108e-01 9.84194991e-01 -1.26034179e-02 -7.04003315e+01] [ 6.69187617e-02 7.66811815e-04 9.97758133e-01 1.02641674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05907232899995 meters 0.08498404233979777 Centerline is valid? [True, True] Translation: X:-38.73, Y:-70.39, Z:102.65 [[ 9.82447045e-01 -1.74807756e-01 -6.51156808e-02 -3.87339698e+01] [ 1.74362946e-01 9.84602151e-01 -1.24967093e-02 -7.03852523e+01] [ 6.62975611e-02 9.23593223e-04 9.97799469e-01 1.02646979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11907232899995 meters 0.0845390756457732 Centerline is valid? [True, True] Translation: X:-38.68, Y:-70.38, Z:102.65 [[ 9.82501324e-01 -1.74506517e-01 -6.51047174e-02 -3.86763115e+01] [ 1.74060185e-01 9.84655552e-01 -1.25098218e-02 -7.03758403e+01] [ 6.62887669e-02 9.58777315e-04 9.97800020e-01 1.02652926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17907232899995 meters 0.0850877375418692 Centerline is valid? [True, True] Translation: X:-38.62, Y:-70.36, Z:102.65 [[ 9.82281476e-01 -1.75605579e-01 -6.54658910e-02 -3.86205943e+01] [ 1.75155786e-01 9.84460190e-01 -1.25930877e-02 -7.03644723e+01] [ 6.66599799e-02 9.03227227e-04 9.97775341e-01 1.02649784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23907232899995 meters 0.08516747225084861 Centerline is valid? [True, True] Translation: X:-38.56, Y:-70.35, Z:102.65 [[ 9.82139476e-01 -1.76286703e-01 -6.57650927e-02 -3.85633172e+01] [ 1.75833303e-01 9.84338474e-01 -1.26656172e-02 -7.03527237e+01] [ 6.69678909e-02 8.75709138e-04 9.97754747e-01 1.02651425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29907232899996 meters 0.08520976220521982 Centerline is valid? [True, True] Translation: X:-38.51, Y:-70.34, Z:102.65 [[ 9.81946745e-01 -1.77049617e-01 -6.65884579e-02 -3.85055093e+01] [ 1.76585393e-01 9.84201560e-01 -1.28409101e-02 -7.03419537e+01] [ 6.78099423e-02 8.50540817e-04 9.97697894e-01 1.02654217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35907232899996 meters 0.08511311154717724 Centerline is valid? [True, True] Translation: X:-38.45, Y:-70.33, Z:102.66 [[ 9.82276097e-01 -1.75348174e-01 -6.62320647e-02 -3.84479701e+01] [ 1.74883984e-01 9.84505998e-01 -1.27879370e-02 -7.03285726e+01] [ 6.74482064e-02 9.78357488e-04 9.97722297e-01 1.02659831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41907232899996 meters 0.08605888661378339 Centerline is valid? [True, True] Translation: X:-38.39, Y:-70.31, Z:102.66 [[ 9.82619049e-01 -1.73134674e-01 -6.69640874e-02 -3.83923514e+01] [ 1.72654294e-01 9.84897484e-01 -1.29398656e-02 -7.03097660e+01] [ 6.81931006e-02 1.15332115e-03 9.97671474e-01 1.02656727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47907232899996 meters 0.08710305997776523 Centerline is valid? [True, True] Translation: X:-38.34, Y:-70.29, Z:102.65 [[ 9.83014768e-01 -1.70900034e-01 -6.68965193e-02 -3.83363165e+01] [ 1.70415074e-01 9.85287499e-01 -1.29324029e-02 -7.02934298e+01] [ 6.81224523e-02 1.31256774e-03 9.97676104e-01 1.02654996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53907232899996 meters 0.0865199139208165 Centerline is valid? [True, True] Translation: X:-38.28, Y:-70.28, Z:102.67 [[ 9.83587471e-01 -1.67776795e-01 -6.63824757e-02 -3.82790897e+01] [ 1.67291781e-01 9.85823832e-01 -1.28386715e-02 -7.02834396e+01] [ 6.75954577e-02 1.52271390e-03 9.97711649e-01 1.02665020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59907232899997 meters 0.08806209053326008 Centerline is valid? [True, True] Translation: X:-38.22, Y:-70.27, Z:102.66 [[ 9.83916115e-01 -1.66497887e-01 -6.47111388e-02 -3.82224621e+01] [ 1.66033546e-01 9.86040545e-01 -1.25262057e-02 -7.02676338e+01] [ 6.58933933e-02 1.58051578e-03 9.97825417e-01 1.02661689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65907232899997 meters 0.08656623189230622 Centerline is valid? [True, True] Translation: X:-38.16, Y:-70.26, Z:102.67 [[ 9.83765366e-01 -1.67439159e-01 -6.45742465e-02 -3.81628814e+01] [ 1.66977773e-01 9.85881224e-01 -1.25154101e-02 -7.02643479e+01] [ 6.57581069e-02 1.52976312e-03 9.97834421e-01 1.02670178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71907232899997 meters 0.08686858184653318 Centerline is valid? [True, True] Translation: X:-38.10, Y:-70.26, Z:102.67 [[ 9.83530745e-01 -1.68734377e-01 -6.47764095e-02 -3.81049065e+01] [ 1.68272201e-01 9.85660481e-01 -1.25651402e-02 -7.02577703e+01] [ 6.59677180e-02 1.45813270e-03 9.97820692e-01 1.02669745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.779072329 meters 0.08703992581968825 Centerline is valid? [True, True] Translation: X:-38.05, Y:-70.25, Z:102.67 [[ 9.83484620e-01 -1.69271414e-01 -6.40717578e-02 -3.80478922e+01] [ 1.68820036e-01 9.85568463e-01 -1.24338478e-02 -7.02498258e+01] [ 6.52517989e-02 1.41190168e-03 9.97867832e-01 1.02670136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.839072329 meters 0.08659808536274055 Centerline is valid? [True, True] Translation: X:-37.99, Y:-70.24, Z:102.67 [[ 9.83259940e-01 -1.70699332e-01 -6.37309052e-02 -3.79884766e+01] [ 1.70255115e-01 9.85322281e-01 -1.23773617e-02 -7.02437529e+01] [ 6.49082882e-02 1.31965129e-03 9.97890361e-01 1.02672760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.899072329 meters 0.08624696608651297 Centerline is valid? [True, True] Translation: X:-37.93, Y:-70.24, Z:102.67 [[ 9.82996960e-01 -1.72444092e-01 -6.30873280e-02 -3.79301673e+01] [ 1.72011488e-01 9.85018569e-01 -1.22665327e-02 -7.02356940e+01] [ 6.42574807e-02 1.20621926e-03 9.97932624e-01 1.02674825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.959072329 meters 0.08581883325306786 Centerline is valid? [True, True] Translation: X:-37.87, Y:-70.23, Z:102.68 [[ 9.82415269e-01 -1.75861591e-01 -6.27131531e-02 -3.78719618e+01] [ 1.75440430e-01 9.84414408e-01 -1.22036026e-02 -7.02306648e+01] [ 6.38818765e-02 9.86582935e-04 9.97956979e-01 1.02676432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.019072329 meters 0.08533865211792695 Centerline is valid? [True, True] Translation: X:-37.81, Y:-70.22, Z:102.68 [[ 9.81655697e-01 -1.79085660e-01 -6.54249177e-02 -3.78135515e+01] [ 1.78633915e-01 9.83833145e-01 -1.27383811e-02 -7.02246627e+01] [ 6.66484640e-02 8.17595167e-04 9.97776184e-01 1.02677923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.079072329 meters 0.08547134690674078 Centerline is valid? [True, True] Translation: X:-37.76, Y:-70.21, Z:102.68 [[ 9.81361196e-01 -1.80626407e-01 -6.56072023e-02 -3.77562186e+01] [ 1.80174677e-01 9.83551509e-01 -1.27872881e-02 -7.02138410e+01] [ 6.68377848e-02 7.28191836e-04 9.97763589e-01 1.02678089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.139072329 meters 0.08341926626957766 Centerline is valid? [True, True] Translation: X:-37.70, Y:-70.21, Z:102.69 [[ 9.80593701e-01 -1.87494253e-01 -5.72878508e-02 -3.76967952e+01] [ 1.87161120e-01 9.82265672e-01 -1.11743240e-02 -7.02128624e+01] [ 5.83670108e-02 2.35413394e-04 9.98295165e-01 1.02689778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.199072329 meters 0.08247964161031447 Centerline is valid? [True, True] Translation: X:-37.64, Y:-70.21, Z:102.70 [[ 9.79057098e-01 -1.97042085e-01 -5.12017094e-02 -3.76367322e+01] [ 1.96788919e-01 9.80394986e-01 -9.98959347e-03 -7.02134519e+01] [ 5.21662695e-02 -2.95546662e-04 9.98638369e-01 1.02700697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.259072329 meters 0.0821368030643833 Centerline is valid? [True, True] Translation: X:-37.58, Y:-70.20, Z:102.71 [[ 9.78549239e-01 -2.00092096e-01 -4.90361149e-02 -3.75787716e+01] [ 1.99863425e-01 9.79776998e-01 -9.57317854e-03 -7.02024637e+01] [ 4.99599749e-02 -4.32699295e-04 9.98751127e-01 1.02707640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.319072329 meters 0.08247975891472666 Centerline is valid? [True, True] Translation: X:-37.52, Y:-70.19, Z:102.71 [[ 9.77934283e-01 -2.02979037e-01 -4.94373169e-02 -3.75211662e+01] [ 2.02749686e-01 9.79182916e-01 -9.66348599e-03 -7.01901325e+01] [ 5.03696612e-02 -5.73146220e-04 9.98730479e-01 1.02710636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.379072329 meters 0.0825481456759962 Centerline is valid? [True, True] Translation: X:-37.46, Y:-70.18, Z:102.71 [[ 9.77886567e-01 -2.02805737e-01 -5.10656068e-02 -3.74640894e+01] [ 2.02560129e-01 9.79218825e-01 -9.99431696e-03 -7.01750590e+01] [ 5.20313083e-02 -5.70547617e-04 9.98645291e-01 1.02711543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.439072329 meters 0.08306206851304808 Centerline is valid? [True, True] Translation: X:-37.41, Y:-70.16, Z:102.71 [[ 9.77612859e-01 -2.03590430e-01 -5.31416406e-02 -3.74070251e+01] [ 2.03324874e-01 9.79055947e-01 -1.04138504e-02 -7.01591591e+01] [ 5.41487996e-02 -6.24303311e-04 9.98532682e-01 1.02713701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49907232899994 meters 0.08272281110907784 Centerline is valid? [True, True] Translation: X:-37.35, Y:-70.14, Z:102.72 [[ 9.78021223e-01 -2.02150461e-01 -5.10850206e-02 -3.73508183e+01] [ 2.01902597e-01 9.79354342e-01 -1.00206862e-02 -7.01433936e+01] [ 5.20560230e-02 -5.13754520e-04 9.98644034e-01 1.02716060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55907232899995 meters 0.08216115196063682 Centerline is valid? [True, True] Translation: X:-37.29, Y:-70.13, Z:102.72 [[ 9.78270890e-01 -2.01160880e-01 -5.02032410e-02 -3.72937360e+01] [ 2.00919765e-01 9.79558116e-01 -9.85622819e-03 -7.01272409e+01] [ 5.11596797e-02 -4.44762258e-04 9.98690387e-01 1.02721943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61907232899995 meters 0.08232139362104492 Centerline is valid? [True, True] Translation: X:-37.24, Y:-70.11, Z:102.73 [[ 9.78538147e-01 -1.99810946e-01 -5.03853300e-02 -3.72380452e+01] [ 1.99565814e-01 9.79834400e-01 -9.90122495e-03 -7.01088110e+01] [ 5.13476527e-02 -3.66463079e-04 9.98680772e-01 1.02725066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67907232899995 meters 0.08241930536238501 Centerline is valid? [True, True] Translation: X:-37.18, Y:-70.09, Z:102.73 [[ 9.78977493e-01 -1.97667016e-01 -5.03072414e-02 -3.71819307e+01] [ 1.97419442e-01 9.80269193e-01 -9.89312559e-03 -7.00865266e+01] [ 5.12701836e-02 -2.46480232e-04 9.98684789e-01 1.02728031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73907232899995 meters 0.08224107979621897 Centerline is valid? [True, True] Translation: X:-37.13, Y:-70.07, Z:102.73 [[ 9.79252582e-01 -1.96292196e-01 -5.03364170e-02 -3.71262097e+01] [ 1.96041865e-01 9.80545434e-01 -9.91158117e-03 -7.00696428e+01] [ 5.13027099e-02 -1.62103630e-04 9.98683136e-01 1.02731671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79907232899996 meters 0.08184326752184605 Centerline is valid? [True, True] Translation: X:-37.07, Y:-70.05, Z:102.74 [[ 9.79153540e-01 -1.96704196e-01 -5.06537786e-02 -3.70698592e+01] [ 1.96450509e-01 9.80462865e-01 -9.98835820e-03 -7.00534285e+01] [ 5.16289008e-02 -1.70824320e-04 9.98666324e-01 1.02738004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85907232899996 meters 0.08148511731669399 Centerline is valid? [True, True] Translation: X:-37.01, Y:-70.04, Z:102.74 [[ 9.79177400e-01 -1.96588639e-01 -5.06411472e-02 -3.70142884e+01] [ 1.96334332e-01 9.80486045e-01 -9.99731905e-03 -7.00385715e+01] [ 5.16182974e-02 -1.53446948e-04 9.98666875e-01 1.02739420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91907232899996 meters 0.08094715164176612 Centerline is valid? [True, True] Translation: X:-36.96, Y:-70.02, Z:102.74 [[ 9.79113579e-01 -1.97091451e-01 -4.99155206e-02 -3.69575578e+01] [ 1.96844602e-01 9.80385094e-01 -9.86261320e-03 -7.00218847e+01] [ 5.08802690e-02 -1.68982262e-04 9.98704746e-01 1.02743931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97907232899996 meters 0.0806283718540118 Centerline is valid? [True, True] Translation: X:-36.90, Y:-70.01, Z:102.75 [[ 9.79235288e-01 -1.96990596e-01 -4.78848177e-02 -3.69011965e+01] [ 1.96762878e-01 9.80405367e-01 -9.47031248e-03 -7.00092240e+01] [ 4.88120948e-02 -1.48290370e-04 9.98807968e-01 1.02748046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03907232899996 meters 0.08028008966735829 Centerline is valid? [True, True] Translation: X:-36.84, Y:-69.99, Z:102.75 [[ 9.79491631e-01 -1.95944328e-01 -4.69250949e-02 -3.68442295e+01] [ 1.95724135e-01 9.80615018e-01 -9.28710265e-03 -6.99927354e+01] [ 4.78352079e-02 -8.77343077e-05 9.98855237e-01 1.02751369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09907232899997 meters 0.08028754158690209 Centerline is valid? [True, True] Translation: X:-36.79, Y:-69.98, Z:102.75 [[ 9.79528554e-01 -1.95428876e-01 -4.82842253e-02 -3.67869180e+01] [ 1.95194509e-01 9.80717876e-01 -9.56827774e-03 -6.99793287e+01] [ 4.92231206e-02 -5.24144074e-05 9.98787806e-01 1.02752115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15907232899997 meters 0.08068885618795729 Centerline is valid? [True, True] Translation: X:-36.73, Y:-69.96, Z:102.75 [[ 9.80028707e-01 -1.92475198e-01 -4.99703030e-02 -3.67313683e+01] [ 1.92219835e-01 9.81301832e-01 -9.91206085e-03 -6.99602784e+01] [ 5.09437758e-02 1.08820788e-04 9.98701517e-01 1.02753536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21907232899997 meters 0.08073235128983279 Centerline is valid? [True, True] Translation: X:-36.67, Y:-69.94, Z:102.76 [[ 9.80315118e-01 -1.90735247e-01 -5.10130876e-02 -3.66744874e+01] [ 1.90466353e-01 9.81641493e-01 -1.01265504e-02 -6.99444689e+01] [ 5.20080536e-02 2.10933718e-04 9.98646643e-01 1.02755476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279072329 meters 0.08084810116097482 Centerline is valid? [True, True] Translation: X:-36.62, Y:-69.93, Z:102.76 [[ 9.81150164e-01 -1.86045546e-01 -5.22628906e-02 -3.66179979e+01] [ 1.85755953e-01 9.82541002e-01 -1.03877429e-02 -6.99266890e+01] [ 5.32830263e-02 4.83792631e-04 9.98579333e-01 1.02759482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339072329 meters 0.08117916296160083 Centerline is valid? [True, True] Translation: X:-36.56, Y:-69.91, Z:102.76 [[ 9.81706377e-01 -1.83002812e-01 -5.25600690e-02 -3.65623107e+01] [ 1.82705030e-01 9.83112167e-01 -1.04565675e-02 -6.99076263e+01] [ 5.35860246e-02 6.62290071e-04 9.98563017e-01 1.02758631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399072329 meters 0.08098040372843461 Centerline is valid? [True, True] Translation: X:-36.50, Y:-69.90, Z:102.76 [[ 9.81712224e-01 -1.82525136e-01 -5.40895882e-02 -3.65044859e+01] [ 1.82208566e-01 9.83200926e-01 -1.07692918e-02 -6.98966173e+01] [ 5.51465997e-02 7.16759143e-04 9.98478011e-01 1.02762056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459072329 meters 0.08089059212885943 Centerline is valid? [True, True] Translation: X:-36.45, Y:-69.89, Z:102.76 [[ 9.81878566e-01 -1.81532572e-01 -5.44096136e-02 -3.64464108e+01] [ 1.81209976e-01 9.83384615e-01 -1.08463842e-02 -6.98853991e+01] [ 5.54745490e-02 7.90267445e-04 9.98459789e-01 1.02764464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519072329 meters 0.08055713827961665 Centerline is valid? [True, True] Translation: X:-36.39, Y:-69.87, Z:102.77 [[ 9.82028557e-01 -1.80847217e-01 -5.39833114e-02 -3.63899351e+01] [ 1.80527834e-01 9.83510846e-01 -1.07757693e-02 -6.98721417e+01] [ 5.50419402e-02 8.36622863e-04 9.98483693e-01 1.02767264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579072329 meters 0.0806531601497021 Centerline is valid? [True, True] Translation: X:-36.33, Y:-69.86, Z:102.77 [[ 9.81931942e-01 -1.81371336e-01 -5.39823959e-02 -3.63330691e+01] [ 1.81052137e-01 9.83414342e-01 -1.07867903e-02 -6.98605620e+01] [ 5.50434769e-02 8.18265787e-04 9.98483623e-01 1.02765857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639072329 meters 0.08061922129088564 Centerline is valid? [True, True] Translation: X:-36.28, Y:-69.85, Z:102.77 [[ 9.82212565e-01 -1.79612917e-01 -5.47510448e-02 -3.62763482e+01] [ 1.79281552e-01 9.83736919e-01 -1.09452629e-02 -6.98488242e+01] [ 5.58265347e-02 9.34722488e-04 9.98440045e-01 1.02768630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699072329 meters 0.08146909927788527 Centerline is valid? [True, True] Translation: X:-36.22, Y:-69.83, Z:102.77 [[ 9.83237159e-01 -1.73525208e-01 -5.59793888e-02 -3.62197049e+01] [ 1.73168627e-01 9.84828551e-01 -1.11960938e-02 -6.98271845e+01] [ 5.70729048e-02 1.31454156e-03 9.98369148e-01 1.02769701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.759072329 meters 0.08296898382432523 Centerline is valid? [True, True] Translation: X:-36.16, Y:-69.81, Z:102.77 [[ 9.84238033e-01 -1.66927098e-01 -5.84023790e-02 -3.61633710e+01] [ 1.66526791e-01 9.85967634e-01 -1.16898297e-02 -6.98058768e+01] [ 5.95342048e-02 1.78001416e-03 9.98224679e-01 1.02770460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.819072329 meters 0.08749724766239021 Centerline is valid? [True, True] Translation: X:-36.11, Y:-69.77, Z:102.77 [[ 9.86439135e-01 -1.52642929e-01 -6.03155761e-02 -3.61092663e+01] [ 1.52188715e-01 9.88277612e-01 -1.20812174e-02 -6.97722672e+01] [ 6.14526459e-02 2.73803568e-03 9.98106245e-01 1.02771274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.879072329 meters 0.09780705878084973 Centerline is valid? [True, True] Translation: X:-36.06, Y:-69.73, Z:102.77 [[ 9.89315266e-01 -1.31416983e-01 -6.31259148e-02 -3.60580208e+01] [ 1.30876016e-01 9.91318066e-01 -1.26475664e-02 -6.97256610e+01] [ 6.42399648e-02 4.25076231e-03 9.97925427e-01 1.02770154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.939072329 meters 0.10583382397729044 Centerline is valid? [True, False] Translation: X:-36.08, Y:-69.72, Z:102.77 [[ 9.92105418e-01 -1.07893921e-01 -6.39198027e-02 -3.60787530e+01] [ 1.07008072e-01 9.94110509e-01 -1.71338485e-02 -6.97242604e+01] [ 6.53919857e-02 1.01586491e-02 9.97807942e-01 1.02770526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99907232899994 meters 0.12433316803840566 Centerline is valid? [False, False] Translation: X:-36.11, Y:-69.72, Z:102.77 [[ 9.95044002e-01 -7.65303933e-02 -6.34864720e-02 -3.61066151e+01] [ 7.56117190e-02 9.96996601e-01 -1.67524583e-02 -6.97197619e+01] [ 6.45778690e-02 1.18691119e-02 9.97842083e-01 1.02771031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05907232899995 meters 0.1374224243377953 Centerline is valid? [False, False] Translation: X:-36.12, Y:-69.71, Z:102.77 [[ 9.96992068e-01 -4.88753989e-02 -6.01499056e-02 -3.61210911e+01] [ 4.80882357e-02 9.98738328e-01 -1.44662674e-02 -6.97136994e+01] [ 6.07810608e-02 1.15302510e-02 9.98084523e-01 1.02769567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11907232899995 meters 0.15886945065036417 Centerline is valid? [False, False] Translation: X:-36.14, Y:-69.71, Z:102.76 [[ 9.98428527e-01 -3.64034072e-02 -4.26059589e-02 -3.61364286e+01] [ 3.57628430e-02 9.99236946e-01 -1.57017200e-02 -6.97095727e+01] [ 4.31450443e-02 1.41533350e-02 9.98968562e-01 1.02759319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17907232899995 meters 0.15849181747258784 Centerline is valid? [False, False] Translation: X:-36.14, Y:-69.71, Z:102.75 [[ 9.99264209e-01 -2.77399378e-02 -2.64865453e-02 -3.61431349e+01] [ 2.73840796e-02 9.99531033e-01 -1.37049953e-02 -6.97080735e+01] [ 2.68542997e-02 1.29696017e-02 9.99555219e-01 1.02754679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23907232899995 meters 0.15720701122623457 Centerline is valid? [False, False] Translation: X:-36.15, Y:-69.71, Z:102.75 [[ 9.99304933e-01 -3.54133467e-02 -1.16423908e-02 -3.61477847e+01] [ 3.53136454e-02 9.99338752e-01 -8.66056356e-03 -6.97098914e+01] [ 1.19413919e-02 8.24340863e-03 9.99894719e-01 1.02750235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29907232899996 meters 0.15827366947274646 Centerline is valid? [False, False] Translation: X:-36.14, Y:-69.71, Z:102.75 [[ 9.99272590e-01 -3.60610396e-02 -1.24053412e-02 -3.61445629e+01] [ 3.59538652e-02 9.99315086e-01 -8.75661889e-03 -6.97122520e+01] [ 1.27126174e-02 8.30422927e-03 9.99884708e-01 1.02748333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35907232899996 meters 0.1517992145378669 Centerline is valid? [False, False] Translation: X:-36.13, Y:-69.72, Z:102.76 [[ 9.99104158e-01 -3.63333931e-02 -2.16971505e-02 -3.61293402e+01] [ 3.60021504e-02 9.99232013e-01 -1.54670716e-02 -6.97196470e+01] [ 2.22424585e-02 1.46720715e-02 9.99644939e-01 1.02755272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41907232899996 meters 0.14576802609603484 Centerline is valid? [False, False] Translation: X:-36.12, Y:-69.73, Z:102.76 [[ 9.98748481e-01 -4.40652673e-02 -2.36584842e-02 -3.61153980e+01] [ 4.37326167e-02 9.98939505e-01 -1.43987166e-02 -6.97263134e+01] [ 2.42678778e-02 1.33460489e-02 9.99616403e-01 1.02759499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47907232899996 meters 0.14736532094137864 Centerline is valid? [False, False] Translation: X:-36.11, Y:-69.74, Z:102.76 [[ 9.98487415e-01 -4.86736240e-02 -2.55687271e-02 -3.61112647e+01] [ 4.83223429e-02 9.98731108e-01 -1.41818228e-02 -6.97378529e+01] [ 2.62265639e-02 1.29248308e-02 9.99572467e-01 1.02764524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53907232899996 meters 0.11069773364184057 Centerline is valid? [False, False] Translation: X:-36.10, Y:-69.75, Z:102.77 [[ 9.97056328e-01 -7.33067737e-02 -2.24676410e-02 -3.61029297e+01] [ 7.30321128e-02 9.97247295e-01 -1.28118283e-02 -6.97494360e+01] [ 2.33449880e-02 1.11332552e-02 9.99665475e-01 1.02766148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59907232899997 meters 0.10536434866089263 Centerline is valid? [False, False] Translation: X:-36.10, Y:-69.76, Z:102.77 [[ 9.96662775e-01 -7.80494318e-02 -2.39081598e-02 -3.60991708e+01] [ 7.77341719e-02 9.96877986e-01 -1.38448513e-02 -6.97582544e+01] [ 2.49141010e-02 1.19401669e-02 9.99618287e-01 1.02769418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65907232899997 meters 0.09393790861827771 Centerline is valid? [False, True] Translation: X:-36.09, Y:-69.77, Z:102.77 [[ 9.96153233e-01 -8.36673273e-02 -2.60483061e-02 -3.60931920e+01] [ 8.33246822e-02 9.96424459e-01 -1.39747986e-02 -6.97696988e+01] [ 2.71244034e-02 1.17505740e-02 9.99563000e-01 1.02773803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71907232899997 meters 0.08728382143154201 Centerline is valid? [True, True] Translation: X:-36.03, Y:-69.79, Z:102.78 [[ 9.94885424e-01 -9.76338217e-02 -2.58965128e-02 -3.60298578e+01] [ 9.75690738e-02 9.95221671e-01 -3.75516800e-03 -6.97896165e+01] [ 2.61394022e-02 1.20926314e-03 9.99657576e-01 1.02782683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.779072329 meters 0.08546246545027567 Centerline is valid? [True, True] Translation: X:-35.97, Y:-69.79, Z:102.78 [[ 9.94198709e-01 -1.04381630e-01 -2.59499922e-02 -3.59703259e+01] [ 1.04318879e-01 9.94536779e-01 -3.76397010e-03 -6.97905028e+01] [ 2.62011109e-02 1.03506011e-03 9.99656156e-01 1.02781179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.839072329 meters 0.0810735004125573 Centerline is valid? [True, True] Translation: X:-35.91, Y:-69.80, Z:102.78 [[ 9.93218062e-01 -1.13629402e-01 -2.46219419e-02 -3.59080255e+01] [ 1.13575739e-01 9.93522921e-01 -3.57161636e-03 -6.98007946e+01] [ 2.48683043e-02 7.50938630e-04 9.99690454e-01 1.02783686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.899072329 meters 0.07942754868105888 Centerline is valid? [True, True] Translation: X:-35.85, Y:-69.81, Z:102.78 [[ 9.92333944e-01 -1.20927989e-01 -2.54904930e-02 -3.58474526e+01] [ 1.20872852e-01 9.92661108e-01 -3.69850988e-03 -6.98073789e+01] [ 2.57506744e-02 5.89048295e-04 9.99668223e-01 1.02784831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.959072329 meters 0.07909523935327847 Centerline is valid? [True, True] Translation: X:-35.79, Y:-69.81, Z:102.78 [[ 9.91719560e-01 -1.25856437e-01 -2.55435391e-02 -3.57887921e+01] [ 1.25802658e-01 9.92048357e-01 -3.70798731e-03 -6.98061527e+01] [ 2.58071001e-02 4.63838422e-04 9.99666834e-01 1.02781334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.019072329 meters 0.07799401371351837 Centerline is valid? [True, True] Translation: X:-35.73, Y:-69.80, Z:102.78 [[ 9.91366501e-01 -1.28624005e-01 -2.54622657e-02 -3.57293869e+01] [ 1.28571314e-01 9.91693354e-01 -3.70260937e-03 -6.98042237e+01] [ 2.57270041e-02 3.96925926e-04 9.99668927e-01 1.02784626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.079072329 meters 0.07757372949600774 Centerline is valid? [True, True] Translation: X:-35.67, Y:-69.81, Z:102.78 [[ 9.90557504e-01 -1.34630673e-01 -2.58923510e-02 -3.56701048e+01] [ 1.34578070e-01 9.90895816e-01 -3.77149370e-03 -6.98058877e+01] [ 2.61643810e-02 2.51338754e-04 9.99657622e-01 1.02781357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.139072329 meters 0.0772616894015746 Centerline is valid? [True, True] Translation: X:-35.61, Y:-69.81, Z:102.78 [[ 9.89917686e-01 -1.39104235e-01 -2.67018134e-02 -3.56113812e+01] [ 1.39049718e-01 9.90277734e-01 -3.89679899e-03 -6.98051174e+01] [ 2.69842725e-02 1.44630608e-04 9.99635848e-01 1.02780325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.199072329 meters 0.07731268420598982 Centerline is valid? [True, True] Translation: X:-35.55, Y:-69.80, Z:102.78 [[ 9.89737799e-01 -1.40370760e-01 -2.67420676e-02 -3.55531566e+01] [ 1.40316339e-01 9.90099003e-01 -3.91012901e-03 -6.97988357e+01] [ 2.70261623e-02 1.17653454e-04 9.99634720e-01 1.02779995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.259072329 meters 0.07802924660025248 Centerline is valid? [True, True] Translation: X:-35.50, Y:-69.79, Z:102.77 [[ 9.89764433e-01 -1.39480035e-01 -3.01941490e-02 -3.54953872e+01] [ 1.39410176e-01 9.90224870e-01 -4.41696427e-03 -6.97894026e+01] [ 3.05150756e-02 1.62382525e-04 9.99534293e-01 1.02774491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.319072329 meters 0.0786204143287642 Centerline is valid? [True, True] Translation: X:-35.44, Y:-69.78, Z:102.77 [[ 9.89679582e-01 -1.39954883e-01 -3.07726446e-02 -3.54380293e+01] [ 1.39882469e-01 9.90157870e-01 -4.50416560e-03 -6.97788047e+01] [ 3.11001562e-02 1.53127208e-04 9.99516261e-01 1.02768214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.379072329 meters 0.0779300994879939 Centerline is valid? [True, True] Translation: X:-35.38, Y:-69.77, Z:102.78 [[ 9.89728713e-01 -1.39807558e-01 -2.98483174e-02 -3.53794755e+01] [ 1.39739145e-01 9.90178681e-01 -4.37609656e-03 -6.97709096e+01] [ 3.01669789e-02 1.60170073e-04 9.99544860e-01 1.02775856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.439072329 meters 0.07774144068609326 Centerline is valid? [True, True] Translation: X:-35.32, Y:-69.76, Z:102.78 [[ 9.89817518e-01 -1.39528244e-01 -2.81629300e-02 -3.53217496e+01] [ 1.39467033e-01 9.90218078e-01 -4.13583217e-03 -6.97587937e+01] [ 2.84645078e-02 1.65918833e-04 9.99594790e-01 1.02778302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49907232899994 meters 0.07807754411038702 Centerline is valid? [True, True] Translation: X:-35.27, Y:-69.75, Z:102.78 [[ 9.90079031e-01 -1.37734420e-01 -2.77982427e-02 -3.52652894e+01] [ 1.37673864e-01 9.90469172e-01 -4.08989140e-03 -6.97455592e+01] [ 2.80966213e-02 2.22224231e-04 9.99605187e-01 1.02777602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55907232899995 meters 0.07844102015259388 Centerline is valid? [True, True] Translation: X:-35.21, Y:-69.74, Z:102.78 [[ 9.90208965e-01 -1.36377216e-01 -2.97902678e-02 -3.52085571e+01] [ 1.36306980e-01 9.90656941e-01 -4.38537545e-03 -6.97356365e+01] [ 3.01100009e-02 2.81816633e-04 9.99546551e-01 1.02775959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61907232899995 meters 0.07896443551460129 Centerline is valid? [True, True] Translation: X:-35.15, Y:-69.72, Z:102.77 [[ 9.90470809e-01 -1.34301710e-01 -3.05061862e-02 -3.51510228e+01] [ 1.34226852e-01 9.90940423e-01 -4.49790640e-03 -6.97218910e+01] [ 3.08338896e-02 3.60295643e-04 9.99524458e-01 1.02772317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67907232899995 meters 0.079114451813034 Centerline is valid? [True, True] Translation: X:-35.09, Y:-69.71, Z:102.77 [[ 9.90820121e-01 -1.31829893e-01 -2.99393823e-02 -3.50926191e+01] [ 1.31756452e-01 9.91272258e-01 -4.42132928e-03 -6.97117608e+01] [ 3.02609425e-02 4.36035221e-04 9.99541938e-01 1.02773880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73907232899995 meters 0.07905233741230488 Centerline is valid? [True, True] Translation: X:-35.03, Y:-69.70, Z:102.78 [[ 9.90959037e-01 -1.30801074e-01 -2.98540699e-02 -3.50344817e+01] [ 1.30727370e-01 9.91408521e-01 -4.41582070e-03 -6.97030885e+01] [ 3.01751734e-02 4.73153383e-04 9.99544514e-01 1.02775142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79907232899996 meters 0.07876328393859462 Centerline is valid? [True, True] Translation: X:-34.98, Y:-69.70, Z:102.78 [[ 9.90961237e-01 -1.30952734e-01 -2.91068271e-02 -3.49758350e+01] [ 1.30882535e-01 9.91388504e-01 -4.31225201e-03 -6.96966031e+01] [ 2.94208750e-02 4.63699261e-04 9.99567005e-01 1.02775666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85907232899996 meters 0.07846648450412386 Centerline is valid? [True, True] Translation: X:-34.92, Y:-69.70, Z:102.78 [[ 9.90603700e-01 -1.33558135e-01 -2.94369496e-02 -3.49163990e+01] [ 1.33487277e-01 9.91040900e-01 -4.36810929e-03 -6.96958298e+01] [ 2.97566175e-02 3.97606971e-04 9.99557095e-01 1.02777031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91907232899996 meters 0.07799249250330392 Centerline is valid? [True, True] Translation: X:-34.86, Y:-69.69, Z:102.78 [[ 9.90245265e-01 -1.36274745e-01 -2.90432324e-02 -3.48568588e+01] [ 1.36206734e-01 9.90671031e-01 -4.31664933e-03 -6.96929862e+01] [ 2.93605393e-02 3.18657739e-04 9.99568836e-01 1.02778515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97907232899996 meters 0.07724442414047294 Centerline is valid? [True, True] Translation: X:-34.80, Y:-69.69, Z:102.78 [[ 9.89457473e-01 -1.42143536e-01 -2.77330821e-02 -3.47969737e+01] [ 1.42083776e-01 9.89846046e-01 -4.12371851e-03 -6.96942272e+01] [ 2.80376416e-02 1.39823092e-04 9.99606858e-01 1.02777531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03907232899996 meters 0.0770738246865856 Centerline is valid? [True, True] Translation: X:-34.74, Y:-69.70, Z:102.77 [[ 9.88656780e-01 -1.47705752e-01 -2.72173295e-02 -3.47384440e+01] [ 1.47650237e-01 9.89031350e-01 -4.04930139e-03 -6.96956339e+01] [ 2.75168973e-02 -1.52758902e-05 9.99621338e-01 1.02774265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09907232899997 meters 0.07740977967464528 Centerline is valid? [True, True] Translation: X:-34.68, Y:-69.69, Z:102.77 [[ 9.87800392e-01 -1.53099324e-01 -2.84777659e-02 -3.46798212e+01] [ 1.53040721e-01 9.88210791e-01 -4.23908609e-03 -6.96942675e+01] [ 2.87910368e-02 -1.70886936e-04 9.99585438e-01 1.02771479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15907232899997 meters 0.07737447037012217 Centerline is valid? [True, True] Translation: X:-34.62, Y:-69.69, Z:102.77 [[ 9.87446572e-01 -1.55254946e-01 -2.90717923e-02 -3.46217217e+01] [ 1.55194700e-01 9.87874408e-01 -4.33111819e-03 -6.96874871e+01] [ 2.93917071e-02 -2.35040272e-04 9.99567943e-01 1.02774414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21907232899997 meters 0.07757837726513223 Centerline is valid? [True, True] Translation: X:-34.56, Y:-69.68, Z:102.78 [[ 9.86863096e-01 -1.59144114e-01 -2.78276955e-02 -3.45638492e+01] [ 1.59090250e-01 9.87255308e-01 -4.15321529e-03 -6.96801363e+01] [ 2.81339999e-02 -3.28460125e-04 9.99604107e-01 1.02775756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.279072329 meters 0.07771516189310898 Centerline is valid? [True, True] Translation: X:-34.51, Y:-69.67, Z:102.78 [[ 9.86307923e-01 -1.62528512e-01 -2.79493238e-02 -3.45055640e+01] [ 1.62475349e-01 9.86703758e-01 -4.17789125e-03 -6.96731979e+01] [ 2.82567292e-02 -4.20388893e-04 9.99600611e-01 1.02776278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.339072329 meters 0.07830170027318845 Centerline is valid? [True, True] Translation: X:-34.45, Y:-69.67, Z:102.78 [[ 9.85586125e-01 -1.66548007e-01 -2.96942833e-02 -3.44466448e+01] [ 1.66489778e-01 9.86033184e-01 -4.44013865e-03 -6.96660382e+01] [ 3.00190449e-02 -5.67655580e-04 9.99549166e-01 1.02776622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.399072329 meters 0.07835464773342443 Centerline is valid? [True, True] Translation: X:-34.39, Y:-69.65, Z:102.78 [[ 9.85485154e-01 -1.67006326e-01 -3.04614178e-02 -3.43893716e+01] [ 1.66945038e-01 9.85955648e-01 -4.56227218e-03 -6.96517558e+01] [ 3.07955352e-02 -5.89331057e-04 9.99525531e-01 1.02776073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.459072329 meters 0.07811626409073338 Centerline is valid? [True, True] Translation: X:-34.33, Y:-69.64, Z:102.78 [[ 9.85577494e-01 -1.66310398e-01 -3.12706674e-02 -3.43319504e+01] [ 1.66245216e-01 9.86073284e-01 -4.69120096e-03 -6.96368335e+01] [ 3.16153652e-02 -5.75056770e-04 9.99499944e-01 1.02777267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.519072329 meters 0.07842552808341863 Centerline is valid? [True, True] Translation: X:-34.27, Y:-69.62, Z:102.77 [[ 9.85709961e-01 -1.65489142e-01 -3.14518296e-02 -3.42749438e+01] [ 1.65422656e-01 9.86211460e-01 -4.72242784e-03 -6.96242977e+01] [ 3.17996653e-02 -5.47901010e-04 9.99494113e-01 1.02774331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.579072329 meters 0.07847286046439476 Centerline is valid? [True, True] Translation: X:-34.22, Y:-69.61, Z:102.78 [[ 9.85483733e-01 -1.67132178e-01 -2.98101729e-02 -3.42164537e+01] [ 1.67072986e-01 9.85934338e-01 -4.48311338e-03 -6.96144853e+01] [ 3.01401456e-02 -5.62439305e-04 9.99545524e-01 1.02776895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.639072329 meters 0.079092503935661 Centerline is valid? [True, True] Translation: X:-34.16, Y:-69.61, Z:102.78 [[ 9.85147861e-01 -1.69090564e-01 -2.98676082e-02 -3.41586628e+01] [ 1.69031970e-01 9.85600322e-01 -4.49418009e-03 -6.96083757e+01] [ 3.01974478e-02 -6.21148765e-04 9.99543760e-01 1.02775523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.699072329 meters 0.08099559888759021 Centerline is valid? [True, True] Translation: X:-34.10, Y:-69.60, Z:102.77 [[ 9.83936028e-01 -1.75581824e-01 -3.22632322e-02 -3.40988076e+01] [ 1.75516767e-01 9.84464447e-01 -4.85981907e-03 -6.96044982e+01] [ 3.26153009e-02 -8.80987121e-04 9.99467591e-01 1.02772599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.759072329 meters 0.0853669707133294 Centerline is valid? [True, True] Translation: X:-34.04, Y:-69.61, Z:102.77 [[ 9.82311076e-01 -1.84470751e-01 -3.21790522e-02 -3.40380261e+01] [ 1.84410739e-01 9.82837306e-01 -4.84862788e-03 -6.96125685e+01] [ 3.25212030e-02 -1.17130193e-03 9.99470359e-01 1.02767428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.819072329 meters 0.08485748476941322 Centerline is valid? [True, True] Translation: X:-33.98, Y:-69.61, Z:102.77 [[ 9.80962587e-01 -1.91422835e-01 -3.27062770e-02 -3.39786762e+01] [ 1.91364464e-01 9.81506642e-01 -4.93496602e-03 -6.96052066e+01] [ 3.30460933e-02 -1.41780215e-03 9.99452823e-01 1.02773101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.879072329 meters 0.10308589960060657 Centerline is valid? [True, False] Translation: X:-33.99, Y:-69.61, Z:102.78 [[ 9.80691093e-01 -1.90209156e-01 -4.54473024e-02 -3.39895912e+01] [ 1.89990747e-01 9.81743542e-01 -9.11774191e-03 -6.96122005e+01] [ 4.63518736e-02 3.07121335e-04 9.98925127e-01 1.02779674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.939072329 meters 0.10820929905272726 Centerline is valid? [False, False] Translation: X:-34.01, Y:-69.62, Z:102.78 [[ 9.81348397e-01 -1.87972583e-01 -4.02694988e-02 -3.40063743e+01] [ 1.87641668e-01 9.82165712e-01 -1.18793627e-02 -6.96179862e+01] [ 4.17843154e-02 4.10155764e-03 9.99118235e-01 1.02777793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99907232899994 meters 0.10080425923078314 Centerline is valid? [False, False] Translation: X:-34.02, Y:-69.63, Z:102.78 [[ 9.82528187e-01 -1.82892247e-01 -3.44787965e-02 -3.40232841e+01] [ 1.82654553e-01 9.83126815e-01 -9.94888179e-03 -6.96259823e+01] [ 3.57166028e-02 3.47734763e-03 9.99355909e-01 1.02777140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05907232899995 meters 0.12307925581277088 Centerline is valid? [False, False] Translation: X:-34.07, Y:-69.63, Z:102.77 [[ 9.81527537e-01 -1.91134244e-01 -8.44955170e-03 -3.40727713e+01] [ 1.91105927e-01 9.81561072e-01 -4.04793496e-03 -6.96306087e+01] [ 9.06745001e-03 2.35840022e-03 9.99956109e-01 1.02768279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11907232899995 meters 0.13035433207406907 Centerline is valid? [False, False] Translation: X:-34.09, Y:-69.63, Z:102.78 [[ 9.81808107e-01 -1.88711978e-01 -2.09912032e-02 -3.40886281e+01] [ 1.88579708e-01 9.82024238e-01 -8.12957783e-03 -6.96330352e+01] [ 2.21480190e-02 4.02317044e-03 9.99746608e-01 1.02777336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17907232899995 meters 0.14049712232675912 Centerline is valid? [False, False] Translation: X:-34.10, Y:-69.63, Z:102.78 [[ 9.81848023e-01 -1.88976866e-01 -1.61926789e-02 -3.41014129e+01] [ 1.88801385e-01 9.81944764e-01 -1.17693621e-02 -6.96344033e+01] [ 1.81244534e-02 8.49852476e-03 9.99799620e-01 1.02776541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23907232899995 meters 0.12212115123861987 Centerline is valid? [False, False] Translation: X:-34.13, Y:-69.63, Z:102.77 [[ 9.80634866e-01 -1.95844754e-01 3.03264262e-04 -3.41307856e+01] [ 1.95844106e-01 9.80624621e-01 -4.52100242e-03 -6.96340546e+01] [ 5.88026203e-04 4.49284512e-03 9.99989734e-01 1.02772932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29907232899996 meters 0.15779611167732055 Centerline is valid? [False, False] Translation: X:-34.15, Y:-69.63, Z:102.78 [[ 9.81043851e-01 -1.93466659e-01 -1.11181559e-02 -3.41469106e+01] [ 1.93428183e-01 9.81104355e-01 -4.44784289e-03 -6.96345030e+01] [ 1.17685805e-02 2.21296423e-03 9.99928299e-01 1.02780293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35907232899996 meters 0.19237440879435877 Centerline is valid? [False, False] Translation: X:-34.17, Y:-69.63, Z:102.78 [[ 9.80949489e-01 -1.94237276e-01 -3.15917198e-03 -3.41657378e+01] [ 1.94198483e-01 9.80913175e-01 -9.81283153e-03 -6.96317782e+01] [ 5.00489108e-03 9.01238567e-03 9.99946863e-01 1.02779135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41907232899996 meters 0.21060681974155296 Centerline is valid? [False, False] Translation: X:-34.20, Y:-69.63, Z:102.78 [[ 9.78062904e-01 -2.06501637e-01 2.73866583e-02 -3.42024409e+01] [ 2.06513248e-01 9.78440776e-01 2.43457413e-03 -6.96285673e+01] [-2.72989667e-02 3.27454110e-03 9.99621950e-01 1.02776742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47907232899996 meters 0.22913371532827154 Centerline is valid? [False, False] Translation: X:-34.20, Y:-69.62, Z:102.78 [[ 9.77486594e-01 -2.09156995e-01 2.78084410e-02 -3.42010475e+01] [ 2.09215870e-01 9.77869146e-01 8.07821730e-04 -6.96237453e+01] [-2.73619780e-02 5.02833225e-03 9.99612944e-01 1.02775149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53907232899996 meters 0.24392482811060462 Centerline is valid? [False, False] Translation: X:-34.25, Y:-69.61, Z:102.77 [[ 9.71183405e-01 -2.31237517e-01 5.77235151e-02 -3.42522896e+01] [ 2.31266065e-01 9.72870291e-01 6.27726569e-03 -6.96143841e+01] [-5.76090322e-02 7.25311390e-03 9.98312873e-01 1.02772778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59907232899997 meters 0.2517687570034505 Centerline is valid? [False, False] Translation: X:-34.31, Y:-69.61, Z:102.77 [[ 9.65937275e-01 -2.43393346e-01 8.78911833e-02 -3.43073654e+01] [ 2.43453512e-01 9.69858944e-01 1.01988715e-02 -6.96070590e+01] [-8.77243876e-02 1.15459471e-02 9.96077870e-01 1.02767092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65907232899997 meters 0.2160172826999434 Centerline is valid? [False, False] Translation: X:-34.38, Y:-69.59, Z:102.76 [[ 9.54217413e-01 -2.75540100e-01 1.16390643e-01 -3.43849011e+01] [ 2.75265044e-01 9.61185494e-01 1.87510638e-02 -6.95853761e+01] [-1.17039667e-01 1.41456839e-02 9.93026493e-01 1.02762820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71907232899997 meters 0.21919861377519226 Centerline is valid? [False, False] Translation: X:-34.49, Y:-69.56, Z:102.76 [[ 9.38018555e-01 -3.12836198e-01 1.49180106e-01 -3.44892351e+01] [ 3.13930618e-01 9.49297786e-01 1.67714439e-02 -6.95578343e+01] [-1.46863059e-01 3.11002772e-02 9.88667798e-01 1.02763055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779072329 meters 0.21868243198895612 Centerline is valid? [False, False] Translation: X:-34.59, Y:-69.53, Z:102.76 [[ 9.24563744e-01 -3.35477821e-01 1.80655790e-01 -3.45920468e+01] [ 3.39135491e-01 9.40670964e-01 1.11918124e-02 -6.95327245e+01] [-1.73692261e-01 5.09192463e-02 9.83482704e-01 1.02757042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839072329 meters 0.21771280457610148 Centerline is valid? [False, False] Translation: X:-34.73, Y:-69.49, Z:102.76 [[ 8.98708198e-01 -3.80154494e-01 2.18646143e-01 -3.47316829e+01] [ 3.87677420e-01 9.21749791e-01 9.14010832e-03 -6.94882165e+01] [-2.05011690e-01 7.65498825e-02 9.75761406e-01 1.02762833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899072329 meters 0.21150227184464213 Centerline is valid? [False, False] Translation: X:-34.87, Y:-69.45, Z:102.77 [[ 8.75162428e-01 -4.04320578e-01 2.65735948e-01 -3.48749829e+01] [ 4.20119114e-01 9.07464391e-01 -2.88232435e-03 -6.94515016e+01] [-2.39980527e-01 1.14163253e-01 9.64041544e-01 1.02767154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959072329 meters 0.17159159385860612 Centerline is valid? [False, False] Translation: X:-35.02, Y:-69.40, Z:102.78 [[ 8.36040497e-01 -4.51591298e-01 3.11611275e-01 -3.50206359e+01] [ 4.80885213e-01 8.76558256e-01 -1.98755080e-02 -6.93972138e+01] [-2.64169829e-01 1.66465984e-01 9.50001778e-01 1.02778216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019072329 meters 0.16870663762142418 Centerline is valid? [False, False] Translation: X:-35.19, Y:-69.34, Z:102.80 [[ 7.92522521e-01 -5.02945616e-01 3.44896740e-01 -3.51893462e+01] [ 5.45776983e-01 8.37274035e-01 -3.31613599e-02 -6.93364921e+01] [-2.72094725e-01 2.14517827e-01 9.38054669e-01 1.02801212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079072329 meters 0.14403681289046172 Centerline is valid? [False, False] Translation: X:-35.39, Y:-69.26, Z:102.85 [[ 7.48102478e-01 -5.44777405e-01 3.78893470e-01 -3.53912149e+01] [ 6.05338877e-01 7.94179652e-01 -5.33247084e-02 -6.92649666e+01] [-2.71859388e-01 2.69251294e-01 9.23902708e-01 1.02851893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139072329 meters 0.5382629404823569 Centerline is valid? [False, False] Translation: X:-35.63, Y:-69.20, Z:102.93 [[ 7.22448481e-01 -5.65383051e-01 3.98007787e-01 -3.56338870e+01] [ 6.37870697e-01 7.67125684e-01 -6.81113718e-02 -6.91992403e+01] [-2.66812981e-01 3.03084462e-01 9.14850066e-01 1.02933685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.199072329 meters 0.5705710874656111 Centerline is valid? [False, False] Translation: X:-35.91, Y:-69.10, Z:103.04 [[ 6.90337519e-01 -5.94330915e-01 4.12558933e-01 -3.59059801e+01] [ 6.77788755e-01 7.30730106e-01 -8.14611264e-02 -6.91045436e+01] [-2.53054367e-01 3.35863478e-01 9.07281220e-01 1.03038095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.259072329 meters 0.6058393430158573 Centerline is valid? [False, False] Translation: X:-36.22, Y:-69.00, Z:103.18 [[ 6.63740947e-01 -6.18575527e-01 4.20490514e-01 -3.62214394e+01] [ 7.09813438e-01 6.98174906e-01 -9.33631825e-02 -6.90039780e+01] [-2.35823746e-01 3.60438785e-01 9.02480495e-01 1.03176382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.319072329 meters 0.6299799939748933 Centerline is valid? [False, False] Translation: X:-36.58, Y:-68.92, Z:103.34 [[ 0.64905788 -0.62834253 0.42884676 -36.57868487] [ 0.7272713 0.67787928 -0.10749944 -68.91790328] [ -0.22315986 0.3816613 0.89695838 103.34468398] [ 0. 0. 0. 1. ]] SLAMing on 288.379072329 meters 0.6546219875480103 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.81, Z:103.54 [[ 0.62938209 -0.64368291 0.43537397 -36.95937037] [ 0.74982748 0.65014869 -0.12274134 -68.80599383] [ -0.20405131 0.40370657 0.89184307 103.53719889] [ 0. 0. 0. 1. ]] SLAMing on 288.439072329 meters 0.6790219186202675 Centerline is valid? [False, False] Translation: X:-37.37, Y:-68.69, Z:103.76 [[ 0.61666624 -0.6506618 0.44312749 -37.37163897] [ 0.76446474 0.62933009 -0.13977589 -68.68769131] [ -0.18792663 0.42495041 0.88549462 103.75819732] [ 0. 0. 0. 1. ]] SLAMing on 288.49907232899994 meters 0.6881215808762073 Centerline is valid? [False, False] Translation: X:-37.81, Y:-68.59, Z:104.00 [[ 0.61300954 -0.64966463 0.4496167 -37.80948662] [ 0.76970822 0.61945421 -0.1543559 -68.5884344 ] [ -0.17823739 0.44069531 0.87978354 104.00131429] [ 0. 0. 0. 1. ]] SLAMing on 288.55907232899995 meters 0.6883026215446728 Centerline is valid? [False, False] Translation: X:-38.26, Y:-68.47, Z:104.26 [[ 0.61121707 -0.64599542 0.45727849 -38.25549269] [ 0.77238078 0.6129545 -0.16647737 -68.46935554] [ -0.17274729 0.45494693 0.87360269 104.26002173] [ 0. 0. 0. 1. ]] SLAMing on 288.61907232899995 meters 0.6824702696279359 Centerline is valid? [False, False] Translation: X:-38.72, Y:-68.35, Z:104.53 [[ 0.61718206 -0.63413004 0.46579543 -38.71590268] [ 0.7664233 0.61843784 -0.17357985 -68.34910005] [ -0.17799332 0.46412685 0.86770078 104.5341629 ] [ 0. 0. 0. 1. ]] SLAMing on 288.67907232899995 meters 0.6872776380968053 Centerline is valid? [False, False] Translation: X:-39.16, Y:-68.23, Z:104.81 [[ 0.63143181 -0.61629787 0.47060684 -39.15904094] [ 0.75052827 0.63830308 -0.17110375 -68.23317843] [ -0.19493892 0.46124409 0.86559385 104.80933922] [ 0. 0. 0. 1. ]] SLAMing on 288.73907232899995 meters 0.6798191401337139 Centerline is valid? [False, False] Translation: X:-39.59, Y:-68.14, Z:105.08 [[ 0.64265554 -0.60409708 0.47123303 -39.58966325] [ 0.73689025 0.65573403 -0.16433396 -68.14317264] [ -0.20972987 0.45285715 0.86656435 105.07643554] [ 0. 0. 0. 1. ]] SLAMing on 288.79907232899996 meters 0.6816891641772581 Centerline is valid? [False, False] Translation: X:-39.98, Y:-68.08, Z:105.32 [[ 0.64130499 -0.60662437 0.4698242 -39.98347154] [ 0.73350065 0.66439569 -0.14337068 -68.081225 ] [ -0.22517703 0.43656069 0.87103965 105.32234507] [ 0. 0. 0. 1. ]] SLAMing on 288.85907232899996 meters 0.6649440461034756 Centerline is valid? [False, False] Translation: X:-40.37, Y:-68.00, Z:105.56 [[ 0.65899641 -0.58851114 0.46837845 -40.36972566] [ 0.7103945 0.69159377 -0.13052862 -67.99577791] [ -0.24711007 0.41875136 0.87383289 105.56070766] [ 0. 0. 0. 1. ]] SLAMing on 288.91907232899996 meters 0.63560492859133 Centerline is valid? [False, False] Translation: X:-40.74, Y:-67.93, Z:105.78 [[ 0.6896949 -0.55214675 0.46846015 -40.73755304] [ 0.66461173 0.73950706 -0.10686694 -67.92678859] [ -0.28742335 0.3850497 0.87699746 105.78269757] [ 0. 0. 0. 1. ]] SLAMing on 288.97907232899996 meters 0.6234710218589551 Centerline is valid? [False, False] Translation: X:-41.07, Y:-67.88, Z:105.98 [[ 7.01313499e-01 -5.39315551e-01 4.66152456e-01 -4.10659508e+01] [ 6.45353788e-01 7.58098736e-01 -9.38338648e-02 -6.78764559e+01] [-3.02783526e-01 3.66640210e-01 8.79714211e-01 1.05979905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03907232899996 meters 0.23374238340939313 Centerline is valid? [False, False] Translation: X:-41.38, Y:-67.82, Z:106.18 [[ 7.19284690e-01 -5.12711167e-01 4.68782245e-01 -4.13832373e+01] [ 6.14925678e-01 7.83858597e-01 -8.62096854e-02 -6.78216917e+01] [-3.23258324e-01 3.50275547e-01 8.79096751e-01 1.06177435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09907232899997 meters 0.22136587754845372 Centerline is valid? [False, False] Translation: X:-41.68, Y:-67.78, Z:106.36 [[ 7.19970265e-01 -5.11275057e-01 4.69298023e-01 -4.16838586e+01] [ 6.07286668e-01 7.91443265e-01 -6.94295340e-02 -6.77795321e+01] [-3.35925171e-01 3.34985633e-01 8.80306143e-01 1.06355994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15907232899997 meters 0.21623043661832664 Centerline is valid? [False, False] Translation: X:-41.98, Y:-67.74, Z:106.53 [[ 7.24011497e-01 -5.08738587e-01 4.65824434e-01 -4.19834444e+01] [ 5.99759197e-01 7.97866514e-01 -6.08106165e-02 -6.77383978e+01] [-3.40729010e-01 3.23410074e-01 8.82785175e-01 1.06531113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21907232899997 meters 0.21136365580559613 Centerline is valid? [False, False] Translation: X:-42.28, Y:-67.70, Z:106.70 [[ 7.24166500e-01 -5.11931122e-01 4.62070780e-01 -4.22815220e+01] [ 5.98995457e-01 7.98957319e-01 -5.35877361e-02 -6.76994006e+01] [-3.41741602e-01 3.15584742e-01 8.85222542e-01 1.06699621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279072329 meters 0.25701653566695914 Centerline is valid? [False, False] Translation: X:-42.58, Y:-67.66, Z:106.87 [[ 7.29438275e-01 -5.08222764e-01 4.57853060e-01 -4.25823526e+01] [ 5.88884191e-01 8.07110225e-01 -4.22905958e-02 -6.76555653e+01] [-3.48044843e-01 3.00470808e-01 8.88021442e-01 1.06865817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.339072329 meters 0.24747970112710935 Centerline is valid? [False, False] Translation: X:-42.87, Y:-67.61, Z:107.03 [[ 7.31028500e-01 -5.10041582e-01 4.53271350e-01 -4.28744726e+01] [ 5.87301612e-01 8.08502361e-01 -3.74265740e-02 -6.76148382e+01] [-3.47381848e-01 2.93566887e-01 8.90586512e-01 1.07026501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.399072329 meters 0.23468338656805926 Centerline is valid? [False, False] Translation: X:-43.17, Y:-67.58, Z:107.19 [[ 7.29134158e-01 -5.09080836e-01 4.57383954e-01 -4.31715230e+01] [ 5.87114433e-01 8.08710811e-01 -3.58255066e-02 -6.75750236e+01] [-3.51653269e-01 2.94658321e-01 8.88547383e-01 1.07191336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.459072329 meters 0.2193249517222734 Centerline is valid? [False, False] Translation: X:-43.48, Y:-67.54, Z:107.36 [[ 7.24737975e-01 -5.10055022e-01 4.63248035e-01 -4.34760947e+01] [ 5.89214864e-01 8.07304910e-01 -3.29336834e-02 -6.75361372e+01] [-3.57184422e-01 2.96820919e-01 8.85616526e-01 1.07360603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.519072329 meters 0.2567235878418756 Centerline is valid? [False, False] Translation: X:-43.77, Y:-67.50, Z:107.52 [[ 7.25231402e-01 -5.11772158e-01 4.60574285e-01 -4.37745020e+01] [ 5.87139261e-01 8.09084168e-01 -2.55009439e-02 -6.74968638e+01] [-3.59592689e-01 2.88915331e-01 8.87254772e-01 1.07522883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.579072329 meters 0.25952430947190985 Centerline is valid? [False, False] Translation: X:-44.08, Y:-67.46, Z:107.69 [[ 7.23741240e-01 -5.11880439e-01 4.62792645e-01 -4.40770004e+01] [ 5.87005711e-01 8.09258943e-01 -2.28966872e-02 -6.74568272e+01] [-3.62798721e-01 2.88233203e-01 8.86170813e-01 1.07688579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.639072329 meters 0.2502785056173436 Centerline is valid? [False, False] Translation: X:-44.37, Y:-67.42, Z:107.85 [[ 7.25984862e-01 -5.06326924e-01 4.65380518e-01 -4.43727874e+01] [ 5.81066751e-01 8.13577297e-01 -2.12934889e-02 -6.74153136e+01] [-3.67841557e-01 2.85875896e-01 8.84854542e-01 1.07849656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.699072329 meters 0.25180370822471376 Centerline is valid? [False, False] Translation: X:-44.67, Y:-67.37, Z:108.02 [[ 7.30262739e-01 -4.95590388e-01 4.70219629e-01 -4.46680813e+01] [ 5.68128681e-01 8.22800766e-01 -1.51228399e-02 -6.73670020e+01] [-3.79402337e-01 2.78188904e-01 8.82419855e-01 1.08016870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.759072329 meters 0.22662260252003766 Centerline is valid? [False, False] Translation: X:-44.95, Y:-67.32, Z:108.18 [[ 7.33692314e-01 -4.87127525e-01 4.73711265e-01 -4.49545527e+01] [ 5.58478951e-01 8.29431018e-01 -1.20601617e-02 -6.73220687e+01] [-3.87035980e-01 2.73406218e-01 8.80597632e-01 1.08181410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.819072329 meters 0.2482236702008748 Centerline is valid? [False, False] Translation: X:-45.24, Y:-67.28, Z:108.34 [[ 7.35476964e-01 -4.85987903e-01 4.72111633e-01 -4.52360797e+01] [ 5.55684095e-01 8.31334565e-01 -9.90085456e-03 -6.72805097e+01] [-3.87671023e-01 2.69626776e-01 8.81483170e-01 1.08343388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.879072329 meters 0.21129161756892792 Centerline is valid? [False, False] Translation: X:-45.52, Y:-67.24, Z:108.50 [[ 7.39834125e-01 -4.77733287e-01 4.73726053e-01 -4.55171449e+01] [ 5.46810447e-01 8.37200354e-01 -9.69030741e-03 -6.72378331e+01] [-3.91974237e-01 2.66207575e-01 8.80618944e-01 1.08503841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.939072329 meters 0.22580142297640848 Centerline is valid? [False, False] Translation: X:-45.80, Y:-67.19, Z:108.67 [[ 7.42995692e-01 -4.72036735e-01 4.74487852e-01 -4.57994415e+01] [ 5.39415126e-01 8.42010851e-01 -7.00347119e-03 -6.71942215e+01] [-3.96218025e-01 2.61149473e-01 8.80234190e-01 1.08667177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99907232899994 meters 0.22316254313886583 Centerline is valid? [False, False] Translation: X:-46.08, Y:-67.15, Z:108.83 [[ 7.46001213e-01 -4.68108832e-01 4.73662657e-01 -4.60828285e+01] [ 5.32478894e-01 8.46440629e-01 -2.11873588e-03 -6.71545042e+01] [-3.99935518e-01 2.53795947e-01 8.80703809e-01 1.08827306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05907232899995 meters 0.22610090810238406 Centerline is valid? [False, False] Translation: X:-46.37, Y:-67.12, Z:108.99 [[ 7.47319497e-01 -4.67147243e-01 4.72532563e-01 -4.63658073e+01] [ 5.28347775e-01 8.49019762e-01 3.75137521e-03 -6.71155865e+01] [-4.02941929e-01 2.46858053e-01 8.81305227e-01 1.08987732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11907232899995 meters 0.2194473172767253 Centerline is valid? [False, False] Translation: X:-46.65, Y:-67.08, Z:109.15 [[ 7.47352562e-01 -4.68188092e-01 4.71448893e-01 -4.66456342e+01] [ 5.28036312e-01 8.49198655e-01 6.26877463e-03 -6.70808438e+01] [-4.03288731e-01 2.44257150e-01 8.81871104e-01 1.09147536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17907232899995 meters 0.22172153157623606 Centerline is valid? [False, False] Translation: X:-46.94, Y:-67.05, Z:109.31 [[ 7.43576638e-01 -4.74387839e-01 4.71221776e-01 -4.69383695e+01] [ 5.34091369e-01 8.45386186e-01 8.28285361e-03 -6.70457529e+01] [-4.02293665e-01 2.45516547e-01 8.81975868e-01 1.09312368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23907232899995 meters 0.22981295783992342 Centerline is valid? [False, False] Translation: X:-47.24, Y:-67.01, Z:109.48 [[ 7.38714670e-01 -4.79793984e-01 4.73390293e-01 -4.72398505e+01] [ 5.42115940e-01 8.40284423e-01 5.69173742e-03 -6.70124248e+01] [-4.00513351e-01 2.52427854e-01 8.80834397e-01 1.09477878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29907232899996 meters 0.24452268586834122 Centerline is valid? [False, False] Translation: X:-47.55, Y:-66.98, Z:109.65 [[ 7.35447050e-01 -4.81552293e-01 4.76681262e-01 -4.75474169e+01] [ 5.45654482e-01 8.37997085e-01 4.69797864e-03 -6.69752492e+01] [-4.01719831e-01 2.56648153e-01 8.79063651e-01 1.09651487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35907232899996 meters 0.22755691569636557 Centerline is valid? [False, False] Translation: X:-47.84, Y:-66.94, Z:109.82 [[ 7.34757764e-01 -4.81516832e-01 4.77778786e-01 -4.78361365e+01] [ 5.44596116e-01 8.38662990e-01 7.71093489e-03 -6.69381266e+01] [-4.04408330e-01 2.54530802e-01 8.78446341e-01 1.09815262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41907232899996 meters 0.321070710828087 Centerline is valid? [False, False] Translation: X:-48.13, Y:-66.90, Z:109.98 [[ 7.34293315e-01 -4.81577877e-01 4.78430847e-01 -4.81327584e+01] [ 5.45475980e-01 8.38101860e-01 6.42088470e-03 -6.69023210e+01] [-4.04065939e-01 2.56257722e-01 8.78101758e-01 1.09981788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47907232899996 meters 0.2807943874426884 Centerline is valid? [False, False] Translation: X:-48.42, Y:-66.87, Z:110.15 [[ 7.28263112e-01 -4.87976558e-01 4.81156647e-01 -4.84190376e+01] [ 5.55324177e-01 8.31628927e-01 2.89574685e-03 -6.68676373e+01] [-4.01556843e-01 2.65089054e-01 8.76629851e-01 1.10146313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53907232899996 meters 0.2624682842664121 Centerline is valid? [False, False] Translation: X:-48.72, Y:-66.83, Z:110.32 [[ 7.27626730e-01 -4.88481886e-01 4.81606467e-01 -4.87204170e+01] [ 5.57796940e-01 8.29976953e-01 -9.12063159e-04 -6.68300380e+01] [-3.99276742e-01 2.69302255e-01 8.76387117e-01 1.10316182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59907232899997 meters 0.2725901308140673 Centerline is valid? [False, False] Translation: X:-49.02, Y:-66.79, Z:110.49 [[ 7.27116536e-01 -4.87733965e-01 4.83132613e-01 -4.90194490e+01] [ 5.58723901e-01 8.29345749e-01 -3.63729766e-03 -6.67905641e+01] [-3.98909946e-01 2.72582478e-01 8.75539632e-01 1.10487437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65907232899997 meters 0.2642689747376279 Centerline is valid? [False, False] Translation: X:-49.32, Y:-66.75, Z:110.66 [[ 7.21353299e-01 -4.94041474e-01 4.85358053e-01 -4.93157915e+01] [ 5.66295963e-01 8.24197536e-01 -2.70253302e-03 -6.67547870e+01] [-3.98695748e-01 2.76805787e-01 8.74311304e-01 1.10662429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71907232899997 meters 0.25023006108962853 Centerline is valid? [False, False] Translation: X:-49.62, Y:-66.71, Z:110.84 [[ 7.20328304e-01 -4.94277687e-01 4.86638164e-01 -4.96173483e+01] [ 5.68332658e-01 8.22780110e-01 -5.55700222e-03 -6.67147129e+01] [-3.97649500e-01 2.80575227e-01 8.73585953e-01 1.10836172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.779072329 meters 0.25867467678047573 Centerline is valid? [False, False] Translation: X:-49.93, Y:-66.68, Z:111.01 [[ 7.15882302e-01 -5.01770860e-01 4.85529128e-01 -4.99261746e+01] [ 5.76923683e-01 8.16771843e-01 -6.54367300e-03 -6.66767700e+01] [-3.93283096e-01 2.84797752e-01 8.74196000e-01 1.11013012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.839072329 meters 0.254213960723098 Centerline is valid? [False, False] Translation: X:-50.24, Y:-66.64, Z:111.19 [[ 7.12246594e-01 -5.04129512e-01 4.88424225e-01 -5.02381973e+01] [ 5.82420568e-01 8.12821609e-01 -1.03592416e-02 -6.66350476e+01] [-3.91779365e-01 2.91846649e-01 8.72544820e-01 1.11193891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.899072329 meters 0.2535482383299181 Centerline is valid? [False, False] Translation: X:-50.55, Y:-66.59, Z:111.38 [[ 7.12198293e-01 -5.01475047e-01 4.91219267e-01 -5.05547516e+01] [ 5.82004478e-01 8.13068820e-01 -1.37797347e-02 -6.65912204e+01] [-3.92484877e-01 2.95705717e-01 8.70926949e-01 1.11377310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.959072329 meters 0.23607071378898006 Centerline is valid? [False, False] Translation: X:-50.87, Y:-66.55, Z:111.56 [[ 7.12281271e-01 -5.00401295e-01 4.92192985e-01 -5.08679624e+01] [ 5.82530030e-01 8.12635005e-01 -1.68259645e-02 -6.65464916e+01] [-3.91553514e-01 2.98702014e-01 8.70323476e-01 1.11558820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.019072329 meters 0.2362803669931691 Centerline is valid? [False, False] Translation: X:-51.18, Y:-66.50, Z:111.74 [[ 7.14837817e-01 -4.95480922e-01 4.93462815e-01 -5.11839421e+01] [ 5.77882104e-01 8.15924648e-01 -1.78673749e-02 -6.64995709e+01] [-3.93775530e-01 2.97935605e-01 8.69583352e-01 1.11744282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.079072329 meters 0.2345025532695896 Centerline is valid? [False, False] Translation: X:-51.50, Y:-66.45, Z:111.93 [[ 7.16873783e-01 -4.89764576e-01 4.96208262e-01 -5.14964064e+01] [ 5.72573165e-01 8.19651802e-01 -1.81904937e-02 -6.64499712e+01] [-3.97808937e-01 2.97155823e-01 8.68012942e-01 1.11932750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.139072329 meters 0.2566225234200117 Centerline is valid? [False, False] Translation: X:-51.81, Y:-66.40, Z:112.12 [[ 7.20146702e-01 -4.83080838e-01 4.98017702e-01 -5.18050883e+01] [ 5.64468882e-01 8.25305322e-01 -1.56846170e-02 -6.63978672e+01] [-4.03439722e-01 2.92410720e-01 8.67025006e-01 1.12118846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.199072329 meters 0.2761657123163974 Centerline is valid? [False, False] Translation: X:-52.11, Y:-66.35, Z:112.30 [[ 7.22087157e-01 -4.79906487e-01 4.98276932e-01 -5.21087005e+01] [ 5.61403417e-01 8.27373788e-01 -1.66978406e-02 -6.63483616e+01] [-4.04247871e-01 2.91791668e-01 8.66857129e-01 1.12304750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.259072329 meters 0.28224615219269267 Centerline is valid? [False, False] Translation: X:-52.40, Y:-66.30, Z:112.48 [[ 7.23178771e-01 -4.77943776e-01 4.98580196e-01 -5.24020423e+01] [ 5.57873153e-01 8.29812894e-01 -1.37151720e-02 -6.63008993e+01] [-4.07173194e-01 2.88063027e-01 8.66735070e-01 1.12483201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.319072329 meters 0.263118175271338 Centerline is valid? [False, False] Translation: X:-52.70, Y:-66.25, Z:112.66 [[ 7.24418810e-01 -4.74761450e-01 4.99818921e-01 -5.26971896e+01] [ 5.53552964e-01 8.32737181e-01 -1.13094327e-02 -6.62515439e+01] [-4.10848517e-01 2.84869011e-01 8.66056085e-01 1.12662294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.379072329 meters 0.2586493799986581 Centerline is valid? [False, False] Translation: X:-52.99, Y:-66.21, Z:112.84 [[ 7.23426054e-01 -4.73746914e-01 5.02213705e-01 -5.29864594e+01] [ 5.53552523e-01 8.32729962e-01 -1.18496721e-02 -6.62059319e+01] [-4.12594654e-01 2.86574025e-01 8.64662350e-01 1.12839930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.439072329 meters 0.2432938770813945 Centerline is valid? [False, False] Translation: X:-53.28, Y:-66.16, Z:113.02 [[ 7.22768318e-01 -4.75023671e-01 5.01954649e-01 -5.32815833e+01] [ 5.54695558e-01 8.31975670e-01 -1.13720208e-02 -6.61607372e+01] [-4.12212076e-01 2.86651351e-01 8.64819176e-01 1.13019099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49907232899994 meters 0.23101311611500436 Centerline is valid? [False, False] Translation: X:-53.58, Y:-66.11, Z:113.20 [[ 7.22139434e-01 -4.75110380e-01 5.02777052e-01 -5.35789331e+01] [ 5.55235458e-01 8.31611810e-01 -1.16354075e-02 -6.61145752e+01] [-4.12587232e-01 2.87562034e-01 8.64337812e-01 1.13199648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55907232899995 meters 0.26883943797598914 Centerline is valid? [False, False] Translation: X:-53.88, Y:-66.07, Z:113.38 [[ 7.23028538e-01 -4.72969744e-01 5.03516986e-01 -5.38762522e+01] [ 5.54261887e-01 8.32221824e-01 -1.41632147e-02 -6.60661951e+01] [-4.12339052e-01 2.89320683e-01 8.63869231e-01 1.13379526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61907232899995 meters 0.2518970373625114 Centerline is valid? [False, False] Translation: X:-54.17, Y:-66.02, Z:113.56 [[ 7.17612114e-01 -4.78021748e-01 5.06485994e-01 -5.41707361e+01] [ 5.59907106e-01 8.28477175e-01 -1.13843527e-02 -6.60198187e+01] [-4.14170117e-01 2.91754657e-01 8.62173030e-01 1.13560126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67907232899995 meters 0.24623188725673514 Centerline is valid? [False, False] Translation: X:-54.47, Y:-65.97, Z:113.74 [[ 7.15209624e-01 -4.79152927e-01 5.08810049e-01 -5.44746080e+01] [ 5.62651674e-01 8.26599983e-01 -1.24724171e-02 -6.59704882e+01] [-4.14606183e-01 2.95203219e-01 8.60788460e-01 1.13744724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73907232899995 meters 0.25419758070972576 Centerline is valid? [False, False] Translation: X:-54.77, Y:-65.92, Z:113.93 [[ 7.14535405e-01 -4.77739345e-01 5.11081475e-01 -5.47732440e+01] [ 5.62919247e-01 8.26384051e-01 -1.45369318e-02 -6.59193224e+01] [-4.15404715e-01 2.98084751e-01 8.59409334e-01 1.13928453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79907232899996 meters 0.24585880899995818 Centerline is valid? [False, False] Translation: X:-55.07, Y:-65.87, Z:114.11 [[ 7.12288836e-01 -4.77441242e-01 5.14484669e-01 -5.50721880e+01] [ 5.64450888e-01 8.25319805e-01 -1.55696631e-02 -6.58678741e+01] [-4.17180788e-01 3.01491425e-01 8.57358216e-01 1.14113600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85907232899996 meters 0.2450586865107569 Centerline is valid? [False, False] Translation: X:-55.37, Y:-65.81, Z:114.30 [[ 7.11155270e-01 -4.77332059e-01 5.16151419e-01 -5.53747633e+01] [ 5.66143330e-01 8.24112383e-01 -1.79027925e-02 -6.58144905e+01] [-4.16821199e-01 3.04947348e-01 8.56310226e-01 1.14302068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91907232899996 meters 0.26872080593281716 Centerline is valid? [False, False] Translation: X:-55.68, Y:-65.76, Z:114.49 [[ 7.09521589e-01 -4.78625188e-01 5.17201164e-01 -5.56759802e+01] [ 5.70348071e-01 8.21092688e-01 -2.25804367e-02 -6.57635369e+01] [-4.13862528e-01 3.11005994e-01 8.55565941e-01 1.14490426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97907232899996 meters 0.2512880739180176 Centerline is valid? [False, False] Translation: X:-55.98, Y:-65.71, Z:114.68 [[ 7.05186895e-01 -4.84166589e-01 5.17971194e-01 -5.59803550e+01] [ 5.75881127e-01 8.17286805e-01 -2.00799951e-02 -6.57091891e+01] [-4.13608959e-01 3.12449984e-01 8.55162345e-01 1.14681295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03907232899996 meters 0.24029415421869274 Centerline is valid? [False, False] Translation: X:-56.29, Y:-65.65, Z:114.88 [[ 7.03237897e-01 -4.85441958e-01 5.19425226e-01 -5.62896418e+01] [ 5.79140140e-01 8.14917934e-01 -2.24824211e-02 -6.56537249e+01] [-4.12375021e-01 3.16630489e-01 8.54220098e-01 1.14875710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09907232899997 meters 0.3286141019028343 Centerline is valid? [False, False] Translation: X:-56.60, Y:-65.60, Z:115.07 [[ 7.01208028e-01 -4.84538955e-01 5.23000289e-01 -5.66032421e+01] [ 5.81418783e-01 8.13184118e-01 -2.61493846e-02 -6.55977851e+01] [-4.12625133e-01 3.22418350e-01 8.51931281e-01 1.15072601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15907232899997 meters 0.2919365744856407 Centerline is valid? [False, False] Translation: X:-56.91, Y:-65.54, Z:115.27 [[ 6.99563378e-01 -4.84928324e-01 5.24838643e-01 -5.69068106e+01] [ 5.84794283e-01 8.10607575e-01 -3.05124086e-02 -6.55429123e+01] [-4.10641849e-01 3.28268002e-01 8.50654684e-01 1.15266013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21907232899997 meters 0.6059430960395272 Centerline is valid? [False, False] Translation: X:-57.22, Y:-65.48, Z:115.47 [[ 6.98288950e-01 -4.81983765e-01 5.29229810e-01 -5.72234598e+01] [ 5.84071278e-01 8.11071977e-01 -3.19842037e-02 -6.54814877e+01] [-4.13827602e-01 3.31442148e-01 8.47875474e-01 1.15470471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279072329 meters 0.6097783515990273 Centerline is valid? [False, False] Translation: X:-57.54, Y:-65.42, Z:115.68 [[ 6.90928282e-01 -4.86308077e-01 5.34904256e-01 -5.75351957e+01] [ 5.91502981e-01 8.05685415e-01 -3.15473546e-02 -6.54216500e+01] [-4.15622824e-01 3.38194422e-01 8.44323517e-01 1.15678070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339072329 meters 0.6094962016602805 Centerline is valid? [False, False] Translation: X:-57.85, Y:-65.36, Z:115.88 [[ 6.91031866e-01 -4.84442738e-01 5.36460804e-01 -5.78491695e+01] [ 5.91008288e-01 8.05970538e-01 -3.34767905e-02 -6.53621443e+01] [-4.16154015e-01 3.40186310e-01 8.43260998e-01 1.15883169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399072329 meters 0.6087048808038465 Centerline is valid? [False, False] Translation: X:-58.16, Y:-65.30, Z:116.09 [[ 6.93011621e-01 -4.78823471e-01 5.38946172e-01 -5.81644549e+01] [ 5.86140312e-01 8.09473634e-01 -3.45249178e-02 -6.52971872e+01] [-4.19731375e-01 3.39824247e-01 8.41632375e-01 1.16092733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459072329 meters 0.6087931536751223 Centerline is valid? [False, False] Translation: X:-58.48, Y:-65.23, Z:116.30 [[ 6.93773957e-01 -4.75493830e-01 5.40909710e-01 -5.84771808e+01] [ 5.83096211e-01 8.11675817e-01 -3.43682542e-02 -6.52313747e+01] [-4.22701438e-01 3.39246202e-01 8.40378194e-01 1.16301808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519072329 meters 0.605864775567448 Centerline is valid? [False, False] Translation: X:-58.79, Y:-65.16, Z:116.52 [[ 6.95759944e-01 -4.69141563e-01 5.43897320e-01 -5.87903636e+01] [ 5.77423465e-01 8.15691348e-01 -3.50680235e-02 -6.51641617e+01] [-4.27200471e-01 3.38458002e-01 8.38418713e-01 1.16516873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579072329 meters 0.22923139339576504 Centerline is valid? [False, False] Translation: X:-59.10, Y:-65.10, Z:116.73 [[ 6.96823942e-01 -4.67153613e-01 5.44246172e-01 -5.90976991e+01] [ 5.75818593e-01 8.16777137e-01 -3.61670741e-02 -6.50990718e+01] [-4.27632251e-01 3.38589148e-01 8.38145600e-01 1.16727603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639072329 meters 0.6060418016580587 Centerline is valid? [False, False] Translation: X:-59.41, Y:-65.03, Z:116.94 [[ 6.96008831e-01 -4.67299514e-01 5.45163160e-01 -5.94070888e+01] [ 5.76368036e-01 8.16394411e-01 -3.60562355e-02 -6.50342517e+01] [-4.28219095e-01 3.39310078e-01 8.37554223e-01 1.16939905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699072329 meters 0.6091731610022316 Centerline is valid? [False, False] Translation: X:-59.72, Y:-64.97, Z:117.15 [[ 6.92526314e-01 -4.68316238e-01 5.48714139e-01 -5.97192273e+01] [ 5.79942663e-01 8.13799334e-01 -3.73785011e-02 -6.49673879e+01] [-4.29038241e-01 3.44108334e-01 8.35174019e-01 1.17153552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759072329 meters 0.6075607228657695 Centerline is valid? [False, False] Translation: X:-60.03, Y:-64.90, Z:117.37 [[ 6.92230730e-01 -4.66297957e-01 5.50801990e-01 -6.00331335e+01] [ 5.78999809e-01 8.14432953e-01 -3.81862047e-02 -6.49016153e+01] [-4.30785142e-01 3.45347911e-01 8.33761946e-01 1.17369504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819072329 meters 0.6093877010798079 Centerline is valid? [False, False] Translation: X:-60.34, Y:-64.84, Z:117.58 [[ 6.93135437e-01 -4.66230893e-01 5.49719947e-01 -6.03449298e+01] [ 5.77446494e-01 8.15618957e-01 -3.63491887e-02 -6.48359675e+01] [-4.31414895e-01 3.42628767e-01 8.34557797e-01 1.17579553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879072329 meters 0.6083543786944514 Centerline is valid? [False, False] Translation: X:-60.66, Y:-64.77, Z:117.80 [[ 6.91082942e-01 -4.65979030e-01 5.52510553e-01 -6.06615210e+01] [ 5.78977850e-01 8.14491528e-01 -3.72585540e-02 -6.47688985e+01] [-4.32653460e-01 3.45640123e-01 8.32672738e-01 1.17799473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.939072329 meters 0.6112920758483408 Centerline is valid? [False, False] Translation: X:-60.98, Y:-64.70, Z:118.02 [[ 6.89301525e-01 -4.64563713e-01 5.55917228e-01 -6.09802863e+01] [ 5.80296742e-01 8.13433587e-01 -3.97679736e-02 -6.47006788e+01] [-4.33726987e-01 3.50009081e-01 8.30285821e-01 1.18020171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99907232899994 meters 0.6116712890552909 Centerline is valid? [False, False] Translation: X:-61.30, Y:-64.63, Z:118.24 [[ 6.89567284e-01 -4.64379052e-01 5.55741898e-01 -6.12954413e+01] [ 5.79657746e-01 8.13920034e-01 -3.91289619e-02 -6.46281026e+01] [-4.34158794e-01 3.49122148e-01 8.30433542e-01 1.18239898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05907232899995 meters 0.6111687957513066 Centerline is valid? [False, False] Translation: X:-61.61, Y:-64.55, Z:118.46 [[ 6.92756854e-01 -4.57711940e-01 5.57303976e-01 -6.16060846e+01] [ 5.73639874e-01 8.18071637e-01 -4.11836249e-02 -6.45548833e+01] [-4.37064339e-01 3.48222021e-01 8.29286553e-01 1.18459085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11907232899995 meters 0.2368751111850025 Centerline is valid? [False, False] Translation: X:-61.91, Y:-64.48, Z:118.68 [[ 6.98364931e-01 -4.48085746e-01 5.58126856e-01 -6.19085863e+01] [ 5.62848708e-01 8.25516625e-01 -4.15166662e-02 -6.44795704e+01] [-4.42139972e-01 3.43134763e-01 8.28716344e-01 1.18675524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17907232899995 meters 0.2748747918545102 Centerline is valid? [False, False] Translation: X:-62.21, Y:-64.40, Z:118.89 [[ 7.03746253e-01 -4.39375145e-01 5.58292659e-01 -6.22063675e+01] [ 5.51489347e-01 8.33250764e-01 -3.94038613e-02 -6.44033759e+01] [-4.47884707e-01 3.35622774e-01 8.28707815e-01 1.18890911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23907232899995 meters 0.2267276131544777 Centerline is valid? [False, False] Translation: X:-62.49, Y:-64.33, Z:119.10 [[ 7.05622548e-01 -4.36961988e-01 5.57818108e-01 -6.24913842e+01] [ 5.47078754e-01 8.36264934e-01 -3.69567000e-02 -6.43325216e+01] [-4.50335050e-01 3.31247916e-01 8.29140013e-01 1.19102532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29907232899996 meters 0.22559685788761114 Centerline is valid? [False, False] Translation: X:-62.78, Y:-64.26, Z:119.31 [[ 7.08056991e-01 -4.30399594e-01 5.59831660e-01 -6.27784154e+01] [ 5.38484461e-01 8.41958949e-01 -3.37581782e-02 -6.42596499e+01] [-4.56825769e-01 3.25363363e-01 8.27918413e-01 1.19314918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35907232899996 meters 0.2983383625996278 Centerline is valid? [False, False] Translation: X:-63.06, Y:-64.19, Z:119.52 [[ 7.13882335e-01 -4.26861575e-01 5.55122696e-01 -6.30556354e+01] [ 5.28700574e-01 8.48360970e-01 -2.75566127e-02 -6.41879647e+01] [-4.59181570e-01 3.13165867e-01 8.31311870e-01 1.19517318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41907232899996 meters 0.2753991523218989 Centerline is valid? [False, False] Translation: X:-63.32, Y:-64.12, Z:119.71 [[ 7.21138638e-01 -4.19482487e-01 5.51356063e-01 -6.33236102e+01] [ 5.18015161e-01 8.54942871e-01 -2.70735857e-02 -6.41177309e+01] [-4.60021040e-01 3.05134609e-01 8.33830626e-01 1.19712442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47907232899996 meters 0.2711734000010205 Centerline is valid? [False, False] Translation: X:-63.58, Y:-64.05, Z:119.90 [[ 7.27771764e-01 -4.18008909e-01 5.43706549e-01 -6.35811101e+01] [ 5.11209071e-01 8.59127799e-01 -2.37636517e-02 -6.40524324e+01] [-4.57179993e-01 2.95242234e-01 8.38938900e-01 1.19896567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53907232899996 meters 0.28174098670706016 Centerline is valid? [False, False] Translation: X:-63.84, Y:-63.98, Z:120.08 [[ 7.38925993e-01 -4.09408343e-01 5.35138473e-01 -6.38362512e+01] [ 4.95188617e-01 8.68571966e-01 -1.92606801e-02 -6.39844037e+01] [-4.56920792e-01 2.79226697e-01 8.44544754e-01 1.20075255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59907232899997 meters 0.28295476717449847 Centerline is valid? [False, False] Translation: X:-64.09, Y:-63.91, Z:120.25 [[ 7.52196424e-01 -3.85280405e-01 5.34564822e-01 -6.40852463e+01] [ 4.66098750e-01 8.84542713e-01 -1.83342375e-02 -6.39121041e+01] [-4.65781595e-01 2.62950943e-01 8.44928581e-01 1.20252455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65907232899997 meters 0.2764816106816273 Centerline is valid? [False, False] Translation: X:-64.31, Y:-63.85, Z:120.41 [[ 7.70802948e-01 -3.64418129e-01 5.22553579e-01 -6.43054582e+01] [ 4.33803971e-01 9.00932613e-01 -1.15991981e-02 -6.38472435e+01] [-4.66558603e-01 2.35626514e-01 8.52527546e-01 1.20406490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71907232899997 meters 0.2814676036692277 Centerline is valid? [False, False] Translation: X:-64.51, Y:-63.79, Z:120.55 [[ 7.85115861e-01 -3.50658770e-01 5.10520825e-01 -6.45139016e+01] [ 4.08646811e-01 9.12691283e-01 -1.55114042e-03 -6.37868554e+01] [-4.65403985e-01 2.09840532e-01 8.59863990e-01 1.20552405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.779072329 meters 0.2863522281507741 Centerline is valid? [False, False] Translation: X:-64.69, Y:-63.73, Z:120.68 [[ 8.05838953e-01 -3.23546989e-01 4.95924316e-01 -6.46926894e+01] [ 3.70189482e-01 9.28945244e-01 4.52555236e-03 -6.37270182e+01] [-4.62150764e-01 1.79939100e-01 8.68353955e-01 1.20681324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.839072329 meters 0.3162733870714978 Centerline is valid? [False, False] Translation: X:-64.85, Y:-63.68, Z:120.79 [[ 8.21755180e-01 -3.09428960e-01 4.78510337e-01 -6.48458461e+01] [ 3.47373010e-01 9.37675844e-01 9.79809690e-03 -6.36774424e+01] [-4.51719399e-01 1.58169939e-01 8.78027252e-01 1.20788393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899072329 meters 0.2761803774893676 Centerline is valid? [False, False] Translation: X:-64.97, Y:-63.63, Z:120.88 [[ 8.44985430e-01 -2.87898593e-01 4.50681731e-01 -6.49664457e+01] [ 3.14656526e-01 9.49065320e-01 1.63183686e-02 -6.36267411e+01] [-4.32424437e-01 1.28021164e-01 8.92535539e-01 1.20877801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959072329 meters 0.3058921796056979 Centerline is valid? [False, False] Translation: X:-65.07, Y:-63.58, Z:120.95 [[ 8.65549155e-01 -2.68948088e-01 4.22482646e-01 -6.50715885e+01] [ 2.89199780e-01 9.57121267e-01 1.68037894e-02 -6.35836662e+01] [-4.08886472e-01 1.07637382e-01 9.06215232e-01 1.20954345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019072329 meters 0.2901900420319442 Centerline is valid? [False, False] Translation: X:-65.16, Y:-63.55, Z:121.02 [[ 8.80061395e-01 -2.65466286e-01 3.93725275e-01 -6.51610655e+01] [ 2.82430678e-01 9.59163847e-01 1.54151335e-02 -6.35504240e+01] [-3.81739248e-01 9.76338327e-02 9.19098896e-01 1.21015971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079072329 meters 0.28125192482488304 Centerline is valid? [False, False] Translation: X:-65.25, Y:-63.53, Z:121.07 [[ 8.87408456e-01 -2.78917438e-01 3.67030373e-01 -6.52460720e+01] [ 2.92698605e-01 9.56019537e-01 1.88194304e-02 -6.35270141e+01] [-3.56137274e-01 9.07287566e-02 9.30018567e-01 1.21069239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139072329 meters 0.2734069742505509 Centerline is valid? [False, False] Translation: X:-65.35, Y:-63.50, Z:121.12 [[ 8.86526263e-01 -3.04850382e-01 3.48048029e-01 -6.53483455e+01] [ 3.17600580e-01 9.47984123e-01 2.13535658e-02 -6.35047956e+01] [-3.36453648e-01 9.16097590e-02 9.37233479e-01 1.21119119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199072329 meters 0.27731430859787615 Centerline is valid? [False, False] Translation: X:-65.48, Y:-63.48, Z:121.17 [[ 8.78076520e-01 -3.39938677e-01 3.36783790e-01 -6.54772102e+01] [ 3.52575242e-01 9.35450404e-01 2.49647760e-02 -6.34829948e+01] [-3.23531025e-01 9.68206424e-02 9.41250997e-01 1.21173970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259072329 meters 0.3104717745037898 Centerline is valid? [False, False] Translation: X:-65.64, Y:-63.46, Z:121.23 [[ 8.69938415e-01 -3.65170432e-01 3.31447899e-01 -6.56359089e+01] [ 3.80125251e-01 9.24694862e-01 2.10762040e-02 -6.34608752e+01] [-3.14184576e-01 1.07656716e-01 9.43238084e-01 1.21231388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319072329 meters 0.2585216024336509 Centerline is valid? [False, False] Translation: X:-65.81, Y:-63.43, Z:121.30 [[ 8.73615141e-01 -3.61714687e-01 3.25513549e-01 -6.58102170e+01] [ 3.77679857e-01 9.25812218e-01 1.51546240e-02 -6.34301978e+01] [-3.06846071e-01 1.09700602e-01 9.45415923e-01 1.21295854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379072329 meters 0.3031810221402412 Centerline is valid? [False, False] Translation: X:-65.98, Y:-63.40, Z:121.36 [[ 8.72867970e-01 -3.63615137e-01 3.25400583e-01 -6.59811041e+01] [ 3.79898309e-01 9.24914908e-01 1.44805990e-02 -6.34042213e+01] [-3.06233215e-01 1.10979480e-01 9.45465374e-01 1.21357216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439072329 meters 0.29437364360751983 Centerline is valid? [False, False] Translation: X:-66.15, Y:-63.38, Z:121.42 [[ 8.73392966e-01 -3.63163470e-01 3.24495026e-01 -6.61482496e+01] [ 3.80253546e-01 9.24810217e-01 1.15456782e-02 -6.33773090e+01] [-3.04289284e-01 1.13306470e-01 9.45816936e-01 1.21418516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49907232899994 meters 0.2768884828598953 Centerline is valid? [False, False] Translation: X:-66.31, Y:-63.35, Z:121.48 [[ 8.74369657e-01 -3.61635462e-01 3.23569925e-01 -6.63142849e+01] [ 3.79160741e-01 9.25281608e-01 9.54351662e-03 -6.33486797e+01] [-3.02844575e-01 1.14340451e-01 9.46156131e-01 1.21478841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55907232899995 meters 0.2810389507372457 Centerline is valid? [False, False] Translation: X:-66.48, Y:-63.32, Z:121.54 [[ 8.76516108e-01 -3.58724154e-01 3.20992982e-01 -6.64805227e+01] [ 3.75941563e-01 9.26600087e-01 8.95657346e-03 -6.33184131e+01] [-3.00645064e-01 1.12824022e-01 9.47039221e-01 1.21539577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61907232899995 meters 0.33261968363105177 Centerline is valid? [False, False] Translation: X:-66.64, Y:-63.29, Z:121.60 [[ 8.79626022e-01 -3.53965698e-01 3.17752019e-01 -6.66435823e+01] [ 3.70967707e-01 9.28615429e-01 7.50635707e-03 -6.32859834e+01] [-2.97726421e-01 1.11272951e-01 9.48144139e-01 1.21597384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67907232899995 meters 0.33147488918188767 Centerline is valid? [False, False] Translation: X:-66.80, Y:-63.25, Z:121.66 [[ 8.84088917e-01 -3.44493606e-01 3.15770395e-01 -6.68041488e+01] [ 3.61012054e-01 9.32537739e-01 6.60775049e-03 -6.32519195e+01] [-2.96744138e-01 1.08155080e-01 9.48812624e-01 1.21656006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73907232899995 meters 0.32255598027054183 Centerline is valid? [False, False] Translation: X:-66.96, Y:-63.22, Z:121.71 [[ 8.88609891e-01 -3.31434470e-01 3.17054654e-01 -6.69587899e+01] [ 3.48575671e-01 9.37276363e-01 2.83202165e-03 -6.32162333e+01] [-2.98106463e-01 1.08000976e-01 9.48403040e-01 1.21713754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79907232899996 meters 0.31304927258874743 Centerline is valid? [False, False] Translation: X:-67.10, Y:-63.19, Z:121.77 [[ 8.92380778e-01 -3.24702600e-01 3.13408309e-01 -6.71027370e+01] [ 3.41798200e-01 9.39773277e-01 4.23355845e-04 -6.31859025e+01] [-2.94670219e-01 1.06744601e-01 9.49618372e-01 1.21768299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85907232899996 meters 0.29650467409168035 Centerline is valid? [False, False] Translation: X:-67.24, Y:-63.16, Z:121.82 [[ 8.94208439e-01 -3.25670098e-01 3.07132308e-01 -6.72391917e+01] [ 3.40713100e-01 9.40154434e-01 4.92184500e-03 -6.31596739e+01] [-2.90354698e-01 1.00242845e-01 9.51654097e-01 1.21817318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91907232899996 meters 0.2840838310281011 Centerline is valid? [False, False] Translation: X:-67.37, Y:-63.14, Z:121.86 [[ 8.95047332e-01 -3.28892139e-01 3.01197998e-01 -6.73748404e+01] [ 3.42873643e-01 9.39356662e-01 6.83564177e-03 -6.31362194e+01] [-2.85180535e-01 9.71546320e-02 9.53537120e-01 1.21864380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97907232899996 meters 0.2954037306481483 Centerline is valid? [False, False] Translation: X:-67.52, Y:-63.11, Z:121.91 [[ 8.95544954e-01 -3.32282214e-01 2.95952302e-01 -6.75244176e+01] [ 3.47442280e-01 9.37700241e-01 1.45608362e-03 -6.31139193e+01] [-2.77998375e-01 1.01522354e-01 9.55201610e-01 1.21912507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03907232899996 meters 0.26710577406026936 Centerline is valid? [False, False] Translation: X:-67.67, Y:-63.09, Z:121.96 [[ 8.93404217e-01 -3.39305038e-01 2.94450328e-01 -6.76693869e+01] [ 3.54176223e-01 9.35173853e-01 3.01126573e-03 -6.30948337e+01] [-2.76383985e-01 1.01597027e-01 9.55662041e-01 1.21959724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09907232899997 meters 0.3092052533744183 Centerline is valid? [False, False] Translation: X:-67.83, Y:-63.07, Z:122.01 [[ 8.88313680e-01 -3.49753181e-01 2.97609675e-01 -6.78278010e+01] [ 3.65232802e-01 9.30908240e-01 3.85344954e-03 -6.30719917e+01] [-2.78395055e-01 1.05273744e-01 9.54679858e-01 1.22012563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15907232899997 meters 0.28927560878696257 Centerline is valid? [False, False] Translation: X:-67.99, Y:-63.05, Z:122.06 [[ 8.81870366e-01 -3.64712332e-01 2.98813608e-01 -6.79897643e+01] [ 3.80427795e-01 9.24791122e-01 6.00617978e-03 -6.30535860e+01] [-2.78530699e-01 1.08380330e-01 9.54292593e-01 1.22064019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21907232899997 meters 0.26609401115000825 Centerline is valid? [False, False] Translation: X:-68.16, Y:-63.03, Z:122.12 [[ 8.77467968e-01 -3.77531952e-01 2.95837102e-01 -6.81633046e+01] [ 3.93729826e-01 9.19211348e-01 5.22701132e-03 -6.30300395e+01] [-2.73910185e-01 1.11893356e-01 9.55224103e-01 1.22116202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279072329 meters 0.2643699813176138 Centerline is valid? [False, False] Translation: X:-68.34, Y:-63.00, Z:122.17 [[ 8.75731100e-01 -3.81842348e-01 2.95451284e-01 -6.83411397e+01] [ 3.99666855e-01 9.16660461e-01 6.46052858e-05 -6.29994047e+01] [-2.70853180e-01 1.18025509e-01 9.55357804e-01 1.22172318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339072329 meters 0.2880014297753433 Centerline is valid? [False, False] Translation: X:-68.52, Y:-62.97, Z:122.23 [[ 8.75569299e-01 -3.81461685e-01 2.96420960e-01 -6.85192891e+01] [ 4.00136287e-01 9.16452101e-01 -2.54936547e-03 -6.29663251e+01] [-2.70683126e-01 1.20840928e-01 9.55053986e-01 1.22228225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399072329 meters 0.29756893642440807 Centerline is valid? [False, False] Translation: X:-68.70, Y:-62.93, Z:122.29 [[ 8.76888345e-01 -3.76053836e-01 2.99416671e-01 -6.86966233e+01] [ 3.95381123e-01 9.18506942e-01 -4.33188813e-03 -6.29295831e+01] [-2.73387268e-01 1.22182282e-01 9.54112620e-01 1.22289244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459072329 meters 0.26405122728984365 Centerline is valid? [False, False] Translation: X:-68.88, Y:-62.89, Z:122.35 [[ 8.76672273e-01 -3.72141794e-01 3.04887211e-01 -6.88767088e+01] [ 3.92531167e-01 9.19718569e-01 -6.08576652e-03 -6.28879519e+01] [-2.78145661e-01 1.25012955e-01 9.52369021e-01 1.22353255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519072329 meters 0.2690063908222512 Centerline is valid? [False, False] Translation: X:-69.05, Y:-62.85, Z:122.41 [[ 8.77588913e-01 -3.68891668e-01 3.06197055e-01 -6.90524122e+01] [ 3.89536339e-01 9.20985343e-01 -6.88756788e-03 -6.28505502e+01] [-2.79462234e-01 1.25319333e-01 9.51943236e-01 1.22414311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579072329 meters 0.28635191644297125 Centerline is valid? [False, False] Translation: X:-69.22, Y:-62.81, Z:122.47 [[ 8.81793475e-01 -3.59382692e-01 3.05424864e-01 -6.92188025e+01] [ 3.79261434e-01 9.25268540e-01 -6.23642530e-03 -6.28128743e+01] [-2.80358755e-01 1.21335111e-01 9.52195757e-01 1.22471237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639072329 meters 0.2751669308853653 Centerline is valid? [False, False] Translation: X:-69.37, Y:-62.78, Z:122.52 [[ 8.85571300e-01 -3.55931588e-01 2.98456323e-01 -6.93718595e+01] [ 3.75476298e-01 9.26789874e-01 -8.83627528e-03 -6.27781370e+01] [-2.73461188e-01 1.19888427e-01 9.54382389e-01 1.22524609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699072329 meters 0.28110269777559155 Centerline is valid? [False, False] Translation: X:-69.53, Y:-62.74, Z:122.58 [[ 8.86299484e-01 -3.57083290e-01 2.94897862e-01 -6.95322358e+01] [ 3.76781685e-01 9.26238646e-01 -1.08412788e-02 -6.27433635e+01] [-2.69274557e-01 1.20720733e-01 9.55467277e-01 1.22579078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759072329 meters 0.27454882721008295 Centerline is valid? [False, False] Translation: X:-69.69, Y:-62.71, Z:122.63 [[ 8.84042299e-01 -3.61403778e-01 2.96406010e-01 -6.96887833e+01] [ 3.80575684e-01 9.24718670e-01 -7.58480650e-03 -6.27141359e+01] [-2.71350994e-01 1.19510210e-01 9.55031909e-01 1.22631620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819072329 meters 0.2665795152671802 Centerline is valid? [False, False] Translation: X:-69.85, Y:-62.69, Z:122.69 [[ 8.79986360e-01 -3.72164216e-01 2.95157250e-01 -6.98510144e+01] [ 3.90707937e-01 9.20505132e-01 -4.19635327e-03 -6.26869951e+01] [-2.70132031e-01 1.19013014e-01 9.55439474e-01 1.22685773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879072329 meters 0.28452087688387756 Centerline is valid? [False, False] Translation: X:-70.02, Y:-62.66, Z:122.74 [[ 8.76982685e-01 -3.80347716e-01 2.93661345e-01 -7.00210729e+01] [ 3.99565125e-01 9.16685386e-01 -5.96777061e-03 -6.26583752e+01] [-2.66925236e-01 1.22570464e-01 9.55890893e-01 1.22737587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939072329 meters 0.2747193321805931 Centerline is valid? [False, False] Translation: X:-70.20, Y:-62.62, Z:122.79 [[ 8.76555174e-01 -3.81722858e-01 2.93153009e-01 -7.01982200e+01] [ 4.00445450e-01 9.16310904e-01 -4.21525249e-03 -6.26230504e+01] [-2.67010241e-01 1.21086690e-01 9.56056246e-01 1.22790181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99907232899994 meters 0.2609717991964286 Centerline is valid? [False, False] Translation: X:-70.37, Y:-62.58, Z:122.85 [[ 8.78665500e-01 -3.76157393e-01 2.94028153e-01 -7.03732577e+01] [ 3.94998338e-01 9.18667521e-01 -5.12819086e-03 -6.25837954e+01] [-2.68185108e-01 1.20646596e-01 9.55783002e-01 1.22846318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05907232899995 meters 0.26352667639333893 Centerline is valid? [False, False] Translation: X:-70.54, Y:-62.54, Z:122.90 [[ 8.83850756e-01 -3.62967036e-01 2.95064015e-01 -7.05411125e+01] [ 3.82281359e-01 9.24007270e-01 -8.45744647e-03 -6.25392185e+01] [-2.69571520e-01 1.20272593e-01 9.55440055e-01 1.22901662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11907232899995 meters 0.2716312714870785 Centerline is valid? [False, False] Translation: X:-70.70, Y:-62.49, Z:122.96 [[ 8.90648260e-01 -3.45558872e-01 2.95524522e-01 -7.07019473e+01] [ 3.64158042e-01 9.31298180e-01 -8.52172194e-03 -6.24910116e+01] [-2.72276693e-01 1.15207488e-01 9.55297146e-01 1.22957969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17907232899995 meters 0.2700442276153954 Centerline is valid? [False, False] Translation: X:-70.84, Y:-62.45, Z:123.01 [[ 8.93829143e-01 -3.37131796e-01 2.95654554e-01 -7.08422397e+01] [ 3.54924793e-01 9.34868685e-01 -6.99520881e-03 -6.24529030e+01] [-2.74039876e-01 1.11187653e-01 9.55269309e-01 1.23007465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23907232899995 meters 0.2817801073016285 Centerline is valid? [False, False] Translation: X:-70.98, Y:-62.41, Z:123.06 [[ 8.99574307e-01 -3.27431915e-01 2.89057793e-01 -7.09816551e+01] [ 3.45549487e-01 9.38317309e-01 -1.24971783e-02 -6.24133238e+01] [-2.67135956e-01 1.11125913e-01 9.57230073e-01 1.23057381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29907232899996 meters 0.3101079106538911 Centerline is valid? [False, False] Translation: X:-71.12, Y:-62.38, Z:123.10 [[ 9.03083049e-01 -3.19400316e-01 2.87096579e-01 -7.11171948e+01] [ 3.36687979e-01 9.41544941e-01 -1.15900193e-02 -6.23770472e+01] [-2.66612476e-01 1.07128717e-01 9.57831523e-01 1.23103700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35907232899996 meters 0.3046304023509313 Centerline is valid? [False, False] Translation: X:-71.24, Y:-62.34, Z:123.15 [[ 9.05971000e-01 -3.14860432e-01 2.82983135e-01 -7.12437908e+01] [ 3.31646118e-01 9.43325271e-01 -1.21772756e-02 -6.23438530e+01] [-2.63111000e-01 1.04882517e-01 9.59047579e-01 1.23147648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41907232899996 meters 0.2674919709103445 Centerline is valid? [False, False] Translation: X:-71.37, Y:-62.31, Z:123.19 [[ 9.07317974e-01 -3.13227069e-01 2.80469065e-01 -7.13737477e+01] [ 3.29630811e-01 9.44032844e-01 -1.20630719e-02 -6.23147818e+01] [-2.60993529e-01 1.03396287e-01 9.59787261e-01 1.23188615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47907232899996 meters 0.3028801165815545 Centerline is valid? [False, False] Translation: X:-71.50, Y:-62.29, Z:123.23 [[ 9.08172009e-01 -3.12269497e-01 2.78767581e-01 -7.15030740e+01] [ 3.28816606e-01 9.44298161e-01 -1.34396042e-02 -6.22858944e+01] [-2.59042936e-01 1.03868882e-01 9.60264554e-01 1.23228964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53907232899996 meters 0.31698250528032884 Centerline is valid? [False, False] Translation: X:-71.63, Y:-62.26, Z:123.27 [[ 9.08106792e-01 -3.14814974e-01 2.76104303e-01 -7.16334750e+01] [ 3.31334501e-01 9.43408262e-01 -1.40818636e-02 -6.22595012e+01] [-2.56045899e-01 1.04270717e-01 9.61024513e-01 1.23267031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59907232899997 meters 0.27682994654155135 Centerline is valid? [False, False] Translation: X:-71.76, Y:-62.24, Z:123.30 [[ 9.06042227e-01 -3.23580081e-01 2.72733228e-01 -7.17646804e+01] [ 3.40392466e-01 9.40157720e-01 -1.53763314e-02 -6.22377249e+01] [-2.51436775e-01 1.06767942e-01 9.61966816e-01 1.23303091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65907232899997 meters 0.29692667507961273 Centerline is valid? [False, False] Translation: X:-71.91, Y:-62.22, Z:123.34 [[ 9.01728453e-01 -3.34110115e-01 2.74328685e-01 -7.19056087e+01] [ 3.52317238e-01 9.35698262e-01 -1.84750066e-02 -6.22171035e+01] [-2.50516187e-01 1.13310164e-01 9.61458500e-01 1.23341723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71907232899997 meters 0.28851875625064344 Centerline is valid? [False, False] Translation: X:-72.05, Y:-62.19, Z:123.38 [[ 8.98654109e-01 -3.41498628e-01 2.75317052e-01 -7.20496333e+01] [ 3.60201344e-01 9.32684396e-01 -1.88363793e-02 -6.21908307e+01] [-2.50351321e-01 1.16096962e-01 9.61168930e-01 1.23384185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779072329 meters 0.2466349990324734 Centerline is valid? [False, False] Translation: X:-72.20, Y:-62.16, Z:123.43 [[ 8.94525197e-01 -3.52274628e-01 2.75185862e-01 -7.21996255e+01] [ 3.70558717e-01 9.28676054e-01 -1.57170086e-02 -6.21630415e+01] [-2.50021817e-01 1.16031780e-01 9.61262564e-01 1.23428971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839072329 meters 0.24492800343797164 Centerline is valid? [False, False] Translation: X:-72.36, Y:-62.13, Z:123.47 [[ 8.91521674e-01 -3.57194147e-01 2.78570360e-01 -7.23580762e+01] [ 3.75454436e-01 9.26745802e-01 -1.32734566e-02 -6.21304830e+01] [-2.53422711e-01 1.16424052e-01 9.60324096e-01 1.23474966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899072329 meters 0.24217510333342457 Centerline is valid? [False, False] Translation: X:-72.52, Y:-62.09, Z:123.53 [[ 8.92440909e-01 -3.52192753e-01 2.81974269e-01 -7.25236090e+01] [ 3.72630391e-01 9.27751599e-01 -2.05806529e-02 -6.20885710e+01] [-2.54353722e-01 1.23439199e-01 9.59201203e-01 1.23527003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959072329 meters 0.23283256843190553 Centerline is valid? [False, False] Translation: X:-72.68, Y:-62.05, Z:123.57 [[ 8.93044247e-01 -3.49064223e-01 2.83947427e-01 -7.26767377e+01] [ 3.68757217e-01 9.29364995e-01 -1.72864444e-02 -6.20501434e+01] [-2.57856720e-01 1.20145223e-01 9.58684013e-01 1.23574980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019072329 meters 0.24940317765038833 Centerline is valid? [False, False] Translation: X:-72.83, Y:-62.01, Z:123.62 [[ 8.96389704e-01 -3.43509436e-01 2.80154896e-01 -7.28268965e+01] [ 3.63390802e-01 9.31407330e-01 -2.06763029e-02 -6.20101029e+01] [-2.53835819e-01 1.20339738e-01 9.59732111e-01 1.23624980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079072329 meters 0.23092681712513682 Centerline is valid? [False, False] Translation: X:-72.97, Y:-61.98, Z:123.67 [[ 8.96683738e-01 -3.42158715e-01 2.80865962e-01 -7.29728691e+01] [ 3.61709504e-01 9.32091420e-01 -1.92826067e-02 -6.19762454e+01] [-2.55195041e-01 1.18882288e-01 9.59553278e-01 1.23671010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139072329 meters 0.24038484274919594 Centerline is valid? [False, False] Translation: X:-73.12, Y:-61.94, Z:123.72 [[ 8.95882136e-01 -3.44170425e-01 2.80966042e-01 -7.31200002e+01] [ 3.63639464e-01 9.31353503e-01 -1.86277639e-02 -6.19430086e+01] [-2.55267582e-01 1.18858622e-01 9.59536914e-01 1.23716401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199072329 meters 0.2370550941411721 Centerline is valid? [False, False] Translation: X:-73.27, Y:-61.91, Z:123.76 [[ 8.92478641e-01 -3.51845484e-01 2.82288205e-01 -7.32725987e+01] [ 3.72255673e-01 9.27906643e-01 -2.03709391e-02 -6.19095007e+01] [-2.54769678e-01 1.23264014e-01 9.59113338e-01 1.23763022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259072329 meters 0.24459304290899095 Centerline is valid? [False, False] Translation: X:-73.43, Y:-61.87, Z:123.81 [[ 8.91153814e-01 -3.52532034e-01 2.85597697e-01 -7.34282513e+01] [ 3.72699775e-01 9.27782852e-01 -1.77160054e-02 -6.18728802e+01] [-2.58727186e-01 1.22229883e-01 9.58185837e-01 1.23809867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319072329 meters 0.2523613743045128 Centerline is valid? [False, False] Translation: X:-73.60, Y:-61.83, Z:123.86 [[ 8.89724379e-01 -3.55880906e-01 2.85900874e-01 -7.35976607e+01] [ 3.77064898e-01 9.25952603e-01 -2.08288309e-02 -6.18340945e+01] [-2.57318076e-01 1.26335103e-01 9.58032802e-01 1.23861963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379072329 meters 0.2431785539456055 Centerline is valid? [False, False] Translation: X:-73.76, Y:-61.79, Z:123.91 [[ 8.90413525e-01 -3.52909406e-01 2.87434697e-01 -7.37648748e+01] [ 3.75214460e-01 9.26610088e-01 -2.46546920e-02 -6.17946283e+01] [-2.57639018e-01 1.29802526e-01 9.57482867e-01 1.23911933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439072329 meters 0.24460429095438108 Centerline is valid? [False, False] Translation: X:-73.94, Y:-61.75, Z:123.97 [[ 8.88886610e-01 -3.55144309e-01 2.89401304e-01 -7.39374958e+01] [ 3.78905210e-01 9.24991144e-01 -2.86744642e-02 -6.17508821e+01] [-2.57510070e-01 1.35144009e-01 9.56778271e-01 1.23965601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49907232899994 meters 0.2464806661268664 Centerline is valid? [False, False] Translation: X:-74.11, Y:-61.71, Z:124.02 [[ 8.87145963e-01 -3.57558542e-01 2.91760055e-01 -7.41130092e+01] [ 3.82606205e-01 9.23364974e-01 -3.17744522e-02 -6.17084729e+01] [-2.58039789e-01 1.39817785e-01 9.55963626e-01 1.24021991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55907232899995 meters 0.23982416193340095 Centerline is valid? [False, False] Translation: X:-74.28, Y:-61.67, Z:124.08 [[ 8.86342683e-01 -3.58072736e-01 2.93565263e-01 -7.42832191e+01] [ 3.84161463e-01 9.22620416e-01 -3.45186800e-02 -6.16658194e+01] [-2.58489107e-01 1.43371840e-01 9.55315601e-01 1.24079308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61907232899995 meters 0.2317324158236358 Centerline is valid? [False, False] Translation: X:-74.45, Y:-61.62, Z:124.13 [[ 8.86434841e-01 -3.57083436e-01 2.94490565e-01 -7.44544350e+01] [ 3.83610746e-01 9.22802603e-01 -3.57512513e-02 -6.16204432e+01] [-2.58990480e-01 1.44660900e-01 9.54985421e-01 1.24134978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67907232899995 meters 0.2298379880931462 Centerline is valid? [False, False] Translation: X:-74.62, Y:-61.58, Z:124.19 [[ 8.87367113e-01 -3.55783178e-01 2.93254050e-01 -7.46225319e+01] [ 3.82235208e-01 9.23348311e-01 -3.63887791e-02 -6.15766399e+01] [-2.57829116e-01 1.44382228e-01 9.55341781e-01 1.24189042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73907232899995 meters 0.22070821584314726 Centerline is valid? [False, False] Translation: X:-74.79, Y:-61.53, Z:124.24 [[ 8.88637003e-01 -3.53332600e-01 2.92370229e-01 -7.47877534e+01] [ 3.79888300e-01 9.24265583e-01 -3.76565005e-02 -6.15321146e+01] [-2.56922470e-01 1.44530989e-01 9.55563518e-01 1.24243464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79907232899996 meters 0.22758856047657128 Centerline is valid? [False, False] Translation: X:-74.96, Y:-61.49, Z:124.30 [[ 8.89045979e-01 -3.53183390e-01 2.91305235e-01 -7.49550628e+01] [ 3.80367024e-01 9.23941621e-01 -4.06547424e-02 -6.14874156e+01] [-2.54790451e-01 1.46946841e-01 9.55765898e-01 1.24299802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85907232899996 meters 0.22144676883185588 Centerline is valid? [False, False] Translation: X:-75.12, Y:-61.44, Z:124.36 [[ 8.89152755e-01 -3.53326397e-01 2.90805493e-01 -7.51222989e+01] [ 3.81174469e-01 9.23482134e-01 -4.34369874e-02 -6.14428630e+01] [-2.53206243e-01 1.49469746e-01 9.55795686e-01 1.24355338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91907232899996 meters 0.22657184651443918 Centerline is valid? [False, False] Translation: X:-75.28, Y:-61.40, Z:124.41 [[ 8.87050619e-01 -3.58237230e-01 2.91216906e-01 -7.52836618e+01] [ 3.84331794e-01 9.22497542e-01 -3.58797555e-02 -6.14020450e+01] [-2.55793416e-01 1.43751075e-01 9.55983973e-01 1.24408048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97907232899996 meters 0.2556526201899311 Centerline is valid? [False, False] Translation: X:-75.45, Y:-61.36, Z:124.46 [[ 8.87051676e-01 -3.58085118e-01 2.91400706e-01 -7.54518738e+01] [ 3.84988286e-01 9.22104617e-01 -3.88213306e-02 -6.13571213e+01] [-2.54800596e-01 1.46622385e-01 9.55813022e-01 1.24463498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03907232899996 meters 0.22807316470266079 Centerline is valid? [False, False] Translation: X:-75.61, Y:-61.31, Z:124.52 [[ 8.86253558e-01 -3.58565517e-01 2.93232674e-01 -7.56143378e+01] [ 3.84852639e-01 9.22300012e-01 -3.53713654e-02 -6.13097627e+01] [-2.57765547e-01 1.44199367e-01 9.55386553e-01 1.24517124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09907232899997 meters 0.2413847540090413 Centerline is valid? [False, False] Translation: X:-75.78, Y:-61.26, Z:124.57 [[ 8.89375991e-01 -3.52481944e-01 2.91147429e-01 -7.57813598e+01] [ 3.78184327e-01 9.25056399e-01 -3.53167571e-02 -6.12597337e+01] [-2.56879274e-01 1.41517271e-01 9.56026098e-01 1.24571385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15907232899997 meters 0.2479004205281515 Centerline is valid? [False, False] Translation: X:-75.94, Y:-61.21, Z:124.62 [[ 8.94451851e-01 -3.40624634e-01 2.89708036e-01 -7.59385664e+01] [ 3.66583071e-01 9.29573843e-01 -3.88499992e-02 -6.12083535e+01] [-2.56071745e-01 1.40951515e-01 9.56326268e-01 1.24623133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21907232899997 meters 0.23685985423343422 Centerline is valid? [False, False] Translation: X:-76.09, Y:-61.16, Z:124.67 [[ 8.96952463e-01 -3.32970259e-01 2.90872972e-01 -7.60850886e+01] [ 3.57837934e-01 9.33116808e-01 -3.52850618e-02 -6.11616095e+01] [-2.59669583e-01 1.35734406e-01 9.56110809e-01 1.24674004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279072329 meters 0.25054536877514205 Centerline is valid? [False, False] Translation: X:-76.23, Y:-61.12, Z:124.72 [[ 8.99518390e-01 -3.26068995e-01 2.90767392e-01 -7.62270346e+01] [ 3.49795293e-01 9.36273217e-01 -3.21825355e-02 -6.11173264e+01] [-2.61743994e-01 1.30657848e-01 9.56252377e-01 1.24720984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339072329 meters 0.24746390125559434 Centerline is valid? [False, False] Translation: X:-76.37, Y:-61.08, Z:124.77 [[ 9.01048214e-01 -3.22049460e-01 2.90510347e-01 -7.63700414e+01] [ 3.44589171e-01 9.38318031e-01 -2.85932715e-02 -6.10751972e+01] [-2.63382649e-01 1.25870636e-01 9.56444543e-01 1.24766945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399072329 meters 0.24243082730839732 Centerline is valid? [False, False] Translation: X:-76.51, Y:-61.03, Z:124.81 [[ 9.02785030e-01 -3.18168328e-01 2.89392646e-01 -7.65089128e+01] [ 3.40054720e-01 9.40007782e-01 -2.73524791e-02 -6.10310585e+01] [-2.63328647e-01 1.23102744e-01 9.56819595e-01 1.24812079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459072329 meters 0.24268546980190756 Centerline is valid? [False, False] Translation: X:-76.64, Y:-60.99, Z:124.86 [[ 9.05308302e-01 -3.12200121e-01 2.88006879e-01 -7.66448647e+01] [ 3.33571318e-01 9.42337052e-01 -2.70380409e-02 -6.09862831e+01] [-2.62958274e-01 1.20548597e-01 9.57246563e-01 1.24856612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519072329 meters 0.2482831635763931 Centerline is valid? [False, False] Translation: X:-76.77, Y:-60.94, Z:124.90 [[ 9.08477768e-01 -3.06510853e-01 2.84111319e-01 -7.67727417e+01] [ 3.27163756e-01 9.44579211e-01 -2.70922678e-02 -6.09447570e+01] [-2.60061571e-01 1.17563649e-01 9.58408455e-01 1.24898879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579072329 meters 0.24156504364713063 Centerline is valid? [False, False] Translation: X:-76.90, Y:-60.90, Z:124.94 [[ 9.11622075e-01 -3.01769876e-01 2.79070123e-01 -7.68985290e+01] [ 3.21339566e-01 9.46604301e-01 -2.60994602e-02 -6.09031757e+01] [-2.56292948e-01 1.13469116e-01 9.59915978e-01 1.24940289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639072329 meters 0.23528744790225964 Centerline is valid? [False, False] Translation: X:-77.02, Y:-60.86, Z:124.98 [[ 9.14024686e-01 -2.97813701e-01 2.75437601e-01 -7.70227272e+01] [ 3.17506235e-01 9.47818445e-01 -2.88094944e-02 -6.08627702e+01] [-2.52484976e-01 1.13785745e-01 9.60887163e-01 1.24983427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699072329 meters 0.2470484118453054 Centerline is valid? [False, False] Translation: X:-77.15, Y:-60.82, Z:125.02 [[ 9.15038775e-01 -2.98169986e-01 2.71659161e-01 -7.71486827e+01] [ 3.17798786e-01 9.47674030e-01 -3.02962703e-02 -6.08226939e+01] [-2.48410893e-01 1.14055213e-01 9.61916543e-01 1.25024282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759072329 meters 0.23953482606900917 Centerline is valid? [False, False] Translation: X:-77.27, Y:-60.78, Z:125.06 [[ 9.16796681e-01 -2.98275255e-01 2.65547957e-01 -7.72730707e+01] [ 3.16805014e-01 9.48051310e-01 -2.88668734e-02 -6.07812551e+01] [-2.43142814e-01 1.10591978e-01 9.63665391e-01 1.25062988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819072329 meters 0.24033310161723423 Centerline is valid? [False, False] Translation: X:-77.40, Y:-60.74, Z:125.10 [[ 9.19136218e-01 -2.95509545e-01 2.60504744e-01 -7.73958065e+01] [ 3.13919024e-01 9.48938735e-01 -3.11468057e-02 -6.07409691e+01] [-2.37998864e-01 1.10405552e-01 9.64970028e-01 1.25102145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879072329 meters 0.26421261317806516 Centerline is valid? [False, False] Translation: X:-77.51, Y:-60.70, Z:125.14 [[ 9.22931287e-01 -2.90348624e-01 2.52775626e-01 -7.75120186e+01] [ 3.08117951e-01 9.50779400e-01 -3.28916478e-02 -6.06997701e+01] [-2.30783813e-01 1.08241439e-01 9.66965678e-01 1.25137954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939072329 meters 0.26346175536151656 Centerline is valid? [False, False] Translation: X:-77.62, Y:-60.66, Z:125.17 [[ 9.28194315e-01 -2.81197281e-01 2.43687098e-01 -7.76228178e+01] [ 2.97928831e-01 9.53983428e-01 -3.39710279e-02 -6.06576219e+01] [-2.22920893e-01 1.04133127e-01 9.69258772e-01 1.25172232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99907232899994 meters 0.2635477643426062 Centerline is valid? [False, False] Translation: X:-77.73, Y:-60.62, Z:125.21 [[ 9.32071087e-01 -2.73591473e-01 2.37468301e-01 -7.77323165e+01] [ 2.90734166e-01 9.55978152e-01 -3.97418956e-02 -6.06195340e+01] [-2.16141464e-01 1.06082420e-01 9.70581984e-01 1.25205860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05907232899995 meters 0.2667982769751848 Centerline is valid? [False, False] Translation: X:-77.83, Y:-60.59, Z:125.24 [[ 9.33182601e-01 -2.72265744e-01 2.34609459e-01 -7.78340905e+01] [ 2.88385228e-01 9.56811042e-01 -3.66959109e-02 -6.05873444e+01] [-2.14485881e-01 1.01901888e-01 9.71396836e-01 1.25235185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11907232899995 meters 0.265771429231744 Centerline is valid? [False, False] Translation: X:-77.94, Y:-60.56, Z:125.26 [[ 9.33231701e-01 -2.73588603e-01 2.32868780e-01 -7.79391236e+01] [ 2.88903053e-01 9.56764121e-01 -3.37259812e-02 -6.05560612e+01] [-2.13573450e-01 9.87506565e-02 9.71923191e-01 1.25262730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17907232899995 meters 0.2649011620284364 Centerline is valid? [False, False] Translation: X:-78.05, Y:-60.53, Z:125.29 [[ 9.31613560e-01 -2.79001450e-01 2.32925665e-01 -7.80483786e+01] [ 2.94438791e-01 9.55078183e-01 -3.36372190e-02 -6.05260763e+01] [-2.13077388e-01 9.99192406e-02 9.71912636e-01 1.25291882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23907232899995 meters 0.24016567845858933 Centerline is valid? [False, False] Translation: X:-78.16, Y:-60.50, Z:125.32 [[ 9.30730729e-01 -2.82725304e-01 2.31962738e-01 -7.81579276e+01] [ 2.97492709e-01 9.54233356e-01 -3.06070279e-02 -6.04956072e+01] [-2.12693200e-01 9.74941246e-02 9.72243024e-01 1.25319780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29907232899996 meters 0.2424271463456133 Centerline is valid? [False, False] Translation: X:-78.28, Y:-60.46, Z:125.35 [[ 9.31396002e-01 -2.84528495e-01 2.27035290e-01 -7.82777957e+01] [ 2.99731086e-01 9.53388611e-01 -3.48056379e-02 -6.04617618e+01] [-2.06549664e-01 1.00467366e-01 9.73264375e-01 1.25348799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35907232899996 meters 0.2353486148902513 Centerline is valid? [False, False] Translation: X:-78.39, Y:-60.43, Z:125.38 [[ 9.29281713e-01 -2.92541389e-01 2.25510605e-01 -7.83937345e+01] [ 3.07217629e-01 9.51095020e-01 -3.21805970e-02 -6.04319615e+01] [-2.05067857e-01 9.91856735e-02 9.73709082e-01 1.25378772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41907232899996 meters 0.24980111140155903 Centerline is valid? [False, False] Translation: X:-78.51, Y:-60.40, Z:125.41 [[ 9.26273592e-01 -3.01288639e-01 2.26367817e-01 -7.85123869e+01] [ 3.15907434e-01 9.48299572e-01 -3.05026852e-02 -6.04025529e+01] [-2.05474391e-01 9.97651080e-02 9.73564172e-01 1.25408626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47907232899996 meters 0.23813371933844954 Centerline is valid? [False, False] Translation: X:-78.65, Y:-60.36, Z:125.44 [[ 9.25767802e-01 -3.03263228e-01 2.25799450e-01 -7.86450540e+01] [ 3.18397677e-01 9.47381921e-01 -3.30214171e-02 -6.03640238e+01] [-2.03904135e-01 1.02464185e-01 9.73613986e-01 1.25440274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53907232899996 meters 0.2453862406995542 Centerline is valid? [False, False] Translation: X:-78.78, Y:-60.33, Z:125.47 [[ 9.24942318e-01 -3.06644270e-01 2.24613000e-01 -7.87752316e+01] [ 3.22039972e-01 9.46096575e-01 -3.45185018e-02 -6.03252862e+01] [-2.01920689e-01 1.04261987e-01 9.73836472e-01 1.25473368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59907232899997 meters 0.22866061210380906 Centerline is valid? [False, False] Translation: X:-78.91, Y:-60.29, Z:125.51 [[ 9.24361006e-01 -3.09591797e-01 2.22956609e-01 -7.89053874e+01] [ 3.25609900e-01 9.44735512e-01 -3.81183138e-02 -6.02880254e+01] [-1.98833909e-01 1.07831962e-01 9.74082822e-01 1.25505861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65907232899997 meters 0.25582343572665084 Centerline is valid? [False, False] Translation: X:-79.04, Y:-60.25, Z:125.54 [[ 9.24432787e-01 -3.10698733e-01 2.21111555e-01 -7.90350690e+01] [ 3.26664680e-01 9.44344723e-01 -3.87715247e-02 -6.02460406e+01] [-1.96759267e-01 1.08071004e-01 9.74477526e-01 1.25540219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71907232899997 meters 0.24121037670977485 Centerline is valid? [False, False] Translation: X:-79.16, Y:-60.21, Z:125.57 [[ 9.24296243e-01 -3.10544180e-01 2.21898099e-01 -7.91588567e+01] [ 3.25418419e-01 9.44994438e-01 -3.29903635e-02 -6.02065040e+01] [-1.99447504e-01 1.02702598e-01 9.74511606e-01 1.25571347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779072329 meters 0.24587685150805852 Centerline is valid? [False, False] Translation: X:-79.29, Y:-60.16, Z:125.60 [[ 9.26635426e-01 -3.04361319e-01 2.20705629e-01 -7.92878693e+01] [ 3.19501161e-01 9.46917081e-01 -3.55956592e-02 -6.01636117e+01] [-1.98155988e-01 1.03499903e-01 9.74690707e-01 1.25602572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839072329 meters 0.23675626510656317 Centerline is valid? [False, False] Translation: X:-79.41, Y:-60.12, Z:125.64 [[ 9.28313300e-01 -2.99602063e-01 2.20165893e-01 -7.94149155e+01] [ 3.15351327e-01 9.48156611e-01 -3.94028052e-02 -6.01203174e+01] [-1.96946586e-01 1.06007755e-01 9.74666301e-01 1.25635363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899072329 meters 0.2447355848165603 Centerline is valid? [False, False] Translation: X:-79.53, Y:-60.08, Z:125.67 [[ 9.28395938e-01 -2.99425834e-01 2.20057155e-01 -7.95285917e+01] [ 3.14413881e-01 9.48613600e-01 -3.57232254e-02 -6.00817801e+01] [-1.98052753e-01 1.02354322e-01 9.74832652e-01 1.25665391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959072329 meters 0.23404136592106722 Centerline is valid? [False, False] Translation: X:-79.65, Y:-60.05, Z:125.69 [[ 9.27655387e-01 -3.00143319e-01 2.22192418e-01 -7.96483711e+01] [ 3.14464691e-01 9.48753261e-01 -3.12922984e-02 -6.00456197e+01] [-2.01413607e-01 9.89001393e-02 9.74500550e-01 1.25694273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019072329 meters 0.22859700961037172 Centerline is valid? [False, False] Translation: X:-79.77, Y:-60.01, Z:125.73 [[ 9.27549151e-01 -3.01681205e-01 2.20547100e-01 -7.97738263e+01] [ 3.16643902e-01 9.47894925e-01 -3.50977143e-02 -6.00052887e+01] [-1.98467156e-01 1.02389750e-01 9.74744647e-01 1.25725933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079072329 meters 0.23368463184548846 Centerline is valid? [False, False] Translation: X:-79.90, Y:-59.96, Z:125.76 [[ 9.29759975e-01 -2.97461724e-01 2.16939881e-01 -7.98983471e+01] [ 3.12039474e-01 9.49404101e-01 -3.55417982e-02 -5.99627705e+01] [-1.95391289e-01 1.00739148e-01 9.75537733e-01 1.25755133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139072329 meters 0.24159514659510725 Centerline is valid? [False, False] Translation: X:-80.02, Y:-59.92, Z:125.79 [[ 9.32322143e-01 -2.90975028e-01 2.14729956e-01 -8.00228954e+01] [ 3.05767411e-01 9.51328696e-01 -3.84708018e-02 -5.99162136e+01] [-1.93084727e-01 1.01524603e-01 9.75915490e-01 1.25786493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199072329 meters 0.2530760752637457 Centerline is valid? [False, False] Translation: X:-80.14, Y:-59.88, Z:125.81 [[ 9.33391073e-01 -2.86700227e-01 2.15833465e-01 -8.01354368e+01] [ 3.00836172e-01 9.53031801e-01 -3.50425915e-02 -5.98773840e+01] [-1.95649437e-01 9.76389554e-02 9.75801175e-01 1.25814440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259072329 meters 0.2535417208477599 Centerline is valid? [False, False] Translation: X:-80.25, Y:-59.84, Z:125.84 [[ 9.33715227e-01 -2.85661111e-01 2.15809185e-01 -8.02464356e+01] [ 2.99149232e-01 9.53671571e-01 -3.19417013e-02 -5.98387672e+01] [-1.96686582e-01 9.43836048e-02 9.75912969e-01 1.25842218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319072329 meters 0.24221056523076792 Centerline is valid? [False, False] Translation: X:-80.36, Y:-59.80, Z:125.87 [[ 9.34480825e-01 -2.83164493e-01 2.15785675e-01 -8.03562878e+01] [ 2.95891865e-01 9.54797479e-01 -2.84566171e-02 -5.97995758e+01] [-1.97973715e-01 9.04413888e-02 9.76026006e-01 1.25868717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379072329 meters 0.23416417049122273 Centerline is valid? [False, False] Translation: X:-80.46, Y:-59.76, Z:125.90 [[ 9.35819973e-01 -2.77780591e-01 2.16976776e-01 -8.04620748e+01] [ 2.90400947e-01 9.56496462e-01 -2.79608429e-02 -5.97613830e+01] [-1.99770539e-01 8.91765763e-02 9.75776240e-01 1.25895148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439072329 meters 0.2279190709892098 Centerline is valid? [False, False] Translation: X:-80.57, Y:-59.72, Z:125.92 [[ 9.36425280e-01 -2.76163920e-01 2.16428245e-01 -8.05658660e+01] [ 2.88549777e-01 9.57077384e-01 -2.72379610e-02 -5.97246075e+01] [-1.99616436e-01 8.79566371e-02 9.75918495e-01 1.25921842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49907232899994 meters 0.25339250564257026 Centerline is valid? [False, False] Translation: X:-80.67, Y:-59.69, Z:125.95 [[ 9.38407103e-01 -2.70196289e-01 2.15374267e-01 -8.06669948e+01] [ 2.82212054e-01 9.58984924e-01 -2.65381233e-02 -5.96873328e+01] [-1.99370173e-01 8.56847777e-02 9.76170914e-01 1.25946676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55907232899995 meters 0.2438225793417433 Centerline is valid? [False, False] Translation: X:-80.76, Y:-59.65, Z:125.97 [[ 9.39939274e-01 -2.67095867e-01 2.12541665e-01 -8.07613720e+01] [ 2.78955905e-01 9.59914439e-01 -2.73472549e-02 -5.96540549e+01] [-1.96717475e-01 8.49945115e-02 9.76769250e-01 1.25969781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61907232899995 meters 0.24702598186884533 Centerline is valid? [False, False] Translation: X:-80.86, Y:-59.62, Z:125.99 [[ 9.41070177e-01 -2.63133394e-01 2.12479974e-01 -8.08630771e+01] [ 2.74803093e-01 9.61125601e-01 -2.68484334e-02 -5.96159830e+01] [-1.97155223e-01 8.36564141e-02 9.76796510e-01 1.25994598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67907232899995 meters 0.2377482955830387 Centerline is valid? [False, False] Translation: X:-80.96, Y:-59.58, Z:126.02 [[ 9.41932310e-01 -2.61519610e-01 2.10644292e-01 -8.09583603e+01] [ 2.73224284e-01 9.61542988e-01 -2.79923763e-02 -5.95828267e+01] [-1.95222986e-01 8.39200595e-02 9.77161916e-01 1.26018155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73907232899995 meters 0.2365366468092918 Centerline is valid? [False, False] Translation: X:-81.06, Y:-59.55, Z:126.04 [[ 9.40632130e-01 -2.66338965e-01 2.10415665e-01 -8.10618116e+01] [ 2.78479914e-01 9.59980127e-01 -2.97840983e-02 -5.95503203e+01] [-1.94062191e-01 8.66124160e-02 9.77158204e-01 1.26041586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79907232899996 meters 0.2557698217720152 Centerline is valid? [False, False] Translation: X:-81.16, Y:-59.52, Z:126.06 [[ 9.40471409e-01 -2.67815814e-01 2.09256347e-01 -8.11616570e+01] [ 2.79982279e-01 9.59527133e-01 -3.02919756e-02 -5.95185372e+01] [-1.92674473e-01 8.70768060e-02 9.77391517e-01 1.26063600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85907232899996 meters 0.22338899029922793 Centerline is valid? [False, False] Translation: X:-81.26, Y:-59.49, Z:126.09 [[ 9.40785755e-01 -2.66874203e-01 2.09046220e-01 -8.12599709e+01] [ 2.79399595e-01 9.59631130e-01 -3.23103948e-02 -5.94857010e+01] [-1.91984449e-01 8.88045883e-02 9.77371841e-01 1.26087531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91907232899996 meters 0.21466584008826883 Centerline is valid? [False, False] Translation: X:-81.36, Y:-59.45, Z:126.11 [[ 9.39534217e-01 -2.71117220e-01 2.09214982e-01 -8.13636214e+01] [ 2.84201096e-01 9.58138441e-01 -3.46477311e-02 -5.94523164e+01] [-1.91063320e-01 9.20118563e-02 9.77255660e-01 1.26112096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97907232899996 meters 0.23984835845518376 Centerline is valid? [False, False] Translation: X:-81.47, Y:-59.41, Z:126.14 [[ 9.39707204e-01 -2.71130405e-01 2.08419466e-01 -8.14679350e+01] [ 2.83826674e-01 9.58305883e-01 -3.30492552e-02 -5.94146640e+01] [-1.90768943e-01 9.02116271e-02 9.77480983e-01 1.26136354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03907232899996 meters 0.2254845101557617 Centerline is valid? [False, False] Translation: X:-81.57, Y:-59.38, Z:126.16 [[ 9.39580931e-01 -2.71965472e-01 2.07900112e-01 -8.15718448e+01] [ 2.84599779e-01 9.58081798e-01 -3.28973204e-02 -5.93788444e+01] [-1.90238378e-01 9.00780208e-02 9.77596701e-01 1.26159435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09907232899997 meters 0.24420031818829926 Centerline is valid? [False, False] Translation: X:-81.67, Y:-59.34, Z:126.18 [[ 9.40020793e-01 -2.70809734e-01 2.07419855e-01 -8.16731112e+01] [ 2.83489700e-01 9.58390623e-01 -3.34813799e-02 -5.93433426e+01] [-1.89722160e-01 9.02745858e-02 9.77678884e-01 1.26182720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15907232899997 meters 0.23877640890240912 Centerline is valid? [False, False] Translation: X:-81.78, Y:-59.31, Z:126.21 [[ 9.41095745e-01 -2.66020176e-01 2.08739228e-01 -8.17764972e+01] [ 2.78930415e-01 9.59691133e-01 -3.45072764e-02 -5.93052191e+01] [-1.91145555e-01 9.06983705e-02 9.77362360e-01 1.26207675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21907232899997 meters 0.23462980409844 Centerline is valid? [False, False] Translation: X:-81.88, Y:-59.27, Z:126.23 [[ 9.42152000e-01 -2.63031041e-01 2.07760150e-01 -8.18750960e+01] [ 2.75774767e-01 9.60605550e-01 -3.44275385e-02 -5.92690404e+01] [-1.90520042e-01 8.97309813e-02 9.77573764e-01 1.26230568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279072329 meters 0.2508207706138629 Centerline is valid? [False, False] Translation: X:-81.98, Y:-59.23, Z:126.25 [[ 9.42313932e-01 -2.63606704e-01 2.06290959e-01 -8.19766691e+01] [ 2.76033014e-01 9.60566318e-01 -3.34383691e-02 -5.92323406e+01] [-1.89341569e-01 8.84525562e-02 9.77919176e-01 1.26253946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339072329 meters 0.24938940256589515 Centerline is valid? [False, False] Translation: X:-82.08, Y:-59.20, Z:126.28 [[ 9.42232044e-01 -2.63866693e-01 2.06332605e-01 -8.20791196e+01] [ 2.76509298e-01 9.60391400e-01 -3.45103870e-02 -5.91969350e+01] [-1.89053917e-01 8.95696761e-02 9.77873146e-01 1.26277431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399072329 meters 0.24626897013702842 Centerline is valid? [False, False] Translation: X:-82.18, Y:-59.16, Z:126.30 [[ 9.41979642e-01 -2.64519448e-01 2.06649017e-01 -8.21813864e+01] [ 2.77369143e-01 9.60112406e-01 -3.53627728e-02 -5.91598963e+01] [-1.89052144e-01 9.06290729e-02 9.77775873e-01 1.26301216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459072329 meters 0.2438869710519025 Centerline is valid? [False, False] Translation: X:-82.28, Y:-59.12, Z:126.33 [[ 9.41736211e-01 -2.65747880e-01 2.06181892e-01 -8.22839516e+01] [ 2.78749340e-01 9.59679219e-01 -3.62574503e-02 -5.91221069e+01] [-1.88233136e-01 9.16180201e-02 9.77841718e-01 1.26325984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519072329 meters 0.2808179703684755 Centerline is valid? [False, False] Translation: X:-82.39, Y:-59.09, Z:126.35 [[ 9.41488959e-01 -2.66703892e-01 2.06076622e-01 -8.23866828e+01] [ 2.79946485e-01 9.59284083e-01 -3.74701681e-02 -5.90860960e+01] [-1.87692584e-01 9.29681755e-02 9.77818190e-01 1.26349634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579072329 meters 0.26983626061233634 Centerline is valid? [False, False] Translation: X:-82.48, Y:-59.05, Z:126.37 [[ 9.42869180e-01 -2.62589654e-01 2.05047269e-01 -8.24845789e+01] [ 2.75787856e-01 9.60460718e-01 -3.81610662e-02 -5.90487467e+01] [-1.86919146e-01 9.25304400e-02 9.78007848e-01 1.26371973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639072329 meters 0.257456645037257 Centerline is valid? [False, False] Translation: X:-82.58, Y:-59.01, Z:126.40 [[ 9.43106574e-01 -2.62302105e-01 2.04322285e-01 -8.25843532e+01] [ 2.75686011e-01 9.60434502e-01 -3.95321452e-02 -5.90099524e+01] [-1.85868807e-01 9.36118217e-02 9.78105114e-01 1.26395218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699072329 meters 0.2617284354361526 Centerline is valid? [False, False] Translation: X:-82.68, Y:-58.97, Z:126.42 [[ 9.44337452e-01 -2.59347743e-01 2.02399420e-01 -8.26790194e+01] [ 2.72621153e-01 9.61280437e-01 -4.02197443e-02 -5.89737119e+01] [-1.84131703e-01 9.31593741e-02 9.78476799e-01 1.26417102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759072329 meters 0.2459888849549101 Centerline is valid? [False, False] Translation: X:-82.78, Y:-58.94, Z:126.44 [[ 9.44473594e-01 -2.58945794e-01 2.02278784e-01 -8.27779445e+01] [ 2.72672554e-01 9.61157323e-01 -4.27349812e-02 -5.89364052e+01] [-1.83355691e-01 9.55179339e-02 9.78395122e-01 1.26441813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819072329 meters 0.24550410722747323 Centerline is valid? [False, False] Translation: X:-82.88, Y:-58.90, Z:126.47 [[ 9.44185816e-01 -2.60362929e-01 2.01802603e-01 -8.28781746e+01] [ 2.74401914e-01 9.60583556e-01 -4.45288934e-02 -5.89002447e+01] [-1.82254589e-01 9.74185700e-02 9.78413454e-01 1.26465780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879072329 meters 0.2230803747866278 Centerline is valid? [False, False] Translation: X:-82.98, Y:-58.86, Z:126.49 [[ 9.44331875e-01 -2.60868308e-01 2.00462058e-01 -8.29786682e+01] [ 2.74427729e-01 9.60662608e-01 -4.26236408e-02 -5.88636143e+01] [-1.81457246e-01 9.52632098e-02 9.78773819e-01 1.26487422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939072329 meters 0.22499392109237282 Centerline is valid? [False, False] Translation: X:-83.08, Y:-58.83, Z:126.51 [[ 9.44278721e-01 -2.62134909e-01 1.99055236e-01 -8.30769559e+01] [ 2.75841806e-01 9.60192415e-01 -4.40661427e-02 -5.88272494e+01] [-1.79580053e-01 9.65184768e-02 9.78997032e-01 1.26509129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99907232899994 meters 0.2353637906674249 Centerline is valid? [False, False] Translation: X:-83.17, Y:-58.79, Z:126.53 [[ 9.45654067e-01 -2.58265738e-01 1.97578325e-01 -8.31712407e+01] [ 2.72222010e-01 9.61105387e-01 -4.66005555e-02 -5.87899379e+01] [-1.77858266e-01 9.78531737e-02 9.79178836e-01 1.26532335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05907232899995 meters 0.24542398324062523 Centerline is valid? [False, False] Translation: X:-83.27, Y:-58.75, Z:126.56 [[ 9.46447506e-01 -2.56360180e-01 1.96256404e-01 -8.32690154e+01] [ 2.70395630e-01 9.61554336e-01 -4.79527117e-02 -5.87508476e+01] [-1.76418030e-01 9.84515983e-02 9.79379376e-01 1.26557139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11907232899995 meters 0.22976777127772346 Centerline is valid? [False, False] Translation: X:-83.37, Y:-58.71, Z:126.58 [[ 9.46453949e-01 -2.56001454e-01 1.96693107e-01 -8.33714903e+01] [ 2.70463960e-01 9.61425343e-01 -5.01054523e-02 -5.87095916e+01] [-1.76278670e-01 1.00620900e-01 9.79183979e-01 1.26584161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17907232899995 meters 0.2535102188022923 Centerline is valid? [False, False] Translation: X:-83.47, Y:-58.67, Z:126.61 [[ 9.47414359e-01 -2.54218216e-01 1.94368542e-01 -8.34666463e+01] [ 2.68562249e-01 9.61913755e-01 -5.09533711e-02 -5.86720440e+01] [-1.74012499e-01 1.00474008e-01 9.79604320e-01 1.26606771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23907232899995 meters 0.24475167447949608 Centerline is valid? [False, False] Translation: X:-83.56, Y:-58.64, Z:126.63 [[ 9.48418801e-01 -2.52924011e-01 1.91131427e-01 -8.35602755e+01] [ 2.66991893e-01 9.62326952e-01 -5.14020031e-02 -5.86353019e+01] [-1.70930122e-01 9.97811675e-02 9.80217635e-01 1.26627647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29907232899996 meters 0.30310981257769676 Centerline is valid? [False, False] Translation: X:-83.65, Y:-58.60, Z:126.65 [[ 9.51151276e-01 -2.46166865e-01 1.86314587e-01 -8.36503737e+01] [ 2.59234619e-01 9.64571576e-01 -4.89804781e-02 -5.85965517e+01] [-1.67656384e-01 9.48870350e-02 9.81268458e-01 1.26648309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35907232899996 meters 0.2845745618385751 Centerline is valid? [False, False] Translation: X:-83.74, Y:-58.56, Z:126.67 [[ 9.52560851e-01 -2.42661613e-01 1.83693134e-01 -8.37411079e+01] [ 2.56005709e-01 9.65252297e-01 -5.24316667e-02 -5.85586323e+01] [-1.64587066e-01 9.69708440e-02 9.81584308e-01 1.26670672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41907232899996 meters 0.2432323881010144 Centerline is valid? [False, False] Translation: X:-83.83, Y:-58.52, Z:126.69 [[ 9.54220558e-01 -2.39151247e-01 1.79637992e-01 -8.38300309e+01] [ 2.52289205e-01 9.66149148e-01 -5.39071518e-02 -5.85219169e+01] [-1.60665130e-01 9.67600386e-02 9.82254657e-01 1.26690185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47907232899996 meters 0.27109318842565816 Centerline is valid? [False, False] Translation: X:-83.92, Y:-58.49, Z:126.71 [[ 9.55337994e-01 -2.37001524e-01 1.76520804e-01 -8.39195203e+01] [ 2.50088572e-01 9.66620675e-01 -5.56792259e-02 -5.84853754e+01] [-1.57432598e-01 9.73383159e-02 9.82720830e-01 1.26708252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53907232899996 meters 0.2657369790968205 Centerline is valid? [False, False] Translation: X:-84.00, Y:-58.45, Z:126.73 [[ 9.54684390e-01 -2.39842693e-01 1.76219175e-01 -8.40012934e+01] [ 2.52126903e-01 9.66367776e-01 -5.06492474e-02 -5.84549351e+01] [-1.58144681e-01 9.27836408e-02 9.83047026e-01 1.26727811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59907232899997 meters 0.25384401707524323 Centerline is valid? [False, False] Translation: X:-84.09, Y:-58.42, Z:126.75 [[ 9.54842683e-01 -2.40118103e-01 1.74982137e-01 -8.40942089e+01] [ 2.52987701e-01 9.65901979e-01 -5.50507877e-02 -5.84176016e+01] [-1.55796902e-01 9.68331705e-02 9.83031364e-01 1.26747871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65907232899997 meters 0.23966731552449755 Centerline is valid? [False, False] Translation: X:-84.18, Y:-58.39, Z:126.76 [[ 9.54229107e-01 -2.42751353e-01 1.74695712e-01 -8.41756139e+01] [ 2.54578792e-01 9.65836315e-01 -4.84752634e-02 -5.83891476e+01] [-1.56960027e-01 9.07303306e-02 9.83428471e-01 1.26764973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71907232899997 meters 0.23485396798644353 Centerline is valid? [False, False] Translation: X:-84.26, Y:-58.35, Z:126.78 [[ 9.55578259e-01 -2.39385567e-01 1.71944006e-01 -8.42639167e+01] [ 2.51510387e-01 9.66442784e-01 -5.22577320e-02 -5.83508823e+01] [-1.53664297e-01 9.31820560e-02 9.83719670e-01 1.26784785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779072329 meters 0.23097016024534817 Centerline is valid? [False, False] Translation: X:-84.35, Y:-58.31, Z:126.81 [[ 9.57205782e-01 -2.34997467e-01 1.68917971e-01 -8.43541945e+01] [ 2.47111892e-01 9.67459630e-01 -5.43836103e-02 -5.83109794e+01] [-1.50641307e-01 9.37979456e-02 9.84128621e-01 1.26805762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839072329 meters 0.22365908296044826 Centerline is valid? [False, False] Translation: X:-84.43, Y:-58.28, Z:126.82 [[ 9.56934879e-01 -2.36692062e-01 1.68084812e-01 -8.44310677e+01] [ 2.48333140e-01 9.67294784e-01 -5.16860872e-02 -5.82812362e+01] [-1.50353876e-01 9.12012489e-02 9.84416601e-01 1.26823877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899072329 meters 0.24019180390448816 Centerline is valid? [False, False] Translation: X:-84.52, Y:-58.25, Z:126.84 [[ 9.58077938e-01 -2.33683382e-01 1.65767134e-01 -8.45196584e+01] [ 2.45573127e-01 9.67817142e-01 -5.49892615e-02 -5.82450051e+01] [-1.47582197e-01 9.33919516e-02 9.84630610e-01 1.26841727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959072329 meters 0.2291874578858395 Centerline is valid? [False, False] Translation: X:-84.60, Y:-58.22, Z:126.86 [[ 9.55923151e-01 -2.41704371e-01 1.66703111e-01 -8.46025257e+01] [ 2.53528055e-01 9.65852790e-01 -5.34033011e-02 -5.82175238e+01] [-1.48102853e-01 9.33133673e-02 9.84559882e-01 1.26857970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019072329 meters 0.23831688249534108 Centerline is valid? [False, False] Translation: X:-84.69, Y:-58.19, Z:126.87 [[ 9.54774767e-01 -2.44882730e-01 1.68634493e-01 -8.46862941e+01] [ 2.56029453e-01 9.65499448e-01 -4.75366609e-02 -5.81884375e+01] [-1.51175602e-01 8.85622013e-02 9.84531703e-01 1.26874316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079072329 meters 0.2322541714254679 Centerline is valid? [False, False] Translation: X:-84.77, Y:-58.16, Z:126.89 [[ 9.53337573e-01 -2.48533450e-01 1.71401858e-01 -8.47714026e+01] [ 2.59464503e-01 9.64737510e-01 -4.42685898e-02 -5.81566912e+01] [-1.54355576e-01 8.66756080e-02 9.84206124e-01 1.26892390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139072329 meters 0.24160522888125405 Centerline is valid? [False, False] Translation: X:-84.87, Y:-58.12, Z:126.91 [[ 9.51985630e-01 -2.53937639e-01 1.70994253e-01 -8.48682928e+01] [ 2.65569265e-01 9.62866077e-01 -4.85992084e-02 -5.81228446e+01] [-1.52303398e-01 9.16765662e-02 9.84072702e-01 1.26908580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199072329 meters 0.2248714572494084 Centerline is valid? [False, False] Translation: X:-84.97, Y:-58.09, Z:126.93 [[ 9.51279928e-01 -2.56987379e-01 1.70364271e-01 -8.49665751e+01] [ 2.68954862e-01 9.61804315e-01 -5.09484297e-02 -5.80862864e+01] [-1.50763987e-01 9.42865175e-02 9.84063145e-01 1.26926550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259072329 meters 0.2393316433106694 Centerline is valid? [False, False] Translation: X:-85.07, Y:-58.04, Z:126.95 [[ 9.50693111e-01 -2.59015303e-01 1.70568698e-01 -8.50667120e+01] [ 2.71461835e-01 9.60943981e-01 -5.38064743e-02 -5.80445128e+01] [-1.49970264e-01 9.74563362e-02 9.83875593e-01 1.26947144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319072329 meters 0.23702609650297102 Centerline is valid? [False, False] Translation: X:-85.17, Y:-58.00, Z:126.97 [[ 9.49343165e-01 -2.64228265e-01 1.70091091e-01 -8.51685342e+01] [ 2.77025341e-01 9.59225012e-01 -5.60743807e-02 -5.80049586e+01] [-1.48339193e-01 1.00353373e-01 9.83831634e-01 1.26967647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379072329 meters 0.23335218167354024 Centerline is valid? [False, False] Translation: X:-85.27, Y:-57.97, Z:126.99 [[ 9.48929065e-01 -2.65549919e-01 1.70343391e-01 -8.52704755e+01] [ 2.78592729e-01 9.58690065e-01 -5.74408418e-02 -5.79650639e+01] [-1.48053106e-01 1.01963714e-01 9.83709143e-01 1.26987073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439072329 meters 0.255770684485955 Centerline is valid? [False, False] Translation: X:-85.37, Y:-57.92, Z:127.01 [[ 9.47792707e-01 -2.69898771e-01 1.69834148e-01 -8.53733793e+01] [ 2.83190769e-01 9.57236563e-01 -5.91705156e-02 -5.79249204e+01] [-1.46601407e-01 1.04176846e-01 9.83694674e-01 1.27007085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49907232899994 meters 0.269372655242037 Centerline is valid? [False, False] Translation: X:-85.48, Y:-57.88, Z:127.03 [[ 9.47340099e-01 -2.69601576e-01 1.72805462e-01 -8.54837665e+01] [ 2.83377563e-01 9.57112335e-01 -6.02754917e-02 -5.78776827e+01] [-1.49143872e-01 1.06070581e-01 9.83109931e-01 1.27028440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55907232899995 meters 0.2325024926271042 Centerline is valid? [False, False] Translation: X:-85.59, Y:-57.83, Z:127.05 [[ 9.47800225e-01 -2.67762458e-01 1.73141557e-01 -8.55895546e+01] [ 2.81502213e-01 9.57687749e-01 -5.99222697e-02 -5.78325295e+01] [-1.49770614e-01 1.05534072e-01 9.83072389e-01 1.27049800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61907232899995 meters 0.22566146408271867 Centerline is valid? [False, False] Translation: X:-85.69, Y:-57.79, Z:127.07 [[ 9.47595242e-01 -2.68493198e-01 1.73131915e-01 -8.56914179e+01] [ 2.82683551e-01 9.57152197e-01 -6.28464947e-02 -5.77903360e+01] [-1.48839737e-01 1.08494584e-01 9.82891478e-01 1.27071852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67907232899995 meters 0.26493510810439946 Centerline is valid? [False, False] Translation: X:-85.80, Y:-57.74, Z:127.09 [[ 9.48386041e-01 -2.64072705e-01 1.75583379e-01 -8.57993478e+01] [ 2.78612633e-01 9.58293041e-01 -6.36352720e-02 -5.77441691e+01] [-1.51455992e-01 1.09270551e-01 9.82405736e-01 1.27092711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73907232899995 meters 0.23854082409231755 Centerline is valid? [False, False] Translation: X:-85.91, Y:-57.70, Z:127.12 [[ 9.48374506e-01 -2.62493530e-01 1.77997030e-01 -8.59058563e+01] [ 2.77731547e-01 9.58356493e-01 -6.64681879e-02 -5.76970932e+01] [-1.53137140e-01 1.12472125e-01 9.81783600e-01 1.27118313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79907232899996 meters 0.24145522252156082 Centerline is valid? [False, False] Translation: X:-86.01, Y:-57.65, Z:127.14 [[ 9.48816071e-01 -2.60669650e-01 1.78323855e-01 -8.60098033e+01] [ 2.75899622e-01 9.58897242e-01 -6.62984001e-02 -5.76505367e+01] [-1.53712272e-01 1.12104472e-01 9.81735771e-01 1.27141231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85907232899996 meters 0.3190981027747912 Centerline is valid? [False, False] Translation: X:-86.11, Y:-57.60, Z:127.16 [[ 9.49910390e-01 -2.59408515e-01 1.74291345e-01 -8.61065137e+01] [ 2.73772109e-01 9.59679997e-01 -6.37427372e-02 -5.76041740e+01] [-1.50728508e-01 1.08265997e-01 9.82628816e-01 1.27162642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91907232899996 meters 0.2327969758649025 Centerline is valid? [False, False] Translation: X:-86.20, Y:-57.56, Z:127.18 [[ 9.51474086e-01 -2.55950461e-01 1.70840348e-01 -8.61994555e+01] [ 2.70028767e-01 9.60681897e-01 -6.46123690e-02 -5.75620817e+01] [-1.47585664e-01 1.07608803e-01 9.83177917e-01 1.27183640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97907232899996 meters 0.27319680822692083 Centerline is valid? [False, False] Translation: X:-86.29, Y:-57.52, Z:127.21 [[ 9.54194734e-01 -2.47176354e-01 1.68571231e-01 -8.62936991e+01] [ 2.60980140e-01 9.63153340e-01 -6.50000834e-02 -5.75150345e+01] [-1.46293461e-01 1.06016481e-01 9.83543964e-01 1.27205349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03907232899996 meters 0.27505675087657666 Centerline is valid? [False, False] Translation: X:-86.39, Y:-57.47, Z:127.23 [[ 9.55381211e-01 -2.44640215e-01 1.65523132e-01 -8.63867185e+01] [ 2.58284046e-01 9.63789708e-01 -6.63230780e-02 -5.74718118e+01] [-1.43304199e-01 1.06115807e-01 9.83973243e-01 1.27226923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09907232899997 meters 0.2606956788274028 Centerline is valid? [False, False] Translation: X:-86.48, Y:-57.43, Z:127.25 [[ 9.57559709e-01 -2.39529294e-01 1.60328168e-01 -8.64750957e+01] [ 2.52602866e-01 9.65278672e-01 -6.65498072e-02 -5.74284550e+01] [-1.38820733e-01 1.04224769e-01 9.84817751e-01 1.27247077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15907232899997 meters 0.24732905524902588 Centerline is valid? [False, False] Translation: X:-86.55, Y:-57.39, Z:127.27 [[ 9.58094625e-01 -2.37702655e-01 1.59850360e-01 -8.65526484e+01] [ 2.49975658e-01 9.66306601e-01 -6.13491928e-02 -5.73918180e+01] [-1.39881592e-01 9.87370308e-02 9.85233038e-01 1.27266307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21907232899997 meters 0.24869098486834257 Centerline is valid? [False, False] Translation: X:-86.63, Y:-57.36, Z:127.29 [[ 9.58407978e-01 -2.36187972e-01 1.60216696e-01 -8.66306178e+01] [ 2.47927170e-01 9.67073843e-01 -5.74482480e-02 -5.73577242e+01] [-1.41372790e-01 9.47809312e-02 9.85408702e-01 1.27286183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279072329 meters 0.2377802192604302 Centerline is valid? [False, False] Translation: X:-86.72, Y:-57.32, Z:127.30 [[ 9.59140065e-01 -2.35883079e-01 1.56235429e-01 -8.67194373e+01] [ 2.47843742e-01 9.66825348e-01 -6.18241522e-02 -5.73172530e+01] [-1.36469102e-01 9.80199947e-02 9.85783072e-01 1.27304952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339072329 meters 0.22825259615680887 Centerline is valid? [False, False] Translation: X:-86.79, Y:-57.28, Z:127.32 [[ 9.60387366e-01 -2.32222257e-01 1.54041978e-01 -8.67916157e+01] [ 2.43180436e-01 9.68344388e-01 -5.63242536e-02 -5.72835267e+01] [-1.36085939e-01 9.15530968e-02 9.86457626e-01 1.27320261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399072329 meters 0.2301146155829312 Centerline is valid? [False, False] Translation: X:-86.86, Y:-57.25, Z:127.34 [[ 9.62027392e-01 -2.26659616e-01 1.52081280e-01 -8.68633775e+01] [ 2.36488566e-01 9.70359390e-01 -4.97575446e-02 -5.72472946e+01] [-1.36295472e-01 8.38336045e-02 9.87114720e-01 1.27335580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459072329 meters 0.23097395976548685 Centerline is valid? [False, False] Translation: X:-86.93, Y:-57.21, Z:127.35 [[ 9.62944756e-01 -2.23942435e-01 1.50290327e-01 -8.69327989e+01] [ 2.33421976e-01 9.71165863e-01 -4.84876121e-02 -5.72128715e+01] [-1.35098401e-01 8.17719568e-02 9.87452160e-01 1.27352532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519072329 meters 0.2180373323664957 Centerline is valid? [False, False] Translation: X:-87.00, Y:-57.18, Z:127.37 [[ 9.63584220e-01 -2.22671068e-01 1.48064333e-01 -8.70020656e+01] [ 2.31618033e-01 9.71719005e-01 -4.59919857e-02 -5.71813024e+01] [-1.33635842e-01 7.86115212e-02 9.87907734e-01 1.27366741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579072329 meters 0.2565305204713984 Centerline is valid? [False, False] Translation: X:-87.07, Y:-57.15, Z:127.38 [[ 9.64263167e-01 -2.20529642e-01 1.46844212e-01 -8.70717072e+01] [ 2.29024642e-01 9.72448619e-01 -4.34901792e-02 -5.71497887e+01] [-1.33207578e-01 7.55669211e-02 9.88203108e-01 1.27381250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639072329 meters 0.24378823084861556 Centerline is valid? [False, False] Translation: X:-87.14, Y:-57.12, Z:127.39 [[ 9.65739716e-01 -2.15803892e-01 1.44137019e-01 -8.71370240e+01] [ 2.23661697e-01 9.73823124e-01 -4.05458886e-02 -5.71188511e+01] [-1.31614002e-01 7.13947052e-02 9.88726732e-01 1.27394999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699072329 meters 0.2414590960101806 Centerline is valid? [False, False] Translation: X:-87.20, Y:-57.09, Z:127.41 [[ 9.66722615e-01 -2.12283533e-01 1.42769350e-01 -8.72041012e+01] [ 2.19716533e-01 9.74811530e-01 -3.83030737e-02 -5.70854994e+01] [-1.31042097e-01 6.83972341e-02 9.89014554e-01 1.27408011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759072329 meters 0.2321743820060306 Centerline is valid? [False, False] Translation: X:-87.27, Y:-57.05, Z:127.42 [[ 9.67762259e-01 -2.08900140e-01 1.40701606e-01 -8.72678364e+01] [ 2.16157588e-01 9.75608224e-01 -3.82686516e-02 -5.70543565e+01] [-1.29275318e-01 6.74486766e-02 9.89312169e-01 1.27421762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819072329 meters 0.236363694045773 Centerline is valid? [False, False] Translation: X:-87.33, Y:-57.02, Z:127.44 [[ 9.68599948e-01 -2.05570853e-01 1.39838352e-01 -8.73328919e+01] [ 2.12968110e-01 9.76239752e-01 -4.00066348e-02 -5.70207526e+01] [-1.28291560e-01 6.85315340e-02 9.89365809e-01 1.27436518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879072329 meters 0.22156019835472854 Centerline is valid? [False, False] Translation: X:-87.40, Y:-56.99, Z:127.45 [[ 9.69188691e-01 -2.03851234e-01 1.38267693e-01 -8.73982309e+01] [ 2.11126144e-01 9.76639689e-01 -4.00083701e-02 -5.69898512e+01] [-1.26881961e-01 6.79675848e-02 9.89586467e-01 1.27449616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939072329 meters 0.25272027490802546 Centerline is valid? [False, False] Translation: X:-87.46, Y:-56.96, Z:127.46 [[ 9.69529301e-01 -2.03336801e-01 1.36627521e-01 -8.74635161e+01] [ 2.10443908e-01 9.76803256e-01 -3.96075808e-02 -5.69608332e+01] [-1.25404529e-01 6.71531397e-02 9.89830369e-01 1.27461149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99907232899994 meters 0.23850934580144456 Centerline is valid? [False, False] Translation: X:-87.53, Y:-56.93, Z:127.47 [[ 9.69510809e-01 -2.04707288e-01 1.34698618e-01 -8.75277719e+01] [ 2.11813537e-01 9.76467420e-01 -4.05758913e-02 -5.69341425e+01] [-1.23222632e-01 6.78697561e-02 9.90055493e-01 1.27471507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05907232899995 meters 0.2254118977596554 Centerline is valid? [False, False] Translation: X:-87.59, Y:-56.90, Z:127.48 [[ 9.69635815e-01 -2.04896669e-01 1.33505585e-01 -8.75938339e+01] [ 2.12033492e-01 9.76381658e-01 -4.14808000e-02 -5.69042990e+01] [-1.21853126e-01 6.85289247e-02 9.90179581e-01 1.27484037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11907232899995 meters 0.23415371058807505 Centerline is valid? [False, False] Translation: X:-87.66, Y:-56.87, Z:127.49 [[ 9.70051609e-01 -2.04348482e-01 1.31307173e-01 -8.76589552e+01] [ 2.11207099e-01 9.76603026e-01 -4.04733431e-02 -5.68746952e+01] [-1.19964316e-01 6.69942386e-02 9.90515187e-01 1.27494877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17907232899995 meters 0.23168230777981186 Centerline is valid? [False, False] Translation: X:-87.72, Y:-56.85, Z:127.50 [[ 9.70553927e-01 -2.03662425e-01 1.28633941e-01 -8.77225578e+01] [ 2.10157018e-01 9.76890685e-01 -3.89694428e-02 -5.68462578e+01] [-1.17724687e-01 6.48552712e-02 9.90926179e-01 1.27504210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23907232899995 meters 0.24103614421002076 Centerline is valid? [False, False] Translation: X:-87.79, Y:-56.82, Z:127.51 [[ 9.70619091e-01 -2.04545349e-01 1.26727188e-01 -8.77874399e+01] [ 2.10973889e-01 9.76696185e-01 -3.94281804e-02 -5.68182646e+01] [-1.15709110e-01 6.50058723e-02 9.91153691e-01 1.27514527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29907232899996 meters 0.22218147267447264 Centerline is valid? [False, False] Translation: X:-87.85, Y:-56.79, Z:127.53 [[ 9.70289087e-01 -2.06816610e-01 1.25562646e-01 -8.78533874e+01] [ 2.13513188e-01 9.76023899e-01 -4.23020858e-02 -5.67890107e+01] [-1.13803370e-01 6.78545331e-02 9.91183412e-01 1.27526450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35907232899996 meters 0.24605886160704973 Centerline is valid? [False, False] Translation: X:-87.92, Y:-56.76, Z:127.54 [[ 9.70022173e-01 -2.08399285e-01 1.25006885e-01 -8.79205931e+01] [ 2.15166889e-01 9.75622254e-01 -4.31790097e-02 -5.67615363e+01] [-1.12961024e-01 6.87819394e-02 9.91215845e-01 1.27536962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41907232899996 meters 0.2827512320396122 Centerline is valid? [False, False] Translation: X:-87.99, Y:-56.73, Z:127.55 [[ 9.69017508e-01 -2.13343423e-01 1.24457435e-01 -8.79904213e+01] [ 2.20185114e-01 9.74468643e-01 -4.39246942e-02 -5.67330510e+01] [-1.11908823e-01 6.99674722e-02 9.91252222e-01 1.27545769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47907232899996 meters 0.22617701444204028 Centerline is valid? [False, False] Translation: X:-88.06, Y:-56.70, Z:127.56 [[ 9.68631373e-01 -2.15092772e-01 1.24452255e-01 -8.80605829e+01] [ 2.21937067e-01 9.74073867e-01 -4.38638723e-02 -5.67021498e+01] [-1.11790887e-01 7.01084912e-02 9.91255566e-01 1.27556525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53907232899996 meters 0.23241100668250061 Centerline is valid? [False, False] Translation: X:-88.13, Y:-56.67, Z:127.57 [[ 9.68684993e-01 -2.15148422e-01 1.23937650e-01 -8.81300496e+01] [ 2.21826822e-01 9.74150236e-01 -4.27104080e-02 -5.66699864e+01] [-1.11544814e-01 6.88656263e-02 9.91370405e-01 1.27566780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59907232899997 meters 0.27412965213178236 Centerline is valid? [False, False] Translation: X:-88.20, Y:-56.64, Z:127.58 [[ 9.69304832e-01 -2.10804282e-01 1.26529432e-01 -8.82013719e+01] [ 2.17791979e-01 9.75001072e-01 -4.40404850e-02 -5.66374241e+01] [-1.14082409e-01 7.02457504e-02 9.90984732e-01 1.27575055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65907232899997 meters 0.23602167602190618 Centerline is valid? [False, False] Translation: X:-88.27, Y:-56.60, Z:127.59 [[ 9.68780777e-01 -2.13047301e-01 1.26785860e-01 -8.82713264e+01] [ 2.20316120e-01 9.74333267e-01 -4.62113808e-02 -5.66046933e+01] [-1.13686471e-01 7.27016662e-02 9.90853094e-01 1.27588102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71907232899997 meters 0.22995438238920796 Centerline is valid? [False, False] Translation: X:-88.34, Y:-56.57, Z:127.60 [[ 9.69148953e-01 -2.12481561e-01 1.24907541e-01 -8.83371685e+01] [ 2.19553606e-01 9.74528540e-01 -4.57202304e-02 -5.65737494e+01] [-1.12011257e-01 7.17336143e-02 9.91114407e-01 1.27598997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779072329 meters 0.21251254500019331 Centerline is valid? [False, False] Translation: X:-88.41, Y:-56.54, Z:127.61 [[ 9.68951219e-01 -2.13622089e-01 1.24495536e-01 -8.84075831e+01] [ 2.20546103e-01 9.74355579e-01 -4.46163839e-02 -5.65403880e+01] [-1.11771875e-01 7.06881048e-02 9.91216545e-01 1.27609670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839072329 meters 0.2346972873699661 Centerline is valid? [False, False] Translation: X:-88.48, Y:-56.51, Z:127.62 [[ 9.68800324e-01 -2.14686080e-01 1.23837875e-01 -8.84769979e+01] [ 2.21475778e-01 9.74182339e-01 -4.37864228e-02 -5.65082363e+01] [-1.11240335e-01 6.98473904e-02 9.91335932e-01 1.27620230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899072329 meters 0.23870561373458427 Centerline is valid? [False, False] Translation: X:-88.55, Y:-56.48, Z:127.63 [[ 9.67987556e-01 -2.17936814e-01 1.24513596e-01 -8.85512673e+01] [ 2.24728135e-01 9.73462824e-01 -4.32133663e-02 -5.64754935e+01] [-1.11791574e-01 6.98117091e-02 9.91276434e-01 1.27631363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959072329 meters 0.23931230718936167 Centerline is valid? [False, False] Translation: X:-88.62, Y:-56.44, Z:127.64 [[ 9.68090176e-01 -2.17874366e-01 1.23823148e-01 -8.86200493e+01] [ 2.24678596e-01 9.73449496e-01 -4.37676623e-02 -5.64413786e+01] [-1.10999730e-01 7.01914550e-02 9.91338600e-01 1.27643228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019072329 meters 0.2460257135323226 Centerline is valid? [False, False] Translation: X:-88.69, Y:-56.41, Z:127.65 [[ 9.67725286e-01 -2.18565513e-01 1.25446749e-01 -8.86933234e+01] [ 2.25594675e-01 9.73195512e-01 -4.46938287e-02 -5.64059212e+01] [-1.12315683e-01 7.15514667e-02 9.91093121e-01 1.27654745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079072329 meters 0.23893833754591784 Centerline is valid? [False, False] Translation: X:-88.76, Y:-56.37, Z:127.67 [[ 9.67772465e-01 -2.18371635e-01 1.25420432e-01 -8.87633548e+01] [ 2.25475074e-01 9.73191646e-01 -4.53763203e-02 -5.63713995e+01] [-1.12149216e-01 7.21931347e-02 9.91065439e-01 1.27667235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139072329 meters 0.21380398946280774 Centerline is valid? [False, False] Translation: X:-88.83, Y:-56.34, Z:127.68 [[ 9.68258404e-01 -2.17141893e-01 1.23794430e-01 -8.88305708e+01] [ 2.24065285e-01 9.73539867e-01 -4.48873687e-02 -5.63375092e+01] [-1.10771885e-01 7.12006063e-02 9.91292118e-01 1.27679207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199072329 meters 0.22873382023249056 Centerline is valid? [False, False] Translation: X:-88.90, Y:-56.30, Z:127.69 [[ 9.68365200e-01 -2.16799772e-01 1.23558478e-01 -8.88996291e+01] [ 2.23753817e-01 9.73590911e-01 -4.53317505e-02 -5.63029224e+01] [-1.10467498e-01 7.15443708e-02 9.91301334e-01 1.27691079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259072329 meters 0.2816459859804529 Centerline is valid? [False, False] Translation: X:-88.96, Y:-56.27, Z:127.70 [[ 9.69165036e-01 -2.14528765e-01 1.21229295e-01 -8.89633062e+01] [ 2.21358428e-01 9.74114496e-01 -4.58409704e-02 -5.62691266e+01] [-1.08257006e-01 7.12625918e-02 9.91565461e-01 1.27702282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319072329 meters 0.2527675194635345 Centerline is valid? [False, False] Translation: X:-89.03, Y:-56.23, Z:127.71 [[ 9.70602824e-01 -2.06994109e-01 1.22815293e-01 -8.90338633e+01] [ 2.13795882e-01 9.75845086e-01 -4.49186964e-02 -5.62303221e+01] [-1.10550795e-01 6.98556175e-02 9.91412485e-01 1.27712625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379072329 meters 0.2336250896514684 Centerline is valid? [False, False] Translation: X:-89.10, Y:-56.20, Z:127.73 [[ 9.71161484e-01 -2.04734446e-01 1.22185017e-01 -8.91000346e+01] [ 2.11591572e-01 9.76278439e-01 -4.59283793e-02 -5.61954801e+01] [-1.09883476e-01 7.04571928e-02 9.91444101e-01 1.27725744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439072329 meters 0.2551217973619187 Centerline is valid? [False, False] Translation: X:-89.16, Y:-56.16, Z:127.74 [[ 9.71418445e-01 -2.04245599e-01 1.20954292e-01 -8.91648082e+01] [ 2.11142248e-01 9.76319252e-01 -4.71133682e-02 -5.61633759e+01] [-1.08467306e-01 7.13053561e-02 9.91539404e-01 1.27736904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49907232899994 meters 0.26804646614875444 Centerline is valid? [False, False] Translation: X:-89.23, Y:-56.13, Z:127.75 [[ 9.71463629e-01 -2.05555722e-01 1.18343835e-01 -8.92294065e+01] [ 2.12209047e-01 9.76115643e-01 -4.65357110e-02 -5.61343717e+01] [-1.05951587e-01 7.03213829e-02 9.91881628e-01 1.27745323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55907232899995 meters 0.25542770765035616 Centerline is valid? [False, False] Translation: X:-89.29, Y:-56.10, Z:127.75 [[ 9.71976178e-01 -2.04349105e-01 1.16205652e-01 -8.92927897e+01] [ 2.10781421e-01 9.76453696e-01 -4.59278980e-02 -5.61025189e+01] [-1.04084114e-01 6.91348152e-02 9.92162726e-01 1.27754261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61907232899995 meters 0.23619062317715317 Centerline is valid? [False, False] Translation: X:-89.36, Y:-56.07, Z:127.76 [[ 9.71653695e-01 -2.05855914e-01 1.16243017e-01 -8.93607321e+01] [ 2.12379432e-01 9.76070389e-01 -4.67073011e-02 -5.60691303e+01] [-1.03846393e-01 7.00709477e-02 9.92121963e-01 1.27764110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67907232899995 meters 0.2330202375946904 Centerline is valid? [False, False] Translation: X:-89.43, Y:-56.03, Z:127.78 [[ 9.71073898e-01 -2.07894448e-01 1.17453746e-01 -8.94323516e+01] [ 2.14610180e-01 9.75538114e-01 -4.76220336e-02 -5.60347511e+01] [-1.04680250e-01 7.14512835e-02 9.91935865e-01 1.27775235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73907232899995 meters 0.23775883923086985 Centerline is valid? [False, False] Translation: X:-89.50, Y:-56.00, Z:127.79 [[ 9.71592623e-01 -2.05918149e-01 1.16642578e-01 -8.94993823e+01] [ 2.12611937e-01 9.75954243e-01 -4.80570479e-02 -5.59982794e+01] [-1.03942000e-01 7.14914776e-02 9.92010599e-01 1.27786987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79907232899996 meters 0.23566205228783213 Centerline is valid? [False, False] Translation: X:-89.56, Y:-55.96, Z:127.80 [[ 9.72143672e-01 -2.04385777e-01 1.14730707e-01 -8.95626215e+01] [ 2.11013633e-01 9.76263162e-01 -4.88209536e-02 -5.59637975e+01] [-1.02029054e-01 7.16707244e-02 9.92196240e-01 1.27797205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85907232899996 meters 0.23808709639750442 Centerline is valid? [False, False] Translation: X:-89.63, Y:-55.93, Z:127.81 [[ 9.72656753e-01 -2.02921669e-01 1.12967415e-01 -8.96255825e+01] [ 2.09624646e-01 9.76456873e-01 -5.08869677e-02 -5.59304575e+01] [-9.99817400e-02 7.31763071e-02 9.92294754e-01 1.27808389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91907232899996 meters 0.22860868221726724 Centerline is valid? [False, False] Translation: X:-89.69, Y:-55.90, Z:127.82 [[ 9.74211926e-01 -1.97326271e-01 1.09423336e-01 -8.96865565e+01] [ 2.03488018e-01 9.77888885e-01 -4.82281620e-02 -5.58951630e+01] [-9.74871809e-02 6.92507884e-02 9.92824545e-01 1.27817934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97907232899996 meters 0.23697707717692973 Centerline is valid? [False, False] Translation: X:-89.74, Y:-55.87, Z:127.83 [[ 9.74967181e-01 -1.90614192e-01 1.14478057e-01 -8.97390838e+01] [ 1.96564502e-01 9.79545180e-01 -4.30538865e-02 -5.58669251e+01] [-1.03929748e-01 6.44784488e-02 9.92492386e-01 1.27826320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03907232899996 meters 0.2452321772710913 Centerline is valid? [False, False] Translation: X:-89.79, Y:-55.84, Z:127.84 [[ 9.74680746e-01 -1.90234010e-01 1.17509428e-01 -8.97898481e+01] [ 1.95780274e-01 9.79930335e-01 -3.75049604e-02 -5.58386942e+01] [-1.08016334e-01 5.95613908e-02 9.92363297e-01 1.27836198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09907232899997 meters 0.24960570798499804 Centerline is valid? [False, False] Translation: X:-89.85, Y:-55.80, Z:127.85 [[ 9.75741327e-01 -1.83938615e-01 1.18724256e-01 -8.98539092e+01] [ 1.89948780e-01 9.80922077e-01 -4.13683471e-02 -5.58002990e+01] [-1.08850008e-01 6.29163335e-02 9.92065124e-01 1.27845238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15907232899997 meters 0.23921471172888828 Centerline is valid? [False, False] Translation: X:-89.90, Y:-55.77, Z:127.85 [[ 9.76440783e-01 -1.77191142e-01 1.23153141e-01 -8.99026756e+01] [ 1.82875003e-01 9.82462016e-01 -3.64021930e-02 -5.57726628e+01] [-1.14543137e-01 5.80662168e-02 9.91719811e-01 1.27852587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21907232899997 meters 0.3002742312222669 Centerline is valid? [False, False] Translation: X:-89.95, Y:-55.74, Z:127.86 [[ 9.77554826e-01 -1.74234667e-01 1.18443414e-01 -8.99546747e+01] [ 1.79936603e-01 9.82896754e-01 -3.92018987e-02 -5.57432609e+01] [-1.09587317e-01 5.96343108e-02 9.92186660e-01 1.27860705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279072329 meters 0.22830788245152508 Centerline is valid? [False, False] Translation: X:-90.01, Y:-55.71, Z:127.87 [[ 9.78292428e-01 -1.73033216e-01 1.14032587e-01 -9.00078312e+01] [ 1.78994156e-01 9.82856138e-01 -4.42142873e-02 -5.57136053e+01] [-1.04427088e-01 6.36656693e-02 9.92492653e-01 1.27870713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339072329 meters 0.2890739764045597 Centerline is valid? [False, False] Translation: X:-90.05, Y:-55.69, Z:127.88 [[ 9.78232925e-01 -1.71685767e-01 1.16551885e-01 -9.00522557e+01] [ 1.77278938e-01 9.83372742e-01 -3.93729334e-02 -5.56918506e+01] [-1.07854175e-01 5.91780942e-02 9.92403864e-01 1.27876131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399072329 meters 0.249374038854207 Centerline is valid? [False, False] Translation: X:-90.10, Y:-55.67, Z:127.88 [[ 9.78117442e-01 -1.70373012e-01 1.19412340e-01 -9.00966148e+01] [ 1.75698476e-01 9.83803420e-01 -3.55088250e-02 -5.56690908e+01] [-1.11428523e-01 5.57123671e-02 9.92209563e-01 1.27882138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459072329 meters 0.24553826170457144 Centerline is valid? [False, False] Translation: X:-90.15, Y:-55.64, Z:127.89 [[ 9.78038419e-01 -1.66501025e-01 1.25372483e-01 -9.01468599e+01] [ 1.71871659e-01 9.84558474e-01 -3.32376848e-02 -5.56427412e+01] [-1.17902432e-01 5.40557094e-02 9.91552821e-01 1.27889798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519072329 meters 0.2403405116737092 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.61, Z:127.90 [[ 9.79469394e-01 -1.61809903e-01 1.20238355e-01 -9.01991794e+01] [ 1.67028895e-01 9.85344426e-01 -3.46079600e-02 -5.56093197e+01] [-1.12876282e-01 5.39807172e-02 9.92141637e-01 1.27899338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579072329 meters 0.25445436792074133 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.58, Z:127.91 [[ 9.80579290e-01 -1.58869863e-01 1.14998359e-01 -9.02494824e+01] [ 1.64257820e-01 9.85648565e-01 -3.89393725e-02 -5.55803043e+01] [-1.07161675e-01 5.70725220e-02 9.92602188e-01 1.27908777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639072329 meters 0.23629269986577958 Centerline is valid? [False, False] Translation: X:-90.29, Y:-55.56, Z:127.92 [[ 9.80850208e-01 -1.56069602e-01 1.16512444e-01 -9.02867871e+01] [ 1.61472347e-01 9.86129443e-01 -3.84109602e-02 -5.55624135e+01] [-1.08901568e-01 5.64889360e-02 9.92446194e-01 1.27915459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699072329 meters 0.25005512120878354 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.55, Z:127.92 [[ 9.81340953e-01 -1.52146871e-01 1.17563872e-01 -9.03222733e+01] [ 1.57389375e-01 9.86857356e-01 -3.66216247e-02 -5.55450984e+01] [-1.10446907e-01 5.44416045e-02 9.92389839e-01 1.27919808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759072329 meters 0.24607156118418805 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.53, Z:127.92 [[ 9.81890040e-01 -1.47857435e-01 1.18448842e-01 -9.03575769e+01] [ 1.52784727e-01 9.87687877e-01 -3.36078052e-02 -5.55283069e+01] [-1.12021322e-01 5.10963432e-02 9.92391247e-01 1.27923385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819072329 meters 0.25246968311360246 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.51, Z:127.93 [[ 9.81792534e-01 -1.47116164e-01 1.20167610e-01 -9.03933253e+01] [ 1.52209902e-01 9.87752110e-01 -3.43207686e-02 -5.55117930e+01] [-1.13646671e-01 5.19865746e-02 9.92160184e-01 1.27926614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879072329 meters 0.25457143540080485 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.49, Z:127.93 [[ 9.81857671e-01 -1.45653265e-01 1.21411036e-01 -9.04286038e+01] [ 1.50846353e-01 9.87948372e-01 -3.46899444e-02 -5.54948671e+01] [-1.14895132e-01 5.23750000e-02 9.91995952e-01 1.27930969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939072329 meters 0.2453396331164494 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.48, Z:127.93 [[ 9.81871211e-01 -1.44729353e-01 1.22402368e-01 -9.04639224e+01] [ 1.49957803e-01 9.88087095e-01 -3.45911950e-02 -5.54780193e+01] [-1.15937839e-01 5.23192888e-02 9.91877568e-01 1.27934565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99907232899994 meters 0.22212080323175076 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.46, Z:127.94 [[ 9.81563388e-01 -1.44635020e-01 1.24956101e-01 -9.05016984e+01] [ 1.50090550e-01 9.88039785e-01 -3.53583012e-02 -5.54627210e+01] [-1.18347551e-01 5.34611440e-02 9.91532028e-01 1.27939093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05907232899995 meters 0.23829418247172635 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.45, Z:127.94 [[ 9.81410322e-01 -1.43981341e-01 1.26898202e-01 -9.05377845e+01] [ 1.49772171e-01 9.88017113e-01 -3.72891489e-02 -5.54450662e+01] [-1.20008653e-01 5.56017749e-02 9.91214591e-01 1.27944227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11907232899995 meters 0.22648172278071133 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.42, Z:127.95 [[ 9.82871349e-01 -1.40930687e-01 1.18753748e-01 -9.05796537e+01] [ 1.46699416e-01 9.88319416e-01 -4.12796895e-02 -5.54167348e+01] [-1.11549060e-01 5.79937296e-02 9.92065287e-01 1.27948588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17907232899995 meters 0.22028379529036696 Centerline is valid? [False, False] Translation: X:-90.61, Y:-55.40, Z:127.95 [[ 9.84375069e-01 -1.33389068e-01 1.14948165e-01 -9.06050015e+01] [ 1.38517382e-01 9.89637991e-01 -3.78098086e-02 -5.54014687e+01] [-1.08713656e-01 5.31413518e-02 9.92651670e-01 1.27951697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23907232899995 meters 0.24642842873731718 Centerline is valid? [False, False] Translation: X:-90.63, Y:-55.38, Z:127.96 [[ 9.85733836e-01 -1.26470578e-01 1.11058532e-01 -9.06284396e+01] [ 1.31517057e-01 9.90533568e-01 -3.93257539e-02 -5.53830579e+01] [-1.05033653e-01 5.33708175e-02 9.93035492e-01 1.27958790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29907232899996 meters 0.24085133564039088 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.37, Z:127.96 [[ 9.86915578e-01 -1.20366415e-01 1.07282658e-01 -9.06511188e+01] [ 1.25365728e-01 9.91258183e-01 -4.11175132e-02 -5.53675033e+01] [-1.01395645e-01 5.40290829e-02 9.93377965e-01 1.27964299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35907232899996 meters 0.2445603616515242 Centerline is valid? [False, False] Translation: X:-90.67, Y:-55.35, Z:127.97 [[ 9.87928719e-01 -1.16467269e-01 1.02138245e-01 -9.06706250e+01] [ 1.21412713e-01 9.91644177e-01 -4.35979366e-02 -5.53546205e+01] [-9.62070632e-02 5.54725351e-02 9.93814368e-01 1.27967054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41907232899996 meters 0.23469633574734938 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.34, Z:127.97 [[ 9.89243732e-01 -1.10315726e-01 9.60587246e-02 -9.06884743e+01] [ 1.14863755e-01 9.92443089e-01 -4.31628735e-02 -5.53417757e+01] [-9.05712736e-02 5.37322679e-02 9.94439384e-01 1.27968614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47907232899996 meters 0.24508406716876838 Centerline is valid? [False, False] Translation: X:-90.71, Y:-55.33, Z:127.97 [[ 9.90197485e-01 -1.07195085e-01 8.95441446e-02 -9.07053626e+01] [ 1.11582327e-01 9.92712841e-01 -4.55038356e-02 -5.53295835e+01] [-8.40138347e-02 5.50493276e-02 9.94942836e-01 1.27970789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53907232899996 meters 0.24247405637141414 Centerline is valid? [False, False] Translation: X:-90.72, Y:-55.32, Z:127.97 [[ 9.91234295e-01 -1.05605782e-01 7.93850856e-02 -9.07158721e+01] [ 1.09244279e-01 9.93085785e-01 -4.29687131e-02 -5.53208277e+01] [-7.42984555e-02 5.12644284e-02 9.95917516e-01 1.27971631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59907232899997 meters 0.2593247544452132 Centerline is valid? [False, False] Translation: X:-90.73, Y:-55.31, Z:127.97 [[ 9.91889519e-01 -1.05411896e-01 7.10177099e-02 -9.07283376e+01] [ 1.08672772e-01 9.93115512e-01 -4.37242274e-02 -5.53129064e+01] [-6.59197356e-02 5.10872943e-02 9.96516270e-01 1.27970323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65907232899997 meters 0.24336227417701958 Centerline is valid? [False, False] Translation: X:-90.74, Y:-55.31, Z:127.97 [[ 9.92443074e-01 -1.05705431e-01 6.23145833e-02 -9.07406497e+01] [ 1.08573437e-01 9.93088220e-01 -4.45824576e-02 -5.53051633e+01] [-5.71712707e-02 5.10112597e-02 9.97060328e-01 1.27969768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71907232899997 meters 0.2696027441188542 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.30, Z:127.97 [[ 9.92981258e-01 -1.03480300e-01 5.72717162e-02 -9.07594017e+01] [ 1.06215252e-01 9.93233504e-01 -4.69630376e-02 -5.52955030e+01] [-5.20244382e-02 5.27165459e-02 9.97253440e-01 1.27968968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779072329 meters 0.2604368104589469 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.29, Z:127.97 [[ 9.92689459e-01 -1.03821019e-01 6.15535111e-02 -9.07766159e+01] [ 1.06428342e-01 9.93486887e-01 -4.07039614e-02 -5.52916144e+01] [-5.69266794e-02 4.69574315e-02 9.97273459e-01 1.27969912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839072329 meters 0.24856559681084558 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.28, Z:127.97 [[ 9.92958127e-01 -9.67190422e-02 6.84074940e-02 -9.07915551e+01] [ 9.97755323e-02 9.94090542e-01 -4.27649138e-02 -5.52842079e+01] [-6.38670612e-02 4.92891628e-02 9.96740476e-01 1.27966408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899072329 meters 0.23879649247807005 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.28, Z:127.97 [[ 9.92558725e-01 -9.76433057e-02 7.27527464e-02 -9.08090447e+01] [ 1.00439371e-01 9.94298482e-01 -3.58114813e-02 -5.52797257e+01] [-6.88411939e-02 4.28522384e-02 9.96706865e-01 1.27965793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959072329 meters 0.2556663867818145 Centerline is valid? [False, False] Translation: X:-90.82, Y:-55.28, Z:127.97 [[ 9.91925433e-01 -1.01249109e-01 7.63711524e-02 -9.08246315e+01] [ 1.03993891e-01 9.94035192e-01 -3.28528292e-02 -5.52758211e+01] [-7.25892934e-02 4.05296902e-02 9.96538077e-01 1.27966702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019072329 meters 0.23644018753079912 Centerline is valid? [False, False] Translation: X:-90.85, Y:-55.27, Z:127.97 [[ 9.91725511e-01 -1.05811665e-01 7.26938915e-02 -9.08451176e+01] [ 1.09049858e-01 9.93143828e-01 -4.21125434e-02 -5.52682502e+01] [-6.77394913e-02 4.96913422e-02 9.96464817e-01 1.27966480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079072329 meters 0.24437681064802028 Centerline is valid? [False, False] Translation: X:-90.85, Y:-55.26, Z:127.97 [[ 9.91866685e-01 -1.10721902e-01 6.27785006e-02 -9.08535913e+01] [ 1.13587310e-01 9.92550296e-01 -4.40662352e-02 -5.52643390e+01] [-5.74317220e-02 5.08386717e-02 9.97054174e-01 1.27965664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139072329 meters 0.22962111378983244 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.25, Z:127.97 [[ 9.92184124e-01 -1.09879122e-01 5.91374916e-02 -9.08760536e+01] [ 1.12792206e-01 9.92439055e-01 -4.84008375e-02 -5.52533377e+01] [-5.33721147e-02 5.46927907e-02 9.97075782e-01 1.27967433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199072329 meters 0.23280743815246754 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.25, Z:127.97 [[ 9.91900599e-01 -1.10008078e-01 6.34934977e-02 -9.08929571e+01] [ 1.12804934e-01 9.92717303e-01 -4.22777029e-02 -5.52483312e+01] [-5.83802049e-02 4.90976586e-02 9.97086341e-01 1.27968286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259072329 meters 0.25845154869295545 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.24, Z:127.97 [[ 9.92476413e-01 -1.07435739e-01 5.87207886e-02 -9.09128489e+01] [ 1.10092631e-01 9.92944767e-01 -4.40488695e-02 -5.52379706e+01] [-5.35740768e-02 5.01821901e-02 9.97302144e-01 1.27967877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319072329 meters 0.23548420372130333 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.22, Z:127.97 [[ 9.92757635e-01 -1.06712770e-01 5.51784661e-02 -9.09358485e+01] [ 1.09410340e-01 9.92816644e-01 -4.84199171e-02 -5.52235140e+01] [-4.96150761e-02 5.41063371e-02 9.97301784e-01 1.27969502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379072329 meters 0.24426519163096527 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.21, Z:127.96 [[ 9.92486003e-01 -1.03327299e-01 6.55362800e-02 -9.09590303e+01] [ 1.06649355e-01 9.93069262e-01 -4.93898435e-02 -5.52149000e+01] [-5.99787460e-02 5.60081303e-02 9.96627132e-01 1.27964553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439072329 meters 0.2328373375075497 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.20, Z:127.97 [[ 9.93205755e-01 -1.00538004e-01 5.86040722e-02 -9.09771864e+01] [ 1.03523142e-01 9.93352335e-01 -5.03398222e-02 -5.51997700e+01] [-5.31534267e-02 5.60646788e-02 9.97011266e-01 1.27967910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49907232899994 meters 0.2460202746136629 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.20, Z:127.97 [[ 9.92961708e-01 -1.00472822e-01 6.27077239e-02 -9.09927977e+01] [ 1.03302624e-01 9.93692218e-01 -4.36387820e-02 -5.51952597e+01] [-5.79276657e-02 4.98095119e-02 9.97077428e-01 1.27967217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55907232899995 meters 0.2439958146947758 Centerline is valid? [False, False] Translation: X:-91.01, Y:-55.19, Z:127.97 [[ 9.93350805e-01 -9.99896815e-02 5.70634961e-02 -9.10101624e+01] [ 1.02741114e-01 9.93573018e-01 -4.75070601e-02 -5.51858508e+01] [-5.19465342e-02 5.30539436e-02 9.97239608e-01 1.27966060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61907232899995 meters 0.24471111748831087 Centerline is valid? [False, False] Translation: X:-91.02, Y:-55.18, Z:127.96 [[ 9.93893647e-01 -9.10336795e-02 6.23561390e-02 -9.10240318e+01] [ 9.42404948e-02 9.94264124e-01 -5.05725258e-02 -5.51757741e+01] [-5.73946689e-02 5.61401855e-02 9.96771855e-01 1.27964439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67907232899995 meters 0.244058442287155 Centerline is valid? [False, False] Translation: X:-91.03, Y:-55.17, Z:127.97 [[ 9.94058151e-01 -9.25800419e-02 5.72479470e-02 -9.10260614e+01] [ 9.45765030e-02 9.94963769e-01 -3.32021752e-02 -5.51728363e+01] [-5.38857743e-02 3.84192035e-02 9.97807741e-01 1.27968505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73907232899995 meters 0.2388757986219821 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.16, Z:127.96 [[ 9.94917638e-01 -7.99805742e-02 6.11718929e-02 -9.10378879e+01] [ 8.20899101e-02 9.96085710e-01 -3.27796368e-02 -5.51630430e+01] [-5.83107142e-02 3.76346340e-02 9.97588841e-01 1.27963658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79907232899996 meters 0.2606867286687526 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.16, Z:127.96 [[ 9.95133501e-01 -7.34595920e-02 6.56734559e-02 -9.10497774e+01] [ 7.61049862e-02 9.96347450e-01 -3.87271272e-02 -5.51551253e+01] [-6.25887013e-02 4.35367391e-02 9.97089368e-01 1.27960219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85907232899996 meters 0.22729538392334675 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.15, Z:127.97 [[ 9.95210890e-01 -7.67470722e-02 6.05406529e-02 -9.10547637e+01] [ 7.83662343e-02 9.96615207e-01 -2.48367090e-02 -5.51507048e+01] [-5.84295907e-02 2.94621063e-02 9.97856687e-01 1.27967272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91907232899996 meters 0.24437877613090556 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.15, Z:127.96 [[ 9.95189653e-01 -7.23401819e-02 6.60639983e-02 -9.10685901e+01] [ 7.46243405e-02 9.96672649e-01 -3.27847378e-02 -5.51457877e+01] [-6.34725263e-02 3.75570141e-02 9.97276646e-01 1.27963972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97907232899996 meters 0.22783731488544565 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.14, Z:127.97 [[ 9.95806469e-01 -7.47883838e-02 5.26894029e-02 -9.10676124e+01] [ 7.59889538e-02 9.96884099e-01 -2.11606349e-02 -5.51433072e+01] [-5.09426582e-02 2.50757097e-02 9.98386726e-01 1.27968395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03907232899996 meters 0.21431507693396928 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.14, Z:127.96 [[ 9.95839620e-01 -6.99624455e-02 5.83841321e-02 -9.10806571e+01] [ 7.16980819e-02 9.97028224e-01 -2.81798802e-02 -5.51380143e+01] [-5.62390942e-02 3.22486714e-02 9.97896381e-01 1.27963360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09907232899997 meters 0.23336809177676193 Centerline is valid? [False, False] Translation: X:-91.09, Y:-55.13, Z:127.96 [[ 9.96227351e-01 -7.12953871e-02 4.94775996e-02 -9.10927735e+01] [ 7.28351596e-02 9.96891292e-01 -3.00464759e-02 -5.51285989e+01] [-4.71816131e-02 3.35368300e-02 9.98323182e-01 1.27963686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15907232899997 meters 0.21659380389202668 Centerline is valid? [False, False] Translation: X:-91.11, Y:-55.12, Z:127.96 [[ 9.96434454e-01 -7.17144708e-02 4.44456358e-02 -9.11109934e+01] [ 7.33297584e-02 9.96663411e-01 -3.58439842e-02 -5.51184528e+01] [-4.17268066e-02 3.89753685e-02 9.98368566e-01 1.27963427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21907232899997 meters 0.20452817379538044 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.11, Z:127.96 [[ 9.96228889e-01 -7.16252976e-02 4.89675196e-02 -9.11265605e+01] [ 7.31139601e-02 9.96892648e-01 -2.93154872e-02 -5.51141160e+01] [-4.67156298e-02 3.27851445e-02 9.98370064e-01 1.27962051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279072329 meters 0.25574233058175205 Centerline is valid? [False, False] Translation: X:-91.14, Y:-55.12, Z:127.96 [[ 9.95762243e-01 -7.50330916e-02 5.31750845e-02 -9.11366785e+01] [ 7.65136118e-02 9.96719676e-01 -2.63733861e-02 -5.51168623e+01] [-5.10217763e-02 3.03302398e-02 9.98236873e-01 1.27956680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339072329 meters 0.2319105993171946 Centerline is valid? [False, False] Translation: X:-91.15, Y:-55.11, Z:127.95 [[ 9.95788243e-01 -7.06994308e-02 5.83726478e-02 -9.11503760e+01] [ 7.27855824e-02 9.96753531e-01 -3.44188573e-02 -5.51132448e+01] [-5.57497492e-02 3.85225806e-02 9.97701346e-01 1.27953100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399072329 meters 0.24074265188845673 Centerline is valid? [False, False] Translation: X:-91.15, Y:-55.11, Z:127.95 [[ 9.95968726e-01 -6.72617337e-02 5.93477587e-02 -9.11537047e+01] [ 6.91468472e-02 9.97146200e-01 -3.03013155e-02 -5.51141889e+01] [-5.71402730e-02 3.42828730e-02 9.97777367e-01 1.27953838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459072329 meters 0.2431728213815005 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.11, Z:127.95 [[ 9.95543183e-01 -7.01781790e-02 6.29983610e-02 -9.11673232e+01] [ 7.20220712e-02 9.97024169e-01 -2.74886751e-02 -5.51082139e+01] [-6.08817833e-02 3.19034355e-02 9.97634993e-01 1.27953390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519072329 meters 0.23881666546904062 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.10, Z:127.95 [[ 9.95695188e-01 -7.57457764e-02 5.34197611e-02 -9.11769294e+01] [ 7.74621005e-02 9.96518724e-01 -3.08229789e-02 -5.51034121e+01] [-5.08990817e-02 3.48282987e-02 9.98096325e-01 1.27952860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579072329 meters 0.26075447968746907 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.10, Z:127.95 [[ 9.95788630e-01 -7.05899169e-02 5.84984416e-02 -9.11902638e+01] [ 7.28681595e-02 9.96626109e-01 -3.77707581e-02 -5.50984600e+01] [-5.56348396e-02 4.18743653e-02 9.97572705e-01 1.27948587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639072329 meters 0.24973971534919692 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.10, Z:127.95 [[ 9.96017457e-01 -6.67219625e-02 5.91388627e-02 -9.11923271e+01] [ 6.87803126e-02 9.97069908e-01 -3.34793568e-02 -5.50987486e+01] [-5.67317720e-02 3.74136133e-02 9.97688192e-01 1.27948459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699072329 meters 0.24225829494113454 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.10, Z:127.95 [[ 9.96373364e-01 -7.12737329e-02 4.64776755e-02 -9.11915279e+01] [ 7.24241676e-02 9.97095736e-01 -2.35548843e-02 -5.50969548e+01] [-4.46638475e-02 2.68355662e-02 9.98641574e-01 1.27953166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759072329 meters 0.2474087613600855 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.09, Z:127.95 [[ 9.96569045e-01 -6.53588558e-02 5.07775360e-02 -9.12033220e+01] [ 6.69342616e-02 9.97307204e-01 -2.99690677e-02 -5.50921769e+01] [-4.86820585e-02 3.32650021e-02 9.98260235e-01 1.27946989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819072329 meters 0.23580913634351872 Centerline is valid? [False, False] Translation: X:-91.21, Y:-55.09, Z:127.95 [[ 9.96786294e-01 -6.13504028e-02 5.15093350e-02 -9.12056032e+01] [ 6.27195084e-02 9.97708013e-01 -2.53965189e-02 -5.50933727e+01] [-4.98331897e-02 2.85455421e-02 9.98349541e-01 1.27946951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879072329 meters 0.216559259127982 Centerline is valid? [False, False] Translation: X:-91.21, Y:-55.09, Z:127.95 [[ 9.96219341e-01 -7.20569947e-02 4.85264269e-02 -9.12095495e+01] [ 7.29525828e-02 9.97191495e-01 -1.69423504e-02 -5.50937433e+01] [-4.71693254e-02 2.04184253e-02 9.98678198e-01 1.27952169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939072329 meters 0.24370138648879414 Centerline is valid? [False, False] Translation: X:-91.22, Y:-55.09, Z:127.95 [[ 9.96133030e-01 -6.91285528e-02 5.42238815e-02 -9.12224845e+01] [ 7.06029972e-02 9.97171758e-01 -2.57623931e-02 -5.50923517e+01] [-5.22896063e-02 2.94911392e-02 9.98196408e-01 1.27945614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99907232899994 meters 0.24605740475315388 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.09, Z:127.94 [[ 9.96244509e-01 -6.37205687e-02 5.86222374e-02 -9.12354053e+01] [ 6.57229208e-02 9.97295854e-01 -3.28858146e-02 -5.50878572e+01] [-5.63682115e-02 3.66151369e-02 9.97738421e-01 1.27941254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05907232899995 meters 0.23938421546619282 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.09, Z:127.95 [[ 9.96611264e-01 -6.81843976e-02 4.60095314e-02 -9.12362777e+01] [ 6.93355904e-02 9.97306937e-01 -2.39049953e-02 -5.50856828e+01] [-4.42556772e-02 2.70140856e-02 9.98654933e-01 1.27946516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11907232899995 meters 0.24658608590161427 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.08, Z:127.94 [[ 9.96814911e-01 -6.17125526e-02 5.05133074e-02 -9.12481668e+01] [ 6.32685291e-02 9.97551366e-01 -2.98054537e-02 -5.50773849e+01] [-4.85502482e-02 3.29064234e-02 9.98278539e-01 1.27942032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17907232899995 meters 0.24520284459308672 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.07, Z:127.94 [[ 9.97607828e-01 -5.45853816e-02 4.24152946e-02 -9.12523279e+01] [ 5.60500524e-02 9.97843923e-01 -3.41452238e-02 -5.50716671e+01] [-4.04600140e-02 3.64409221e-02 9.98516423e-01 1.27939845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23907232899995 meters 0.2872120541179902 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.07, Z:127.94 [[ 9.97810227e-01 -5.05704279e-02 4.26307800e-02 -9.12530864e+01] [ 5.18695116e-02 9.98205029e-01 -2.99378471e-02 -5.50712102e+01] [-4.10402892e-02 3.20835277e-02 9.98642249e-01 1.27939365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29907232899996 meters 0.23839593910203066 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.07, Z:127.94 [[ 9.98168057e-01 -4.25268528e-02 4.30348333e-02 -9.12551300e+01] [ 4.34821007e-02 9.98822629e-01 -2.15095760e-02 -5.50712980e+01] [-4.20694308e-02 2.33414166e-02 9.98842000e-01 1.27939724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35907232899996 meters 0.23827669046688899 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.07, Z:127.94 [[ 9.98320731e-01 -3.87006631e-02 4.31042426e-02 -9.12562695e+01] [ 3.94946220e-02 9.99062605e-01 -1.77224921e-02 -5.50702462e+01] [-4.23779647e-02 1.93951170e-02 9.98913378e-01 1.27940778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41907232899996 meters 0.22889479415522898 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.06, Z:127.94 [[ 9.98777828e-01 -3.61529876e-02 3.37018167e-02 -9.12651248e+01] [ 3.69845897e-02 9.99018219e-01 -2.43872561e-02 -5.50567172e+01] [-3.27870567e-02 2.56038985e-02 9.99134350e-01 1.27944055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47907232899996 meters 0.24290357554213254 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.06, Z:127.94 [[ 9.98915796e-01 -3.20362082e-02 3.37774117e-02 -9.12650271e+01] [ 3.27272489e-02 9.99262023e-01 -2.01081012e-02 -5.50560944e+01] [-3.31082974e-02 2.11917416e-02 9.99227077e-01 1.27943019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53907232899996 meters 0.23885979394740423 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.05, Z:127.94 [[ 9.99355387e-01 -2.70062156e-02 2.36532221e-02 -9.12703971e+01] [ 2.75875343e-02 9.99316521e-01 -2.46052554e-02 -5.50455666e+01] [-2.29725608e-02 2.52419286e-02 9.99417384e-01 1.27944316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59907232899997 meters 0.2307446367369832 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.04, Z:127.94 [[ 9.99535690e-01 -1.90160430e-02 2.38074617e-02 -9.12713552e+01] [ 1.94191746e-02 9.99669973e-01 -1.68178712e-02 -5.50433043e+01] [-2.34797952e-02 1.72723837e-02 9.99575092e-01 1.27944679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65907232899997 meters 0.23147161935764143 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.04, Z:127.94 [[ 9.99596375e-01 -1.50232864e-02 2.41119823e-02 -9.12721820e+01] [ 1.53355830e-02 9.99800218e-01 -1.28196893e-02 -5.50423438e+01] [-2.39145713e-02 1.31842863e-02 9.99627064e-01 1.27944580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71907232899997 meters 0.23626299062984454 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.04, Z:127.95 [[ 9.99658644e-01 -1.11960617e-02 2.36060006e-02 -9.12714661e+01] [ 1.14229030e-02 9.99889660e-01 -9.49662868e-03 -5.50394672e+01] [-2.34970711e-02 9.76303601e-03 9.99676233e-01 1.27945372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779072329 meters 0.26009951709987206 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99919221e-01 -5.30980670e-03 1.15480352e-02 -9.12755741e+01] [ 5.43339148e-03 9.99928025e-01 -1.06968883e-02 -5.50279644e+01] [-1.14904056e-02 1.07587692e-02 9.99876102e-01 1.27949554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839072329 meters 0.23457864300793718 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99918958e-01 -5.15945220e-03 1.16386593e-02 -9.12753835e+01] [ 5.28066577e-03 9.99931890e-01 -1.04081593e-02 -5.50285176e+01] [-1.15841662e-02 1.04687757e-02 9.99878098e-01 1.27948953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899072329 meters 0.24416232539048807 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99912162e-01 -5.04554410e-03 1.22560228e-02 -9.12766675e+01] [ 5.16796951e-03 9.99936864e-01 -9.97795290e-03 -5.50298198e+01] [-1.22049048e-02 1.00404152e-02 9.99875107e-01 1.27948602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959072329 meters 0.23961302875208293 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99909945e-01 -5.13798133e-03 1.23977040e-02 -9.12771507e+01] [ 5.26327693e-03 9.99935193e-01 -1.00949813e-02 -5.50295642e+01] [-1.23450327e-02 1.01593247e-02 9.99872186e-01 1.27948840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019072329 meters 0.24062205377082807 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99915918e-01 -7.72578872e-04 1.29444965e-02 -9.12777592e+01] [ 8.42352652e-04 9.99985143e-01 -5.38564264e-03 -5.50302595e+01] [-1.29401434e-02 5.39609363e-03 9.99901713e-01 1.27947612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079072329 meters 0.24540852567081511 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99917792e-01 -5.51716511e-04 1.28103079e-02 -9.12771017e+01] [ 6.16522237e-04 9.99987031e-01 -5.05547555e-03 -5.50309532e+01] [-1.28073526e-02 5.06295779e-03 9.99905165e-01 1.27947127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139072329 meters 0.2474912981432852 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99922288e-01 -3.77145814e-04 1.24609534e-02 -9.12762715e+01] [ 4.37938133e-04 9.99988015e-01 -4.87625659e-03 -5.50313042e+01] [-1.24589650e-02 4.88133477e-03 9.99910469e-01 1.27947220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199072329 meters 0.2314460849062658 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99919362e-01 -3.64411529e-04 1.26939273e-02 -9.12766034e+01] [ 4.25245294e-04 9.99988438e-01 -4.78998237e-03 -5.50314119e+01] [-1.26920350e-02 4.79499415e-03 9.99907956e-01 1.27946878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259072329 meters 0.24808125152047292 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99910968e-01 -2.67190319e-04 1.33410609e-02 -9.12776501e+01] [ 3.25562983e-04 9.99990383e-01 -4.37343396e-03 -5.50324225e+01] [-1.33397641e-02 4.37738794e-03 9.99901440e-01 1.27946037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319072329 meters 0.24232573316643832 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.03, Z:127.95 [[ 9.99902893e-01 -3.35857124e-04 1.39316747e-02 -9.12789672e+01] [ 3.95600512e-04 9.99990738e-01 -4.28577933e-03 -5.50327730e+01] [-1.39301063e-02 4.29087453e-03 9.99893765e-01 1.27945901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379072329 meters 0.23839388943498216 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.04, Z:127.95 [[ 9.99883212e-01 -4.19545012e-03 1.46956176e-02 -9.12804955e+01] [ 4.30555153e-03 9.99962841e-01 -7.46851725e-03 -5.50361233e+01] [-1.46637377e-02 7.53091775e-03 9.99864121e-01 1.27945366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439072329 meters 0.26109755773038107 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.04, Z:127.94 [[ 9.99880431e-01 -3.67704030e-03 1.50201136e-02 -9.12808480e+01] [ 3.77393843e-03 9.99972219e-01 -6.42798305e-03 -5.50390383e+01] [-1.49960603e-02 6.48389944e-03 9.99866530e-01 1.27944606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49907232899994 meters 0.23987836869064977 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.04, Z:127.94 [[ 9.99874908e-01 -3.49400645e-03 1.54259697e-02 -9.12811560e+01] [ 3.58614531e-03 9.99975872e-01 -5.94935496e-03 -5.50400327e+01] [-1.54048104e-02 6.00393051e-03 9.99863313e-01 1.27943526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55907232899995 meters 0.24100711002228567 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.04, Z:127.94 [[ 9.99867442e-01 -3.36331924e-03 1.59306631e-02 -9.12821076e+01] [ 3.45167479e-03 9.99978796e-01 -5.52201237e-03 -5.50412222e+01] [-1.59117530e-02 5.57626785e-03 9.99857851e-01 1.27943069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61907232899995 meters 0.25322649041913714 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.04, Z:127.94 [[ 9.99834574e-01 -7.33855122e-03 1.66424445e-02 -9.12834052e+01] [ 7.48979273e-03 9.99931055e-01 -9.04365050e-03 -5.50434997e+01] [-1.65749298e-02 9.16680290e-03 9.99820605e-01 1.27942490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67907232899995 meters 0.23644976643895246 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99809716e-01 -7.78536745e-03 1.78863033e-02 -9.12864137e+01] [ 7.92559736e-03 9.99938306e-01 -7.78260868e-03 -5.50483131e+01] [-1.78246093e-02 7.92288741e-03 9.99809737e-01 1.27941571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73907232899995 meters 0.2588399859440512 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99805011e-01 -7.80412598e-03 1.81393125e-02 -9.12868992e+01] [ 7.94553972e-03 9.99938501e-01 -7.73702900e-03 -5.50483841e+01] [-1.80778162e-02 7.87964699e-03 9.99805533e-01 1.27941386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79907232899996 meters 0.2595317508155194 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99804160e-01 -7.71900866e-03 1.82224836e-02 -9.12868823e+01] [ 7.85789927e-03 9.99940528e-01 -7.56267822e-03 -5.50487328e+01] [-1.81630235e-02 7.70438758e-03 9.99805355e-01 1.27941084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85907232899996 meters 0.25352722822922685 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99808260e-01 -7.58500782e-03 1.80530191e-02 -9.12862832e+01] [ 7.71961641e-03 9.99942835e-01 -7.39832087e-03 -5.50489934e+01] [-1.79958708e-02 7.53626470e-03 9.99809659e-01 1.27940860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91907232899996 meters 0.23674520104593236 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99801337e-01 -7.60010412e-03 1.84262281e-02 -9.12870159e+01] [ 7.73600514e-03 9.99943318e-01 -7.31538498e-03 -5.50491766e+01] [-1.83695860e-02 7.45647708e-03 9.99803460e-01 1.27940605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97907232899996 meters 0.2266169981343856 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99794708e-01 -7.66006710e-03 1.87580954e-02 -9.12878944e+01] [ 7.79881796e-03 9.99942687e-01 -7.33490448e-03 -5.50492523e+01] [-1.87008345e-02 7.47968965e-03 9.99797146e-01 1.27940759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03907232899996 meters 0.22865068861515242 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99797065e-01 -7.90903936e-03 1.85276898e-02 -9.12875557e+01] [ 8.05653374e-03 9.99936342e-01 -7.89968478e-03 -5.50476426e+01] [-1.84640315e-02 8.04735062e-03 9.99797139e-01 1.27941201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09907232899997 meters 0.23816428220884633 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99797620e-01 -7.68066464e-03 1.85937385e-02 -9.12872464e+01] [ 7.82068360e-03 9.99941520e-01 -7.46946994e-03 -5.50485768e+01] [-1.85352806e-02 7.61337401e-03 9.99799220e-01 1.27940484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15907232899997 meters 0.23410346474071844 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99803442e-01 -7.31622218e-03 1.84268975e-02 -9.12862039e+01] [ 7.44433274e-03 9.99948530e-01 -6.89339504e-03 -5.50497190e+01] [-1.83755155e-02 7.02921604e-03 9.99806447e-01 1.27939491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21907232899997 meters 0.24100551497892983 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.05, Z:127.94 [[ 9.99823688e-01 -3.28673523e-03 1.84875610e-02 -9.12862622e+01] [ 3.34216515e-03 9.99990010e-01 -2.96813066e-03 -5.50483902e+01] [-1.84776209e-02 3.02939582e-03 9.99824685e-01 1.27939320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279072329 meters 0.236870359747104 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.05, Z:127.94 [[ 9.99893226e-01 -6.29277243e-04 1.45993206e-02 -9.12772215e+01] [ 7.12555465e-04 9.99983502e-01 -5.69975296e-03 -5.50453417e+01] [-1.45954930e-02 5.70954720e-03 9.99877179e-01 1.27943977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339072329 meters 0.22550675004385698 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.04, Z:127.95 [[ 9.99924226e-01 5.09559378e-03 1.12060857e-02 -9.12701105e+01] [-5.04590879e-03 9.99977334e-01 -4.45756409e-03 -5.50398150e+01] [-1.12285456e-02 4.40068144e-03 9.99927274e-01 1.27948422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399072329 meters 0.2866533172111367 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.04, Z:127.95 [[ 9.99901614e-01 9.07896212e-03 1.06927631e-02 -9.12691209e+01] [-9.06869992e-03 9.99958371e-01 -1.00782965e-03 -5.50372487e+01] [-1.07014680e-02 9.10761038e-04 9.99942323e-01 1.27949156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459072329 meters 0.24608622640320515 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.04, Z:127.96 [[ 9.99973397e-01 5.27149699e-03 5.04157504e-03 -9.12582474e+01] [-5.29272664e-03 9.99977144e-01 4.20688424e-03 -5.50397671e+01] [-5.01928323e-03 -4.23345601e-03 9.99978442e-01 1.27955136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519072329 meters 0.2683649025138521 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.04, Z:127.95 [[ 9.99989104e-01 2.18936947e-03 4.12304938e-03 -9.12547121e+01] [-2.19309322e-03 9.99997191e-01 8.98849618e-04 -5.50398248e+01] [-4.12106988e-03 -9.07882055e-04 9.99991096e-01 1.27953459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579072329 meters 0.2897990673863711 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.04, Z:127.95 [[ 9.99991159e-01 2.15131120e-03 3.61308556e-03 -9.12532927e+01] [-2.15353645e-03 9.99997494e-01 6.12108751e-04 -5.50385650e+01] [-3.61175967e-03 -6.19884250e-04 9.99993285e-01 1.27953248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639072329 meters 0.2577264582552289 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.04, Z:127.95 [[ 9.99992902e-01 2.12528363e-03 3.11100499e-03 -9.12519489e+01] [-2.12635113e-03 9.99997682e-01 3.39869104e-04 -5.50373749e+01] [-3.11027546e-03 -3.46481780e-04 9.99995103e-01 1.27953176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699072329 meters 0.2730510516360885 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.03, Z:127.95 [[ 9.99994706e-01 2.58627112e-03 1.97466906e-03 -9.12485434e+01] [-2.58657616e-03 9.99996643e-01 1.51935803e-04 -5.50349789e+01] [-1.97426949e-03 -1.57042631e-04 9.99998039e-01 1.27952622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759072329 meters 0.257865581678539 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.03, Z:127.95 [[ 9.99996230e-01 -1.71741975e-03 2.14233555e-03 -9.12486060e+01] [ 1.72619835e-03 9.99990094e-01 -4.10258075e-03 -5.50349998e+01] [-2.13526848e-03 4.10626338e-03 9.99989290e-01 1.27952103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819072329 meters 0.24825546400460252 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.03, Z:127.95 [[ 9.99997433e-01 -1.68000772e-03 1.52038272e-03 -9.12474029e+01] [ 1.68655029e-03 9.99989280e-01 -4.31223718e-03 -5.50342584e+01] [-1.51312183e-03 4.31479031e-03 9.99989546e-01 1.27952699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879072329 meters 0.2487084872793343 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.03, Z:127.95 [[ 9.99999662e-01 -5.27142438e-04 6.30401376e-04 -9.12436668e+01] [ 5.29733307e-04 9.99991386e-01 -4.11679033e-03 -5.50315776e+01] [-6.28225811e-04 4.11712288e-03 9.99991327e-01 1.27951501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939072329 meters 0.31902753814093704 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.03, Z:127.95 [[ 9.99999826e-01 -5.77237368e-04 -1.21297259e-04 -9.12417869e+01] [ 5.76675065e-04 9.99989319e-01 -4.58574275e-03 -5.50295918e+01] [ 1.23943026e-04 4.58567200e-03 9.99989478e-01 1.27951608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99907232899994 meters 0.3114836319851747 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.03, Z:127.95 [[ 9.99999311e-01 1.17995449e-04 -1.16760444e-03 -9.12385230e+01] [-1.22660449e-04 9.99992008e-01 -3.99609517e-03 -5.50293787e+01] [ 1.16712359e-03 3.99623564e-03 9.99991334e-01 1.27950727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05907232899995 meters 0.3003006825346905 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.03, Z:127.95 [[ 9.99998820e-01 8.00368680e-05 -1.53444117e-03 -9.12380106e+01] [-8.65587119e-05 9.99990962e-01 -4.25071045e-03 -5.50287063e+01] [ 1.53408709e-03 4.25083825e-03 9.99989788e-01 1.27951448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11907232899995 meters 0.25893552670151526 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.03, Z:127.95 [[ 9.99999334e-01 2.81679373e-04 -1.11893156e-03 -9.12389653e+01] [-2.85867329e-04 9.99992949e-01 -3.74442189e-03 -5.50303021e+01] [ 1.11786894e-03 3.74473926e-03 9.99992364e-01 1.27951296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17907232899995 meters 0.2584456651111175 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.03, Z:127.95 [[ 9.99993816e-01 -3.45818520e-03 -6.39964259e-04 -9.12394506e+01] [ 3.45376192e-03 9.99970994e-01 -6.78839200e-03 -5.50337106e+01] [ 6.63421213e-04 6.78613973e-03 9.99976754e-01 1.27950168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23907232899995 meters 0.2623834697586527 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.04, Z:127.95 [[ 9.99995093e-01 -3.09011483e-03 5.15497128e-04 -9.12417214e+01] [ 3.09280163e-03 9.99981197e-01 -5.29533964e-03 -5.50381662e+01] [-4.99124227e-04 5.29690798e-03 9.99985847e-01 1.27948915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29907232899996 meters 0.24388803033792208 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.04, Z:127.95 [[ 9.99976327e-01 -6.81221025e-03 9.68898244e-04 -9.12422971e+01] [ 6.82002515e-03 9.99942254e-01 -8.30513572e-03 -5.50418128e+01] [-9.12265964e-04 8.31154703e-03 9.99965042e-01 1.27948039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35907232899996 meters 0.24623807756366872 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.04, Z:127.95 [[ 9.99995892e-01 -2.40689672e-03 1.55622725e-03 -9.12433783e+01] [ 2.41256224e-03 9.99990432e-01 -3.64897748e-03 -5.50426675e+01] [-1.54742965e-03 3.65271698e-03 9.99992132e-01 1.27947385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41907232899996 meters 0.248030731410277 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.04, Z:127.95 [[ 9.99995296e-01 -2.17512004e-03 2.16244788e-03 -9.12446902e+01] [ 2.18163536e-03 9.99993075e-01 -3.01515546e-03 -5.50446002e+01] [-2.15587458e-03 3.01985895e-03 9.99993116e-01 1.27947088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47907232899996 meters 0.2518058478440109 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.05, Z:127.95 [[ 9.99975749e-01 -6.35086153e-03 2.85795624e-03 -9.12463799e+01] [ 6.37020569e-03 9.99956514e-01 -6.81110925e-03 -5.50464504e+01] [-2.81457554e-03 6.82914985e-03 9.99972720e-01 1.27947179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53907232899996 meters 0.23070231817328177 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.05, Z:127.95 [[ 9.99974757e-01 -6.15577371e-03 3.54845439e-03 -9.12477780e+01] [ 6.17748415e-03 9.99962068e-01 -6.14013878e-03 -5.50484351e+01] [-3.51052248e-03 6.16190430e-03 9.99974853e-01 1.27946648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59907232899997 meters 0.2997377276505464 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.05, Z:127.95 [[ 9.99968119e-01 -6.30638248e-03 4.89799011e-03 -9.12507913e+01] [ 6.33047910e-03 9.99967859e-01 -4.91987459e-03 -5.50526961e+01] [-4.86680608e-03 4.95072436e-03 9.99975902e-01 1.27945602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65907232899997 meters 0.2553424577879419 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.06, Z:127.94 [[ 9.99963879e-01 -6.07423437e-03 5.94514068e-03 -9.12529302e+01] [ 6.09678170e-03 9.99974263e-01 -3.78181726e-03 -5.50562381e+01] [-5.92201602e-03 3.81792688e-03 9.99975176e-01 1.27944712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71907232899997 meters 0.23885745228805694 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.06, Z:127.94 [[ 9.99962796e-01 -5.87495775e-03 6.31589629e-03 -9.12537285e+01] [ 5.89555749e-03 9.99977346e-01 -3.24791557e-03 -5.50578254e+01] [-6.29667185e-03 3.28503047e-03 9.99974780e-01 1.27944501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779072329 meters 0.25478962976172365 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.06, Z:127.94 [[ 9.99919500e-01 -1.01768704e-02 7.57788353e-03 -9.12568711e+01] [ 1.02293686e-02 9.99923723e-01 -6.92159358e-03 -5.50604986e+01] [-7.50686535e-03 6.99855336e-03 9.99947332e-01 1.27944745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839072329 meters 0.24055097626325841 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.07, Z:127.94 [[ 9.99851133e-01 -1.46855657e-02 9.05790215e-03 -9.12604182e+01] [ 1.47723138e-02 9.99844935e-01 -9.58569278e-03 -5.50664310e+01] [-8.91572626e-03 9.71807196e-03 9.99913031e-01 1.27944116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899072329 meters 0.24820524555554757 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.07, Z:127.94 [[ 9.99831043e-01 -1.50523545e-02 1.05504270e-02 -9.12638385e+01] [ 1.51428331e-02 9.99848793e-01 -8.54904429e-03 -5.50704758e+01] [-1.04201485e-02 8.70736323e-03 9.99907797e-01 1.27943238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959072329 meters 0.30557918684599966 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.08, Z:127.94 [[ 9.99646373e-01 -2.19077294e-02 1.50725214e-02 -9.12733025e+01] [ 2.20540641e-02 9.99710572e-01 -9.61196432e-03 -5.50750199e+01] [-1.48575827e-02 9.94097562e-03 9.99840202e-01 1.27937431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019072329 meters 0.2865182094209798 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.08, Z:127.94 [[ 9.99591664e-01 -2.31066837e-02 1.68102828e-02 -9.12779061e+01] [ 2.32564456e-02 9.99691076e-01 -8.76866161e-03 -5.50798169e+01] [-1.66024750e-02 9.15602848e-03 9.99820246e-01 1.27936978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079072329 meters 0.2769682228173605 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.08, Z:127.94 [[ 9.99576526e-01 -2.31343370e-02 1.76513825e-02 -9.12798841e+01] [ 2.32861762e-02 9.99693166e-01 -8.44560022e-03 -5.50810131e+01] [-1.74505831e-02 8.85305693e-03 9.99808532e-01 1.27936906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139072329 meters 0.2645665357983069 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.08, Z:127.93 [[ 9.99745575e-01 -2.04709947e-02 9.47222165e-03 -9.12841057e+01] [ 2.06263451e-02 9.99649363e-01 -1.66043925e-02 -5.50772304e+01] [-9.12899190e-03 1.67955452e-02 9.99817269e-01 1.27934252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199072329 meters 0.2626703300617488 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.08, Z:127.93 [[ 9.99820087e-01 -1.64014592e-02 9.52820660e-03 -9.12844500e+01] [ 1.65213123e-02 9.99783624e-01 -1.26392687e-02 -5.50761355e+01] [-9.31884247e-03 1.27944132e-02 9.99874723e-01 1.27934304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259072329 meters 0.25909649763484155 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.08, Z:127.93 [[ 9.99804194e-01 -1.66022839e-02 1.07674251e-02 -9.12873368e+01] [ 1.67325675e-02 9.99786483e-01 -1.21247304e-02 -5.50783288e+01] [-1.05638278e-02 1.23025230e-02 9.99868518e-01 1.27934026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319072329 meters 0.22355940389918696 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.08, Z:127.93 [[ 9.99784972e-01 -1.69041856e-02 1.20107402e-02 -9.12901568e+01] [ 1.70420528e-02 9.99788975e-01 -1.14705583e-02 -5.50807857e+01] [-1.18143052e-02 1.16727795e-02 9.99862075e-01 1.27933329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379072329 meters 0.24355241738950684 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.08, Z:127.93 [[ 9.99755610e-01 -1.76154710e-02 1.33572362e-02 -9.12936579e+01] [ 1.77692960e-02 9.99776133e-01 -1.14863455e-02 -5.50819088e+01] [-1.31519086e-02 1.17208870e-02 9.99844812e-01 1.27933601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439072329 meters 0.24373419994707446 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.08, Z:127.93 [[ 9.99813197e-01 -1.32553591e-02 1.40664753e-02 -9.12949562e+01] [ 1.33477509e-02 9.99889821e-01 -6.49479858e-03 -5.50835599e+01] [-1.39788346e-02 6.68134114e-03 9.99879969e-01 1.27932527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49907232899994 meters 0.23141484775432708 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99851101e-01 -9.19464358e-03 1.46025465e-02 -9.12963028e+01] [ 9.22986205e-03 9.99954651e-01 -2.34624233e-03 -5.50831555e+01] [-1.45803114e-02 2.48067247e-03 9.99890624e-01 1.27932462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55907232899995 meters 0.22986027439337625 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99854621e-01 -9.20104152e-03 1.43554343e-02 -9.12954901e+01] [ 9.23761901e-03 9.99954248e-01 -2.48376376e-03 -5.50824376e+01] [-1.43319243e-02 2.61601270e-03 9.99893871e-01 1.27932248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61907232899995 meters 0.22810401893405885 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99840094e-01 -9.57656481e-03 1.51021571e-02 -9.12975524e+01] [ 9.62120459e-03 9.99949551e-01 -2.88597404e-03 -5.50818024e+01] [-1.50737575e-02 3.03081350e-03 9.99881791e-01 1.27932769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67907232899995 meters 0.23334523934898976 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99831489e-01 -9.37404417e-03 1.57835414e-02 -9.12990458e+01] [ 9.40985226e-03 9.99953315e-01 -2.19596191e-03 -5.50838968e+01] [-1.57622195e-02 2.34411265e-03 9.99873021e-01 1.27932461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73907232899995 meters 0.2682626779298294 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.09, Z:127.93 [[ 9.99813713e-01 -9.38776644e-03 1.68644236e-02 -9.13010419e+01] [ 9.41212616e-03 9.99954772e-01 -1.36565304e-03 -5.50860741e+01] [-1.68508404e-02 1.52412872e-03 9.99856853e-01 1.27931234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79907232899996 meters 0.2165335044946494 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99807240e-01 -9.83489779e-03 1.69928536e-02 -9.13018274e+01] [ 9.87196757e-03 9.99949068e-01 -2.09898675e-03 -5.50841562e+01] [-1.69713448e-02 2.26633505e-03 9.99853408e-01 1.27931992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85907232899996 meters 0.2309093656766483 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99804459e-01 -9.72457933e-03 1.72185085e-02 -9.13020668e+01] [ 9.75685286e-03 9.99950796e-01 -1.79133693e-03 -5.50848525e+01] [-1.72002413e-02 1.95898510e-03 9.99850146e-01 1.27931542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91907232899996 meters 0.3016482701346361 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.09, Z:127.93 [[ 9.99813031e-01 -9.35969961e-03 1.69203723e-02 -9.13009956e+01] [ 9.38202621e-03 9.99955218e-01 -1.24061077e-03 -5.50861044e+01] [-1.69080029e-02 1.39912619e-03 9.99856071e-01 1.27931062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97907232899996 meters 0.23415058526045052 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.09, Z:127.93 [[ 9.99810912e-01 -9.48114492e-03 1.69778477e-02 -9.13010923e+01] [ 9.50704412e-03 9.99953762e-01 -1.44540857e-03 -5.50854344e+01] [-1.69633585e-02 1.60654441e-03 9.99854821e-01 1.27931022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03907232899996 meters 0.284047243977761 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99844574e-01 -5.74852043e-03 1.66668043e-02 -9.13007520e+01] [ 5.71887325e-03 9.99981980e-01 1.82593179e-03 -5.50824020e+01] [-1.66770004e-02 -1.73033265e-03 9.99859432e-01 1.27931572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09907232899997 meters 0.27059584656659885 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99856545e-01 -5.76576088e-03 1.59262772e-02 -9.12993605e+01] [ 5.74362826e-03 9.99982475e-01 1.43508280e-03 -5.50812904e+01] [-1.59342724e-02 -1.34340232e-03 9.99872139e-01 1.27932301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15907232899997 meters 0.2678974660813787 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99870866e-01 -5.33710960e-03 1.51580619e-02 -9.12976145e+01] [ 5.30884443e-03 9.99984095e-01 1.90432188e-03 -5.50823331e+01] [-1.51679844e-02 -1.82360418e-03 9.99883297e-01 1.27932373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21907232899997 meters 0.26478221064397467 Centerline is valid? [False, False] Translation: X:-91.30, Y:-55.08, Z:127.93 [[ 9.99880031e-01 -5.24046481e-03 1.45760441e-02 -9.12965667e+01] [ 5.21435188e-03 9.99984733e-01 1.82892423e-03 -5.50822368e+01] [-1.45854060e-02 -1.75270019e-03 9.99892091e-01 1.27932937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279072329 meters 0.26789468234759334 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.08, Z:127.94 [[ 9.99949482e-01 -9.88088621e-04 1.00028486e-02 -9.12850731e+01] [ 9.90154430e-04 9.99999489e-01 -2.01571829e-04 -5.50815123e+01] [-1.00026444e-02 2.11466011e-04 9.99949950e-01 1.27937602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339072329 meters 0.24837849864841807 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.08, Z:127.94 [[ 9.99967470e-01 6.30229731e-03 5.03381499e-03 -9.12701669e+01] [-6.30873622e-03 9.99979301e-01 1.26427981e-03 -5.50843630e+01] [-5.02574292e-03 -1.29599569e-03 9.99986531e-01 1.27939325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399072329 meters 0.24214817544218742 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.08, Z:127.94 [[ 9.99969754e-01 6.55665921e-03 4.18335629e-03 -9.12683792e+01] [-6.56201358e-03 9.99977666e-01 1.26748183e-03 -5.50840513e+01] [-4.17495241e-03 -1.29489474e-03 9.99990446e-01 1.27939880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459072329 meters 0.24894620087283736 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.08, Z:127.94 [[ 9.99986177e-01 4.30523922e-03 3.01838900e-03 -9.12640592e+01] [-4.30077214e-03 9.99989649e-01 -1.48488559e-03 -5.50846076e+01] [-3.02475055e-03 1.47188366e-03 9.99994342e-01 1.27938192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519072329 meters 0.23645865284996623 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.08, Z:127.94 [[ 9.99985020e-01 5.18147604e-03 1.76428154e-03 -9.12602044e+01] [-5.17926347e-03 9.99985798e-01 -1.25635842e-03 -5.50832034e+01] [-1.77076627e-03 1.24720192e-03 9.99997654e-01 1.27937491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579072329 meters 0.26866929932562295 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.08, Z:127.94 [[ 9.99987594e-01 4.81034418e-03 1.29360244e-03 -9.12595090e+01] [-4.80757304e-03 9.99986161e-01 -2.13682981e-03 -5.50807783e+01] [-1.30386342e-03 2.13058421e-03 9.99996880e-01 1.27938309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639072329 meters 0.22970564449598113 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.08, Z:127.94 [[ 9.99958922e-01 9.05018354e-03 4.99360956e-04 -9.12574171e+01] [-9.05098186e-03 9.99957726e-01 1.62028136e-03 -5.50786471e+01] [-4.84676003e-04 -1.62473451e-03 9.99998563e-01 1.27938292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699072329 meters 0.24741477424729325 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.08, Z:127.94 [[ 9.99956141e-01 9.34704896e-03 -5.90278701e-04 -9.12549172e+01] [-9.34614743e-03 9.99955181e-01 1.51202041e-03 -5.50776661e+01] [ 6.04385174e-04 -1.50643727e-03 9.99998683e-01 1.27938637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759072329 meters 0.26539203697286706 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.08, Z:127.94 [[ 9.99987889e-01 4.87097895e-03 -7.03873114e-04 -9.12549811e+01] [-4.87312275e-03 9.99983393e-01 -3.07679629e-03 -5.50769175e+01] [ 6.88874415e-04 3.08018909e-03 9.99995019e-01 1.27939146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819072329 meters 0.24773778859899648 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.08, Z:127.94 [[ 9.99999251e-01 1.19484841e-03 2.64876416e-04 -9.12565872e+01] [-1.19338573e-03 9.99984408e-01 -5.45515078e-03 -5.50822616e+01] [-2.71390365e-04 5.45483060e-03 9.99985085e-01 1.27937559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879072329 meters 0.2474887541162914 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.09, Z:127.94 [[ 9.99996732e-01 -2.14435393e-03 1.39175049e-03 -9.12580607e+01] [ 2.15418065e-03 9.99972488e-01 -7.09802141e-03 -5.50894098e+01] [-1.37649154e-03 7.10099630e-03 9.99973840e-01 1.27935073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939072329 meters 0.22973192540521317 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.09, Z:127.93 [[ 9.99993606e-01 -2.28756349e-03 2.74861649e-03 -9.12609135e+01] [ 2.30516944e-03 9.99976739e-01 -6.41938307e-03 -5.50917738e+01] [-2.73386781e-03 6.42567806e-03 9.99975618e-01 1.27934133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99907232899994 meters 0.2463166455283359 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.09, Z:127.93 [[ 9.99990465e-01 -2.48193882e-03 3.59301143e-03 -9.12626568e+01] [ 2.50478732e-03 9.99976583e-01 -6.36867994e-03 -5.50920358e+01] [-3.57712062e-03 6.37761894e-03 9.99973265e-01 1.27933633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05907232899995 meters 0.24762123957029408 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.09, Z:127.93 [[ 9.99986192e-01 -2.52945978e-03 4.60635482e-03 -9.12650275e+01] [ 2.55676653e-03 9.99979138e-01 -5.93185222e-03 -5.50937745e+01] [-4.59125434e-03 5.94354769e-03 9.99971797e-01 1.27933364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11907232899995 meters 0.23188513310490017 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.09, Z:127.93 [[ 9.99987798e-01 -2.72192381e-03 4.12257459e-03 -9.12644475e+01] [ 2.74851821e-03 9.99975363e-01 -6.45905158e-03 -5.50924033e+01] [-4.10489198e-03 6.47030373e-03 9.99970642e-01 1.27934402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17907232899995 meters 0.25366893267350427 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.09, Z:127.93 [[ 9.99988413e-01 -2.87030151e-03 3.86450143e-03 -9.12636216e+01] [ 2.89663260e-03 9.99972512e-01 -6.82531275e-03 -5.50910694e+01] [-3.84480450e-03 6.83642771e-03 9.99969240e-01 1.27934178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23907232899995 meters 0.23470174662076024 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.09, Z:127.93 [[ 9.99986744e-01 -2.64242891e-03 4.41910402e-03 -9.12644106e+01] [ 2.66969049e-03 9.99977374e-01 -6.17455208e-03 -5.50927381e+01] [-4.40268822e-03 6.18626787e-03 9.99971173e-01 1.27933229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29907232899996 meters 0.2513202585072826 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.10, Z:127.93 [[ 9.99982586e-01 -2.27938226e-03 5.44355632e-03 -9.12662373e+01] [ 2.30639827e-03 9.99985030e-01 -4.96182452e-03 -5.50961955e+01] [-5.43216494e-03 4.97429312e-03 9.99972874e-01 1.27931971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35907232899996 meters 0.23361374855654773 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.10, Z:127.93 [[ 9.99979538e-01 -1.94603509e-03 6.09392247e-03 -9.12674384e+01] [ 1.97118502e-03 9.99989554e-01 -4.12376810e-03 -5.50986358e+01] [-6.08583382e-03 4.13569597e-03 9.99972929e-01 1.27931325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41907232899996 meters 0.2390424955290217 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.10, Z:127.93 [[ 9.99973546e-01 -1.89891296e-03 7.02146978e-03 -9.12691788e+01] [ 1.92442762e-03 9.99991564e-01 -3.62883794e-03 -5.51000943e+01] [-7.01451970e-03 3.64225426e-03 9.99968765e-01 1.27930383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47907232899996 meters 0.23443187150745076 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.10, Z:127.93 [[ 9.99974911e-01 -1.85940941e-03 6.83524778e-03 -9.12687225e+01] [ 1.88420899e-03 9.99991660e-01 -3.62354206e-03 -5.51000488e+01] [-6.82845312e-03 3.63633019e-03 9.99970074e-01 1.27930414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53907232899996 meters 0.23319462247586856 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.10, Z:127.93 [[ 9.99973411e-01 -2.09327700e-03 6.98540372e-03 -9.12688472e+01] [ 2.12119302e-03 9.99989785e-01 -3.99132278e-03 -5.50988020e+01] [-6.97697742e-03 4.00603404e-03 9.99967636e-01 1.27930084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59907232899997 meters 0.22654024717687601 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.10, Z:127.93 [[ 9.99974964e-01 -2.10368436e-03 6.75615950e-03 -9.12680264e+01] [ 2.13140600e-03 9.99989329e-01 -4.09858951e-03 -5.50982024e+01] [-6.74746527e-03 4.11288701e-03 9.99968777e-01 1.27929739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65907232899997 meters 0.23749016143395305 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.10, Z:127.93 [[ 9.99981549e-01 -1.10067148e-03 5.97414489e-03 -9.12642702e+01] [ 1.11999928e-03 9.99994147e-01 -3.23286042e-03 -5.50977412e+01] [-5.97055160e-03 3.23949181e-03 9.99976929e-01 1.27927480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71907232899997 meters 0.23554024274658225 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.10, Z:127.93 [[ 9.99993966e-01 3.02844087e-03 1.70171753e-03 -9.12534675e+01] [-3.01997899e-03 9.99983172e-01 -4.95331502e-03 -5.50981319e+01] [-1.71668971e-03 4.94814599e-03 9.99986284e-01 1.27932129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779072329 meters 0.22472811309383375 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.10, Z:127.93 [[ 9.99994603e-01 3.20783186e-03 7.09751870e-04 -9.12511552e+01] [-3.20413270e-03 9.99981590e-01 -5.15305579e-03 -5.50970199e+01] [-7.26268940e-04 5.15075384e-03 9.99986471e-01 1.27932476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839072329 meters 0.21548507071739126 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.10, Z:127.93 [[ 9.99995142e-01 3.10839213e-03 2.30951285e-04 -9.12502726e+01] [-3.10705494e-03 9.99979601e-01 -5.58072156e-03 -5.50958059e+01] [-2.48293645e-04 5.57997687e-03 9.99984401e-01 1.27933027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899072329 meters 0.24967216200138762 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.10, Z:127.93 [[ 9.99994068e-01 3.33418290e-03 8.64091482e-04 -9.12515053e+01] [-3.32992819e-03 9.99982551e-01 -4.87943917e-03 -5.50979126e+01] [-8.80345347e-04 4.87653286e-03 9.99987722e-01 1.27932420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959072329 meters 0.2655679130944945 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.11, Z:127.94 [[ 9.99992690e-01 -1.76779138e-03 -3.39034619e-03 -9.12386757e+01] [ 1.77585220e-03 9.99995600e-01 2.37604624e-03 -5.51055258e+01] [ 3.38613092e-03 -2.38204962e-03 9.99991430e-01 1.27936068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019072329 meters 0.23554336079668683 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.11, Z:127.94 [[ 9.99994115e-01 -1.77313394e-03 -2.93683478e-03 -9.12395790e+01] [ 1.78054916e-03 9.99995229e-01 2.52421445e-03 -5.51059190e+01] [ 2.93234500e-03 -2.52942877e-03 9.99992502e-01 1.27935763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079072329 meters 0.24701953560730716 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.11, Z:127.94 [[ 9.99977845e-01 -5.99497939e-03 -2.89305567e-03 -9.12394519e+01] [ 5.99042623e-03 9.99980809e-01 -1.57993132e-03 -5.51064945e+01] [ 2.90247180e-03 1.56256568e-03 9.99994567e-01 1.27935498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139072329 meters 0.2400512497744081 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.11, Z:127.94 [[ 9.99977767e-01 -5.86357102e-03 -3.17565584e-03 -9.12386448e+01] [ 5.85897567e-03 9.99981778e-01 -1.45443033e-03 -5.51066948e+01] [ 3.18412613e-03 1.43579190e-03 9.99993900e-01 1.27935374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199072329 meters 0.2464436884706311 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.11, Z:127.94 [[ 9.99978194e-01 -5.84322110e-03 -3.07696130e-03 -9.12386280e+01] [ 5.83897125e-03 9.99981989e-01 -1.38836123e-03 -5.51067040e+01] [ 3.08501838e-03 1.37036467e-03 9.99994302e-01 1.27935018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259072329 meters 0.2581615513596327 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.11, Z:127.93 [[ 9.99946858e-01 -1.00104307e-02 -2.46426632e-03 -9.12394108e+01] [ 9.99753684e-03 9.99936554e-01 -5.19018684e-03 -5.51080162e+01] [ 2.51606598e-03 5.16527443e-03 9.99983495e-01 1.27933993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319072329 meters 0.22668333868182758 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.11, Z:127.93 [[ 9.99947718e-01 -9.95308285e-03 -2.34448542e-03 -9.12393596e+01] [ 9.94115733e-03 9.99937861e-01 -5.04451611e-03 -5.51082357e+01] [ 2.39454822e-03 5.02094548e-03 9.99984528e-01 1.27933486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379072329 meters 0.23920233322790171 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.11, Z:127.93 [[ 9.99943495e-01 -1.03942486e-02 -2.22872744e-03 -9.12396745e+01] [ 1.03812561e-02 9.99929500e-01 -5.76398864e-03 -5.51059728e+01] [ 2.28848265e-03 5.74052595e-03 9.99980904e-01 1.27933651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439072329 meters 0.23543660856255788 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.11, Z:127.93 [[ 9.99938282e-01 -1.10922106e-02 -6.28223626e-04 -9.12434659e+01] [ 1.10885902e-02 9.99923395e-01 -5.49969663e-03 -5.51081870e+01] [ 6.89179294e-04 5.49239109e-03 9.99984679e-01 1.27933337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49907232899994 meters 0.23852244830162714 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.11, Z:127.93 [[ 9.99939606e-01 -1.09720560e-02 6.31571996e-04 -9.12454965e+01] [ 1.09746674e-02 9.99930567e-01 -4.29157618e-03 -5.51114424e+01] [-5.84440730e-04 4.29824828e-03 9.99990592e-01 1.27931360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55907232899995 meters 0.2448703062365726 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.11, Z:127.93 [[ 9.99938787e-01 -1.09683397e-02 1.45512309e-03 -9.12472039e+01] [ 1.09740545e-02 9.99931865e-01 -3.97931421e-03 -5.51123694e+01] [-1.41137748e-03 3.99503922e-03 9.99991024e-01 1.27930903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61907232899995 meters 0.2477934547887493 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.12, Z:127.93 [[ 9.99936150e-01 -1.09824757e-02 2.66095901e-03 -9.12499580e+01] [ 1.09897111e-02 9.99935912e-01 -2.71987992e-03 -5.51167565e+01] [-2.63091746e-03 2.74894943e-03 9.99992761e-01 1.27930161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67907232899995 meters 0.27310079609694 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.12, Z:127.93 [[ 9.99879162e-01 -1.50713348e-02 3.81012764e-03 -9.12524136e+01] [ 1.50935839e-02 9.99868797e-01 -5.87976758e-03 -5.51204544e+01] [-3.72101180e-03 5.93656556e-03 9.99975455e-01 1.27929598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73907232899995 meters 0.24497061453659058 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.13, Z:127.93 [[ 9.99805041e-01 -1.90471922e-02 5.20422178e-03 -9.12548343e+01] [ 1.90896279e-02 9.99783904e-01 -8.22986009e-03 -5.51260482e+01] [-5.04634145e-03 8.32760227e-03 9.99952592e-01 1.27927893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79907232899996 meters 0.24670450353129345 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.13, Z:127.93 [[ 9.99798037e-01 -1.91614102e-02 6.06016602e-03 -9.12567225e+01] [ 1.92099868e-02 9.99782969e-01 -8.06176030e-03 -5.51266476e+01] [-5.90437608e-03 8.17654783e-03 9.99949140e-01 1.27927635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85907232899996 meters 0.22460793720752636 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.13, Z:127.93 [[ 9.99774222e-01 -1.99396834e-02 7.34263508e-03 -9.12596756e+01] [ 2.00025773e-02 9.99762991e-01 -8.59414515e-03 -5.51261715e+01] [-7.16953027e-03 8.73907640e-03 9.99936111e-01 1.27927586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91907232899996 meters 0.22624167609928458 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.13, Z:127.93 [[ 9.99841780e-01 -1.58427050e-02 8.08851804e-03 -9.12610553e+01] [ 1.58780962e-02 9.99864559e-01 -4.33018038e-03 -5.51259141e+01] [-8.01882075e-03 4.45792553e-03 9.99957912e-01 1.27926617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97907232899996 meters 0.21108936650136137 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.93 [[ 9.99893866e-01 -1.20015140e-02 8.25960591e-03 -9.12614748e+01] [ 1.20081264e-02 9.99927618e-01 -7.51435846e-04 -5.51236173e+01] [-8.24998970e-03 8.50538484e-04 9.99965607e-01 1.27926476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03907232899996 meters 0.21481815919548214 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.93 [[ 9.99894855e-01 -1.21583723e-02 7.90265473e-03 -9.12608408e+01] [ 1.21681975e-02 9.99925249e-01 -1.19637696e-03 -5.51223649e+01] [-7.88751800e-03 1.29241223e-03 9.99968058e-01 1.27926911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09907232899997 meters 0.267402629433413 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.93 [[ 9.99898024e-01 -1.21074565e-02 7.57305678e-03 -9.12597756e+01] [ 1.21172600e-02 9.99925802e-01 -1.24998378e-03 -5.51219327e+01] [-7.55736075e-03 1.34162101e-03 9.99970543e-01 1.27926569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15907232899997 meters 0.2479818501765336 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.93 [[ 9.99897848e-01 -1.23183237e-02 7.24927588e-03 -9.12589292e+01] [ 1.23312505e-02 9.99922451e-01 -1.74120186e-03 -5.51202820e+01] [-7.22726502e-03 1.83041663e-03 9.99972208e-01 1.27926572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21907232899997 meters 0.26164540329873515 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.93 [[ 9.99916402e-01 -9.63176410e-03 8.62657872e-03 -9.12630295e+01] [ 9.62236330e-03 9.99953065e-01 1.13059174e-03 -5.51189019e+01] [-8.63706342e-03 -1.04748915e-03 9.99962151e-01 1.27927649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279072329 meters 0.2338202552212212 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.93 [[ 9.99913191e-01 -9.75058427e-03 8.86206210e-03 -9.12633728e+01] [ 9.74203526e-03 9.99952038e-01 1.00733278e-03 -5.51184069e+01] [-8.87145914e-03 -9.20910818e-04 9.99960224e-01 1.27927300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339072329 meters 0.2489396101297666 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.93 [[ 9.99903673e-01 -9.76406888e-03 9.86451174e-03 -9.12649256e+01] [ 9.75053711e-03 9.99951456e-01 1.41892731e-03 -5.51193070e+01] [-9.87788738e-03 -1.32260635e-03 9.99950338e-01 1.27925859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399072329 meters 0.23869770943660393 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.12, Z:127.93 [[ 9.99898729e-01 -9.91365765e-03 1.02103533e-02 -9.12658115e+01] [ 9.90113119e-03 9.99950168e-01 1.27665949e-03 -5.51189551e+01] [-1.02225009e-02 -1.17543616e-03 9.99947058e-01 1.27925930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459072329 meters 0.24148628327188024 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.12, Z:127.93 [[ 9.99836079e-01 -1.42901534e-02 1.11178207e-02 -9.12682216e+01] [ 1.43226943e-02 9.99893355e-01 -2.85281342e-03 -5.51200265e+01] [-1.10758679e-02 3.01158293e-03 9.99934126e-01 1.27926427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519072329 meters 0.22962238158738685 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.12, Z:127.93 [[ 9.99736334e-01 -1.91107552e-02 1.27295754e-02 -9.12721358e+01] [ 1.91963744e-02 9.99793696e-01 -6.63811364e-03 -5.51226544e+01] [-1.26000899e-02 6.88072509e-03 9.99896941e-01 1.27926428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579072329 meters 0.2391457801629558 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.13, Z:127.92 [[ 9.99557871e-01 -2.35866504e-02 1.81033695e-02 -9.12846515e+01] [ 2.36612525e-02 9.99712357e-01 -3.91780045e-03 -5.51251417e+01] [-1.80057544e-02 4.34441667e-03 9.99828445e-01 1.27920006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639072329 meters 0.2198122671451856 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.12, Z:127.92 [[ 9.99736688e-01 -2.03880657e-02 1.05300287e-02 -9.12884457e+01] [ 2.05090307e-02 9.99723408e-01 -1.15103143e-02 -5.51219454e+01] [-1.02924432e-02 1.17232441e-02 9.99878308e-01 1.27915674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699072329 meters 0.24435010993972084 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.12, Z:127.92 [[ 9.99808988e-01 -1.62884498e-02 1.08015607e-02 -9.12894312e+01] [ 1.63693601e-02 9.99838295e-01 -7.44498667e-03 -5.51213164e+01] [-1.06785468e-02 7.62037923e-03 9.99913946e-01 1.27915876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759072329 meters 0.22967537837292384 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.12, Z:127.92 [[ 9.99879206e-01 -1.22738383e-02 9.53548180e-03 -9.12874706e+01] [ 1.23175577e-02 9.99913830e-01 -4.53979565e-03 -5.51176733e+01] [-9.47893941e-03 4.65670112e-03 9.99944231e-01 1.27917656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819072329 meters 0.2468818064905853 Centerline is valid? [False, False] Translation: X:-91.29, Y:-55.11, Z:127.92 [[ 9.99923097e-01 -8.63649680e-03 8.90000875e-03 -9.12867309e+01] [ 8.65161228e-03 9.99961194e-01 -1.66126845e-03 -5.51137010e+01] [-8.88531584e-03 1.73814012e-03 9.99959014e-01 1.27918840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879072329 meters 0.24154619754048762 Centerline is valid? [False, False] Translation: X:-91.28, Y:-55.11, Z:127.92 [[ 9.99934097e-01 -8.29331569e-03 7.93862186e-03 -9.12849337e+01] [ 8.30589015e-03 9.99964301e-01 -1.55230255e-03 -5.51139712e+01] [-7.92546472e-03 1.61813757e-03 9.99967284e-01 1.27919701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939072329 meters 0.2376645905806364 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.12, Z:127.92 [[ 9.99992468e-01 -1.79609517e-03 3.44054465e-03 -9.12721735e+01] [ 1.79702435e-03 9.99998350e-01 -2.66995199e-04 -5.51186436e+01] [-3.44005942e-03 2.73175931e-04 9.99994046e-01 1.27922070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99907232899994 meters 0.2532686380704349 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.12, Z:127.92 [[ 9.99996513e-01 -9.74265170e-04 2.45442240e-03 -9.12687292e+01] [ 9.72908429e-04 9.99999373e-01 5.53907421e-04 -5.51192563e+01] [-2.45496052e-03 -5.51517562e-04 9.99996834e-01 1.27920663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05907232899995 meters 0.2443516590211326 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.12, Z:127.92 [[ 9.99999108e-01 -5.97725646e-04 1.19414385e-03 -9.12659129e+01] [ 5.97400099e-04 9.99999784e-01 2.72958256e-04 -5.51177610e+01] [-1.19430675e-03 -2.72244631e-04 9.99999250e-01 1.27921435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11907232899995 meters 0.22306200411173133 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.92 [[ 9.99999493e-01 -7.34044238e-04 6.88818056e-04 -9.12647701e+01] [ 7.34150304e-04 9.99999719e-01 -1.53742425e-04 -5.51163898e+01] [-6.88705008e-04 1.54248044e-04 9.99999751e-01 1.27921656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17907232899995 meters 0.258144785891924 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.92 [[ 9.99999986e-01 -4.41464717e-05 -1.58593287e-04 -9.12616408e+01] [ 4.42324113e-05 9.99999852e-01 5.41924166e-04 -5.51167677e+01] [ 1.58569340e-04 -5.41931174e-04 9.99999841e-01 1.27920176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23907232899995 meters 0.24767829775296563 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.12, Z:127.92 [[ 9.99993342e-01 -3.49231829e-03 -1.05854816e-03 -9.12589140e+01] [ 3.48933029e-03 9.99989960e-01 -2.81155599e-03 -5.51182870e+01] [ 1.06835638e-03 2.80784365e-03 9.99995487e-01 1.27919566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29907232899996 meters 0.24551158238427528 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.12, Z:127.92 [[ 9.99978289e-01 3.03310105e-03 -5.84993090e-03 -9.12457181e+01] [-3.04667728e-03 9.99992683e-01 -2.31323585e-03 -5.51214995e+01] [ 5.84287182e-03 2.33100848e-03 9.99980213e-01 1.27923093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35907232899996 meters 0.23530320179907335 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.12, Z:127.92 [[ 9.99947964e-01 7.32481552e-03 -7.10038018e-03 -9.12427316e+01] [-7.31807243e-03 9.99972747e-01 9.75195742e-04 -5.51177642e+01] [ 7.10732980e-03 -9.23183901e-04 9.99974316e-01 1.27923732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41907232899996 meters 0.2690931527256566 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.12, Z:127.92 [[ 9.99941767e-01 7.33668519e-03 -7.91424329e-03 -9.12406663e+01] [-7.33217339e-03 9.99972940e-01 5.98950129e-04 -5.51161318e+01] [ 7.91842343e-03 -5.40886647e-04 9.99968503e-01 1.27923799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47907232899996 meters 0.23040898747144156 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.12, Z:127.92 [[ 9.99955157e-01 3.60625355e-03 -8.75663061e-03 -9.12383331e+01] [-3.63343585e-03 9.99988624e-01 -3.09027466e-03 -5.51169965e+01] [ 8.74538668e-03 3.12195274e-03 9.99956885e-01 1.27923515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53907232899996 meters 0.24720278697767442 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.12, Z:127.92 [[ 9.99939964e-01 4.75341758e-03 -9.87285162e-03 -9.12345351e+01] [-4.77667489e-03 9.99985869e-01 -2.33343953e-03 -5.51168286e+01] [ 9.86162030e-03 2.38045884e-03 9.99948540e-01 1.27922503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59907232899997 meters 0.23012497557068418 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.12, Z:127.92 [[ 9.99931877e-01 4.75712575e-03 -1.06588063e-02 -9.12326692e+01] [-4.78640516e-03 9.99984837e-01 -2.72314534e-03 -5.51153429e+01] [ 1.06456903e-02 2.77397720e-03 9.99939485e-01 1.27922770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65907232899997 meters 0.2478909317016629 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.11, Z:127.92 [[ 9.99926371e-01 4.83165383e-03 -1.11314012e-02 -9.12315900e+01] [-4.86315586e-03 9.99984242e-01 -2.80468716e-03 -5.51149084e+01] [ 1.11176745e-02 2.85861439e-03 9.99934111e-01 1.27923025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71907232899997 meters 0.2482824963781503 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.12, Z:127.92 [[ 9.99917011e-01 5.57305595e-03 -1.16151935e-02 -9.12293609e+01] [-5.59470135e-03 9.99982672e-01 -1.83188292e-03 -5.51164978e+01] [ 1.16047830e-02 1.89671444e-03 9.99930863e-01 1.27921600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779072329 meters 0.24081726915248247 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.12, Z:127.92 [[ 9.99987388e-01 4.35661701e-03 2.49880568e-03 -9.12302269e+01] [-4.35413951e-03 9.99990025e-01 -9.96059597e-04 -5.51231438e+01] [-2.50312020e-03 9.85166886e-04 9.99996382e-01 1.27918217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839072329 meters 0.227541499520576 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.12, Z:127.92 [[ 9.99985420e-01 4.58052630e-03 2.85973326e-03 -9.12307068e+01] [-4.57923796e-03 9.99989411e-01 -4.56894179e-04 -5.51245469e+01] [-2.86179579e-03 4.43792118e-04 9.99995807e-01 1.27917571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899072329 meters 0.21389407459949075 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.13, Z:127.92 [[ 9.99996869e-01 6.39687113e-04 2.41911980e-03 -9.12289728e+01] [-6.29321477e-04 9.99990629e-01 -4.28321591e-03 -5.51250323e+01] [-2.42183705e-03 4.28168010e-03 9.99987901e-01 1.27916677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959072329 meters 0.29136460671348974 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.13, Z:127.92 [[ 9.99985701e-01 -3.72825102e-03 3.83378856e-03 -9.12323453e+01] [ 3.75571219e-03 9.99967164e-01 -7.18085781e-03 -5.51298942e+01] [-3.80689063e-03 7.19515373e-03 9.99966868e-01 1.27916136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019072329 meters 0.26680654985242425 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.13, Z:127.92 [[ 9.99961478e-01 -7.67309728e-03 4.26217369e-03 -9.12329571e+01] [ 7.71836558e-03 9.99912879e-01 -1.07080254e-02 -5.51321495e+01] [-4.17963865e-03 1.07405100e-02 9.99933584e-01 1.27915536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079072329 meters 0.25023539665799777 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.14, Z:127.91 [[ 9.99950240e-01 -8.10482890e-03 5.81632086e-03 -9.12361548e+01] [ 8.16161215e-03 9.99918609e-01 -9.80633623e-03 -5.51351563e+01] [-5.73636879e-03 9.85331882e-03 9.99935001e-01 1.27914073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139072329 meters 0.24984920938276184 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.13, Z:127.91 [[ 9.99950430e-01 -8.14179460e-03 5.73132821e-03 -9.12358160e+01] [ 8.19827850e-03 9.99917368e-01 -9.90176908e-03 -5.51347217e+01] [-5.65023645e-03 9.94826528e-03 9.99934551e-01 1.27913922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199072329 meters 0.26907955779749687 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.13, Z:127.91 [[ 9.99971433e-01 -4.01904366e-03 6.40156612e-03 -9.12374218e+01] [ 4.05532587e-03 9.99975732e-01 -5.66484794e-03 -5.51346285e+01] [-6.37864350e-03 5.69064655e-03 9.99963464e-01 1.27913853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259072329 meters 0.3080211687606241 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99980814e-01 -1.33426597e-03 6.04904673e-03 -9.12331151e+01] [ 1.35121130e-03 9.99995172e-01 -2.79810126e-03 -5.51356834e+01] [-6.04528412e-03 2.80622112e-03 9.99977790e-01 1.27909889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319072329 meters 0.2983288238397976 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99980710e-01 -1.21853998e-03 6.09051072e-03 -9.12331341e+01] [ 1.23431085e-03 9.99995894e-01 -2.58632918e-03 -5.51362451e+01] [-6.08733417e-03 2.59379687e-03 9.99978108e-01 1.27909792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379072329 meters 0.27933845844324146 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99967605e-01 -5.45228941e-03 5.92128856e-03 -9.12329924e+01] [ 5.49294689e-03 9.99961301e-01 -6.87190470e-03 -5.51365502e+01] [-5.88359181e-03 6.90420741e-03 9.99958857e-01 1.27910309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439072329 meters 0.2826221308592955 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99969966e-01 -5.55286010e-03 5.40681744e-03 -9.12323165e+01] [ 5.59188339e-03 9.99958233e-01 -7.22925636e-03 -5.51356958e+01] [-5.36644857e-03 7.25927352e-03 9.99959251e-01 1.27911285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49907232899994 meters 0.26701360697282545 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99971589e-01 -5.25855744e-03 5.40080844e-03 -9.12318576e+01] [ 5.29474564e-03 9.99963482e-01 -6.70821701e-03 -5.51369290e+01] [-5.36533567e-03 6.73662233e-03 9.99962915e-01 1.27910609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55907232899995 meters 0.3237976292994049 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99975987e-01 -5.01731829e-03 4.78027909e-03 -9.12299557e+01] [ 5.04845682e-03 9.99965973e-01 -6.52431044e-03 -5.51367920e+01] [-4.74738189e-03 6.54828681e-03 9.99967291e-01 1.27910098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61907232899995 meters 0.3161010585109821 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99977245e-01 -5.04479471e-03 4.47880175e-03 -9.12290336e+01] [ 5.07477444e-03 9.99964626e-01 -6.70775652e-03 -5.51360027e+01] [-4.44480406e-03 6.73033279e-03 9.99967473e-01 1.27909878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67907232899995 meters 0.31994390417814056 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.13, Z:127.91 [[ 9.99979190e-01 -5.21455742e-03 3.79847837e-03 -9.12274052e+01] [ 5.24219274e-03 9.99959599e-01 -7.30210771e-03 -5.51339040e+01] [-3.76024764e-03 7.32186811e-03 9.99966125e-01 1.27910094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73907232899995 meters 0.2576179107906015 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.13, Z:127.91 [[ 9.99979703e-01 -5.44182020e-03 3.31376157e-03 -9.12265520e+01] [ 5.46793390e-03 9.99953663e-01 -7.92298103e-03 -5.51321105e+01] [-3.27049258e-03 7.94093964e-03 9.99963122e-01 1.27910746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79907232899996 meters 0.25675842898517914 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.13, Z:127.91 [[ 9.99981025e-01 -5.31739803e-03 3.11049436e-03 -9.12260395e+01] [ 5.34142708e-03 9.99955558e-01 -7.76854409e-03 -5.51324437e+01] [-3.06904769e-03 7.78501116e-03 9.99964987e-01 1.27910767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85907232899996 meters 0.26378480780682795 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.13, Z:127.91 [[ 9.99982599e-01 -5.12951182e-03 2.91387112e-03 -9.12253588e+01] [ 5.15130055e-03 9.99958456e-01 -7.51995898e-03 -5.51329409e+01] [-2.87517634e-03 7.53483835e-03 9.99967479e-01 1.27910484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91907232899996 meters 0.2722269965114585 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99978887e-01 -5.06858091e-03 4.06620877e-03 -9.12278858e+01] [ 5.09483690e-03 9.99966071e-01 -6.47295806e-03 -5.51366829e+01] [-4.03326210e-03 6.49353807e-03 9.99970783e-01 1.27909696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97907232899996 meters 0.2772609236081763 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99974794e-01 -5.25371539e-03 4.77603179e-03 -9.12296486e+01] [ 5.28476077e-03 9.99964838e-01 -6.51103286e-03 -5.51368704e+01] [-4.74165674e-03 6.53610893e-03 9.99967397e-01 1.27909788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03907232899996 meters 0.2685269661442163 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99971226e-01 -5.09605006e-03 5.61943990e-03 -9.12310737e+01] [ 5.12839815e-03 9.99970277e-01 -5.75715711e-03 -5.51388357e+01] [-5.58993411e-03 5.78581018e-03 9.99967638e-01 1.27908656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09907232899997 meters 0.30433202408158644 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99968419e-01 -4.93541513e-03 6.22912305e-03 -9.12321394e+01] [ 4.96785030e-03 9.99974128e-01 -5.20233222e-03 -5.51403181e+01] [-6.20328622e-03 5.23311328e-03 9.99967066e-01 1.27907941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15907232899997 meters 0.2452609109859487 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99964056e-01 -4.75965748e-03 7.01663914e-03 -9.12339145e+01] [ 4.79147705e-03 9.99978283e-01 -4.52505861e-03 -5.51425055e+01] [-6.99494903e-03 4.55851602e-03 9.99965145e-01 1.27907667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21907232899997 meters 0.2687761230351395 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.14, Z:127.91 [[ 9.99959817e-01 -4.85493992e-03 7.53614792e-03 -9.12351959e+01] [ 4.88905805e-03 9.99977854e-01 -4.51546275e-03 -5.51427023e+01] [-7.51405872e-03 4.55212597e-03 9.99961408e-01 1.27907728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279072329 meters 0.2626428543069264 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99963703e-01 -4.76255389e-03 7.06469467e-03 -9.12338986e+01] [ 4.79460528e-03 9.99978259e-01 -4.52686359e-03 -5.51423701e+01] [-7.04298165e-03 4.56057171e-03 9.99964798e-01 1.27907557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339072329 meters 0.26204758244641546 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99965691e-01 -4.89977965e-03 6.67892896e-03 -9.12327308e+01] [ 4.93294539e-03 9.99975540e-01 -4.95833149e-03 -5.51406837e+01] [-6.65447086e-03 4.99110817e-03 9.99965403e-01 1.27907340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399072329 meters 0.25376002536677605 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99960932e-01 -4.71648545e-03 7.47596509e-03 -9.12341242e+01] [ 4.74812260e-03 9.99979824e-01 -4.21976454e-03 -5.51426707e+01] [-7.45591179e-03 4.25509648e-03 9.99963151e-01 1.27906392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459072329 meters 0.28144667343331925 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99958766e-01 -4.71129183e-03 7.76343781e-03 -9.12349602e+01] [ 4.74330662e-03 9.99980302e-01 -4.11055161e-03 -5.51431333e+01] [-7.74391887e-03 4.14720648e-03 9.99961415e-01 1.27906624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519072329 meters 0.2847664105608521 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99962006e-01 -4.51994721e-03 7.45361217e-03 -9.12339678e+01] [ 4.54907196e-03 9.99982067e-01 -3.89515385e-03 -5.51435013e+01] [-7.43587261e-03 3.92891287e-03 9.99964635e-01 1.27906309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579072329 meters 0.268261465196926 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99975128e-01 -1.58103236e-04 7.05111487e-03 -9.12324820e+01] [ 1.55493795e-04 9.99999919e-01 3.70621684e-04 -5.51427228e+01] [-7.05117290e-03 -3.69516061e-04 9.99975072e-01 1.27905565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639072329 meters 0.24058621076260953 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99976261e-01 -1.97583053e-04 6.88756778e-03 -9.12322245e+01] [ 1.96075198e-04 9.99999957e-01 2.19598626e-04 -5.51422952e+01] [-6.88761088e-03 -2.18242932e-04 9.99976256e-01 1.27905825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699072329 meters 0.22891423714600903 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.14, Z:127.91 [[ 9.99976716e-01 -5.21511137e-04 6.80414563e-03 -9.12320609e+01] [ 5.24231598e-04 9.99999783e-01 -3.98046787e-04 -5.51404095e+01] [-6.80393657e-03 4.01604466e-04 9.99976772e-01 1.27905953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759072329 meters 0.3017298670607965 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.14, Z:127.91 [[ 9.99947603e-01 -5.41860919e-03 8.68503049e-03 -9.12363939e+01] [ 5.45133414e-03 9.99978115e-01 -3.74873849e-03 -5.51445260e+01] [-8.66452747e-03 3.79588707e-03 9.99955258e-01 1.27905125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819072329 meters 0.25564766869690964 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.15, Z:127.90 [[ 9.99801770e-01 -1.42782229e-02 1.38763810e-02 -9.12495101e+01] [ 1.43554619e-02 9.99881924e-01 -5.48264198e-03 -5.51473692e+01] [-1.37964601e-02 5.68075701e-03 9.99888687e-01 1.27900101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879072329 meters 0.29360382523391865 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.15, Z:127.90 [[ 9.99708312e-01 -1.84821679e-02 1.55466988e-02 -9.12522444e+01] [ 1.86051011e-02 9.99796483e-01 -7.80022920e-03 -5.51525357e+01] [-1.53993696e-02 8.08720187e-03 9.99848717e-01 1.27897567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939072329 meters 0.24640356867214344 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.15, Z:127.90 [[ 9.99691004e-01 -1.83949345e-02 1.67189592e-02 -9.12542685e+01] [ 1.85116765e-02 9.99805145e-01 -6.85487516e-03 -5.51549115e+01] [-1.65896064e-02 7.16225300e-03 9.99836730e-01 1.27896008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99907232899994 meters 0.241421182750386 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.16, Z:127.89 [[ 9.99673594e-01 -1.82883864e-02 1.78393186e-02 -9.12561036e+01] [ 1.83974252e-02 9.99812945e-01 -5.96742191e-03 -5.51571091e+01] [-1.77268471e-02 6.29367164e-03 9.99823059e-01 1.27894420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05907232899995 meters 0.25593799424174285 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.16, Z:127.89 [[ 9.99569305e-01 -2.23119331e-02 1.90625694e-02 -9.12586476e+01] [ 2.24916800e-02 9.99704075e-01 -9.26750851e-03 -5.51604007e+01] [-1.88501523e-02 9.69226625e-03 9.99775341e-01 1.27894100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11907232899995 meters 0.25593854040361147 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.16, Z:127.89 [[ 9.99550982e-01 -2.24829781e-02 1.98078151e-02 -9.12602560e+01] [ 2.26705480e-02 9.99699767e-01 -9.29635541e-03 -5.51603718e+01] [-1.95928584e-02 9.74123521e-03 9.99760585e-01 1.27893814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17907232899995 meters 0.2355078390644477 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.16, Z:127.89 [[ 9.99545140e-01 -2.22189252e-02 2.03919927e-02 -9.12610176e+01] [ 2.23957084e-02 9.99713201e-01 -8.48218453e-03 -5.51623924e+01] [-2.01976792e-02 8.93501944e-03 9.99756080e-01 1.27892726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23907232899995 meters 0.24816045212899898 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.16, Z:127.89 [[ 9.99525244e-01 -2.25351590e-02 2.10107858e-02 -9.12622733e+01] [ 2.27247670e-02 9.99702767e-01 -8.82962708e-03 -5.51613459e+01] [-2.08055637e-02 9.30290037e-03 9.99740259e-01 1.27892408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29907232899996 meters 0.24565309542183125 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.16, Z:127.89 [[ 9.99524180e-01 -2.22387426e-02 2.13741045e-02 -9.12626227e+01] [ 2.24163217e-02 9.99715870e-01 -8.10474107e-03 -5.51632324e+01] [-2.11877923e-02 8.58001347e-03 9.99738696e-01 1.27891551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35907232899996 meters 0.2227818709060574 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.16, Z:127.89 [[ 9.99680090e-01 -2.12783641e-02 1.36728917e-02 -9.12655676e+01] [ 2.15227277e-02 9.99606656e-01 -1.79806910e-02 -5.51591385e+01] [-1.32849139e-02 1.82692167e-02 9.99744841e-01 1.27886477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41907232899996 meters 0.22709028468237968 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.16, Z:127.89 [[ 9.99758405e-01 -1.71297887e-02 1.37732229e-02 -9.12656601e+01] [ 1.73200090e-02 9.99754589e-01 -1.38122851e-02 -5.51584341e+01] [-1.35332413e-02 1.40475005e-02 9.99809741e-01 1.27885892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47907232899996 meters 0.22998229275456844 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.16, Z:127.89 [[ 9.99819344e-01 -1.31124604e-02 1.37602167e-02 -9.12656788e+01] [ 1.32502325e-02 9.99862512e-01 -9.96940185e-03 -5.51568517e+01] [-1.36276015e-02 1.01499269e-02 9.99855623e-01 1.27885772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53907232899996 meters 0.21527881839460247 Centerline is valid? [False, False] Translation: X:-91.27, Y:-55.15, Z:127.89 [[ 9.99866132e-01 -9.26205030e-03 1.34882000e-02 -9.12661321e+01] [ 9.35286764e-03 9.99933911e-01 -6.68565228e-03 -5.51544593e+01] [-1.34253857e-02 6.81091064e-03 9.99886679e-01 1.27887510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59907232899997 meters 0.21983532072467152 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.15, Z:127.89 [[ 9.99911614e-01 -5.19419820e-03 1.22386270e-02 -9.12636198e+01] [ 5.24046077e-03 9.99979234e-01 -3.75101344e-03 -5.51504478e+01] [-1.22188894e-02 3.81481795e-03 9.99918070e-01 1.27888526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65907232899997 meters 0.24021127570961226 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.15, Z:127.89 [[ 9.99951644e-01 7.18059349e-03 6.71930923e-03 -9.12470284e+01] [-7.19253734e-03 9.99972593e-01 1.75506866e-03 -5.51523310e+01] [-6.70652264e-03 -1.80331267e-03 9.99975885e-01 1.27890716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71907232899997 meters 0.2754536666023123 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.15, Z:127.89 [[ 9.99922311e-01 1.10629655e-02 5.74312387e-03 -9.12447106e+01] [-1.10899997e-02 9.99927473e-01 4.69690865e-03 -5.51480033e+01] [-5.69074560e-03 -4.76023499e-03 9.99972477e-01 1.27891185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779072329 meters 0.2706289046019616 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.15, Z:127.90 [[ 9.99796861e-01 2.01381312e-02 8.32092055e-04 -9.12312709e+01] [-2.01433556e-02 9.99773723e-01 6.83731463e-03 -5.51465998e+01] [-6.94213032e-04 -6.85268683e-03 9.99976279e-01 1.27895648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839072329 meters 0.27085713962263963 Centerline is valid? [False, False] Translation: X:-91.22, Y:-55.14, Z:127.90 [[ 9.99757572e-01 2.18691373e-02 -2.55692056e-03 -9.12244103e+01] [-2.18548654e-02 9.99746122e-01 5.48239636e-03 -5.51431241e+01] [ 2.67616670e-03 -5.42518612e-03 9.99981703e-01 1.27899001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899072329 meters 0.22950260644885823 Centerline is valid? [False, False] Translation: X:-91.21, Y:-55.14, Z:127.90 [[ 9.99489495e-01 3.10200847e-02 -7.64879490e-03 -9.12110310e+01] [-3.09595622e-02 9.99489354e-01 7.90808118e-03 -5.51415290e+01] [ 7.89019842e-03 -7.66724073e-03 9.99939477e-01 1.27903613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959072329 meters 0.2779888210342975 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.14, Z:127.91 [[ 9.99453566e-01 3.06378497e-02 -1.24053029e-02 -9.11986253e+01] [-3.04065331e-02 9.99367789e-01 1.84245558e-02 -5.51428325e+01] [ 1.29619489e-02 -1.80372858e-02 9.99753292e-01 1.27910846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019072329 meters 0.304133029902271 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.14, Z:127.91 [[ 9.99560342e-01 2.63585495e-02 -1.35775263e-02 -9.11965591e+01] [-2.61725507e-02 9.99563569e-01 1.36992615e-02 -5.51412490e+01] [ 1.39326933e-02 -1.33378800e-02 9.99813973e-01 1.27911825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079072329 meters 0.28947701109888424 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.14, Z:127.91 [[ 9.99636673e-01 2.25047003e-02 -1.48344466e-02 -9.11936897e+01] [-2.23744014e-02 9.99710119e-01 8.89176720e-03 -5.51379763e+01] [ 1.50302529e-02 -8.55662471e-03 9.99850427e-01 1.27912327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139072329 meters 0.2435765928584757 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.15, Z:127.91 [[ 9.99859908e-01 1.56948420e-02 -5.81695130e-03 -9.11901715e+01] [-1.56178106e-02 9.99792745e-01 1.30594976e-02 -5.51454966e+01] [ 6.02071246e-03 -1.29668200e-02 9.99897801e-01 1.27913523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199072329 meters 0.28045067179349126 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.15, Z:127.91 [[ 9.99950133e-01 7.48833620e-03 -6.60729141e-03 -9.11888540e+01] [-7.45500571e-03 9.99959435e-01 5.05479136e-03 -5.51469611e+01] [ 6.64487536e-03 -5.00528190e-03 9.99965396e-01 1.27913940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259072329 meters 0.2519377689222517 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.15, Z:127.91 [[ 9.99970678e-01 3.41211539e-03 -6.85569002e-03 -9.11877614e+01] [-3.40433138e-03 9.99993548e-01 1.14675762e-03 -5.51476832e+01] [ 6.85955865e-03 -1.12338495e-03 9.99975842e-01 1.27913175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319072329 meters 0.24791197772842846 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.15, Z:127.91 [[ 9.99981695e-01 -6.83658245e-04 -6.01184344e-03 -9.11892622e+01] [ 6.70105853e-04 9.99997231e-01 -2.25600775e-03 -5.51502231e+01] [ 6.01336913e-03 2.25193788e-03 9.99979384e-01 1.27912140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379072329 meters 0.23322219510773054 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.15, Z:127.91 [[ 9.99974306e-01 -4.49855196e-03 -5.58131778e-03 -9.11894545e+01] [ 4.46860263e-03 9.99975614e-01 -5.36691154e-03 -5.51533411e+01] [ 5.60532500e-03 5.34183295e-03 9.99970022e-01 1.27910817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439072329 meters 0.2259669532818782 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.16, Z:127.91 [[ 9.99980753e-01 -4.85481408e-03 -3.86333895e-03 -9.11929149e+01] [ 4.83771415e-03 9.99978515e-01 -4.42330997e-03 -5.51565956e+01] [ 3.88473029e-03 4.40453511e-03 9.99982754e-01 1.27909214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49907232899994 meters 0.28747012529761634 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.16, Z:127.91 [[ 9.99954482e-01 -8.84628243e-03 -3.57461388e-03 -9.11932377e+01] [ 8.81743550e-03 9.99929070e-01 -8.00669043e-03 -5.51586938e+01] [ 3.64518978e-03 7.97480705e-03 9.99961557e-01 1.27908731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55907232899995 meters 0.2290738003528714 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.16, Z:127.91 [[ 9.99955842e-01 -9.07031495e-03 -2.45824923e-03 -9.11955776e+01] [ 9.05097997e-03 9.99928886e-01 -7.76553749e-03 -5.51596126e+01] [ 2.52851029e-03 7.74294502e-03 9.99966826e-01 1.27908046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61907232899995 meters 0.2653131449640684 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.16, Z:127.91 [[ 9.99902005e-01 -1.38912278e-02 -1.73621681e-03 -9.11980263e+01] [ 1.38682530e-02 9.99824317e-01 -1.26098027e-02 -5.51589630e+01] [ 1.91107743e-03 1.25844887e-02 9.99918986e-01 1.27909217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67907232899995 meters 0.25929986578669123 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.16, Z:127.91 [[ 9.99889616e-01 -1.48567266e-02 1.85644314e-04 -9.12022176e+01] [ 1.48578855e-02 9.99815786e-01 -1.21506198e-02 -5.51615678e+01] [-5.09167904e-06 1.21520368e-02 9.99926161e-01 1.27907918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73907232899995 meters 0.23181447717216155 Centerline is valid? [False, False] Translation: X:-91.21, Y:-55.16, Z:127.90 [[ 9.99748019e-01 -2.19512865e-02 4.69464850e-03 -9.12115201e+01] [ 2.20139388e-02 9.99663265e-01 -1.37383864e-02 -5.51635671e+01] [-4.39149239e-03 1.38382723e-02 9.99894603e-01 1.27901921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79907232899996 meters 0.24649462264081892 Centerline is valid? [False, False] Translation: X:-91.22, Y:-55.16, Z:127.90 [[ 9.99564743e-01 -2.77689579e-02 9.96037177e-03 -9.12246920e+01] [ 2.79014248e-02 9.99520638e-01 -1.34165658e-02 -5.51612444e+01] [-9.58303310e-03 1.36886347e-02 9.99860384e-01 1.27897412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85907232899996 meters 0.24322461344791074 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.16, Z:127.90 [[ 9.99523109e-01 -2.86207470e-02 1.15934232e-02 -9.12283202e+01] [ 2.87774310e-02 9.99493575e-01 -1.35813670e-02 -5.51618064e+01] [-1.11988431e-02 1.39085191e-02 9.99840557e-01 1.27896853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91907232899996 meters 0.23132720740404344 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.16, Z:127.89 [[ 9.99183859e-01 -3.67306609e-02 1.68070059e-02 -9.12429935e+01] [ 3.69935706e-02 9.99193595e-01 -1.56088199e-02 -5.51572366e+01] [-1.62201304e-02 1.62178321e-02 9.99736910e-01 1.27894067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97907232899996 meters 0.2331072396493154 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.15, Z:127.89 [[ 9.99379483e-01 -3.00417447e-02 1.83886540e-02 -9.12521631e+01] [ 3.04418100e-02 9.99297095e-01 -2.18771925e-02 -5.51501596e+01] [-1.77184995e-02 2.24234012e-02 9.99591540e-01 1.27887452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03907232899996 meters 0.2130056851799085 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.15, Z:127.89 [[ 9.99482717e-01 -2.61454913e-02 1.87272730e-02 -9.12533383e+01] [ 2.64835357e-02 9.99486526e-01 -1.80362604e-02 -5.51487744e+01] [-1.82460902e-02 1.85228949e-02 9.99661934e-01 1.27887583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09907232899997 meters 0.22461022413223236 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.15, Z:127.89 [[ 9.99660928e-01 -1.82168359e-02 1.86058176e-02 -9.12536701e+01] [ 1.84134557e-02 9.99775830e-01 -1.04515702e-02 -5.51456276e+01] [-1.84112522e-02 1.07906237e-02 9.99772268e-01 1.27887923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15907232899997 meters 0.2297415120751779 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.14, Z:127.89 [[ 9.99711525e-01 -1.43674159e-02 1.92469231e-02 -9.12558876e+01] [ 1.44979283e-02 9.99872728e-01 -6.65865441e-03 -5.51446813e+01] [-1.91488058e-02 6.93577406e-03 9.99792588e-01 1.27888821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21907232899997 meters 0.25577487802450943 Centerline is valid? [False, False] Translation: X:-91.26, Y:-55.13, Z:127.89 [[ 9.99929998e-01 -9.33577334e-03 7.26924881e-03 -9.12607203e+01] [ 9.39765883e-03 9.99919490e-01 -8.52622590e-03 -5.51291552e+01] [-7.18906465e-03 8.59394297e-03 9.99937229e-01 1.27892854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279072329 meters 0.21838715216661786 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.13, Z:127.90 [[ 9.99993795e-01 -2.32627647e-03 2.64545040e-03 -9.12508228e+01] [ 2.34520052e-03 9.99971524e-01 -7.17297182e-03 -5.51256956e+01] [-2.62868876e-03 7.17913143e-03 9.99970775e-01 1.27898566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339072329 meters 0.24140356338083466 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.12, Z:127.90 [[ 9.99996384e-01 -2.05179467e-03 1.73848605e-03 -9.12489206e+01] [ 2.06453764e-03 9.99970783e-01 -7.36010849e-03 -5.51249126e+01] [-1.72333383e-03 7.36367105e-03 9.99971403e-01 1.27899328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399072329 meters 0.23714457196617753 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.13, Z:127.90 [[ 9.99997589e-01 -1.68210197e-03 1.41155751e-03 -9.12477706e+01] [ 1.69171774e-03 9.99975184e-01 -6.83885326e-03 -5.51260795e+01] [-1.40001883e-03 6.84122472e-03 9.99975618e-01 1.27898811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459072329 meters 0.2197106926268013 Centerline is valid? [False, False] Translation: X:-91.25, Y:-55.13, Z:127.90 [[ 9.99998825e-01 -1.35844913e-03 7.10912374e-04 -9.12455654e+01] [ 1.36311250e-03 9.99977285e-01 -6.60084955e-03 -5.51260878e+01] [-7.01929307e-04 6.60181084e-03 9.99977961e-01 1.27898115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519072329 meters 0.24129215803104956 Centerline is valid? [False, False] Translation: X:-91.24, Y:-55.13, Z:127.90 [[ 9.99998984e-01 -1.33616024e-03 4.97547626e-04 -9.12449801e+01] [ 1.33944931e-03 9.99976858e-01 -6.66997065e-03 -5.51257713e+01] [-4.88623963e-04 6.67063031e-03 9.99977632e-01 1.27898079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579072329 meters 0.21621103406010794 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.13, Z:127.90 [[ 9.99941773e-01 9.73231496e-03 -4.66179088e-03 -9.12298419e+01] [-9.74583032e-03 9.99948346e-01 -2.88528743e-03 -5.51272411e+01] [ 4.63346955e-03 2.93055245e-03 9.99984971e-01 1.27902207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639072329 meters 0.22825340006518144 Centerline is valid? [False, False] Translation: X:-91.21, Y:-55.13, Z:127.91 [[ 9.99835966e-01 1.19594131e-02 -1.36019519e-02 -9.12126542e+01] [-1.18621841e-02 9.99903673e-01 7.20651804e-03 -5.51305447e+01] [ 1.36868274e-02 -7.04398707e-03 9.99881519e-01 1.27914124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699072329 meters 0.32647663596687687 Centerline is valid? [False, False] Translation: X:-91.21, Y:-55.13, Z:127.92 [[ 9.99808599e-01 1.21614314e-02 -1.53253369e-02 -9.12091811e+01] [-1.20755849e-02 9.99910945e-01 5.68174860e-03 -5.51257306e+01] [ 1.53930703e-02 -5.49559870e-03 9.99866417e-01 1.27915993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759072329 meters 0.2898178367678153 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.13, Z:127.92 [[ 9.99781566e-01 2.02891143e-02 -5.01717775e-03 -9.12020168e+01] [-2.02446695e-02 9.99756713e-01 8.75607940e-03 -5.51322340e+01] [ 5.19361023e-03 -8.65259567e-03 9.99949078e-01 1.27916972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819072329 meters 0.2834450289524635 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.13, Z:127.92 [[ 9.99600761e-01 2.63601672e-02 -1.01715352e-02 -9.11886550e+01] [-2.62752195e-02 9.99619482e-01 8.39669343e-03 -5.51342299e+01] [ 1.03890030e-02 -8.12608182e-03 9.99913014e-01 1.27921922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879072329 meters 0.2668181389422345 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.13, Z:127.93 [[ 9.99192048e-01 3.71720955e-02 -1.52802762e-02 -9.11732060e+01] [-3.69951797e-02 9.99246924e-01 1.17021958e-02 -5.51323840e+01] [ 1.57037641e-02 -1.11274444e-02 9.99814769e-01 1.27925766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939072329 meters 0.26024439130763566 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.13, Z:127.93 [[ 9.98993214e-01 4.17757458e-02 -1.63506895e-02 -9.11697900e+01] [-4.15228438e-02 9.99017119e-01 1.55128600e-02 -5.51299562e+01] [ 1.69826800e-02 -1.48183148e-02 9.99745971e-01 1.27925445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99907232899994 meters 0.25413328200197177 Centerline is valid? [False, False] Translation: X:-91.16, Y:-55.13, Z:127.93 [[ 9.99038879e-01 3.91310656e-02 -1.97504015e-02 -9.11587390e+01] [-3.86295593e-02 9.98936667e-01 2.51652934e-02 -5.51346151e+01] [ 2.07141450e-02 -2.43781572e-02 9.99488184e-01 1.27931789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05907232899995 meters 0.29012004494133925 Centerline is valid? [False, False] Translation: X:-91.16, Y:-55.13, Z:127.93 [[ 9.99171743e-01 3.47353077e-02 -2.11963930e-02 -9.11564476e+01] [-3.43175045e-02 9.99215491e-01 1.97664206e-02 -5.51311349e+01] [ 2.18663569e-02 -1.90226416e-02 9.99579913e-01 1.27933625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11907232899995 meters 0.23176399629388972 Centerline is valid? [False, False] Translation: X:-91.15, Y:-55.13, Z:127.94 [[ 9.99332137e-01 3.00847126e-02 -2.07410115e-02 -9.11504752e+01] [-2.95060976e-02 9.99181810e-01 2.76604659e-02 -5.51326219e+01] [ 2.15561986e-02 -2.70300062e-02 9.99402176e-01 1.27942640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17907232899995 meters 0.26899467593533355 Centerline is valid? [False, False] Translation: X:-91.15, Y:-55.13, Z:127.94 [[ 9.99410691e-01 2.60966401e-02 -2.22988062e-02 -9.11476274e+01] [-2.55856238e-02 9.99410246e-01 2.29027340e-02 -5.51300123e+01] [ 2.28833398e-02 -2.23187084e-02 9.99488983e-01 1.27943897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23907232899995 meters 0.2644623992726085 Centerline is valid? [False, False] Translation: X:-91.15, Y:-55.13, Z:127.94 [[ 9.99390816e-01 2.58855139e-02 -2.34080461e-02 -9.11453664e+01] [-2.53724345e-02 9.99436916e-01 2.19565583e-02 -5.51268766e+01] [ 2.39632222e-02 -2.13492636e-02 9.99484854e-01 1.27944742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29907232899996 meters 0.25724413146568886 Centerline is valid? [False, False] Translation: X:-91.14, Y:-55.13, Z:127.94 [[ 9.99453749e-01 2.20048189e-02 -2.46574967e-02 -9.11425400e+01] [-2.15716803e-02 9.99610670e-01 1.76966497e-02 -5.51256183e+01] [ 2.50373083e-02 -1.71550793e-02 9.99539312e-01 1.27944847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35907232899996 meters 0.24930258687126883 Centerline is valid? [False, False] Translation: X:-91.15, Y:-55.12, Z:127.94 [[ 9.99624909e-01 2.59954719e-02 -8.61842794e-03 -9.11496580e+01] [-2.59260769e-02 9.99631303e-01 8.06820594e-03 -5.51241993e+01] [ 8.82498718e-03 -7.84173760e-03 9.99930311e-01 1.27938657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41907232899996 meters 0.24924548350448178 Centerline is valid? [False, False] Translation: X:-91.14, Y:-55.13, Z:127.95 [[ 9.99693638e-01 2.11473911e-02 -1.28615272e-02 -9.11390027e+01] [-2.09504053e-02 9.99664012e-01 1.52624947e-02 -5.51287733e+01] [ 1.31799678e-02 -1.49883646e-02 9.99800799e-01 1.27945948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47907232899996 meters 0.23191593790351728 Centerline is valid? [False, False] Translation: X:-91.14, Y:-55.12, Z:127.95 [[ 9.99680000e-01 2.09763904e-02 -1.41381899e-02 -9.11366006e+01] [-2.07789651e-02 9.99686500e-01 1.39691446e-02 -5.51249186e+01] [ 1.44267798e-02 -1.36708975e-02 9.99802468e-01 1.27947488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53907232899996 meters 0.2401733494310472 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.12, Z:127.95 [[ 9.99744642e-01 1.66484335e-02 -1.52800904e-02 -9.11343209e+01] [-1.65086530e-02 9.99821130e-01 9.22888120e-03 -5.51231993e+01] [ 1.54310037e-02 -8.97427082e-03 9.99840661e-01 1.27948050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59907232899997 meters 0.24833044083453115 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.12, Z:127.95 [[ 9.99794579e-01 1.24144481e-02 -1.60212527e-02 -9.11328495e+01] [-1.23352148e-02 9.99911242e-01 5.03489718e-03 -5.51232943e+01] [ 1.60823361e-02 -4.83623731e-03 9.99858975e-01 1.27948259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65907232899997 meters 0.24209988062747137 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.13, Z:127.94 [[ 9.99934764e-01 1.11010151e-02 -2.68967512e-03 -9.11315076e+01] [-1.10801561e-02 9.99909351e-01 7.64981453e-03 -5.51336045e+01] [ 2.77435201e-03 -7.61951347e-03 9.99967122e-01 1.27944421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71907232899997 meters 0.23417298381599086 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.13, Z:127.95 [[ 9.99971104e-01 6.68388157e-03 -3.62159351e-03 -9.11297097e+01] [-6.67345160e-03 9.99973572e-01 2.88441134e-03 -5.51319635e+01] [ 3.64077687e-03 -2.86015946e-03 9.99989282e-01 1.27945099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779072329 meters 0.25373729351997404 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.13, Z:127.95 [[ 9.99987821e-01 2.55550304e-03 -4.22219788e-03 -9.11282862e+01] [-2.56092558e-03 9.99995902e-01 -1.27938738e-03 -5.51319845e+01] [ 4.21891110e-03 1.29018453e-03 9.99990268e-01 1.27945256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839072329 meters 0.21874961717607921 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.13, Z:127.95 [[ 9.99988949e-01 -1.38079804e-03 -4.49399887e-03 -9.11277127e+01] [ 1.35839626e-03 9.99986657e-01 -4.98406207e-03 -5.51336595e+01] [ 4.50082089e-03 4.97790235e-03 9.99977481e-01 1.27945397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899072329 meters 0.2513074411246584 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.13, Z:127.94 [[ 9.99972157e-01 -5.36191546e-03 -5.18984197e-03 -9.11256867e+01] [ 5.31508249e-03 9.99945409e-01 -8.99608065e-03 -5.51337757e+01] [ 5.23779488e-03 8.96824573e-03 9.99946067e-01 1.27944968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959072329 meters 0.25224751122900296 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.14, Z:127.94 [[ 9.99978730e-01 -4.88444769e-03 -4.32231151e-03 -9.11272930e+01] [ 4.85192838e-03 9.99960086e-01 -7.50236447e-03 -5.51380061e+01] [ 4.35878389e-03 7.48123335e-03 9.99962515e-01 1.27943811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019072329 meters 0.23902332742006296 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.14, Z:127.94 [[ 9.99982727e-01 -5.09017038e-03 -2.93873073e-03 -9.11304387e+01] [ 5.07043884e-03 9.99964812e-01 -6.68316228e-03 -5.51410791e+01] [ 2.97264576e-03 6.66814618e-03 9.99973349e-01 1.27943138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079072329 meters 0.22644116367158332 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.14, Z:127.94 [[ 9.99985615e-01 -4.83330560e-03 -2.32571910e-03 -9.11315217e+01] [ 4.81940548e-03 9.99970711e-01 -5.94563542e-03 -5.51430970e+01] [ 2.35438805e-03 5.93434131e-03 9.99979620e-01 1.27942408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139072329 meters 0.2173342179321759 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.14, Z:127.94 [[ 9.99986632e-01 -4.79375601e-03 -1.93778417e-03 -9.11321568e+01] [ 4.78262175e-03 9.99972259e-01 -5.71023682e-03 -5.51436391e+01] [ 1.96510389e-03 5.70089279e-03 9.99981819e-01 1.27941912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199072329 meters 0.2359425635644031 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.14, Z:127.94 [[ 9.99987310e-01 -4.91078203e-03 -1.12440882e-03 -9.11341012e+01] [ 4.90448171e-03 9.99972632e-01 -5.53905762e-03 -5.51444839e+01] [ 1.15157915e-03 5.53347269e-03 9.99984027e-01 1.27941882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259072329 meters 0.24559995605230373 Centerline is valid? [False, False] Translation: X:-91.14, Y:-55.15, Z:127.94 [[ 9.99962977e-01 -8.59789570e-03 -3.48368745e-04 -9.11355113e+01] [ 8.59468366e-03 9.99928121e-01 -8.35963536e-03 -5.51488624e+01] [ 4.20218977e-04 8.35633174e-03 9.99964997e-01 1.27941094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319072329 meters 0.24249927368449514 Centerline is valid? [False, False] Translation: X:-91.15, Y:-55.15, Z:127.94 [[ 9.99891329e-01 -1.41226645e-02 4.22864771e-03 -9.11490931e+01] [ 1.41506301e-02 9.99877707e-01 -6.65813314e-03 -5.51502577e+01] [-4.13409999e-03 6.71724762e-03 9.99968893e-01 1.27937156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379072329 meters 0.30003104201514874 Centerline is valid? [False, False] Translation: X:-91.15, Y:-55.15, Z:127.94 [[ 9.99870758e-01 -1.49170525e-02 5.99566988e-03 -9.11533187e+01] [ 1.49529181e-02 9.99870303e-01 -5.98226597e-03 -5.51537520e+01] [-5.90565449e-03 6.07114557e-03 9.99964132e-01 1.27936542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439072329 meters 0.22155555879947122 Centerline is valid? [False, False] Translation: X:-91.16, Y:-55.16, Z:127.93 [[ 9.99854515e-01 -1.51615133e-02 7.81524213e-03 -9.11566818e+01] [ 1.51945198e-02 9.99875813e-01 -4.18141115e-03 -5.51584445e+01] [-7.75087506e-03 4.29955166e-03 9.99960718e-01 1.27934026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49907232899994 meters 0.2567802519209768 Centerline is valid? [False, False] Translation: X:-91.16, Y:-55.16, Z:127.93 [[ 9.99761434e-01 -1.96524024e-02 9.53193791e-03 -9.11600747e+01] [ 1.97213084e-02 9.99779665e-01 -7.18965272e-03 -5.51623940e+01] [-9.38854375e-03 7.37591980e-03 9.99928723e-01 1.27932586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55907232899995 meters 0.2308970161184778 Centerline is valid? [False, False] Translation: X:-91.16, Y:-55.17, Z:127.93 [[ 9.99733586e-01 -2.02237667e-02 1.11246154e-02 -9.11638718e+01] [ 2.02980800e-02 9.99772134e-01 -6.60821421e-03 -5.51652195e+01] [-1.09884375e-02 6.83226202e-03 9.99916284e-01 1.27932200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61907232899995 meters 0.2272669725332717 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.17, Z:127.93 [[ 9.99673623e-01 -2.17200818e-02 1.34493798e-02 -9.11689470e+01] [ 2.18069894e-02 9.99742038e-01 -6.34923676e-03 -5.51677648e+01] [-1.33080045e-02 6.64045500e-03 9.99889395e-01 1.27930878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67907232899995 meters 0.2205547569257725 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.17, Z:127.93 [[ 9.99655395e-01 -2.17806576e-02 1.46524771e-02 -9.11712419e+01] [ 2.18614434e-02 9.99746556e-01 -5.37604825e-03 -5.51704501e+01] [-1.45316697e-02 5.69451993e-03 9.99878194e-01 1.27929591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73907232899995 meters 0.25793135704523423 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99803032e-01 -1.64243974e-02 1.11416210e-02 -9.11762669e+01] [ 1.65577819e-02 9.99791054e-01 -1.19870350e-02 -5.51700158e+01] [-1.09424132e-02 1.21691545e-02 9.99866079e-01 1.27922167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79907232899996 meters 0.2187493798658438 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99842919e-01 -1.26592861e-02 1.24048315e-02 -9.11790632e+01] [ 1.27564421e-02 9.99888331e-01 -7.78453620e-03 -5.51704228e+01] [-1.23048996e-02 7.94155491e-03 9.99892755e-01 1.27921586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85907232899996 meters 0.23880586560371975 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99836782e-01 -1.26741224e-02 1.28754140e-02 -9.11803826e+01] [ 1.27728983e-02 9.99889399e-01 -7.61862319e-03 -5.51711735e+01] [-1.27774306e-02 7.78183605e-03 9.99888084e-01 1.27921847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91907232899996 meters 0.26496899318889267 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99833072e-01 -1.28837672e-02 1.29551644e-02 -9.11807866e+01] [ 1.29877160e-02 9.99883878e-01 -7.97187017e-03 -5.51702393e+01] [-1.28509523e-02 8.13879744e-03 9.99884300e-01 1.27922190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97907232899996 meters 0.2311404498318217 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99865768e-01 -9.39938272e-03 1.34200557e-02 -9.11821050e+01] [ 9.46582246e-03 9.99943213e-01 -4.89587341e-03 -5.51669947e+01] [-1.33732755e-02 5.02224810e-03 9.99897961e-01 1.27922600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03907232899996 meters 0.22969127527740713 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99867398e-01 -9.19850618e-03 1.34378115e-02 -9.11814250e+01] [ 9.25963596e-03 9.99947030e-01 -4.49397310e-03 -5.51676462e+01] [-1.33957619e-02 4.61780643e-03 9.99899610e-01 1.27921487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09907232899997 meters 0.2301352027913356 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99880389e-01 -8.62344000e-03 1.28391306e-02 -9.11795545e+01] [ 8.67221354e-03 9.99955372e-01 -3.74800358e-03 -5.51691253e+01] [-1.28062369e-02 3.85889896e-03 9.99910551e-01 1.27920889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15907232899997 meters 0.275898846826899 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99876195e-01 -8.38316673e-03 1.33160773e-02 -9.11804338e+01] [ 8.42606362e-03 9.99959480e-01 -3.16860476e-03 -5.51707966e+01] [-1.32889748e-02 3.28041458e-03 9.99906317e-01 1.27920405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21907232899997 meters 0.2711502392196407 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99872581e-01 -8.24921096e-03 1.36664545e-02 -9.11812575e+01] [ 8.28825021e-03 9.99961725e-01 -2.80240282e-03 -5.51719466e+01] [-1.36428138e-02 2.91531674e-03 9.99902683e-01 1.27920326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279072329 meters 0.21922402182982095 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99849156e-01 -8.87658208e-03 1.49289016e-02 -9.11842676e+01] [ 8.91713724e-03 9.99956724e-01 -2.65218426e-03 -5.51732520e+01] [-1.49047133e-02 2.78490726e-03 9.99885040e-01 1.27919957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339072329 meters 0.2704493952857611 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.92 [[ 9.99855984e-01 -8.75989677e-03 1.45353005e-02 -9.11831387e+01] [ 8.79846724e-03 9.99957934e-01 -2.59174849e-03 -5.51731718e+01] [-1.45119856e-02 2.71926360e-03 9.99890998e-01 1.27919718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399072329 meters 0.21803142698252567 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.17, Z:127.92 [[ 9.99842051e-01 -9.03860887e-03 1.53028622e-02 -9.11850221e+01] [ 9.08401514e-03 9.99954534e-01 -2.90026836e-03 -5.51725381e+01] [-1.52759521e-02 3.03882170e-03 9.99878698e-01 1.27919839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459072329 meters 0.2165827716621811 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.17, Z:127.92 [[ 9.99822421e-01 -9.33138969e-03 1.63723113e-02 -9.11869523e+01] [ 9.37836207e-03 9.99952117e-01 -2.79458323e-03 -5.51729109e+01] [-1.63454500e-02 2.94763243e-03 9.99862059e-01 1.27918712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519072329 meters 0.2008413436061926 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.17, Z:127.92 [[ 9.99814755e-01 -9.56885454e-03 1.67000514e-02 -9.11877579e+01] [ 9.62188436e-03 9.99948910e-01 -3.09797224e-03 -5.51720131e+01] [-1.66695542e-02 3.25808432e-03 9.99855745e-01 1.27918741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579072329 meters 0.19672184619468208 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.17, Z:127.92 [[ 9.99797112e-01 -9.59586895e-03 1.77102574e-02 -9.11903142e+01] [ 9.64478685e-03 9.99949900e-01 -2.67877792e-03 -5.51737192e+01] [-1.76836649e-02 2.84904609e-03 9.99839573e-01 1.27918981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639072329 meters 0.2533290283823899 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.18, Z:127.92 [[ 9.99731150e-01 -1.36381217e-02 1.87517645e-02 -9.11925456e+01] [ 1.37537082e-02 9.99887117e-01 -6.04894436e-03 -5.51767164e+01] [-1.86671515e-02 6.30522440e-03 9.99805872e-01 1.27918661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699072329 meters 0.2387770984092915 Centerline is valid? [False, False] Translation: X:-91.21, Y:-55.18, Z:127.91 [[ 9.99460686e-01 -2.25700495e-02 2.38522633e-02 -9.12056764e+01] [ 2.27544100e-02 9.99713055e-01 -7.48629806e-03 -5.51806584e+01] [-2.36764528e-02 8.02500477e-03 9.99687464e-01 1.27913712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759072329 meters 0.24267283961374742 Centerline is valid? [False, False] Translation: X:-91.21, Y:-55.18, Z:127.91 [[ 9.99421198e-01 -3.05919454e-02 1.48795861e-02 -9.12135478e+01] [ 3.07685090e-02 9.99457052e-01 -1.17855760e-02 -5.51777327e+01] [-1.45109635e-02 1.22365772e-02 9.99819833e-01 1.27908709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819072329 meters 0.22531141545174835 Centerline is valid? [False, False] Translation: X:-91.22, Y:-55.18, Z:127.91 [[ 9.99508543e-01 -2.69748147e-02 1.59696927e-02 -9.12165040e+01] [ 2.71025028e-02 9.99601963e-01 -7.83392177e-03 -5.51772973e+01] [-1.57520176e-02 8.26289038e-03 9.99841787e-01 1.27908701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879072329 meters 0.24956505537833285 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.17, Z:127.90 [[ 9.99591211e-01 -2.09174704e-02 1.94902762e-02 -9.12259230e+01] [ 2.11933700e-02 9.99676549e-01 -1.40583843e-02 -5.51699619e+01] [-1.91899062e-02 1.44657020e-02 9.99711204e-01 1.27899465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939072329 meters 0.23663029483776654 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.17, Z:127.90 [[ 9.99583701e-01 -2.09701294e-02 1.98161381e-02 -9.12261780e+01] [ 2.12503588e-02 9.99675621e-01 -1.40383127e-02 -5.51697112e+01] [-1.95153250e-02 1.44535686e-02 9.99705080e-01 1.27898630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99907232899994 meters 0.23009178401121258 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.17, Z:127.90 [[ 9.99634725e-01 -1.73890936e-02 2.06890256e-02 -9.12282642e+01] [ 1.76104721e-02 9.99789086e-01 -1.05666390e-02 -5.51677657e+01] [-2.05009177e-02 1.09271228e-02 9.99730119e-01 1.27898591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05907232899995 meters 0.24065987783491744 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.16, Z:127.90 [[ 9.99701913e-01 -1.35932272e-02 2.02807758e-02 -9.12279209e+01] [ 1.37444996e-02 9.99878612e-01 -7.33824930e-03 -5.51646249e+01] [-2.01785635e-02 7.61481097e-03 9.99767393e-01 1.27899517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11907232899995 meters 0.2546542464446006 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.15, Z:127.90 [[ 9.99913223e-01 -8.61579153e-03 9.96564203e-03 -9.12325320e+01] [ 8.73407432e-03 9.99891201e-01 -1.18870684e-02 -5.51542635e+01] [-9.86214127e-03 1.19730775e-02 9.99879685e-01 1.27900135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17907232899995 meters 0.23189874483488015 Centerline is valid? [False, False] Translation: X:-91.23, Y:-55.15, Z:127.90 [[ 9.99943093e-01 -4.62074859e-03 9.61553311e-03 -9.12319782e+01] [ 4.70080386e-03 9.99954341e-01 -8.31974025e-03 -5.51520394e+01] [-9.57665065e-03 8.36446754e-03 9.99919158e-01 1.27900595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23907232899995 meters 0.23545724824407363 Centerline is valid? [False, False] Translation: X:-91.22, Y:-55.15, Z:127.90 [[ 9.99977063e-01 5.26873051e-03 4.25605688e-03 -9.12179876e+01] [-5.24852362e-03 9.99974968e-01 -4.74509535e-03 -5.51536939e+01] [-4.28095097e-03 4.72264849e-03 9.99979685e-01 1.27904622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29907232899996 meters 0.23662251663724396 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.15, Z:127.91 [[ 9.99885206e-01 1.51232860e-02 -9.28077360e-04 -9.12034599e+01] [-1.51251627e-02 9.99883507e-01 -2.04963420e-03 -5.51526386e+01] [ 8.96972041e-04 2.06343624e-03 9.99997469e-01 1.27908573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35907232899996 meters 0.21811256871528797 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.15, Z:127.92 [[ 9.99864175e-01 1.57681183e-02 -4.79561572e-03 -9.11918191e+01] [-1.57193400e-02 9.99825990e-01 1.00444890e-02 -5.51537464e+01] [ 4.95316393e-03 -9.96774081e-03 9.99938053e-01 1.27915816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41907232899996 meters 0.22637031271545702 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.15, Z:127.92 [[ 9.99911880e-01 1.17634304e-02 -6.15260038e-03 -9.11888882e+01] [-1.17290852e-02 9.99915593e-01 5.58883323e-03 -5.51523651e+01] [ 6.21782491e-03 -5.51617637e-03 9.99965455e-01 1.27916326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47907232899996 meters 0.22356761324577937 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.15, Z:127.92 [[ 9.99946969e-01 7.64663571e-03 -6.89840160e-03 -9.11868152e+01] [-7.63765438e-03 9.99969952e-01 1.32735055e-03 -5.51518776e+01] [ 6.90834408e-03 -1.27459255e-03 9.99975325e-01 1.27915975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53907232899996 meters 0.2612303605927879 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.15, Z:127.92 [[ 9.99964311e-01 3.78630694e-03 -7.55248142e-03 -9.11849471e+01] [-3.80436163e-03 9.99989937e-01 -2.37763178e-03 -5.51530643e+01] [ 7.54340297e-03 2.40627929e-03 9.99968653e-01 1.27915571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59907232899997 meters 0.2574528337897296 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.15, Z:127.92 [[ 9.99958678e-01 3.91871311e-03 -8.20278942e-03 -9.11828894e+01] [-3.93847599e-03 9.99989377e-01 -2.39452269e-03 -5.51523727e+01] [ 8.19331883e-03 2.42673024e-03 9.99963490e-01 1.27915070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65907232899997 meters 0.23753726220129176 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.15, Z:127.92 [[ 9.99951876e-01 4.04178851e-03 -8.93924593e-03 -9.11811689e+01] [-4.06466806e-03 9.99988506e-01 -2.54276396e-03 -5.51516157e+01] [ 8.92886587e-03 2.57897666e-03 9.99956811e-01 1.27915390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71907232899997 meters 0.2444138358261638 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.15, Z:127.91 [[ 9.99916127e-01 8.44390687e-03 -9.82031345e-03 -9.11784960e+01] [-8.43127428e-03 9.99963576e-01 1.32706358e-03 -5.51494428e+01] [ 9.83116136e-03 -1.24415452e-03 9.99950899e-01 1.27914957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779072329 meters 0.2517012732011341 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.15, Z:127.91 [[ 9.99935061e-01 4.69265399e-03 -1.03852302e-02 -9.11766291e+01] [-4.71567086e-03 9.99986477e-01 -2.19293096e-03 -5.51509808e+01] [ 1.03747991e-02 2.24176188e-03 9.99943667e-01 1.27914293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839072329 meters 0.25350963026942575 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.16, Z:127.91 [[ 9.99980025e-01 5.70670080e-03 2.71730117e-03 -9.11745579e+01] [-5.70876813e-03 9.99983421e-01 7.53658075e-04 -5.51617478e+01] [-2.71295522e-03 -7.69155462e-04 9.99996024e-01 1.27911257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899072329 meters 0.23326092621519465 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.16, Z:127.91 [[ 9.99982136e-01 5.60574959e-03 2.07421264e-03 -9.11731133e+01] [-5.60650910e-03 9.99984218e-01 3.60533341e-04 -5.51604261e+01] [-2.07215884e-03 -3.72155993e-04 9.99997784e-01 1.27911581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959072329 meters 0.22552782419954212 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.16, Z:127.91 [[ 9.99997300e-01 1.79097968e-03 1.48093786e-03 -9.11711376e+01] [-1.78598794e-03 9.99992743e-01 -3.36514193e-03 -5.51612663e+01] [-1.48695401e-03 3.36248791e-03 9.99993241e-01 1.27910915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019072329 meters 0.25953094100260915 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.16, Z:127.91 [[ 9.99996550e-01 -2.28359059e-03 1.29830385e-03 -9.11701451e+01] [ 2.29300221e-03 9.99970766e-01 -7.29449070e-03 -5.51619490e+01] [-1.28160827e-03 7.29744254e-03 9.99972552e-01 1.27910191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079072329 meters 0.20974599363893934 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.16, Z:127.91 [[ 9.99993024e-01 -2.52091471e-03 2.75629888e-03 -9.11729155e+01] [ 2.53852036e-03 9.99976280e-01 -6.40269372e-03 -5.51647605e+01] [-2.74009286e-03 6.40964598e-03 9.99975704e-01 1.27908575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139072329 meters 0.2378786417869157 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.17, Z:127.91 [[ 9.99991740e-01 -2.44186302e-03 3.24922618e-03 -9.11736179e+01] [ 2.46156835e-03 9.99978520e-01 -6.07450718e-03 -5.51654790e+01] [-3.23432328e-03 6.08245519e-03 9.99976271e-01 1.27907788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199072329 meters 0.2651260435828185 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.91 [[ 9.99986535e-01 -2.46836077e-03 4.56471897e-03 -9.11761937e+01] [ 2.49174500e-03 9.99983767e-01 -5.12424840e-03 -5.51683012e+01] [-4.55199638e-03 5.13555352e-03 9.99976452e-01 1.27906523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259072329 meters 0.24417385542728062 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.17, Z:127.91 [[ 9.99959797e-01 -6.62710417e-03 6.04029603e-03 -9.11793543e+01] [ 6.67385882e-03 9.99947670e-01 -7.75344971e-03 -5.51737672e+01] [-5.98859702e-03 7.79345009e-03 9.99951698e-01 1.27905378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319072329 meters 0.3055434430078355 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.18, Z:127.90 [[ 9.99844953e-01 -1.38299591e-02 1.08996193e-02 -9.11897408e+01] [ 1.39281078e-02 9.99862666e-01 -8.98091231e-03 -5.51782467e+01] [-1.07739168e-02 9.13133092e-03 9.99900266e-01 1.27899623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379072329 meters 0.23018333793914342 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.18, Z:127.90 [[ 9.99817001e-01 -1.42548510e-02 1.27578532e-02 -9.11933336e+01] [ 1.43559630e-02 9.99865981e-01 -7.86929090e-03 -5.51817546e+01] [-1.26439678e-02 8.05100210e-03 9.99887649e-01 1.27897636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439072329 meters 0.2550198266162106 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.18, Z:127.90 [[ 9.99758135e-01 -1.64897148e-02 1.45519748e-02 -9.11978776e+01] [ 1.66283982e-02 9.99816974e-01 -9.46123714e-03 -5.51804730e+01] [-1.43932983e-02 9.70092483e-03 9.99849351e-01 1.27897975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49907232899994 meters 0.2650130020373812 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.18, Z:127.90 [[ 9.99823586e-01 -1.24722420e-02 1.40442036e-02 -9.11972816e+01] [ 1.25549881e-02 9.99904250e-01 -5.81916346e-03 -5.51786049e+01] [-1.39702808e-02 5.99446169e-03 9.99884442e-01 1.27898866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55907232899995 meters 0.2529567820600784 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.18, Z:127.90 [[ 9.99817348e-01 -1.22104068e-02 1.47029671e-02 -9.11985344e+01] [ 1.22864017e-02 9.99911567e-01 -5.08949167e-03 -5.51807779e+01] [-1.46395221e-02 5.26920862e-03 9.99878953e-01 1.27898260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61907232899995 meters 0.2455657152828143 Centerline is valid? [False, False] Translation: X:-91.20, Y:-55.18, Z:127.90 [[ 9.99833740e-01 -1.16430403e-02 1.40332650e-02 -9.11962839e+01] [ 1.17056969e-02 9.99921845e-01 -4.39102505e-03 -5.51820163e+01] [-1.39810433e-02 4.55456414e-03 9.99891887e-01 1.27897328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67907232899995 meters 0.2487041235093414 Centerline is valid? [False, False] Translation: X:-91.19, Y:-55.18, Z:127.90 [[ 9.99894621e-01 -7.16967593e-03 1.26231164e-02 -9.11931095e+01] [ 7.18133088e-03 9.99973828e-01 -8.78216994e-04 -5.51792273e+01] [-1.26164895e-02 9.68775224e-04 9.99919940e-01 1.27897873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73907232899995 meters 0.2387378126855996 Centerline is valid? [False, False] Translation: X:-91.18, Y:-55.18, Z:127.90 [[ 9.99966625e-01 -2.68542339e-04 8.16555526e-03 -9.11834403e+01] [ 2.64077010e-04 9.99999815e-01 5.47922648e-04 -5.51759187e+01] [-8.16570089e-03 -5.45748026e-04 9.99966511e-01 1.27903178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79907232899996 meters 0.2499490239921903 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.18, Z:127.91 [[ 9.99980936e-01 5.18261001e-03 3.35682822e-03 -9.11698429e+01] [-5.18061365e-03 9.99986399e-01 -6.03137384e-04 -5.51763294e+01] [-3.35990839e-03 5.85735455e-04 9.99994184e-01 1.27906776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85907232899996 meters 0.25491634498777327 Centerline is valid? [False, False] Translation: X:-91.17, Y:-55.17, Z:127.91 [[ 9.99953278e-01 9.52695181e-03 1.63705565e-03 -9.11660947e+01] [-9.52972832e-03 9.99953152e-01 1.69669379e-03 -5.51704221e+01] [-1.62081463e-03 -1.71221521e-03 9.99997221e-01 1.27908482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91907232899996 meters 0.2521653870599514 Centerline is valid? [False, False] Translation: X:-91.15, Y:-55.17, Z:127.91 [[ 9.99826757e-01 1.83538111e-02 -3.09742581e-03 -9.11536153e+01] [-1.83410467e-02 9.99823381e-01 4.10022814e-03 -5.51700415e+01] [ 3.17213356e-03 -4.04270777e-03 9.99986797e-01 1.27913168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97907232899996 meters 0.2439567670989279 Centerline is valid? [False, False] Translation: X:-91.14, Y:-55.16, Z:127.92 [[ 9.99580161e-01 2.77333273e-02 -8.38830009e-03 -9.11399775e+01] [-2.76875905e-02 9.99601382e-01 5.52032195e-03 -5.51649953e+01] [ 8.53805326e-03 -5.28575249e-03 9.99949580e-01 1.27919195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03907232899996 meters 0.24357590266638257 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.17, Z:127.93 [[ 9.99484365e-01 2.94319212e-02 -1.28361208e-02 -9.11283195e+01] [-2.91936685e-02 9.99404969e-01 1.83694918e-02 -5.51688279e+01] [ 1.33691324e-02 -1.79852864e-02 9.99748866e-01 1.27925559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09907232899997 meters 0.23639618752736039 Centerline is valid? [False, False] Translation: X:-91.11, Y:-55.17, Z:127.93 [[ 9.99205902e-01 3.57342583e-02 -1.76246317e-02 -9.11140069e+01] [-3.54191280e-02 9.99212595e-01 1.78794776e-02 -5.51679089e+01] [ 1.82496639e-02 -1.72410305e-02 9.99684799e-01 1.27928960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15907232899997 meters 0.2656180957312519 Centerline is valid? [False, False] Translation: X:-91.11, Y:-55.17, Z:127.93 [[ 9.99294421e-01 3.22823463e-02 -1.91966324e-02 -9.11105336e+01] [-3.20252586e-02 9.99395176e-01 1.35523230e-02 -5.51656896e+01] [ 1.96225226e-02 -1.29279836e-02 9.99723874e-01 1.27929544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21907232899997 meters 0.2345211742130389 Centerline is valid? [False, False] Translation: X:-91.11, Y:-55.17, Z:127.93 [[ 9.99384931e-01 2.85165406e-02 -2.04099734e-02 -9.11078960e+01] [-2.83273304e-02 9.99553553e-01 9.50037599e-03 -5.51652583e+01] [ 2.06717793e-02 -8.91637254e-03 9.99746556e-01 1.27929706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279072329 meters 0.25082521810515984 Centerline is valid? [False, False] Translation: X:-91.10, Y:-55.17, Z:127.93 [[ 9.99592559e-01 2.53007004e-02 -1.32132366e-02 -9.11033768e+01] [-2.50662913e-02 9.99530593e-01 1.76145987e-02 -5.51693748e+01] [ 1.36526959e-02 -1.72762150e-02 9.99757539e-01 1.27932744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339072329 meters 0.23161704047709952 Centerline is valid? [False, False] Translation: X:-91.10, Y:-55.17, Z:127.93 [[ 9.99763207e-01 1.65980116e-02 -1.40725569e-02 -9.11017965e+01] [-1.64742543e-02 9.99824990e-01 8.86501388e-03 -5.51685388e+01] [ 1.42172356e-02 -8.63107983e-03 9.99861678e-01 1.27932967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399072329 meters 0.2336041268109414 Centerline is valid? [False, False] Translation: X:-91.10, Y:-55.18, Z:127.93 [[ 9.99937418e-01 1.11851173e-02 2.31366913e-04 -9.11036519e+01] [-1.11862841e-02 9.99920162e-01 5.87686800e-03 -5.51773797e+01] [-1.65614983e-04 -5.87908835e-03 9.99982704e-01 1.27929263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459072329 meters 0.2833414342261063 Centerline is valid? [False, False] Translation: X:-91.11, Y:-55.18, Z:127.93 [[ 9.99994983e-01 2.94913603e-03 1.15597120e-03 -9.11052411e+01] [-2.94773233e-03 9.99994918e-01 -1.21413397e-03 -5.51815202e+01] [-1.15954597e-03 1.21072039e-03 9.99998595e-01 1.27927745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519072329 meters 0.22591933633939887 Centerline is valid? [False, False] Translation: X:-91.11, Y:-55.19, Z:127.93 [[ 9.99995685e-01 -1.28702619e-03 2.64059101e-03 -9.11084265e+01] [ 1.29675922e-03 9.99992360e-01 -3.68753337e-03 -5.51870886e+01] [-2.63582488e-03 3.69094167e-03 9.99989715e-01 1.27926392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579072329 meters 0.2538942711845526 Centerline is valid? [False, False] Translation: X:-91.11, Y:-55.19, Z:127.92 [[ 9.99975936e-01 -5.46281054e-03 4.27603093e-03 -9.11114637e+01] [ 5.48845969e-03 9.99966879e-01 -6.00978171e-03 -5.51926890e+01] [-4.24305901e-03 6.03310592e-03 9.99972799e-01 1.27924198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639072329 meters 0.2543440647412473 Centerline is valid? [False, False] Translation: X:-91.11, Y:-55.19, Z:127.92 [[ 9.99937802e-01 -9.76424899e-03 5.38995428e-03 -9.11140375e+01] [ 9.81646092e-03 9.99904312e-01 -9.74696254e-03 -5.51948492e+01] [-5.29426676e-03 9.79926658e-03 9.99937971e-01 1.27923931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699072329 meters 0.23196864847076046 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99885675e-01 -1.36496330e-02 6.50571297e-03 -9.11160810e+01] [ 1.37291998e-02 9.99829519e-01 -1.23467257e-02 -5.51997589e+01] [-6.33607560e-03 1.24346324e-02 9.99902612e-01 1.27922645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759072329 meters 0.3141105770499167 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99871032e-01 -1.40415638e-02 7.79442131e-03 -9.11193630e+01] [ 1.41337321e-02 9.99829317e-01 -1.18985346e-02 -5.52021638e+01] [-7.62601690e-03 1.20071643e-02 9.99898831e-01 1.27922634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819072329 meters 0.2884807452677534 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99857269e-01 -1.42858302e-02 9.01976073e-03 -9.11215660e+01] [ 1.43877655e-02 9.99832191e-01 -1.13394366e-02 -5.52038259e+01] [-8.85625386e-03 1.14675923e-02 9.99895025e-01 1.27921098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879072329 meters 0.21996343708501184 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99892672e-01 -1.04937100e-02 1.02238650e-02 -9.11244609e+01] [ 1.05671074e-02 9.99918592e-01 -7.15165123e-03 -5.52041682e+01] [-1.01479853e-02 7.25892034e-03 9.99922160e-01 1.27920842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939072329 meters 0.2681373413075709 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.21, Z:127.92 [[ 9.99893442e-01 -1.02979503e-02 1.03468251e-02 -9.11244480e+01] [ 1.03681517e-02 9.99923438e-01 -6.75424962e-03 -5.52051728e+01] [-1.02764780e-02 6.86080736e-03 9.99923659e-01 1.27920374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99907232899994 meters 0.25944281864959545 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99893499e-01 -1.05103273e-02 1.01253947e-02 -9.11236900e+01] [ 1.05833542e-02 9.99918175e-01 -7.18586123e-03 -5.52035500e+01] [-1.00490405e-02 7.29225657e-03 9.99922917e-01 1.27920179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05907232899995 meters 0.26252765360514924 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99923891e-01 -6.28178979e-03 1.06183973e-02 -9.11249567e+01] [ 6.31173552e-03 9.99976191e-01 -2.78901958e-03 -5.52039894e+01] [-1.06006245e-02 2.85582782e-03 9.99939734e-01 1.27920111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11907232899995 meters 0.23129605324524122 Centerline is valid? [False, False] Translation: X:-91.13, Y:-55.20, Z:127.92 [[ 9.99923912e-01 -6.57191567e-03 1.04393486e-02 -9.11250234e+01] [ 6.60801340e-03 9.99972294e-01 -3.42713140e-03 -5.52023455e+01] [-1.04165365e-02 3.49585399e-03 9.99939636e-01 1.27921008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17907232899995 meters 0.26168237887768125 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99926177e-01 -6.59188893e-03 1.02072354e-02 -9.11244924e+01] [ 6.62834940e-03 9.99971758e-01 -3.54232177e-03 -5.52019308e+01] [-1.01835965e-02 3.60971738e-03 9.99941630e-01 1.27921121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23907232899995 meters 0.2323652130962779 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99932661e-01 -6.41882277e-03 9.66807404e-03 -9.11226874e+01] [ 6.45251379e-03 9.99973205e-01 -3.45761917e-03 -5.52015612e+01] [-9.64562114e-03 3.51976972e-03 9.99947285e-01 1.27920467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29907232899996 meters 0.2991706562024489 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99934259e-01 -6.42978805e-03 9.49399691e-03 -9.11222778e+01] [ 6.46388289e-03 9.99972755e-01 -3.56489281e-03 -5.52011719e+01] [-9.47081674e-03 3.62602654e-03 9.99948576e-01 1.27920556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35907232899996 meters 0.30467277456223374 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99938355e-01 -6.17820710e-03 9.22585022e-03 -9.11213549e+01] [ 6.20828475e-03 9.99975495e-01 -3.23507674e-03 -5.52018828e+01] [-9.20563717e-03 3.29215402e-03 9.99952208e-01 1.27920166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41907232899996 meters 0.2892112040172114 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99938605e-01 -6.16464743e-03 9.20774676e-03 -9.11210848e+01] [ 6.19447864e-03 9.99975646e-01 -3.21479630e-03 -5.52017663e+01] [-9.18770443e-03 3.27163612e-03 9.99952440e-01 1.27919847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47907232899996 meters 0.26974927772939 Centerline is valid? [False, False] Translation: X:-91.12, Y:-55.20, Z:127.92 [[ 9.99939384e-01 -6.17657069e-03 9.11473933e-03 -9.11214862e+01] [ 6.20685940e-03 9.99975297e-01 -3.29850923e-03 -5.52018957e+01] [-9.09414069e-03 3.35488320e-03 9.99953020e-01 1.27920842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53907232899996 meters 0.26829439405486494 Centerline is valid? [False, False] Translation: X:-91.11, Y:-55.21, Z:127.92 [[ 9.99991257e-01 1.68720846e-03 3.82606174e-03 -9.11054386e+01] [-1.68236539e-03 9.99997780e-01 -1.26867595e-03 -5.52064862e+01] [-3.82819376e-03 1.26222802e-03 9.99991876e-01 1.27922298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59907232899997 meters 0.26143587099540494 Centerline is valid? [False, False] Translation: X:-91.10, Y:-55.21, Z:127.92 [[ 9.99993438e-01 2.20599607e-03 2.87348352e-03 -9.11019914e+01] [-2.20336001e-03 9.99997149e-01 -9.20219733e-04 -5.52057603e+01] [-2.87550533e-03 9.13882376e-04 9.99995448e-01 1.27920797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65907232899997 meters 0.2804481344847132 Centerline is valid? [False, False] Translation: X:-91.10, Y:-55.21, Z:127.92 [[ 9.99994789e-01 2.68033095e-03 1.79954336e-03 -9.10989800e+01] [-2.67909318e-03 9.99996173e-01 -6.89881095e-04 -5.52052942e+01] [-1.80138558e-03 6.85056355e-04 9.99998143e-01 1.27920295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71907232899997 meters 0.27080139757289706 Centerline is valid? [False, False] Translation: X:-91.09, Y:-55.20, Z:127.93 [[ 9.99958540e-01 8.50956010e-03 -3.24117019e-03 -9.10855402e+01] [-8.51626878e-03 9.99961611e-01 -2.06168801e-03 -5.52049559e+01] [ 3.22350170e-03 2.08920521e-03 9.99992622e-01 1.27925469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779072329 meters 0.26762473943451126 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.21, Z:127.93 [[ 9.99935020e-01 8.23069911e-03 -7.88736099e-03 -9.10724067e+01] [-8.16120150e-03 9.99927946e-01 8.80330708e-03 -5.52051679e+01] [ 7.95925004e-03 -8.73836470e-03 9.99930143e-01 1.27931003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839072329 meters 0.2524912657119324 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.20, Z:127.93 [[ 9.99947461e-01 4.52662172e-03 -9.19704289e-03 -9.10697922e+01] [-4.48565295e-03 9.99979947e-01 4.47031493e-03 -5.52039356e+01] [ 9.21709389e-03 -4.42882532e-03 9.99947714e-01 1.27932005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899072329 meters 0.24161742472181946 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.20, Z:127.93 [[ 9.99937251e-01 4.88435842e-03 -1.00815013e-02 -9.10668489e+01] [-4.84032147e-03 9.99978659e-01 4.38788191e-03 -5.52021971e+01] [ 1.01027181e-02 -4.33880887e-03 9.99939553e-01 1.27931220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959072329 meters 0.31323013023036234 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.20, Z:127.93 [[ 9.99938543e-01 1.60798968e-03 -1.09692262e-02 -9.10633990e+01] [-1.59288423e-03 9.99997771e-01 1.38567303e-03 -5.52038120e+01] [ 1.09714299e-02 -1.36811516e-03 9.99938876e-01 1.27929551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019072329 meters 0.26871152426209305 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.21, Z:127.92 [[ 9.99972915e-01 -5.98339504e-03 4.28593471e-03 -9.10662731e+01] [ 5.99260185e-03 9.99979757e-01 -2.13853394e-03 -5.52114358e+01] [-4.27305226e-03 2.16415991e-03 9.99988529e-01 1.27923679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079072329 meters 0.4122747171386989 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.21, Z:127.92 [[ 9.99965901e-01 -6.15693840e-03 5.50347949e-03 -9.10691824e+01] [ 6.16420147e-03 9.99980151e-01 -1.30373562e-03 -5.52146954e+01] [-5.49534323e-03 1.33761572e-03 9.99984006e-01 1.27923149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139072329 meters 0.27907461419521273 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99969450e-01 -5.85259095e-03 5.18129950e-03 -9.10683576e+01] [ 5.85724493e-03 9.99982456e-01 -8.83508463e-04 -5.52156991e+01] [-5.17603778e-03 9.13829612e-04 9.99986187e-01 1.27923196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199072329 meters 0.3932496621169876 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99969690e-01 -5.79700571e-03 5.19743417e-03 -9.10682214e+01] [ 5.80117864e-03 9.99982862e-01 -7.88167253e-04 -5.52158389e+01] [-5.19277609e-03 8.18294608e-04 9.99986183e-01 1.27922958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259072329 meters 0.38251538842268584 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99968106e-01 -5.43321685e-03 5.85388193e-03 -9.10696006e+01] [ 5.43290332e-03 9.99985239e-01 6.94599969e-05 -5.52186232e+01] [-5.85417292e-03 -3.76542069e-05 9.99982863e-01 1.27922457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319072329 meters 0.3688202301941809 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99969495e-01 -5.55554545e-03 5.49052232e-03 -9.10689452e+01] [ 5.55725544e-03 9.99984514e-01 -2.96236488e-04 -5.52175611e+01] [-5.48879154e-03 3.26739686e-04 9.99984883e-01 1.27922902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379072329 meters 0.35410388384066366 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99971312e-01 -5.66689432e-03 5.02598893e-03 -9.10678643e+01] [ 5.67040858e-03 9.99983688e-01 -6.85242821e-04 -5.52161987e+01] [-5.02202375e-03 7.13722574e-04 9.99987135e-01 1.27923142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439072329 meters 0.3483920428415346 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99969490e-01 -5.38777911e-03 5.65601221e-03 -9.10686474e+01] [ 5.38722492e-03 9.99985482e-01 1.13212144e-04 -5.52181663e+01] [-5.65654006e-03 -8.27384804e-05 9.99983998e-01 1.27921876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49907232899994 meters 0.33305110582578007 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99968173e-01 -5.06535831e-03 6.16396623e-03 -9.10691246e+01] [ 5.05985440e-03 9.99986786e-01 9.08183100e-04 -5.52201146e+01] [-6.16848506e-03 -8.76965424e-04 9.99980590e-01 1.27920625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55907232899995 meters 0.3194433786836488 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99962293e-01 -5.01921694e-03 7.08664381e-03 -9.10710634e+01] [ 5.00949041e-03 9.99986487e-01 1.38959995e-03 -5.52216257e+01] [-7.09352275e-03 -1.35404708e-03 9.99973924e-01 1.27920103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61907232899995 meters 0.2740676728425022 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99935325e-01 -8.75403760e-03 7.26040222e-03 -9.10711109e+01] [ 8.76789896e-03 9.99959795e-01 -1.87954367e-03 -5.52246450e+01] [-7.24365672e-03 1.94308058e-03 9.99971877e-01 1.27919600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67907232899995 meters 0.24364675097851224 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.92 [[ 9.99924496e-01 -9.08719425e-03 8.27189931e-03 -9.10734701e+01] [ 9.10374104e-03 9.99956630e-01 -1.96491001e-03 -5.52249715e+01] [-8.25368503e-03 2.04006689e-03 9.99963857e-01 1.27919404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73907232899995 meters 0.279799651470324 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.23, Z:127.92 [[ 9.99921979e-01 -9.08046898e-03 8.57795078e-03 -9.10737319e+01] [ 9.09663347e-03 9.99956918e-01 -1.84728957e-03 -5.52250562e+01] [-8.56080697e-03 1.92517592e-03 9.99961502e-01 1.27918645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79907232899996 meters 0.26153213899910277 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.92 [[ 9.99913951e-01 -9.07911605e-03 9.46893051e-03 -9.10754858e+01] [ 9.09294793e-03 9.99957652e-01 -1.41873732e-03 -5.52263117e+01] [-9.45564864e-03 1.50471573e-03 9.99954162e-01 1.27917888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85907232899996 meters 0.2508221164562221 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.92 [[ 9.99866936e-01 -1.31408561e-02 9.66579738e-03 -9.10755721e+01] [ 1.31924082e-02 9.99898987e-01 -5.28917250e-03 -5.52275538e+01] [-9.59531676e-03 5.41598384e-03 9.99939297e-01 1.27917459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91907232899996 meters 0.27209108465871934 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.23, Z:127.92 [[ 9.99916598e-01 -8.95858959e-03 9.30271940e-03 -9.10746090e+01] [ 8.97118917e-03 9.99958895e-01 -1.31355132e-03 -5.52262566e+01] [-9.29056945e-03 1.39689822e-03 9.99955866e-01 1.27917238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97907232899996 meters 0.227196476882581 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.23, Z:127.92 [[ 9.99920741e-01 -9.00700922e-03 8.79693313e-03 -9.10735365e+01] [ 9.02197415e-03 9.99957918e-01 -1.66295283e-03 -5.52251792e+01] [-8.78158471e-03 1.74218673e-03 9.99959923e-01 1.27917642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03907232899996 meters 0.22470492693807526 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.92 [[ 9.99912646e-01 -8.83666984e-03 9.82919946e-03 -9.10754527e+01] [ 8.84538610e-03 9.99960523e-01 -8.43651866e-04 -5.52275256e+01] [-9.82135636e-03 9.30521234e-04 9.99951336e-01 1.27916541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09907232899997 meters 0.21826383720062986 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.92 [[ 9.99907351e-01 -8.70164851e-03 1.04676026e-02 -9.10768116e+01] [ 8.70557632e-03 9.99962051e-01 -3.29727649e-04 -5.52290862e+01] [-1.04643362e-02 4.20823613e-04 9.99945159e-01 1.27916150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15907232899997 meters 0.2996337287759366 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.92 [[ 9.99887792e-01 -9.11074190e-03 1.18911186e-02 -9.10798352e+01] [ 9.11387684e-03 9.99958446e-01 -2.09473800e-04 -5.52301442e+01] [-1.18887160e-02 3.17824486e-04 9.99929276e-01 1.27915408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21907232899997 meters 0.2426711059729436 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99878170e-01 -9.05767971e-03 1.27123359e-02 -9.10814644e+01] [ 9.05462107e-03 9.99958962e-01 2.98139618e-04 -5.52317048e+01] [-1.27145147e-02 -1.82997911e-04 9.99919151e-01 1.27914681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279072329 meters 0.3059507546256109 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.92 [[ 9.99880220e-01 -9.32731222e-03 1.23509878e-02 -9.10808427e+01] [ 9.33228352e-03 9.99956394e-01 -3.44928234e-04 -5.52298290e+01] [-1.23472319e-02 4.60149839e-04 9.99923664e-01 1.27915177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339072329 meters 0.26064543095551707 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.92 [[ 9.99880801e-01 -9.36231025e-03 1.22772452e-02 -9.10806589e+01] [ 9.36836351e-03 9.99956021e-01 -4.35627141e-04 -5.52295217e+01] [-1.22726268e-02 5.50592911e-04 9.99924537e-01 1.27915197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399072329 meters 0.25380640911776386 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99871888e-01 -9.13503323e-03 1.31437719e-02 -9.10821170e+01] [ 9.13126517e-03 9.99958249e-01 3.46665134e-04 -5.52316273e+01] [-1.31463900e-02 -2.26601455e-04 9.99913557e-01 1.27914057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459072329 meters 0.2568183070209576 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99872351e-01 -8.81152985e-03 1.33281297e-02 -9.10820013e+01] [ 8.79903797e-03 9.99960792e-01 9.95607658e-04 -5.52332408e+01] [-1.33363799e-02 -8.78205851e-04 9.99910681e-01 1.27913182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519072329 meters 0.21515126879733554 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99875822e-01 -8.81265035e-03 1.30644064e-02 -9.10814166e+01] [ 8.80173688e-03 9.99960866e-01 8.92622556e-04 -5.52329289e+01] [-1.30717615e-02 -7.77522244e-04 9.99914259e-01 1.27913307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579072329 meters 0.26536317018753314 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99870246e-01 -8.88139867e-03 1.34392257e-02 -9.10823566e+01] [ 8.87025934e-03 9.99960264e-01 8.88248474e-04 -5.52330298e+01] [-1.34465806e-02 -7.68923803e-04 9.99909295e-01 1.27913313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639072329 meters 0.2490835037679508 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99866434e-01 -8.78232799e-03 1.37834657e-02 -9.10830984e+01] [ 8.76671687e-03 9.99960860e-01 1.19261124e-03 -5.52339590e+01] [-1.37934001e-02 -1.07161621e-03 9.99904292e-01 1.27913110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699072329 meters 0.25549786612477104 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99821714e-01 -1.30464200e-02 1.36503209e-02 -9.10828886e+01] [ 1.30912509e-02 9.99909185e-01 -3.20005076e-03 -5.52338326e+01] [-1.36073320e-02 3.37818001e-03 9.99901709e-01 1.27913567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759072329 meters 0.2581341430283973 Centerline is valid? [False, False] Translation: X:-91.09, Y:-55.24, Z:127.91 [[ 9.99796010e-01 -1.34537427e-02 1.50643797e-02 -9.10859431e+01] [ 1.34966761e-02 9.99905129e-01 -2.75196145e-03 -5.52357938e+01] [-1.50259263e-02 2.95471913e-03 9.99882739e-01 1.27912650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819072329 meters 0.2582551634556023 Centerline is valid? [False, False] Translation: X:-91.09, Y:-55.24, Z:127.91 [[ 9.99794772e-01 -1.33018261e-02 1.52799230e-02 -9.10859648e+01] [ 1.33397988e-02 9.99908174e-01 -2.38590336e-03 -5.52365838e+01] [-1.52467830e-02 2.58924480e-03 9.99880409e-01 1.27911849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879072329 meters 0.25579128177049154 Centerline is valid? [False, False] Translation: X:-91.09, Y:-55.24, Z:127.91 [[ 9.99797025e-01 -1.31874024e-02 1.52315885e-02 -9.10860324e+01] [ 1.32225171e-02 9.99910143e-01 -2.20698607e-03 -5.52372219e+01] [-1.52011154e-02 2.40793805e-03 9.99881557e-01 1.27912148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939072329 meters 0.24401898181331813 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.24, Z:127.91 [[ 9.99805411e-01 -1.32584083e-02 1.46066675e-02 -9.10840674e+01] [ 1.32978911e-02 9.99908175e-01 -2.60925982e-03 -5.52354322e+01] [-1.45707316e-02 2.80298996e-03 9.99889912e-01 1.27911581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99907232899994 meters 0.260765687013194 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99809016e-01 -1.33544759e-02 1.42684844e-02 -9.10830566e+01] [ 1.33976502e-02 9.99905941e-01 -2.93455189e-03 -5.52342117e+01] [-1.42279530e-02 3.12515560e-03 9.99893894e-01 1.27911388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05907232899995 meters 0.2578231877441751 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99809154e-01 -1.34809654e-02 1.41393072e-02 -9.10831692e+01] [ 1.35277442e-02 9.99903318e-01 -3.21801379e-03 -5.52335744e+01] [-1.40945583e-02 3.40867257e-03 9.99894857e-01 1.27912102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11907232899995 meters 0.25114881010053725 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99826122e-01 -1.28129865e-02 1.35481903e-02 -9.10806939e+01] [ 1.28458693e-02 9.99914744e-01 -2.34286862e-03 -5.52349605e+01] [-1.35170161e-02 2.51649953e-03 9.99905474e-01 1.27910537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17907232899995 meters 0.2415890060813145 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99879468e-01 -8.91576162e-03 1.27105363e-02 -9.10791107e+01] [ 8.90659411e-03 9.99960033e-01 7.77677103e-04 -5.52314793e+01] [-1.27169619e-02 -6.64375781e-04 9.99918915e-01 1.27911266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23907232899995 meters 0.28292942118715214 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99883626e-01 -9.04309398e-03 1.22864698e-02 -9.10782560e+01] [ 9.03934873e-03 9.99959079e-01 3.60326897e-04 -5.52302498e+01] [-1.22892255e-02 -2.49223280e-04 9.99924454e-01 1.27911635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29907232899996 meters 0.27585023720784085 Centerline is valid? [False, False] Translation: X:-91.08, Y:-55.23, Z:127.91 [[ 9.99888549e-01 -9.29067743e-03 1.16864558e-02 -9.10771491e+01] [ 9.29611586e-03 9.99956706e-01 -4.11125132e-04 -5.52280720e+01] [-1.16821302e-02 5.19717959e-04 9.99931627e-01 1.27912340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35907232899996 meters 0.3163180810677362 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.22, Z:127.91 [[ 9.99932208e-01 -5.23756697e-03 1.03993756e-02 -9.10744626e+01] [ 5.21188761e-03 9.99983306e-01 2.49488567e-03 -5.52236901e+01] [-1.04122691e-02 -2.44051616e-03 9.99942813e-01 1.27913336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41907232899996 meters 0.2562550369282629 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.22, Z:127.92 [[ 9.99984355e-01 -1.87299175e-04 5.59059602e-03 -9.10617997e+01] [ 1.80181261e-04 9.99999173e-01 1.27367063e-03 -5.52240448e+01] [-5.59082995e-03 -1.27264338e-03 9.99983561e-01 1.27917740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47907232899996 meters 0.23787079723496615 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.22, Z:127.92 [[ 9.99986770e-01 -1.92099928e-04 5.14037197e-03 -9.10607812e+01] [ 1.86750076e-04 9.99999441e-01 1.04121157e-03 -5.52232581e+01] [-5.14056911e-03 -1.04023783e-03 9.99986246e-01 1.27917971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53907232899996 meters 0.23479146271755563 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.22, Z:127.92 [[ 9.99981238e-01 -4.09060862e-03 4.55972856e-03 -9.10588006e+01] [ 4.10364711e-03 9.99987508e-01 -2.85380982e-03 -5.52237718e+01] [-4.54799778e-03 2.87246779e-03 9.99985532e-01 1.27917240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59907232899997 meters 0.25971011001076594 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.22, Z:127.92 [[ 9.99977587e-01 -4.09019182e-03 5.30045963e-03 -9.10602743e+01] [ 4.10380185e-03 9.99988304e-01 -2.55937964e-03 -5.52246611e+01] [-5.28992928e-03 2.58107432e-03 9.99982677e-01 1.27916685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65907232899997 meters 0.2454206596963766 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.23, Z:127.92 [[ 9.99975258e-01 -3.89759255e-03 5.85594877e-03 -9.10612809e+01] [ 3.90945137e-03 9.99990328e-01 -2.01500957e-03 -5.52261862e+01] [-5.84803845e-03 2.03785326e-03 9.99980824e-01 1.27916090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71907232899997 meters 0.24372267396943728 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.23, Z:127.91 [[ 9.99972269e-01 -3.43595999e-03 6.60715028e-03 -9.10624829e+01] [ 3.44159630e-03 9.99993723e-01 -8.41881059e-04 -5.52294484e+01] [-6.60421614e-03 8.64596857e-04 9.99977818e-01 1.27914972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779072329 meters 0.24240489017828093 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.23, Z:127.91 [[ 9.99971077e-01 -3.32875888e-03 6.83842843e-03 -9.10629914e+01] [ 3.33260830e-03 9.99994295e-01 -5.51592717e-04 -5.52302876e+01] [-6.83655329e-03 5.74366567e-04 9.99976466e-01 1.27914895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839072329 meters 0.2542612815474824 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.23, Z:127.91 [[ 9.99943654e-01 -7.19705632e-03 7.80326872e-03 -9.10648327e+01] [ 7.22439412e-03 9.99967845e-01 -3.48086841e-03 -5.52343456e+01] [-7.77796580e-03 3.53704617e-03 9.99963496e-01 1.27913980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899072329 meters 0.25863942213308777 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.24, Z:127.91 [[ 9.99934874e-01 -7.26083809e-03 8.80500213e-03 -9.10670707e+01] [ 7.28864208e-03 9.99968540e-01 -3.12978258e-03 -5.52356294e+01] [-8.78200028e-03 3.19375526e-03 9.99956337e-01 1.27913596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959072329 meters 0.2681832824757117 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.24, Z:127.91 [[ 9.99933841e-01 -7.13852527e-03 9.01972757e-03 -9.10674987e+01] [ 7.16434062e-03 9.99970323e-01 -2.83303670e-03 -5.52365045e+01] [-8.99923619e-03 2.89746967e-03 9.99955308e-01 1.27913432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019072329 meters 0.2707531597249678 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.24, Z:127.91 [[ 9.99937955e-01 -6.94884058e-03 8.70629539e-03 -9.10660443e+01] [ 6.97218479e-03 9.99972173e-01 -2.65382573e-03 -5.52362835e+01] [-8.68761210e-03 2.71436298e-03 9.99958578e-01 1.27912426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079072329 meters 0.25406820832701366 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.24, Z:127.91 [[ 9.99936079e-01 -6.80652134e-03 9.02821871e-03 -9.10663915e+01] [ 6.82734315e-03 9.99974100e-01 -2.27749148e-03 -5.52371871e+01] [-9.01248308e-03 2.33898465e-03 9.99956651e-01 1.27911712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139072329 meters 0.2556331177442168 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.24, Z:127.91 [[ 9.99934813e-01 -6.81819085e-03 9.15866604e-03 -9.10666657e+01] [ 6.83911728e-03 9.99974069e-01 -2.25550386e-03 -5.52372153e+01] [-9.14305010e-03 2.31799402e-03 9.99955515e-01 1.27911654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199072329 meters 0.2315317860631304 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.24, Z:127.91 [[ 9.99928275e-01 -6.86547148e-03 9.81381032e-03 -9.10684257e+01] [ 6.88638053e-03 9.99974087e-01 -2.09837129e-03 -5.52380280e+01] [-9.79914971e-03 2.16580242e-03 9.99949642e-01 1.27911915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259072329 meters 0.30272812199703897 Centerline is valid? [False, False] Translation: X:-91.07, Y:-55.24, Z:127.91 [[ 9.99926188e-01 -6.88725845e-03 1.00091695e-02 -9.10689954e+01] [ 6.90826718e-03 9.99974004e-01 -2.06589231e-03 -5.52381939e+01] [-9.99468099e-03 2.13488584e-03 9.99947773e-01 1.27912056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319072329 meters 0.22819448240770684 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.24, Z:127.92 [[ 9.99979816e-01 -2.65687978e-03 5.77132518e-03 -9.10577484e+01] [ 2.67460858e-03 9.99991722e-01 -3.06633351e-03 -5.52393324e+01] [-5.76313052e-03 3.08170766e-03 9.99978644e-01 1.27915349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379072329 meters 0.311100510916384 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99990444e-01 4.27106049e-03 9.32372503e-04 -9.10438891e+01] [-4.26983786e-03 9.99990027e-01 -1.30938781e-03 -5.52427157e+01] [-9.37955679e-04 1.30539422e-03 9.99998708e-01 1.27917294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439072329 meters 0.26238523665447155 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99990328e-01 4.34407629e-03 6.88108266e-04 -9.10432470e+01] [-4.34319399e-03 9.99989751e-01 -1.27855798e-03 -5.52426990e+01] [-6.93655367e-04 1.27555702e-03 9.99998946e-01 1.27917310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49907232899994 meters 0.23603727999654847 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99990019e-01 4.46352516e-03 1.95661260e-04 -9.10421480e+01] [-4.46326445e-03 9.99989177e-01 -1.31320729e-03 -5.52424199e+01] [-2.01520677e-04 1.31232090e-03 9.99999119e-01 1.27917599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55907232899995 meters 0.27563052710763797 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99990102e-01 4.40967334e-03 -5.91468974e-04 -9.10404514e+01] [-4.41084421e-03 9.99988286e-01 -1.99311049e-03 -5.52401694e+01] [ 5.82673079e-04 1.99569964e-03 9.99997839e-01 1.27918323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61907232899995 meters 0.23725300493314233 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99989128e-01 4.53630368e-03 -1.07943428e-03 -9.10388428e+01] [-4.53845323e-03 9.99987707e-01 -1.99731678e-03 -5.52395647e+01] [ 1.07036058e-03 2.00219402e-03 9.99997423e-01 1.27917845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67907232899995 meters 0.2702369470136626 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99988452e-01 4.60285992e-03 -1.38190536e-03 -9.10380350e+01] [-4.60562726e-03 9.99987382e-01 -2.00609404e-03 -5.52393438e+01] [ 1.37265415e-03 2.01243542e-03 9.99997033e-01 1.27917844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73907232899995 meters 0.2552558985524548 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99998139e-01 7.11775554e-04 -1.79320670e-03 -9.10367889e+01] [-7.22068969e-04 9.99983230e-01 -5.74613479e-03 -5.52405954e+01] [ 1.78908667e-03 5.74741891e-03 9.99981883e-01 1.27917518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79907232899996 meters 0.24472552449526305 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99998399e-01 6.72677023e-04 -1.65811038e-03 -9.10370521e+01] [-6.82226401e-04 9.99983147e-01 -5.76537184e-03 -5.52404822e+01] [ 1.65420420e-03 5.76649381e-03 9.99982005e-01 1.27917435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85907232899996 meters 0.24399623925539782 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99999026e-01 7.39704187e-04 -1.18374040e-03 -9.10381429e+01] [-7.46194800e-04 9.99984640e-01 -5.49212255e-03 -5.52413685e+01] [ 1.17965968e-03 5.49300050e-03 9.99984218e-01 1.27917274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91907232899996 meters 0.24797614607059873 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.24, Z:127.92 [[ 9.99999309e-01 9.62805131e-04 -6.74927183e-04 -9.10388749e+01] [-9.66100296e-04 9.99987533e-01 -4.89904812e-03 -5.52429143e+01] [ 6.70201940e-04 4.89969678e-03 9.99987772e-01 1.27916426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97907232899996 meters 0.22354776342069904 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.25, Z:127.92 [[ 9.99995975e-01 -2.83059817e-03 1.96453092e-04 -9.10403005e+01] [ 2.83204168e-03 9.99965693e-01 -7.78416072e-03 -5.52469254e+01] [-1.74412521e-04 7.78468575e-03 9.99969684e-01 1.27915146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03907232899996 meters 0.21935635699978792 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.25, Z:127.91 [[ 9.99975633e-01 -6.86411362e-03 1.27146926e-03 -9.10425566e+01] [ 6.87770470e-03 9.99915707e-01 -1.10125266e-02 -5.52503048e+01] [-1.19577085e-03 1.10210031e-02 9.99938552e-01 1.27914495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09907232899997 meters 0.20978144108838506 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.25, Z:127.91 [[ 9.99966228e-01 -7.73257484e-03 2.78401291e-03 -9.10463795e+01] [ 7.76282827e-03 9.99909088e-01 -1.10251822e-02 -5.52518126e+01] [-2.69850677e-03 1.10464217e-02 9.99935345e-01 1.27914442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15907232899997 meters 0.2375618930475116 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.25, Z:127.91 [[ 9.99955112e-01 -8.30398181e-03 4.56267783e-03 -9.10498157e+01] [ 8.34994888e-03 9.99913628e-01 -1.01496311e-02 -5.52549073e+01] [-4.47800139e-03 1.01872736e-02 9.99938082e-01 1.27912461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21907232899997 meters 0.256086363580251 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.26, Z:127.91 [[ 9.99947547e-01 -8.42035265e-03 5.83100366e-03 -9.10526874e+01] [ 8.47662404e-03 9.99917085e-01 -9.69386155e-03 -5.52566813e+01] [-5.74889445e-03 9.74278030e-03 9.99936012e-01 1.27912052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279072329 meters 0.26699913379500395 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.26, Z:127.91 [[ 9.99943870e-01 -8.60233536e-03 6.18517027e-03 -9.10535457e+01] [ 8.66330868e-03 9.99913468e-01 -9.89971704e-03 -5.52561007e+01] [-6.09947436e-03 9.95274541e-03 9.99931867e-01 1.27912029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339072329 meters 0.24103381600260038 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99933057e-01 -8.75616317e-03 7.56378056e-03 -9.10563291e+01] [ 8.82334365e-03 9.99921514e-01 -8.89463366e-03 -5.52593512e+01] [-7.48530404e-03 8.96077607e-03 9.99931835e-01 1.27910671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399072329 meters 0.25555051587827693 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99918781e-01 -9.14874134e-03 8.87308792e-03 -9.10594542e+01] [ 9.22627377e-03 9.99919270e-01 -8.73671823e-03 -5.52606022e+01] [-8.79244162e-03 8.81787418e-03 9.99922466e-01 1.27910448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459072329 meters 0.27759545644196176 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99912210e-01 -8.89840453e-03 9.81790946e-03 -9.10616050e+01] [ 8.97520986e-03 9.99929247e-01 -7.80685345e-03 -5.52636526e+01] [-9.74774627e-03 7.89428588e-03 9.99921328e-01 1.27910094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519072329 meters 0.23713340962176332 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99910266e-01 -8.85414269e-03 1.00530238e-02 -9.10614225e+01] [ 8.93094042e-03 9.99931083e-01 -7.62024782e-03 -5.52637351e+01] [-9.98486020e-03 7.70934699e-03 9.99920431e-01 1.27908898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579072329 meters 0.25292057273620416 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99946660e-01 -4.17596575e-03 9.44664872e-03 -9.10588296e+01] [ 4.20380782e-03 9.99986873e-01 -2.92936276e-03 -5.52635685e+01] [-9.43429180e-03 2.96891840e-03 9.99951089e-01 1.27907154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639072329 meters 0.2861041881746911 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99946828e-01 -4.45096362e-03 9.30217324e-03 -9.10589723e+01] [ 4.48363634e-03 9.99983843e-01 -3.49447705e-03 -5.52620996e+01] [-9.28646915e-03 3.53599880e-03 9.99950628e-01 1.27907980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699072329 meters 0.2675880281578875 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99946561e-01 -4.71066953e-03 9.20245569e-03 -9.10594711e+01] [ 4.74868014e-03 9.99980266e-01 -4.11301106e-03 -5.52606657e+01] [-9.18289906e-03 4.15649078e-03 9.99949198e-01 1.27909245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759072329 meters 0.24128096840113408 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99949736e-01 -4.65960571e-03 8.87768904e-03 -9.10583258e+01] [ 4.69644819e-03 9.99980428e-01 -4.13369007e-03 -5.52602345e+01] [-8.85825392e-03 4.17517591e-03 9.99952048e-01 1.27908824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819072329 meters 0.25547392969421745 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99942650e-01 -4.37974815e-03 9.77311009e-03 -9.10600752e+01] [ 4.41040526e-03 9.99985415e-01 -3.11753876e-03 -5.52631894e+01] [-9.75931351e-03 3.16046335e-03 9.99947382e-01 1.27907954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879072329 meters 0.24413945127632816 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99941304e-01 -4.26855287e-03 9.95835477e-03 -9.10604000e+01] [ 4.29716639e-03 9.99986695e-01 -2.85369295e-03 -5.52639121e+01] [-9.94604114e-03 2.89631816e-03 9.99946342e-01 1.27907759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93907232899994 meters 0.25350100959251004 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99945069e-01 -4.26275704e-03 9.57535834e-03 -9.10590919e+01] [ 4.29216770e-03 9.99986128e-01 -3.05304721e-03 -5.52628378e+01] [-9.56221111e-03 3.09397855e-03 9.99949494e-01 1.27907349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99907232899994 meters 0.2788761095482159 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99943779e-01 -3.97510685e-03 9.83039094e-03 -9.10593475e+01] [ 3.99930363e-03 9.99989019e-01 -2.44299441e-03 -5.52644935e+01] [-9.82057183e-03 2.48217178e-03 9.99948696e-01 1.27906771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05907232899995 meters 0.2543902346291728 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99939445e-01 -4.07013761e-03 1.02245340e-02 -9.10605699e+01] [ 4.09602278e-03 9.99988456e-01 -2.51200858e-03 -5.52645426e+01] [-1.02141917e-02 2.55373639e-03 9.99944573e-01 1.27907202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11907232899995 meters 0.2422505298358868 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99942160e-01 -4.17757250e-03 9.91081539e-03 -9.10599388e+01] [ 4.20591133e-03 9.99987122e-01 -2.84026726e-03 -5.52635035e+01] [-9.89882233e-03 2.88178699e-03 9.99946853e-01 1.27907537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17907232899995 meters 0.24670087947904543 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.27, Z:127.91 [[ 9.99943161e-01 -3.76112421e-03 9.97642313e-03 -9.10590809e+01] [ 3.78172240e-03 9.99990755e-01 -2.04662603e-03 -5.52651535e+01] [-9.96863328e-03 2.08423777e-03 9.99948140e-01 1.27906002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23907232899995 meters 0.2416624907929646 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99944073e-01 -3.82590745e-03 9.85969899e-03 -9.10589332e+01] [ 3.84787024e-03 9.99990156e-01 -2.20952471e-03 -5.52646755e+01] [-9.85114849e-03 2.24733998e-03 9.99948951e-01 1.27906283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29907232899996 meters 0.24451285963018013 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99946784e-01 -3.85742324e-03 9.56818456e-03 -9.10583303e+01] [ 3.88030913e-03 9.99989653e-01 -2.37446377e-03 -5.52641264e+01] [-9.55892624e-03 2.41146493e-03 9.99951405e-01 1.27906557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35907232899996 meters 0.23984596609697367 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99943401e-01 -4.04367065e-03 9.84090400e-03 -9.10588529e+01] [ 4.06961409e-03 9.99988293e-01 -2.61769087e-03 -5.52633211e+01] [-9.83020371e-03 2.65759139e-03 9.99948151e-01 1.27906340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41907232899996 meters 0.2823261418441777 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.27, Z:127.91 [[ 9.99937363e-01 -3.75620192e-03 1.05433032e-02 -9.10599263e+01] [ 3.77489497e-03 9.99991337e-01 -1.75363805e-03 -5.52656023e+01] [-1.05366249e-02 1.79332807e-03 9.99942880e-01 1.27905245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47907232899996 meters 0.24760405310641548 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.27, Z:127.90 [[ 9.99945645e-01 -3.14102063e-03 9.94184459e-03 -9.10573611e+01] [ 3.15116226e-03 9.99994530e-01 -1.00459514e-03 -5.52664663e+01] [-9.93863476e-03 1.03586890e-03 9.99950074e-01 1.27903754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53907232899996 meters 0.25022779122685646 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.27, Z:127.90 [[ 9.99950240e-01 -3.24422727e-03 9.43362213e-03 -9.10564993e+01] [ 3.25766263e-03 9.99993701e-01 -1.40918171e-03 -5.52653598e+01] [-9.42899100e-03 1.43984315e-03 9.99954509e-01 1.27904478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59907232899997 meters 0.24802578717154444 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99954855e-01 -3.53186607e-03 8.82118683e-03 -9.10558432e+01] [ 3.55187276e-03 9.99991153e-01 -2.25339169e-03 -5.52632027e+01] [-8.81315011e-03 2.28462169e-03 9.99958554e-01 1.27905971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65907232899997 meters 0.21736944286596666 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.26, Z:127.91 [[ 9.99951373e-01 -3.36421974e-03 9.27003932e-03 -9.10569822e+01] [ 3.38101058e-03 9.99992671e-01 -1.79622674e-03 -5.52646814e+01] [-9.26392848e-03 1.82748149e-03 9.99955419e-01 1.27906000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71907232899997 meters 0.2530414532032404 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.27, Z:127.91 [[ 9.99944421e-01 -3.23965862e-03 1.00329657e-02 -9.10587038e+01] [ 3.25231158e-03 9.99993936e-01 -1.24507991e-03 -5.52664362e+01] [-1.00288712e-02 1.27764104e-03 9.99948893e-01 1.27905716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779072329 meters 0.24696285780786828 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.27, Z:127.90 [[ 9.99921452e-01 -6.84776158e-03 1.04975385e-02 -9.10590330e+01] [ 6.89167902e-03 9.99967628e-01 -4.15314389e-03 -5.52703165e+01] [-1.04687589e-02 4.22516333e-03 9.99936275e-01 1.27904470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839072329 meters 0.2748568262547752 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.27, Z:127.90 [[ 9.99927428e-01 -6.57453776e-03 1.00952079e-02 -9.10576025e+01] [ 6.61368525e-03 9.99970720e-01 -3.84935318e-03 -5.52706393e+01] [-1.00696046e-02 3.91584035e-03 9.99941633e-01 1.27903848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899072329 meters 0.2368274037679739 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.27, Z:127.90 [[ 9.99926246e-01 -6.67428276e-03 1.01467520e-02 -9.10578194e+01] [ 6.71531695e-03 9.99969390e-01 -4.01539316e-03 -5.52701624e+01] [-1.01196415e-02 4.08323567e-03 9.99940458e-01 1.27904013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959072329 meters 0.25632298868563586 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.27, Z:127.90 [[ 9.99932344e-01 -6.37295046e-03 9.73107309e-03 -9.10564231e+01] [ 6.40851195e-03 9.99972885e-01 -3.62762768e-03 -5.52708388e+01] [-9.70769054e-03 3.68974395e-03 9.99946072e-01 1.27903479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019072329 meters 0.26335662788396536 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99941520e-01 -6.35502625e-03 8.75042458e-03 -9.10541548e+01] [ 6.39184316e-03 9.99970811e-01 -4.18592398e-03 -5.52687424e+01] [-8.72356751e-03 4.24161053e-03 9.99952953e-01 1.27904017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079072329 meters 0.24739265154283174 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99943267e-01 -6.55912647e-03 8.39288548e-03 -9.10536572e+01] [ 6.59893409e-03 9.99967068e-01 -4.72414952e-03 -5.52672753e+01] [-8.36162278e-03 4.77926560e-03 9.99953620e-01 1.27904724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139072329 meters 0.2396658979894489 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99951493e-01 -5.97704349e-03 7.82853213e-03 -9.10512389e+01] [ 6.00911942e-03 9.99973621e-01 -4.08021732e-03 -5.52678380e+01] [-7.80393798e-03 4.12706198e-03 9.99961032e-01 1.27903317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199072329 meters 0.21844210675769485 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99953511e-01 -5.79796650e-03 7.70446624e-03 -9.10507587e+01] [ 5.82748785e-03 9.99975744e-01 -3.81480947e-03 -5.52684651e+01] [-7.68216122e-03 3.85952981e-03 9.99963044e-01 1.27903096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259072329 meters 0.2212351985491302 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99954418e-01 -5.90113330e-03 7.50587275e-03 -9.10507292e+01] [ 5.93210975e-03 9.99973953e-01 -4.11141542e-03 -5.52677715e+01] [-7.48141523e-03 4.15575368e-03 9.99963378e-01 1.27903899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319072329 meters 0.22003694868895102 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99955001e-01 -5.75379124e-03 7.54255826e-03 -9.10506027e+01] [ 5.78281566e-03 9.99975937e-01 -3.83194343e-03 -5.52684849e+01] [-7.52032856e-03 3.87538822e-03 9.99964212e-01 1.27903567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379072329 meters 0.21907142820815262 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99969005e-01 -2.12583481e-03 7.58092853e-03 -9.10513396e+01] [ 2.13119331e-03 9.99997485e-01 -6.98831377e-04 -5.52652332e+01] [-7.57942386e-03 7.14966141e-04 9.99971020e-01 1.27904642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43907232899994 meters 0.2304028189938571 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99967162e-01 -1.87914720e-03 7.88311217e-03 -9.10517245e+01] [ 1.88044460e-03 9.99998220e-01 -1.57170096e-04 -5.52666737e+01] [-7.88280279e-03 1.71988690e-04 9.99968915e-01 1.27904086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49907232899994 meters 0.22616264754294205 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99949036e-01 -5.19076752e-03 8.65919338e-03 -9.10525812e+01] [ 5.21203053e-03 9.99983453e-01 -2.43478462e-03 -5.52723436e+01] [-8.64641169e-03 2.47979251e-03 9.99959544e-01 1.27902386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55907232899995 meters 0.26147894880817657 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99940102e-01 -5.24893542e-03 9.60427076e-03 -9.10548939e+01] [ 5.26969477e-03 9.99983831e-01 -2.13744245e-03 -5.52736387e+01] [-9.59289616e-03 2.18792600e-03 9.99951593e-01 1.27902380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61907232899995 meters 0.25062446704619207 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.28, Z:127.90 [[ 9.99940150e-01 -4.74647294e-03 9.85732632e-03 -9.10551581e+01] [ 4.75826741e-03 9.99987991e-01 -1.17341056e-03 -5.52763941e+01] [-9.85163838e-03 1.22024413e-03 9.99950727e-01 1.27901801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67907232899995 meters 0.2772054952501805 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.28, Z:127.90 [[ 9.99937270e-01 -4.99369364e-03 1.00259329e-02 -9.10553342e+01] [ 5.00959783e-03 9.99986232e-01 -1.56181939e-03 -5.52750783e+01] [-1.00179956e-02 1.61194731e-03 9.99948519e-01 1.27901495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73907232899995 meters 0.26314585446061184 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99939464e-01 -4.99499659e-03 9.80401509e-03 -9.10548262e+01] [ 5.01135774e-03 9.99986090e-01 -1.64496426e-03 -5.52747486e+01] [-9.79566213e-03 1.69399610e-03 9.99950586e-01 1.27901642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79907232899996 meters 0.2539675558391317 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.28, Z:127.90 [[ 9.99937588e-01 -4.75316325e-03 1.01107975e-02 -9.10551194e+01] [ 4.76462043e-03 9.99988034e-01 -1.10937672e-03 -5.52761317e+01] [-1.01054035e-02 1.15748159e-03 9.99948269e-01 1.27900926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85907232899996 meters 0.22783572191354295 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.28, Z:127.90 [[ 9.99944629e-01 -4.53987418e-03 9.49365136e-03 -9.10530782e+01] [ 4.55020205e-03 9.99989079e-01 -1.06655503e-03 -5.52754521e+01] [-9.48870565e-03 1.10969401e-03 9.99954365e-01 1.27900209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91907232899996 meters 0.2498506322306073 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.28, Z:127.90 [[ 9.99947356e-01 -4.52939155e-03 9.20701503e-03 -9.10526698e+01] [ 4.54037918e-03 9.99989005e-01 -1.17284557e-03 -5.52752326e+01] [-9.20160152e-03 1.21458717e-03 9.99956927e-01 1.27900737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97907232899996 meters 0.26145000591988277 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99942308e-01 -5.00227083e-03 9.50567025e-03 -9.10540077e+01] [ 5.02095558e-03 9.99985508e-01 -1.94279575e-03 -5.52733663e+01] [-9.49581410e-03 1.99041121e-03 9.99952933e-01 1.27901787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03907232899996 meters 0.24618898577123216 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99938845e-01 -4.80806349e-03 9.95937026e-03 -9.10543954e+01] [ 4.82215353e-03 9.99987406e-01 -1.39122164e-03 -5.52746007e+01] [-9.95255574e-03 1.43916218e-03 9.99949436e-01 1.27900634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09907232899997 meters 0.23906177022610567 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.27, Z:127.90 [[ 9.99935632e-01 -4.75192276e-03 1.03029520e-02 -9.10547330e+01] [ 4.76404200e-03 9.99987988e-01 -1.15206485e-03 -5.52749961e+01] [-1.02973538e-02 1.20107439e-03 9.99946260e-01 1.27899890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15907232899997 meters 0.23576618097185742 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.28, Z:127.90 [[ 9.99922983e-01 -4.54114016e-03 1.15501797e-02 -9.10569062e+01] [ 4.53984733e-03 9.99989685e-01 1.38147778e-04 -5.52785703e+01] [-1.15506879e-02 -8.57010854e-05 9.99933285e-01 1.27898188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21907232899997 meters 0.23320981548816622 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.28, Z:127.90 [[ 9.99886209e-01 -8.67030904e-03 1.23448250e-02 -9.10587573e+01] [ 8.71535872e-03 9.99955540e-01 -3.60016694e-03 -5.52804977e+01] [-1.23130616e-02 3.70734685e-03 9.99917319e-01 1.27898137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279072329 meters 0.22216461922975417 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.28, Z:127.90 [[ 9.99887356e-01 -8.32829245e-03 1.24865844e-02 -9.10588533e+01] [ 8.36580678e-03 9.99960639e-01 -2.95515391e-03 -5.52823465e+01] [-1.24614815e-02 3.05928138e-03 9.99917673e-01 1.27897750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339072329 meters 0.24506339734711433 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.28, Z:127.90 [[ 9.99908131e-01 -4.13574102e-03 1.29083266e-02 -9.10597190e+01] [ 4.11860101e-03 9.99990602e-01 1.35412657e-03 -5.52822149e+01] [-1.29138056e-02 -1.30083792e-03 9.99915767e-01 1.27897363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399072329 meters 0.2196368016953689 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.28, Z:127.90 [[ 9.99906611e-01 -4.04044022e-03 1.30554383e-02 -9.10601524e+01] [ 4.02014754e-03 9.99990671e-01 1.58021700e-03 -5.52829643e+01] [-1.30617013e-02 -1.52758464e-03 9.99913525e-01 1.27897465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459072329 meters 0.22729660214188308 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.28, Z:127.90 [[ 9.99898426e-01 -4.07674915e-03 1.36571317e-02 -9.10613411e+01] [ 4.05399244e-03 9.99990348e-01 1.69355750e-03 -5.52833069e+01] [-1.36639041e-02 -1.63801957e-03 9.99905303e-01 1.27896999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519072329 meters 0.24574976504652274 Centerline is valid? [False, False] Translation: X:-91.06, Y:-55.29, Z:127.90 [[ 9.99905542e-01 -3.59516459e-03 1.32657926e-02 -9.10599047e+01] [ 3.56327909e-03 9.99990708e-01 2.42644148e-03 -5.52851013e+01] [-1.32743928e-02 -2.37894256e-03 9.99909061e-01 1.27896276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579072329 meters 0.2202845000753996 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.29, Z:127.90 [[ 9.99957176e-01 -6.59774531e-04 9.23098095e-03 -9.10510254e+01] [ 6.49405340e-04 9.99999155e-01 1.12625556e-03 -5.52853965e+01] [-9.23171623e-03 -1.12021268e-03 9.99956759e-01 1.27900431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639072329 meters 0.23902552414651246 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.28, Z:127.90 [[ 9.99962466e-01 -1.09838766e-03 8.59418433e-03 -9.10501496e+01] [ 1.09870435e-03 9.99999396e-01 -3.21279154e-05 -5.52822606e+01] [-8.59414385e-03 4.15691772e-05 9.99963069e-01 1.27901649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699072329 meters 0.27881073246317023 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.28, Z:127.90 [[ 9.99947732e-01 -5.06665755e-03 8.88045540e-03 -9.10505104e+01] [ 5.09960318e-03 9.99980184e-01 -3.69119329e-03 -5.52841461e+01] [-8.86157742e-03 3.73628716e-03 9.99953755e-01 1.27901180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759072329 meters 0.248024325548529 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.28, Z:127.90 [[ 9.99948685e-01 -5.05982938e-03 8.77644025e-03 -9.10504127e+01] [ 5.09265908e-03 9.99980104e-01 -3.72235691e-03 -5.52841265e+01] [-8.75743114e-03 3.76686132e-03 9.99954558e-01 1.27901424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819072329 meters 0.25789856969122493 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.28, Z:127.90 [[ 9.99949829e-01 -4.95232930e-03 8.70710903e-03 -9.10501758e+01] [ 4.98349161e-03 9.99981242e-01 -3.56090422e-03 -5.52845478e+01] [-8.68931093e-03 3.60411737e-03 9.99955752e-01 1.27901341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879072329 meters 0.22152420263253159 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.29, Z:127.90 [[ 9.99951860e-01 -4.69270997e-03 8.61721834e-03 -9.10493815e+01] [ 4.71991533e-03 9.99983933e-01 -3.13947511e-03 -5.52854550e+01] [-8.60234724e-03 3.17999652e-03 9.99957943e-01 1.27900484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93907232899994 meters 0.2616935397495926 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.29, Z:127.90 [[ 9.99964172e-01 -3.85089295e-03 7.53826973e-03 -9.10459291e+01] [ 3.87077879e-03 9.99989063e-01 -2.62517435e-03 -5.52852385e+01] [-7.52807802e-03 2.65425927e-03 9.99968141e-01 1.27899577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99907232899994 meters 0.25419048658520016 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.28, Z:127.90 [[ 9.99963146e-01 -4.04900545e-03 7.57045217e-03 -9.10464421e+01] [ 4.07177098e-03 9.99987228e-01 -2.99416481e-03 -5.52843728e+01] [-7.55823209e-03 3.02487961e-03 9.99966861e-01 1.27900300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05907232899995 meters 0.2976034059061884 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.28, Z:127.90 [[ 9.99965126e-01 -4.01047425e-03 7.32546959e-03 -9.10455460e+01] [ 4.03261269e-03 9.99987339e-01 -3.00985277e-03 -5.52840865e+01] [-7.31330591e-03 3.03928859e-03 9.99968639e-01 1.27899919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11907232899995 meters 0.2274695208343315 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.28, Z:127.90 [[ 9.99976768e-01 -1.90226164e-03 6.54560925e-03 -9.10413569e+01] [ 1.91019590e-03 9.99997448e-01 -1.20611143e-03 -5.52848486e+01] [-6.54329820e-03 1.21858681e-03 9.99977850e-01 1.27897374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17907232899995 meters 0.29281738610186653 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.28, Z:127.90 [[ 9.99975577e-01 -2.00199901e-03 6.69604262e-03 -9.10420813e+01] [ 2.01112127e-03 9.99997058e-01 -1.35587999e-03 -5.52846150e+01] [-6.69330846e-03 1.36931343e-03 9.99976662e-01 1.27897958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23907232899995 meters 0.2747995000788821 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.28, Z:127.90 [[ 9.99984628e-01 -6.21394944e-04 5.50973158e-03 -9.10375983e+01] [ 6.25403609e-04 9.99999541e-01 -7.25867701e-04 -5.52831757e+01] [-5.50927800e-03 7.29302350e-04 9.99984558e-01 1.27896297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29907232899996 meters 0.265644529761784 Centerline is valid? [False, False] Translation: X:-91.03, Y:-55.28, Z:127.90 [[ 9.99989219e-01 -1.46044786e-04 4.64120968e-03 -9.10349188e+01] [ 1.47469741e-04 9.99999942e-01 -3.06681397e-04 -5.52835061e+01] [-4.64116462e-03 3.07362529e-04 9.99989183e-01 1.27895546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35907232899996 meters 0.2549602189243349 Centerline is valid? [False, False] Translation: X:-91.03, Y:-55.28, Z:127.90 [[ 9.99993556e-01 9.80036989e-05 3.58858089e-03 -9.10321556e+01] [-9.63285151e-05 9.99999886e-01 -4.66979399e-04 -5.52822551e+01] [-3.58862624e-03 4.66630707e-04 9.99993452e-01 1.27895541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41907232899996 meters 0.2527898651588785 Centerline is valid? [False, False] Translation: X:-91.03, Y:-55.28, Z:127.90 [[ 9.99993217e-01 -1.81351714e-04 3.67883282e-03 -9.10326515e+01] [ 1.84799556e-04 9.99999544e-01 -9.36892642e-04 -5.52809479e+01] [-3.67866124e-03 9.37566133e-04 9.99992794e-01 1.27896017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47907232899996 meters 0.23119213414195092 Centerline is valid? [False, False] Translation: X:-91.03, Y:-55.28, Z:127.90 [[ 9.99983050e-01 -4.31964257e-03 3.90379477e-03 -9.10325850e+01] [ 4.33848783e-03 9.99978915e-01 -4.83191378e-03 -5.52818407e+01] [-3.88284032e-03 4.84876844e-03 9.99980706e-01 1.27895161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53907232899996 meters 0.225395115412598 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.28, Z:127.90 [[ 9.99973764e-01 -4.99532848e-03 5.24573550e-03 -9.10360779e+01] [ 5.02082242e-03 9.99975595e-01 -4.85806494e-03 -5.52829844e+01] [-5.22133984e-03 4.88427539e-03 9.99974440e-01 1.27895355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59907232899997 meters 0.21918648938095026 Centerline is valid? [False, False] Translation: X:-91.03, Y:-55.28, Z:127.89 [[ 9.99977540e-01 -4.84303301e-03 4.63300660e-03 -9.10341365e+01] [ 4.86520824e-03 9.99976706e-01 -4.78712147e-03 -5.52825931e+01] [-4.60971449e-03 4.80955449e-03 9.99977809e-01 1.27894760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65907232899997 meters 0.26922190224109177 Centerline is valid? [False, False] Translation: X:-91.03, Y:-55.28, Z:127.89 [[ 9.99976902e-01 -5.15516052e-03 4.42947050e-03 -9.10335720e+01] [ 5.17912665e-03 9.99971920e-01 -5.41627955e-03 -5.52805828e+01] [-4.40142433e-03 5.43909524e-03 9.99975522e-01 1.27894763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71907232899997 meters 0.2612002099143932 Centerline is valid? [False, False] Translation: X:-91.02, Y:-55.28, Z:127.90 [[ 9.99999942e-01 -3.40345189e-04 -3.28395513e-05 -9.10225252e+01] [ 3.40133270e-04 9.99980406e-01 -6.25072119e-03 -5.52830480e+01] [ 3.49663107e-05 6.25070966e-03 9.99980464e-01 1.27899624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779072329 meters 0.24763747525183408 Centerline is valid? [False, False] Translation: X:-91.02, Y:-55.28, Z:127.90 [[ 9.99986597e-01 4.88736603e-03 -1.70848670e-03 -9.10176750e+01] [-4.89135599e-03 9.99985302e-01 -2.33905036e-03 -5.52797433e+01] [ 1.69702980e-03 2.34737583e-03 9.99995805e-01 1.27899309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839072329 meters 0.2493618623411242 Centerline is valid? [False, False] Translation: X:-91.01, Y:-55.28, Z:127.90 [[ 9.99981502e-01 5.28749144e-03 -3.00647156e-03 -9.10140905e+01] [-5.29688720e-03 9.99981086e-01 -3.12585269e-03 -5.52760675e+01] [ 2.98988678e-03 3.14171981e-03 9.99990595e-01 1.27899523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899072329 meters 0.2418900201535242 Centerline is valid? [False, False] Translation: X:-91.02, Y:-55.28, Z:127.90 [[ 9.99997657e-01 8.68044450e-04 -1.98326948e-03 -9.10160643e+01] [-8.82058488e-04 9.99974574e-01 -7.07621530e-03 -5.52775278e+01] [ 1.97707658e-03 7.07794808e-03 9.99972997e-01 1.27898471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959072329 meters 0.22986990695261686 Centerline is valid? [False, False] Translation: X:-91.01, Y:-55.28, Z:127.90 [[ 9.99995552e-01 8.55360294e-04 -2.85738021e-03 -9.10140655e+01] [-8.76615503e-04 9.99971896e-01 -7.44575358e-03 -5.52761950e+01] [ 2.85093111e-03 7.44822529e-03 9.99968198e-01 1.27898801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019072329 meters 0.22409301965474748 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.27, Z:127.90 [[ 9.99907119e-01 1.14483277e-02 -7.39519183e-03 -9.09995843e+01] [-1.14842748e-02 9.99922355e-01 -4.83683402e-03 -5.52721121e+01] [ 7.33924397e-03 4.92131319e-03 9.99960957e-01 1.27902617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079072329 meters 0.2375075585984299 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.28, Z:127.91 [[ 9.99817309e-01 1.43446247e-02 -1.26325322e-02 -9.09862952e+01] [-1.42296052e-02 9.99856903e-01 9.14832212e-03 -5.52750223e+01] [ 1.27619537e-02 -8.96689485e-03 9.99878356e-01 1.27908820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139072329 meters 0.22650048547227739 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.27, Z:127.91 [[ 9.99852793e-01 1.00457804e-02 -1.39095075e-02 -9.09836365e+01] [-9.98920508e-03 9.99941574e-01 4.13090692e-03 -5.52725040e+01] [ 1.39501930e-02 -3.99135390e-03 9.99894725e-01 1.27909669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199072329 meters 0.23615730508658858 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.28, Z:127.91 [[ 9.99887638e-01 1.45934607e-02 -3.42677504e-03 -9.09785760e+01] [-1.45865792e-02 9.99891560e-01 2.02464175e-03 -5.52756742e+01] [ 3.45594998e-03 -1.97442933e-03 9.99992079e-01 1.27911495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259072329 meters 0.2426852203414095 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.28, Z:127.91 [[ 9.99935394e-01 1.07190070e-02 -3.78300629e-03 -9.09779045e+01] [-1.07250672e-02 9.99941228e-01 -1.58531602e-03 -5.52777222e+01] [ 3.76579094e-03 1.62578659e-03 9.99991588e-01 1.27911544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319072329 meters 0.26855822469651847 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.28, Z:127.91 [[ 9.99968987e-01 6.89386296e-03 -3.80775968e-03 -9.09771420e+01] [-6.91284381e-03 9.99963634e-01 -4.99431865e-03 -5.52798778e+01] [ 3.77319106e-03 5.02048621e-03 9.99980279e-01 1.27910356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379072329 meters 0.2623724661987161 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.29, Z:127.91 [[ 9.99971297e-01 1.59749518e-03 -7.40622916e-03 -9.09650893e+01] [-1.57809746e-03 9.99995312e-01 2.62421361e-03 -5.52886619e+01] [ 7.41038661e-03 -2.61245053e-03 9.99969130e-01 1.27914375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43907232899994 meters 0.24355837034042824 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.29, Z:127.91 [[ 9.99975767e-01 -2.14561165e-03 -6.62285930e-03 -9.09661165e+01] [ 2.14491574e-03 9.99997693e-01 -1.12178466e-04 -5.52928556e+01] [ 6.62308471e-03 9.79702727e-05 9.99978062e-01 1.27912805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49907232899994 meters 0.26306742813853234 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.30, Z:127.91 [[ 9.99963912e-01 -6.22801664e-03 -5.77804912e-03 -9.09676676e+01] [ 6.20709155e-03 9.99974139e-01 -3.63237132e-03 -5.52951272e+01] [ 5.80052216e-03 3.59637536e-03 9.99976710e-01 1.27911982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55907232899995 meters 0.2537826597090411 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.30, Z:127.91 [[ 9.99935777e-01 -1.04550827e-02 -4.37419184e-03 -9.09710330e+01] [ 1.04264425e-02 9.99924387e-01 -6.51987862e-03 -5.52999908e+01] [ 4.44202697e-03 6.47385263e-03 9.99969178e-01 1.27911660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61907232899995 meters 0.24367001463019844 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.30, Z:127.91 [[ 9.99887109e-01 -1.47008809e-02 -3.10711594e-03 -9.09734311e+01] [ 1.46697970e-02 9.99844360e-01 -9.80069118e-03 -5.53029660e+01] [ 3.25071114e-03 9.75400400e-03 9.99947145e-01 1.27910480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67907232899995 meters 0.23269493661708593 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.30, Z:127.91 [[ 9.99789894e-01 -2.04075266e-02 1.92350379e-03 -9.09874250e+01] [ 2.04229561e-02 9.99756345e-01 -8.37580677e-03 -5.53036914e+01] [-1.75210562e-03 8.41333060e-03 9.99963072e-01 1.27906112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73907232899995 meters 0.23682735865680213 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.31, Z:127.91 [[ 9.99786401e-01 -2.04612486e-02 2.91361303e-03 -9.09896573e+01] [ 2.04837133e-02 9.99758965e-01 -7.90128628e-03 -5.53052224e+01] [-2.75124056e-03 7.95928019e-03 9.99964540e-01 1.27905690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79907232899996 meters 0.21966726856042254 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.31, Z:127.91 [[ 9.99760113e-01 -2.14204486e-02 4.56950130e-03 -9.09939815e+01] [ 2.14561216e-02 9.99738530e-01 -7.90605071e-03 -5.53072313e+01] [-4.39895536e-03 8.00219793e-03 9.99958306e-01 1.27905781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85907232899996 meters 0.26322138217569024 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.31, Z:127.90 [[ 9.99836902e-01 -1.72035820e-02 5.49598088e-03 -9.09959923e+01] [ 1.72215542e-02 9.99846450e-01 -3.23964276e-03 -5.53082564e+01] [-5.43940351e-03 3.33376371e-03 9.99979649e-01 1.27904940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91907232899996 meters 0.25296259959782985 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.31, Z:127.90 [[ 9.99841597e-01 -1.69414132e-02 5.45615258e-03 -9.09952906e+01] [ 1.69568868e-02 9.99852295e-01 -2.80233335e-03 -5.53091750e+01] [-5.40787119e-03 2.89440881e-03 9.99981188e-01 1.27904037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97907232899996 meters 0.2617168198512201 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.31, Z:127.91 [[ 9.99901402e-01 -1.30536699e-02 5.17567279e-03 -9.09954819e+01] [ 1.30502903e-02 9.99914606e-01 6.86207227e-04 -5.53070763e+01] [-5.18418834e-03 -6.18595536e-04 9.99986371e-01 1.27905163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03907232899996 meters 0.25546661691607503 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.31, Z:127.91 [[ 9.99902443e-01 -1.31004103e-02 4.84593907e-03 -9.09948902e+01] [ 1.30983611e-02 9.99914110e-01 4.54369996e-04 -5.53064327e+01] [-4.85147529e-03 -3.90851809e-04 9.99988155e-01 1.27905584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09907232899997 meters 0.2638217214244195 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.31, Z:127.91 [[ 9.99910013e-01 -1.28585065e-02 3.82418505e-03 -9.09924292e+01] [ 1.28570081e-02 9.99917259e-01 4.16136724e-04 -5.53059266e+01] [-3.82921953e-03 -3.66931699e-04 9.99992601e-01 1.27905687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15907232899997 meters 0.2654987238677654 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.30, Z:127.91 [[ 9.99903606e-01 -1.34234278e-02 3.54829790e-03 -9.09922269e+01] [ 1.34259500e-02 9.99909631e-01 -6.87967526e-04 -5.53028323e+01] [-3.53874236e-03 7.35540480e-04 9.99993468e-01 1.27906489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21907232899997 meters 0.23099742664256984 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.30, Z:127.91 [[ 9.99990733e-01 -4.05103100e-03 -1.45696495e-03 -9.09786059e+01] [ 4.05351488e-03 9.99990329e-01 1.70594042e-03 -5.53021356e+01] [ 1.45004004e-03 -1.71183044e-03 9.99997484e-01 1.27911108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279072329 meters 0.2552074119727201 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.30, Z:127.92 [[ 9.99938630e-01 8.06005484e-03 -7.60078213e-03 -9.09612895e+01] [-8.02221998e-03 9.99955345e-01 4.99517824e-03 -5.53018932e+01] [ 7.64070413e-03 -4.93389654e-03 9.99958637e-01 1.27916793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339072329 meters 0.25791107281831566 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.30, Z:127.92 [[ 9.99930768e-01 7.92901692e-03 -8.69422830e-03 -9.09589402e+01] [-7.89212726e-03 9.99959744e-01 4.26913694e-03 -5.52996447e+01] [ 8.72772836e-03 -4.20022542e-03 9.99953091e-01 1.27917445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399072329 meters 0.28118221081719663 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.30, Z:127.92 [[ 9.99876900e-01 1.22651083e-02 -9.78528446e-03 -9.09560633e+01] [-1.21873947e-02 9.99894028e-01 7.96238508e-03 -5.52971945e+01] [ 9.88190701e-03 -7.84214779e-03 9.99920421e-01 1.27917346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459072329 meters 0.2342475344800181 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.30, Z:127.92 [[ 9.99912498e-01 7.96649666e-03 -1.05608099e-02 -9.09545480e+01] [-7.92981951e-03 9.99962397e-01 3.51028555e-03 -5.52966895e+01] [ 1.05883775e-02 -3.42623308e-03 9.99938072e-01 1.27917879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519072329 meters 0.2592475936997309 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.31, Z:127.91 [[ 9.99995215e-01 2.13440951e-03 2.23921714e-03 -9.09522823e+01] [-2.13993997e-03 9.99994659e-01 2.47033628e-03 -5.53079122e+01] [-2.23393247e-03 -2.47511625e-03 9.99994442e-01 1.27914862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579072329 meters 0.2638780901814972 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.31, Z:127.91 [[ 9.99993574e-01 -1.64736253e-03 3.18414223e-03 -9.09540997e+01] [ 1.64844531e-03 9.99998584e-01 -3.37458139e-04 -5.53122476e+01] [-3.18358181e-03 3.42704855e-04 9.99994874e-01 1.27913878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639072329 meters 0.25823269068232135 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.31, Z:127.91 [[ 9.99990148e-01 -1.61540079e-03 4.13442740e-03 -9.09560987e+01] [ 1.61468359e-03 9.99998681e-01 1.76801100e-04 -5.53137970e+01] [-4.13470755e-03 -1.70123567e-04 9.99991438e-01 1.27913279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699072329 meters 0.2445236042031315 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.32, Z:127.91 [[ 9.99897507e-01 -1.10827764e-02 9.06349418e-03 -9.09699484e+01] [ 1.11003986e-02 9.99936591e-01 -1.89631622e-03 -5.53166468e+01] [-9.04190302e-03 1.99673026e-03 9.99957128e-01 1.27909146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759072329 meters 0.25430799319757447 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.91 [[ 9.99689112e-01 -2.05814776e-02 1.40741504e-02 -9.09840136e+01] [ 2.06413205e-02 9.99778456e-01 -4.11999855e-03 -5.53190520e+01] [-1.39862367e-02 4.40922674e-03 9.99892466e-01 1.27905269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819072329 meters 0.2411204946639593 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.32, Z:127.90 [[ 9.99402405e-01 -2.87283174e-02 1.92227976e-02 -9.09955302e+01] [ 2.88464506e-02 9.99566462e-01 -5.89662202e-03 -5.53208386e+01] [-1.90450637e-02 6.44760771e-03 9.99797837e-01 1.27899175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879072329 meters 0.21513291506419654 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.32, Z:127.90 [[ 9.99182794e-01 -3.41670864e-02 2.15952475e-02 -9.10008295e+01] [ 3.43811430e-02 9.99362495e-01 -9.61979292e-03 -5.53237078e+01] [-2.12528001e-02 1.03544009e-02 9.99720513e-01 1.27898403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93907232899994 meters 0.21568665662702816 Centerline is valid? [False, False] Translation: X:-91.01, Y:-55.32, Z:127.89 [[ 9.99247810e-01 -2.96436486e-02 2.50013733e-02 -9.10112859e+01] [ 3.00741675e-02 9.99402699e-01 -1.70232067e-02 -5.53189942e+01] [-2.44818100e-02 1.77622975e-02 9.99542466e-01 1.27890362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99907232899994 meters 0.2877851495780666 Centerline is valid? [False, False] Translation: X:-91.01, Y:-55.32, Z:127.89 [[ 9.99212965e-01 -2.96508859e-02 2.63490981e-02 -9.10138372e+01] [ 3.00742278e-02 9.99422496e-01 -1.58182264e-02 -5.53222636e+01] [-2.58648570e-02 1.65982056e-02 9.99527643e-01 1.27888772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05907232899995 meters 0.22357539037306054 Centerline is valid? [False, False] Translation: X:-91.02, Y:-55.32, Z:127.89 [[ 9.99187771e-01 -2.97048465e-02 2.72290176e-02 -9.10156890e+01] [ 3.01353145e-02 9.99425060e-01 -1.55374599e-02 -5.53230752e+01] [-2.67518247e-02 1.63453950e-02 9.99508463e-01 1.27888315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11907232899995 meters 0.2664132704253045 Centerline is valid? [False, False] Translation: X:-91.02, Y:-55.32, Z:127.89 [[ 9.99019960e-01 -3.41761468e-02 2.81266913e-02 -9.10180327e+01] [ 3.47457553e-02 9.99195679e-01 -2.00181716e-02 -5.53232731e+01] [-2.74199245e-02 2.09758361e-02 9.99403903e-01 1.27889139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17907232899995 meters 0.22461779847999425 Centerline is valid? [False, False] Translation: X:-91.02, Y:-55.32, Z:127.89 [[ 9.99068310e-01 -3.12606889e-02 2.97536723e-02 -9.10219043e+01] [ 3.17535972e-02 9.99363776e-01 -1.62404334e-02 -5.53233453e+01] [-2.92270552e-02 1.71700885e-02 9.99425319e-01 1.27888498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23907232899995 meters 0.23527405809388052 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.32, Z:127.88 [[ 9.98680688e-01 -3.75591270e-02 3.50170616e-02 -9.10360401e+01] [ 3.81196605e-02 9.99153281e-01 -1.54794216e-02 -5.53226969e+01] [-3.44060184e-02 1.67938380e-02 9.99266828e-01 1.27884463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29907232899996 meters 0.23318349669090715 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.32, Z:127.88 [[ 9.98800422e-01 -3.65263388e-02 3.26120080e-02 -9.10436493e+01] [ 3.74049921e-02 9.98942047e-01 -2.67516887e-02 -5.53222717e+01] [-3.16003647e-02 2.79394498e-02 9.99110006e-01 1.27878427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35907232899996 meters 0.22511633823229518 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.32, Z:127.88 [[ 9.98772920e-01 -3.65489781e-02 3.34189571e-02 -9.10455170e+01] [ 3.74380689e-02 9.98950766e-01 -2.63772344e-02 -5.53235175e+01] [-3.24198319e-02 2.75960086e-02 9.99093296e-01 1.27878270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41907232899996 meters 0.2279525021212854 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.32, Z:127.88 [[ 9.98894527e-01 -3.26015245e-02 3.38653810e-02 -9.10469329e+01] [ 3.33671747e-02 9.99194460e-01 -2.22949068e-02 -5.53229059e+01] [-3.31112531e-02 2.34002525e-02 9.99177698e-01 1.27878296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47907232899996 meters 0.29085413525710596 Centerline is valid? [False, False] Translation: X:-91.05, Y:-55.32, Z:127.88 [[ 9.99043101e-01 -2.84093142e-02 3.32534632e-02 -9.10456631e+01] [ 2.90241708e-02 9.99413814e-01 -1.81555996e-02 -5.53221316e+01] [-3.27181823e-02 1.91033807e-02 9.99282033e-01 1.27878160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53907232899996 meters 0.22708762966750007 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.31, Z:127.88 [[ 9.99466378e-01 -2.66515693e-02 1.88852817e-02 -9.10434936e+01] [ 2.70066247e-02 9.99458420e-01 -1.88018358e-02 -5.53132582e+01] [-1.83739553e-02 1.93018305e-02 9.99644855e-01 1.27881279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59907232899997 meters 0.2483832316839542 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.31, Z:127.88 [[ 9.99651004e-01 -1.85152891e-02 1.88428872e-02 -9.10435623e+01] [ 1.87204691e-02 9.99766733e-01 -1.07714724e-02 -5.53111673e+01] [-1.86390548e-02 1.11204608e-02 9.99764433e-01 1.27880829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65907232899997 meters 0.23248191664405957 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.31, Z:127.88 [[ 9.99721973e-01 -1.48068044e-02 1.83503605e-02 -9.10432720e+01] [ 1.49498818e-02 9.99858715e-01 -7.68447748e-03 -5.53078725e+01] [-1.82339853e-02 7.95667670e-03 9.99802087e-01 1.27882146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71907232899997 meters 0.25313074518549306 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.31, Z:127.88 [[ 9.99783507e-01 -1.08448242e-02 1.77574955e-02 -9.10421965e+01] [ 1.09209311e-02 9.99931567e-01 -4.19454762e-03 -5.53054139e+01] [-1.77107911e-02 4.38756791e-03 9.99833525e-01 1.27882624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779072329 meters 0.2468858478520368 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.30, Z:127.88 [[ 9.99967525e-01 -7.43993006e-03 3.09769220e-03 -9.10380339e+01] [ 7.45204736e-03 9.99964555e-01 -3.91872807e-03 -5.52982689e+01] [-3.06842734e-03 3.94168496e-03 9.99987524e-01 1.27884968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839072329 meters 0.24142316118650994 Centerline is valid? [False, False] Translation: X:-91.04, Y:-55.29, Z:127.89 [[ 9.99993851e-01 -3.17594738e-03 1.48674204e-03 -9.10351017e+01] [ 3.17804054e-03 9.99993959e-01 -1.40764344e-03 -5.52934867e+01] [-1.48226246e-03 1.41235971e-03 9.99997904e-01 1.27887076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899072329 meters 0.2953250059291328 Centerline is valid? [False, False] Translation: X:-91.02, Y:-55.30, Z:127.89 [[ 9.99989988e-01 2.76987393e-03 -3.51460501e-03 -9.10215245e+01] [-2.77554834e-03 9.99994851e-01 -1.61067472e-03 -5.52960081e+01] [ 3.51012554e-03 1.62041355e-03 9.99992527e-01 1.27890953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959072329 meters 0.2496013023047004 Centerline is valid? [False, False] Translation: X:-91.02, Y:-55.29, Z:127.89 [[ 9.99964466e-01 7.11348581e-03 -4.52389391e-03 -9.10189535e+01] [-7.10376754e-03 9.99972434e-01 2.16066092e-03 -5.52939750e+01] [ 4.53913904e-03 -2.12844746e-03 9.99987433e-01 1.27890971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019072329 meters 0.25126530225372135 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.29, Z:127.90 [[ 9.99804846e-01 1.71473395e-02 -9.81013478e-03 -9.10041559e+01] [-1.71028993e-02 9.99843171e-01 4.59613172e-03 -5.52918894e+01] [ 9.88740770e-03 -4.42745302e-03 9.99941317e-01 1.27895734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079072329 meters 0.272634068581973 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.29, Z:127.90 [[ 9.99810719e-01 1.38521291e-02 -1.36618172e-02 -9.09935217e+01] [-1.36747778e-02 9.99822106e-01 1.29906170e-02 -5.52941836e+01] [ 1.38393346e-02 -1.28013358e-02 9.99822284e-01 1.27904279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139072329 meters 0.26188932276995175 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.29, Z:127.91 [[ 9.99791388e-01 1.39879676e-02 -1.48834388e-02 -9.09910502e+01] [-1.38011090e-02 9.99825567e-01 1.25843081e-02 -5.52928202e+01] [ 1.50568716e-02 -1.23762749e-02 9.99810041e-01 1.27905208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199072329 meters 0.2523642482896976 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.29, Z:127.91 [[ 9.99807597e-01 1.07286533e-02 -1.64214761e-02 -9.09871669e+01] [-1.05908976e-02 9.99908187e-01 8.45286061e-03 -5.52908127e+01] [ 1.65106562e-02 -8.27731609e-03 9.99829428e-01 1.27905406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259072329 meters 0.2344038994012637 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.30, Z:127.91 [[ 9.99863736e-01 1.53401197e-02 -6.09838742e-03 -9.09802952e+01] [-1.52877373e-02 9.99846620e-01 8.54532072e-03 -5.52978667e+01] [ 6.22853829e-03 -8.45092575e-03 9.99944892e-01 1.27906730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319072329 meters 0.24675713053378576 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.30, Z:127.91 [[ 9.99847956e-01 1.58813844e-02 -7.20044811e-03 -9.09771313e+01] [-1.58165351e-02 9.99834625e-01 8.97551226e-03 -5.52980640e+01] [ 7.34180090e-03 -8.86026145e-03 9.99933795e-01 1.27905931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379072329 meters 0.2670019621899927 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.30, Z:127.91 [[ 9.99839480e-01 1.59336617e-02 -8.19344850e-03 -9.09749856e+01] [-1.58631747e-02 9.99837212e-01 8.59705974e-03 -5.52967082e+01] [ 8.32909735e-03 -8.46570564e-03 9.99929476e-01 1.27906512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43907232899994 meters 0.26123429695595046 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.29, Z:127.91 [[ 9.99887867e-01 1.16020954e-02 -9.46807662e-03 -9.09725589e+01] [-1.15681729e-02 9.99926498e-01 3.62976905e-03 -5.52946159e+01] [ 9.50949363e-03 -3.51983368e-03 9.99948589e-01 1.27907620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49907232899994 meters 0.2765020126881194 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.29, Z:127.91 [[ 9.99882684e-01 1.14868292e-02 -1.01326371e-02 -9.09710430e+01] [-1.14550854e-02 9.99929315e-01 3.18532673e-03 -5.52931226e+01] [ 1.01685102e-02 -3.06888282e-03 9.99943590e-01 1.27907898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55907232899995 meters 0.3158845323956927 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.29, Z:127.91 [[ 9.99917777e-01 7.11278180e-03 -1.06699805e-02 -9.09700709e+01] [-7.12750614e-03 9.99973698e-01 -1.34258723e-03 -5.52924123e+01] [ 1.06601503e-02 1.41852719e-03 9.99942173e-01 1.27908483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61907232899995 meters 0.2385327586817486 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.30, Z:127.91 [[ 9.99982360e-01 4.99568165e-03 3.21302863e-03 -9.09708492e+01] [-4.99441224e-03 9.99987447e-01 -4.02983425e-04 -5.53008950e+01] [-3.21500148e-03 3.86929127e-04 9.99994757e-01 1.27905298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67907232899995 meters 0.23750400878618655 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.30, Z:127.90 [[ 9.99994165e-01 1.17658119e-03 3.20698450e-03 -9.09706669e+01] [-1.16426134e-03 9.99991947e-01 -3.84073397e-03 -5.53034271e+01] [-3.21147760e-03 3.83697779e-03 9.99987482e-01 1.27904957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73907232899995 meters 0.2792982203335401 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.30, Z:127.90 [[ 9.99993862e-01 1.22931675e-03 3.28100126e-03 -9.09706175e+01] [-1.21712089e-03 9.99992353e-01 -3.71652787e-03 -5.53036210e+01] [-3.28554496e-03 3.71251168e-03 9.99987711e-01 1.27904628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79907232899996 meters 0.2676207108202473 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.31, Z:127.90 [[ 9.99992299e-01 -2.70631996e-03 2.84216373e-03 -9.09695903e+01] [ 2.72761263e-03 9.99968044e-01 -7.51474918e-03 -5.53050010e+01] [-2.82173559e-03 7.52244363e-03 9.99967725e-01 1.27904790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85907232899996 meters 0.22401684153712892 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.31, Z:127.90 [[ 9.99987670e-01 -2.76009660e-03 4.12812845e-03 -9.09724871e+01] [ 2.78794182e-03 9.99973300e-01 -6.75476570e-03 -5.53078536e+01] [-4.10937442e-03 6.76619140e-03 9.99968665e-01 1.27904156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91907232899996 meters 0.4481385305708813 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.31, Z:127.90 [[ 9.99969806e-01 -6.47505335e-03 4.29651474e-03 -9.09723418e+01] [ 6.51751128e-03 9.99929330e-01 -9.94264885e-03 -5.53109875e+01] [-4.23183192e-03 9.97035123e-03 9.99941340e-01 1.27903322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97907232899996 meters 0.2576880028078782 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.31, Z:127.90 [[ 9.99967091e-01 -6.56170918e-03 4.77093506e-03 -9.09732994e+01] [ 6.60884828e-03 9.99928829e-01 -9.93277036e-03 -5.53109634e+01] [-4.70541956e-03 9.96397387e-03 9.99939287e-01 1.27902992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03907232899996 meters 0.25310566315095523 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.31, Z:127.90 [[ 9.99961291e-01 -6.54168247e-03 5.88415932e-03 -9.09754847e+01] [ 6.59477733e-03 9.99937304e-01 -9.04967386e-03 -5.53134870e+01] [-5.82459032e-03 9.08812827e-03 9.99941738e-01 1.27901818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09907232899997 meters 0.23056116999231097 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.31, Z:127.90 [[ 9.99959152e-01 -6.52981796e-03 6.24953707e-03 -9.09763470e+01] [ 6.58509127e-03 9.99939022e-01 -8.86505565e-03 -5.53140747e+01] [-6.19126878e-03 8.90584729e-03 9.99941175e-01 1.27901736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15907232899997 meters 0.39826414975108504 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99952021e-01 -6.58634496e-03 7.25094005e-03 -9.09786221e+01] [ 6.64855906e-03 9.99941005e-01 -8.58973738e-03 -5.53151589e+01] [-7.19393731e-03 8.63753355e-03 9.99936818e-01 1.27901452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21907232899997 meters 0.3831566247514479 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99940760e-01 -6.76053747e-03 8.53064378e-03 -9.09814426e+01] [ 6.82910018e-03 9.99944409e-01 -8.03385803e-03 -5.53171377e+01] [-8.47585636e-03 8.09163872e-03 9.99931340e-01 1.27900736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279072329 meters 0.3742273297336809 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99935379e-01 -6.48538522e-03 9.33692828e-03 -9.09827319e+01] [ 6.55139285e-03 9.99953642e-01 -7.05637995e-03 -5.53197135e+01] [-9.29073210e-03 7.11709385e-03 9.99931512e-01 1.27899475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339072329 meters 0.35640882710226734 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99929456e-01 -6.24484291e-03 1.01037385e-02 -9.09840083e+01] [ 6.30838176e-03 9.99960451e-01 -6.26904670e-03 -5.53217912e+01] [-1.00641897e-02 6.33234270e-03 9.99929304e-01 1.27898438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399072329 meters 0.34109424196510896 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.33, Z:127.90 [[ 9.99886140e-01 -1.01976692e-02 1.11227500e-02 -9.09859748e+01] [ 1.03026382e-02 9.99902543e-01 -9.42121323e-03 -5.53252180e+01] [-1.10255916e-02 9.53473420e-03 9.99893757e-01 1.27897608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459072329 meters 0.3348165314609465 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.32, Z:127.90 [[ 9.99915435e-01 -6.29107319e-03 1.13818242e-02 -9.09863484e+01] [ 6.35597598e-03 9.99963696e-01 -5.67516119e-03 -5.53233556e+01] [-1.13457082e-02 5.74702387e-03 9.99919120e-01 1.27897122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519072329 meters 0.3250370595316481 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99924732e-01 -5.85126693e-03 1.07838865e-02 -9.09844389e+01] [ 5.90634575e-03 9.99969640e-01 -5.08276013e-03 -5.53245331e+01] [-1.07538185e-02 5.14607092e-03 9.99928934e-01 1.27896444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579072329 meters 0.31940651338257 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99924944e-01 -6.02203218e-03 1.06696184e-02 -9.09844049e+01] [ 6.08044181e-03 9.99966660e-01 -5.45043278e-03 -5.53235497e+01] [-1.06364400e-02 5.51489969e-03 9.99928223e-01 1.27896860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639072329 meters 0.30776121675012613 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99923838e-01 -5.97743768e-03 1.07976518e-02 -9.09848164e+01] [ 6.03520052e-03 9.99967610e-01 -5.32493434e-03 -5.53240204e+01] [-1.07654726e-02 5.38969477e-03 9.99927525e-01 1.27896976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699072329 meters 0.30436501493766566 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.33, Z:127.90 [[ 9.99935069e-01 -5.48465289e-03 9.98877301e-03 -9.09824474e+01] [ 5.53205803e-03 9.99973538e-01 -4.72441182e-03 -5.53250228e+01] [-9.96259693e-03 4.77936353e-03 9.99938950e-01 1.27896300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759072329 meters 0.29045748941631605 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99937748e-01 -5.72447899e-03 9.57763732e-03 -9.09816882e+01] [ 5.77572350e-03 9.99969108e-01 -5.33135601e-03 -5.53232526e+01] [-9.54682222e-03 5.38634191e-03 9.99939921e-01 1.27896775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819072329 meters 0.2820955943539327 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99941260e-01 -5.79188703e-03 9.16134077e-03 -9.09806528e+01] [ 5.84357802e-03 9.99967102e-01 -5.62562599e-03 -5.53222212e+01] [-9.12845639e-03 5.67883056e-03 9.99942209e-01 1.27896825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879072329 meters 0.26537674058148514 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.32, Z:127.90 [[ 9.99922253e-01 -6.52497280e-03 1.06260020e-02 -9.09844964e+01] [ 6.58850363e-03 9.99960565e-01 -5.95481848e-03 -5.53227965e+01] [-1.05867280e-02 6.02436497e-03 9.99925811e-01 1.27897356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93907232899994 meters 0.24701231194355389 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.33, Z:127.90 [[ 9.99905786e-01 -6.76606326e-03 1.19431821e-02 -9.09877245e+01] [ 6.82430327e-03 9.99964989e-01 -4.84242347e-03 -5.53268953e+01] [-1.19099998e-02 4.92347114e-03 9.99916952e-01 1.27896808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99907232899994 meters 0.24656007034229196 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.33, Z:127.90 [[ 9.99896671e-01 -6.58438324e-03 1.27786209e-02 -9.09890767e+01] [ 6.63770916e-03 9.99969420e-01 -4.13514153e-03 -5.53286771e+01] [-1.27510028e-02 4.21953502e-03 9.99909800e-01 1.27895641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05907232899995 meters 0.22512393668396966 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.33, Z:127.89 [[ 9.99874859e-01 -6.92263298e-03 1.42247576e-02 -9.09922126e+01] [ 6.97510561e-03 9.99969039e-01 -3.64252878e-03 -5.53306009e+01] [-1.41991013e-02 3.74129214e-03 9.99892188e-01 1.27894787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11907232899995 meters 0.2413653435746899 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.34, Z:127.89 [[ 9.99858327e-01 -6.65377961e-03 1.54613527e-02 -9.09947105e+01] [ 6.68369314e-03 9.99975889e-01 -1.88386227e-03 -5.53358053e+01] [-1.54484451e-02 1.98693432e-03 9.99878691e-01 1.27893497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17907232899995 meters 0.2425189755248005 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.34, Z:127.89 [[ 9.99841137e-01 -7.00876360e-03 1.63883795e-02 -9.09963780e+01] [ 7.04419450e-03 9.99972973e-01 -2.10522691e-03 -5.53352107e+01] [-1.63731816e-02 2.22033540e-03 9.99863485e-01 1.27892603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23907232899995 meters 0.3391085395602869 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.33, Z:127.89 [[ 9.99842452e-01 -7.23519794e-03 1.62087329e-02 -9.09962958e+01] [ 7.27826123e-03 9.99970135e-01 -2.59938273e-03 -5.53338974e+01] [-1.61894418e-02 2.71694459e-03 9.99865251e-01 1.27893206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29907232899996 meters 0.22640162315154372 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.34, Z:127.89 [[ 9.99834376e-01 -7.10426510e-03 1.67555995e-02 -9.09972587e+01] [ 7.14057235e-03 9.99972284e-01 -2.10804170e-03 -5.53352177e+01] [-1.67401590e-02 2.22733713e-03 9.99857393e-01 1.27892556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35907232899996 meters 0.2303995965500539 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.34, Z:127.89 [[ 9.99833108e-01 -6.91742740e-03 1.69087136e-02 -9.09973307e+01] [ 6.94726280e-03 9.99974412e-01 -1.70639653e-03 -5.53362458e+01] [-1.68964771e-02 1.82358102e-03 9.99855581e-01 1.27892105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41907232899996 meters 0.31012695548424557 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.32, Z:127.89 [[ 9.99968963e-01 -4.61729500e-03 6.38381221e-03 -9.10034085e+01] [ 4.66717182e-03 9.99958529e-01 -7.82031910e-03 -5.53243211e+01] [-6.34743875e-03 7.84987074e-03 9.99949043e-01 1.27893775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47907232899996 meters 0.2983651913155848 Centerline is valid? [False, False] Translation: X:-91.00, Y:-55.32, Z:127.89 [[ 9.99976107e-01 -4.19306285e-03 5.49586775e-03 -9.10010359e+01] [ 4.23427348e-03 9.99962847e-01 -7.50841171e-03 -5.53246694e+01] [-5.46418032e-03 7.53150332e-03 9.99956709e-01 1.27893552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53907232899996 meters 0.2931485357076691 Centerline is valid? [False, False] Translation: X:-90.99, Y:-55.33, Z:127.90 [[ 9.99985946e-01 5.29034428e-03 3.45619898e-04 -9.09875414e+01] [-5.28878661e-03 9.99976500e-01 -4.36221441e-03 -5.53251839e+01] [-3.68689392e-04 4.36032520e-03 9.99990426e-01 1.27897614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59907232899997 meters 0.28640481548253727 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.33, Z:127.91 [[ 9.99973056e-01 6.18021934e-03 -3.96131227e-03 -9.09751335e+01] [-6.14905862e-03 9.99950433e-01 7.83075473e-03 -5.53259600e+01] [ 4.00951170e-03 -7.80618540e-03 9.99961493e-01 1.27905026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65907232899997 meters 0.28359872735168645 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.32, Z:127.91 [[ 9.99806921e-01 1.74809751e-02 -8.97420931e-03 -9.09588459e+01] [-1.73802908e-02 9.99786474e-01 1.11773066e-02 -5.53226750e+01] [ 9.16768330e-03 -1.10191742e-02 9.99897260e-01 1.27907903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71907232899997 meters 0.3137714600727961 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.32, Z:127.91 [[ 9.99536836e-01 2.67219960e-02 -1.45618705e-02 -9.09453352e+01] [-2.65359117e-02 9.99565579e-01 1.28256975e-02 -5.53198755e+01] [ 1.48982728e-02 -1.24333446e-02 9.99811709e-01 1.27914886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779072329 meters 0.32952338639247575 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.32, Z:127.92 [[ 9.99079566e-01 3.78570281e-02 -2.01709332e-02 -9.09298105e+01] [-3.75267100e-02 9.99159223e-01 1.65103729e-02 -5.53205989e+01] [ 2.07790076e-02 -1.57382274e-02 9.99660213e-01 1.27920000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839072329 meters 0.3263947959944124 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.31, Z:127.92 [[ 9.99043032e-01 3.78563857e-02 -2.19069325e-02 -9.09261437e+01] [-3.75434723e-02 9.99189455e-01 1.45231185e-02 -5.53142572e+01] [ 2.24389687e-02 -1.36867580e-02 9.99654523e-01 1.27921880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899072329 meters 0.3216585775615372 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.31, Z:127.92 [[ 9.98995705e-01 3.81594861e-02 -2.34826634e-02 -9.09224913e+01] [-3.78457211e-02 9.99190168e-01 1.36641445e-02 -5.53107955e+01] [ 2.39850632e-02 -1.27617033e-02 9.99630860e-01 1.27922757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959072329 meters 0.28896205324644797 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.32, Z:127.93 [[ 9.98984897e-01 3.63181421e-02 -2.66489649e-02 -9.09112812e+01] [-3.56755641e-02 9.99070265e-01 2.42045457e-02 -5.53168605e+01] [ 2.75032525e-02 -2.32292587e-02 9.99351776e-01 1.27928675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019072329 meters 0.28223131169622173 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.32, Z:127.93 [[ 9.98938626e-01 3.67353270e-02 -2.77873536e-02 -9.09086709e+01] [-3.60646145e-02 9.99054822e-01 2.42653245e-02 -5.53162013e+01] [ 2.86524842e-02 -2.32374297e-02 9.99319297e-01 1.27929092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079072329 meters 0.2878145877742355 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.32, Z:127.93 [[ 9.98927403e-01 3.67391725e-02 -2.81829105e-02 -9.09081163e+01] [-3.60628676e-02 9.99057889e-01 2.41413473e-02 -5.53159550e+01] [ 2.90432922e-02 -2.30990968e-02 9.99311222e-01 1.27929761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139072329 meters 0.2754414447442009 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.32, Z:127.93 [[ 9.99186356e-01 2.82184561e-02 -2.88156932e-02 -9.09074389e+01] [-2.77634611e-02 9.99485344e-01 1.60697770e-02 -5.53176243e+01] [ 2.92543274e-02 -1.52566786e-02 9.99455561e-01 1.27929992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199072329 meters 0.26268504514387686 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.33, Z:127.93 [[ 9.99679717e-01 2.07901962e-02 -1.44301869e-02 -9.09101963e+01] [-2.05980806e-02 9.99698879e-01 1.33367947e-02 -5.53278410e+01] [ 1.47031162e-02 -1.30352890e-02 9.99806931e-01 1.27925827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259072329 meters 0.23012247516084844 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.34, Z:127.92 [[ 9.99905788e-01 1.37127695e-02 6.12064803e-04 -9.09141160e+01] [-1.37187770e-02 9.99842909e-01 1.12228489e-02 -5.53398213e+01] [-4.58072312e-04 -1.12301884e-02 9.99936835e-01 1.27920757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319072329 meters 0.25949726086710484 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.34, Z:127.92 [[ 9.99984350e-01 5.44265933e-03 1.29513211e-03 -9.09155881e+01] [-5.44748239e-03 9.99978131e-01 3.75007543e-03 -5.53432894e+01] [-1.27469340e-03 -3.75707196e-03 9.99992130e-01 1.27919953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379072329 meters 0.23809025843770126 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.92 [[ 9.99997354e-01 1.42322942e-03 1.80717462e-03 -9.09163539e+01] [-1.42366395e-03 9.99998958e-01 2.39186104e-04 -5.53454531e+01] [-1.80683233e-03 -2.41758281e-04 9.99998338e-01 1.27919089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43907232899994 meters 0.23814454534759769 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.92 [[ 9.99994095e-01 -2.62879670e-03 2.21357417e-03 -9.09171226e+01] [ 2.63632290e-03 9.99990731e-01 -3.40399808e-03 -5.53474169e+01] [-2.20460523e-03 3.40981368e-03 9.99991756e-01 1.27918745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49907232899994 meters 0.22247913730503663 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.92 [[ 9.99969272e-01 -6.94914460e-03 3.62826858e-03 -9.09200710e+01] [ 6.97276851e-03 9.99954306e-01 -6.53953357e-03 -5.53512398e+01] [-3.58265863e-03 6.56463170e-03 9.99972035e-01 1.27917672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55907232899995 meters 0.21779927272829 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.92 [[ 9.99965605e-01 -6.86786260e-03 4.64982030e-03 -9.09222292e+01] [ 6.89404456e-03 9.99960340e-01 -5.63833156e-03 -5.53539295e+01] [-4.61091260e-03 5.67019370e-03 9.99973294e-01 1.27916895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61907232899995 meters 0.21032244896589708 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.92 [[ 9.99968773e-01 -6.65098278e-03 4.26823498e-03 -9.09207042e+01] [ 6.67411501e-03 9.99962993e-01 -5.42845940e-03 -5.53539494e+01] [-4.23197244e-03 5.45677658e-03 9.99976157e-01 1.27916042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67907232899995 meters 0.22621696549058978 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.92 [[ 9.99971526e-01 -6.63690964e-03 3.59146581e-03 -9.09186032e+01] [ 6.65749319e-03 9.99961307e-01 -5.74995799e-03 -5.53522946e+01] [-3.55316489e-03 5.77370442e-03 9.99977019e-01 1.27915466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73907232899995 meters 0.2442036156124246 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.91 [[ 9.99976558e-01 -6.23488843e-03 2.83017664e-03 -9.09161338e+01] [ 6.25021051e-03 9.99965683e-01 -5.43765433e-03 -5.53522172e+01] [-2.79617635e-03 5.45521606e-03 9.99981211e-01 1.27914640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79907232899996 meters 0.22689080628928807 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.92 [[ 9.99971619e-01 -7.14353768e-03 2.39389409e-03 -9.09156769e+01] [ 7.16079318e-03 9.99947870e-01 -7.27879793e-03 -5.53468468e+01] [-2.34177293e-03 7.29573353e-03 9.99970644e-01 1.27915895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85907232899996 meters 0.2787801385161941 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.92 [[ 9.99969956e-01 -7.04496276e-03 3.23354550e-03 -9.09176400e+01] [ 7.06656438e-03 9.99952462e-01 -6.71838553e-03 -5.53487774e+01] [-3.18606101e-03 6.74103374e-03 9.99972203e-01 1.27915721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91907232899996 meters 0.22365710470141495 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.91 [[ 9.99971151e-01 -6.60264310e-03 3.75533405e-03 -9.09182899e+01] [ 6.62399915e-03 9.99961798e-01 -5.70313870e-03 -5.53515291e+01] [-3.71753480e-03 5.72784950e-03 9.99976686e-01 1.27914662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97907232899996 meters 0.2452504070330256 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.35, Z:127.91 [[ 9.99973743e-01 -6.59119648e-03 3.01164211e-03 -9.09161858e+01] [ 6.60942622e-03 9.99959651e-01 -6.08377223e-03 -5.53497817e+01] [-2.97142125e-03 6.10351771e-03 9.99976959e-01 1.27914361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03907232899996 meters 0.22986110924374875 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.35, Z:127.92 [[ 9.99996936e-01 1.90452942e-03 -1.58134891e-03 -9.09043611e+01] [-1.90970547e-03 9.99992803e-01 -3.27815666e-03 -5.53504062e+01] [ 1.57509419e-03 3.28116653e-03 9.99993376e-01 1.27918599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09907232899997 meters 0.2358779981989219 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.35, Z:127.92 [[ 9.99995232e-01 -2.35864056e-03 -1.99312815e-03 -9.09033996e+01] [ 2.34332515e-03 9.99967979e-01 -7.65181723e-03 -5.53501498e+01] [ 2.01111221e-03 7.64711020e-03 9.99968738e-01 1.27918806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15907232899997 meters 0.24871912100837734 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.35, Z:127.92 [[ 9.99996083e-01 -2.13727286e-03 -1.80699431e-03 -9.09038108e+01] [ 2.12421914e-03 9.99971857e-01 -7.19531291e-03 -5.53515307e+01] [ 1.82232180e-03 7.19144628e-03 9.99972481e-01 1.27918713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21907232899997 meters 0.23878745485603514 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.35, Z:127.92 [[ 9.99997838e-01 -1.84669762e-03 -9.55459910e-04 -9.09054457e+01] [ 1.84063071e-03 9.99978384e-01 -6.31211182e-03 -5.53541618e+01] [ 9.67095819e-04 6.31033953e-03 9.99979622e-01 1.27917889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279072329 meters 0.24183256463093933 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.35, Z:127.92 [[ 9.99981665e-01 -5.92983609e-03 -1.22766902e-03 -9.09041655e+01] [ 5.91685985e-03 9.99929277e-01 -1.03165856e-02 -5.53545557e+01] [ 1.28875786e-03 1.03091325e-02 9.99946029e-01 1.27917069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339072329 meters 0.22122124111852162 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.92 [[ 9.99982931e-01 -5.80203615e-03 -6.88376932e-04 -9.09050706e+01] [ 5.79494424e-03 9.99934280e-01 -9.89212962e-03 -5.53556372e+01] [ 7.45726186e-04 9.88797167e-03 9.99950835e-01 1.27916402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399072329 meters 0.23922146467444136 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.36, Z:127.92 [[ 9.99982964e-01 -5.77489512e-03 -8.49854365e-04 -9.09044580e+01] [ 5.76619419e-03 9.99934296e-01 -9.90725678e-03 -5.53553863e+01] [ 9.07011895e-04 9.90218758e-03 9.99950561e-01 1.27916110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459072329 meters 0.23544158296748824 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.35, Z:127.92 [[ 9.99997436e-01 -2.15092029e-03 -7.08841886e-04 -9.09051584e+01] [ 2.14605503e-03 9.99974615e-01 -6.79439958e-03 -5.53519924e+01] [ 7.23438104e-04 6.79286094e-03 9.99976667e-01 1.27916804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519072329 meters 0.22920804745218784 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.35, Z:127.92 [[ 9.99996934e-01 -2.47405173e-03 1.05601942e-04 -9.09067116e+01] [ 2.47473631e-03 9.99971961e-01 -7.06768314e-03 -5.53513213e+01] [-8.81131672e-05 7.06792281e-03 9.99975018e-01 1.27916247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579072329 meters 0.21781818982667284 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.35, Z:127.92 [[ 9.99997454e-01 -2.09837678e-03 8.29359713e-04 -9.09081548e+01] [ 2.10338802e-03 9.99979254e-01 -6.08833279e-03 -5.53542631e+01] [-8.16566890e-04 6.09006176e-03 9.99981122e-01 1.27915644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639072329 meters 0.28416050605720283 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.35, Z:127.92 [[ 9.99996136e-01 -2.19357998e-03 1.70760466e-03 -9.09100959e+01] [ 2.20374159e-03 9.99979740e-01 -5.97183644e-03 -5.53547908e+01] [-1.69447036e-03 5.97557648e-03 9.99980710e-01 1.27915384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699072329 meters 0.24908098339353377 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.91 [[ 9.99994879e-01 -2.05075792e-03 2.45690020e-03 -9.09113875e+01] [ 2.06398231e-03 9.99983332e-01 -5.39216195e-03 -5.53563123e+01] [-2.44580123e-03 5.39720533e-03 9.99982444e-01 1.27914450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759072329 meters 0.24822160682478223 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.91 [[ 9.99995524e-01 -1.89417216e-03 2.31604751e-03 -9.09108030e+01] [ 1.90611918e-03 9.99984834e-01 -5.16708565e-03 -5.53567903e+01] [-2.30622503e-03 5.17147719e-03 9.99983968e-01 1.27914141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819072329 meters 0.3198853964269562 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.91 [[ 9.99977791e-01 -6.16429949e-03 2.53349488e-03 -9.09110976e+01] [ 6.18770827e-03 9.99937254e-01 -9.33814470e-03 -5.53571336e+01] [-2.47577279e-03 9.35361384e-03 9.99953189e-01 1.27913915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879072329 meters 0.31113615635194364 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.91 [[ 9.99976943e-01 -6.03901148e-03 3.10547878e-03 -9.09121346e+01] [ 6.06645578e-03 9.99941946e-01 -8.90523291e-03 -5.53582881e+01] [-3.05151969e-03 8.92386683e-03 9.99955525e-01 1.27913326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93907232899994 meters 0.29318399106943843 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.36, Z:127.91 [[ 9.99966974e-01 -6.70766337e-03 4.58887415e-03 -9.09155323e+01] [ 6.74494123e-03 9.99943984e-01 -8.15686760e-03 -5.53616909e+01] [-4.53390358e-03 8.18754990e-03 9.99956203e-01 1.27912225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99907232899994 meters 0.3068601879718661 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.36, Z:127.91 [[ 9.99962113e-01 -6.73956975e-03 5.50916417e-03 -9.09178307e+01] [ 6.78262694e-03 9.99946306e-01 -7.83459906e-03 -5.53630396e+01] [-5.45606653e-03 7.87166883e-03 9.99954133e-01 1.27912316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05907232899995 meters 0.27512453579438023 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.36, Z:127.91 [[ 9.99965221e-01 -6.61561902e-03 5.07835140e-03 -9.09166614e+01] [ 6.65503223e-03 9.99947560e-01 -7.78376165e-03 -5.53629555e+01] [-5.02659069e-03 7.81728753e-03 9.99956811e-01 1.27912208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11907232899995 meters 0.29756662109471943 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.91 [[ 9.99970212e-01 -6.11246935e-03 4.71298562e-03 -9.09149645e+01] [ 6.14553109e-03 9.99956385e-01 -7.03275465e-03 -5.53644022e+01] [-4.66979257e-03 7.06150896e-03 9.99964163e-01 1.27911012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17907232899995 meters 0.27525552001031783 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.37, Z:127.91 [[ 9.99967676e-01 -5.95539781e-03 5.40182264e-03 -9.09162699e+01] [ 5.99054815e-03 9.99960837e-01 -6.51445510e-03 -5.53658880e+01] [-5.36281491e-03 6.54660440e-03 9.99964190e-01 1.27910349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23907232899995 meters 0.2953316608212899 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.91 [[ 9.99991120e-01 -9.13625821e-04 4.11396820e-03 -9.09125562e+01] [ 9.22097942e-04 9.99997457e-01 -2.05792945e-03 -5.53648176e+01] [-4.11207756e-03 2.06170466e-03 9.99989420e-01 1.27909643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29907232899996 meters 0.2864760124951096 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.91 [[ 9.99996279e-01 -5.88933006e-05 2.72752862e-03 -9.09086004e+01] [ 6.62577428e-05 9.99996353e-01 -2.70003050e-03 -5.53612016e+01] [-2.72735966e-03 2.70020117e-03 9.99992635e-01 1.27909831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35907232899996 meters 0.28730830092090254 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.91 [[ 9.99997521e-01 -4.95820598e-04 2.17076558e-03 -9.09078711e+01] [ 5.04175596e-04 9.99992462e-01 -3.85001788e-03 -5.53580230e+01] [-2.16884030e-03 3.85110278e-03 9.99990233e-01 1.27911091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41907232899996 meters 0.2702056454424458 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.36, Z:127.91 [[ 9.99996306e-01 -3.24846667e-04 2.69844651e-03 -9.09089315e+01] [ 3.33939412e-04 9.99994266e-01 -3.36985493e-03 -5.53594405e+01] [-2.69733635e-03 3.37074360e-03 9.99990681e-01 1.27910717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47907232899996 meters 0.2569511907043541 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.36, Z:127.91 [[ 9.99998434e-01 8.05465824e-04 1.57564531e-03 -9.09048674e+01] [-8.01954547e-04 9.99997197e-01 -2.22783359e-03 -5.53604006e+01] [-1.57743534e-03 2.22656651e-03 9.99996277e-01 1.27908868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53907232899996 meters 0.25350231807894913 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.36, Z:127.91 [[ 9.99985086e-01 5.44145558e-03 4.66273017e-04 -9.09013684e+01] [-5.44229747e-03 9.99983528e-01 1.82373351e-03 -5.53580926e+01] [-4.56341572e-04 -1.82624391e-03 9.99998228e-01 1.27908019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59907232899997 meters 0.32333575444663004 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.36, Z:127.91 [[ 9.99995770e-01 2.86188299e-03 -5.18623050e-04 -9.08984002e+01] [-2.86245454e-03 9.99995293e-01 -1.10468242e-03 -5.53595145e+01] [ 5.15459137e-04 1.10616228e-03 9.99999255e-01 1.27907515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65907232899997 meters 0.2843950789253005 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.36, Z:127.91 [[ 9.99999265e-01 -8.77991530e-04 -8.36225236e-04 -9.08971846e+01] [ 8.74192898e-04 9.99989348e-01 -4.53217894e-03 -5.53616580e+01] [ 8.40195543e-04 4.53144459e-03 9.99989380e-01 1.27906871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71907232899997 meters 0.2689985086254582 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.36, Z:127.91 [[ 9.99998503e-01 -9.34826601e-04 -1.45596086e-03 -9.08956690e+01] [ 9.27665222e-04 9.99987508e-01 -4.91159436e-03 -5.53601915e+01] [ 1.46053416e-03 4.91023636e-03 9.99986878e-01 1.27907054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779072329 meters 0.26616654457252553 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.36, Z:127.91 [[ 9.99997242e-01 -6.33793324e-04 -2.26126654e-03 -9.08933064e+01] [ 6.22720320e-04 9.99987830e-01 -4.89416292e-03 -5.53592533e+01] [ 2.26434091e-03 4.89274129e-03 9.99985467e-01 1.27906771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839072329 meters 0.2847831643283128 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.36, Z:127.91 [[ 9.99996012e-01 -6.75107525e-04 -2.74221289e-03 -9.08919929e+01] [ 6.60901618e-04 9.99986375e-01 -5.17806062e-03 -5.53580528e+01] [ 2.74567127e-03 5.17622764e-03 9.99982834e-01 1.27906723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899072329 meters 0.27042077860505037 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.36, Z:127.91 [[ 9.99995864e-01 -6.14236453e-04 -2.80963536e-03 -9.08914220e+01] [ 5.99888811e-04 9.99986792e-01 -5.10458064e-03 -5.53578790e+01] [ 2.81273367e-03 5.10287406e-03 9.99983024e-01 1.27906207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959072329 meters 0.25762448779480196 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.36, Z:127.91 [[ 9.99986027e-01 -4.70836148e-03 -2.40358539e-03 -9.08921131e+01] [ 4.68689101e-03 9.99949752e-01 -8.86149812e-03 -5.53594924e+01] [ 2.44518775e-03 8.85010896e-03 9.99957847e-01 1.27905769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019072329 meters 0.268368264679127 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.36, Z:127.90 [[ 9.99987202e-01 -4.97321583e-03 -9.28444464e-04 -9.08954023e+01] [ 4.96589432e-03 9.99957806e-01 -7.72821863e-03 -5.53636425e+01] [ 9.66839389e-04 7.72350917e-03 9.99969706e-01 1.27904583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079072329 meters 0.27398969293293207 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.37, Z:127.90 [[ 9.99938964e-01 -1.06581404e-02 2.91063318e-03 -9.09027679e+01] [ 1.06834920e-02 9.99903872e-01 -8.83796654e-03 -5.53696814e+01] [-2.81615710e-03 8.86852283e-03 9.99956708e-01 1.27899272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139072329 meters 0.23737722671692468 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.37, Z:127.90 [[ 9.99832551e-01 -1.63883672e-02 8.14198685e-03 -9.09169930e+01] [ 1.64517883e-02 9.99834357e-01 -7.78445129e-03 -5.53696457e+01] [-8.01306374e-03 7.91709803e-03 9.99936553e-01 1.27895148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199072329 meters 0.24677028365941026 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.37, Z:127.89 [[ 9.99808325e-01 -1.69684516e-02 9.76652293e-03 -9.09207032e+01] [ 1.70376368e-02 9.99830030e-01 -7.04484471e-03 -5.53726789e+01] [-9.64532281e-03 7.20989286e-03 9.99927490e-01 1.27894214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259072329 meters 0.22958644181944057 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.38, Z:127.89 [[ 9.99606234e-01 -2.39634600e-02 1.45989636e-02 -9.09305513e+01] [ 2.40763391e-02 9.99681189e-01 -7.60591863e-03 -5.53777683e+01] [-1.44120452e-02 7.95441327e-03 9.99864501e-01 1.27887062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319072329 meters 0.2389855938812168 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.38, Z:127.89 [[ 9.99552351e-01 -2.49409046e-02 1.65241667e-02 -9.09347199e+01] [ 2.50611185e-02 9.99660648e-01 -7.10832117e-03 -5.53804095e+01] [-1.63412713e-02 7.51925324e-03 9.99838199e-01 1.27885824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379072329 meters 0.28188622088270576 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.38, Z:127.89 [[ 9.99408065e-01 -2.97282985e-02 1.73132249e-02 -9.09374664e+01] [ 2.99393817e-02 9.99478921e-01 -1.20631425e-02 -5.53797304e+01] [-1.69455866e-02 1.25743491e-02 9.99777342e-01 1.27887543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43907232899994 meters 0.24081543407325726 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.38, Z:127.89 [[ 9.99371875e-01 -3.01336082e-02 1.86499664e-02 -9.09408453e+01] [ 3.03578696e-02 9.99468720e-01 -1.18607325e-02 -5.53811336e+01] [-1.82826514e-02 1.24194557e-02 9.99755721e-01 1.27887745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49907232899994 meters 0.24962200123687148 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.39, Z:127.89 [[ 9.99324828e-01 -3.06498237e-02 2.02601983e-02 -9.09444244e+01] [ 3.08644596e-02 9.99469810e-01 -1.03674855e-02 -5.53864227e+01] [-1.99316949e-02 1.09858057e-02 9.99740986e-01 1.27886410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55907232899995 meters 0.27211704843149026 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.88 [[ 9.99191252e-01 -3.18075451e-02 2.45992344e-02 -9.09561217e+01] [ 3.23860761e-02 9.99199391e-01 -2.34887087e-02 -5.53833452e+01] [-2.38324218e-02 2.42663850e-02 9.99421412e-01 1.27878738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61907232899995 meters 0.24960657915917633 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.38, Z:127.87 [[ 9.98775748e-01 -3.97105910e-02 2.94970116e-02 -9.09664204e+01] [ 4.05014936e-02 9.98822206e-01 -2.67176059e-02 -5.53820965e+01] [-2.84012982e-02 2.78795699e-02 9.99207734e-01 1.27873987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67907232899995 meters 0.22887703442985605 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.38, Z:127.87 [[ 9.99077289e-01 -3.13628798e-02 2.93418010e-02 -9.09669298e+01] [ 3.19027820e-02 9.99326770e-01 -1.81168016e-02 -5.53819934e+01] [-2.87538522e-02 1.90361701e-02 9.99405243e-01 1.27874173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73907232899995 meters 0.24431460204838734 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.37, Z:127.88 [[ 9.99454693e-01 -2.88934940e-02 1.59838338e-02 -9.09692605e+01] [ 2.91996308e-02 9.99387971e-01 -1.92630696e-02 -5.53652386e+01] [-1.54174738e-02 1.97192874e-02 9.99686677e-01 1.27879284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79907232899996 meters 0.23507203814847474 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.37, Z:127.88 [[ 9.99537606e-01 -2.51228957e-02 1.71293457e-02 -9.09722050e+01] [ 2.53778162e-02 9.99567914e-01 -1.48307568e-02 -5.53662520e+01] [-1.67493528e-02 1.52586046e-02 9.99743284e-01 1.27878899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85907232899996 meters 0.23433731002006333 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.37, Z:127.88 [[ 9.99531174e-01 -2.48379199e-02 1.79027819e-02 -9.09733818e+01] [ 2.50890401e-02 9.99588003e-01 -1.39414629e-02 -5.53685935e+01] [-1.75491291e-02 1.43840904e-02 9.99742530e-01 1.27877674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91907232899996 meters 0.22935735352851258 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.37, Z:127.88 [[ 9.99498747e-01 -2.51286610e-02 1.92563052e-02 -9.09765916e+01] [ 2.53900861e-02 9.99587081e-01 -1.34540003e-02 -5.53710153e+01] [-1.89102729e-02 1.39361757e-02 9.99724054e-01 1.27877385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97907232899996 meters 0.31411285758471713 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.37, Z:127.88 [[ 9.99555291e-01 -2.18216127e-02 2.03233054e-02 -9.09798194e+01] [ 2.20246541e-02 9.99709190e-01 -9.82088292e-03 -5.53704191e+01] [-2.01030877e-02 1.02641293e-02 9.99745224e-01 1.27877949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03907232899996 meters 0.23947615997405633 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.37, Z:127.88 [[ 9.99538572e-01 -2.21582311e-02 2.07763464e-02 -9.09804568e+01] [ 2.23756960e-02 9.99696640e-01 -1.02935318e-02 -5.53688624e+01] [-2.05419572e-02 1.07536673e-02 9.99731157e-01 1.27877297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09907232899997 meters 0.29278958492864215 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.35, Z:127.88 [[ 9.99911361e-01 -1.16483707e-02 6.44865854e-03 -9.09790961e+01] [ 1.16703484e-02 9.99926183e-01 -3.38102815e-03 -5.53507552e+01] [-6.40879905e-03 3.45598655e-03 9.99973491e-01 1.27881327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15907232899997 meters 0.2370410199333739 Centerline is valid? [False, False] Translation: X:-90.98, Y:-55.35, Z:127.88 [[ 9.99953992e-01 -8.02185982e-03 5.25958064e-03 -9.09771260e+01] [ 8.02710067e-03 9.99967306e-01 -9.76086102e-04 -5.53451931e+01] [-5.25157866e-03 1.01826038e-03 9.99985692e-01 1.27882898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21907232899997 meters 0.2823799528064345 Centerline is valid? [False, False] Translation: X:-90.97, Y:-55.34, Z:127.89 [[ 9.99987804e-01 -4.85395172e-03 9.11863883e-04 -9.09672402e+01] [ 4.85636920e-03 9.99984649e-01 -2.66790231e-03 -5.53448977e+01] [-8.98900015e-04 2.67229812e-03 9.99996025e-01 1.27887401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279072329 meters 0.2784308419064955 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.35, Z:127.89 [[ 9.99993674e-01 -1.01256975e-03 -3.40976186e-03 -9.09577441e+01] [ 1.00185718e-03 9.99994562e-01 -3.14198065e-03 -5.53479820e+01] [ 3.41292480e-03 3.13854468e-03 9.99989251e-01 1.27892036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339072329 meters 0.2774412685752442 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.35, Z:127.89 [[ 9.99985322e-01 3.43718096e-03 -4.18825803e-03 -9.09558072e+01] [-3.43288023e-03 9.99993573e-01 1.03361090e-03 -5.53471796e+01] [ 4.19178383e-03 -1.01921794e-03 9.99990695e-01 1.27892132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399072329 meters 0.31600790908233467 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.35, Z:127.89 [[ 9.99973890e-01 4.68180066e-03 -5.50461404e-03 -9.09515718e+01] [-4.67215001e-03 9.99987528e-01 1.76474621e-03 -5.53469430e+01] [ 5.51280757e-03 -1.73898174e-03 9.99983292e-01 1.27891089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459072329 meters 0.2575407805015527 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.35, Z:127.89 [[ 9.99980750e-01 7.96452895e-04 -6.15348922e-03 -9.09496929e+01] [-8.09452537e-04 9.99997446e-01 -2.11036275e-03 -5.53476575e+01] [ 6.15179270e-03 2.11530308e-03 9.99978840e-01 1.27890822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519072329 meters 0.24895376179003165 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.35, Z:127.89 [[ 9.99966565e-01 2.99550578e-03 -7.60898172e-03 -9.09459158e+01] [-2.99768370e-03 9.99995469e-01 -2.74842035e-04 -5.53498162e+01] [ 7.60812395e-03 2.97642166e-04 9.99971014e-01 1.27890704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579072329 meters 0.26844107854083654 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.35, Z:127.89 [[ 9.99968606e-01 2.74704763e-03 -7.43237137e-03 -9.09468212e+01] [-2.75220411e-03 9.99995979e-01 -6.83647793e-04 -5.53489174e+01] [ 7.43046347e-03 7.04081733e-04 9.99972146e-01 1.27891439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639072329 meters 0.26021246246903895 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.35, Z:127.89 [[ 9.99968663e-01 1.38036328e-03 -7.79531632e-03 -9.09432264e+01] [-1.39230675e-03 9.99997865e-01 -1.52691522e-03 -5.53521451e+01] [ 7.79319197e-03 1.53772084e-03 9.99968450e-01 1.27888232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699072329 meters 0.2514499559046001 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.35, Z:127.89 [[ 9.99965869e-01 -2.68477240e-03 -7.81358648e-03 -9.09425240e+01] [ 2.64334197e-03 9.99982420e-01 -5.30786331e-03 -5.53532686e+01] [ 7.82769952e-03 5.28702817e-03 9.99955386e-01 1.27887347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759072329 meters 0.25593392053904096 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.89 [[ 9.99972603e-01 -2.23293489e-03 -7.05743864e-03 -9.09432973e+01] [ 2.20397049e-03 9.99989128e-01 -4.10921059e-03 -5.53563467e+01] [ 7.06653752e-03 4.09354362e-03 9.99966653e-01 1.27885551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819072329 meters 0.24503513904372273 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.88 [[ 9.99973829e-01 -1.99678782e-03 -6.95369276e-03 -9.09431134e+01] [ 1.97137890e-03 9.99991363e-01 -3.65895665e-03 -5.53574148e+01] [ 6.96093886e-03 3.64515253e-03 9.99969129e-01 1.27884901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879072329 meters 0.23204282234970783 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.89 [[ 9.99958057e-01 -6.24795766e-03 -6.69678316e-03 -9.09438617e+01] [ 6.19612396e-03 9.99950902e-01 -7.73309051e-03 -5.53583367e+01] [ 6.74477038e-03 7.69127206e-03 9.99947675e-01 1.27885119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93907232899994 meters 0.2622521007775298 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.36, Z:127.88 [[ 9.99961548e-01 -6.28196104e-03 -6.11883290e-03 -9.09450938e+01] [ 6.23557450e-03 9.99951900e-01 -7.57074825e-03 -5.53588604e+01] [ 6.16609773e-03 7.53230270e-03 9.99952621e-01 1.27884779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99907232899994 meters 0.258840593877892 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.36, Z:127.88 [[ 9.99964655e-01 -6.29374472e-03 -5.57464363e-03 -9.09463583e+01] [ 6.25273368e-03 9.99953485e-01 -7.34383787e-03 -5.53595891e+01] [ 5.62060457e-03 7.30872154e-03 9.99957495e-01 1.27884592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05907232899995 meters 0.26695276361236164 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.36, Z:127.88 [[ 9.99966749e-01 -6.12443429e-03 -5.38438537e-03 -9.09462697e+01] [ 6.08681865e-03 9.99957150e-01 -6.97490857e-03 -5.53603736e+01] [ 5.42687202e-03 6.94190287e-03 9.99961179e-01 1.27883758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11907232899995 meters 0.2443763064198019 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.36, Z:127.88 [[ 9.99968945e-01 -6.25901120e-03 -4.78895658e-03 -9.09475436e+01] [ 6.22540391e-03 9.99956116e-01 -7.00068034e-03 -5.53602659e+01] [ 4.83256376e-03 6.97064974e-03 9.99964028e-01 1.27883468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17907232899995 meters 0.25505811644663917 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.36, Z:127.88 [[ 9.99971387e-01 -5.92615466e-03 -4.70163415e-03 -9.09477429e+01] [ 5.89594663e-03 9.99962055e-01 -6.41305821e-03 -5.53620567e+01] [ 4.73946051e-03 6.38515413e-03 9.99968383e-01 1.27883441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23907232899995 meters 0.25938718315492015 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.36, Z:127.88 [[ 9.99983279e-01 -1.81806453e-03 -5.48965542e-03 -9.09457488e+01] [ 1.80140156e-03 9.99993760e-01 -3.03876140e-03 -5.53588564e+01] [ 5.49514583e-03 3.02882152e-03 9.99980315e-01 1.27883536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29907232899996 meters 0.25888524494001813 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.88 [[ 9.99975048e-01 2.63102279e-03 -6.55602964e-03 -9.09431701e+01] [-2.62894565e-03 9.99996491e-01 3.25427502e-04 -5.53553827e+01] [ 6.55686285e-03 -3.08183936e-04 9.99978456e-01 1.27884210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35907232899996 meters 0.23184782043670832 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.35, Z:127.88 [[ 9.99973612e-01 2.49888899e-03 -6.82135291e-03 -9.09426908e+01] [-2.49923514e-03 9.99996876e-01 -4.22208052e-05 -5.53542534e+01] [ 6.82122610e-03 5.92678560e-05 9.99976733e-01 1.27884598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41907232899996 meters 0.2755309241027755 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.88 [[ 9.99971650e-01 -1.15168846e-03 -7.44128231e-03 -9.09412463e+01] [ 1.12586528e-03 9.99993334e-01 -3.47351758e-03 -5.53562277e+01] [ 7.44523312e-03 3.46504123e-03 9.99966280e-01 1.27884782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47907232899996 meters 0.2778695012412462 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.35, Z:127.88 [[ 9.99968329e-01 -1.44236203e-03 -7.82694359e-03 -9.09403371e+01] [ 1.40971054e-03 9.99990289e-01 -4.17559284e-03 -5.53539434e+01] [ 7.83289030e-03 4.16442687e-03 9.99960651e-01 1.27885000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53907232899996 meters 0.26802830036437797 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.35, Z:127.89 [[ 9.99963850e-01 -1.33240507e-03 -8.39787293e-03 -9.09389644e+01] [ 1.29652526e-03 9.99990015e-01 -4.27648407e-03 -5.53534431e+01] [ 8.40348709e-03 4.26544142e-03 9.99955593e-01 1.27885191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59907232899997 meters 0.2697651569672426 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.35, Z:127.89 [[ 9.99963111e-01 -1.24229568e-03 -8.49896320e-03 -9.09386192e+01] [ 1.20672176e-03 9.99990496e-01 -4.18952547e-03 -5.53535497e+01] [ 8.50408706e-03 4.17911504e-03 9.99955107e-01 1.27885149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65907232899997 meters 0.25257828259559745 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.88 [[ 9.99951992e-01 -5.16167987e-03 -8.32885831e-03 -9.09385164e+01] [ 5.09758176e-03 9.99957370e-01 -7.69886925e-03 -5.53557466e+01] [ 8.36824235e-03 7.65604261e-03 9.99935677e-01 1.27884477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71907232899997 meters 0.26948588460426787 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.88 [[ 9.99931606e-01 -8.98128711e-03 -7.49130052e-03 -9.09398328e+01] [ 8.90195191e-03 9.99904645e-01 -1.05572629e-02 -5.53599543e+01] [ 7.58540400e-03 1.04898536e-02 9.99916209e-01 1.27883297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779072329 meters 0.25427471815560637 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.37, Z:127.88 [[ 9.99898239e-01 -1.28313331e-02 -6.23444689e-03 -9.09414535e+01] [ 1.27506654e-02 9.99836637e-01 -1.28109278e-02 -5.53654024e+01] [ 6.39780969e-03 1.27301308e-02 9.99898501e-01 1.27880825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839072329 meters 0.24908413235794702 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.37, Z:127.88 [[ 9.99944263e-01 -8.43119202e-03 -6.35497988e-03 -9.09412507e+01] [ 8.37734290e-03 9.99929181e-01 -8.45304954e-03 -5.53654273e+01] [ 6.42579911e-03 8.39934055e-03 9.99944079e-01 1.27880833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899072329 meters 0.23095539102524937 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.88 [[ 9.99945311e-01 -8.83940597e-03 -5.58928220e-03 -9.09422973e+01] [ 8.78998611e-03 9.99922597e-01 -8.80549110e-03 -5.53642895e+01] [ 5.66668489e-03 8.75587983e-03 9.99945610e-01 1.27879656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959072329 meters 0.23134045645917678 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.88 [[ 9.99940164e-01 -8.84343881e-03 -6.43908171e-03 -9.09402291e+01] [ 8.78192455e-03 9.99916123e-01 -9.51967687e-03 -5.53615873e+01] [ 6.52272830e-03 9.46255972e-03 9.99933955e-01 1.27880142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019072329 meters 0.3135164050728329 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.88 [[ 9.99963455e-01 -5.14254490e-03 -6.82957018e-03 -9.09395495e+01] [ 5.09853898e-03 9.99966231e-01 -6.44529415e-03 -5.53577103e+01] [ 6.86248476e-03 6.41023777e-03 9.99955907e-01 1.27880602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079072329 meters 0.2668689020616602 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.35, Z:127.88 [[ 9.99973287e-01 -1.21775547e-03 -7.20707649e-03 -9.09388996e+01] [ 1.19593772e-03 9.99994692e-01 -3.03080338e-03 -5.53549109e+01] [ 7.21072901e-03 3.02210321e-03 9.99969436e-01 1.27881069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139072329 meters 0.2748704632903752 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.35, Z:127.88 [[ 9.99967699e-01 -1.08715000e-03 -7.96365078e-03 -9.09373337e+01] [ 1.05931426e-03 9.99993318e-01 -3.49873401e-03 -5.53532002e+01] [ 7.96740121e-03 3.49018498e-03 9.99962169e-01 1.27881900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199072329 meters 0.29817329751747895 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.35, Z:127.88 [[ 9.99961420e-01 -2.68868326e-04 -8.77988647e-03 -9.09343972e+01] [ 2.46039527e-04 9.99996587e-01 -2.60110123e-03 -5.53544391e+01] [ 8.78055586e-03 2.59884068e-03 9.99958073e-01 1.27880734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259072329 meters 0.28795247318348444 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.35, Z:127.88 [[ 9.99945327e-01 -4.04204976e-03 -9.64390512e-03 -9.09319333e+01] [ 3.98044692e-03 9.99971608e-01 -6.39841473e-03 -5.53549505e+01] [ 9.66949402e-03 6.35967785e-03 9.99933025e-01 1.27880477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319072329 meters 0.31013753256460935 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.36, Z:127.88 [[ 9.99944277e-01 -3.97740959e-03 -9.77867798e-03 -9.09321329e+01] [ 3.91533986e-03 9.99972120e-01 -6.35842691e-03 -5.53553348e+01] [ 9.80369541e-03 6.31978576e-03 9.99931972e-01 1.27881278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379072329 meters 0.2947485987399596 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.36, Z:127.88 [[ 9.99924774e-01 -7.96235716e-03 -9.32989759e-03 -9.09330569e+01] [ 7.87024525e-03 9.99920335e-01 -9.86823633e-03 -5.53578540e+01] [ 9.40772875e-03 9.79406540e-03 9.99907781e-01 1.27881018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43907232899994 meters 0.28798597049273783 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.36, Z:127.88 [[ 9.99933846e-01 -7.60650995e-03 -8.62811176e-03 -9.09341102e+01] [ 7.53008956e-03 9.99932438e-01 -8.85531246e-03 -5.53606242e+01] [ 8.69488685e-03 8.78975619e-03 9.99923567e-01 1.27879787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49907232899994 meters 0.28729535916713045 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.36, Z:127.88 [[ 9.99901451e-01 -1.11967184e-02 -8.46889995e-03 -9.09335081e+01] [ 1.10962542e-02 9.99868594e-01 -1.18181149e-02 -5.53642264e+01] [ 8.60011119e-03 1.17229772e-02 9.99894299e-01 1.27878450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55907232899995 meters 0.2614037024020255 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.36, Z:127.88 [[ 9.99902028e-01 -1.19538620e-02 -7.28277971e-03 -9.09366251e+01] [ 1.18636751e-02 9.99853929e-01 -1.23034140e-02 -5.53641310e+01] [ 7.42878922e-03 1.22158081e-02 9.99897788e-01 1.27878732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61907232899995 meters 0.259332043235932 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.37, Z:127.88 [[ 9.99950385e-01 -7.55510146e-03 -6.49207554e-03 -9.09375349e+01] [ 7.50656836e-03 9.99943940e-01 -7.46787167e-03 -5.53653411e+01] [ 6.54813212e-03 7.41876794e-03 9.99951041e-01 1.27876888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67907232899995 meters 0.24425101744296368 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.37, Z:127.88 [[ 9.99952541e-01 -7.75068634e-03 -5.90276413e-03 -9.09391923e+01] [ 7.70552147e-03 9.99941155e-01 -7.63616482e-03 -5.53651078e+01] [ 5.96160230e-03 7.59031854e-03 9.99953422e-01 1.27877216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73907232899995 meters 0.2611616967322624 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.37, Z:127.88 [[ 9.99954285e-01 -7.91682990e-03 -5.36209968e-03 -9.09412150e+01] [ 7.87510393e-03 9.99938892e-01 -7.75856480e-03 -5.53654125e+01] [ 5.42319525e-03 7.71598303e-03 9.99955525e-01 1.27878264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79907232899996 meters 0.25344001017810613 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.37, Z:127.88 [[ 9.99958558e-01 -7.85887179e-03 -4.59578884e-03 -9.09426524e+01] [ 7.82502814e-03 9.99942473e-01 -7.33624642e-03 -5.53666384e+01] [ 4.65317908e-03 7.29998021e-03 9.99962528e-01 1.27877525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85907232899996 meters 0.2294494018096981 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.37, Z:127.88 [[ 9.99965559e-01 -7.65520790e-03 -3.20609554e-03 -9.09449393e+01] [ 7.63664429e-03 9.99954235e-01 -5.76285968e-03 -5.53711280e+01] [ 3.25006470e-03 5.73817739e-03 9.99978255e-01 1.27875301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91907232899996 meters 0.2194697504569485 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.37, Z:127.87 [[ 9.99968339e-01 -7.43382392e-03 -2.83875044e-03 -9.09455177e+01] [ 7.41884641e-03 9.99958695e-01 -5.25067130e-03 -5.53725645e+01] [ 2.87766575e-03 5.22944481e-03 9.99982186e-01 1.27874758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97907232899996 meters 0.244534040296163 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.38, Z:127.87 [[ 9.99972413e-01 -7.16774236e-03 -1.94837894e-03 -9.09474461e+01] [ 7.15920067e-03 9.99964884e-01 -4.35618158e-03 -5.53754324e+01] [ 1.97953450e-03 4.34211257e-03 9.99988614e-01 1.27874250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03907232899996 meters 0.2404748468009746 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.38, Z:127.87 [[ 9.99974299e-01 -7.12827872e-03 -7.67331475e-04 -9.09495439e+01] [ 7.12542380e-03 9.99967912e-01 -3.66114301e-03 -5.53775336e+01] [ 7.93404501e-04 3.65558135e-03 9.99993004e-01 1.27872887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09907232899997 meters 0.21330091109791083 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.38, Z:127.87 [[ 9.99932445e-01 -1.16187379e-02 3.32590817e-04 -9.09522346e+01] [ 1.16209341e-02 9.99903479e-01 -7.61488002e-03 -5.53790883e+01] [-2.44083420e-04 7.61823061e-03 9.99970951e-01 1.27872898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15907232899997 meters 0.2505924951640146 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.38, Z:127.87 [[ 9.99932910e-01 -1.15647422e-02 6.58041020e-04 -9.09530725e+01] [ 1.15693007e-02 9.99905646e-01 -7.40609829e-03 -5.53798024e+01] [-5.72329314e-04 7.41321449e-03 9.99972358e-01 1.27872920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21907232899997 meters 0.23718053332457517 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.38, Z:127.87 [[ 9.99931949e-01 -1.16026773e-02 1.21432363e-03 -9.09541974e+01] [ 1.16112174e-02 9.99906091e-01 -7.27934255e-03 -5.53801400e+01] [-1.12974973e-03 7.29294697e-03 9.99972768e-01 1.27872560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279072329 meters 0.25024988529700415 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.87 [[ 9.99932699e-01 -1.13757982e-02 2.27789451e-03 -9.09560369e+01] [ 1.13895897e-02 9.99916310e-01 -6.13593432e-03 -5.53834338e+01] [-2.20790273e-03 6.16146565e-03 9.99978581e-01 1.27871124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339072329 meters 0.2410562116857362 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.87 [[ 9.99932080e-01 -1.14760881e-02 2.03321229e-03 -9.09553772e+01] [ 1.14888485e-02 9.99913650e-01 -6.37958379e-03 -5.53825447e+01] [-1.95982405e-03 6.40250976e-03 9.99977583e-01 1.27871112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399072329 meters 0.23785348849836024 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.87 [[ 9.99929846e-01 -1.16473212e-02 2.15495191e-03 -9.09552758e+01] [ 1.16614012e-02 9.99909951e-01 -6.64084420e-03 -5.53815173e+01] [-2.07740981e-03 6.66550807e-03 9.99975627e-01 1.27870563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459072329 meters 0.25659599134979033 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.87 [[ 9.99926367e-01 -1.16952156e-02 3.23765272e-03 -9.09572440e+01] [ 1.17146425e-02 9.99913092e-01 -6.04781303e-03 -5.53832779e+01] [-3.16664086e-03 6.08529565e-03 9.99976471e-01 1.27869368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519072329 meters 0.2696448195341677 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.87 [[ 9.99922636e-01 -1.19315163e-02 3.51581447e-03 -9.09582891e+01] [ 1.19538611e-02 9.99908039e-01 -6.40456746e-03 -5.53824102e+01] [-3.43907495e-03 6.44609953e-03 9.99973310e-01 1.27869954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579072329 meters 0.439214899873384 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.87 [[ 9.99960425e-01 -7.81691525e-03 4.24791285e-03 -9.09606098e+01] [ 7.82599319e-03 9.99967119e-01 -2.12463211e-03 -5.53829002e+01] [-4.23116510e-03 2.15779216e-03 9.99988721e-01 1.27870704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639072329 meters 0.42687960436717426 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.87 [[ 9.99961591e-01 -7.81126155e-03 3.97510997e-03 -9.09602110e+01] [ 7.82029903e-03 9.99966860e-01 -2.26307508e-03 -5.53825239e+01] [-3.95730076e-03 2.29407471e-03 9.99989538e-01 1.27871198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699072329 meters 0.23384597745140495 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.87 [[ 9.99960439e-01 -7.73732975e-03 4.38798603e-03 -9.09609286e+01] [ 7.74617625e-03 9.99967993e-01 -2.00267315e-03 -5.53832385e+01] [-4.37235024e-03 2.03658403e-03 9.99988367e-01 1.27870715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759072329 meters 0.2606519214778552 Centerline is valid? [False, False] Translation: X:-90.96, Y:-55.38, Z:127.87 [[ 9.99961607e-01 -7.69317598e-03 4.19511756e-03 -9.09601610e+01] [ 7.70157426e-03 9.99968363e-01 -1.98944938e-03 -5.53830513e+01] [-4.17967966e-03 2.02168201e-03 9.99989221e-01 1.27870340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819072329 meters 0.3988177800562457 Centerline is valid? [False, False] Translation: X:-90.95, Y:-55.39, Z:127.87 [[ 9.99999700e-01 -4.86943730e-04 -6.03173278e-04 -9.09471442e+01] [ 4.87362541e-04 9.99999640e-01 6.94394189e-04 -5.53886695e+01] [ 6.02834930e-04 -6.94687945e-04 9.99999577e-01 1.27872279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879072329 meters 0.39790001288790317 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.39, Z:127.87 [[ 9.99997855e-01 7.24623529e-04 -1.94030698e-03 -9.09434454e+01] [-7.21491834e-04 9.99998437e-01 1.61423419e-03 -5.53895697e+01] [ 1.94147366e-03 -1.61283081e-03 9.99996815e-01 1.27871832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93907232899994 meters 0.3840759701964553 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.39, Z:127.87 [[ 9.99994877e-01 1.19205880e-03 -2.97072166e-03 -9.09409847e+01] [-1.18698320e-03 9.99997834e-01 1.70971973e-03 -5.53891653e+01] [ 2.97275332e-03 -1.70618478e-03 9.99994126e-01 1.27872188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99907232899994 meters 0.36479851188375656 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.39, Z:127.87 [[ 9.99991327e-01 1.20786863e-03 -3.98581071e-03 -9.09387078e+01] [-1.20335757e-03 9.99998633e-01 1.13398314e-03 -5.53870035e+01] [ 3.98717497e-03 -1.12917695e-03 9.99991414e-01 1.27872848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05907232899995 meters 0.3663466234447254 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.39, Z:127.87 [[ 9.99990510e-01 1.02458638e-03 -4.23441768e-03 -9.09380200e+01] [-1.02152936e-03 9.99999216e-01 7.24046507e-04 -5.53856005e+01] [ 4.23515621e-03 -7.19714054e-04 9.99990773e-01 1.27872856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11907232899995 meters 0.3468397464981817 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.39, Z:127.87 [[ 9.99989673e-01 1.33094470e-03 -4.34544727e-03 -9.09371104e+01] [-1.32580707e-03 9.99998419e-01 1.18496713e-03 -5.53864840e+01] [ 4.34701752e-03 -1.17919367e-03 9.99989856e-01 1.27871964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17907232899995 meters 0.33905015125607013 Centerline is valid? [False, False] Translation: X:-90.94, Y:-55.39, Z:127.87 [[ 9.99986449e-01 1.32185899e-03 -5.03524763e-03 -9.09358158e+01] [-1.31753003e-03 9.99998760e-01 8.62951229e-04 -5.53854558e+01] [ 5.03638208e-03 -8.56305446e-04 9.99986951e-01 1.27872727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23907232899995 meters 0.3404759312704146 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.38, Z:127.87 [[ 9.99978802e-01 2.27722223e-03 -6.10004553e-03 -9.09317289e+01] [-2.27024033e-03 9.99996760e-01 1.15124622e-03 -5.53836379e+01] [ 6.10264741e-03 -1.13737324e-03 9.99980732e-01 1.27871220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29907232899996 meters 0.3264965048660616 Centerline is valid? [False, False] Translation: X:-90.93, Y:-55.38, Z:127.87 [[ 9.99948484e-01 6.72804997e-03 -7.60013261e-03 -9.09278327e+01] [-6.69870690e-03 9.99970037e-01 3.87974364e-03 -5.53776764e+01] [ 7.62600800e-03 -3.82863272e-03 9.99963592e-01 1.27871792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35907232899996 meters 0.3143157451036154 Centerline is valid? [False, False] Translation: X:-90.92, Y:-55.38, Z:127.87 [[ 9.99955541e-01 3.77665419e-03 -8.64013745e-03 -9.09244418e+01] [-3.77284778e-03 9.99992778e-01 4.56806981e-04 -5.53776939e+01] [ 8.64180026e-03 -4.24188748e-04 9.99962569e-01 1.27871181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41907232899996 meters 0.31335441477287806 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.38, Z:127.88 [[ 9.99840544e-01 1.15568311e-02 -1.36134427e-02 -9.09135019e+01] [-1.15273260e-02 9.99931041e-01 2.24383142e-03 -5.53753428e+01] [ 1.36384355e-02 -2.08654704e-03 9.99904815e-01 1.27877227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47907232899996 meters 0.30498290514274234 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.37, Z:127.88 [[ 9.99722742e-01 1.71294131e-02 -1.61561641e-02 -9.09074407e+01] [-1.70415960e-02 9.99839336e-01 5.55762275e-03 -5.53712315e+01] [ 1.62487672e-02 -5.28075504e-03 9.99854035e-01 1.27878620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53907232899996 meters 0.25731589897645596 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.37, Z:127.88 [[ 9.99446833e-01 2.54762934e-02 -2.13772381e-02 -9.08953256e+01] [-2.53309527e-02 9.99654314e-01 7.04235537e-03 -5.53667705e+01] [ 2.15492614e-02 -6.49695397e-03 9.99746677e-01 1.27884918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59907232899997 meters 0.23413470691303018 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.37, Z:127.89 [[ 9.99324748e-01 2.61963575e-02 -2.57643040e-02 -9.08853610e+01] [-2.57345434e-02 9.99505016e-01 1.80957568e-02 -5.53677605e+01] [ 2.62255940e-02 -1.74205050e-02 9.99504249e-01 1.27893819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65907232899997 meters 0.23439430668418554 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.36, Z:127.90 [[ 9.99277573e-01 2.64979414e-02 -2.72431778e-02 -9.08822420e+01] [-2.60371598e-02 9.99514170e-01 1.71315573e-02 -5.53641563e+01] [ 2.76838932e-02 -1.64098460e-02 9.99482025e-01 1.27895107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71907232899997 meters 0.23311721437514815 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.36, Z:127.89 [[ 9.99195442e-01 3.72202662e-02 -1.49372072e-02 -9.08833118e+01] [-3.70470904e-02 9.99244938e-01 1.17075936e-02 -5.53592397e+01] [ 1.53616884e-02 -1.11447941e-02 9.99819890e-01 1.27890692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779072329 meters 0.244248373980179 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.36, Z:127.90 [[ 9.99081660e-01 3.83149713e-02 -1.91781079e-02 -9.08720481e+01] [-3.78603455e-02 9.99005917e-01 2.35323667e-02 -5.53598629e+01] [ 2.00606852e-02 -2.27846662e-02 9.99539108e-01 1.27897982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839072329 meters 0.25450899447562897 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.35, Z:127.90 [[ 9.99063661e-01 3.81651001e-02 -2.03771270e-02 -9.08695136e+01] [-3.77155233e-02 9.99046110e-01 2.20092850e-02 -5.53549063e+01] [ 2.11976761e-02 -2.12201428e-02 9.99550081e-01 1.27899246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899072329 meters 0.2916868119496335 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.35, Z:127.90 [[ 9.99039905e-01 3.81446630e-02 -2.15465374e-02 -9.08669326e+01] [-3.76909239e-02 9.99066948e-01 2.10862173e-02 -5.53516447e+01] [ 2.23307600e-02 -2.02538636e-02 9.99545456e-01 1.27900039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959072329 meters 0.2911265526930794 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.35, Z:127.90 [[ 9.99192990e-01 3.35564125e-02 -2.20756851e-02 -9.08661304e+01] [-3.31990490e-02 9.99314848e-01 1.63602718e-02 -5.53503945e+01] [ 2.26095519e-02 -1.56141771e-02 9.99622432e-01 1.27900285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019072329 meters 0.29061608432612807 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.35, Z:127.90 [[ 9.99423458e-01 3.08352271e-02 -1.42105736e-02 -9.08623052e+01] [-3.04775312e-02 9.99229343e-01 2.47353926e-02 -5.53542085e+01] [ 1.49623436e-02 -2.42880284e-02 9.99593027e-01 1.27903320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079072329 meters 0.3485381536417671 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.35, Z:127.90 [[ 9.99540684e-01 2.64002286e-02 -1.48811677e-02 -9.08613624e+01] [-2.60976116e-02 9.99455782e-01 2.01756088e-02 -5.53534800e+01] [ 1.54057098e-02 -1.97779789e-02 9.99685698e-01 1.27903996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139072329 meters 0.33283048948710736 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.35, Z:127.90 [[ 9.99725508e-01 1.77743204e-02 -1.52637679e-02 -9.08609938e+01] [-1.75954439e-02 9.99775856e-01 1.17744370e-02 -5.53541784e+01] [ 1.54696292e-02 -1.15026322e-02 9.99814173e-01 1.27904186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199072329 meters 0.25537993646064266 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.36, Z:127.90 [[ 9.99883170e-01 1.52439989e-02 -1.12569796e-03 -9.08617231e+01] [-1.52292682e-02 9.99810765e-01 1.21038697e-02 -5.53612049e+01] [ 1.30999632e-03 -1.20853120e-02 9.99926112e-01 1.27899984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259072329 meters 0.3195845518029507 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.36, Z:127.90 [[ 9.99975402e-01 6.82761968e-03 -1.60623590e-03 -9.08610203e+01] [-6.82141253e-03 9.99969366e-01 3.83866076e-03 -5.53623340e+01] [ 1.63239561e-03 -3.82760953e-03 9.99991342e-01 1.27900356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319072329 meters 0.29713300510338386 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.36, Z:127.90 [[ 9.99995083e-01 2.87716746e-03 -1.24747906e-03 -9.08615061e+01] [-2.87671092e-03 9.99995795e-01 3.67611816e-04 -5.53646675e+01] [ 1.24853150e-03 -3.64021372e-04 9.99999154e-01 1.27899655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379072329 meters 0.2891787974128497 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.37, Z:127.90 [[ 9.99997971e-01 -5.22661458e-04 -1.94529037e-03 -9.08588014e+01] [ 5.17329960e-04 9.99996112e-01 -2.74021534e-03 -5.53666244e+01] [ 1.94671501e-03 2.73920343e-03 9.99994354e-01 1.27898275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43907232899994 meters 0.2832558598466772 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.37, Z:127.90 [[ 9.99989142e-01 -4.51836400e-03 -1.14048323e-03 -9.08600449e+01] [ 4.51141583e-03 9.99971684e-01 -6.02306972e-03 -5.53694490e+01] [ 1.16766536e-03 6.01785912e-03 9.99981211e-01 1.27897035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49907232899994 meters 0.2679080074644326 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.37, Z:127.90 [[ 9.99965283e-01 -8.33201402e-03 1.04321274e-04 -9.08621922e+01] [ 8.33259722e-03 9.99929792e-01 -8.42485032e-03 -5.53749085e+01] [-3.41179786e-05 8.42542710e-03 9.99964505e-01 1.27895256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55907232899995 meters 0.25567357869959184 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.38, Z:127.90 [[ 9.99960264e-01 -8.81211351e-03 1.34793050e-03 -9.08655072e+01] [ 8.82265101e-03 9.99928899e-01 -8.02227992e-03 -5.53774589e+01] [-1.27714142e-03 8.03385347e-03 9.99966913e-01 1.27895317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61907232899995 meters 0.24311881402655736 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.38, Z:127.90 [[ 9.99956189e-01 -9.05218363e-03 2.38305542e-03 -9.08680231e+01] [ 9.07047949e-03 9.99928581e-01 -7.78201263e-03 -5.53786429e+01] [-2.31244101e-03 7.80328715e-03 9.99966880e-01 1.27895184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67907232899995 meters 0.23600251452549728 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.38, Z:127.89 [[ 9.99948609e-01 -9.42962339e-03 3.72305291e-03 -9.08711524e+01] [ 9.45551429e-03 9.99930802e-01 -6.99895716e-03 -5.53819494e+01] [-3.65679775e-03 7.03380086e-03 9.99968576e-01 1.27894464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73907232899995 meters 0.33163180364017747 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.39, Z:127.89 [[ 9.99939120e-01 -9.77876777e-03 5.11186349e-03 -9.08745664e+01] [ 9.81037757e-03 9.99932684e-01 -6.19555195e-03 -5.53852996e+01] [-5.05093451e-03 6.24532407e-03 9.99967741e-01 1.27894029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79907232899996 meters 0.4208360744551586 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.39, Z:127.89 [[ 9.99877867e-01 -1.40837712e-02 6.77479683e-03 -9.08778224e+01] [ 1.41389893e-02 9.99866638e-01 -8.17287098e-03 -5.53922509e+01] [-6.65878848e-03 8.26766159e-03 9.99943652e-01 1.27891901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85907232899996 meters 0.22959705872057562 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.40, Z:127.89 [[ 9.99864840e-01 -1.41647911e-02 8.34623632e-03 -9.08806119e+01] [ 1.42188424e-02 9.99878086e-01 -6.45277821e-03 -5.53975196e+01] [-8.25381654e-03 6.57057988e-03 9.99944349e-01 1.27889499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91907232899996 meters 0.24484132764392624 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.40, Z:127.89 [[ 9.99864586e-01 -1.39659203e-02 8.70414745e-03 -9.08812720e+01] [ 1.40178740e-02 9.99884121e-01 -5.93668431e-03 -5.53989973e+01] [-8.62022756e-03 6.05789405e-03 9.99944495e-01 1.27889094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97907232899996 meters 0.3770572702126141 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.40, Z:127.89 [[ 9.99910195e-01 -9.89182023e-03 9.04176337e-03 -9.08824442e+01] [ 9.90952677e-03 9.99949065e-01 -1.91560648e-03 -5.53983269e+01] [-9.02235399e-03 2.00503404e-03 9.99957288e-01 1.27889424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03907232899996 meters 0.36833470859389295 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.40, Z:127.89 [[ 9.99910869e-01 -1.03029198e-02 8.49134945e-03 -9.08813324e+01] [ 1.03280069e-02 9.99942413e-01 -2.91589163e-03 -5.53952245e+01] [-8.46081827e-03 3.00333045e-03 9.99959696e-01 1.27890000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09907232899997 meters 0.3571649567614584 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.40, Z:127.89 [[ 9.99908830e-01 -1.03385747e-02 8.68591497e-03 -9.08817318e+01] [ 1.03640285e-02 9.99942114e-01 -2.89059122e-03 -5.53952025e+01] [-8.65552759e-03 2.98034875e-03 9.99958099e-01 1.27889931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15907232899997 meters 0.3427175000685216 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.40, Z:127.89 [[ 9.99904647e-01 -9.98135270e-03 9.54304893e-03 -9.08835846e+01] [ 9.99980077e-03 9.99948220e-01 -1.88738431e-03 -5.53983583e+01] [-9.52371614e-03 1.98263293e-03 9.99952683e-01 1.27889425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21907232899997 meters 0.32790047197716965 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.40, Z:127.89 [[ 9.99896878e-01 -9.90703827e-03 1.03963566e-02 -9.08854411e+01] [ 9.92190808e-03 9.99949825e-01 -1.37968826e-03 -5.54000279e+01] [-1.03821663e-02 1.48269768e-03 9.99945005e-01 1.27888941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279072329 meters 0.33875547513112203 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.40, Z:127.89 [[ 9.99898955e-01 -9.65709482e-03 1.04316870e-02 -9.08850686e+01] [ 9.66735088e-03 9.99952835e-01 -9.33186397e-04 -5.54010661e+01] [-1.04221831e-02 1.03393888e-03 9.99945153e-01 1.27888257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339072329 meters 0.3020382984844619 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.40, Z:127.89 [[ 9.99884705e-01 -9.75293955e-03 1.16386329e-02 -9.08878413e+01] [ 9.75693669e-03 9.99952359e-01 -2.86704374e-04 -5.54035133e+01] [-1.16352822e-02 4.00228722e-04 9.99932228e-01 1.27887796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399072329 meters 0.2861643313451674 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.40, Z:127.89 [[ 9.99867142e-01 -1.00619804e-02 1.28240188e-02 -9.08904947e+01] [ 1.00647943e-02 9.99949337e-01 -1.54901475e-04 -5.54044052e+01] [-1.28218105e-02 2.83952006e-04 9.99917757e-01 1.27887385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459072329 meters 0.2711922235865594 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.41, Z:127.89 [[ 9.99844047e-01 -1.05026682e-02 1.41977368e-02 -9.08936492e+01] [ 1.04976848e-02 9.99944807e-01 4.25485429e-04 -5.54070466e+01] [-1.42014219e-02 -2.76375707e-04 9.99899117e-01 1.27886788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519072329 meters 0.2626874472701822 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.41, Z:127.89 [[ 9.99820527e-01 -1.09491346e-02 1.54606056e-02 -9.08968759e+01] [ 1.09347991e-02 9.99939702e-01 1.01145805e-03 -5.54098545e+01] [-1.54707480e-02 -8.42217905e-04 9.99879966e-01 1.27886605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579072329 meters 0.25433782148375517 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.41, Z:127.89 [[ 9.99816812e-01 -1.09477841e-02 1.56999758e-02 -9.08974235e+01] [ 1.09318891e-02 9.99939642e-01 1.09788693e-03 -5.54101164e+01] [-1.57110476e-02 -9.26055413e-04 9.99876145e-01 1.27886533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639072329 meters 0.2541569736544755 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.41, Z:127.89 [[ 9.99752801e-01 -1.49725776e-02 1.64365359e-02 -9.08982842e+01] [ 1.50148198e-02 9.99884271e-01 -2.44962487e-03 -5.54120905e+01] [-1.63979565e-02 2.69581095e-03 9.99861910e-01 1.27885233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699072329 meters 0.2815477475220392 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.41, Z:127.88 [[ 9.99718888e-01 -1.55393932e-02 1.79073057e-02 -9.09012135e+01] [ 1.55802653e-02 9.99876319e-01 -2.14517021e-03 -5.54135534e+01] [-1.78717562e-02 2.42356775e-03 9.99837350e-01 1.27884055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759072329 meters 0.24400420326559516 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.42, Z:127.88 [[ 9.99709158e-01 -1.53865964e-02 1.85701902e-02 -9.09026879e+01] [ 1.54177026e-02 9.99879965e-01 -1.53305122e-03 -5.54154064e+01] [-1.85443727e-02 1.81891501e-03 9.99826384e-01 1.27883755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819072329 meters 0.2537711495779785 Centerline is valid? [False, False] Translation: X:-90.90, Y:-55.42, Z:127.88 [[ 9.99634744e-01 -1.92563092e-02 1.89624370e-02 -9.09030336e+01] [ 1.93557741e-02 9.99799775e-01 -5.07585970e-03 -5.54175652e+01] [-1.88608979e-02 5.44103836e-03 9.99807312e-01 1.27883114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879072329 meters 0.2370070547222114 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.41, Z:127.88 [[ 9.99852635e-01 -1.42196687e-02 9.61814814e-03 -9.09058049e+01] [ 1.43192378e-02 9.99843763e-01 -1.03638034e-02 -5.54108334e+01] [-9.46927558e-03 1.05000007e-02 9.99900036e-01 1.27880350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93907232899994 meters 0.2471506953917212 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.41, Z:127.88 [[ 9.99854237e-01 -1.40656654e-02 9.67786819e-03 -9.09055218e+01] [ 1.41629710e-02 9.99849087e-01 -1.00604637e-02 -5.54114755e+01] [-9.53490056e-03 1.01960646e-02 9.99902558e-01 1.27879708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99907232899994 meters 0.25966549037579073 Centerline is valid? [False, False] Translation: X:-90.91, Y:-55.41, Z:127.88 [[ 9.99902556e-01 -9.98042013e-03 9.76061851e-03 -9.09060926e+01] [ 1.00400601e-02 9.99931110e-01 -6.08047232e-03 -5.54105493e+01] [-9.69926043e-03 6.17787701e-03 9.99933877e-01 1.27880106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05907232899995 meters 0.2476646721502662 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.41, Z:127.88 [[ 9.99973513e-01 -4.84217553e-03 5.43392595e-03 -9.08942865e+01] [ 4.87703722e-03 9.99967494e-01 -6.42075478e-03 -5.54117971e+01] [-5.40265889e-03 6.44708617e-03 9.99964623e-01 1.27882910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11907232899995 meters 0.2518471970899233 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.41, Z:127.88 [[ 9.99990580e-01 -6.52287925e-04 4.29114640e-03 -9.08916362e+01] [ 6.66056726e-04 9.99994633e-01 -3.20800706e-03 -5.54081708e+01] [-4.28903082e-03 3.21083499e-03 9.99985647e-01 1.27883528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17907232899995 meters 0.296348976822914 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.41, Z:127.88 [[ 9.99993557e-01 -1.41009575e-04 3.58701690e-03 -9.08895186e+01] [ 1.50690406e-04 9.99996347e-01 -2.69872591e-03 -5.54089922e+01] [-3.58662325e-03 2.69924905e-03 9.99989925e-01 1.27883052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23907232899995 meters 0.2986071809823748 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.41, Z:127.88 [[ 9.99995765e-01 4.44419954e-05 2.91004044e-03 -9.08876462e+01] [-3.62848750e-05 9.99996071e-01 -2.80308799e-03 -5.54082052e+01] [-2.91015358e-03 2.80297053e-03 9.99991837e-01 1.27882932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29907232899996 meters 0.31207638491140105 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.41, Z:127.88 [[ 9.99996813e-01 5.88420357e-05 2.52383614e-03 -9.08867533e+01] [-5.13837421e-05 9.99995632e-01 -2.95510479e-03 -5.54076110e+01] [-2.52399900e-03 2.95496569e-03 9.99992449e-01 1.27883153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35907232899996 meters 0.22363992503930494 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.41, Z:127.88 [[ 9.99997358e-01 -1.31333425e-04 2.29477529e-03 -9.08865580e+01] [ 1.39089427e-04 9.99994278e-01 -3.38002012e-03 -5.54064850e+01] [-2.29431825e-03 3.38033037e-03 9.99991655e-01 1.27883774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41907232899996 meters 0.2764015835123344 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.41, Z:127.88 [[ 9.99997561e-01 -1.46453279e-04 2.20392079e-03 -9.08861969e+01] [ 1.54022023e-04 9.99994090e-01 -3.43443990e-03 -5.54061756e+01] [-2.20340479e-03 3.43477097e-03 9.99991674e-01 1.27883618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47907232899996 meters 0.2852541198261362 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.41, Z:127.88 [[ 9.99998239e-01 3.62855031e-04 1.84137631e-03 -9.08842878e+01] [-3.57859418e-04 9.99996257e-01 -2.71258261e-03 -5.54073354e+01] [-1.84235369e-03 2.71191888e-03 9.99994626e-01 1.27882138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53907232899996 meters 0.27354197512092704 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.41, Z:127.88 [[ 9.99998287e-01 4.00618594e-04 1.80699846e-03 -9.08840910e+01] [-3.95790875e-04 9.99996354e-01 -2.67124578e-03 -5.54073586e+01] [-1.80806202e-03 2.67052601e-03 9.99994800e-01 1.27882001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59907232899997 meters 0.31874853656249846 Centerline is valid? [False, False] Translation: X:-90.89, Y:-55.41, Z:127.88 [[ 9.99997449e-01 4.67471523e-04 2.20971571e-03 -9.08853551e+01] [-4.62037154e-04 9.99996869e-01 -2.45917804e-03 -5.54083113e+01] [-2.21085839e-03 2.45815080e-03 9.99994535e-01 1.27882388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65907232899997 meters 0.2581299960300297 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.41, Z:127.88 [[ 9.99998396e-01 6.45732147e-04 1.67059101e-03 -9.08836343e+01] [-6.41771303e-04 9.99996985e-01 -2.37037436e-03 -5.54080266e+01] [-1.67211660e-03 2.36929843e-03 9.99995795e-01 1.27881899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71907232899997 meters 0.27105572418520163 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.41, Z:127.88 [[ 9.99999196e-01 4.11250848e-04 1.19922012e-03 -9.08827228e+01] [-4.07650876e-04 9.99995415e-01 -3.00062854e-03 -5.54060897e+01] [-1.20044863e-03 3.00013727e-03 9.99994779e-01 1.27882447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779072329 meters 0.2770860770663439 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.40, Z:127.88 [[ 9.99999745e-01 5.76351917e-04 4.21922072e-04 -9.08805286e+01] [-5.74975912e-04 9.99994540e-01 -3.25416624e-03 -5.54046257e+01] [-4.23795313e-04 3.25392282e-03 9.99994616e-01 1.27882288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839072329 meters 0.2763547058250712 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.40, Z:127.88 [[ 9.99999781e-01 6.40934733e-04 -1.65932018e-04 -9.08789423e+01] [-6.41499267e-04 9.99993930e-01 -3.42480262e-03 -5.54037228e+01] [ 1.63735935e-04 3.42490831e-03 9.99994122e-01 1.27882265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899072329 meters 0.28466490951313433 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.40, Z:127.88 [[ 9.99998181e-01 1.47067011e-03 -1.21415190e-03 -9.08758967e+01] [-1.47398219e-03 9.99995183e-01 -2.73152510e-03 -5.54043476e+01] [ 1.21012888e-03 2.73330977e-03 9.99995532e-01 1.27881825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959072329 meters 0.24499297333647163 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.40, Z:127.88 [[ 9.99996516e-01 1.63954263e-03 -2.06896283e-03 -9.08733267e+01] [-1.64569761e-03 9.99994215e-01 -2.97672105e-03 -5.54027218e+01] [ 2.06407040e-03 2.98011556e-03 9.99993429e-01 1.27881344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019072329 meters 0.24652601694000972 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.40, Z:127.88 [[ 9.99995559e-01 1.90206143e-03 -2.29446309e-03 -9.08723843e+01] [-1.90806226e-03 9.99994758e-01 -2.61600108e-03 -5.54034809e+01] [ 2.28947527e-03 2.62036744e-03 9.99993946e-01 1.27880808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079072329 meters 0.3324955576221759 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.40, Z:127.88 [[ 9.99987648e-01 3.29478630e-03 -3.72137536e-03 -9.08681110e+01] [-3.30185671e-03 9.99992753e-01 -1.89540156e-03 -5.54034260e+01] [ 3.71510345e-03 1.90766559e-03 9.99991279e-01 1.27880186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139072329 meters 0.22637578079502402 Centerline is valid? [False, False] Translation: X:-90.85, Y:-55.41, Z:127.88 [[ 9.99855610e-01 1.44240466e-02 -8.98367721e-03 -9.08534820e+01] [-1.44043192e-02 9.99893706e-01 2.25676523e-03 -5.54051679e+01] [ 9.01527398e-03 -2.12703562e-03 9.99957099e-01 1.27884537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199072329 meters 0.25006814509033626 Centerline is valid? [False, False] Translation: X:-90.84, Y:-55.41, Z:127.89 [[ 9.99760442e-01 1.64128256e-02 -1.44802348e-02 -9.08405234e+01] [-1.61946099e-02 9.99755426e-01 1.50606086e-02 -5.54052974e+01] [ 1.47238805e-02 -1.48224990e-02 9.99781727e-01 1.27892650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259072329 meters 0.26435599575355706 Centerline is valid? [False, False] Translation: X:-90.83, Y:-55.41, Z:127.90 [[ 9.99579999e-01 2.17280171e-02 -1.91759782e-02 -9.08276911e+01] [-2.14628140e-02 9.99672610e-01 1.39290892e-02 -5.54053226e+01] [ 1.94723517e-02 -1.35116685e-02 9.99719092e-01 1.27896986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319072329 meters 0.3063861801398362 Centerline is valid? [False, False] Translation: X:-90.83, Y:-55.41, Z:127.89 [[ 9.99697040e-01 2.40751076e-02 -5.12028278e-03 -9.08283396e+01] [-2.39959292e-02 9.99599511e-01 1.50004228e-02 -5.54086775e+01] [ 5.47936896e-03 -1.48730124e-02 9.99874377e-01 1.27893912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379072329 meters 0.2937182462277304 Centerline is valid? [False, False] Translation: X:-90.83, Y:-55.41, Z:127.89 [[ 9.99682025e-01 2.44914921e-02 -6.00125029e-03 -9.08254705e+01] [-2.43968948e-02 9.99584355e-01 1.53593146e-02 -5.54085921e+01] [ 6.37492844e-03 -1.52080189e-02 9.99864029e-01 1.27892827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43907232899994 meters 0.2857333455542644 Centerline is valid? [False, False] Translation: X:-90.82, Y:-55.41, Z:127.89 [[ 9.99740421e-01 2.15490733e-02 -7.39786118e-03 -9.08212697e+01] [-2.14634129e-02 9.99703842e-01 1.14695127e-02 -5.54065878e+01] [ 7.64282761e-03 -1.13077521e-02 9.99906857e-01 1.27892125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49907232899994 meters 0.29237494958002247 Centerline is valid? [False, False] Translation: X:-90.82, Y:-55.40, Z:127.89 [[ 9.99796652e-01 1.80905552e-02 -8.90990765e-03 -9.08178529e+01] [-1.80291670e-02 9.99813495e-01 6.92267713e-03 -5.54040542e+01] [ 9.03348098e-03 -6.76063121e-03 9.99936343e-01 1.27892853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55907232899995 meters 0.26962740662377305 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.41, Z:127.90 [[ 9.99812838e-01 1.42778625e-02 -1.30549157e-02 -9.08084397e+01] [-1.40886060e-02 9.99795961e-01 1.44757798e-02 -5.54066024e+01] [ 1.32589351e-02 -1.42891449e-02 9.99809992e-01 1.27901646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61907232899995 meters 0.2923420444575729 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.41, Z:127.90 [[ 9.99887121e-01 5.82373814e-03 -1.38502151e-02 -9.08067910e+01] [-5.73845558e-03 9.99964381e-01 6.18928066e-03 -5.54071380e+01] [ 1.38857666e-02 -6.10910318e-03 9.99884926e-01 1.27901745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67907232899995 meters 0.24648900716013075 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.42, Z:127.90 [[ 9.99995565e-01 2.96423262e-03 2.90033947e-04 -9.08081490e+01] [-2.96599267e-03 9.99975952e-01 6.26881751e-03 -5.54172845e+01] [-2.71444739e-04 -6.26964994e-03 9.99980309e-01 1.27898171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73907232899995 meters 0.2511948666073983 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.42, Z:127.90 [[ 9.99998493e-01 -1.15298537e-03 1.29802876e-03 -9.08105186e+01] [ 1.14903642e-03 9.99994722e-01 3.03891064e-03 -5.54207716e+01] [-1.30152573e-03 -3.03741458e-03 9.99994540e-01 1.27897850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79907232899996 meters 0.2823829895444294 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.43, Z:127.90 [[ 9.99989550e-01 -4.36029493e-03 1.37412259e-03 -9.08091400e+01] [ 4.35937152e-03 9.99990271e-01 6.74280157e-04 -5.54252856e+01] [-1.37704928e-03 -6.68282800e-04 9.99998829e-01 1.27895498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85907232899996 meters 0.2823155962444467 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.43, Z:127.89 [[ 9.99989231e-01 -4.16384142e-03 2.04945240e-03 -9.08101050e+01] [ 4.16103996e-03 9.99990405e-01 1.36929831e-03 -5.54270003e+01] [-2.05513428e-03 -1.36075571e-03 9.99996962e-01 1.27894282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91907232899996 meters 0.2647929738688998 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.43, Z:127.89 [[ 9.99972410e-01 -7.34403480e-03 1.11562438e-03 -9.08065737e+01] [ 7.34588293e-03 9.99971638e-01 -1.66162737e-03 -5.54285509e+01] [-1.10338969e-03 1.66977677e-03 9.99997997e-01 1.27892667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97907232899996 meters 0.2656061086880456 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.89 [[ 9.99973806e-01 -7.22103900e-03 4.93300525e-04 -9.08047324e+01] [ 7.22190614e-03 9.99972339e-01 -1.77927327e-03 -5.54275450e+01] [-4.80438678e-04 1.78278924e-03 9.99998295e-01 1.27892357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03907232899996 meters 0.280135530075773 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.89 [[ 9.99973754e-01 -7.23716727e-03 3.38529323e-04 -9.08043866e+01] [ 7.23779382e-03 9.99972025e-01 -1.88773426e-03 -5.54271264e+01] [-3.24858004e-04 1.89013492e-03 9.99998161e-01 1.27892494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09907232899997 meters 0.2760742515844528 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.89 [[ 9.99973329e-01 -7.29794200e-03 2.86036179e-04 -9.08041945e+01] [ 7.29850409e-03 9.99971333e-01 -2.01596925e-03 -5.54266456e+01] [-2.71315553e-04 2.01800312e-03 9.99997927e-01 1.27892444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15907232899997 meters 0.2669728662783684 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.89 [[ 9.99973408e-01 -7.29233434e-03 -7.13644733e-05 -9.08033357e+01] [ 7.29216409e-03 9.99971101e-01 -2.14980516e-03 -5.54261238e+01] [ 8.70395089e-05 2.14922759e-03 9.99997687e-01 1.27892542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21907232899997 meters 0.2600755157977588 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.42, Z:127.89 [[ 9.99969896e-01 -7.74586663e-03 4.56337137e-04 -9.08046694e+01] [ 7.74711334e-03 9.99966080e-01 -2.79667628e-03 -5.54244352e+01] [-4.34658976e-04 2.80012739e-03 9.99995985e-01 1.27892712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279072329 meters 0.2522611911967495 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.90 [[ 9.99985501e-01 -4.11416658e-03 -3.47440708e-03 -9.07954966e+01] [ 4.09959518e-03 9.99982816e-01 -4.19068415e-03 -5.54258429e+01] [ 3.49158855e-03 4.17637972e-03 9.99985183e-01 1.27897952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339072329 meters 0.240429936636352 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.90 [[ 9.99986231e-01 -4.16873388e-03 -3.18742864e-03 -9.07961115e+01] [ 4.15533140e-03 9.99982547e-01 -4.19991760e-03 -5.54258084e+01] [ 3.20488135e-03 4.18661495e-03 9.99986100e-01 1.27897816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399072329 meters 0.23480868311212946 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.90 [[ 9.99967183e-01 -7.58949815e-03 -2.83432257e-03 -9.07953286e+01] [ 7.57000612e-03 9.99948051e-01 -6.82568471e-03 -5.54297968e+01] [ 2.88597885e-03 6.80400486e-03 9.99972688e-01 1.27895387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459072329 meters 0.25537778288736246 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.89 [[ 9.99932395e-01 -1.14026004e-02 -2.27732006e-03 -9.07960451e+01] [ 1.13793315e-02 9.99885430e-01 -9.98183300e-03 -5.54330900e+01] [ 2.39087800e-03 9.95524380e-03 9.99947587e-01 1.27894436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519072329 meters 0.23833819007741444 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.89 [[ 9.99935136e-01 -1.13029790e-02 -1.40251758e-03 -9.07980722e+01] [ 1.12892617e-02 9.99891802e-01 -9.43066983e-03 -5.54349752e+01] [ 1.50896049e-03 9.41422472e-03 9.99954547e-01 1.27894214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579072329 meters 0.2626458645334006 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.44, Z:127.89 [[ 9.99925154e-01 -1.22311438e-02 2.92565394e-04 -9.08023023e+01] [ 1.22332390e-02 9.99886733e-01 -8.76747373e-03 -5.54388596e+01] [-1.85296024e-04 8.77039655e-03 9.99961522e-01 1.27893568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639072329 meters 0.2265085498051124 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.44, Z:127.89 [[ 9.99925108e-01 -1.21298639e-02 1.62605756e-03 -9.08050072e+01] [ 1.21412754e-02 9.99900355e-01 -7.20199548e-03 -5.54435216e+01] [-1.53853631e-03 7.22119852e-03 9.99972743e-01 1.27892093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699072329 meters 0.2338193097166421 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.44, Z:127.89 [[ 9.99851250e-01 -1.70358887e-02 2.69359851e-03 -9.08081292e+01] [ 1.70672977e-02 9.99781093e-01 -1.21025925e-02 -5.54429524e+01] [-2.48683044e-03 1.21467647e-02 9.99923133e-01 1.27893188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759072329 meters 0.21581876180479434 Centerline is valid? [False, False] Translation: X:-90.82, Y:-55.44, Z:127.89 [[ 9.99679493e-01 -2.41364597e-02 7.63826371e-03 -9.08231757e+01] [ 2.42358080e-02 9.99619213e-01 -1.31929639e-02 -5.54398515e+01] [-7.31692372e-03 1.33738549e-02 9.99883795e-01 1.27891298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819072329 meters 0.3053365742561802 Centerline is valid? [False, False] Translation: X:-90.84, Y:-55.44, Z:127.89 [[ 9.99362179e-01 -3.32876279e-02 1.29294202e-02 -9.08368051e+01] [ 3.34776222e-02 9.99330364e-01 -1.47672585e-02 -5.54433615e+01] [-1.24291952e-02 1.51906859e-02 9.99807361e-01 1.27886254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879072329 meters 0.29585574592690705 Centerline is valid? [False, False] Translation: X:-90.84, Y:-55.45, Z:127.89 [[ 9.99443059e-01 -3.00066744e-02 1.46003850e-02 -9.08409091e+01] [ 3.01532082e-02 9.99496044e-01 -9.92181333e-03 -5.54463469e+01] [-1.42953064e-02 1.03565359e-02 9.99844181e-01 1.27885117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93907232899994 meters 0.23458870088727218 Centerline is valid? [False, False] Translation: X:-90.85, Y:-55.45, Z:127.88 [[ 9.99339063e-01 -3.21774212e-02 1.69130571e-02 -9.08456511e+01] [ 3.23643463e-02 9.99416732e-01 -1.08970478e-02 -5.54464980e+01] [-1.65525533e-02 1.14372256e-02 9.99797581e-01 1.27883763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99907232899994 meters 0.25854881441119776 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.44, Z:127.88 [[ 9.99367931e-01 -2.91438811e-02 2.03561452e-02 -9.08561620e+01] [ 2.95470531e-02 9.99367381e-01 -1.97941815e-02 -5.54419641e+01] [-1.97663883e-02 2.03831344e-02 9.99596828e-01 1.27876535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05907232899995 meters 0.24990782432428146 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.44, Z:127.88 [[ 9.99465036e-01 -2.51405685e-02 2.09187279e-02 -9.08576951e+01] [ 2.54717367e-02 9.99551963e-01 -1.57182420e-02 -5.54413986e+01] [-2.05141900e-02 1.62426696e-02 9.99657613e-01 1.27876364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11907232899995 meters 0.24274628507665238 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.44, Z:127.88 [[ 9.99520482e-01 -2.17614703e-02 2.20282827e-02 -9.08608550e+01] [ 2.20358174e-02 9.99681649e-01 -1.22891221e-02 -5.54400422e+01] [-2.17538406e-02 1.27686405e-02 9.99681815e-01 1.27876960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17907232899995 meters 0.2433644818447568 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.44, Z:127.88 [[ 9.99505149e-01 -2.17478215e-02 2.27263830e-02 -9.08622917e+01] [ 2.20233206e-02 9.99686117e-01 -1.19432602e-02 -5.54410290e+01] [-2.24595097e-02 1.24378605e-02 9.99670381e-01 1.27876499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23907232899995 meters 0.23940832480169613 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.44, Z:127.88 [[ 9.99454431e-01 -2.24876052e-02 2.41898423e-02 -9.08658818e+01] [ 2.27807628e-02 9.99669510e-01 -1.19124810e-02 -5.54425897e+01] [-2.39139647e-02 1.24570450e-02 9.99636406e-01 1.27876498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29907232899996 meters 0.22441571222945933 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.45, Z:127.88 [[ 9.99435679e-01 -2.23718387e-02 2.50564140e-02 -9.08672917e+01] [ 2.26528990e-02 9.99682983e-01 -1.09899603e-02 -5.54450365e+01] [-2.48026051e-02 1.15513588e-02 9.99625628e-01 1.27875114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35907232899996 meters 0.24606393233331114 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.44, Z:127.88 [[ 9.99667697e-01 -2.33031869e-02 1.10207859e-02 -9.08659428e+01] [ 2.34708204e-02 9.99606915e-01 -1.53341374e-02 -5.54382022e+01] [-1.06591195e-02 1.55877087e-02 9.99821687e-01 1.27878430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41907232899996 meters 0.26821913793622176 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.44, Z:127.88 [[ 9.99612044e-01 -2.47310613e-02 1.28115236e-02 -9.08699263e+01] [ 2.49316425e-02 9.99565229e-01 -1.57406150e-02 -5.54393757e+01] [-1.24166714e-02 1.60539207e-02 9.99794028e-01 1.27877669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47907232899996 meters 0.2438018474272006 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.44, Z:127.88 [[ 9.99686650e-01 -2.08500411e-02 1.38520233e-02 -9.08726579e+01] [ 2.10047823e-02 9.99717521e-01 -1.11210470e-02 -5.54410127e+01] [-1.36162361e-02 1.14085209e-02 9.99842209e-01 1.27877326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53907232899996 meters 0.2487571880105472 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.44, Z:127.88 [[ 9.99753487e-01 -1.67346517e-02 1.45916910e-02 -9.08746156e+01] [ 1.68341223e-02 9.99835707e-01 -6.72095971e-03 -5.54414784e+01] [-1.44768208e-02 6.96494122e-03 9.99870947e-01 1.27877237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59907232899997 meters 0.261968790513271 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.44, Z:127.88 [[ 9.99809351e-01 -1.27534227e-02 1.47855019e-02 -9.08751914e+01] [ 1.27974229e-02 9.99913947e-01 -2.88511705e-03 -5.54400046e+01] [-1.47474345e-02 3.07378333e-03 9.99886526e-01 1.27877127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65907232899997 meters 0.27514261578888005 Centerline is valid? [False, False] Translation: X:-90.88, Y:-55.44, Z:127.88 [[ 9.99852475e-01 -8.94391558e-03 1.46640654e-02 -9.08752228e+01] [ 8.93631635e-03 9.99959900e-01 5.83665408e-04 -5.54374715e+01] [-1.46686976e-02 -4.52536575e-04 9.99892306e-01 1.27877478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71907232899997 meters 0.24209300630510044 Centerline is valid? [False, False] Translation: X:-90.87, Y:-55.44, Z:127.88 [[ 9.99865493e-01 -8.92235353e-03 1.37618454e-02 -9.08728120e+01] [ 8.92143782e-03 9.99960195e-01 1.27930512e-04 -5.54355646e+01] [-1.37624390e-02 -5.13785669e-06 9.99905293e-01 1.27877323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779072329 meters 0.2437311387103867 Centerline is valid? [False, False] Translation: X:-90.86, Y:-55.43, Z:127.88 [[ 9.99961411e-01 -1.12340044e-03 8.71289470e-03 -9.08613129e+01] [ 1.10533230e-03 9.99997230e-01 2.07826255e-03 -5.54339454e+01] [-8.71520528e-03 -2.06855171e-03 9.99959882e-01 1.27882581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839072329 meters 0.25478775962852224 Centerline is valid? [False, False] Translation: X:-90.85, Y:-55.43, Z:127.89 [[ 9.99959126e-01 8.40292134e-03 3.33719972e-03 -9.08473741e+01] [-8.41797002e-03 9.99954347e-01 4.52122383e-03 -5.54332608e+01] [-3.29905588e-03 -4.54913148e-03 9.99984211e-01 1.27887760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899072329 meters 0.3062365659024355 Centerline is valid? [False, False] Translation: X:-90.83, Y:-55.43, Z:127.89 [[ 9.99856429e-01 1.68395873e-02 -1.88413745e-03 -9.08346027e+01] [-1.68284555e-02 9.99841709e-01 5.77579307e-03 -5.54293906e+01] [ 1.98110118e-03 -5.74325671e-03 9.99981545e-01 1.27893759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959072329 meters 0.2397473227337678 Centerline is valid? [False, False] Translation: X:-90.83, Y:-55.43, Z:127.89 [[ 9.99774646e-01 2.10184216e-02 -2.98036998e-03 -9.08319279e+01] [-2.09908896e-02 9.99739281e-01 8.98628496e-03 -5.54258390e+01] [ 3.16847046e-03 -8.92169925e-03 9.99955181e-01 1.27894468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019072329 meters 0.29477941426998605 Centerline is valid? [False, False] Translation: X:-90.82, Y:-55.43, Z:127.90 [[ 9.99539223e-01 2.94343531e-02 -7.41356513e-03 -9.08202676e+01] [-2.93445295e-02 9.99497961e-01 1.19467154e-02 -5.54266975e+01] [ 7.76148707e-03 -1.17236630e-02 9.99901153e-01 1.27898424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079072329 meters 0.23672771051042324 Centerline is valid? [False, False] Translation: X:-90.82, Y:-55.43, Z:127.90 [[ 9.99644951e-01 2.52600491e-02 -8.47953984e-03 -9.08182527e+01] [-2.51983012e-02 9.99655734e-01 7.31152346e-03 -5.54254793e+01] [ 8.66131007e-03 -7.09525751e-03 9.99937318e-01 1.27899118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139072329 meters 0.2316082586595332 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.43, Z:127.91 [[ 9.99752866e-01 1.87982628e-02 -1.18673008e-02 -9.08083834e+01] [-1.86452009e-02 9.99743207e-01 1.28792982e-02 -5.54310045e+01] [ 1.21063618e-02 -1.26548471e-02 9.99846634e-01 1.27906539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199072329 meters 0.27591602156057826 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.43, Z:127.91 [[ 9.99814906e-01 1.44930114e-02 -1.26533365e-02 -9.08071234e+01] [-1.43863788e-02 9.99860568e-01 8.47797235e-03 -5.54306965e+01] [ 1.27744436e-02 -8.29436744e-03 9.99884002e-01 1.27907340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259072329 meters 0.2601876446977217 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.43, Z:127.91 [[ 9.99851690e-01 1.06751661e-02 -1.35143914e-02 -9.08045153e+01] [-1.06122644e-02 9.99932560e-01 4.71761398e-03 -5.54310920e+01] [ 1.35638413e-02 -4.57349602e-03 9.99897547e-01 1.27906465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319072329 meters 0.2523507190628719 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.44, Z:127.90 [[ 9.99951677e-01 9.20337588e-03 -3.45559443e-03 -9.07978067e+01] [-9.15983815e-03 9.99881032e-01 1.24104423e-02 -5.54417367e+01] [ 3.56940129e-03 -1.23781899e-02 9.99917016e-01 1.27904580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379072329 meters 0.2594658331847205 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.44, Z:127.90 [[ 9.99992175e-01 1.20877043e-03 -3.76690065e-03 -9.07963047e+01] [-1.19034398e-03 9.99987335e-01 4.89008182e-03 -5.54442597e+01] [ 3.77276392e-03 -4.88555965e-03 9.99980949e-01 1.27903345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43907232899994 meters 0.2687700270768585 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.45, Z:127.90 [[ 9.99988444e-01 -2.72119117e-03 -3.96328737e-03 -9.07951843e+01] [ 2.72600321e-03 9.99995553e-01 1.20925846e-03 -5.54456254e+01] [ 3.95997912e-03 -1.22004842e-03 9.99991415e-01 1.27902469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49907232899994 meters 0.24749302733697015 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99969513e-01 -6.56316316e-03 -4.23060806e-03 -9.07936707e+01] [ 6.55323809e-03 9.99975753e-01 -2.35562340e-03 -5.54470892e+01] [ 4.24596582e-03 2.32782740e-03 9.99988276e-01 1.27901354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55907232899995 meters 0.25168656179750515 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99971173e-01 -6.50288694e-03 -3.91986740e-03 -9.07946713e+01] [ 6.49448593e-03 9.99976595e-01 -2.15212204e-03 -5.54479222e+01] [ 3.93377066e-03 2.12660248e-03 9.99990001e-01 1.27901704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61907232899995 meters 0.238662940058562 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.45, Z:127.90 [[ 9.99973228e-01 -6.41523831e-03 -3.51957133e-03 -9.07956047e+01] [ 6.40881456e-03 9.99977783e-01 -1.83340332e-03 -5.54489310e+01] [ 3.53125485e-03 1.81079796e-03 9.99992126e-01 1.27901571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67907232899995 meters 0.23999820453992518 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99971095e-01 -6.36799953e-03 -4.15414843e-03 -9.07935494e+01] [ 6.35945099e-03 9.99977641e-01 -2.06780598e-03 -5.54474185e+01] [ 4.16722333e-03 2.04132811e-03 9.99989234e-01 1.27901007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73907232899995 meters 0.23464511492386478 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99968792e-01 -6.64439479e-03 -4.27406150e-03 -9.07934686e+01] [ 6.63324991e-03 9.99974577e-01 -2.61647551e-03 -5.54458011e+01] [ 4.29133773e-03 2.58804294e-03 9.99987443e-01 1.27901417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79907232899996 meters 0.22219042981653117 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99968352e-01 -6.64625047e-03 -4.37294312e-03 -9.07935506e+01] [ 6.63454609e-03 9.99974385e-01 -2.68563010e-03 -5.54457483e+01] [ 4.39068048e-03 2.65653261e-03 9.99986832e-01 1.27901971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85907232899996 meters 0.23809799167991183 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99985563e-01 -2.38536900e-03 -4.81494074e-03 -9.07922270e+01] [ 2.39161233e-03 9.99996306e-01 1.29131817e-03 -5.54443493e+01] [ 4.81184269e-03 -1.30281500e-03 9.99987574e-01 1.27901629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91907232899996 meters 0.23542704910878076 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99982526e-01 -2.34264939e-03 -5.42774676e-03 -9.07906059e+01] [ 2.34837917e-03 9.99996692e-01 1.04951485e-03 -5.54432357e+01] [ 5.42527016e-03 -1.06224292e-03 9.99984719e-01 1.27901660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97907232899996 meters 0.2734269181325769 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99980682e-01 -2.42658484e-03 -5.72252239e-03 -9.07901589e+01] [ 2.43075096e-03 9.99996786e-01 7.21178731e-04 -5.54423295e+01] [ 5.72075399e-03 -7.35074826e-04 9.99983366e-01 1.27902214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03907232899996 meters 0.2507017500884768 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99977618e-01 -2.22647180e-03 -6.30926175e-03 -9.07884503e+01] [ 2.23142520e-03 9.99997208e-01 7.78169995e-04 -5.54419516e+01] [ 6.30751156e-03 -7.92231224e-04 9.99979794e-01 1.27901987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09907232899997 meters 0.2259468269828005 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99959745e-01 -6.27301428e-03 -6.41542657e-03 -9.07878142e+01] [ 6.25355707e-03 9.99975800e-01 -3.04845495e-03 -5.54431410e+01] [ 6.43439432e-03 3.00821300e-03 9.99974774e-01 1.27901587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15907232899997 meters 0.24204318961371357 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99926929e-01 -1.04139808e-02 -6.13878957e-03 -9.07883609e+01] [ 1.03715607e-02 9.99922394e-01 -6.90196637e-03 -5.54445759e+01] [ 6.21019010e-03 6.83779321e-03 9.99957338e-01 1.27901511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21907232899997 meters 0.22894117236691702 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99931794e-01 -1.02223041e-02 -5.64908526e-03 -9.07893462e+01] [ 1.01864561e-02 9.99928027e-01 -6.33855097e-03 -5.54461930e+01] [ 5.71347328e-03 6.28057448e-03 9.99963955e-01 1.27901115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279072329 meters 0.23212605725831612 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99967258e-01 -5.89538912e-03 -5.54315305e-03 -9.07895354e+01] [ 5.88425307e-03 9.99980641e-01 -2.02314261e-03 -5.54460508e+01] [ 5.55497295e-03 1.99045905e-03 9.99982590e-01 1.27900866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339072329 meters 0.27700747179851404 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99962658e-01 -5.87210556e-03 -6.34042755e-03 -9.07875134e+01] [ 5.85660030e-03 9.99979821e-01 -2.46126490e-03 -5.54443645e+01] [ 6.35475242e-03 2.42403964e-03 9.99976870e-01 1.27901006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399072329 meters 0.26643312023272225 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99960283e-01 -6.18433202e-03 -6.41769989e-03 -9.07874631e+01] [ 6.16479167e-03 9.99976315e-01 -3.06008852e-03 -5.54425836e+01] [ 6.43647250e-03 3.02040319e-03 9.99974724e-01 1.27901313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459072329 meters 0.2592683981444757 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99958186e-01 -6.45258172e-03 -6.48003069e-03 -9.07875706e+01] [ 6.42967970e-03 9.99973032e-01 -3.54888091e-03 -5.54411921e+01] [ 6.50275538e-03 3.50706799e-03 9.99972707e-01 1.27901790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519072329 meters 0.2516450729392137 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99964488e-01 -6.46496118e-03 -5.40611945e-03 -9.07900242e+01] [ 6.44865405e-03 9.99974621e-01 -3.02843125e-03 -5.54430436e+01] [ 5.42556094e-03 2.99346151e-03 9.99980801e-01 1.27901405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579072329 meters 0.23488050282264925 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99969904e-01 -5.96633240e-03 -4.95927724e-03 -9.07905470e+01] [ 5.95667611e-03 9.99980339e-01 -1.95961199e-03 -5.54459888e+01] [ 4.97087143e-03 1.93001221e-03 9.99985783e-01 1.27900426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639072329 meters 0.22804476436714868 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99983562e-01 -2.03817441e-03 -5.35917248e-03 -9.07893076e+01] [ 2.04620806e-03 9.99996791e-01 1.49399181e-03 -5.54430162e+01] [ 5.35611026e-03 -1.50493323e-03 9.99984524e-01 1.27900124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699072329 meters 0.28007706398646753 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99982738e-01 -2.30967076e-03 -5.40266406e-03 -9.07896387e+01] [ 2.31489367e-03 9.99996859e-01 9.60675760e-04 -5.54416891e+01] [ 5.40042824e-03 -9.73165770e-04 9.99984944e-01 1.27900849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759072329 meters 0.272883102035987 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99981319e-01 -2.40189019e-03 -5.62065745e-03 -9.07892275e+01] [ 2.40584010e-03 9.99996864e-01 6.96093716e-04 -5.54408631e+01] [ 5.61896788e-03 -7.09603115e-04 9.99983962e-01 1.27901137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819072329 meters 0.27137364295242566 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99964684e-01 -6.13710229e-03 -5.74164624e-03 -9.07884146e+01] [ 6.12211783e-03 9.99977818e-01 -2.62372969e-03 -5.54434429e+01] [ 5.75762097e-03 2.58848600e-03 9.99980075e-01 1.27900456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879072329 meters 0.26177549127383515 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99963353e-01 -5.43917555e-03 -6.61123988e-03 -9.07851335e+01] [ 5.42613109e-03 9.99983300e-01 -1.98941191e-03 -5.54435173e+01] [ 6.62195023e-03 1.95346555e-03 9.99976167e-01 1.27899057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93907232899994 meters 0.24826933089590278 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99962586e-01 -5.59685145e-03 -6.59565704e-03 -9.07854793e+01] [ 5.58185690e-03 9.99981800e-01 -2.28961722e-03 -5.54427956e+01] [ 6.60835164e-03 2.25271554e-03 9.99975627e-01 1.27899558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99907232899994 meters 0.26731509803381215 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.44, Z:127.90 [[ 9.99927008e-01 -9.89290415e-03 -6.93611432e-03 -9.07846747e+01] [ 9.84684483e-03 9.99929449e-01 -6.64350560e-03 -5.54426763e+01] [ 7.00134853e-03 6.57472184e-03 9.99953876e-01 1.27899810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05907232899995 meters 0.26586814919123064 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.44, Z:127.90 [[ 9.99928701e-01 -9.79868728e-03 -6.82485036e-03 -9.07846324e+01] [ 9.75486944e-03 9.99931783e-01 -6.42430426e-03 -5.54431191e+01] [ 6.88733454e-03 6.35727069e-03 9.99956074e-01 1.27899333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11907232899995 meters 0.26739304294883326 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99935934e-01 -9.86909552e-03 -5.54332864e-03 -9.07872185e+01] [ 9.83979950e-03 9.99937608e-01 -5.28755628e-03 -5.54467456e+01] [ 5.59516618e-03 5.23267228e-03 9.99970656e-01 1.27897939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17907232899995 meters 0.257722739577705 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99942152e-01 -9.76722189e-03 -4.50485347e-03 -9.07892418e+01] [ 9.74702347e-03 9.99942443e-01 -4.48407174e-03 -5.54491464e+01] [ 4.54839110e-03 4.43990344e-03 9.99979799e-01 1.27896878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23907232899995 meters 0.24353572753179367 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99947173e-01 -9.62937356e-03 -3.59526654e-03 -9.07913098e+01] [ 9.61562097e-03 9.99946460e-01 -3.82308408e-03 -5.54513958e+01] [ 3.63188795e-03 3.78831140e-03 9.99986229e-01 1.27896487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29907232899996 meters 0.23226971363378812 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99948442e-01 -9.57941021e-03 -3.36878696e-03 -9.07920580e+01] [ 9.56699345e-03 9.99947453e-01 -3.68282573e-03 -5.54519976e+01] [ 3.40388924e-03 3.65040668e-03 9.99987544e-01 1.27896743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35907232899996 meters 0.2637699175473911 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99946866e-01 -9.73121344e-03 -3.40134948e-03 -9.07920184e+01] [ 9.71774049e-03 9.99944959e-01 -3.95539177e-03 -5.54511481e+01] [ 3.43965303e-03 3.92212818e-03 9.99986393e-01 1.27896828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41907232899996 meters 0.33056055404274876 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99977313e-01 -5.73702466e-03 -3.52974537e-03 -9.07919118e+01] [ 5.73602956e-03 9.99983506e-01 -2.91976039e-04 -5.54491477e+01] [ 3.53136223e-03 2.71722691e-04 9.99993728e-01 1.27897045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47907232899996 meters 0.3314154866570278 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99973723e-01 -6.04527266e-03 -4.00094952e-03 -9.07909578e+01] [ 6.04118586e-03 9.99981219e-01 -1.03275572e-03 -5.54468724e+01] [ 4.00711766e-03 1.00855811e-03 9.99991463e-01 1.27897501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53907232899996 meters 0.25310287610282434 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.44, Z:127.90 [[ 9.99970065e-01 -6.37239164e-03 -4.38877140e-03 -9.07903747e+01] [ 6.36463001e-03 9.99978161e-01 -1.78022140e-03 -5.54446171e+01] [ 4.40001982e-03 1.75223521e-03 9.99988785e-01 1.27898241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59907232899997 meters 0.3151179745797687 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.45, Z:127.90 [[ 9.99944696e-01 -9.96370412e-03 -3.36602561e-03 -9.07928947e+01] [ 9.94909088e-03 9.99941129e-01 -4.33059626e-03 -5.54503001e+01] [ 3.40897623e-03 4.29686786e-03 9.99984958e-01 1.27898090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65907232899997 meters 0.2860570874748752 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.45, Z:127.90 [[ 9.99940813e-01 -1.07239767e-02 -1.83509543e-03 -9.07961047e+01] [ 1.07165822e-02 9.99934603e-01 -3.99294252e-03 -5.54524922e+01] [ 1.87779565e-03 3.97304023e-03 9.99990344e-01 1.27896862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71907232899997 meters 0.31904755297446946 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.90 [[ 9.99950131e-01 -9.86797455e-03 -1.53581183e-03 -9.07962185e+01] [ 9.86437354e-03 9.99948620e-01 -2.33486925e-03 -5.54570305e+01] [ 1.55877335e-03 2.31960299e-03 9.99996095e-01 1.27895818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779072329 meters 0.26473805459814104 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.90 [[ 9.99894888e-01 -1.44509036e-02 -1.17644382e-03 -9.07966035e+01] [ 1.44423348e-02 9.99871253e-01 -6.99262094e-03 -5.54558383e+01] [ 1.27734204e-03 6.97489533e-03 9.99974859e-01 1.27895332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839072329 meters 0.296839285529728 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.89 [[ 9.99892416e-01 -1.46665283e-02 2.21432256e-04 -9.07996762e+01] [ 1.46676138e-02 9.99873475e-01 -6.15591206e-03 -5.54590435e+01] [-1.31118381e-04 6.15849766e-03 9.99981028e-01 1.27894368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899072329 meters 0.2818170789936347 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.89 [[ 9.99890299e-01 -1.47672758e-02 1.14816257e-03 -9.08013586e+01] [ 1.47737163e-02 9.99873928e-01 -5.81935985e-03 -5.54599605e+01] [-1.06208173e-03 5.83568409e-03 9.99982408e-01 1.27893347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959072329 meters 0.2675112281373116 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.89 [[ 9.99891001e-01 -1.47107166e-02 1.25735511e-03 -9.08014492e+01] [ 1.47176464e-02 9.99875486e-01 -5.69231551e-03 -5.54602033e+01] [-1.17346051e-03 5.71020036e-03 9.99983008e-01 1.27893117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019072329 meters 0.25282850195356876 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.89 [[ 9.99893444e-01 -1.45454631e-02 1.23704227e-03 -9.08008798e+01] [ 1.45519611e-02 9.99879441e-01 -5.41699824e-03 -5.54606750e+01] [-1.15810038e-03 5.43442242e-03 9.99984563e-01 1.27892378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079072329 meters 0.31694960036794856 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.89 [[ 9.99943488e-01 -1.03879138e-02 2.26086405e-03 -9.08031122e+01] [ 1.03897613e-02 9.99945699e-01 -8.06954200e-04 -5.54617468e+01] [-2.25235871e-03 8.30398435e-04 9.99997119e-01 1.27891629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139072329 meters 0.3018225701027866 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.46, Z:127.89 [[ 9.99883728e-01 -1.48777680e-02 3.34403498e-03 -9.08055159e+01] [ 1.48945335e-02 9.99876338e-01 -5.04586667e-03 -5.54622858e+01] [-3.26855021e-03 5.09508782e-03 9.99981678e-01 1.27891484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199072329 meters 0.2788426211033648 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.46, Z:127.89 [[ 9.99791966e-01 -1.98781680e-02 4.56978539e-03 -9.08087092e+01] [ 1.99230023e-02 9.99751663e-01 -9.98430954e-03 -5.54614223e+01] [-4.37018076e-03 1.00732763e-02 9.99939713e-01 1.27892035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259072329 meters 0.25421304029632646 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.46, Z:127.89 [[ 9.99859016e-01 -1.58244708e-02 5.61555775e-03 -9.08109800e+01] [ 1.58546521e-02 9.99859879e-01 -5.37139391e-03 -5.54624227e+01] [-5.52977142e-03 5.45966935e-03 9.99969806e-01 1.27891137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319072329 meters 0.26966930794410665 Centerline is valid? [False, False] Translation: X:-90.81, Y:-55.46, Z:127.89 [[ 9.99914634e-01 -1.15984260e-02 6.01676374e-03 -9.08120833e+01] [ 1.16048279e-02 9.99932131e-01 -1.03018907e-03 -5.54625473e+01] [-6.00440682e-03 1.09992463e-03 9.99981368e-01 1.27891029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379072329 meters 0.2478782644203199 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.90 [[ 9.99970752e-01 -7.48287847e-03 1.58172683e-03 -9.08016923e+01] [ 7.48537524e-03 9.99970738e-01 -1.57852969e-03 -5.54649647e+01] [-1.56986860e-03 1.59032334e-03 9.99997503e-01 1.27895199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43907232899994 meters 0.2748504151836563 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.89 [[ 9.99992542e-01 -3.67280215e-03 1.19440551e-03 -9.08005191e+01] [ 3.67073743e-03 9.99991773e-01 1.72627677e-03 -5.54616292e+01] [-1.20073596e-03 -1.72187955e-03 9.99997797e-01 1.27894915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49907232899994 meters 0.2984317800060934 Centerline is valid? [False, False] Translation: X:-90.80, Y:-55.46, Z:127.89 [[ 9.99993477e-01 -3.46843196e-03 1.00802221e-03 -9.07998876e+01] [ 3.46640806e-03 9.99991987e-01 2.00265268e-03 -5.54622864e+01] [-1.01496020e-03 -1.99914540e-03 9.99997487e-01 1.27894704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55907232899995 meters 0.2600675970437371 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.46, Z:127.90 [[ 9.99994753e-01 2.86286733e-04 -3.22676496e-03 -9.07900405e+01] [-2.83515162e-04 9.99999591e-01 8.59356597e-04 -5.54628788e+01] [ 3.22700966e-03 -8.58437252e-04 9.99994425e-01 1.27899336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61907232899995 meters 0.26852759660524816 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.46, Z:127.90 [[ 9.99994320e-01 2.39644409e-04 -3.36189266e-03 -9.07902032e+01] [-2.37339091e-04 9.99999736e-01 6.86102413e-04 -5.54625906e+01] [ 3.36205620e-03 -6.85300608e-04 9.99994113e-01 1.27900167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67907232899995 meters 0.3049069497313803 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.46, Z:127.90 [[ 9.99986263e-01 -3.75979992e-03 -3.65210643e-03 -9.07893765e+01] [ 3.74823059e-03 9.99987952e-01 -3.16954713e-03 -5.54638082e+01] [ 3.66397929e-03 3.15581465e-03 9.99988308e-01 1.27900099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73907232899995 meters 0.2523007228791301 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.47, Z:127.90 [[ 9.99987424e-01 -3.28106970e-03 -3.79303327e-03 -9.07887030e+01] [ 3.27195955e-03 9.99991754e-01 -2.40552598e-03 -5.54658804e+01] [ 3.80089469e-03 2.39308508e-03 9.99989913e-01 1.27899601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79907232899996 meters 0.2981728829006299 Centerline is valid? [False, False] Translation: X:-90.79, Y:-55.46, Z:127.90 [[ 9.99991839e-01 6.20146244e-04 -3.99213035e-03 -9.07878008e+01] [-6.15760811e-04 9.99999206e-01 1.09965494e-03 -5.54631032e+01] [ 3.99280913e-03 -1.09718776e-03 9.99991427e-01 1.27899095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85907232899996 meters 0.27866389969616717 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.46, Z:127.90 [[ 9.99985942e-01 1.66386517e-03 -5.03458148e-03 -9.07840511e+01] [-1.65293339e-03 9.99996269e-01 2.17472118e-03 -5.54640819e+01] [ 5.03818114e-03 -2.16636879e-03 9.99984962e-01 1.27897598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91907232899996 meters 0.22982474110520187 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.46, Z:127.90 [[ 9.99979583e-01 -2.61371440e-03 -5.83116953e-03 -9.07818945e+01] [ 2.59906838e-03 9.99993453e-01 -2.51784320e-03 -5.54623468e+01] [ 5.83771227e-03 2.50263618e-03 9.99979829e-01 1.27897641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97907232899996 meters 0.31611900513790236 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.46, Z:127.90 [[ 9.99978917e-01 -2.59771737e-03 -5.95120962e-03 -9.07822586e+01] [ 2.58257930e-03 9.99993414e-01 -2.54997018e-03 -5.54626289e+01] [ 5.95779453e-03 2.53454694e-03 9.99979040e-01 1.27898661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03907232899996 meters 0.25770049822237745 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.46, Z:127.90 [[ 9.99977436e-01 -2.54591811e-03 -6.21649771e-03 -9.07815779e+01] [ 2.53002534e-03 9.99993515e-01 -2.56307434e-03 -5.54624290e+01] [ 6.22298277e-03 2.54728862e-03 9.99977393e-01 1.27898719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09907232899997 meters 0.3116298298236658 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.47, Z:127.90 [[ 9.99963283e-01 -6.54775288e-03 -5.52802887e-03 -9.07829036e+01] [ 6.51478887e-03 9.99961016e-01 -5.96016397e-03 -5.54651927e+01] [ 5.56683905e-03 5.92393119e-03 9.99966958e-01 1.27898117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15907232899997 meters 0.2742375586701027 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.47, Z:127.90 [[ 9.99963382e-01 -6.44883840e-03 -5.62561016e-03 -9.07824154e+01] [ 6.41618556e-03 9.99962577e-01 -5.80318474e-03 -5.54654092e+01] [ 5.66282343e-03 5.76687728e-03 9.99967337e-01 1.27897787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21907232899997 meters 0.26155343540568665 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.47, Z:127.90 [[ 9.99965734e-01 -5.89114319e-03 -5.81593427e-03 -9.07806559e+01] [ 5.86250312e-03 9.99970666e-01 -4.92924215e-03 -5.54669290e+01] [ 5.84480254e-03 4.89497731e-03 9.99970938e-01 1.27895896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279072329 meters 0.2883373568580408 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.47, Z:127.90 [[ 9.99968631e-01 -5.72400873e-03 -5.47481871e-03 -9.07812566e+01] [ 5.69930188e-03 9.99973553e-01 -4.51782227e-03 -5.54681135e+01] [ 5.50053398e-03 4.48647791e-03 9.99974808e-01 1.27895461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339072329 meters 0.26922885436994304 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.47, Z:127.90 [[ 9.99964632e-01 -5.38754445e-03 -6.45825708e-03 -9.07783632e+01] [ 5.35597363e-03 9.99973672e-01 -4.89581084e-03 -5.54657521e+01] [ 6.48446344e-03 4.86104743e-03 9.99967160e-01 1.27895316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399072329 meters 0.2796842218022354 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.47, Z:127.90 [[ 9.99967405e-01 -5.68145320e-03 -5.73667627e-03 -9.07807844e+01] [ 5.65231427e-03 9.99971107e-01 -5.08291095e-03 -5.54661442e+01] [ 5.76538884e-03 5.05031977e-03 9.99970627e-01 1.27896391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459072329 meters 0.2551219429544883 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.47, Z:127.90 [[ 9.99972238e-01 -5.97690872e-03 -4.44963082e-03 -9.07835781e+01] [ 5.95731288e-03 9.99972556e-01 -4.40422955e-03 -5.54688708e+01] [ 4.47583238e-03 4.37759944e-03 9.99980402e-01 1.27895315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519072329 meters 0.257936538191573 Centerline is valid? [False, False] Translation: X:-90.78, Y:-55.47, Z:127.89 [[ 9.99975064e-01 -5.06711072e-03 -4.91892148e-03 -9.07809806e+01] [ 5.05193430e-03 9.99982456e-01 -3.09285244e-03 -5.54712859e+01] [ 4.93450701e-03 3.06792525e-03 9.99983119e-01 1.27893166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579072329 meters 0.25499787759264375 Centerline is valid? [False, False] Translation: X:-90.77, Y:-55.48, Z:127.89 [[ 9.99949390e-01 3.16612083e-03 -9.54952673e-03 -9.07660445e+01] [-3.16964248e-03 9.99994914e-01 -3.53665334e-04 -5.54790393e+01] [ 9.54835841e-03 3.83916021e-04 9.99954340e-01 1.27894741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639072329 meters 0.23973430994717088 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.48, Z:127.90 [[ 9.99962633e-01 8.61945132e-03 6.61726799e-04 -9.07593316e+01] [-8.61929425e-03 9.99962824e-01 -2.39851042e-04 -5.54844709e+01] [-6.63769584e-04 2.34138462e-04 9.99999752e-01 1.27896192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699072329 meters 0.25628210535568774 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.48, Z:127.90 [[ 9.99961357e-01 8.78920364e-03 1.84847361e-04 -9.07580952e+01] [-8.78917521e-03 9.99961363e-01 -1.54088354e-04 -5.54844832e+01] [-1.86194533e-04 1.52457744e-04 9.99999971e-01 1.27896169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759072329 meters 0.2889269100154254 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.48, Z:127.90 [[ 9.99960441e-01 8.84837595e-03 -9.06747239e-04 -9.07560086e+01] [-8.84907871e-03 9.99960547e-01 -7.73976232e-04 -5.54825373e+01] [ 8.99863032e-04 7.81969492e-04 9.99999289e-01 1.27897428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819072329 meters 0.28072793967777904 Centerline is valid? [False, False] Translation: X:-90.75, Y:-55.48, Z:127.90 [[ 9.99983964e-01 5.32145638e-03 -1.93724525e-03 -9.07533257e+01] [-5.32979144e-03 9.99976452e-01 -4.32310041e-03 -5.54834458e+01] [ 1.91419445e-03 4.33335620e-03 9.99988779e-01 1.27897243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879072329 meters 0.2678975727673514 Centerline is valid? [False, False] Translation: X:-90.74, Y:-55.49, Z:127.90 [[ 9.99975639e-01 3.37837458e-03 -6.10810437e-03 -9.07411057e+01] [-3.34601888e-03 9.99980359e-01 5.29965651e-03 -5.54861829e+01] [ 6.12588863e-03 -5.27908957e-03 9.99967302e-01 1.27903416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93907232899994 meters 0.26765721277087146 Centerline is valid? [False, False] Translation: X:-90.74, Y:-55.49, Z:127.90 [[ 9.99973025e-01 3.71909951e-03 -6.33382943e-03 -9.07396334e+01] [-3.68236626e-03 9.99976392e-01 5.80135350e-03 -5.54867952e+01] [ 6.35525571e-03 -5.77787353e-03 9.99963113e-01 1.27902131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99907232899994 meters 0.24835556095780603 Centerline is valid? [False, False] Translation: X:-90.74, Y:-55.49, Z:127.90 [[ 9.99978634e-01 -5.87852029e-04 -6.51051545e-03 -9.07390865e+01] [ 5.97618227e-04 9.99998699e-01 1.49822133e-03 -5.54867014e+01] [ 6.50962625e-03 -1.50208013e-03 9.99977684e-01 1.27902027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05907232899995 meters 0.24129751894726806 Centerline is valid? [False, False] Translation: X:-90.74, Y:-55.49, Z:127.90 [[ 9.99973874e-01 -4.78845068e-03 -5.41491563e-03 -9.07414857e+01] [ 4.77885357e-03 9.99986990e-01 -1.78389888e-03 -5.54900574e+01] [ 5.42338729e-03 1.75797518e-03 9.99983748e-01 1.27901433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11907232899995 meters 0.22534496829201442 Centerline is valid? [False, False] Translation: X:-90.75, Y:-55.49, Z:127.90 [[ 9.99943447e-01 -1.00392716e-02 -3.50931819e-03 -9.07455235e+01] [ 1.00204260e-02 9.99935498e-01 -5.34712223e-03 -5.54929812e+01] [ 3.56277305e-03 5.31165498e-03 9.99979546e-01 1.27899799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17907232899995 meters 0.2689401662261105 Centerline is valid? [False, False] Translation: X:-90.75, Y:-55.49, Z:127.90 [[ 9.99944741e-01 -1.01193452e-02 -2.84864206e-03 -9.07468484e+01] [ 1.01045038e-02 9.99935547e-01 -5.17702031e-03 -5.54934302e+01] [ 2.90084651e-03 5.14795011e-03 9.99982542e-01 1.27899289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23907232899995 meters 0.2596818134991956 Centerline is valid? [False, False] Translation: X:-90.75, Y:-55.50, Z:127.90 [[ 9.99926692e-01 -1.20862096e-02 -7.30791351e-04 -9.07521554e+01] [ 1.20818332e-02 9.99910636e-01 -5.72262841e-03 -5.54950341e+01] [ 7.99890931e-04 5.71337960e-03 9.99983359e-01 1.27898865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29907232899996 meters 0.26048905561564917 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.49, Z:127.90 [[ 9.99902521e-01 -1.39010473e-02 1.30728868e-03 -9.07562689e+01] [ 1.39090303e-02 9.99883356e-01 -6.30969765e-03 -5.54948905e+01] [-1.21942479e-03 6.32726570e-03 9.99979239e-01 1.27897280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35907232899996 meters 0.3516889753531441 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.49, Z:127.90 [[ 9.99898420e-01 -1.41228171e-02 1.92258535e-03 -9.07582229e+01] [ 1.41349721e-02 9.99879211e-01 -6.46268347e-03 -5.54948942e+01] [-1.83108183e-03 6.48920268e-03 9.99977268e-01 1.27898061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41907232899996 meters 0.35138723119184917 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.50, Z:127.90 [[ 9.99897764e-01 -1.40567625e-02 2.62081864e-03 -9.07596353e+01] [ 1.40723330e-02 9.99882855e-01 -6.02044511e-03 -5.54961863e+01] [-2.53588366e-03 6.05671064e-03 9.99978443e-01 1.27897520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47907232899996 meters 0.32716488962909906 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.50, Z:127.90 [[ 9.99904371e-01 -1.34171650e-02 3.35084564e-03 -9.07606261e+01] [ 1.34320929e-02 9.99899781e-01 -4.47289845e-03 -5.55005708e+01] [-3.29049621e-03 4.51747958e-03 9.99984382e-01 1.27896163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53907232899996 meters 0.3116850496410921 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.50, Z:127.89 [[ 9.99907759e-01 -1.29027166e-02 4.24174630e-03 -9.07618689e+01] [ 1.29157503e-02 9.99911907e-01 -3.05980627e-03 -5.55045882e+01] [-4.20189281e-03 3.11430937e-03 9.99986322e-01 1.27894512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59907232899997 meters 0.3058457760504622 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.50, Z:127.90 [[ 9.99955830e-01 -8.63307839e-03 3.71588398e-03 -9.07614025e+01] [ 8.62970253e-03 9.99962337e-01 9.23571987e-04 -5.55038830e+01] [-3.72371730e-03 -8.91464220e-04 9.99992670e-01 1.27895692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65907232899997 meters 0.3048569731861344 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.50, Z:127.90 [[ 9.99956199e-01 -8.60415487e-03 3.68346276e-03 -9.07615148e+01] [ 8.60069951e-03 9.99962559e-01 9.52887715e-04 -5.55040700e+01] [-3.69152364e-03 -9.21165621e-04 9.99992762e-01 1.27896020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71907232899997 meters 0.288887184895383 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.51, Z:127.89 [[ 9.99913108e-01 -1.26138314e-02 3.82995385e-03 -9.07610975e+01] [ 1.26245342e-02 9.99916434e-01 -2.78328013e-03 -5.55054712e+01] [-3.79452597e-03 2.83138967e-03 9.99988792e-01 1.27894998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779072329 meters 0.2817630192184114 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.50, Z:127.90 [[ 9.99960608e-01 -8.36636655e-03 2.96415666e-03 -9.07593937e+01] [ 8.36359839e-03 9.99964578e-01 9.45045296e-04 -5.55035154e+01] [-2.97195826e-03 -9.20217053e-04 9.99995160e-01 1.27895651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839072329 meters 0.30940964889367173 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.50, Z:127.90 [[ 9.99959070e-01 -8.56281321e-03 2.92180547e-03 -9.07595700e+01] [ 8.56119004e-03 9.99963191e-01 5.67591873e-04 -5.55025014e+01] [-2.92655810e-03 -5.42554510e-04 9.99995570e-01 1.27896098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899072329 meters 0.295255745552298 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.50, Z:127.90 [[ 9.99954558e-01 -9.03258706e-03 3.04855246e-03 -9.07600040e+01] [ 9.03336985e-03 9.99959169e-01 -2.43100833e-04 -5.55000162e+01] [-3.04623215e-03 2.70628488e-04 9.99995324e-01 1.27896394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959072329 meters 0.25264595818050506 Centerline is valid? [False, False] Translation: X:-90.76, Y:-55.50, Z:127.90 [[ 9.99947407e-01 -9.39294625e-03 4.11765122e-03 -9.07622820e+01] [ 9.39190972e-03 9.99955858e-01 2.70992080e-04 -5.55021683e+01] [-4.12001487e-03 -2.32305219e-04 9.99991486e-01 1.27895494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019072329 meters 0.2738411813938745 Centerline is valid? [False, False] Translation: X:-90.75, Y:-55.50, Z:127.90 [[ 9.99999861e-01 4.35157381e-04 -2.97734543e-04 -9.07495814e+01] [-4.33575631e-04 9.99985902e-01 5.29221293e-03 -5.55046716e+01] [ 3.00033291e-04 -5.29208310e-03 9.99985952e-01 1.27896961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079072329 meters 0.2691383268000083 Centerline is valid? [False, False] Translation: X:-90.74, Y:-55.51, Z:127.90 [[ 9.99959786e-01 7.23441484e-03 -5.29992040e-03 -9.07355157e+01] [-7.20275768e-03 9.99956250e-01 5.96807165e-03 -5.55075915e+01] [ 5.34286404e-03 -5.92965761e-03 9.99968146e-01 1.27900259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139072329 meters 0.2657717611542177 Centerline is valid? [False, False] Translation: X:-90.72, Y:-55.50, Z:127.91 [[ 9.99883907e-01 1.13223170e-02 -1.01969606e-02 -9.07237803e+01] [-1.12876567e-02 9.99930340e-01 3.45024526e-03 -5.55044914e+01] [ 1.02353150e-02 -3.33474492e-03 9.99942057e-01 1.27905863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199072329 meters 0.2763014190531812 Centerline is valid? [False, False] Translation: X:-90.71, Y:-55.50, Z:127.91 [[ 9.99679571e-01 2.00119885e-02 -1.55007982e-02 -9.07112782e+01] [-1.99351424e-02 9.99788286e-01 5.09632492e-03 -5.55017414e+01] [ 1.55995041e-02 -4.78568130e-03 9.99866868e-01 1.27912453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259072329 meters 0.2642110489644177 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.50, Z:127.92 [[ 9.99465201e-01 2.56298892e-02 -2.03081384e-02 -9.06977814e+01] [-2.51927321e-02 9.99451445e-01 2.14973293e-02 -5.55017545e+01] [ 2.08479724e-02 -2.09742151e-02 9.99562627e-01 1.27919304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319072329 meters 0.2789549954384137 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.50, Z:127.92 [[ 9.99197211e-01 3.18622646e-02 -2.42843321e-02 -9.06892976e+01] [-3.13100696e-02 9.99249876e-01 2.27895789e-02 -5.54959473e+01] [ 2.49922435e-02 -2.20109396e-02 9.99445299e-01 1.27924315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379072329 meters 0.275899225208235 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.49, Z:127.93 [[ 9.99004864e-01 3.63696316e-02 -2.58172791e-02 -9.06855602e+01] [-3.57234512e-02 9.99047363e-01 2.50639497e-02 -5.54895349e+01] [ 2.67042512e-02 -2.41167253e-02 9.99352424e-01 1.27925920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43907232899994 meters 0.2555169808973447 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.49, Z:127.93 [[ 9.98942793e-01 3.69351801e-02 -2.73694882e-02 -9.06820840e+01] [-3.62664985e-02 9.99040850e-01 2.45381471e-02 -5.54869202e+01] [ 2.82495576e-02 -2.35196097e-02 9.99324167e-01 1.27926919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49907232899994 meters 0.2903478252959043 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.48, Z:127.93 [[ 9.99069428e-01 3.24129914e-02 -2.84547948e-02 -9.06803468e+01] [-3.18659536e-02 9.99302451e-01 1.94723514e-02 -5.54845958e+01] [ 2.90661034e-02 -1.85474918e-02 9.99405399e-01 1.27928128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55907232899995 meters 0.29436450018286836 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.49, Z:127.93 [[ 9.99184752e-01 2.81943012e-02 -2.88948603e-02 -9.06797682e+01] [-2.77561467e-02 9.99495252e-01 1.54543634e-02 -5.54854451e+01] [ 2.93160006e-02 -1.46397543e-02 9.99462981e-01 1.27928415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61907232899995 meters 0.2837291084798168 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.50, Z:127.92 [[ 9.99617736e-01 2.33144582e-02 -1.48599461e-02 -9.06798869e+01] [-2.31033615e-02 9.99631909e-01 1.42225587e-02 -5.54978133e+01] [ 1.51860675e-02 -1.38738072e-02 9.99788428e-01 1.27923226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67907232899995 meters 0.2801232263570153 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.51, Z:127.92 [[ 9.99831122e-01 1.83490721e-02 -1.01954185e-03 -9.06800422e+01] [-1.83344939e-02 9.99749598e-01 1.28291414e-02 -5.55096231e+01] [ 1.25468939e-03 -1.28082821e-02 9.99917183e-01 1.27918956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73907232899995 meters 0.3230204498988169 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.51, Z:127.92 [[ 9.99946722e-01 1.03114438e-02 -4.77030943e-04 -9.06816301e+01] [-1.03085910e-02 9.99930962e-01 5.63952413e-03 -5.55141993e+01] [ 5.35149646e-04 -5.63430615e-03 9.99983984e-01 1.27918694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79907232899996 meters 0.24433434492706618 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.52, Z:127.92 [[ 9.99996869e-01 2.42628555e-03 -6.12266511e-04 -9.06806000e+01] [-2.42726906e-03 9.99995757e-01 -1.61075157e-03 -5.55176621e+01] [ 6.08355770e-04 1.61223266e-03 9.99998515e-01 1.27917457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85907232899996 meters 0.2459069054027404 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.52, Z:127.92 [[ 9.99998458e-01 -1.73276218e-03 2.83847583e-04 -9.06823198e+01] [ 1.73417519e-03 9.99985715e-01 -5.05584938e-03 -5.55202723e+01] [-2.75082944e-04 5.05633383e-03 9.99987179e-01 1.27916488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91907232899996 meters 0.267692100720977 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.52, Z:127.92 [[ 9.99984661e-01 -5.49007818e-03 7.32913459e-04 -9.06826352e+01] [ 5.49583246e-03 9.99952134e-01 -8.09477868e-03 -5.55237285e+01] [-6.88437410e-04 8.09868248e-03 9.99966968e-01 1.27915230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97907232899996 meters 0.2742773133493888 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.52, Z:127.91 [[ 9.99983561e-01 -5.54684078e-03 1.45249788e-03 -9.06841392e+01] [ 5.55815391e-03 9.99953315e-01 -7.90411964e-03 -5.55243531e+01] [-1.40858718e-03 7.91206291e-03 9.99967707e-01 1.27914812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03907232899996 meters 0.2698317872604911 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99980338e-01 -5.60291240e-03 2.81607993e-03 -9.06868494e+01] [ 5.62114379e-03 9.99963021e-01 -6.50836011e-03 -5.55289900e+01] [-2.77951002e-03 6.52406174e-03 9.99974855e-01 1.27913226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09907232899997 meters 0.2707622965717074 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99972589e-01 -6.04264195e-03 4.27868774e-03 -9.06897676e+01] [ 6.06737742e-03 9.99964820e-01 -5.79190034e-03 -5.55319548e+01] [-4.24353883e-03 5.81770200e-03 9.99974073e-01 1.27911815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15907232899997 meters 0.28555911987017135 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99970384e-01 -6.05061046e-03 4.75614014e-03 -9.06907738e+01] [ 6.07736270e-03 9.99965680e-01 -5.63059747e-03 -5.55324105e+01] [-4.72190835e-03 5.65933550e-03 9.99972837e-01 1.27911561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21907232899997 meters 0.2758382901763226 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99968875e-01 -5.99030406e-03 5.13470877e-03 -9.06917073e+01] [ 6.01788345e-03 9.99967459e-01 -5.37265375e-03 -5.55332846e+01] [-5.10235786e-03 5.40338660e-03 9.99972384e-01 1.27911542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279072329 meters 0.2614918386386012 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99929322e-01 -1.03603596e-02 5.83207620e-03 -9.06928593e+01] [ 1.04155061e-02 9.99900570e-01 -9.50612706e-03 -5.55337627e+01] [-5.73300942e-03 9.56619921e-03 9.99937808e-01 1.27910816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339072329 meters 0.29606256321817204 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.54, Z:127.91 [[ 9.99956407e-01 -6.35723972e-03 6.83879885e-03 -9.06953410e+01] [ 6.39098540e-03 9.99967454e-01 -4.92396028e-03 -5.55351658e+01] [-6.80727348e-03 4.96745230e-03 9.99964492e-01 1.27910500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399072329 meters 0.2770081361911506 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.54, Z:127.91 [[ 9.99954587e-01 -6.24468811e-03 7.19908533e-03 -9.06956664e+01] [ 6.27777083e-03 9.99969797e-01 -4.58200444e-03 -5.55359050e+01] [-7.17025471e-03 4.62699057e-03 9.99963589e-01 1.27909606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459072329 meters 0.2649610853107873 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.54, Z:127.91 [[ 9.99951322e-01 -6.18984655e-03 7.68370354e-03 -9.06966514e+01] [ 6.22322679e-03 9.99971269e-01 -4.32801021e-03 -5.55366421e+01] [-7.65669306e-03 4.37561696e-03 9.99961114e-01 1.27909287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519072329 meters 0.2582919149038053 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.54, Z:127.91 [[ 9.99950029e-01 -6.30070088e-03 7.76151652e-03 -9.06971761e+01] [ 6.33614692e-03 9.99969571e-01 -4.55080351e-03 -5.55361747e+01] [-7.73260710e-03 4.59975421e-03 9.99959524e-01 1.27909861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579072329 meters 0.2725458910468357 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.53, Z:127.91 [[ 9.99974901e-01 -2.21356363e-03 6.73038408e-03 -9.06955117e+01] [ 2.22198303e-03 9.99996758e-01 -1.24373364e-03 -5.55332794e+01] [-6.72760918e-03 1.25865722e-03 9.99976577e-01 1.27911378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639072329 meters 0.24176391516159468 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99981839e-01 -2.00479458e-03 5.68352522e-03 -9.06929667e+01] [ 2.01404621e-03 9.99996655e-01 -1.62254089e-03 -5.55316522e+01] [-5.68025335e-03 1.63395831e-03 9.99982532e-01 1.27911736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699072329 meters 0.2680538166729594 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99979882e-01 -1.73581949e-03 6.10094715e-03 -9.06937344e+01] [ 1.74195267e-03 9.99997983e-01 -1.00011252e-03 -5.55335114e+01] [-6.09919883e-03 1.01071996e-03 9.99980889e-01 1.27911264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759072329 meters 0.27840322310358495 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99979625e-01 -1.59862880e-03 6.18005909e-03 -9.06937541e+01] [ 1.60324883e-03 9.99998439e-01 -7.42689873e-04 -5.55341975e+01] [-6.17886216e-03 7.52582914e-04 9.99980627e-01 1.27910993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819072329 meters 0.2537813982968442 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.54, Z:127.91 [[ 9.99970998e-01 -5.22266511e-03 5.54317269e-03 -9.06914787e+01] [ 5.24652119e-03 9.99977001e-01 -4.29790632e-03 -5.55353161e+01] [-5.52059868e-03 4.32686404e-03 9.99975400e-01 1.27910178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879072329 meters 0.24244847369861672 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.54, Z:127.91 [[ 9.99968864e-01 -5.00583938e-03 6.10024210e-03 -9.06922933e+01] [ 5.02729967e-03 9.99981211e-01 -3.50769917e-03 -5.55375171e+01] [-6.08256850e-03 3.53825770e-03 9.99975241e-01 1.27909149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93907232899994 meters 0.24334945440093383 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99970199e-01 -5.32513661e-03 5.58965431e-03 -9.06907990e+01] [ 5.34923907e-03 9.99976422e-01 -4.30591846e-03 -5.55346537e+01] [-5.56659291e-03 4.33569054e-03 9.99975107e-01 1.27908966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99907232899994 meters 0.2955787320220528 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99972770e-01 -5.48026135e-03 4.94225636e-03 -9.06892128e+01] [ 5.50457064e-03 9.99972753e-01 -4.91854696e-03 -5.55324964e+01] [-4.91516678e-03 4.94561803e-03 9.99975691e-01 1.27909213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05907232899995 meters 0.23224454941378309 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99980685e-01 -4.75509174e-03 4.00242251e-03 -9.06860910e+01] [ 4.77280514e-03 9.99978807e-01 -4.42781539e-03 -5.55321696e+01] [-3.98128301e-03 4.44683265e-03 9.99982187e-01 1.27908404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11907232899995 meters 0.23293736717598562 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99981860e-01 -4.92185916e-03 3.47209265e-03 -9.06850000e+01] [ 4.93926808e-03 9.99975185e-01 -5.02332634e-03 -5.55302319e+01] [-3.44728238e-03 5.04038481e-03 9.99981355e-01 1.27908976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17907232899995 meters 0.30114556406125964 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99949833e-01 -8.96395817e-03 4.46972845e-03 -9.06876187e+01] [ 9.00130006e-03 9.99924159e-01 -8.40546759e-03 -5.55335895e+01] [-4.39404321e-03 8.44527928e-03 9.99954684e-01 1.27909192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23907232899995 meters 0.2633992264208849 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.54, Z:127.91 [[ 9.99937004e-01 -9.53790267e-03 5.91746245e-03 -9.06910974e+01] [ 9.58181713e-03 9.99926432e-01 -7.43773675e-03 -5.55379584e+01] [-5.84608671e-03 7.49396824e-03 9.99954831e-01 1.27908337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29907232899996 meters 0.31738404108642604 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.54, Z:127.91 [[ 9.99933177e-01 -9.35023323e-03 6.79814772e-03 -9.06923059e+01] [ 9.39493786e-03 9.99934256e-01 -6.57407780e-03 -5.55401459e+01] [-6.73623162e-03 6.63750667e-03 9.99955282e-01 1.27906648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35907232899996 meters 0.30681017727492127 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.54, Z:127.91 [[ 9.99928845e-01 -9.28550465e-03 7.48890613e-03 -9.06930159e+01] [ 9.33114043e-03 9.99937967e-01 -6.08204034e-03 -5.55411726e+01] [-7.43196676e-03 6.15148761e-03 9.99953461e-01 1.27905054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41907232899996 meters 0.289817269910492 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.54, Z:127.90 [[ 9.99904908e-01 -1.02819833e-02 9.18994079e-03 -9.06973767e+01] [ 1.03331607e-02 9.99931271e-01 -5.53881846e-03 -5.55447856e+01] [-9.13235914e-03 5.63325290e-03 9.99942432e-01 1.27904648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47907232899996 meters 0.2770791743488325 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.55, Z:127.90 [[ 9.99884824e-01 -1.08154590e-02 1.06472772e-02 -9.07009030e+01] [ 1.08719482e-02 9.99927053e-01 -5.26199899e-03 -5.55469709e+01] [-1.05895896e-02 5.37714958e-03 9.99929471e-01 1.27904400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53907232899996 meters 0.2587387953296918 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.55, Z:127.90 [[ 9.99877662e-01 -1.08793555e-02 1.12383588e-02 -9.07020121e+01] [ 1.09375510e-02 9.99927025e-01 -5.12987157e-03 -5.55473644e+01] [-1.11817289e-02 5.25216411e-03 9.99923689e-01 1.27903795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59907232899997 meters 0.2601363683290658 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.55, Z:127.90 [[ 9.99914713e-01 -6.68636517e-03 1.12186941e-02 -9.07016964e+01] [ 6.69755128e-03 9.99977111e-01 -9.59821252e-04 -5.55465961e+01] [-1.12120196e-02 1.03487717e-03 9.99936608e-01 1.27903264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65907232899997 meters 0.2560567178596038 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.55, Z:127.90 [[ 9.99922185e-01 -6.52374878e-03 1.06331463e-02 -9.07007713e+01] [ 6.53418152e-03 9.99978204e-01 -9.46707401e-04 -5.55467048e+01] [-1.06267385e-02 1.01611264e-03 9.99943018e-01 1.27904101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71907232899997 meters 0.23971460440286393 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.54, Z:127.90 [[ 9.99950986e-01 -2.60311114e-03 9.55246563e-03 -9.06983232e+01] [ 2.58522506e-03 9.99994883e-01 1.88427406e-03 -5.55420274e+01] [-9.55732173e-03 -1.85948643e-03 9.99952599e-01 1.27904645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779072329 meters 0.2683144030913465 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.54, Z:127.90 [[ 9.99960921e-01 -2.40859298e-03 8.50614165e-03 -9.06956500e+01] [ 2.39823724e-03 9.99996371e-01 1.22743314e-03 -5.55390935e+01] [-8.50906717e-03 -1.20698543e-03 9.99963069e-01 1.27904906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839072329 meters 0.25795133078288507 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.54, Z:127.91 [[ 9.99963550e-01 -2.53578737e-03 8.15286897e-03 -9.06952704e+01] [ 2.52945285e-03 9.99996491e-01 7.87185987e-04 -5.55380059e+01] [-8.15483650e-03 -7.66534996e-04 9.99966455e-01 1.27905770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899072329 meters 0.2704890458264548 Centerline is valid? [False, False] Translation: X:-90.70, Y:-55.54, Z:127.91 [[ 9.99963077e-01 -2.72006327e-03 8.15145475e-03 -9.06958888e+01] [ 2.71697343e-03 9.99996233e-01 3.90103484e-04 -5.55371555e+01] [-8.15248515e-03 -3.67941794e-04 9.99966700e-01 1.27906828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959072329 meters 0.24103134390354278 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.54, Z:127.91 [[ 9.99965563e-01 -2.81582247e-03 7.80663813e-03 -9.06949732e+01] [ 2.81533301e-03 9.99996034e-01 7.36858526e-05 -5.55360083e+01] [-7.80681465e-03 -5.17050290e-05 9.99969525e-01 1.27906810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019072329 meters 0.29916724530765043 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.54, Z:127.90 [[ 9.99975346e-01 -1.83046436e-03 6.77913918e-03 -9.06911670e+01] [ 1.82196461e-03 9.99997547e-01 1.25977308e-03 -5.55374133e+01] [-6.78142852e-03 -1.24739067e-03 9.99976228e-01 1.27904801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079072329 meters 0.21430649610235616 Centerline is valid? [False, False] Translation: X:-90.69, Y:-55.53, Z:127.91 [[ 9.99981104e-01 -1.78511271e-03 5.88265010e-03 -9.06891420e+01] [ 1.78182884e-03 9.99998254e-01 5.63423555e-04 -5.55349842e+01] [-5.88364560e-03 -5.52931033e-04 9.99982538e-01 1.27905400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139072329 meters 0.2688899708167524 Centerline is valid? [False, False] Translation: X:-90.68, Y:-55.54, Z:127.91 [[ 9.99987255e-01 4.92375644e-03 1.11611043e-03 -9.06758213e+01] [-4.92489074e-03 9.99987357e-01 1.01583194e-03 -5.55378048e+01] [-1.11109461e-03 -1.02131571e-03 9.99998861e-01 1.27909261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199072329 meters 0.28740887060072623 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.54, Z:127.91 [[ 9.99836783e-01 1.76875753e-02 -3.68209212e-03 -9.06636986e+01] [-1.76607916e-02 9.99818229e-01 7.18374193e-03 -5.55358351e+01] [ 3.80848579e-03 -7.11754075e-03 9.99967417e-01 1.27914733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259072329 meters 0.2716978016157766 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.53, Z:127.92 [[ 9.99887441e-01 1.40840058e-02 -5.17162950e-03 -9.06606925e+01] [-1.40711015e-02 9.99897814e-01 2.52318075e-03 -5.55334620e+01] [ 5.20663753e-03 -2.45012622e-03 9.99983444e-01 1.27915974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319072329 meters 0.24339632911604805 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.53, Z:127.92 [[ 9.99872544e-01 1.46309275e-02 -6.39001625e-03 -9.06575223e+01] [-1.46144977e-02 9.99889795e-01 2.61034456e-03 -5.55325732e+01] [ 6.42750381e-03 -2.51662498e-03 9.99976177e-01 1.27915900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379072329 meters 0.2792442978560011 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.53, Z:127.92 [[ 9.99916845e-01 1.05927245e-02 -7.35508496e-03 -9.06550812e+01] [-1.06065634e-02 9.99942047e-01 -1.84509722e-03 -5.55311698e+01] [ 7.33511410e-03 1.92295596e-03 9.99971249e-01 1.27915917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43907232899994 meters 0.248380312850493 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.54, Z:127.92 [[ 9.99928922e-01 5.09113905e-03 -1.07810363e-02 -9.06440851e+01] [-5.03917347e-03 9.99975582e-01 4.84178278e-03 -5.55375797e+01] [ 1.08054233e-02 -4.78711113e-03 9.99930161e-01 1.27921647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49907232899994 meters 0.24757116118726472 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.54, Z:127.92 [[ 9.99921518e-01 5.16904447e-03 -1.14122640e-02 -9.06424001e+01] [-5.11576289e-03 9.99975902e-01 4.69306660e-03 -5.55366347e+01] [ 1.14362476e-02 -4.63431584e-03 9.99923865e-01 1.27921649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55907232899995 meters 0.296730509164925 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.54, Z:127.92 [[ 9.99977195e-01 6.22592838e-03 2.61658463e-03 -9.06422752e+01] [-6.23638188e-03 9.99972529e-01 4.00610455e-03 -5.55408788e+01] [-2.59157103e-03 -4.02233121e-03 9.99988552e-01 1.27917146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61907232899995 meters 0.2746824347422097 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.54, Z:127.92 [[ 9.99994354e-01 3.05840810e-03 1.39244370e-03 -9.06383347e+01] [-3.05915825e-03 9.99995177e-01 5.36911512e-04 -5.55404777e+01] [-1.39079489e-03 -5.41168186e-04 9.99998886e-01 1.27916077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67907232899995 meters 0.27725461972791304 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.54, Z:127.92 [[ 9.99995368e-01 2.87909000e-03 9.87034885e-04 -9.06380181e+01] [-2.87904652e-03 9.99995855e-01 -4.54644331e-05 -5.55389198e+01] [-9.87161689e-04 4.26225032e-05 9.99999512e-01 1.27917326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73907232899995 meters 0.2817063302271088 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.54, Z:127.92 [[ 9.99998763e-01 -1.14075856e-03 1.08271712e-03 -9.06377810e+01] [ 1.14485783e-03 9.99992151e-01 -3.79306256e-03 -5.55403757e+01] [-1.07838165e-03 3.79429743e-03 9.99992220e-01 1.27916609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79907232899996 meters 0.25078503495438537 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.54, Z:127.92 [[ 9.99997471e-01 -9.46008328e-04 2.04024962e-03 -9.06397158e+01] [ 9.51320990e-04 9.99996156e-01 -2.60453099e-03 -5.55440030e+01] [-2.03777787e-03 2.60646533e-03 9.99994527e-01 1.27915573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85907232899996 meters 0.24230094341076847 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.55, Z:127.91 [[ 9.99977350e-01 -5.66794678e-03 3.62954258e-03 -9.06434497e+01] [ 5.68710492e-03 9.99969836e-01 -5.29000524e-03 -5.55503670e+01] [-3.59944963e-03 5.31052702e-03 9.99979421e-01 1.27914370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91907232899996 meters 0.24399643994308756 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.55, Z:127.91 [[ 9.99970493e-01 -5.86258506e-03 4.96418923e-03 -9.06462463e+01] [ 5.88408695e-03 9.99973323e-01 -4.32793083e-03 -5.55537917e+01] [-4.93868393e-03 4.35701285e-03 9.99978313e-01 1.27913144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97907232899996 meters 0.22678837204032468 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.56, Z:127.91 [[ 9.99933220e-01 -9.81985455e-03 6.09307003e-03 -9.06483398e+01] [ 9.86396633e-03 9.99925050e-01 -7.25234769e-03 -5.55579833e+01] [-6.02139636e-03 7.31196521e-03 9.99955138e-01 1.27911902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03907232899996 meters 0.2559214185191925 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.56, Z:127.91 [[ 9.99926821e-01 -9.80836474e-03 7.08161287e-03 -9.06507433e+01] [ 9.85388527e-03 9.99930827e-01 -6.42196875e-03 -5.55608855e+01] [-7.01813400e-03 6.49128020e-03 9.99954303e-01 1.27911617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09907232899997 meters 0.33482140617941786 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.56, Z:127.91 [[ 9.99921597e-01 -9.71128674e-03 7.90515488e-03 -9.06523164e+01] [ 9.75692312e-03 9.99935839e-01 -5.75504176e-03 -5.55629717e+01] [-7.84875882e-03 5.83172053e-03 9.99952193e-01 1.27910723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15907232899997 meters 0.2463940415040445 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.56, Z:127.91 [[ 9.99932604e-01 -9.08211490e-03 7.23207158e-03 -9.06497066e+01] [ 9.11880777e-03 9.99945636e-01 -5.05692348e-03 -5.55636672e+01] [-7.18575086e-03 5.12253053e-03 9.99961062e-01 1.27909419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21907232899997 meters 0.32703195521562856 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.56, Z:127.91 [[ 9.99931356e-01 -9.32708174e-03 7.09142273e-03 -9.06495707e+01] [ 9.36677695e-03 9.99940533e-01 -5.58518233e-03 -5.55620970e+01] [-7.03890757e-03 5.65122272e-03 9.99959258e-01 1.27909854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279072329 meters 0.2100940590004307 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.56, Z:127.91 [[ 9.99920597e-01 -9.53564401e-03 8.23837299e-03 -9.06525492e+01] [ 9.57741986e-03 9.99941402e-01 -5.04640307e-03 -5.55647524e+01] [-8.18976954e-03 5.12490473e-03 9.99953330e-01 1.27909942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339072329 meters 0.2909793214138357 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.57, Z:127.91 [[ 9.99919859e-01 -9.31343135e-03 8.57527145e-03 -9.06529142e+01] [ 9.35245328e-03 9.99946041e-01 -4.52171773e-03 -5.55661069e+01] [-8.53269603e-03 4.60155518e-03 9.99953008e-01 1.27909182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399072329 meters 0.28659521476419675 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.56, Z:127.91 [[ 9.99918295e-01 -9.59280541e-03 8.44874185e-03 -9.06527350e+01] [ 9.63566470e-03 9.99940840e-01 -5.04684892e-03 -5.55644597e+01] [-8.39982859e-03 5.12784582e-03 9.99951573e-01 1.27909492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459072329 meters 0.27128004168129727 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.56, Z:127.91 [[ 9.99914223e-01 -9.58731120e-03 8.92361041e-03 -9.06535268e+01] [ 9.63115849e-03 9.99941693e-01 -4.88369118e-03 -5.55648049e+01] [-8.87626864e-03 4.96921698e-03 9.99948258e-01 1.27908902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519072329 meters 0.2764372765950439 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99909145e-01 -9.14870997e-03 9.89963428e-03 -9.06551030e+01] [ 9.18401414e-03 9.99951607e-01 -3.52664458e-03 -5.55685695e+01] [-9.86689096e-03 3.61724255e-03 9.99944778e-01 1.27907372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579072329 meters 0.2623326531094428 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99898496e-01 -9.06631010e-03 1.09908569e-02 -9.06573843e+01] [ 9.09254626e-03 9.99955925e-01 -2.33947425e-03 -5.55724198e+01] [-1.09691621e-02 2.43917166e-03 9.99936862e-01 1.27906340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639072329 meters 0.24725782464574947 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99891919e-01 -9.19443071e-03 1.14722550e-02 -9.06590336e+01] [ 9.22334013e-03 9.99954415e-01 -2.46958294e-03 -5.55724310e+01] [-1.14490256e-02 2.57512854e-03 9.99931142e-01 1.27907113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699072329 meters 0.25515432253721704 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99889341e-01 -9.03125735e-03 1.18212640e-02 -9.06600344e+01] [ 9.05632402e-03 9.99956851e-01 -2.06866147e-03 -5.55738107e+01] [-1.18020713e-02 2.17548975e-03 9.99927987e-01 1.27907283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759072329 meters 0.24837503258197538 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.58, Z:127.91 [[ 9.99843522e-01 -1.30318495e-02 1.19625667e-02 -9.06597562e+01] [ 1.31022132e-02 9.99897209e-01 -5.82258567e-03 -5.55751871e+01] [-1.18854580e-02 5.97841066e-03 9.99911493e-01 1.27906516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819072329 meters 0.34434615774303196 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99886176e-01 -8.97539120e-03 1.21275264e-02 -9.06601746e+01] [ 8.99838808e-03 9.99957815e-01 -1.84301975e-03 -5.55740841e+01] [-1.21104729e-02 1.95193816e-03 9.99924760e-01 1.27906375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879072329 meters 0.21684228134676545 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99893170e-01 -8.83359189e-03 1.16454527e-02 -9.06589442e+01] [ 8.85512407e-03 9.99959175e-01 -1.79871175e-03 -5.55739573e+01] [-1.16290882e-02 1.90164152e-03 9.99930572e-01 1.27906384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93907232899994 meters 0.26776004782542484 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99895820e-01 -8.82023231e-03 1.14259669e-02 -9.06579168e+01] [ 8.84208253e-03 9.99959172e-01 -1.86322559e-03 -5.55732957e+01] [-1.14090663e-02 1.96406082e-03 9.99932986e-01 1.27905727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99907232899994 meters 0.30965646786281986 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99897785e-01 -8.72896097e-03 1.13236130e-02 -9.06573718e+01] [ 8.74919264e-03 9.99960214e-01 -1.73837314e-03 -5.55734341e+01] [-1.13079883e-02 1.83726793e-03 9.99934375e-01 1.27905328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05907232899995 meters 0.30046004180731933 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99910414e-01 -8.65028517e-03 1.02145620e-02 -9.06560271e+01] [ 8.67702150e-03 9.99959036e-01 -2.57606140e-03 -5.55713257e+01] [-1.01918599e-02 2.66446259e-03 9.99944512e-01 1.27907753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11907232899995 meters 0.2989300723252077 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.57, Z:127.91 [[ 9.99916413e-01 -8.93986291e-03 9.34052711e-03 -9.06537170e+01] [ 8.97352562e-03 9.99953371e-01 -3.56826879e-03 -5.55677806e+01] [-9.30819173e-03 3.65178799e-03 9.99950010e-01 1.27907799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17907232899995 meters 0.28578627626260295 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.57, Z:127.91 [[ 9.99924690e-01 -8.87312822e-03 8.47826750e-03 -9.06512837e+01] [ 8.90658020e-03 9.99952668e-01 -3.91603802e-03 -5.55658920e+01] [-8.44311869e-03 3.99125548e-03 9.99956391e-01 1.27907522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23907232899995 meters 0.31348203865846197 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.56, Z:127.91 [[ 9.99930031e-01 -8.89827789e-03 7.79447752e-03 -9.06499017e+01] [ 8.93330034e-03 9.99950106e-01 -4.47000678e-03 -5.55639483e+01] [-7.75431326e-03 4.53932443e-03 9.99959632e-01 1.27908305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29907232899996 meters 0.2605599594812484 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.57, Z:127.91 [[ 9.99925862e-01 -8.65736187e-03 8.56278886e-03 -9.06515999e+01] [ 8.68953094e-03 9.99955300e-01 -3.72680268e-03 -5.55662999e+01] [-8.53014183e-03 3.80093300e-03 9.99956394e-01 1.27907924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35907232899996 meters 0.24916442220723448 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99900302e-01 -9.78513929e-03 1.01802365e-02 -9.06557800e+01] [ 9.82270336e-03 9.99945107e-01 -3.64646653e-03 -5.55687538e+01] [-1.01439965e-02 3.74610043e-03 9.99941531e-01 1.27907732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41907232899996 meters 0.30773718525906446 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99839609e-01 -1.37209900e-02 1.15104733e-02 -9.06583046e+01] [ 1.37918588e-02 9.99886279e-01 -6.10027270e-03 -5.55742178e+01] [-1.14254626e-02 6.25804509e-03 9.99915144e-01 1.27906230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47907232899996 meters 0.2994967555730476 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.58, Z:127.90 [[ 9.99835596e-01 -1.31751518e-02 1.24577504e-02 -9.06598281e+01] [ 1.32279210e-02 9.99903841e-01 -4.16297723e-03 -5.55795906e+01] [-1.24017046e-02 4.32708296e-03 9.99913733e-01 1.27904519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53907232899996 meters 0.29218877734477616 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.58, Z:127.90 [[ 9.99832332e-01 -1.33440084e-02 1.25397814e-02 -9.06599273e+01] [ 1.34006526e-02 9.99900332e-01 -4.44403945e-03 -5.55786773e+01] [-1.24792303e-02 4.61133558e-03 9.99911498e-01 1.27904390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59907232899997 meters 0.27124122904675557 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.58, Z:127.90 [[ 9.99833568e-01 -1.36662568e-02 1.20859476e-02 -9.06586938e+01] [ 1.37296346e-02 9.99892344e-01 -5.17658351e-03 -5.55760919e+01] [-1.20139020e-02 5.34165760e-03 9.99913563e-01 1.27904398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65907232899997 meters 0.2671984601366325 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99883814e-01 -9.70996283e-03 1.17505591e-02 -9.06585468e+01] [ 9.72950579e-03 9.99951376e-01 -1.60712845e-03 -5.55741149e+01] [-1.17343826e-02 1.72126885e-03 9.99929668e-01 1.27905335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71907232899997 meters 0.2690648928670194 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99884082e-01 -1.01226987e-02 1.13733852e-02 -9.06577648e+01] [ 1.01515547e-02 9.99945391e-01 -2.48229344e-03 -5.55713664e+01] [-1.13476366e-02 2.59746324e-03 9.99932240e-01 1.27905727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779072329 meters 0.227195875698566 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99880794e-01 -1.04848265e-02 1.13342501e-02 -9.06577857e+01] [ 1.05212045e-02 9.99939674e-01 -3.15471964e-03 -5.55693263e+01] [-1.13004897e-02 3.27359354e-03 9.99930789e-01 1.27906018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839072329 meters 0.2408092329747656 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99883396e-01 -1.03684787e-02 1.12111152e-02 -9.06573114e+01] [ 1.04026943e-02 9.99941396e-01 -2.99793641e-03 -5.55696357e+01] [-1.11793742e-02 3.11421264e-03 9.99932659e-01 1.27905803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899072329 meters 0.3197442666960894 Centerline is valid? [False, False] Translation: X:-90.66, Y:-55.57, Z:127.91 [[ 9.99895303e-01 -9.83047778e-03 1.06181386e-02 -9.06554187e+01] [ 9.85504409e-03 9.99948875e-01 -2.26377615e-03 -5.55711229e+01] [-1.05953417e-02 2.36818136e-03 9.99941063e-01 1.27905172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959072329 meters 0.31830081643997393 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.57, Z:127.91 [[ 9.99983134e-01 1.86846064e-03 5.49921211e-03 -9.06395872e+01] [-1.87996043e-03 9.99996056e-01 2.08674530e-03 -5.55709162e+01] [-5.49529142e-03 -2.09704841e-03 9.99982702e-01 1.27908029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019072329 meters 0.22519576714419512 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.57, Z:127.91 [[ 9.99987340e-01 1.61464944e-03 4.76572814e-03 -9.06383519e+01] [-1.62009436e-03 9.99998039e-01 1.13887729e-03 -5.55683362e+01] [-4.76387991e-03 -1.14658380e-03 9.99987995e-01 1.27909178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079072329 meters 0.2615743571258769 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.57, Z:127.91 [[ 9.99991262e-01 1.62031171e-03 3.85356939e-03 -9.06360866e+01] [-1.62268341e-03 9.99998496e-01 6.12408556e-04 -5.55662380e+01] [-3.85257130e-03 -6.18656328e-04 9.99992387e-01 1.27909326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139072329 meters 0.27382563308846264 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.57, Z:127.91 [[ 9.99985477e-01 -2.57731274e-03 4.73316998e-03 -9.06384705e+01] [ 2.59246094e-03 9.99991529e-01 -3.19709350e-03 -5.55682408e+01] [-4.72488997e-03 3.20931762e-03 9.99983688e-01 1.27909709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199072329 meters 0.27598478479162225 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.57, Z:127.91 [[ 9.99963670e-01 -6.51821472e-03 5.49290856e-03 -9.06401463e+01] [ 6.55419683e-03 9.99957015e-01 -6.55830684e-03 -5.55712262e+01] [-5.44992400e-03 6.59407017e-03 9.99963408e-01 1.27909400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259072329 meters 0.25950747851188094 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.58, Z:127.91 [[ 9.99944664e-01 -7.33009570e-03 7.54571202e-03 -9.06444537e+01] [ 7.36003922e-03 9.99965120e-01 -3.94819279e-03 -5.55791808e+01] [-7.51650820e-03 4.00351105e-03 9.99963736e-01 1.27906445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319072329 meters 0.268344694738038 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.58, Z:127.91 [[ 9.99939876e-01 -6.89541636e-03 8.52625166e-03 -9.06462845e+01] [ 6.91864684e-03 9.99972426e-01 -2.69809538e-03 -5.55828872e+01] [-8.50741206e-03 2.75692328e-03 9.99960011e-01 1.27905367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379072329 meters 0.26217623557060177 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.58, Z:127.91 [[ 9.99943701e-01 -6.79359305e-03 8.15119490e-03 -9.06451799e+01] [ 6.81535219e-03 9.99973278e-01 -2.64464065e-03 -5.55827844e+01] [-8.13301048e-03 2.70004502e-03 9.99963281e-01 1.27905138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43907232899994 meters 0.24713528134038365 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.58, Z:127.91 [[ 9.99943984e-01 -6.90178069e-03 8.02462597e-03 -9.06450612e+01] [ 6.92530642e-03 9.99971793e-01 -2.90761008e-03 -5.55820358e+01] [-8.00433193e-03 2.96302020e-03 9.99963575e-01 1.27905513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49907232899994 meters 0.2962109614744577 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.58, Z:127.91 [[ 9.99941550e-01 -6.84552395e-03 8.36868600e-03 -9.06459178e+01] [ 6.86833697e-03 9.99972767e-01 -2.70030442e-03 -5.55827372e+01] [-8.34997310e-03 2.75762554e-03 9.99961336e-01 1.27905507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55907232899995 meters 0.2319954807913426 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.58, Z:127.91 [[ 9.99938031e-01 -6.94186390e-03 8.70309984e-03 -9.06467448e+01] [ 6.96610981e-03 9.99971931e-01 -2.75868119e-03 -5.55825758e+01] [-8.68370517e-03 2.81913698e-03 9.99958322e-01 1.27905550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61907232899995 meters 0.31148207162653613 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99930683e-01 -6.53569644e-03 9.79360681e-03 -9.06486687e+01] [ 6.54969139e-03 9.99977574e-01 -1.39759656e-03 -5.55864446e+01] [-9.78425291e-03 1.46164478e-03 9.99951065e-01 1.27904154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67907232899995 meters 0.2699879401450651 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99927247e-01 -6.58354024e-03 1.01073354e-02 -9.06494429e+01] [ 6.59770834e-03 9.99977298e-01 -1.36906048e-03 -5.55866033e+01] [-1.00980927e-02 1.43564613e-03 9.99947982e-01 1.27904141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73907232899995 meters 0.2730254342501648 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99928124e-01 -6.75731661e-03 9.90379987e-03 -9.06490866e+01] [ 6.77511139e-03 9.99975492e-01 -1.76431401e-03 -5.55854514e+01] [-9.89163512e-03 1.83128655e-03 9.99949400e-01 1.27904399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79907232899996 meters 0.26562547025872785 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99923478e-01 -6.76213376e-03 1.03591733e-02 -9.06499797e+01] [ 6.77918411e-03 9.99975722e-01 -1.61168832e-03 -5.55858699e+01] [-1.03480234e-02 1.68179174e-03 9.99945043e-01 1.27904037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85907232899996 meters 0.26062356591647956 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99925749e-01 -6.62023209e-03 1.02307697e-02 -9.06496908e+01] [ 6.63487734e-03 9.99977011e-01 -1.39821250e-03 -5.55864365e+01] [-1.02212780e-02 1.46598858e-03 9.99946687e-01 1.27904132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91907232899996 meters 0.27598719951525036 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99924315e-01 -6.45174342e-03 1.04756220e-02 -9.06499496e+01] [ 6.46285235e-03 9.99978588e-01 -1.02694989e-03 -5.55873837e+01] [-1.04687721e-02 1.09457456e-03 9.99944602e-01 1.27903594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97907232899996 meters 0.26502490479091734 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99916411e-01 -6.59657150e-03 1.11200835e-02 -9.06517827e+01] [ 6.60932577e-03 9.99977541e-01 -1.11059899e-03 -5.55875507e+01] [-1.11125076e-02 1.18400241e-03 9.99937553e-01 1.27904068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03907232899996 meters 0.2940337266793452 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99919916e-01 -6.42486490e-03 1.09033041e-02 -9.06512731e+01] [ 6.43496925e-03 9.99978898e-01 -8.91894548e-04 -5.55881362e+01] [-1.08973437e-02 9.61985548e-04 9.99940159e-01 1.27904163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09907232899997 meters 0.2726386318546782 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99913001e-01 -6.12458968e-03 1.16824946e-02 -9.06521394e+01] [ 6.12225136e-03 9.99981231e-01 2.35909021e-04 -5.55908669e+01] [-1.16837202e-02 -1.64365329e-04 9.99931730e-01 1.27902292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15907232899997 meters 0.26829809021539347 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99917905e-01 -6.01591879e-03 1.13133735e-02 -9.06509317e+01] [ 6.01266606e-03 9.99981872e-01 3.21502781e-04 -5.55907625e+01] [-1.13151025e-02 -2.53452850e-04 9.99935950e-01 1.27901908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21907232899997 meters 0.25921496875901695 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99919798e-01 -6.13511731e-03 1.10796556e-02 -9.06507517e+01] [ 6.13534939e-03 9.99981178e-01 1.30435911e-05 -5.55900239e+01] [-1.10795271e-02 5.49350135e-05 9.99938619e-01 1.27902574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279072329 meters 0.24579078379103259 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99913812e-01 -6.26906434e-03 1.15355014e-02 -9.06517807e+01] [ 6.27067843e-03 9.99980334e-01 -1.03759977e-04 -5.55897292e+01] [-1.15346241e-02 1.76086454e-04 9.99933459e-01 1.27902436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339072329 meters 0.2734195017750807 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.59, Z:127.91 [[ 9.99976987e-01 -5.26213654e-04 6.76372730e-03 -9.06395473e+01] [ 5.24960324e-04 9.99999845e-01 1.87075733e-04 -5.55940594e+01] [-6.76382469e-03 -1.83520740e-04 9.99977108e-01 1.27906297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399072329 meters 0.31903146989771813 Centerline is valid? [False, False] Translation: X:-90.62, Y:-55.59, Z:127.91 [[ 9.99949660e-01 9.84430475e-03 1.94081815e-03 -9.06244688e+01] [-9.84970849e-03 9.99947585e-01 2.79464606e-03 -5.55914248e+01] [-1.91320508e-03 -2.81362187e-03 9.99994212e-01 1.27909608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459072329 meters 0.3228678682113624 Centerline is valid? [False, False] Translation: X:-90.62, Y:-55.59, Z:127.91 [[ 9.99982974e-01 5.77050814e-03 8.67975050e-04 -9.06216409e+01] [-5.76897567e-03 9.99981814e-01 -1.75782792e-03 -5.55896707e+01] [-8.78102826e-04 1.75279067e-03 9.99998078e-01 1.27909512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519072329 meters 0.3109161988139551 Centerline is valid? [False, False] Translation: X:-90.62, Y:-55.59, Z:127.91 [[ 9.99984454e-01 5.53235567e-03 6.96689427e-04 -9.06217791e+01] [-5.53076688e-03 9.99982147e-01 -2.26213269e-03 -5.55884219e+01] [-7.09191912e-04 2.25824430e-03 9.99997199e-01 1.27910440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579072329 meters 0.257428877641874 Centerline is valid? [False, False] Translation: X:-90.62, Y:-55.59, Z:127.91 [[ 9.99984987e-01 5.47677434e-03 1.74466308e-04 -9.06208062e+01] [-5.47631749e-03 9.99981831e-01 -2.51940227e-03 -5.55876875e+01] [-1.88261336e-04 2.51840902e-03 9.99996811e-01 1.27911009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639072329 meters 0.2451258017464258 Centerline is valid? [False, False] Translation: X:-90.62, Y:-55.59, Z:127.91 [[ 9.99978883e-01 6.43370486e-03 -9.17458362e-04 -9.06166510e+01] [-6.43542111e-03 9.99977525e-01 -1.88014431e-03 -5.55869702e+01] [ 9.05341449e-04 1.88600883e-03 9.99997812e-01 1.27909179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699072329 meters 0.23683436087540924 Centerline is valid? [False, False] Translation: X:-90.61, Y:-55.59, Z:127.91 [[ 9.99993850e-01 3.09622051e-03 -1.64752746e-03 -9.06139193e+01] [-3.10426064e-03 9.99983176e-01 -4.90014233e-03 -5.55892768e+01] [ 1.63232782e-03 4.90522654e-03 9.99986637e-01 1.27907808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759072329 meters 0.2452329662104784 Centerline is valid? [False, False] Translation: X:-90.61, Y:-55.59, Z:127.91 [[ 9.99993767e-01 2.98280038e-03 -1.88912624e-03 -9.06133963e+01] [-2.99258324e-03 9.99982018e-01 -5.19702935e-03 -5.55883484e+01] [ 1.87359057e-03 5.20265033e-03 9.99984711e-01 1.27908005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819072329 meters 0.24712039664737862 Centerline is valid? [False, False] Translation: X:-90.61, Y:-55.59, Z:127.91 [[ 9.99992996e-01 3.00779617e-03 -2.22734791e-03 -9.06125661e+01] [-3.01953266e-03 9.99981477e-01 -5.28478597e-03 -5.55878828e+01] [ 2.21141109e-03 5.29147450e-03 9.99983555e-01 1.27908134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879072329 meters 0.23591410869715074 Centerline is valid? [False, False] Translation: X:-90.61, Y:-55.59, Z:127.91 [[ 9.99996846e-01 -9.73763135e-04 -2.31531585e-03 -9.06121429e+01] [ 9.52846519e-04 9.99958883e-01 -9.01802773e-03 -5.55894571e+01] [ 2.32400207e-03 9.01579314e-03 9.99956656e-01 1.27907855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93907232899994 meters 0.2687710541614002 Centerline is valid? [False, False] Translation: X:-90.62, Y:-55.59, Z:127.91 [[ 9.99984791e-01 -5.45319833e-03 -8.24629036e-04 -9.06153283e+01] [ 5.44304389e-03 9.99914949e-01 -1.18519010e-02 -5.55941135e+01] [ 8.89189667e-04 1.18472322e-02 9.99929424e-01 1.27906432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99907232899994 meters 0.2282990649130763 Centerline is valid? [False, False] Translation: X:-90.62, Y:-55.60, Z:127.91 [[ 9.99947543e-01 -1.02135973e-02 7.70240552e-04 -9.06191014e+01] [ 1.02237416e-02 9.99841498e-01 -1.45758207e-02 -5.55996986e+01] [-6.21246905e-04 1.45829308e-02 9.99893470e-01 1.27905306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05907232899995 meters 0.22450166900329768 Centerline is valid? [False, False] Translation: X:-90.62, Y:-55.60, Z:127.91 [[ 9.99968581e-01 -7.62003359e-03 2.18445759e-03 -9.06228764e+01] [ 7.64543440e-03 9.99900373e-01 -1.18655324e-02 -5.55974609e+01] [-2.09382421e-03 1.18818608e-02 9.99927216e-01 1.27905866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11907232899995 meters 0.25399520584183644 Centerline is valid? [False, False] Translation: X:-90.63, Y:-55.60, Z:127.90 [[ 9.99913977e-01 -1.24744836e-02 4.05286418e-03 -9.06267982e+01] [ 1.25337987e-02 9.99809603e-01 -1.49553479e-02 -5.56012353e+01] [-3.86553228e-03 1.50048592e-02 9.99879949e-01 1.27904307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17907232899995 meters 0.2563246655916845 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.60, Z:127.90 [[ 9.99744244e-01 -2.05523223e-02 9.43654892e-03 -9.06421946e+01] [ 2.07044635e-02 9.99652458e-01 -1.63183269e-02 -5.55979576e+01] [-9.09788981e-03 1.65095321e-02 9.99822316e-01 1.27901039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23907232899995 meters 0.24987975672540752 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.60, Z:127.90 [[ 9.99732734e-01 -2.05802895e-02 1.05314447e-02 -9.06446185e+01] [ 2.07444710e-02 9.99661132e-01 -1.57254006e-02 -5.55998812e+01] [-1.02042426e-02 1.59396670e-02 9.99820884e-01 1.27900514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29907232899996 meters 0.24475557815914312 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99720281e-01 -2.06509630e-02 1.15281600e-02 -9.06471376e+01] [ 2.08262608e-02 9.99666049e-01 -1.52989447e-02 -5.56016459e+01] [-1.12083722e-02 1.55347538e-02 9.99816505e-01 1.27900612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35907232899996 meters 0.2766132566469316 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99710033e-01 -2.07048188e-02 1.22947399e-02 -9.06489413e+01] [ 2.08886994e-02 9.99668963e-01 -1.50208650e-02 -5.56026968e+01] [-1.19796656e-02 1.52733306e-02 9.99811589e-01 1.27900462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41907232899996 meters 0.24594068950126965 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99780111e-01 -1.65193474e-02 1.29167096e-02 -9.06504150e+01] [ 1.66567873e-02 9.99805010e-01 -1.06062904e-02 -5.56029765e+01] [-1.27389820e-02 1.08191091e-02 9.99860323e-01 1.27900018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47907232899996 meters 0.2605184982046863 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99837502e-01 -1.25895731e-02 1.29024047e-02 -9.06507949e+01] [ 1.26793259e-02 9.99895819e-01 -6.89824828e-03 -5.56012416e+01] [-1.28142145e-02 7.06072112e-03 9.99892965e-01 1.27900448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53907232899996 meters 0.2483693108966215 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99882847e-01 -8.82831296e-03 1.25040918e-02 -9.06503924e+01] [ 8.87417145e-03 9.99954083e-01 -3.61675385e-03 -5.55981855e+01] [-1.24715879e-02 3.72729359e-03 9.99915280e-01 1.27901254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59907232899997 meters 0.24329617663823888 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99891422e-01 -8.84571504e-03 1.17854553e-02 -9.06488215e+01] [ 8.89326147e-03 9.99952502e-01 -3.98805005e-03 -5.55968937e+01] [-1.17496184e-02 4.09242817e-03 9.99922596e-01 1.27901732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65907232899997 meters 0.29005995365418374 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99891741e-01 -8.86345540e-03 1.17449943e-02 -9.06485630e+01] [ 8.91145663e-03 9.99952127e-01 -4.04093884e-03 -5.55966313e+01] [-1.17086153e-02 4.14516638e-03 9.99922860e-01 1.27901507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71907232899997 meters 0.23082705961929656 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99894396e-01 -8.74552325e-03 1.16065704e-02 -9.06480240e+01] [ 8.79117538e-03 9.99953798e-01 -3.88812633e-03 -5.55969242e+01] [-1.15720305e-02 3.98975112e-03 9.99925082e-01 1.27901245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779072329 meters 0.2632946740104123 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99894905e-01 -8.90387661e-03 1.14411342e-02 -9.06478801e+01] [ 8.95292555e-03 9.99950920e-01 -4.24302700e-03 -5.55959513e+01] [-1.14027933e-02 4.34501270e-03 9.99925546e-01 1.27901701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839072329 meters 0.24817732735338635 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99897928e-01 -8.90742974e-03 1.11709687e-02 -9.06469364e+01] [ 8.95629161e-03 9.99950510e-01 -4.33163146e-03 -5.55953877e+01] [-1.11318322e-02 4.43123977e-03 9.99928221e-01 1.27901358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899072329 meters 0.2534153556577373 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99897152e-01 -9.03044361e-03 1.11416486e-02 -9.06468176e+01] [ 9.08172078e-03 9.99948362e-01 -4.56031705e-03 -5.55946235e+01] [-1.10998916e-02 4.66103337e-03 9.99927531e-01 1.27901329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959072329 meters 0.25294908340104905 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.60, Z:127.90 [[ 9.99894257e-01 -9.01593049e-03 1.14099966e-02 -9.06475540e+01] [ 9.06719273e-03 9.99948995e-01 -4.44902018e-03 -5.55950402e+01] [-1.13693026e-02 4.55200636e-03 9.99925006e-01 1.27901425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019072329 meters 0.24247727964864746 Centerline is valid? [False, False] Translation: X:-90.65, Y:-55.59, Z:127.90 [[ 9.99924530e-01 -5.40068569e-03 1.10347680e-02 -9.06469936e+01] [ 5.41651177e-03 9.99984344e-01 -1.40481925e-03 -5.55911648e+01] [-1.10270082e-02 1.46448318e-03 9.99938128e-01 1.27901972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079072329 meters 0.22632647281187493 Centerline is valid? [False, False] Translation: X:-90.64, Y:-55.59, Z:127.91 [[ 9.99981402e-01 -2.33145574e-04 6.09441065e-03 -9.06358484e+01] [ 2.44845541e-04 9.99998129e-01 -1.91911081e-03 -5.55939102e+01] [-6.09395181e-03 1.92056730e-03 9.99979587e-01 1.27907677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139072329 meters 0.21607201644166243 Centerline is valid? [False, False] Translation: X:-90.63, Y:-55.59, Z:127.91 [[ 9.99984899e-01 -1.05134292e-04 5.49465639e-03 -9.06340598e+01] [ 1.15538279e-04 9.99998201e-01 -1.89319047e-03 -5.55936242e+01] [-5.49444747e-03 1.89379672e-03 9.99983112e-01 1.27907224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199072329 meters 0.23859169585258944 Centerline is valid? [False, False] Translation: X:-90.62, Y:-55.59, Z:127.91 [[ 9.99909239e-01 1.34653190e-02 4.46834514e-04 -9.06203169e+01] [-1.34673033e-02 9.99897873e-01 4.78290129e-03 -5.55924452e+01] [-3.82385588e-04 -4.78848484e-03 9.99988462e-01 1.27911651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259072329 meters 0.23224336378231167 Centerline is valid? [False, False] Translation: X:-90.61, Y:-55.59, Z:127.92 [[ 9.99891877e-01 1.44188296e-02 -2.88652051e-03 -9.06136641e+01] [-1.44147264e-02 9.99895069e-01 1.43728545e-03 -5.55850583e+01] [ 2.90694160e-03 -1.39552164e-03 9.99994801e-01 1.27916096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319072329 meters 0.2414769204344339 Centerline is valid? [False, False] Translation: X:-90.61, Y:-55.58, Z:127.92 [[ 9.99861577e-01 1.55696610e-02 -5.86617866e-03 -9.06077741e+01] [-1.55695594e-02 9.99878785e-01 6.29913967e-05 -5.55811836e+01] [ 5.86644834e-03 2.83511399e-05 9.99982792e-01 1.27919315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379072329 meters 0.24529921897635037 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.58, Z:127.93 [[ 9.99649482e-01 2.20735163e-02 -1.46175300e-02 -9.05905255e+01] [-2.18811302e-02 9.99673527e-01 1.31930231e-02 -5.55839145e+01] [ 1.49039742e-02 -1.28685506e-02 9.99806117e-01 1.27930478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43907232899994 meters 0.2277934442674606 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.58, Z:127.93 [[ 9.99714694e-01 1.77815831e-02 -1.59482199e-02 -9.05880224e+01] [-1.76541290e-02 9.99811365e-01 8.09725424e-03 -5.55813831e+01] [ 1.60891935e-02 -7.81339211e-03 9.99840032e-01 1.27931666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49907232899994 meters 0.2487854244058065 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.59, Z:127.93 [[ 9.99823756e-01 1.86718874e-02 -1.95401528e-03 -9.05874578e+01] [-1.86514720e-02 9.99776127e-01 9.99095997e-03 -5.55861807e+01] [ 2.14012791e-03 -9.95275386e-03 9.99948180e-01 1.27927075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55907232899995 meters 0.24564792311287323 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.59, Z:127.93 [[ 9.99813005e-01 1.91686205e-02 -2.55339285e-03 -9.05854537e+01] [-1.91404771e-02 9.99760351e-01 1.06246108e-02 -5.55873703e+01] [ 2.75644006e-03 -1.05737508e-02 9.99940297e-01 1.27926278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61907232899995 meters 0.2437447855393428 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.58, Z:127.93 [[ 9.99811265e-01 1.90975505e-02 -3.56632158e-03 -9.05830915e+01] [-1.90616396e-02 9.99769832e-01 9.84566714e-03 -5.55846084e+01] [ 3.75352885e-03 -9.77582898e-03 9.99945171e-01 1.27926747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67907232899995 meters 0.25121561132232173 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.58, Z:127.93 [[ 9.99809641e-01 1.89624004e-02 -4.59447150e-03 -9.05807718e+01] [-1.89202825e-02 9.99780096e-01 9.04341609e-03 -5.55818123e+01] [ 4.76494604e-03 -8.95476590e-03 9.99948552e-01 1.27927365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73907232899995 meters 0.2396979750625553 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.58, Z:127.93 [[ 9.99878656e-01 1.46563549e-02 -5.27869707e-03 -9.05795181e+01] [-1.46319358e-02 9.99882203e-01 4.63526841e-03 -5.55814692e+01] [ 5.34601140e-03 -4.55746839e-03 9.99975325e-01 1.27927752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79907232899996 meters 0.24789813356301413 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.58, Z:127.93 [[ 9.99908494e-01 1.17861959e-02 -6.63993289e-03 -9.05764951e+01] [-1.17820987e-02 9.99930374e-01 6.55844206e-04 -5.55792926e+01] [ 6.64720049e-03 -5.77551848e-04 9.99977740e-01 1.27928685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85907232899996 meters 0.2398311767353894 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.59, Z:127.94 [[ 9.99936928e-01 3.38433192e-03 -1.07091639e-02 -9.05667661e+01] [-3.33487883e-03 9.99983710e-01 4.63232236e-03 -5.55874660e+01] [ 1.07246668e-02 -4.59631642e-03 9.99931925e-01 1.27935661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91907232899996 meters 0.31356089890928857 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.59, Z:127.93 [[ 9.99944440e-01 -5.31753720e-04 -1.05278206e-02 -9.05663473e+01] [ 5.44104735e-04 9.99999167e-01 1.17034927e-03 -5.55894685e+01] [ 1.05271895e-02 -1.17601248e-03 9.99943896e-01 1.27934362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97907232899996 meters 0.32975893713592613 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.59, Z:127.93 [[ 9.99932233e-01 -4.50846603e-03 -1.07332570e-02 -9.05654779e+01] [ 4.48140836e-03 9.99986723e-01 -2.54363690e-03 -5.55909223e+01] [ 1.07445824e-02 2.49536442e-03 9.99939162e-01 1.27933902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03907232899996 meters 0.29380150141944555 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.60, Z:127.93 [[ 9.99983745e-01 -4.56196167e-03 3.42014732e-03 -9.05659816e+01] [ 4.56477267e-03 9.99989250e-01 -8.14539782e-04 -5.56010278e+01] [-3.41639465e-03 8.30138737e-04 9.99993820e-01 1.27929739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09907232899997 meters 0.29549939690398813 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.60, Z:127.93 [[ 9.99952620e-01 -8.60942255e-03 4.54258243e-03 -9.05681019e+01] [ 8.62648329e-03 9.99955761e-01 -3.74960619e-03 -5.56049401e+01] [-4.51009953e-03 3.78861504e-03 9.99982653e-01 1.27928539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15907232899997 meters 0.2849319147006441 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.61, Z:127.93 [[ 9.99903628e-01 -1.27655196e-02 5.45673465e-03 -9.05704452e+01] [ 1.28057191e-02 9.99890646e-01 -7.39662171e-03 -5.56074969e+01] [-5.36171621e-03 7.46578629e-03 9.99957756e-01 1.27928752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21907232899997 meters 0.27516620325462215 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.61, Z:127.93 [[ 9.99834583e-01 -1.69440083e-02 6.61115474e-03 -9.05731235e+01] [ 1.70145621e-02 9.99797281e-01 -1.07657726e-02 -5.56107810e+01] [-6.42739919e-03 1.08764777e-02 9.99920192e-01 1.27928520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279072329 meters 0.2529459829596834 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.61, Z:127.93 [[ 9.99806279e-01 -1.78145111e-02 8.36947000e-03 -9.05770256e+01] [ 1.79005469e-02 9.99786513e-01 -1.03198050e-02 -5.56131710e+01] [-8.18384095e-03 1.04676239e-02 9.99911723e-01 1.27927414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339072329 meters 0.24256179228519748 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.61, Z:127.93 [[ 9.99864507e-01 -1.37218590e-02 9.09270421e-03 -9.05789060e+01] [ 1.37774232e-02 9.99886622e-01 -6.07665762e-03 -5.56131713e+01] [-9.00829026e-03 6.20110831e-03 9.99940197e-01 1.27927403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399072329 meters 0.24674247565069193 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.61, Z:127.93 [[ 9.99862734e-01 -1.36483711e-02 9.39340789e-03 -9.05795607e+01] [ 1.37037024e-02 9.99888978e-01 -5.85149475e-03 -5.56138292e+01] [-9.31250164e-03 5.97941600e-03 9.99938760e-01 1.27927269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459072329 meters 0.22854370016494685 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.61, Z:127.93 [[ 9.99850369e-01 -1.41607201e-02 9.93551398e-03 -9.05817883e+01] [ 1.42251809e-02 9.99878029e-01 -6.44752957e-03 -5.56131358e+01] [-9.84300048e-03 6.58789930e-03 9.99929855e-01 1.27928587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519072329 meters 0.27047038907678467 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.61, Z:127.93 [[ 9.99850611e-01 -1.40221343e-02 1.01062173e-02 -9.05819774e+01] [ 1.40846355e-02 9.99881955e-01 -6.14001190e-03 -5.56139167e+01] [-1.00189283e-02 6.28143703e-03 9.99930080e-01 1.27928250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579072329 meters 0.2750627766712214 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.61, Z:127.93 [[ 9.99842337e-01 -1.40822620e-02 1.08162090e-02 -9.05836348e+01] [ 1.41479927e-02 9.99881761e-01 -6.02476898e-03 -5.56144042e+01] [-1.07300877e-02 6.17684674e-03 9.99923353e-01 1.27928174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639072329 meters 0.26510789786237926 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.62, Z:127.93 [[ 9.99824673e-01 -1.43145634e-02 1.20712891e-02 -9.05864599e+01] [ 1.43787644e-02 9.99882845e-01 -5.24857373e-03 -5.56171404e+01] [-1.19947438e-02 5.42122374e-03 9.99913364e-01 1.27927463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699072329 meters 0.27490465329462915 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.62, Z:127.93 [[ 9.99809273e-01 -1.44831372e-02 1.31018028e-02 -9.05887738e+01] [ 1.45494557e-02 9.99881746e-01 -4.98070572e-03 -5.56181354e+01] [-1.30281172e-02 5.17037986e-03 9.99901763e-01 1.27927115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759072329 meters 0.26518567809986926 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.62, Z:127.93 [[ 9.99809464e-01 -1.43803169e-02 1.32001058e-02 -9.05891981e+01] [ 1.44445110e-02 9.99884244e-01 -4.78075778e-03 -5.56188281e+01] [-1.31298290e-02 4.97051595e-03 9.99901446e-01 1.27927443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819072329 meters 0.25286720338112023 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.62, Z:127.93 [[ 9.99802101e-01 -1.45607576e-02 1.35552246e-02 -9.05899875e+01] [ 1.46295543e-02 9.99880531e-01 -4.99003811e-03 -5.56181875e+01] [-1.34809464e-02 5.18735748e-03 9.99895672e-01 1.27927364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879072329 meters 0.24411372490851138 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.62, Z:127.93 [[ 9.99789370e-01 -1.45522094e-02 1.44723348e-02 -9.05923366e+01] [ 1.46205721e-02 9.99882398e-01 -4.62914199e-03 -5.56197264e+01] [-1.44032686e-02 4.83976077e-03 9.99884555e-01 1.27927579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93907232899994 meters 0.22565674321972895 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.62, Z:127.93 [[ 9.99786452e-01 -1.41645022e-02 1.50471823e-02 -9.05932616e+01] [ 1.42212025e-02 9.99892146e-01 -3.66786309e-03 -5.56224218e+01] [-1.49936060e-02 3.88106885e-03 9.99880057e-01 1.27926758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99907232899994 meters 0.2734647021571444 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.62, Z:127.93 [[ 9.99783437e-01 -1.38415072e-02 1.55400199e-02 -9.05940870e+01] [ 1.38882252e-02 9.99899342e-01 -2.90241776e-03 -5.56245712e+01] [-1.54982818e-02 3.11761250e-03 9.99875034e-01 1.27926129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05907232899995 meters 0.2557114822598393 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.63, Z:127.93 [[ 9.99780375e-01 -1.37088188e-02 1.58515118e-02 -9.05948235e+01] [ 1.37508552e-02 9.99902211e-01 -2.54593218e-03 -5.56256819e+01] [-1.58150599e-02 2.76334487e-03 9.99871116e-01 1.27926067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11907232899995 meters 0.25757085612914443 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.63, Z:127.93 [[ 9.99782865e-01 -1.36068716e-02 1.57821506e-02 -9.05944405e+01] [ 1.36458686e-02 9.99904092e-01 -2.36590401e-03 -5.56260326e+01] [-1.57484444e-02 2.58075144e-03 9.99872655e-01 1.27925791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17907232899995 meters 0.23685615440301203 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.62, Z:127.93 [[ 9.99780823e-01 -1.40758154e-02 1.54976659e-02 -9.05938023e+01] [ 1.41289969e-02 9.99894644e-01 -3.32744825e-03 -5.56230692e+01] [-1.54491965e-02 3.54568542e-03 9.99874367e-01 1.27926007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23907232899995 meters 0.2395260578856399 Centerline is valid? [False, False] Translation: X:-90.60, Y:-55.63, Z:127.93 [[ 9.99770446e-01 -1.38618048e-02 1.63372329e-02 -9.05955129e+01] [ 1.39065122e-02 9.99899851e-01 -2.62611091e-03 -5.56251550e+01] [-1.62991941e-02 2.85270201e-03 9.99863090e-01 1.27925425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29907232899996 meters 0.2259128487335748 Centerline is valid? [False, False] Translation: X:-90.60, Y:-55.63, Z:127.93 [[ 9.99774369e-01 -1.37748876e-02 1.61698484e-02 -9.05951816e+01] [ 1.38175233e-02 9.99901338e-01 -2.52798581e-03 -5.56254473e+01] [-1.61334303e-02 2.75084268e-03 9.99866064e-01 1.27925577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35907232899996 meters 0.21997170946251784 Centerline is valid? [False, False] Translation: X:-90.60, Y:-55.63, Z:127.92 [[ 9.99763393e-01 -1.38631501e-02 1.67621891e-02 -9.05959907e+01] [ 1.39051476e-02 9.99900459e-01 -2.39153913e-03 -5.56255636e+01] [-1.67273663e-02 2.62405399e-03 9.99856645e-01 1.27924546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41907232899996 meters 0.35486947394445933 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.63, Z:127.92 [[ 9.99786360e-01 -1.31619372e-02 1.59372870e-02 -9.05931367e+01] [ 1.31906791e-02 9.99911555e-01 -1.69965900e-03 -5.56260746e+01] [-1.59135066e-02 1.90951952e-03 9.99871549e-01 1.27923529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47907232899996 meters 0.3397780859343917 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.63, Z:127.92 [[ 9.99781693e-01 -1.30432036e-02 1.63230093e-02 -9.05938630e+01] [ 1.30672424e-02 9.99913686e-01 -1.36690082e-03 -5.56270032e+01] [-1.63037716e-02 1.57989914e-03 9.99865836e-01 1.27923174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53907232899996 meters 0.34315931553106427 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.63, Z:127.93 [[ 9.99894103e-01 -8.10009400e-03 1.20900984e-02 -9.05836676e+01] [ 8.11089322e-03 9.99966750e-01 -8.44462337e-04 -5.56319637e+01] [-1.20828562e-02 9.42434409e-04 9.99926556e-01 1.27927004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59907232899997 meters 0.32954579015876073 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.63, Z:127.93 [[ 9.99927932e-01 -4.46446639e-03 1.11444369e-02 -9.05826289e+01] [ 4.44556899e-03 9.99988639e-01 1.71987734e-03 -5.56274558e+01] [-1.11519886e-02 -1.67021003e-03 9.99936420e-01 1.27929093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65907232899997 meters 0.31927188676031143 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.63, Z:127.93 [[ 9.99932929e-01 -4.57655212e-03 1.06392313e-02 -9.05815810e+01] [ 4.56279818e-03 9.99988724e-01 1.31667118e-03 -5.56262797e+01] [-1.06451371e-02 -1.26803820e-03 9.99942535e-01 1.27929419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71907232899997 meters 0.31096292561269556 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.63, Z:127.93 [[ 9.99981843e-01 -9.62037583e-05 6.02537282e-03 -9.05695293e+01] [ 9.68425525e-05 9.99999990e-01 -1.05725708e-04 -5.56258063e+01] [-6.02536259e-03 1.06307301e-04 9.99981842e-01 1.27933223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779072329 meters 0.36196451534681684 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.62, Z:127.94 [[ 9.99983742e-01 5.57655588e-03 1.19098826e-03 -9.05559288e+01] [-5.57451474e-03 9.99983000e-01 -1.71031630e-03 -5.56242689e+01] [-1.20050569e-03 1.70364931e-03 9.99997828e-01 1.27937742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839072329 meters 0.3013590418247019 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.94 [[ 9.99997895e-01 1.90179552e-03 7.70779870e-04 -9.05544584e+01] [-1.89784145e-03 9.99985201e-01 -5.09863250e-03 -5.56264591e+01] [-7.80465020e-04 5.09715895e-03 9.99986705e-01 1.27936993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899072329 meters 0.33337611604595463 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.93 [[ 9.99993751e-01 3.53466352e-03 -5.94088077e-05 -9.05501893e+01] [-3.53487016e-03 9.99985990e-01 -3.94017228e-03 -5.56255230e+01] [ 4.54807922e-05 3.94035766e-03 9.99992236e-01 1.27934754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959072329 meters 0.2763033067570771 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.94 [[ 9.99993697e-01 3.53921049e-03 -2.83328529e-04 -9.05501143e+01] [-3.54032245e-03 9.99985631e-01 -4.02533303e-03 -5.56254459e+01] [ 2.69077957e-04 4.02631074e-03 9.99991858e-01 1.27935552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019072329 meters 0.2662178864728862 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.94 [[ 9.99999890e-01 -4.20989208e-04 -2.07261095e-04 -9.05503303e+01] [ 4.19382012e-04 9.99970310e-01 -7.69436927e-03 -5.56274425e+01] [ 2.10494187e-04 7.69428150e-03 9.99970376e-01 1.27935536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079072329 meters 0.3020490789080299 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.93 [[ 9.99999835e-01 -1.65384454e-04 5.49818910e-04 -9.05509893e+01] [ 1.69182031e-04 9.99976083e-01 -6.91410225e-03 -5.56291225e+01] [-5.48662275e-04 6.91419413e-03 9.99975946e-01 1.27933608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139072329 meters 0.24734689998392442 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.93 [[ 9.99999872e-01 -2.81001324e-05 5.04775798e-04 -9.05507724e+01] [ 3.14724987e-05 9.99977674e-01 -6.68215415e-03 -5.56297071e+01] [-5.04576758e-04 6.68216918e-03 9.99977547e-01 1.27933466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199072329 meters 0.25102884649721835 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.93 [[ 9.99999475e-01 -2.19304099e-04 1.00071308e-03 -9.05518849e+01] [ 2.26171655e-04 9.99976391e-01 -6.86771745e-03 -5.56291962e+01] [-9.99183338e-04 6.86794018e-03 9.99975916e-01 1.27933352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259072329 meters 0.23627584906449975 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.93 [[ 9.99990849e-01 -4.09744956e-03 1.23015170e-03 -9.05517831e+01] [ 4.10994377e-03 9.99938177e-01 -1.03319873e-02 -5.56314416e+01] [-1.18774085e-03 1.03369486e-02 9.99945867e-01 1.27932365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319072329 meters 0.22939395999218992 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.93 [[ 9.99989952e-01 -3.83457972e-03 2.32198067e-03 -9.05541561e+01] [ 3.85594416e-03 9.99949622e-01 -9.26746305e-03 -5.56349588e+01] [-2.28632686e-03 9.27632336e-03 9.99954360e-01 1.27931696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379072329 meters 0.26309217668115514 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.93 [[ 9.99989757e-01 -3.67472713e-03 2.64255207e-03 -9.05546110e+01] [ 3.69804479e-03 9.99953789e-01 -8.87384145e-03 -5.56359777e+01] [-2.60982101e-03 8.88352282e-03 9.99957135e-01 1.27931176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43907232899994 meters 0.29065267993123794 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.93 [[ 9.99987799e-01 -3.67605734e-03 3.29974923e-03 -9.05559384e+01] [ 3.70458776e-03 9.99955447e-01 -8.68217653e-03 -5.56366133e+01] [-3.26768604e-03 8.69429481e-03 9.99956865e-01 1.27930700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49907232899994 meters 0.27818359838584794 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.93 [[ 9.99984912e-01 -3.82872148e-03 3.93924656e-03 -9.05571269e+01] [ 3.86291126e-03 9.99954618e-01 -8.70858123e-03 -5.56365160e+01] [-3.90572506e-03 8.72366679e-03 9.99954320e-01 1.27930098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55907232899995 meters 0.2772972664717419 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.93 [[ 9.99986740e-01 -3.71970418e-03 3.56143284e-03 -9.05560336e+01] [ 3.75045068e-03 9.99955418e-01 -8.66578350e-03 -5.56363930e+01] [-3.52903992e-03 8.67902557e-03 9.99956109e-01 1.27929920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61907232899995 meters 0.24313056915056452 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.93 [[ 9.99986097e-01 -3.77460216e-03 3.68223271e-03 -9.05565563e+01] [ 3.80660845e-03 9.99954698e-01 -8.72415250e-03 -5.56363362e+01] [-3.64913570e-03 8.73804802e-03 9.99955164e-01 1.27930294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67907232899995 meters 0.2582459159680541 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.63, Z:127.93 [[ 9.99986544e-01 -3.93311231e-03 3.38256818e-03 -9.05556679e+01] [ 3.96392155e-03 9.99950279e-01 -9.15028692e-03 -5.56347850e+01] [-3.34641089e-03 9.16357203e-03 9.99952414e-01 1.27930194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73907232899995 meters 0.22820389144376635 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.93 [[ 9.99985421e-01 -3.79364910e-03 3.84277104e-03 -9.05563975e+01] [ 3.82709089e-03 9.99954544e-01 -8.73287417e-03 -5.56358568e+01] [-3.80946690e-03 8.74745348e-03 9.99954484e-01 1.27929550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79907232899996 meters 0.3035327344657665 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.93 [[ 9.99993680e-01 7.34338466e-04 3.47868986e-03 -9.05555214e+01] [-7.19773283e-04 9.99990978e-01 -4.18637690e-03 -5.56363743e+01] [-3.48173270e-03 4.18384657e-03 9.99985186e-01 1.27929563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85907232899996 meters 0.23291323020233892 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.93 [[ 9.99993862e-01 5.58515841e-04 3.45889387e-03 -9.05553624e+01] [-5.42919298e-04 9.99989690e-01 -4.50841145e-03 -5.56352758e+01] [-3.46137623e-03 4.50650588e-03 9.99983855e-01 1.27929458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91907232899996 meters 0.23335424815491865 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.93 [[ 9.99996206e-01 1.10062906e-03 2.52522712e-03 -9.05524473e+01] [-1.08980757e-03 9.99990235e-01 -4.28273417e-03 -5.56345516e+01] [-2.52991616e-03 4.27996591e-03 9.99987641e-01 1.27928944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97907232899996 meters 0.2373652649699781 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.93 [[ 9.99994109e-01 -2.77955275e-03 2.01407787e-03 -9.05506989e+01] [ 2.79578535e-03 9.99963269e-01 -8.10208146e-03 -5.56353215e+01] [-1.99148373e-03 8.10766466e-03 9.99965149e-01 1.27928309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03907232899996 meters 0.2630697298327828 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.93 [[ 9.99996838e-01 -1.86517091e-03 1.68648738e-03 -9.05483476e+01] [ 1.87652788e-03 9.99975405e-01 -6.75777849e-03 -5.56377444e+01] [-1.67384149e-03 6.76092186e-03 9.99975744e-01 1.27926134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09907232899997 meters 0.2545160018012314 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.93 [[ 9.99997412e-01 -1.84334268e-03 1.33331551e-03 -9.05474382e+01] [ 1.85246615e-03 9.99974657e-01 -6.87413682e-03 -5.56372104e+01] [-1.32061033e-03 6.87658895e-03 9.99975484e-01 1.27926176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15907232899997 meters 0.2441426048004092 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.93 [[ 9.99997084e-01 -1.97730701e-03 1.38623108e-03 -9.05476160e+01] [ 1.98708930e-03 9.99972882e-01 -7.09125471e-03 -5.56365702e+01] [-1.37217190e-03 7.09398860e-03 9.99973896e-01 1.27926254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21907232899997 meters 0.25459401827123146 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.93 [[ 9.99997881e-01 -1.82657146e-03 9.49930085e-04 -9.05462593e+01] [ 1.83317540e-03 9.99973832e-01 -6.99825784e-03 -5.56364271e+01] [-9.37122409e-04 6.99998439e-03 9.99975061e-01 1.27925927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279072329 meters 0.23481649181863493 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.93 [[ 9.99996450e-01 -1.90619136e-03 1.86200892e-03 -9.05481923e+01] [ 1.91881245e-03 9.99975038e-01 -6.80010676e-03 -5.56371537e+01] [-1.84900014e-03 6.80365546e-03 9.99975145e-01 1.27925495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339072329 meters 0.22642673468586064 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.93 [[ 9.99979999e-01 -5.94974405e-03 2.14507940e-03 -9.05487197e+01] [ 5.97205261e-03 9.99926535e-01 -1.05479615e-02 -5.56389115e+01] [-2.08216414e-03 1.05605610e-02 9.99942068e-01 1.27925276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399072329 meters 0.2341151722066602 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.92 [[ 9.99978176e-01 -5.85504178e-03 3.06041497e-03 -9.05506119e+01] [ 5.88522692e-03 9.99933189e-01 -9.94893962e-03 -5.56408103e+01] [-3.00195904e-03 9.96673373e-03 9.99945825e-01 1.27924623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459072329 meters 0.23594940283360644 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.92 [[ 9.99974233e-01 -6.03984218e-03 3.87987500e-03 -9.05522091e+01] [ 6.07821971e-03 9.99931954e-01 -9.95699549e-03 -5.56408106e+01] [-3.81947231e-03 9.98032166e-03 9.99942901e-01 1.27924005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519072329 meters 0.26470026810345887 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.92 [[ 9.99972189e-01 -6.06876547e-03 4.33490127e-03 -9.05530562e+01] [ 6.11122035e-03 9.99932827e-01 -9.84856940e-03 -5.56410308e+01] [-4.27484143e-03 9.87478704e-03 9.99942105e-01 1.27923584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579072329 meters 0.27250834627250875 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.92 [[ 9.99963404e-01 -6.36755552e-03 5.71364470e-03 -9.05558059e+01] [ 6.42147067e-03 9.99934559e-01 -9.46801061e-03 -5.56424242e+01] [-5.65298270e-03 9.50435411e-03 9.99938854e-01 1.27922435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639072329 meters 0.25506566387953045 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.92 [[ 9.99964229e-01 -6.09647799e-03 5.86290530e-03 -9.05554101e+01] [ 6.14862920e-03 9.99941325e-01 -8.91861291e-03 -5.56436016e+01] [-5.80818916e-03 8.95434272e-03 9.99943041e-01 1.27921280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699072329 meters 0.2361618952069727 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.92 [[ 9.99961881e-01 -6.18365986e-03 6.16424987e-03 -9.05561917e+01] [ 6.23883733e-03 9.99940284e-01 -8.97253204e-03 -5.56434711e+01] [-6.10839868e-03 9.01064777e-03 9.99940746e-01 1.27921361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759072329 meters 0.2323904151546428 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.92 [[ 9.99957553e-01 -6.16993478e-03 6.84277108e-03 -9.05578451e+01] [ 6.22931550e-03 9.99942831e-01 -8.69078320e-03 -5.56445197e+01] [-6.78875832e-03 8.73304009e-03 9.99938822e-01 1.27921351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819072329 meters 0.23180066307512714 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.92 [[ 9.99975368e-01 -1.96466799e-03 6.73819720e-03 -9.05571573e+01] [ 1.99547214e-03 9.99987576e-01 -4.56789877e-03 -5.56435200e+01] [-6.72913908e-03 4.58123214e-03 9.99966865e-01 1.27920690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879072329 meters 0.279929957391833 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.64, Z:127.92 [[ 9.99976822e-01 -2.48368786e-03 6.33928631e-03 -9.05565107e+01] [ 2.51948769e-03 9.99980890e-01 -5.64557242e-03 -5.56402979e+01] [-6.32514332e-03 5.66141332e-03 9.99963970e-01 1.27921366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93907232899994 meters 0.23250882455946412 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.92 [[ 9.99985247e-01 -1.01133817e-03 5.33703506e-03 -9.05521026e+01] [ 1.03939945e-03 9.99985638e-01 -5.25768901e-03 -5.56375601e+01] [-5.33164111e-03 5.26315875e-03 9.99971936e-01 1.27919816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99907232899994 meters 0.2556795227019534 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.64, Z:127.92 [[ 9.99984221e-01 3.23711340e-03 4.59112900e-03 -9.05502788e+01] [-3.23062762e-03 9.99993774e-01 -1.41938834e-03 -5.56358116e+01] [-4.59569513e-03 1.40453372e-03 9.99988453e-01 1.27919978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05907232899995 meters 0.2760528857588541 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.92 [[ 9.99965574e-01 7.58916786e-03 3.35481641e-03 -9.05473728e+01] [-7.59664692e-03 9.99968676e-01 2.22225854e-03 -5.56332445e+01] [-3.33784623e-03 -2.24766739e-03 9.99991903e-01 1.27920549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11907232899995 meters 0.2855159539125454 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.63, Z:127.92 [[ 9.99963861e-01 8.16477596e-03 2.36925645e-03 -9.05454863e+01] [-8.17091065e-03 9.99963260e-01 2.59126450e-03 -5.56340013e+01] [-2.34801231e-03 -2.61052984e-03 9.99993836e-01 1.27921457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17907232899995 meters 0.27524443378991303 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.64, Z:127.92 [[ 9.99986788e-01 4.72815809e-03 2.01723411e-03 -9.05441509e+01] [-4.72729613e-03 9.99988733e-01 -4.31851229e-04 -5.56371898e+01] [-2.01925324e-03 4.22309460e-04 9.99997872e-01 1.27920645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23907232899995 meters 0.2762385196042872 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.64, Z:127.92 [[ 9.99997762e-01 1.21767342e-03 1.72997008e-03 -9.05426201e+01] [-1.21155553e-03 9.99993025e-01 -3.53307071e-03 -5.56398940e+01] [-1.73426014e-03 3.53096685e-03 9.99992262e-01 1.27919411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29907232899996 meters 0.25667791721569766 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.64, Z:127.92 [[ 9.99992128e-01 -2.85598284e-03 2.75458571e-03 -9.05443850e+01] [ 2.87456370e-03 9.99972984e-01 -6.76522505e-03 -5.56428843e+01] [-2.73518993e-03 6.77309003e-03 9.99973322e-01 1.27918033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35907232899996 meters 0.24443599706606944 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.64, Z:127.92 [[ 9.99992177e-01 -2.74229510e-03 2.85063911e-03 -9.05443005e+01] [ 2.76087532e-03 9.99974838e-01 -6.53454406e-03 -5.56433767e+01] [-2.83264774e-03 6.54236320e-03 9.99974586e-01 1.27917564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41907232899996 meters 0.24170294920117974 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.65, Z:127.92 [[ 9.99991489e-01 -2.44286445e-03 3.32489937e-03 -9.05447028e+01] [ 2.46216695e-03 9.99980069e-01 -5.81378029e-03 -5.56450967e+01] [-3.31063082e-03 5.82191726e-03 9.99977572e-01 1.27916350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47907232899996 meters 0.2936317771144509 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.65, Z:127.92 [[ 9.99970140e-01 -6.45480784e-03 4.24902150e-03 -9.05462314e+01] [ 6.49316342e-03 9.99937732e-01 -9.07588314e-03 -5.56479651e+01] [-4.19017384e-03 9.10320173e-03 9.99949786e-01 1.27915128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53907232899996 meters 0.2366192425642757 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.65, Z:127.92 [[ 9.99954652e-01 -7.64197374e-03 5.68285844e-03 -9.05506485e+01] [ 7.69640515e-03 9.99924119e-01 -9.61879775e-03 -5.56489036e+01] [-5.60892062e-03 9.66209913e-03 9.99937590e-01 1.27916100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59907232899997 meters 0.2597296558770824 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.65, Z:127.92 [[ 9.99908484e-01 -1.18130971e-02 6.59358336e-03 -9.05521726e+01] [ 1.18992082e-02 9.99842374e-01 -1.31770725e-02 -5.56509210e+01] [-6.43688201e-03 1.32543250e-02 9.99891439e-01 1.27915049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65907232899997 meters 0.3160788009455741 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.65, Z:127.91 [[ 9.99901092e-01 -1.17954553e-02 7.65988312e-03 -9.05539688e+01] [ 1.18881386e-02 9.99855281e-01 -1.21691770e-02 -5.56534754e+01] [-7.51523361e-03 1.22590352e-02 9.99896613e-01 1.27913372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71907232899997 meters 0.3042449520044198 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.66, Z:127.91 [[ 9.99890786e-01 -1.18874827e-02 8.78090288e-03 -9.05566342e+01] [ 1.19888454e-02 9.99861046e-01 -1.15825448e-02 -5.56557334e+01] [-8.64199544e-03 1.16865528e-02 9.99894365e-01 1.27913113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779072329 meters 0.26212547215447046 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.66, Z:127.91 [[ 9.99889560e-01 -1.19086054e-02 8.89116706e-03 -9.05568334e+01] [ 1.20112388e-02 9.99860801e-01 -1.15805434e-02 -5.56556842e+01] [-8.75202129e-03 1.16860584e-02 9.99893413e-01 1.27913015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839072329 meters 0.28060729341381235 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.65, Z:127.91 [[ 9.99886705e-01 -1.20810922e-02 8.97912631e-03 -9.05569879e+01] [ 1.21872695e-02 9.99855326e-01 -1.18657786e-02 -5.56547549e+01] [-8.83447570e-03 1.19738653e-02 9.99889283e-01 1.27912962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899072329 meters 0.2663730118175467 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.66, Z:127.91 [[ 9.99889071e-01 -1.19207962e-02 8.92973842e-03 -9.05568746e+01] [ 1.20241055e-02 9.99860349e-01 -1.16061860e-02 -5.56555424e+01] [-8.79013640e-03 1.17122706e-02 9.99892772e-01 1.27912961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959072329 meters 0.26347105330509724 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.65, Z:127.91 [[ 9.99923818e-01 -8.03023677e-03 9.37413038e-03 -9.05576664e+01] [ 8.10405713e-03 9.99936242e-01 -7.86365966e-03 -5.56537749e+01] [-9.31038565e-03 7.93902908e-03 9.99925141e-01 1.27912412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019072329 meters 0.30880776749837124 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.65, Z:127.91 [[ 9.99945262e-01 -4.45465976e-03 9.46727643e-03 -9.05583469e+01] [ 4.49984016e-03 9.99978564e-01 -4.75633958e-03 -5.56503010e+01] [-9.44588562e-03 4.79868046e-03 9.99943872e-01 1.27913140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079072329 meters 0.3037140366538441 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.65, Z:127.91 [[ 9.99941941e-01 -4.59343656e-03 9.74754311e-03 -9.05589817e+01] [ 4.64130024e-03 9.99977256e-01 -4.89340491e-03 -5.56498832e+01] [-9.72484387e-03 4.93836208e-03 9.99940518e-01 1.27913072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139072329 meters 0.3053605027454635 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.65, Z:127.92 [[ 9.99979152e-01 3.45464753e-03 5.45530770e-03 -9.05483403e+01] [-3.44378217e-03 9.99992070e-01 -1.99984390e-03 -5.56501632e+01] [-5.46217319e-03 1.98101532e-03 9.99983120e-01 1.27916915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199072329 meters 0.30131917688360715 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.65, Z:127.92 [[ 9.99954347e-01 9.51764606e-03 8.47575898e-04 -9.05357403e+01] [-9.51652099e-03 9.99953843e-01 -1.32167957e-03 -5.56546189e+01] [-8.60116055e-04 1.31355326e-03 9.99998767e-01 1.27920058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259072329 meters 0.28750525952360817 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.65, Z:127.92 [[ 9.99895968e-01 1.43075922e-02 -1.82897858e-03 -9.05307347e+01] [-1.43072903e-02 9.99897630e-01 1.78060493e-04 -5.56483453e+01] [ 1.83133897e-03 -1.51874242e-04 9.99998312e-01 1.27924080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319072329 meters 0.282548302020838 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.64, Z:127.92 [[ 9.99808240e-01 1.92882644e-02 -3.38317347e-03 -9.05264897e+01] [-1.92776107e-02 9.99809195e-01 3.15384700e-03 -5.56430057e+01] [ 3.44336018e-03 -3.08802272e-03 9.99989304e-01 1.27924851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379072329 meters 0.2823851804316708 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.64, Z:127.93 [[ 9.99804497e-01 1.92908702e-02 -4.33933579e-03 -9.05248559e+01] [-1.92796227e-02 9.99810700e-01 2.61905946e-03 -5.56415437e+01] [ 4.38903829e-03 -2.53488667e-03 9.99987155e-01 1.27926182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43907232899994 meters 0.2671121577766311 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.65, Z:127.93 [[ 9.99781202e-01 1.86818229e-02 -9.40946330e-03 -9.05138721e+01] [-1.85597949e-02 9.99744617e-01 1.28931807e-02 -5.56476343e+01] [ 9.64792841e-03 -1.27157220e-02 9.99872606e-01 1.27933027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49907232899994 meters 0.2630309828170384 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.65, Z:127.93 [[ 9.99841465e-01 1.49489096e-02 -9.67344893e-03 -9.05128098e+01] [-1.48563931e-02 9.99843876e-01 9.56617652e-03 -5.56500216e+01] [ 9.81494258e-03 -9.42094738e-03 9.99907452e-01 1.27932232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55907232899995 meters 0.26763264855960045 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.65, Z:127.93 [[ 9.99893381e-01 1.07742994e-02 -9.85606815e-03 -9.05125522e+01] [-1.07199457e-02 9.99927132e-01 5.55104930e-03 -5.56509981e+01] [ 9.91515862e-03 -5.44480094e-03 9.99936020e-01 1.27932322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61907232899995 meters 0.23856605295074693 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.65, Z:127.93 [[ 9.99950063e-01 2.72629085e-03 -9.61447082e-03 -9.05127343e+01] [-2.74339133e-03 9.99994678e-01 -1.76587844e-03 -5.56547398e+01] [ 9.60960535e-03 1.79216652e-03 9.99952221e-01 1.27931475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67907232899995 meters 0.2843738015001954 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.66, Z:127.93 [[ 9.99962173e-01 -1.17112604e-03 -8.61863220e-03 -9.05136496e+01] [ 1.13398300e-03 9.99990055e-01 -4.31324738e-03 -5.56588966e+01] [ 8.62359784e-03 4.30331084e-03 9.99953556e-01 1.27928809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73907232899995 meters 0.2699656454867269 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.66, Z:127.93 [[ 9.99954368e-01 -4.71130277e-03 -8.31052201e-03 -9.05127106e+01] [ 4.65289762e-03 9.99964441e-01 -7.03324546e-03 -5.56624034e+01] [ 8.34336225e-03 6.99425651e-03 9.99940733e-01 1.27926387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79907232899996 meters 0.2432942073220837 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.66, Z:127.93 [[ 9.99963653e-01 -4.55693324e-03 -7.20603732e-03 -9.05150175e+01] [ 4.51202868e-03 9.99970379e-01 -6.23554706e-03 -5.56649501e+01] [ 7.23423884e-03 6.20280657e-03 9.99954594e-01 1.27925637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85907232899996 meters 0.23355871146971557 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.93 [[ 9.99965475e-01 -4.46181713e-03 -7.01000483e-03 -9.05157636e+01] [ 4.41968300e-03 9.99972145e-01 -6.01460729e-03 -5.56658431e+01] [ 7.03664565e-03 5.98341764e-03 9.99957341e-01 1.27926030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91907232899996 meters 0.2728953935968237 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.66, Z:127.93 [[ 9.99961026e-01 -4.52429726e-03 -7.58142706e-03 -9.05145000e+01] [ 4.47619321e-03 9.99969820e-01 -6.34998701e-03 -5.56646601e+01] [ 7.60992748e-03 6.31580359e-03 9.99951099e-01 1.27926403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97907232899996 meters 0.2691719902916754 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.67, Z:127.93 [[ 9.99965217e-01 -4.17549582e-03 -7.22008764e-03 -9.05145495e+01] [ 4.13506086e-03 9.99975735e-01 -5.60623020e-03 -5.56664434e+01] [ 7.24332124e-03 5.57617970e-03 9.99958219e-01 1.27925090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03907232899996 meters 0.25083610221221764 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99970007e-01 -4.17038412e-03 -6.52635944e-03 -9.05158524e+01] [ 4.13540649e-03 9.99977064e-01 -5.36378838e-03 -5.56671372e+01] [ 6.54857881e-03 5.33663835e-03 9.99964318e-01 1.27924391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09907232899997 meters 0.265471422159188 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99977347e-01 -3.89916576e-03 -5.48661025e-03 -9.05174103e+01] [ 3.87570656e-03 9.99983331e-01 -4.27987353e-03 -5.56699750e+01] [ 5.50320673e-03 4.25851208e-03 9.99975790e-01 1.27922581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15907232899997 meters 0.2744265284727014 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99977360e-01 -3.97582518e-03 -5.42874955e-03 -9.05174123e+01] [ 3.95201154e-03 9.99982553e-01 -4.39028227e-03 -5.56695458e+01] [ 5.44610983e-03 4.36872840e-03 9.99975627e-01 1.27922378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21907232899997 meters 0.289269966463577 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99976257e-01 -4.18099921e-03 -5.47765695e-03 -9.05177715e+01] [ 4.15477037e-03 9.99979892e-01 -4.79099179e-03 -5.56686447e+01] [ 5.49757794e-03 4.76811963e-03 9.99973520e-01 1.27923136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279072329 meters 0.28316605989212945 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99975581e-01 -3.93730805e-03 -5.77372861e-03 -9.05167700e+01] [ 3.91140432e-03 9.99982266e-01 -4.49093210e-03 -5.56692615e+01] [ 5.79130840e-03 4.46823905e-03 9.99973247e-01 1.27922780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339072329 meters 0.2486254192696459 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99980060e-01 -3.58821446e-03 -5.19659113e-03 -9.05177064e+01] [ 3.56913409e-03 9.99986873e-01 -3.67634091e-03 -5.56715464e+01] [ 5.20971441e-03 3.65772028e-03 9.99979740e-01 1.27921966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399072329 meters 0.22834015891050571 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99956099e-01 -7.80483899e-03 -5.18509931e-03 -9.05174644e+01] [ 7.76444251e-03 9.99939701e-01 -7.76585375e-03 -5.56721252e+01] [ 5.24539789e-03 7.72525341e-03 9.99956402e-01 1.27921674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459072329 meters 0.24033543125057874 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99952931e-01 -7.85726140e-03 -5.69206697e-03 -9.05159015e+01] [ 7.81114324e-03 9.99936851e-01 -8.07960360e-03 -5.56706486e+01] [ 5.75519108e-03 8.03476174e-03 9.99951159e-01 1.27921369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519072329 meters 0.2303907583760243 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99957072e-01 -7.66149462e-03 -5.21116371e-03 -9.05168295e+01] [ 7.62210631e-03 9.99942549e-01 -7.53677035e-03 -5.56722158e+01] [ 5.26860725e-03 7.49672677e-03 9.99958020e-01 1.27920914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579072329 meters 0.24739422723645507 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99961659e-01 -7.65585138e-03 -4.25079652e-03 -9.05187388e+01] [ 7.62589663e-03 9.99946289e-01 -7.01890201e-03 -5.56738211e+01] [ 4.30430388e-03 6.98621676e-03 9.99966332e-01 1.27920066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639072329 meters 0.2809220953480474 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.92 [[ 9.99963117e-01 -7.52443197e-03 -4.14105446e-03 -9.05184951e+01] [ 7.49627440e-03 9.99948961e-01 -6.77364065e-03 -5.56742025e+01] [ 4.19181090e-03 6.74234833e-03 9.99968484e-01 1.27919325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699072329 meters 0.2593382938629199 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.68, Z:127.92 [[ 9.99966415e-01 -7.40292234e-03 -3.51652271e-03 -9.05198106e+01] [ 7.38064491e-03 9.99952877e-01 -6.30636119e-03 -5.56755994e+01] [ 3.56304250e-03 6.28019519e-03 9.99973932e-01 1.27918927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759072329 meters 0.3008913119318025 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.68, Z:127.92 [[ 9.99968294e-01 -7.57793313e-03 -2.44642443e-03 -9.05222681e+01] [ 7.56302101e-03 9.99953109e-01 -6.04824253e-03 -5.56767947e+01] [ 2.49214289e-03 6.02954840e-03 9.99978717e-01 1.27918626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819072329 meters 0.2855447858062067 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.68, Z:127.92 [[ 9.99968783e-01 -7.83111334e-03 -1.05190628e-03 -9.05252325e+01] [ 7.82529278e-03 9.99954650e-01 -5.42795110e-03 -5.56790801e+01] [ 1.09436548e-03 5.41955018e-03 9.99984715e-01 1.27917669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879072329 meters 0.27682183495497426 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.68, Z:127.92 [[ 9.99969267e-01 -7.83980169e-03 -5.13815625e-05 -9.05268196e+01] [ 7.83947216e-03 9.99958148e-01 -4.71649051e-03 -5.56808688e+01] [ 8.83557623e-05 4.71594275e-03 9.99988876e-01 1.27916095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93907232899994 meters 0.2618821827620443 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.68, Z:127.92 [[ 9.99960504e-01 -8.74551408e-03 1.58308423e-03 -9.05308251e+01] [ 8.75255623e-03 9.99951581e-01 -4.49749019e-03 -5.56830031e+01] [-1.54367472e-03 4.51116860e-03 9.99988633e-01 1.27915572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99907232899994 meters 0.25024821944819053 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.68, Z:127.92 [[ 9.99945927e-01 -9.89885440e-03 3.18686610e-03 -9.05351702e+01] [ 9.91472190e-03 9.99938336e-01 -5.00233926e-03 -5.56834836e+01] [-3.13715216e-03 5.03366566e-03 9.99982410e-01 1.27915986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05907232899995 meters 0.24752972185698524 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.68, Z:127.92 [[ 9.99924077e-01 -1.13844989e-02 4.71531668e-03 -9.05398222e+01] [ 1.14125145e-02 9.99917127e-01 -5.95773603e-03 -5.56832471e+01] [-4.64710006e-03 6.01109732e-03 9.99971135e-01 1.27917064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11907232899995 meters 0.2352048044866793 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.68, Z:127.91 [[ 9.99733201e-01 -2.06451589e-02 1.03587832e-02 -9.05529146e+01] [ 2.07328800e-02 9.99749480e-01 -8.43357256e-03 -5.56836496e+01] [-1.01820757e-02 8.64608990e-03 9.99910781e-01 1.27911064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17907232899995 meters 0.2409998897289314 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.69, Z:127.90 [[ 9.99535895e-01 -2.66765165e-02 1.47091288e-02 -9.05606217e+01] [ 2.68139491e-02 9.99597860e-01 -9.22664191e-03 -5.56889421e+01] [-1.44570790e-02 9.61676961e-03 9.99849244e-01 1.27904395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23907232899995 meters 0.22618760385821038 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.69, Z:127.90 [[ 9.99506612e-01 -2.70714080e-02 1.59270746e-02 -9.05630992e+01] [ 2.72200378e-02 9.99587219e-01 -9.19027914e-03 -5.56892487e+01] [-1.56717064e-02 9.61928034e-03 9.99830919e-01 1.27903557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29907232899996 meters 0.6159793816671766 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.69, Z:127.90 [[ 9.99482940e-01 -2.72105022e-02 1.71301163e-02 -9.05654990e+01] [ 2.73609123e-02 9.99588556e-01 -8.60813716e-03 -5.56910267e+01] [-1.68888364e-02 9.07238185e-03 9.99816213e-01 1.27902536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35907232899996 meters 0.6160659664272101 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.68, Z:127.89 [[ 9.99580185e-01 -2.19273735e-02 1.89379231e-02 -9.05739052e+01] [ 2.22272643e-02 9.99628514e-01 -1.57728609e-02 -5.56839066e+01] [-1.85850305e-02 1.61871774e-02 9.99696240e-01 1.27893885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41907232899996 meters 0.2719142831416089 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.68, Z:127.89 [[ 9.99658122e-01 -1.80804809e-02 1.88874251e-02 -9.05744577e+01] [ 1.83123946e-02 9.99758137e-01 -1.21787947e-02 -5.56818983e+01] [-1.86626584e-02 1.25205050e-02 9.99747439e-01 1.27894642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47907232899996 meters 0.2587271935887413 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.68, Z:127.89 [[ 9.99714770e-01 -1.42436125e-02 1.91702464e-02 -9.05754668e+01] [ 1.44090885e-02 9.99859870e-01 -8.52164858e-03 -5.56800197e+01] [-1.90461810e-02 8.79544373e-03 9.99779917e-01 1.27894930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53907232899996 meters 0.2214171219767054 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.68, Z:127.90 [[ 9.99758637e-01 -1.03721935e-02 1.93671222e-02 -9.05761257e+01] [ 1.04671548e-02 9.99933657e-01 -4.80830822e-03 -5.56781507e+01] [-1.93159646e-02 5.00986634e-03 9.99800878e-01 1.27895041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59907232899997 meters 0.23014897484828314 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.68, Z:127.89 [[ 9.99757393e-01 -1.04203142e-02 1.94054562e-02 -9.05760097e+01] [ 1.05169481e-02 9.99932766e-01 -4.88434638e-03 -5.56777729e+01] [-1.93532551e-02 5.08724758e-03 9.99799766e-01 1.27894736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65907232899997 meters 0.20816583299902328 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.67, Z:127.89 [[ 9.99766618e-01 -1.08136013e-02 1.87022804e-02 -9.05742358e+01] [ 1.09260446e-02 9.99922781e-01 -5.92058201e-03 -5.56742188e+01] [-1.86368134e-02 6.12354220e-03 9.99807567e-01 1.27894891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71907232899997 meters 0.25507359819762043 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.67, Z:127.89 [[ 9.99751401e-01 -1.11132594e-02 1.93295787e-02 -9.05750169e+01] [ 1.12352468e-02 9.99917576e-01 -6.21380775e-03 -5.56731599e+01] [-1.92589298e-02 6.42943558e-03 9.99793857e-01 1.27893735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779072329 meters 0.23720968367463408 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.66, Z:127.90 [[ 9.99935043e-01 -8.80485054e-03 7.23769276e-03 -9.05794049e+01] [ 8.88179552e-03 9.99903642e-01 -1.06686581e-02 -5.56607979e+01] [-7.14305941e-03 1.07322488e-02 9.99916894e-01 1.27897320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839072329 meters 0.2660127122957148 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.66, Z:127.90 [[ 9.99958062e-01 -5.31483388e-03 7.45829783e-03 -9.05806315e+01] [ 5.37228093e-03 9.99955895e-01 -7.70365636e-03 -5.56570881e+01] [-7.41702523e-03 7.74340136e-03 9.99942512e-01 1.27898431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899072329 meters 0.2607822317775045 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.66, Z:127.90 [[ 9.99974207e-01 -1.01306236e-03 7.11055452e-03 -9.05793563e+01] [ 1.03804837e-03 9.99993297e-01 -3.51112208e-03 -5.56562931e+01] [-7.10694987e-03 3.51841262e-03 9.99968556e-01 1.27897834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959072329 meters 0.28808611630575626 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.65, Z:127.90 [[ 9.99977987e-01 4.03224875e-03 5.26934261e-03 -9.05756919e+01] [-4.03253637e-03 9.99991868e-01 4.39598313e-05 -5.56539566e+01] [-5.26912250e-03 -6.52076794e-05 9.99986116e-01 1.27899779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019072329 meters 0.2753604049749803 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.65, Z:127.90 [[ 9.99980285e-01 4.12307532e-03 4.73596278e-03 -9.05746719e+01] [-4.12273352e-03 9.99991498e-01 -8.19314258e-05 -5.56535821e+01] [-4.73626032e-03 6.24046981e-05 9.99988782e-01 1.27900404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079072329 meters 0.268280271779605 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.65, Z:127.90 [[ 9.99980563e-01 4.63929226e-03 4.16541859e-03 -9.05725914e+01] [-4.64162483e-03 9.99989076e-01 5.50490368e-04 -5.56546331e+01] [-4.16281920e-03 -5.69813979e-04 9.99991173e-01 1.27899421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139072329 meters 0.2677533613702386 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.66, Z:127.90 [[ 9.99992955e-01 5.99255467e-04 3.70551553e-03 -9.05714990e+01] [-5.86302462e-04 9.99993718e-01 -3.49570008e-03 -5.56551382e+01] [-3.70758707e-03 3.49350290e-03 9.99987025e-01 1.27899639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199072329 meters 0.25699583371778667 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.66, Z:127.90 [[ 9.99984678e-01 -3.54440373e-03 4.25221385e-03 -9.05727901e+01] [ 3.57544405e-03 9.99966856e-01 -7.31454501e-03 -5.56567470e+01] [-4.22614721e-03 7.32963649e-03 9.99964207e-01 1.27899556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259072329 meters 0.25396742522298665 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.66, Z:127.90 [[ 9.99952036e-01 -7.92377662e-03 5.75661220e-03 -9.05756536e+01] [ 7.98367333e-03 9.99913447e-01 -1.04574720e-02 -5.56602549e+01] [-5.67325128e-03 1.05029293e-02 9.99928749e-01 1.27898015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319072329 meters 0.23029493370852164 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.66, Z:127.90 [[ 9.99904459e-01 -1.18823735e-02 7.06273836e-03 -9.05774788e+01] [ 1.19743007e-02 9.99842238e-01 -1.31192388e-02 -5.56645627e+01] [-6.90573643e-03 1.32025567e-02 9.99888995e-01 1.27895706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379072329 meters 0.6153327061210419 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.67, Z:127.89 [[ 9.99836167e-01 -1.60254317e-02 8.41570390e-03 -9.05799688e+01] [ 1.61606747e-02 9.99737252e-01 -1.62560401e-02 -5.56679425e+01] [-8.15298263e-03 1.63893803e-02 9.99832445e-01 1.27894427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43907232899994 meters 0.6197615529028684 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.67, Z:127.89 [[ 9.99789391e-01 -1.76300508e-02 1.05050281e-02 -9.05844604e+01] [ 1.78033396e-02 9.99703079e-01 -1.66371736e-02 -5.56685501e+01] [-1.02085947e-02 1.68206942e-02 9.99806406e-01 1.27893228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49907232899994 meters 0.6194355300569058 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.67, Z:127.89 [[ 9.99766704e-01 -1.80630106e-02 1.18433436e-02 -9.05879006e+01] [ 1.82533056e-02 9.99702768e-01 -1.61614403e-02 -5.56709939e+01] [-1.15478991e-02 1.63738500e-02 9.99799251e-01 1.27893132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55907232899995 meters 0.6171929345869801 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.67, Z:127.89 [[ 9.99879910e-01 -9.97664840e-03 1.18588284e-02 -9.05892589e+01] [ 1.00754924e-02 9.99914754e-01 -8.30474035e-03 -5.56691753e+01] [-1.17749640e-02 8.42322657e-03 9.99895194e-01 1.27894740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61907232899995 meters 0.6175884738012043 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.67, Z:127.89 [[ 9.99884505e-01 -9.58829906e-03 1.17915990e-02 -9.05885496e+01] [ 9.67908733e-03 9.99923766e-01 -7.66658813e-03 -5.56707590e+01] [-1.17171906e-02 7.77983459e-03 9.99901086e-01 1.27893978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67907232899995 meters 0.6145782718689248 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.68, Z:127.89 [[ 9.99892349e-01 -8.46280308e-03 1.19862845e-02 -9.05878757e+01] [ 8.53206299e-03 9.99947133e-01 -5.73896204e-03 -5.56757912e+01] [-1.19370831e-02 5.84061197e-03 9.99911693e-01 1.27892250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73907232899995 meters 0.24634423579685716 Centerline is valid? [False, False] Translation: X:-90.59, Y:-55.68, Z:127.89 [[ 9.99902509e-01 -8.26175115e-03 1.12567991e-02 -9.05859352e+01] [ 8.32664485e-03 9.99948914e-01 -5.73022467e-03 -5.56755111e+01] [-1.12088823e-02 5.82339739e-03 9.99920221e-01 1.27892139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79907232899996 meters 0.2414437901629106 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.67, Z:127.89 [[ 9.99938312e-01 -4.70370440e-03 1.00621440e-02 -9.05833904e+01] [ 4.73733141e-03 9.99983265e-01 -3.32071247e-03 -5.56695756e+01] [-1.00463560e-02 3.36817533e-03 9.99943861e-01 1.27893004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85907232899996 meters 0.23458065824286373 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.67, Z:127.89 [[ 9.99943810e-01 -4.93862952e-03 9.38017593e-03 -9.05822461e+01] [ 4.97728381e-03 9.99979200e-01 -4.10198490e-03 -5.56673510e+01] [-9.35972264e-03 4.14844220e-03 9.99947592e-01 1.27894055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91907232899996 meters 0.2540146470029109 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.67, Z:127.89 [[ 9.99950899e-01 -4.71130456e-03 8.71795095e-03 -9.05806299e+01] [ 4.74667415e-03 9.99980570e-01 -4.04086464e-03 -5.56672316e+01] [-8.69874381e-03 4.08204750e-03 9.99953833e-01 1.27894299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97907232899996 meters 0.237094959157462 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.67, Z:127.89 [[ 9.99960449e-01 -3.30913018e-03 8.25525335e-03 -9.05778682e+01] [ 3.32551392e-03 9.99992527e-01 -1.97170682e-03 -5.56712206e+01] [-8.24866702e-03 1.99908180e-03 9.99963981e-01 1.27891942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03907232899996 meters 0.22623995119198032 Centerline is valid? [False, False] Translation: X:-90.58, Y:-55.67, Z:127.89 [[ 9.99958712e-01 -3.21874647e-03 8.49783258e-03 -9.05788005e+01] [ 3.23400789e-03 9.99993181e-01 -1.78278896e-03 -5.56720192e+01] [-8.49203629e-03 1.81019741e-03 9.99962304e-01 1.27892470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09907232899997 meters 0.2466828775051767 Centerline is valid? [False, False] Translation: X:-90.57, Y:-55.67, Z:127.90 [[ 9.99991830e-01 9.80557996e-04 3.92159077e-03 -9.05675575e+01] [-9.69599554e-04 9.99995623e-01 -2.79531272e-03 -5.56736501e+01] [-3.92431457e-03 2.79148751e-03 9.99988404e-01 1.27896505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15907232899997 meters 0.2539415787055166 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.67, Z:127.90 [[ 9.99994497e-01 1.45655268e-03 2.98064828e-03 -9.05645411e+01] [-1.44865429e-03 9.99995439e-01 -2.65033610e-03 -5.56728603e+01] [-2.98449504e-03 2.64600358e-03 9.99992046e-01 1.27895834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21907232899997 meters 0.25499834400462235 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.67, Z:127.90 [[ 9.99995404e-01 2.51869094e-03 1.68736292e-03 -9.05605996e+01] [-2.51494269e-03 9.99994374e-01 -2.21981970e-03 -5.56721865e+01] [-1.69294447e-03 2.21556588e-03 9.99996113e-01 1.27895432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279072329 meters 0.25515284006975075 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.67, Z:127.90 [[ 9.99975523e-01 6.95691571e-03 7.45029843e-04 -9.05580879e+01] [-6.95821299e-03 9.99974255e-01 1.75304936e-03 -5.56706992e+01] [-7.32814845e-04 -1.75819053e-03 9.99998186e-01 1.27895408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339072329 meters 0.26548910462191444 Centerline is valid? [False, False] Translation: X:-90.56, Y:-55.67, Z:127.90 [[ 9.99936154e-01 1.12961036e-02 -2.92878428e-04 -9.05554027e+01] [-1.12944359e-02 9.99922804e-01 5.17889051e-03 -5.56675923e+01] [ 3.51357103e-04 -5.17525196e-03 9.99986547e-01 1.27895741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399072329 meters 0.23328320816441722 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.66, Z:127.90 [[ 9.99914836e-01 1.25471645e-02 -3.59027525e-03 -9.05492863e+01] [-1.25387792e-02 9.99918628e-01 2.34861777e-03 -5.56614399e+01] [ 3.61945160e-03 -2.30340008e-03 9.99990797e-01 1.27900905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459072329 meters 0.22069379457983823 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.66, Z:127.90 [[ 9.99941554e-01 9.49600333e-03 -5.16857330e-03 -9.05455576e+01] [-9.50436971e-03 9.99953558e-01 -1.59655330e-03 -5.56602219e+01] [ 5.15317239e-03 1.64558402e-03 9.99985368e-01 1.27901460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519072329 meters 0.21939668140065932 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.66, Z:127.90 [[ 9.99965661e-01 6.17313309e-03 -5.52893231e-03 -9.05436152e+01] [-6.19756558e-03 9.99971058e-01 -4.41284764e-03 -5.56635106e+01] [ 5.50153120e-03 4.44696203e-03 9.99974979e-01 1.27899837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579072329 meters 0.23988371627107127 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.67, Z:127.90 [[ 9.99978705e-01 2.68723215e-03 -5.94705655e-03 -9.05413901e+01] [-2.73167800e-03 9.99968307e-01 -7.47812688e-03 -5.56660718e+01] [ 5.92677261e-03 7.49421308e-03 9.99954354e-01 1.27898120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639072329 meters 0.2591568255958161 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.67, Z:127.90 [[ 9.99952897e-01 -1.28596062e-03 -9.62026367e-03 -9.05293504e+01] [ 1.29614176e-03 9.99998607e-01 1.05214233e-03 -5.56720407e+01] [ 9.61889725e-03 -1.06456200e-03 9.99953171e-01 1.27902816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699072329 meters 0.2555969007635959 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.67, Z:127.90 [[ 9.99933916e-01 -5.44933305e-03 -1.01226311e-02 -9.05280469e+01] [ 5.41812728e-03 9.99980493e-01 -3.10764244e-03 -5.56722503e+01] [ 1.01393682e-02 3.05259137e-03 9.99943936e-01 1.27902914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759072329 meters 0.2687181102185251 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.67, Z:127.90 [[ 9.99992666e-01 -3.82975886e-03 1.93236459e-05 -9.05239865e+01] [ 3.82950421e-03 9.99964228e-01 7.54169470e-03 -5.56745641e+01] [-4.82058268e-05 -7.54156539e-03 9.99971561e-01 1.27903564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819072329 meters 0.2567250377781766 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.68, Z:127.90 [[ 9.99974394e-01 -7.13460871e-03 -5.55014656e-04 -9.05220644e+01] [ 7.13712415e-03 9.99963623e-01 4.67054404e-03 -5.56778801e+01] [ 5.21671963e-04 -4.67438565e-03 9.99988939e-01 1.27902819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879072329 meters 0.25202718589087475 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.68, Z:127.90 [[ 9.99973739e-01 -7.18429613e-03 -9.52210699e-04 -9.05212518e+01] [ 7.18846687e-03 9.99964254e-01 4.45150648e-03 -5.56772148e+01] [ 9.20195721e-04 -4.45823452e-03 9.99989639e-01 1.27903148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93907232899994 meters 0.22369286533291563 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.68, Z:127.90 [[ 9.99939285e-01 -1.09960982e-02 -7.15240473e-04 -9.05213642e+01] [ 1.09968791e-02 9.99938931e-01 1.09713683e-03 -5.56799655e+01] [ 7.03132570e-04 -1.10493563e-03 9.99999142e-01 1.27902609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99907232899994 meters 0.2624495712323823 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.68, Z:127.90 [[ 9.99938747e-01 -1.10426340e-02 7.49330930e-04 -9.05243731e+01] [ 1.10407611e-02 9.99936025e-01 2.45917413e-03 -5.56845068e+01] [-7.76438752e-04 -2.45075032e-03 9.99996695e-01 1.27901161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05907232899995 meters 0.3213429978073525 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.69, Z:127.90 [[ 9.99937229e-01 -1.10715289e-02 1.72054432e-03 -9.05262518e+01] [ 1.10662716e-02 9.99934159e-01 3.03565601e-03 -5.56861593e+01] [-1.75404040e-03 -3.01642545e-03 9.99993912e-01 1.27900177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11907232899995 meters 0.30430706306006555 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.69, Z:127.90 [[ 9.99885582e-01 -1.48820901e-02 2.71049125e-03 -9.05279407e+01] [ 1.48815170e-02 9.99889237e-01 2.31463036e-04 -5.56905800e+01] [-2.71363568e-03 -1.91100331e-04 9.99996300e-01 1.27899037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17907232899995 meters 0.2847297165623391 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.69, Z:127.90 [[ 9.99808471e-01 -1.92126087e-02 3.72785288e-03 -9.05305475e+01] [ 1.92262115e-02 9.99808504e-01 -3.64810036e-03 -5.56924596e+01] [-3.65704948e-03 3.71907414e-03 9.99986397e-01 1.27899529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23907232899995 meters 0.270336005237966 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.69, Z:127.90 [[ 9.99803349e-01 -1.92156033e-02 4.90148782e-03 -9.05327428e+01] [ 1.92297941e-02 9.99810986e-01 -2.86469385e-03 -5.56946835e+01] [-4.84551456e-03 2.95838511e-03 9.99983884e-01 1.27898232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29907232899996 meters 0.2619966578525076 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.70, Z:127.90 [[ 9.99709450e-01 -2.32525827e-02 6.35081637e-03 -9.05349517e+01] [ 2.32864323e-02 9.99714737e-01 -5.30905876e-03 -5.56997353e+01] [-6.22555540e-03 5.45540407e-03 9.99965740e-01 1.27896011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35907232899996 meters 0.332972050203073 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.70, Z:127.89 [[ 9.99695554e-01 -2.34546530e-02 7.66014397e-03 -9.05374344e+01] [ 2.34900242e-02 9.99713668e-01 -4.56069642e-03 -5.57020181e+01] [-7.55098107e-03 4.73924490e-03 9.99960260e-01 1.27894581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41907232899996 meters 0.3251918462349598 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.70, Z:127.89 [[ 9.99691796e-01 -2.32844921e-02 8.61075461e-03 -9.05388614e+01] [ 2.33159332e-02 9.99721775e-01 -3.56918390e-03 -5.57045312e+01] [-8.52525225e-03 3.76885164e-03 9.99956557e-01 1.27892967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47907232899996 meters 0.30738208696135993 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.70, Z:127.89 [[ 9.99797104e-01 -1.70989665e-02 1.06478642e-02 -9.05480198e+01] [ 1.72061309e-02 9.99801399e-01 -1.00554647e-02 -5.56967510e+01] [-1.04738114e-02 1.02366331e-02 9.99892750e-01 1.27886090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53907232899996 meters 0.294935930109908 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.70, Z:127.89 [[ 9.99801169e-01 -1.70415318e-02 1.03541569e-02 -9.05476923e+01] [ 1.71468775e-02 9.99801237e-01 -1.01721101e-02 -5.56965762e+01] [-1.01787505e-02 1.03476291e-02 9.99894654e-01 1.27886807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59907232899997 meters 0.3016903476001624 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.70, Z:127.89 [[ 9.99852273e-01 -1.31313015e-02 1.10905700e-02 -9.05495085e+01] [ 1.32005435e-02 9.99893688e-01 -6.19335637e-03 -5.56958617e+01] [-1.10080641e-02 6.33884300e-03 9.99919318e-01 1.27886584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65907232899997 meters 0.27384740137772046 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.70, Z:127.89 [[ 9.99848381e-01 -1.30912152e-02 1.14819784e-02 -9.05501510e+01] [ 1.31605271e-02 9.99895503e-01 -5.98193966e-03 -5.56963584e+01] [-1.14024677e-02 6.13214157e-03 9.99916187e-01 1.27886064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71907232899997 meters 0.2744414319775632 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.70, Z:127.89 [[ 9.99845920e-01 -1.31321887e-02 1.16482216e-02 -9.05503737e+01] [ 1.32027113e-02 9.99894849e-01 -5.99826736e-03 -5.56961865e+01] [-1.15682264e-02 6.15113126e-03 9.99914166e-01 1.27885791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779072329 meters 0.2716120321595671 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.70, Z:127.89 [[ 9.99852037e-01 -1.31116539e-02 1.11350245e-02 -9.05491633e+01] [ 1.31810352e-02 9.99894025e-01 -6.18054420e-03 -5.56955532e+01] [-1.10528073e-02 6.32640086e-03 9.99918903e-01 1.27885941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839072329 meters 0.2620831218744522 Centerline is valid? [False, False] Translation: X:-90.55, Y:-55.69, Z:127.89 [[ 9.99897066e-01 -9.17468836e-03 1.10309851e-02 -9.05492142e+01] [ 9.20306390e-03 9.99954465e-01 -2.52434420e-03 -5.56935524e+01] [-1.10073227e-02 2.62560322e-03 9.99935970e-01 1.27886266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899072329 meters 0.25049251731643907 Centerline is valid? [False, False] Translation: X:-90.54, Y:-55.70, Z:127.89 [[ 9.99977319e-01 -2.64861508e-03 6.19242195e-03 -9.05365665e+01] [ 2.65849383e-03 9.99995206e-01 -1.58760948e-03 -5.56977460e+01] [-6.18818730e-03 1.60403599e-03 9.99979566e-01 1.27889903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959072329 meters 0.25370910000450836 Centerline is valid? [False, False] Translation: X:-90.53, Y:-55.70, Z:127.89 [[ 9.99997868e-01 7.43578620e-04 1.92651060e-03 -9.05267961e+01] [-7.37914357e-04 9.99995408e-01 -2.93921168e-03 -5.56985685e+01] [-1.92868729e-03 2.93778382e-03 9.99993825e-01 1.27894333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019072329 meters 0.23742845786150885 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99998520e-01 1.53078453e-03 7.85884325e-04 -9.05235527e+01] [-1.52862763e-03 9.99995084e-01 -2.73785564e-03 -5.56978378e+01] [-7.90071528e-04 2.73665026e-03 9.99995943e-01 1.27894149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079072329 meters 0.2435089368866957 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99999813e-01 -4.27655792e-04 4.37167726e-04 -9.05199138e+01] [ 4.29618852e-04 9.99989782e-01 -4.50021512e-03 -5.56998889e+01] [-4.35238716e-04 4.50040209e-03 9.99989778e-01 1.27891010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139072329 meters 0.26068108202045476 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99999632e-01 -3.68074083e-04 7.75003987e-04 -9.05205129e+01] [ 3.71383842e-04 9.99990794e-01 -4.27483002e-03 -5.57004605e+01] [-7.73423398e-04 4.27511627e-03 9.99990563e-01 1.27890660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199072329 meters 0.23552648775821938 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99998848e-01 -4.71507830e-04 1.44259991e-03 -9.05217620e+01] [ 4.77603168e-04 9.99990949e-01 -4.22782207e-03 -5.57005063e+01] [-1.44059340e-03 4.22850620e-03 9.99990022e-01 1.27890047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259072329 meters 0.2300206307681384 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99989115e-01 -4.45353910e-03 1.39110807e-03 -9.05214604e+01] [ 4.46450412e-03 9.99958184e-01 -7.98115762e-03 -5.57021478e+01] [-1.35550550e-03 7.98728136e-03 9.99967182e-01 1.27889848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319072329 meters 0.24193501144860813 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99987708e-01 -4.48645510e-03 2.11083935e-03 -9.05231518e+01] [ 4.50284189e-03 9.99959258e-01 -7.82353341e-03 -5.57027140e+01] [-2.07565342e-03 7.83294202e-03 9.99967168e-01 1.27889715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379072329 meters 0.2359936658623169 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99986188e-01 -4.37069584e-03 2.91904277e-03 -9.05247138e+01] [ 4.39155261e-03 9.99964600e-01 -7.17729596e-03 -5.57047648e+01] [-2.88756966e-03 7.19001596e-03 9.99969982e-01 1.27888849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43907232899994 meters 0.2916662912198299 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99997925e-01 4.12367586e-06 2.03718008e-03 -9.05223079e+01] [ 2.63501494e-06 9.99994497e-01 -3.31765596e-03 -5.57028273e+01] [-2.03718255e-03 3.31765444e-03 9.99992421e-01 1.27888674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49907232899994 meters 0.2821846526000879 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99999194e-01 9.70326183e-04 8.19265725e-04 -9.05185326e+01] [-9.67932838e-04 9.99995278e-01 -2.91668889e-03 -5.57022038e+01] [-8.22091996e-04 2.91589355e-03 9.99995411e-01 1.27888132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55907232899995 meters 0.2884681686505887 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.70, Z:127.89 [[ 9.99997231e-01 2.31123293e-03 -4.42682937e-04 -9.05138809e+01] [-2.31250116e-03 9.99993161e-01 -2.88612352e-03 -5.56989352e+01] [ 4.36009406e-04 2.88713923e-03 9.99995737e-01 1.27887067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61907232899995 meters 0.26254384234912154 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.70, Z:127.89 [[ 9.99997590e-01 -2.06001733e-03 -7.58717019e-04 -9.05130302e+01] [ 2.05435369e-03 9.99970573e-01 -7.39138651e-03 -5.56982279e+01] [ 7.73921076e-04 7.38981003e-03 9.99972395e-01 1.27887091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67907232899995 meters 0.2643599336151132 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.70, Z:127.89 [[ 9.99997907e-01 -1.73558728e-03 -1.08369897e-03 -9.05122464e+01] [ 1.72801033e-03 9.99974328e-01 -6.95397073e-03 -5.56993747e+01] [ 1.09574038e-03 6.95208353e-03 9.99975234e-01 1.27887187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73907232899995 meters 0.2860502861771864 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.70, Z:127.89 [[ 9.99998170e-01 -1.81589279e-03 -6.02654104e-04 -9.05128925e+01] [ 1.81166269e-03 9.99974228e-01 -6.94696372e-03 -5.56992088e+01] [ 6.15253514e-04 6.94585920e-03 9.99975688e-01 1.27886318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79907232899996 meters 0.287195051515763 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.70, Z:127.89 [[ 9.99994639e-01 2.79768579e-03 -1.70146227e-03 -9.05097670e+01] [-2.80269006e-03 9.99991733e-01 -2.94591814e-03 -5.56970511e+01] [ 1.69320645e-03 2.95067102e-03 9.99994213e-01 1.27886099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85907232899996 meters 0.2582343826575891 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.69, Z:127.89 [[ 9.99847585e-01 1.61489286e-02 -6.63461540e-03 -9.04957346e+01] [-1.61327831e-02 9.99866783e-01 2.47987049e-03 -5.56920117e+01] [ 6.67377880e-03 -2.37245771e-03 9.99974916e-01 1.27890787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91907232899996 meters 0.27971263236336674 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.69, Z:127.90 [[ 9.99647190e-01 2.19126710e-02 -1.50109880e-02 -9.04786288e+01] [-2.16807195e-02 9.99645646e-01 1.54444040e-02 -5.56940798e+01] [ 1.53440969e-02 -1.51135060e-02 9.99768043e-01 1.27901092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97907232899996 meters 0.2738552932762797 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.69, Z:127.91 [[ 9.99502303e-01 2.46107780e-02 -1.97346556e-02 -9.04693186e+01] [-2.43723855e-02 9.99628128e-01 1.22307942e-02 -5.56901686e+01] [ 2.00283262e-02 -1.17437264e-02 9.99730439e-01 1.27908607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03907232899996 meters 0.26146977264391075 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.70, Z:127.91 [[ 9.99712509e-01 2.30815893e-02 -6.49149700e-03 -9.04678348e+01] [-2.29901749e-02 9.99640153e-01 1.38208475e-02 -5.56981028e+01] [ 6.80816818e-03 -1.36676335e-02 9.99883416e-01 1.27905122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09907232899997 meters 0.2592786873432906 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.70, Z:127.91 [[ 9.99697570e-01 2.33756813e-02 -7.63847986e-03 -9.04650369e+01] [-2.32682522e-02 9.99633139e-01 1.38627591e-02 -5.56973947e+01] [ 7.95972904e-03 -1.36808325e-02 9.99874731e-01 1.27905173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15907232899997 meters 0.24898586026487746 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.70, Z:127.90 [[ 9.99775803e-01 1.95638745e-02 -8.09926085e-03 -9.04631274e+01] [-1.94801852e-02 9.99757331e-01 1.02860077e-02 -5.56986667e+01] [ 8.29852957e-03 -1.01259265e-02 9.99914296e-01 1.27903806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21907232899997 meters 0.24183578973028852 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.70, Z:127.90 [[ 9.99766031e-01 1.96738570e-02 -8.99018038e-03 -9.04605290e+01] [-1.95827567e-02 9.99757108e-01 1.01114226e-02 -5.56973198e+01] [ 9.18692742e-03 -9.93300430e-03 9.99908464e-01 1.27903306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279072329 meters 0.2387492250363785 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.70, Z:127.90 [[ 9.99839214e-01 1.53871896e-02 -9.20760528e-03 -9.04603051e+01] [-1.53333224e-02 9.99865074e-01 5.89257340e-03 -5.56977376e+01] [ 9.29703309e-03 -5.75044278e-03 9.99940247e-01 1.27903486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339072329 meters 0.3031654841651337 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.70, Z:127.90 [[ 9.99944980e-01 6.95115321e-03 -7.85614630e-03 -9.04634200e+01] [-6.95928020e-03 9.99975276e-01 -1.00761186e-03 -5.57030976e+01] [ 7.84894800e-03 1.06222954e-03 9.99968632e-01 1.27902329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399072329 meters 0.2445890385863783 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.70, Z:127.90 [[ 9.99975146e-01 -6.69037779e-03 -2.22385519e-03 -9.04771464e+01] [ 6.67238333e-03 9.99945716e-01 -8.00281796e-03 -5.57035551e+01] [ 2.27727635e-03 7.98778064e-03 9.99965504e-01 1.27896918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459072329 meters 0.266874440925194 Centerline is valid? [False, False] Translation: X:-90.49, Y:-55.70, Z:127.89 [[ 9.99921687e-01 -1.21567973e-02 2.97177135e-03 -9.04902970e+01] [ 1.21780084e-02 9.99899730e-01 -7.22677938e-03 -5.57017648e+01] [-2.88361888e-03 7.26240369e-03 9.99969471e-01 1.27892161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519072329 meters 0.23634777919781438 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.70, Z:127.89 [[ 9.99795109e-01 -1.84700483e-02 8.28237124e-03 -9.05046624e+01] [ 1.85298588e-02 9.99802355e-01 -7.20377877e-03 -5.56995100e+01] [-8.14768014e-03 7.35577394e-03 9.99939752e-01 1.27888460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579072329 meters 0.2408226626230419 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.70, Z:127.89 [[ 9.99756808e-01 -1.95294514e-02 1.02432615e-02 -9.05089896e+01] [ 1.95993135e-02 9.99785029e-01 -6.76483409e-03 -5.57025077e+01] [-1.01089460e-02 6.96394983e-03 9.99924653e-01 1.27887150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639072329 meters 0.23202019021387843 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.70, Z:127.89 [[ 9.99759704e-01 -1.91248639e-02 1.07132783e-02 -9.05095344e+01] [ 1.91885594e-02 9.99798624e-01 -5.87456593e-03 -5.57049705e+01] [-1.05987706e-02 6.07872667e-03 9.99925355e-01 1.27886146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699072329 meters 0.23554570953295398 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.71, Z:127.89 [[ 9.99759646e-01 -1.91181520e-02 1.07306682e-02 -9.05096708e+01] [ 1.91817758e-02 9.99798852e-01 -5.85787510e-03 -5.57050668e+01] [-1.06165180e-02 6.06230040e-03 9.99925266e-01 1.27886302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759072329 meters 0.2427516261758852 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.71, Z:127.89 [[ 9.99747173e-01 -1.91725999e-02 1.17474234e-02 -9.05122296e+01] [ 1.92357983e-02 9.99800977e-01 -5.29059901e-03 -5.57074177e+01] [-1.16436508e-02 5.51523247e-03 9.99917000e-01 1.27886274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819072329 meters 0.22496639346203925 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.71, Z:127.89 [[ 9.99802412e-01 -1.51258414e-02 1.28974909e-02 -9.05147656e+01] [ 1.51342537e-02 9.99885317e-01 -5.54886556e-04 -5.57091599e+01] [-1.28876187e-02 7.49970818e-04 9.99916670e-01 1.27885334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879072329 meters 0.27736585637537764 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99784360e-01 -1.54176412e-02 1.39115360e-02 -9.05172442e+01] [ 1.54191100e-02 9.99881118e-01 1.67590588e-06 -5.57112915e+01] [-1.39099080e-02 2.12827959e-04 9.99903230e-01 1.27885023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93907232899994 meters 0.2342622574135404 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99838943e-01 -1.20093413e-02 1.33365797e-02 -9.05163274e+01] [ 1.19755063e-02 9.99924874e-01 2.61397925e-03 -5.57061301e+01] [-1.33669699e-02 -2.45384595e-03 9.99907647e-01 1.27885716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99907232899994 meters 0.23851516147908328 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99838506e-01 -1.22246443e-02 1.31726837e-02 -9.05159273e+01] [ 1.21969734e-02 9.99923240e-01 2.17892857e-03 -5.57047467e+01] [-1.31983092e-02 -2.01790981e-03 9.99910862e-01 1.27885739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05907232899995 meters 0.2272235327919232 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99884680e-01 -8.12602080e-03 1.28294242e-02 -9.05156607e+01] [ 8.04879529e-03 9.99949248e-01 6.05960742e-03 -5.57036434e+01] [-1.28780136e-02 -5.95564722e-03 9.99899338e-01 1.27886436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11907232899995 meters 0.2484412160460151 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99869500e-01 -9.10247081e-03 1.33464394e-02 -9.05179369e+01] [ 9.04209555e-03 9.99948644e-01 4.57708454e-03 -5.57003794e+01] [-1.33874168e-02 -4.45580745e-03 9.99900456e-01 1.27887995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17907232899995 meters 0.2333239210376953 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99863010e-01 -8.88645792e-03 1.39639472e-02 -9.05191116e+01] [ 8.81411937e-03 9.99947460e-01 5.23341322e-03 -5.57022799e+01] [-1.40097200e-02 -5.10961639e-03 9.99888804e-01 1.27887377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23907232899995 meters 0.23862303022905962 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99859467e-01 -8.37411154e-03 1.45230839e-02 -9.05201712e+01] [ 8.28202337e-03 9.99945290e-01 6.38940901e-03 -5.57057991e+01] [-1.45757950e-02 -6.26823057e-03 9.99874120e-01 1.27886775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29907232899996 meters 0.23628796848104397 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.70, Z:127.89 [[ 9.99866543e-01 -8.53821616e-03 1.39282196e-02 -9.05195731e+01] [ 8.45729623e-03 9.99947075e-01 5.85837517e-03 -5.57046119e+01] [-1.39775025e-02 -5.73979825e-03 9.99885836e-01 1.27888172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35907232899996 meters 0.25795792705038645 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99859090e-01 -8.51687965e-03 1.44659061e-02 -9.05207968e+01] [ 8.42945926e-03 9.99945905e-01 6.09346374e-03 -5.57053892e+01] [-1.45170209e-02 -5.97066535e-03 9.99876796e-01 1.27887983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41907232899996 meters 0.23599392754482285 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99814463e-01 -1.25123195e-02 1.46451826e-02 -9.05209691e+01] [ 1.24798246e-02 9.99919460e-01 2.30810350e-03 -5.57069958e+01] [-1.46728828e-02 -2.12490595e-03 9.99890090e-01 1.27887754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47907232899996 meters 0.2529357658564842 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99812601e-01 -1.22869305e-02 1.49597401e-02 -9.05215725e+01] [ 1.22458484e-02 9.99920999e-01 2.83469176e-03 -5.57085738e+01] [-1.49933879e-02 -2.65096583e-03 9.99884079e-01 1.27887454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53907232899996 meters 0.25304627599760593 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99807262e-01 -1.23080199e-02 1.52954802e-02 -9.05220375e+01] [ 1.22647505e-02 9.99920523e-01 2.91949510e-03 -5.57086708e+01] [-1.53301977e-02 -2.73133715e-03 9.99878755e-01 1.27886861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59907232899997 meters 0.23327390689725874 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99816933e-01 -1.22179785e-02 1.47248420e-02 -9.05210988e+01] [ 1.21772508e-02 9.99921786e-01 2.85241245e-03 -5.57085752e+01] [-1.47585411e-02 -2.67258217e-03 9.99887515e-01 1.27887667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65907232899997 meters 0.25317410308440474 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99833167e-01 -1.16420454e-02 1.40748123e-02 -9.05200761e+01] [ 1.15925936e-02 9.99926359e-01 3.58999645e-03 -5.57104425e+01] [-1.41155707e-02 -3.42623394e-03 9.99894500e-01 1.27888390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71907232899997 meters 0.2318559486928928 Centerline is valid? [False, False] Translation: X:-90.52, Y:-55.71, Z:127.89 [[ 9.99831660e-01 -1.19542094e-02 1.39193445e-02 -9.05194847e+01] [ 1.19138167e-02 9.99924584e-01 2.98122916e-03 -5.57084424e+01] [-1.39539330e-02 -2.81489478e-03 9.99898677e-01 1.27888087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779072329 meters 0.288111096131765 Centerline is valid? [False, False] Translation: X:-90.51, Y:-55.71, Z:127.89 [[ 9.99940823e-01 -5.16309681e-03 9.57568256e-03 -9.05102457e+01] [ 5.11800421e-03 9.99975728e-01 4.72761670e-03 -5.57053366e+01] [-9.59985928e-03 -4.67832855e-03 9.99942976e-01 1.27893015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839072329 meters 0.23049756377897423 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.70, Z:127.90 [[ 9.99980750e-01 -2.69562857e-03 5.58860322e-03 -9.05019548e+01] [ 2.68124166e-03 9.99993077e-01 2.58022619e-03 -5.57038933e+01] [-5.59551986e-03 -2.56519212e-03 9.99981055e-01 1.27898274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899072329 meters 0.24129920872327082 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.70, Z:127.90 [[ 9.99987817e-01 -2.36643769e-03 4.33205528e-03 -9.04986013e+01] [ 2.35844576e-03 9.99995509e-01 1.84901424e-03 -5.57001421e+01] [-4.33641140e-03 -1.83877480e-03 9.99988907e-01 1.27898315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959072329 meters 0.2743334965999452 Centerline is valid? [False, False] Translation: X:-90.49, Y:-55.70, Z:127.90 [[ 9.99998691e-01 1.61748734e-03 -3.01467191e-05 -9.04894701e+01] [-1.61743433e-03 9.99997276e-01 1.68258522e-03 -5.57039885e+01] [ 3.28681973e-05 -1.68253426e-03 9.99998584e-01 1.27903357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019072329 meters 0.2591977004812204 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.71, Z:127.91 [[ 9.99949641e-01 8.59760880e-03 -5.17650568e-03 -9.04751841e+01] [-8.58867031e-03 9.99961591e-01 1.74650257e-03 -5.57052054e+01] [ 5.19132261e-03 -1.70195532e-03 9.99985077e-01 1.27907722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079072329 meters 0.22965788866284487 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.70, Z:127.91 [[ 9.99946491e-01 8.53320281e-03 -5.84804374e-03 -9.04735037e+01] [-8.52560968e-03 9.99962782e-01 1.32210594e-03 -5.57036417e+01] [ 5.85910789e-03 -1.27217705e-03 9.99982026e-01 1.27907838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139072329 meters 0.27014736799881095 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.71, Z:127.91 [[ 9.99968767e-01 4.80319964e-03 -6.27655558e-03 -9.04720872e+01] [-4.81656698e-03 9.99986161e-01 -2.11634745e-03 -5.57057082e+01] [ 6.26630348e-03 2.14651280e-03 9.99978063e-01 1.27907259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199072329 meters 0.2671307464066763 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.70, Z:127.91 [[ 9.99962132e-01 4.89460673e-03 -7.19561013e-03 -9.04697215e+01] [-4.91265103e-03 9.99984827e-01 -2.49214839e-03 -5.57038284e+01] [ 7.18330287e-03 2.52740354e-03 9.99971006e-01 1.27907399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259072329 meters 0.22685468033256076 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.71, Z:127.90 [[ 9.99967369e-01 3.32472923e-03 -7.36261254e-03 -9.04664939e+01] [-3.34991598e-03 9.99988571e-01 -3.41121246e-03 -5.57063434e+01] [ 7.35118703e-03 3.43576528e-03 9.99967077e-01 1.27904037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319072329 meters 0.27003402508131563 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.71, Z:127.90 [[ 9.99980333e-01 -4.50887866e-04 -6.25546964e-03 -9.04689876e+01] [ 4.13401914e-04 9.99981959e-01 -5.99250747e-03 -5.57118436e+01] [ 6.25805874e-03 5.98980359e-03 9.99962479e-01 1.27903355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379072329 meters 0.24693311053181138 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.71, Z:127.90 [[ 9.99975334e-01 -4.62446607e-03 -5.28644601e-03 -9.04706512e+01] [ 4.57431219e-03 9.99944788e-01 -9.46030390e-03 -5.57142488e+01] [ 5.32990299e-03 9.43588870e-03 9.99941276e-01 1.27902034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43907232899994 meters 0.24914436576849064 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.71, Z:127.90 [[ 9.99982781e-01 -6.80028633e-04 -5.82890026e-03 -9.04696122e+01] [ 6.44698664e-04 9.99981425e-01 -6.06090975e-03 -5.57113395e+01] [ 5.83291358e-03 6.05704750e-03 9.99964644e-01 1.27902644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49907232899994 meters 0.25166129543802856 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.71, Z:127.90 [[ 9.99979888e-01 -6.74201232e-04 -6.30629517e-03 -9.04682919e+01] [ 6.34322997e-04 9.99979806e-01 -6.32342402e-03 -5.57101219e+01] [ 6.31043108e-03 6.31929661e-03 9.99960122e-01 1.27902633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55907232899995 meters 0.25085527101864225 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.71, Z:127.90 [[ 9.99975127e-01 -6.90185549e-04 -7.01915686e-03 -9.04661915e+01] [ 6.42853921e-04 9.99977058e-01 -6.74322924e-03 -5.57081579e+01] [ 7.02364990e-03 6.73854923e-03 9.99952629e-01 1.27902298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61907232899995 meters 0.25085527101864225 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.71, Z:127.90 [[ 9.99975127e-01 -6.90185549e-04 -7.01915686e-03 -9.04661915e+01] [ 6.42853921e-04 9.99977058e-01 -6.74322924e-03 -5.57081579e+01] [ 7.02364990e-03 6.73854923e-03 9.99952629e-01 1.27902298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67907232899995 meters 0.24597663600885125 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.71, Z:127.90 [[ 9.99969917e-01 2.00746473e-04 -7.75404387e-03 -9.04632939e+01] [-2.44676672e-04 9.99983924e-01 -5.66492359e-03 -5.57096793e+01] [ 7.75278201e-03 5.66665040e-03 9.99953891e-01 1.27900834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73907232899995 meters 0.24084322425827218 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.71, Z:127.90 [[ 9.99968663e-01 1.32194057e-04 -7.91558505e-03 -9.04635438e+01] [-1.79114976e-04 9.99982418e-01 -5.92724730e-03 -5.57092731e+01] [ 7.91466233e-03 5.92847935e-03 9.99951104e-01 1.27901889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79907232899996 meters 0.24894273192337843 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.71, Z:127.90 [[ 9.99962823e-01 1.52701247e-04 -8.62140922e-03 -9.04617827e+01] [-2.06138545e-04 9.99980773e-01 -6.19766090e-03 -5.57080762e+01] [ 8.62029707e-03 6.19920769e-03 9.99943629e-01 1.27902052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85907232899996 meters 0.24042575372211272 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.71, Z:127.90 [[ 9.99957781e-01 2.39006566e-03 -8.87267177e-03 -9.04580529e+01] [-2.42319233e-03 9.99990127e-01 -3.72469157e-03 -5.57093731e+01] [ 8.86368192e-03 3.74603451e-03 9.99953700e-01 1.27898530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91907232899996 meters 0.23589307644010638 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.71, Z:127.90 [[ 9.99957594e-01 2.55809249e-03 -8.84683378e-03 -9.04583246e+01] [-2.58868301e-03 9.99990705e-01 -3.44807202e-03 -5.57103419e+01] [ 8.83793106e-03 3.47082745e-03 9.99954921e-01 1.27898814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97907232899996 meters 0.26930998362091924 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.71, Z:127.90 [[ 9.99957964e-01 2.64707410e-03 -8.77857226e-03 -9.04585215e+01] [-2.67603715e-03 9.99991010e-01 -3.28918630e-03 -5.57108283e+01] [ 8.76978662e-03 3.31253983e-03 9.99956058e-01 1.27898857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03907232899996 meters 0.24523401517730947 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.71, Z:127.90 [[ 9.99949040e-01 3.04216657e-03 -9.62612127e-03 -9.04563239e+01] [-3.07144749e-03 9.99990697e-01 -3.02849983e-03 -5.57109181e+01] [ 9.61681852e-03 3.05791162e-03 9.99949082e-01 1.27898899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09907232899997 meters 0.261677408969566 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.71, Z:127.90 [[ 9.99946764e-01 3.03077580e-03 -9.86322215e-03 -9.04561149e+01] [-3.06192670e-03 9.99990368e-01 -3.14472226e-03 -5.57106916e+01] [ 9.85359619e-03 3.17475531e-03 9.99946412e-01 1.27899537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15907232899997 meters 0.2564580991141866 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.71, Z:127.90 [[ 9.99950845e-01 -8.03004637e-04 -9.88247366e-03 -9.04553710e+01] [ 7.38100980e-04 9.99978149e-01 -6.56944749e-03 -5.57128585e+01] [ 9.88753301e-03 6.56183030e-03 9.99929587e-01 1.27898504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21907232899997 meters 0.24362017883760786 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.72, Z:127.90 [[ 9.99948662e-01 -4.63737245e-03 -9.00938705e-03 -9.04565471e+01] [ 4.55237809e-03 9.99945158e-01 -9.43168963e-03 -5.57168019e+01] [ 9.05263122e-03 9.39019129e-03 9.99914933e-01 1.27896789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279072329 meters 0.2480098464727475 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.72, Z:127.90 [[ 9.99959088e-01 -4.35956313e-03 -7.92568220e-03 -9.04585486e+01] [ 4.29295807e-03 9.99955493e-01 -8.40137975e-03 -5.57197321e+01] [ 7.96195579e-03 8.36701141e-03 9.99933298e-01 1.27895513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339072329 meters 0.23764466047950675 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.72, Z:127.90 [[ 9.99964319e-01 -4.58467031e-03 -7.09514965e-03 -9.04607174e+01] [ 4.52432864e-03 9.99953661e-01 -8.49744633e-03 -5.57198456e+01] [ 7.13377886e-03 8.46504235e-03 9.99938724e-01 1.27895751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399072329 meters 0.2251442239017488 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.72, Z:127.90 [[ 9.99968751e-01 -4.66426615e-03 -6.38296615e-03 -9.04620694e+01] [ 4.61046067e-03 9.99953936e-01 -8.41845143e-03 -5.57200262e+01] [ 6.42193802e-03 8.38875994e-03 9.99944192e-01 1.27895122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459072329 meters 0.25806610696882537 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.72, Z:127.89 [[ 9.99975270e-01 -4.53748770e-03 -5.37322828e-03 -9.04641369e+01] [ 4.49676582e-03 9.99961262e-01 -7.56664645e-03 -5.57225922e+01] [ 5.40735369e-03 7.54229718e-03 9.99956936e-01 1.27894231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519072329 meters 0.2437530060755 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.72, Z:127.89 [[ 9.99950306e-01 -8.58062252e-03 -5.07523954e-03 -9.04645278e+01] [ 8.52299409e-03 9.99900174e-01 -1.12694972e-02 -5.57243922e+01] [ 5.17143220e-03 1.12256809e-02 9.99923617e-01 1.27893785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579072329 meters 0.25689451528048873 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.72, Z:127.89 [[ 9.99950152e-01 -8.47751706e-03 -5.27493836e-03 -9.04639815e+01] [ 8.41827261e-03 9.99902356e-01 -1.11539341e-02 -5.57246195e+01] [ 5.36898096e-03 1.11089723e-02 9.99923879e-01 1.27893787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639072329 meters 0.23856888925698688 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.73, Z:127.89 [[ 9.99952765e-01 -8.41133165e-03 -4.87011268e-03 -9.04648887e+01] [ 8.35779668e-03 9.99905550e-01 -1.09104864e-02 -5.57253936e+01] [ 4.96142442e-03 1.08692676e-02 9.99928619e-01 1.27893604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699072329 meters 0.25901747344782655 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99955539e-01 -8.32311141e-03 -4.43236903e-03 -9.04658341e+01] [ 8.27567000e-03 9.99909400e-01 -1.06162812e-02 -5.57262651e+01] [ 4.52032795e-03 1.05791284e-02 9.99933822e-01 1.27893352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759072329 meters 0.23356386098522675 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99959832e-01 -8.44015872e-03 -3.01618928e-03 -9.04687355e+01] [ 8.41092072e-03 9.99918753e-01 -9.57834581e-03 -5.57298231e+01] [ 3.09678699e-03 9.55259214e-03 9.99949578e-01 1.27892012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819072329 meters 0.24135680035644647 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99960317e-01 -8.53524778e-03 -2.55217242e-03 -9.04694761e+01] [ 8.51053625e-03 9.99918262e-01 -9.54151596e-03 -5.57297595e+01] [ 2.63340301e-03 9.51941697e-03 9.99951222e-01 1.27891381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879072329 meters 0.27026863816285046 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99960380e-01 -8.54670180e-03 -2.48858645e-03 -9.04698074e+01] [ 8.52260437e-03 9.99918193e-01 -9.53791332e-03 -5.57298451e+01] [ 2.56990056e-03 9.51632619e-03 9.99951416e-01 1.27891662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93907232899994 meters 0.26253748993192855 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99959160e-01 -8.82438646e-03 -1.95132897e-03 -9.04711956e+01] [ 8.80476217e-03 9.99912756e-01 -9.84662316e-03 -5.57290771e+01] [ 2.03804914e-03 9.82904004e-03 9.99949617e-01 1.27891824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99907232899994 meters 0.2856769360739779 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99961262e-01 -8.56915243e-03 -2.01076557e-03 -9.04703803e+01] [ 8.54982629e-03 9.99918977e-01 -9.43075970e-03 -5.57299241e+01] [ 2.09141627e-03 9.41320268e-03 9.99953508e-01 1.27890880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05907232899995 meters 0.2753177111886048 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99963367e-01 -8.33732546e-03 -1.93764385e-03 -9.04704618e+01] [ 8.31948684e-03 9.99924539e-01 -9.03893867e-03 -5.57310634e+01] [ 2.01285820e-03 9.02248734e-03 9.99957271e-01 1.27890713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11907232899995 meters 0.27194994537437356 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99964793e-01 -8.18789127e-03 -1.83621337e-03 -9.04705932e+01] [ 8.17151199e-03 9.99928268e-01 -8.75695832e-03 -5.57318316e+01] [ 1.90778268e-03 8.74164538e-03 9.99959971e-01 1.27890540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17907232899995 meters 0.24750100993119012 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99968407e-01 -7.64975184e-03 -2.16022211e-03 -9.04688688e+01] [ 7.63228819e-03 9.99939033e-01 -7.97991818e-03 -5.57333642e+01] [ 2.22113480e-03 7.96317863e-03 9.99965827e-01 1.27889278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23907232899995 meters 0.24284196609050354 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99967150e-01 -7.85791772e-03 -1.98813099e-03 -9.04695437e+01] [ 7.84116257e-03 9.99934815e-01 -8.29951002e-03 -5.57325500e+01] [ 2.05321826e-03 8.28364812e-03 9.99963582e-01 1.27889703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29907232899996 meters 0.2433054243559543 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99966681e-01 -7.91101747e-03 -2.01312812e-03 -9.04697211e+01] [ 7.89382172e-03 9.99933469e-01 -8.41100482e-03 -5.57323386e+01] [ 2.07953379e-03 8.39483330e-03 9.99962600e-01 1.27890070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35907232899996 meters 0.2289569492426271 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99965027e-01 -8.06563218e-03 -2.21142015e-03 -9.04689888e+01] [ 8.04604741e-03 9.99929552e-01 -8.72649936e-03 -5.57311209e+01] [ 2.28164910e-03 8.70840098e-03 9.99959478e-01 1.27889818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41907232899996 meters 0.2557000255993716 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99966852e-01 -8.07660384e-03 -1.03113173e-03 -9.04716750e+01] [ 8.06836671e-03 9.99937362e-01 -7.75718313e-03 -5.57343328e+01] [ 1.09371884e-03 7.74860645e-03 9.99969381e-01 1.27889106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47907232899996 meters 0.21713525638649167 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.74, Z:127.89 [[ 9.99968067e-01 -7.98570611e-03 -3.06161292e-04 -9.04732667e+01] [ 7.98325592e-03 9.99941429e-01 -7.30790570e-03 -5.57357362e+01] [ 3.64502147e-04 7.30522817e-03 9.99973250e-01 1.27888765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53907232899996 meters 0.24970130385822276 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.74, Z:127.89 [[ 9.99970152e-01 -7.72370137e-03 1.98587745e-04 -9.04740887e+01] [ 7.72485047e-03 9.99948089e-01 -6.64430726e-03 -5.57375877e+01] [-1.47258791e-04 6.64564300e-03 9.99977907e-01 1.27888018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59907232899997 meters 0.24348450245385125 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.74, Z:127.89 [[ 9.99969833e-01 -7.76485219e-03 -2.01462873e-04 -9.04726929e+01] [ 7.76328323e-03 9.99946215e-01 -6.87733232e-03 -5.57364221e+01] [ 2.54853506e-04 6.87556084e-03 9.99976331e-01 1.27887554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65907232899997 meters 0.252684899423589 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.74, Z:127.89 [[ 9.99969754e-01 -7.74774220e-03 6.81176697e-04 -9.04745527e+01] [ 7.75199675e-03 9.99948941e-01 -6.48240982e-03 -5.57377282e+01] [-6.30917877e-04 6.48749423e-03 9.99978757e-01 1.27887016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71907232899997 meters 0.23789415351135906 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.74, Z:127.89 [[ 9.99970515e-01 -7.55261558e-03 1.38855142e-03 -9.04764444e+01] [ 7.56059060e-03 9.99954419e-01 -5.83079244e-03 -5.57400465e+01] [-1.34445039e-03 5.84111878e-03 9.99982037e-01 1.27887126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779072329 meters 0.2577495822432163 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.74, Z:127.89 [[ 9.99930319e-01 -1.16294607e-02 2.02816348e-03 -9.04773465e+01] [ 1.16482188e-02 9.99887064e-01 -9.49617747e-03 -5.57418093e+01] [-1.91749901e-03 9.51914026e-03 9.99952853e-01 1.27886213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839072329 meters 0.2469897854905131 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.74, Z:127.89 [[ 9.99928836e-01 -1.16142353e-02 2.72639337e-03 -9.04785028e+01] [ 1.16386797e-02 9.99890604e-01 -9.12805726e-03 -5.57426343e+01] [-2.62007970e-03 9.15913929e-03 9.99954622e-01 1.27885288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899072329 meters 0.2458246724201608 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.74, Z:127.88 [[ 9.99962382e-01 -7.73614999e-03 3.92267409e-03 -9.04812849e+01] [ 7.75396944e-03 9.99959595e-01 -4.54800294e-03 -5.57440507e+01] [-3.88733156e-03 4.57824815e-03 9.99981964e-01 1.27884648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959072329 meters 0.22553792377615087 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.88 [[ 9.99963061e-01 -7.39038729e-03 4.38855921e-03 -9.04818262e+01] [ 7.40695436e-03 9.99965458e-01 -3.77088263e-03 -5.57461496e+01] [-4.36053934e-03 3.80324920e-03 9.99983260e-01 1.27883643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019072329 meters 0.24866807556321424 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.74, Z:127.88 [[ 9.99965400e-01 -7.51410629e-03 3.56903351e-03 -9.04800891e+01] [ 7.52994263e-03 9.99961772e-01 -4.44463625e-03 -5.57439915e+01] [-3.53549960e-03 4.47135708e-03 9.99983753e-01 1.27884353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079072329 meters 0.2212105423664641 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.74, Z:127.89 [[ 9.99969926e-01 -7.40465818e-03 2.30610512e-03 -9.04775374e+01] [ 7.41624933e-03 9.99959702e-01 -5.05896258e-03 -5.57420809e+01] [-2.26855230e-03 5.07591308e-03 9.99984544e-01 1.27885461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139072329 meters 0.2855540423018874 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.74, Z:127.89 [[ 9.99969361e-01 -7.72857330e-03 1.24346248e-03 -9.04748354e+01] [ 7.73612213e-03 9.99950947e-01 -6.18507688e-03 -5.57382997e+01] [-1.19559966e-03 6.19450695e-03 9.99980099e-01 1.27885578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199072329 meters 0.25517152296413576 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.89 [[ 9.99999650e-01 -8.22044283e-04 1.54152081e-04 -9.04713775e+01] [ 8.22160348e-04 9.99999377e-01 -7.54375344e-04 -5.57294612e+01] [-1.53531855e-04 7.54501818e-04 9.99999704e-01 1.27885312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259072329 meters 0.26284132526839904 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.88 [[ 9.99999491e-01 1.82830367e-06 -1.00901223e-03 -9.04675451e+01] [-2.90457794e-06 9.99999431e-01 -1.06666084e-03 -5.57264523e+01] [ 1.00900970e-03 1.06666323e-03 9.99998922e-01 1.27884913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319072329 meters 0.24730335949232324 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.73, Z:127.88 [[ 9.99991765e-01 -3.87755181e-03 -1.19793149e-03 -9.04669329e+01] [ 3.87190590e-03 9.99981553e-01 -4.67995670e-03 -5.57283839e+01] [ 1.21605617e-03 4.67527989e-03 9.99988331e-01 1.27884739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379072329 meters 0.23972957282808688 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.73, Z:127.88 [[ 9.99993653e-01 -3.11667648e-03 -1.72650023e-03 -9.04643663e+01] [ 3.11034643e-03 9.99988476e-01 -3.65703770e-03 -5.57299195e+01] [ 1.73787814e-03 3.65164448e-03 9.99991823e-01 1.27882917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43907232899994 meters 0.2241360707661507 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.73, Z:127.88 [[ 9.99995803e-01 -2.16309560e-03 -1.92756929e-03 -9.04641665e+01] [ 2.15895223e-03 9.99995360e-01 -2.14902464e-03 -5.57337777e+01] [ 1.93220889e-03 2.14485409e-03 9.99995833e-01 1.27883089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49907232899994 meters 0.22822433308530174 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.73, Z:127.88 [[ 9.99995089e-01 -2.18635270e-03 -2.24544736e-03 -9.04640045e+01] [ 2.18093858e-03 9.99994716e-01 -2.41077966e-03 -5.57333550e+01] [ 2.25070631e-03 2.40587064e-03 9.99994573e-01 1.27884174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55907232899995 meters 0.2739922112797978 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.74, Z:127.88 [[ 9.99996859e-01 -1.56956862e-03 -1.95401523e-03 -9.04639887e+01] [ 1.56708848e-03 9.99997965e-01 -1.27013535e-03 -5.57364037e+01] [ 1.95600481e-03 1.26706924e-03 9.99997284e-01 1.27883043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61907232899995 meters 0.21600208880351113 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.74, Z:127.88 [[ 9.99997078e-01 -1.43887236e-03 -1.94266868e-03 -9.04641996e+01] [ 1.43686156e-03 9.99998431e-01 -1.03606608e-03 -5.57372207e+01] [ 1.94415640e-03 1.03327170e-03 9.99997576e-01 1.27883325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67907232899995 meters 0.261045459941838 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.74, Z:127.88 [[ 9.99996156e-01 -1.67545091e-03 -2.20930095e-03 -9.04639839e+01] [ 1.67196189e-03 9.99997354e-01 -1.58014558e-03 -5.57358124e+01] [ 2.21194256e-03 1.57644563e-03 9.99996311e-01 1.27884063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73907232899995 meters 0.2584646596995554 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.74, Z:127.88 [[ 9.99979229e-01 -6.03504125e-03 -2.26262849e-03 -9.04639293e+01] [ 6.02145736e-03 9.99964091e-01 -5.96308777e-03 -5.57356982e+01] [ 2.29853472e-03 5.94933959e-03 9.99979661e-01 1.27884289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79907232899996 meters 0.2524368686510585 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.74, Z:127.88 [[ 9.99982381e-01 -5.38460021e-03 -2.49868738e-03 -9.04625501e+01] [ 5.37224086e-03 9.99973432e-01 -4.92696250e-03 -5.57381300e+01] [ 2.52515072e-03 4.91345215e-03 9.99984741e-01 1.27883068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85907232899996 meters 0.23803048366956658 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.74, Z:127.88 [[ 9.99984055e-01 -4.96922662e-03 -2.68264035e-03 -9.04615246e+01] [ 4.95767217e-03 9.99978480e-01 -4.29672232e-03 -5.57395566e+01] [ 2.70393400e-03 4.28335415e-03 9.99987171e-01 1.27882226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91907232899996 meters 0.22508209812958363 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.74, Z:127.88 [[ 9.99985318e-01 -4.82729588e-03 -2.46177040e-03 -9.04620890e+01] [ 4.81744919e-03 9.99980435e-01 -3.99020661e-03 -5.57405391e+01] [ 2.48098414e-03 3.97828857e-03 9.99989009e-01 1.27882236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97907232899996 meters 0.24079595690052097 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.74, Z:127.88 [[ 9.99957647e-01 -9.10489200e-03 -1.34385018e-03 -9.04644416e+01] [ 9.09432679e-03 9.99929237e-01 -7.66907914e-03 -5.57425487e+01] [ 1.41358122e-03 7.65653292e-03 9.99969689e-01 1.27881649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03907232899996 meters 0.22325180417264026 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.74, Z:127.88 [[ 9.99956190e-01 -9.35713251e-03 -2.49616754e-04 -9.04672419e+01] [ 9.35501350e-03 9.99928487e-01 -7.45020152e-03 -5.57438171e+01] [ 3.19311426e-04 7.44753996e-03 9.99972216e-01 1.27881714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09907232899997 meters 0.28345408740005745 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.75, Z:127.88 [[ 9.99956941e-01 -9.24728573e-03 7.76786047e-04 -9.04691004e+01] [ 9.25222664e-03 9.99935296e-01 -6.61810077e-03 -5.57460858e+01] [-7.15536317e-04 6.62500281e-03 9.99977798e-01 1.27880502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15907232899997 meters 0.23247153374365043 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.75, Z:127.88 [[ 9.99957009e-01 -9.10017639e-03 1.77941847e-03 -9.04709123e+01] [ 9.11022585e-03 9.99942121e-01 -5.72350577e-03 -5.57484641e+01] [-1.72723056e-03 5.73947062e-03 9.99982037e-01 1.27879281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21907232899997 meters 0.25990705071901177 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.75, Z:127.88 [[ 9.99952023e-01 -9.46907829e-03 2.50770230e-03 -9.04731395e+01] [ 9.48415040e-03 9.99936612e-01 -6.06822931e-03 -5.57479924e+01] [-2.45008280e-03 6.09172160e-03 9.99978444e-01 1.27880071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279072329 meters 0.24380627217793233 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.88 [[ 9.99942561e-01 -1.01321718e-02 3.49480102e-03 -9.04751397e+01] [ 1.01553469e-02 9.99926130e-01 -6.67857385e-03 -5.57466455e+01] [-3.42687440e-03 6.71368116e-03 9.99971591e-01 1.27879521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339072329 meters 0.2412363519045819 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.88 [[ 9.99933371e-01 -1.04890436e-02 4.82007746e-03 -9.04777545e+01] [ 1.05195118e-02 9.99924570e-01 -6.33982924e-03 -5.57479671e+01] [-4.75321514e-03 6.39011169e-03 9.99968286e-01 1.27878297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399072329 meters 0.2368468070974737 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.88 [[ 9.99937755e-01 -1.02166222e-02 4.48398995e-03 -9.04769024e+01] [ 1.02433707e-02 9.99929633e-01 -5.98347370e-03 -5.57489371e+01] [-4.42254354e-03 6.02903244e-03 9.99972046e-01 1.27878291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459072329 meters 0.21980554032592625 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.88 [[ 9.99942597e-01 -1.00988234e-02 3.58011587e-03 -9.04752571e+01] [ 1.01216001e-02 9.99928281e-01 -6.40204431e-03 -5.57477802e+01] [-3.51520599e-03 6.43791331e-03 9.99973098e-01 1.27879457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519072329 meters 0.23809109391425626 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.88 [[ 9.99943952e-01 -9.87149283e-03 3.82708556e-03 -9.04756456e+01] [ 9.89400129e-03 9.99933602e-01 -5.90772445e-03 -5.57492151e+01] [-3.76851339e-03 5.94525852e-03 9.99975226e-01 1.27879079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579072329 meters 0.24364764459917834 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.88 [[ 9.99976428e-01 -5.64988294e-03 3.90167073e-03 -9.04756927e+01] [ 5.65659762e-03 9.99982536e-01 -1.71209034e-03 -5.57486771e+01] [-3.89192948e-03 1.73412016e-03 9.99990923e-01 1.27878746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639072329 meters 0.22567289906477064 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.88 [[ 9.99976244e-01 -5.43318723e-03 4.24162190e-03 -9.04764022e+01] [ 5.43841862e-03 9.99984464e-01 -1.22278795e-03 -5.57501802e+01] [-4.23491236e-03 1.24582661e-03 9.99990257e-01 1.27878514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699072329 meters 0.25146882327991205 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.75, Z:127.88 [[ 9.99999659e-01 -8.23830282e-04 5.04119738e-05 -9.04649574e+01] [ 8.23946969e-04 9.99996875e-01 -2.36015259e-03 -5.57508160e+01] [-4.84674511e-05 2.36019333e-03 9.99997214e-01 1.27881897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759072329 meters 0.2489880903590051 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.75, Z:127.88 [[ 9.99999784e-01 -5.98861955e-04 -2.70486607e-04 -9.04637961e+01] [ 5.98292273e-04 9.99997613e-01 -2.10133196e-03 -5.57512233e+01] [ 2.71744369e-04 2.10116968e-03 9.99997756e-01 1.27881422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819072329 meters 0.22674280468355598 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.75, Z:127.88 [[ 9.99999148e-01 2.18699571e-04 -1.28703394e-03 -9.04604244e+01] [-2.20498592e-04 9.99998999e-01 -1.39782840e-03 -5.57517542e+01] [ 1.28672694e-03 1.39811100e-03 9.99998195e-01 1.27880412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879072329 meters 0.2316611155476011 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.75, Z:127.88 [[ 9.99993132e-01 2.06201139e-03 -3.07964393e-03 -9.04551012e+01] [-2.06465859e-03 9.99997502e-01 -8.56648059e-04 -5.57504433e+01] [ 3.07786981e-03 8.63000589e-04 9.99994891e-01 1.27880072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93907232899994 meters 0.22290393890078755 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.88 [[ 9.99985012e-01 2.93541134e-03 -4.62161824e-03 -9.04514365e+01] [-2.93881984e-03 9.99995415e-01 -7.30894415e-04 -5.57496566e+01] [ 4.61945157e-03 7.44465563e-04 9.99989053e-01 1.27880730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99907232899994 meters 0.24303881337553135 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.88 [[ 9.99970801e-01 4.67138418e-03 -6.04777843e-03 -9.04465919e+01] [-4.67367211e-03 9.99989012e-01 -3.64231419e-04 -5.57469807e+01] [ 6.04601051e-03 3.92486117e-04 9.99981646e-01 1.27880094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05907232899995 meters 0.21518652193352308 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.88 [[ 9.99969886e-01 4.58066688e-03 -6.26447260e-03 -9.04459476e+01] [-4.58454356e-03 9.99989308e-01 -6.04616170e-04 -5.57461192e+01] [ 6.26163607e-03 6.33317710e-04 9.99980195e-01 1.27879995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11907232899995 meters 0.2641332599396496 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.88 [[ 9.99969478e-01 4.46162511e-03 -6.41373631e-03 -9.04455943e+01] [-4.46727665e-03 9.99989646e-01 -8.67105237e-04 -5.57452768e+01] [ 6.40980120e-03 8.95730706e-04 9.99979056e-01 1.27880079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.17907232899995 meters 0.2279168668237597 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.75, Z:127.88 [[ 9.99975829e-01 4.24508237e-04 -6.93980496e-03 -9.04444969e+01] [-4.58020555e-04 9.99988240e-01 -4.82812403e-03 -5.57461770e+01] [ 6.93767377e-03 4.83118591e-03 9.99964264e-01 1.27880470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.23907232899995 meters 0.21107013052654078 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.88 [[ 9.99978377e-01 4.67370751e-04 -6.55957529e-03 -9.04452401e+01] [-4.97710256e-04 9.99989184e-01 -4.62435391e-03 -5.57467311e+01] [ 6.55734305e-03 4.62751868e-03 9.99967793e-01 1.27880152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.29907232899996 meters 0.22114179124526132 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.88 [[ 9.99978993e-01 5.26246981e-04 -6.46039570e-03 -9.04452959e+01] [-5.55275754e-04 9.99989755e-01 -4.49237189e-03 -5.57469906e+01] [ 6.45796542e-03 4.49586482e-03 9.99969040e-01 1.27879905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.35907232899996 meters 0.3524786519691821 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.88 [[ 9.99974651e-01 -3.48903212e-03 -6.20679441e-03 -9.04456860e+01] [ 3.43840821e-03 9.99960891e-01 -8.14826581e-03 -5.57489501e+01] [ 6.23498123e-03 8.12671777e-03 9.99947539e-01 1.27879548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41907232899996 meters 0.35777357927028763 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.88 [[ 9.99956911e-01 -7.46286845e-03 -5.52110029e-03 -9.04466346e+01] [ 7.39906468e-03 9.99906637e-01 -1.14878973e-02 -5.57515819e+01] [ 5.60631749e-03 1.14465513e-02 9.99918770e-01 1.27878431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47907232899996 meters 0.2210857966453554 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.75, Z:127.88 [[ 9.99893612e-01 -1.45724449e-02 -6.38850786e-04 -9.04609054e+01] [ 1.45629228e-02 9.99809609e-01 -1.29871805e-02 -5.57467981e+01] [ 8.27984126e-04 1.29764953e-02 9.99915459e-01 1.27876204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53907232899996 meters 0.2988496853461581 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.75, Z:127.88 [[ 9.99876416e-01 -1.56970033e-02 8.69521357e-04 -9.04650064e+01] [ 1.57071657e-02 9.99788544e-01 -1.32722203e-02 -5.57478836e+01] [-6.61003407e-04 1.32842378e-02 9.99911542e-01 1.27876513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59907232899997 meters 0.3009983576048602 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.87 [[ 9.99785257e-01 -1.98749188e-02 5.86753364e-03 -9.04763743e+01] [ 1.99410875e-02 9.99735675e-01 -1.14426008e-02 -5.57480802e+01] [-5.63856194e-03 1.15571486e-02 9.99917316e-01 1.27870776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65907232899997 meters 0.2888721060298023 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.87 [[ 9.99776646e-01 -1.99040099e-02 7.10555694e-03 -9.04788093e+01] [ 1.99800940e-02 9.99742020e-01 -1.08022972e-02 -5.57499887e+01] [-6.88871481e-03 1.09418541e-02 9.99916407e-01 1.27869634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71907232899997 meters 0.2582568269475597 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.87 [[ 9.99665481e-01 -2.44537691e-02 8.42253279e-03 -9.04815507e+01] [ 2.45748138e-02 9.99591652e-01 -1.45810851e-02 -5.57519309e+01] [-8.06253098e-03 1.47831896e-02 9.99858216e-01 1.27869004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779072329 meters 0.2670220587559754 Centerline is valid? [False, False] Translation: X:-90.48, Y:-55.75, Z:127.87 [[ 9.99702568e-01 -2.23129873e-02 9.84407093e-03 -9.04848989e+01] [ 2.24345096e-02 9.99671264e-01 -1.24119980e-02 -5.57481546e+01] [-9.56388607e-03 1.26291532e-02 9.99874510e-01 1.27869015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839072329 meters 0.242280584198292 Centerline is valid? [False, False] Translation: X:-90.49, Y:-55.75, Z:127.87 [[ 9.99736628e-01 -2.01094512e-02 1.10582394e-02 -9.04888569e+01] [ 2.02203718e-02 9.99745416e-01 -1.00119625e-02 -5.57457228e+01] [-1.08540891e-02 1.02329273e-02 9.99888732e-01 1.27870255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899072329 meters 0.27060910453636255 Centerline is valid? [False, False] Translation: X:-90.49, Y:-55.75, Z:127.87 [[ 9.99806272e-01 -1.59970009e-02 1.14679667e-02 -9.04899753e+01] [ 1.60648439e-02 9.99853848e-01 -5.84835863e-03 -5.57452899e+01] [-1.13727345e-02 6.03145673e-03 9.99917138e-01 1.27870104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959072329 meters 0.22861652047706182 Centerline is valid? [False, False] Translation: X:-90.49, Y:-55.75, Z:127.87 [[ 9.99816036e-01 -1.57344843e-02 1.09690622e-02 -9.04885295e+01] [ 1.57965917e-02 9.99859552e-01 -5.59859426e-03 -5.57457295e+01] [-1.08794306e-02 5.77083812e-03 9.99924165e-01 1.27869844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019072329 meters 0.23656463209416922 Centerline is valid? [False, False] Translation: X:-90.49, Y:-55.75, Z:127.87 [[ 9.99865022e-01 -1.17122904e-02 1.15221681e-02 -9.04899990e+01] [ 1.17308139e-02 9.99930004e-01 -1.54137320e-03 -5.57450443e+01] [-1.15033086e-02 1.67632956e-03 9.99932430e-01 1.27869784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079072329 meters 0.22777405148035593 Centerline is valid? [False, False] Translation: X:-90.49, Y:-55.75, Z:127.87 [[ 9.99859236e-01 -1.15549159e-02 1.21651813e-02 -9.04912507e+01] [ 1.15682763e-02 9.99932556e-01 -1.02845677e-03 -5.57464938e+01] [-1.21524771e-02 1.16904218e-03 9.99925473e-01 1.27869237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139072329 meters 0.22393412950209915 Centerline is valid? [False, False] Translation: X:-90.49, Y:-55.75, Z:127.87 [[ 9.99843487e-01 -1.16107822e-02 1.33488315e-02 -9.04939323e+01] [ 1.16157792e-02 9.99932490e-01 -2.96869320e-04 -5.57489074e+01] [-1.33444834e-02 4.51879936e-04 9.99910856e-01 1.27868679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199072329 meters 0.22831150246476273 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.75, Z:127.87 [[ 9.99832571e-01 -1.17772588e-02 1.40045018e-02 -9.04955289e+01] [ 1.17838651e-02 9.99930492e-01 -3.89304808e-04 -5.57487597e+01] [-1.39989434e-02 5.54266787e-04 9.99901856e-01 1.27868667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259072329 meters 0.23040955598039817 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.75, Z:127.87 [[ 9.99825254e-01 -1.20035709e-02 1.43309699e-02 -9.04963847e+01] [ 1.20144721e-02 9.99927596e-01 -6.74814348e-04 -5.57479668e+01] [-1.43218321e-02 8.46875464e-04 9.99897079e-01 1.27868753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319072329 meters 0.21663019796622404 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.75, Z:127.87 [[ 9.99811273e-01 -1.21021956e-02 1.51972102e-02 -9.04979655e+01] [ 1.21100242e-02 9.99926581e-01 -4.23213539e-04 -5.57485508e+01] [-1.51909727e-02 6.07172251e-04 9.99884426e-01 1.27867811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379072329 meters 0.6102349113938598 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.75, Z:127.87 [[ 9.99794758e-01 -1.20104889e-02 1.63153248e-02 -9.05004199e+01] [ 1.20060218e-02 9.99927856e-01 3.71719287e-04 -5.57510008e+01] [-1.63186123e-02 -1.75760849e-04 9.99866827e-01 1.27867241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43907232899994 meters 0.614335095860065 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.75, Z:127.87 [[ 9.99727545e-01 -1.58324727e-02 1.71513217e-02 -9.05019479e+01] [ 1.58835306e-02 9.99869802e-01 -2.84477920e-03 -5.57542891e+01] [-1.71040488e-02 3.11642767e-03 9.99848858e-01 1.27866607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49907232899994 meters 0.6169284525046237 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.76, Z:127.87 [[ 9.99734826e-01 -1.53459417e-02 1.71691235e-02 -9.05011081e+01] [ 1.53823362e-02 9.99879705e-01 -1.98970626e-03 -5.57563463e+01] [-1.71365242e-02 2.25327987e-03 9.99850620e-01 1.27865271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55907232899995 meters 0.24617715850481756 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.75, Z:127.86 [[ 9.99940661e-01 -8.74327446e-03 6.49846387e-03 -9.05028230e+01] [ 8.77634775e-03 9.99948591e-01 -5.07842873e-03 -5.57482681e+01] [-6.45372769e-03 5.13516015e-03 9.99965989e-01 1.27863703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61907232899995 meters 0.2206142510206025 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.74, Z:127.87 [[ 9.99970300e-01 -5.05735296e-03 5.81572896e-03 -9.05031287e+01] [ 5.07100338e-03 9.99984417e-01 -2.33480975e-03 -5.57449571e+01] [-5.80383037e-03 2.36423198e-03 9.99980363e-01 1.27866675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.67907232899995 meters 0.24994273613322787 Centerline is valid? [False, False] Translation: X:-90.50, Y:-55.74, Z:127.87 [[ 9.99975843e-01 -5.07155342e-03 4.75322473e-03 -9.05007453e+01] [ 5.08548971e-03 9.99982792e-01 -2.92448017e-03 -5.57431327e+01] [-4.73831128e-03 2.94858200e-03 9.99984427e-01 1.27867194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.73907232899995 meters 0.24448744727820546 Centerline is valid? [False, False] Translation: X:-90.49, Y:-55.75, Z:127.87 [[ 9.99984873e-01 5.47375884e-03 -5.39518417e-04 -9.04866240e+01] [-5.47291801e-03 9.99983826e-01 1.54784263e-03 -5.57459226e+01] [ 5.47982207e-04 -1.54486648e-03 9.99998657e-01 1.27870822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.79907232899996 meters 0.23203563460914903 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.74, Z:127.88 [[ 9.99851503e-01 1.61211715e-02 -6.08932640e-03 -9.04709680e+01] [-1.60947992e-02 9.99860984e-01 4.35535520e-03 -5.57443101e+01] [ 6.15869332e-03 -4.25670196e-03 9.99971975e-01 1.27875336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.85907232899996 meters 0.2551246284153691 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.74, Z:127.88 [[ 9.99703478e-01 2.16675545e-02 -1.11118647e-02 -9.04570549e+01] [-2.16370967e-02 9.99761817e-01 2.85395733e-03 -5.57434193e+01] [ 1.11710564e-02 -2.61268258e-03 9.99934189e-01 1.27879665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91907232899996 meters 0.2504969302217495 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.89 [[ 9.99627570e-01 2.31054766e-02 -1.45209797e-02 -9.04452513e+01] [-2.28701618e-02 9.99607707e-01 1.61675209e-02 -5.57477464e+01] [ 1.48888415e-02 -1.58294025e-02 9.99763848e-01 1.27885911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97907232899996 meters 0.22560440248620256 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.75, Z:127.89 [[ 9.99679202e-01 1.96332510e-02 -1.60008881e-02 -9.04422358e+01] [-1.94353879e-02 9.99733859e-01 1.24288534e-02 -5.57480666e+01] [ 1.62406485e-02 -1.21138828e-02 9.99794727e-01 1.27886529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03907232899996 meters 0.23839527751781742 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.75, Z:127.88 [[ 9.99835488e-01 1.80762157e-02 -1.49912491e-03 -9.04454692e+01] [-1.80577353e-02 9.99770347e-01 1.15400064e-02 -5.57537999e+01] [ 1.70738027e-03 -1.15110371e-02 9.99932288e-01 1.27883793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09907232899997 meters 0.23953536011769952 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.76, Z:127.88 [[ 9.99948716e-01 9.98412548e-03 -1.69801271e-03 -9.04459972e+01] [-9.97753138e-03 9.99942817e-01 3.84854146e-03 -5.57567984e+01] [ 1.73633993e-03 -3.83140211e-03 9.99991153e-01 1.27884680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15907232899997 meters 0.2454492070324099 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.76, Z:127.88 [[ 9.99978400e-01 6.39797245e-03 -1.50513684e-03 -9.04459100e+01] [-6.39665652e-03 9.99979156e-01 8.77489946e-04 -5.57605679e+01] [ 1.51071962e-03 -8.67843148e-04 9.99998482e-01 1.27883620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21907232899997 meters 0.22128683546584127 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.76, Z:127.88 [[ 9.99995826e-01 2.68073903e-03 -1.07738166e-03 -9.04457036e+01] [-2.68306544e-03 9.99994060e-01 -2.16370600e-03 -5.57635802e+01] [ 1.07157493e-03 2.16658765e-03 9.99997079e-01 1.27881641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279072329 meters 0.2281046310719532 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.76, Z:127.88 [[ 9.99995222e-01 2.74308818e-03 -1.42525875e-03 -9.04449157e+01] [-2.74618460e-03 9.99993864e-01 -2.17513628e-03 -5.57634286e+01] [ 1.41928342e-03 2.17903991e-03 9.99996619e-01 1.27881830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339072329 meters 0.2714643666197183 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.76, Z:127.88 [[ 9.99994671e-01 2.42468003e-03 -2.18593139e-03 -9.04434182e+01] [-2.43157243e-03 9.99992064e-01 -3.15595151e-03 -5.57604340e+01] [ 2.17826187e-03 3.16124994e-03 9.99992631e-01 1.27882679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399072329 meters 0.21471012119205063 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.76, Z:127.88 [[ 9.99996287e-01 -9.60244407e-04 -2.55043013e-03 -9.04413686e+01] [ 9.44657113e-04 9.99980913e-01 -6.10582240e-03 -5.57632162e+01] [ 2.55624453e-03 6.10339044e-03 9.99978107e-01 1.27881119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459072329 meters 0.26127729061979893 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.76, Z:127.88 [[ 9.99997431e-01 -6.82030671e-04 -2.16153667e-03 -9.04419130e+01] [ 6.70154247e-04 9.99984703e-01 -5.49040539e-03 -5.57648849e+01] [ 2.16524823e-03 5.48894272e-03 9.99982591e-01 1.27880466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519072329 meters 0.2389252431231475 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.77, Z:127.88 [[ 9.99988514e-01 -4.53446673e-03 -1.55250797e-03 -9.04430042e+01] [ 4.52070606e-03 9.99951454e-01 -8.75516504e-03 -5.57680081e+01] [ 1.59213261e-03 8.74804605e-03 9.99960468e-01 1.27879818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579072329 meters 0.2697316191563524 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.77, Z:127.88 [[ 9.99987849e-01 -4.67383786e-03 -1.56769358e-03 -9.04431032e+01] [ 4.65954316e-03 9.99948632e-01 -9.00126926e-03 -5.57673076e+01] [ 1.60968352e-03 8.99385515e-03 9.99958259e-01 1.27880045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639072329 meters 0.2617666798643476 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.77, Z:127.88 [[ 9.99988018e-01 -4.67038048e-03 -1.46677946e-03 -9.04431045e+01] [ 4.65705971e-03 9.99949037e-01 -8.95741744e-03 -5.57672662e+01] [ 1.50853925e-03 8.95047923e-03 9.99958806e-01 1.27879721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699072329 meters 0.24903143365563846 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.77, Z:127.88 [[ 9.99989901e-01 -4.42704853e-03 -7.73828121e-04 -9.04441279e+01] [ 4.42055929e-03 9.99956645e-01 -8.19555443e-03 -5.57692340e+01] [ 8.10076689e-04 8.19205091e-03 9.99966116e-01 1.27878560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759072329 meters 0.2735886631761129 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.77, Z:127.88 [[ 9.99989019e-01 -4.62524945e-03 -7.54247578e-04 -9.04437568e+01] [ 4.61863179e-03 9.99952769e-01 -8.55146493e-03 -5.57679011e+01] [ 7.93764613e-04 8.54788744e-03 9.99963151e-01 1.27878013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819072329 meters 0.23761114346757226 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.77, Z:127.88 [[ 9.99987246e-01 -4.88087405e-03 -1.29769434e-03 -9.04427070e+01] [ 4.86874549e-03 9.99945912e-01 -9.19064852e-03 -5.57659675e+01] [ 1.34248255e-03 9.18421317e-03 9.99956923e-01 1.27878587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87907232899994 meters 0.2731845791507513 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.76, Z:127.88 [[ 9.99998231e-01 -1.14462048e-03 -1.49252134e-03 -9.04428259e+01] [ 1.13566775e-03 9.99981442e-01 -5.98550462e-03 -5.57627537e+01] [ 1.49934478e-03 5.98379902e-03 9.99980973e-01 1.27879592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93907232899994 meters 0.24956553880220209 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.76, Z:127.88 [[ 9.99997257e-01 -9.30607997e-04 -2.14928631e-03 -9.04408900e+01] [ 9.18029985e-04 9.99982492e-01 -5.84577164e-03 -5.57626681e+01] [ 2.15468880e-03 5.84378250e-03 9.99980604e-01 1.27879190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99907232899994 meters 0.25026749212573207 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.76, Z:127.88 [[ 9.99936516e-01 8.79686629e-03 -7.04118656e-03 -9.04273754e+01] [-8.81414458e-03 9.99958210e-01 -2.42662915e-03 -5.57644107e+01] [ 7.01954558e-03 2.48853714e-03 9.99972266e-01 1.27883068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05907232899995 meters 0.25605954116136154 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.76, Z:127.89 [[ 9.99831914e-01 1.35721093e-02 -1.23264459e-02 -9.04161539e+01] [-1.34217178e-02 9.99835464e-01 1.22025708e-02 -5.57628039e+01] [ 1.24900324e-02 -1.20350776e-02 9.99849567e-01 1.27893662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11907232899995 meters 0.24806061523212816 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.76, Z:127.89 [[ 9.99768489e-01 2.14477873e-02 -1.72049633e-03 -9.04143919e+01] [-2.14371190e-02 9.99752216e-01 5.99640814e-03 -5.57638148e+01] [ 1.84867971e-03 -5.95813742e-03 9.99980541e-01 1.27890110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.17907232899995 meters 0.24149067832229998 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.76, Z:127.89 [[ 9.99754486e-01 2.19948374e-02 -2.68226224e-03 -9.04117069e+01] [-2.19768750e-02 9.99737011e-01 6.55177070e-03 -5.57645910e+01] [ 2.82566196e-03 -6.49121440e-03 9.99974940e-01 1.27889619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.23907232899995 meters 0.23556226981986012 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.76, Z:127.89 [[ 9.99833846e-01 1.78186949e-02 -3.84386282e-03 -9.04094579e+01] [-1.78104659e-02 9.99839038e-01 2.16454172e-03 -5.57639908e+01] [ 3.88181341e-03 -2.09572108e-03 9.99990270e-01 1.27890192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.29907232899996 meters 0.24026611439790788 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.77, Z:127.90 [[ 9.99860014e-01 1.51378231e-02 -7.12738997e-03 -9.03987824e+01] [-1.50527189e-02 9.99816522e-01 1.18464133e-02 -5.57704948e+01] [ 7.30541117e-03 -1.17374684e-02 9.99904427e-01 1.27896484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.35907232899996 meters 0.23484008242780322 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.77, Z:127.90 [[ 9.99900109e-01 1.15177940e-02 -8.19219102e-03 -9.03959722e+01] [-1.14505194e-02 9.99900719e-01 8.21207506e-03 -5.57712369e+01] [ 8.28596268e-03 -8.11744991e-03 9.99932723e-01 1.27895934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41907232899996 meters 0.22884894845608889 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.77, Z:127.90 [[ 9.99925615e-01 7.54865354e-03 -9.58035673e-03 -9.03931869e+01] [-7.51382128e-03 9.99965049e-01 3.66660172e-03 -5.57698068e+01] [ 9.60769979e-03 -3.59434389e-03 9.99947385e-01 1.27896918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47907232899996 meters 0.2622788752395773 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.77, Z:127.90 [[ 9.99918531e-01 7.33627347e-03 -1.04455931e-02 -9.03913039e+01] [-7.30616166e-03 9.99969052e-01 2.91797606e-03 -5.57673351e+01] [ 1.04666769e-02 -2.84142115e-03 9.99941186e-01 1.27897530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53907232899996 meters 0.2497782525606817 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.77, Z:127.90 [[ 9.99912011e-01 7.52396612e-03 -1.09252490e-02 -9.03901653e+01] [-7.49128583e-03 9.99967352e-01 3.02911125e-03 -5.57675299e+01] [ 1.09476832e-02 -2.94700056e-03 9.99935730e-01 1.27897633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59907232899997 meters 0.241357220278045 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.77, Z:127.90 [[ 9.99905099e-01 7.59371212e-03 -1.14946841e-02 -9.03887539e+01] [-7.56066876e-03 9.99967168e-01 2.91539611e-03 -5.57669927e+01] [ 1.15164454e-02 -2.82821194e-03 9.99929684e-01 1.27897690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65907232899997 meters 0.24735905614873646 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.76, Z:127.90 [[ 9.99883219e-01 8.17421556e-03 -1.29124086e-02 -9.03851059e+01] [-8.14417960e-03 9.99964010e-01 2.37700456e-03 -5.57635903e+01] [ 1.29313741e-02 -2.27156599e-03 9.99913806e-01 1.27898043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71907232899997 meters 0.2669453885262443 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.77, Z:127.90 [[ 9.99938131e-01 1.10957692e-02 7.86017791e-04 -9.03846378e+01] [-1.10988564e-02 9.99930250e-01 4.03868613e-03 -5.57679266e+01] [-7.41150637e-04 -4.04716016e-03 9.99991536e-01 1.27895210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779072329 meters 0.2573060709564538 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.77, Z:127.90 [[ 9.99975390e-01 7.00467395e-03 -3.92757051e-04 -9.03818549e+01] [-7.00487039e-03 9.99975340e-01 -5.01028637e-04 -5.57663890e+01] [ 3.89237823e-04 5.03767519e-04 9.99999797e-01 1.27895493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839072329 meters 0.2472628795577767 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.77, Z:127.90 [[ 9.99974948e-01 7.00556580e-03 -1.01223107e-03 -9.03799366e+01] [-7.00627970e-03 9.99975208e-01 -7.03460501e-04 -5.57651486e+01] [ 1.00727784e-03 7.10534852e-04 9.99999240e-01 1.27895009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899072329 meters 0.24492778044539631 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.76, Z:127.90 [[ 9.99975885e-01 6.72879137e-03 -1.71824875e-03 -9.03787762e+01] [-6.73142793e-03 9.99976168e-01 -1.53330167e-03 -5.57627898e+01] [ 1.70789054e-03 1.54483097e-03 9.99997348e-01 1.27896139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959072329 meters 0.24019066146595475 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.76, Z:127.89 [[ 9.99965789e-01 7.70516976e-03 -3.00839694e-03 -9.03744283e+01] [-7.70866774e-03 9.99969623e-01 -1.15287959e-03 -5.57612928e+01] [ 2.99942242e-03 1.17603088e-03 9.99994810e-01 1.27894901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019072329 meters 0.23155007005793718 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.76, Z:127.89 [[ 9.99958808e-01 8.18290344e-03 -3.92724388e-03 -9.03713279e+01] [-8.18598442e-03 9.99966199e-01 -7.69082756e-04 -5.57610142e+01] [ 3.92081780e-03 8.01199432e-04 9.99991993e-01 1.27893762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079072329 meters 0.2226278008333112 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.76, Z:127.90 [[ 9.99950480e-01 4.84243010e-03 -8.69411084e-03 -9.03622022e+01] [-4.78855256e-03 9.99969270e-01 6.20717350e-03 -5.57643771e+01] [ 8.72390147e-03 -6.16523392e-03 9.99942940e-01 1.27902583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139072329 meters 0.2273968387189758 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.76, Z:127.90 [[ 9.99959220e-01 4.33438953e-04 -9.02052037e-03 -9.03615690e+01] [-4.18348152e-04 9.99998510e-01 1.67476095e-03 -5.57637090e+01] [ 9.02123284e-03 -1.67091893e-03 9.99957912e-01 1.27902947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199072329 meters 0.2735951755577956 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.77, Z:127.90 [[ 9.99954874e-01 -3.58256696e-03 -8.79859136e-03 -9.03616049e+01] [ 3.56550974e-03 9.99991735e-01 -1.95355255e-03 -5.57655490e+01] [ 8.80551738e-03 1.92209293e-03 9.99959383e-01 1.27902201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259072329 meters 0.27097432211743816 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.77, Z:127.90 [[ 9.99959479e-01 -3.44545414e-03 -8.31676586e-03 -9.03627536e+01] [ 3.43295805e-03 9.99992958e-01 -1.51632712e-03 -5.57669542e+01] [ 8.32193173e-03 1.48771457e-03 9.99964265e-01 1.27902086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319072329 meters 0.2709155194561974 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.77, Z:127.90 [[ 9.99956603e-01 -3.72138817e-03 -8.54072472e-03 -9.03621309e+01] [ 3.70375046e-03 9.99990978e-01 -2.08001783e-03 -5.57650666e+01] [ 8.54838821e-03 2.04829485e-03 9.99961364e-01 1.27902104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37907232899994 meters 0.2292516699051658 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.76, Z:127.90 [[ 9.99958138e-01 6.70436157e-04 -9.12541113e-03 -9.03605746e+01] [-6.51718825e-04 9.99997678e-01 2.05394116e-03 -5.57641219e+01] [ 9.12676698e-03 -2.04790797e-03 9.99956253e-01 1.27901996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43907232899994 meters 0.24190167294319626 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.76, Z:127.90 [[ 9.99958576e-01 6.84747788e-04 -9.07619286e-03 -9.03610236e+01] [-6.66055534e-04 9.99997652e-01 2.06234455e-03 -5.57643332e+01] [ 9.07758373e-03 -2.05621387e-03 9.99956684e-01 1.27902518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49907232899994 meters 0.23930206592754646 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.76, Z:127.90 [[ 9.99950847e-01 -3.56656830e-03 -9.25110778e-03 -9.03606526e+01] [ 3.54710231e-03 9.99991462e-01 -2.11973433e-03 -5.57647270e+01] [ 9.25858897e-03 2.08681552e-03 9.99954961e-01 1.27902695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55907232899995 meters 0.24843377895470609 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.77, Z:127.90 [[ 9.99935894e-01 -7.61398925e-03 -8.38058200e-03 -9.03619989e+01] [ 7.56902490e-03 9.99956860e-01 -5.38400658e-03 -5.57675832e+01] [ 8.42121423e-03 5.32022860e-03 9.99950388e-01 1.27901378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61907232899995 meters 0.2395372210932262 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.77, Z:127.90 [[ 9.99901002e-01 -1.18291144e-02 -7.61962463e-03 -9.03644379e+01] [ 1.17591201e-02 9.99888845e-01 -9.16628192e-03 -5.57701664e+01] [ 7.72720667e-03 9.07577439e-03 9.99928958e-01 1.27902262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.67907232899995 meters 0.2261404231119894 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.77, Z:127.90 [[ 9.99908938e-01 -1.16321710e-02 -6.84163351e-03 -9.03658681e+01] [ 1.15739033e-02 9.99896931e-01 -8.49544690e-03 -5.57720051e+01] [ 6.93974884e-03 8.41548889e-03 9.99940508e-01 1.27901424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.73907232899995 meters 0.2306799551865071 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.77, Z:127.90 [[ 9.99856808e-01 -1.68213649e-02 -1.84526486e-03 -9.03781705e+01] [ 1.68075379e-02 9.99832321e-01 -7.26892766e-03 -5.57705871e+01] [ 1.96722873e-03 7.23687245e-03 9.99971878e-01 1.27895738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.79907232899996 meters 0.215864098258298 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.77, Z:127.90 [[ 9.99779049e-01 -2.10137212e-02 -5.26893372e-04 -9.03809188e+01] [ 2.10068323e-02 9.99721326e-01 -1.07695393e-02 -5.57734000e+01] [ 7.53054638e-04 1.07560914e-02 9.99941868e-01 1.27895154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.85907232899996 meters 0.22769935407245556 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.78, Z:127.89 [[ 9.99779708e-01 -2.09806342e-02 5.89947303e-04 -9.03835137e+01] [ 2.09853254e-02 9.99733889e-01 -9.57956279e-03 -5.57774931e+01] [-3.88805009e-04 9.58983273e-03 9.99953941e-01 1.27894471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91907232899996 meters 0.22011547811646098 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.78, Z:127.89 [[ 9.99781918e-01 -2.08556211e-02 1.07693272e-03 -9.03844036e+01] [ 2.08646145e-02 9.99740413e-01 -9.15284912e-03 -5.57786543e+01] [-8.85764808e-04 9.17332283e-03 9.99957532e-01 1.27893942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97907232899996 meters 0.21957437111237432 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99853021e-01 -1.70187845e-02 2.07296802e-03 -9.03868998e+01] [ 1.70291565e-02 9.99842022e-01 -5.09302787e-03 -5.57785617e+01] [-1.98596339e-03 5.12758020e-03 9.99984882e-01 1.27893721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03907232899996 meters 0.22112590195743737 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99851548e-01 -1.70847912e-02 2.23440341e-03 -9.03873439e+01] [ 1.70961170e-02 9.99840577e-01 -5.15198535e-03 -5.57783909e+01] [-2.14602660e-03 5.18942015e-03 9.99984232e-01 1.27893801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09907232899997 meters 0.2520698783407456 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99850139e-01 -1.71688719e-02 2.22027224e-03 -9.03875856e+01] [ 1.71804458e-02 9.99838341e-01 -5.30325653e-03 -5.57780705e+01] [-2.12886238e-03 5.34060704e-03 9.99983473e-01 1.27894235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15907232899997 meters 0.2249745505965625 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99900071e-01 -1.36365943e-02 3.72706105e-03 -9.03908058e+01] [ 1.36406991e-02 9.99906380e-01 -1.07814988e-03 -5.57788995e+01] [-3.71200983e-03 1.12888186e-03 9.99992473e-01 1.27893223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21907232899997 meters 0.2684738201952242 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99900696e-01 -1.35583888e-02 3.84284633e-03 -9.03904472e+01] [ 1.35619256e-02 9.99907632e-01 -8.95783456e-04 -5.57789994e+01] [-3.83034599e-03 9.47810898e-04 9.99992215e-01 1.27892279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279072329 meters 0.25975057391116424 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99902032e-01 -1.34522511e-02 3.86813744e-03 -9.03907290e+01] [ 1.34550943e-02 9.99909224e-01 -7.09949118e-04 -5.57796964e+01] [-3.85823589e-03 7.61925720e-04 9.99992267e-01 1.27892618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339072329 meters 0.24821677588780658 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99905630e-01 -1.33357232e-02 3.29990044e-03 -9.03894371e+01] [ 1.33381492e-02 9.99910788e-01 -7.14284654e-04 -5.57795225e+01] [-3.29008054e-03 7.58231812e-04 9.99994300e-01 1.27892866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399072329 meters 0.26597331223060316 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99901574e-01 -1.37645432e-02 2.71661535e-03 -9.03879419e+01] [ 1.37690930e-02 9.99903818e-01 -1.66329632e-03 -5.57762992e+01] [-2.69345955e-03 1.70053794e-03 9.99994927e-01 1.27892958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459072329 meters 0.26841984008524356 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99947992e-01 -9.74651293e-03 3.00328876e-03 -9.03890238e+01] [ 9.73984495e-03 9.99950087e-01 2.22691179e-03 -5.57752125e+01] [-3.02484348e-03 -2.19754441e-03 9.99993011e-01 1.27893355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519072329 meters 0.2592113441738382 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99943187e-01 -9.85708230e-03 4.05722989e-03 -9.03916558e+01] [ 9.84736626e-03 9.99948615e-01 2.40779862e-03 -5.57763853e+01] [-4.08075528e-03 -2.36770880e-03 9.99988871e-01 1.27893494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579072329 meters 0.24345857283087544 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.78, Z:127.89 [[ 9.99886803e-01 -1.40435767e-02 5.39996149e-03 -9.03945889e+01] [ 1.40479616e-02 9.99901022e-01 -7.74944999e-04 -5.57800119e+01] [-5.38854402e-03 8.50715729e-04 9.99985120e-01 1.27892869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639072329 meters 0.2588018335397609 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.79, Z:127.89 [[ 9.99874588e-01 -1.43261140e-02 6.75063581e-03 -9.03977841e+01] [ 1.43216865e-02 9.99897192e-01 7.03764478e-04 -5.57853611e+01] [-6.76002400e-03 -6.06995728e-04 9.99976967e-01 1.27891790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699072329 meters 0.28140137342910543 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.79, Z:127.89 [[ 9.99877838e-01 -1.41854670e-02 6.56370599e-03 -9.03970298e+01] [ 1.41799958e-02 9.99899072e-01 8.79341883e-04 -5.57856540e+01] [-6.57551741e-03 -7.86161137e-04 9.99978072e-01 1.27891393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759072329 meters 0.27978488955517256 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.78, Z:127.89 [[ 9.99880127e-01 -1.42658662e-02 6.01797899e-03 -9.03960335e+01] [ 1.42629124e-02 9.99898137e-01 5.33459348e-04 -5.57847270e+01] [-6.02497624e-03 -4.47561493e-04 9.99981750e-01 1.27891985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819072329 meters 0.2628334518419881 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.78, Z:127.89 [[ 9.99876600e-01 -1.44100219e-02 6.25588607e-03 -9.03967067e+01] [ 1.44081367e-02 9.99896137e-01 3.46317568e-04 -5.57842430e+01] [-6.26022676e-03 -2.56139170e-04 9.99980372e-01 1.27892129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87907232899994 meters 0.25905456568896224 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.78, Z:127.89 [[ 9.99929420e-01 -1.04305381e-02 5.68851029e-03 -9.03957540e+01] [ 1.04083518e-02 9.99938164e-01 3.91596007e-03 -5.57819833e+01] [-5.72900410e-03 -3.85647567e-03 9.99976153e-01 1.27892659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93907232899994 meters 0.249794476067264 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.78, Z:127.89 [[ 9.99927348e-01 -1.05359284e-02 5.85594947e-03 -9.03963232e+01] [ 1.05138570e-02 9.99937556e-01 3.78714186e-03 -5.57816975e+01] [-5.89548486e-03 -3.72529811e-03 9.99975682e-01 1.27892889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99907232899994 meters 0.2384676550324098 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.78, Z:127.89 [[ 9.99927413e-01 -1.04322708e-02 6.02804020e-03 -9.03966924e+01] [ 1.04081418e-02 9.99937752e-01 4.02039163e-03 -5.57824152e+01] [-6.06960677e-03 -3.95735911e-03 9.99973749e-01 1.27892775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05907232899995 meters 0.22687325631559987 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.78, Z:127.89 [[ 9.99928294e-01 -1.05377788e-02 5.68872418e-03 -9.03960786e+01] [ 1.05168218e-02 9.99937846e-01 3.70139133e-03 -5.57815346e+01] [-5.72737505e-03 -3.64129862e-03 9.99976969e-01 1.27893139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11907232899995 meters 0.2273857428104306 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.79, Z:127.90 [[ 9.99984031e-01 -5.48752089e-03 1.35092298e-03 -9.03850780e+01] [ 5.48276461e-03 9.99978846e-01 3.49964453e-03 -5.57855106e+01] [-1.37009878e-03 -3.49218185e-03 9.99992964e-01 1.27897408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.17907232899995 meters 0.21715059066330872 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.79, Z:127.90 [[ 9.99995896e-01 -8.35192257e-04 -2.74036975e-03 -9.03737509e+01] [ 8.42781377e-04 9.99995810e-01 2.76939323e-03 -5.57875642e+01] [ 2.73804529e-03 -2.77169140e-03 9.99992410e-01 1.27900655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.23907232899995 meters 0.24917724395419072 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.79, Z:127.90 [[ 9.99995042e-01 -8.61694343e-04 -3.02863388e-03 -9.03725703e+01] [ 8.69609955e-04 9.99996207e-01 2.61324697e-03 -5.57866573e+01] [ 3.02637057e-03 -2.61586774e-03 9.99991999e-01 1.27900051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.29907232899996 meters 0.22334416552268826 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.78, Z:127.90 [[ 9.99992605e-01 -1.12926314e-03 -3.67610804e-03 -9.03713883e+01] [ 1.13605187e-03 9.99997652e-01 1.84515136e-03 -5.57844544e+01] [ 3.67401575e-03 -1.84931396e-03 9.99991541e-01 1.27900847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.35907232899996 meters 0.23406296552693542 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.78, Z:127.90 [[ 9.99988338e-01 -3.51308114e-04 -4.81671058e-03 -9.03676664e+01] [ 3.61090107e-04 9.99997874e-01 2.03012589e-03 -5.57829696e+01] [ 4.81598714e-03 -2.03184148e-03 9.99986339e-01 1.27900241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41907232899996 meters 0.24773092853495224 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.78, Z:127.91 [[ 9.99927226e-01 7.49314814e-03 -9.45492752e-03 -9.03565450e+01] [-7.45852853e-03 9.99965371e-01 3.69150550e-03 -5.57807426e+01] [ 9.48226111e-03 -3.62071700e-03 9.99948487e-01 1.27905748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47907232899996 meters 0.23809905951042784 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.79, Z:127.91 [[ 9.99786595e-01 1.52480763e-02 -1.39377502e-02 -9.03414196e+01] [-1.51744914e-02 9.99870440e-01 5.37013927e-03 -5.57860826e+01] [ 1.40178287e-02 -5.15749499e-03 9.99888444e-01 1.27907525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53907232899996 meters 0.2296631099530549 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.91 [[ 9.99767577e-01 1.52740013e-02 -1.52149899e-02 -9.03388541e+01] [-1.52047095e-02 9.99873545e-01 4.65950249e-03 -5.57836476e+01] [ 1.52842352e-02 -4.42708002e-03 9.99873389e-01 1.27908670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59907232899997 meters 0.23122962616617235 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.91 [[ 9.99790648e-01 1.95728140e-02 -5.96365616e-03 -9.03305505e+01] [-1.95375490e-02 9.99791625e-01 5.91528875e-03 -5.57902671e+01] [ 6.07819233e-03 -5.79753515e-03 9.99964721e-01 1.27912779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65907232899997 meters 0.2600700374644492 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.91 [[ 9.99838502e-01 1.63219120e-02 -7.52101534e-03 -9.03266852e+01] [-1.63091546e-02 9.99865458e-01 1.75446417e-03 -5.57881159e+01] [ 7.54863966e-03 -1.63151943e-03 9.99970178e-01 1.27912963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71907232899997 meters 0.2715272066317634 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.92 [[ 9.99918920e-01 6.67726575e-03 -1.08428986e-02 -9.03162692e+01] [-6.62326751e-03 9.99965524e-01 5.00835147e-03 -5.57967009e+01] [ 1.08759669e-02 -4.93612998e-03 9.99928671e-01 1.27918303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779072329 meters 0.22800494547024658 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.92 [[ 9.99936502e-01 2.44306361e-03 -1.10010868e-02 -9.03159117e+01] [-2.43352297e-03 9.99996651e-01 8.80548189e-04 -5.57972103e+01] [ 1.10032012e-02 -8.53720879e-04 9.99939099e-01 1.27918363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839072329 meters 0.2685145889865197 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.92 [[ 9.99943458e-01 -1.73594522e-03 -1.04913318e-02 -9.03164896e+01] [ 1.70593420e-03 9.99994430e-01 -2.86882675e-03 -5.57985470e+01] [ 1.04962535e-02 2.85076701e-03 9.99940849e-01 1.27917347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899072329 meters 0.2387113850740932 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.92 [[ 9.99940964e-01 -5.59144112e-03 -9.31686779e-03 -9.03182462e+01] [ 5.54111001e-03 9.99969964e-01 -5.41923387e-03 -5.58032559e+01] [ 9.34688927e-03 5.36728815e-03 9.99941912e-01 1.27915266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959072329 meters 0.25093714778764664 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.92 [[ 9.99939827e-01 -5.61647234e-03 -9.42320284e-03 -9.03179386e+01] [ 5.56480294e-03 9.99969388e-01 -5.50049872e-03 -5.58029061e+01] [ 9.45380777e-03 5.44772947e-03 9.99940472e-01 1.27915270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019072329 meters 0.22663340266690493 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.92 [[ 9.99937152e-01 -5.63038978e-03 -9.69485990e-03 -9.03173642e+01] [ 5.57596394e-03 9.99968595e-01 -5.63179430e-03 -5.58025007e+01] [ 9.72626463e-03 5.57738216e-03 9.99937144e-01 1.27915462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079072329 meters 0.2267742954348862 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.92 [[ 9.99934936e-01 -5.50119575e-03 -9.99298579e-03 -9.03164587e+01] [ 5.44606624e-03 9.99969848e-01 -5.53568026e-03 -5.58025558e+01] [ 1.00231373e-02 5.48089763e-03 9.99934746e-01 1.27915261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139072329 meters 0.24267395089445634 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.92 [[ 9.99934517e-01 -5.58986217e-03 -9.98570668e-03 -9.03163784e+01] [ 5.53319002e-03 9.99968481e-01 -5.69396759e-03 -5.58019757e+01] [ 1.00172204e-02 5.63834192e-03 9.99933930e-01 1.27915174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199072329 meters 0.2556383764359666 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.81, Z:127.91 [[ 9.99945421e-01 -1.04464094e-02 -1.64538598e-04 -9.03108082e+01] [ 1.04462537e-02 9.99945013e-01 -9.20244971e-04 -5.58104417e+01] [ 1.74142807e-04 9.18475933e-04 9.99999563e-01 1.27914565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259072329 meters 0.25283086771946506 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.81, Z:127.91 [[ 9.99950713e-01 -9.91851317e-03 4.41622143e-04 -9.03116749e+01] [ 9.91835074e-03 9.99950744e-01 3.68485376e-04 -5.58140040e+01] [-4.45255218e-04 -3.64087051e-04 9.99999835e-01 1.27913443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319072329 meters 0.2424610918774657 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.81, Z:127.91 [[ 9.99950091e-01 -9.97905705e-03 4.84054263e-04 -9.03120201e+01] [ 9.97892808e-03 9.99950173e-01 2.68122894e-04 -5.58138423e+01] [-4.86705758e-04 -2.63279169e-04 9.99999847e-01 1.27913831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37907232899994 meters 0.2602833614874821 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.81, Z:127.91 [[ 9.99949611e-01 -1.00287778e-02 -4.46701093e-04 -9.03103509e+01] [ 1.00286408e-02 9.99949664e-01 -3.08048794e-04 -5.58122483e+01] [ 4.49767961e-04 3.03553467e-04 9.99999853e-01 1.27914910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43907232899994 meters 0.27018441260560594 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.81, Z:127.91 [[ 9.99948098e-01 -1.01426124e-02 -9.63255725e-04 -9.03087433e+01] [ 1.01419240e-02 9.99948312e-01 -7.16876369e-04 -5.58103983e+01] [ 9.70476936e-04 7.07069895e-04 9.99999279e-01 1.27914538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49907232899994 meters 0.2360375794903967 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.81, Z:127.91 [[ 9.99951387e-01 -9.86017591e-03 -3.62253087e-05 -9.03106726e+01] [ 9.86018816e-03 9.99951324e-01 3.55106163e-04 -5.58136181e+01] [ 3.27221362e-05 -3.55446089e-04 9.99999936e-01 1.27913839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55907232899995 meters 0.23895421178417814 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.82, Z:127.91 [[ 9.99950473e-01 -9.90458234e-03 9.74752840e-04 -9.03129902e+01] [ 9.90387318e-03 9.99950689e-01 7.29687725e-04 -5.58150653e+01] [-9.81932026e-04 -7.19997758e-04 9.99999259e-01 1.27913560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61907232899995 meters 0.2911441566549316 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.82, Z:127.91 [[ 9.99889532e-01 -1.46312327e-02 2.61730432e-03 -9.03165009e+01] [ 1.46384833e-02 9.99889007e-01 -2.77287591e-03 -5.58181796e+01] [-2.57644323e-03 2.81088296e-03 9.99992730e-01 1.27912538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.67907232899995 meters 0.2393494572023931 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.82, Z:127.91 [[ 9.99885290e-01 -1.46099549e-02 3.99456881e-03 -9.03191987e+01] [ 1.46161884e-02 9.99891998e-01 -1.53575763e-03 -5.58218613e+01] [-3.97170005e-03 1.59396683e-03 9.99990842e-01 1.27911024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.73907232899995 meters 0.2518329901735897 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.82, Z:127.91 [[ 9.99879655e-01 -1.46596396e-02 5.07649467e-03 -9.03216257e+01] [ 1.46652597e-02 9.99891885e-01 -1.07163829e-03 -5.58235603e+01] [-5.06023600e-03 1.14595744e-03 9.99986540e-01 1.27910595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.79907232899996 meters 0.2646872262682042 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.83, Z:127.91 [[ 9.99876721e-01 -1.44685729e-02 6.09939078e-03 -9.03237722e+01] [ 1.44702466e-02 9.99895274e-01 -2.30368489e-04 -5.58261557e+01] [-6.09541891e-03 3.18599778e-04 9.99981372e-01 1.27909904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.85907232899996 meters 0.25335765706723945 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.83, Z:127.91 [[ 9.99871442e-01 -1.45215790e-02 6.79875031e-03 -9.03251120e+01] [ 1.45214668e-02 9.99894556e-01 6.58669299e-05 -5.58269234e+01] [-6.79898991e-03 3.28693647e-05 9.99976886e-01 1.27909239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91907232899996 meters 0.25857888106481114 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.83, Z:127.91 [[ 9.99867190e-01 -1.46125483e-02 7.21634571e-03 -9.03259092e+01] [ 1.46124154e-02 9.99893230e-01 7.11404813e-05 -5.58268399e+01] [-7.21661477e-03 3.43172079e-05 9.99973959e-01 1.27908884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97907232899996 meters 0.26498409051033694 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.83, Z:127.91 [[ 9.99797537e-01 -1.84301644e-02 8.07548411e-03 -9.03274366e+01] [ 1.84549373e-02 9.99825180e-01 -3.00396456e-03 -5.58305700e+01] [-8.01870880e-03 3.15238892e-03 9.99962881e-01 1.27908162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03907232899996 meters 0.2586714253547557 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.83, Z:127.91 [[ 9.99790669e-01 -1.85258276e-02 8.68396652e-03 -9.03291919e+01] [ 1.85516720e-02 9.99823683e-01 -2.90505254e-03 -5.58313378e+01] [-8.62861688e-03 3.06554652e-03 9.99958074e-01 1.27908571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09907232899997 meters 0.2580421055049873 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.83, Z:127.91 [[ 9.99880151e-01 -1.33849057e-02 7.77998601e-03 -9.03255536e+01] [ 1.33673284e-02 9.99907992e-01 2.30692056e-03 -5.58315626e+01] [-7.81014811e-03 -2.20264645e-03 9.99967074e-01 1.27906275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15907232899997 meters 0.26396384081091134 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99950075e-01 -9.31691489e-03 3.61133376e-03 -9.03146333e+01] [ 9.31327500e-03 9.99956107e-01 1.02341672e-03 -5.58320385e+01] [-3.62071033e-03 -9.89732277e-04 9.99992955e-01 1.27909841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21907232899997 meters 0.29235338669999533 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99949976e-01 -9.60583348e-03 2.78805333e-03 -9.03138906e+01] [ 9.60621003e-03 9.99953852e-01 -1.21698098e-04 -5.58294905e+01] [-2.78675566e-03 1.48474636e-04 9.99996106e-01 1.27912050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279072329 meters 0.2660980787710695 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99951306e-01 -9.60186872e-03 2.27793369e-03 -9.03125743e+01] [ 9.60268691e-03 9.99953832e-01 -3.48518267e-04 -5.58285396e+01] [-2.27448209e-03 3.70375580e-04 9.99997345e-01 1.27912086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339072329 meters 0.25218258463866866 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99949325e-01 -9.75447646e-03 2.48957299e-03 -9.03131637e+01] [ 9.75584056e-03 9.99952267e-01 -5.36370248e-04 -5.58279972e+01] [-2.48422214e-03 5.60630945e-04 9.99996757e-01 1.27912190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399072329 meters 0.25454338289621264 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99952197e-01 -9.39502502e-03 2.70880001e-03 -9.03132807e+01] [ 9.39459421e-03 9.99955855e-01 1.71722546e-04 -5.58299504e+01] [-2.71029377e-03 -1.46266260e-04 9.99996316e-01 1.27911525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459072329 meters 0.23085419009921687 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99957182e-01 -9.07676555e-03 1.80188264e-03 -9.03102381e+01] [ 9.07658129e-03 9.99958801e-01 1.10408072e-04 -5.58282621e+01] [-1.80281055e-03 -9.40484098e-05 9.99998371e-01 1.27910573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519072329 meters 0.2406301460737266 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99955815e-01 -9.30843799e-03 1.31175287e-03 -9.03094459e+01] [ 9.30912416e-03 9.99956535e-01 -5.17958913e-04 -5.58265571e+01] [-1.30687446e-03 5.30147297e-04 9.99999006e-01 1.27911290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579072329 meters 0.23396167042563806 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.82, Z:127.91 [[ 9.99984131e-01 -5.40793107e-03 1.57857302e-03 -9.03106178e+01] [ 5.40298512e-03 9.99980534e-01 3.12080508e-03 -5.58249456e+01] [-1.59541939e-03 -3.11222655e-03 9.99993884e-01 1.27911946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639072329 meters 0.2529792972700194 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.82, Z:127.91 [[ 9.99986602e-01 -5.14681497e-03 5.53249701e-04 -9.03081106e+01] [ 5.14503219e-03 9.99981718e-01 3.17689194e-03 -5.58245122e+01] [-5.69590461e-04 -3.17400289e-03 9.99994801e-01 1.27911999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699072329 meters 0.2161736343753542 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99986320e-01 -4.99848294e-03 1.54139540e-03 -9.03102500e+01] [ 4.99255639e-03 9.99980221e-01 3.82510020e-03 -5.58267253e+01] [-1.56048461e-03 -3.81735237e-03 9.99991496e-01 1.27911436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759072329 meters 0.22480209468787665 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99959274e-01 -8.87972092e-03 1.61290769e-03 -9.03102140e+01] [ 8.87930879e-03 9.99960544e-01 2.62503306e-04 -5.58289929e+01] [-1.61517500e-03 -2.48171110e-04 9.99998665e-01 1.27911230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819072329 meters 0.26247356958168155 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99959139e-01 -8.71064548e-03 2.41753508e-03 -9.03116829e+01] [ 8.70841740e-03 9.99961648e-01 9.30634479e-04 -5.58308472e+01] [-2.42554879e-03 -9.09543548e-04 9.99996645e-01 1.27910324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87907232899994 meters 0.2515044584934962 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99960716e-01 -8.56053730e-03 2.29856671e-03 -9.03105274e+01] [ 8.55786920e-03 9.99962699e-01 1.16810213e-03 -5.58308605e+01] [-2.30848055e-03 -1.14838541e-03 9.99996676e-01 1.27909087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93907232899994 meters 0.2475335185281973 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99960422e-01 -8.65775116e-03 2.04881527e-03 -9.03099982e+01] [ 8.65590350e-03 9.99962124e-01 9.08972214e-04 -5.58300597e+01] [-2.05660733e-03 -8.91201891e-04 9.99997488e-01 1.27909265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99907232899994 meters 0.2379112211581737 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99958388e-01 -8.82792700e-03 2.29998892e-03 -9.03105896e+01] [ 8.82635198e-03 9.99960806e-01 6.94047156e-04 -5.58294323e+01] [-2.30602577e-03 -6.73717764e-04 9.99997114e-01 1.27909242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05907232899995 meters 0.25333633568978053 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99958345e-01 -8.76341234e-03 2.55177284e-03 -9.03111087e+01] [ 8.76116384e-03 9.99961223e-01 8.90999647e-04 -5.58300066e+01] [-2.55948209e-03 -8.68606033e-04 9.99996347e-01 1.27909073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11907232899995 meters 0.23664797478741834 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99914510e-01 -1.28225596e-02 2.56010290e-03 -9.03111301e+01] [ 1.28302218e-02 9.99913191e-01 -2.99925335e-03 -5.58313775e+01] [-2.52142255e-03 3.03184363e-03 9.99992225e-01 1.27909277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.17907232899995 meters 0.21957517569891782 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99916471e-01 -1.26287088e-02 2.75061898e-03 -9.03114535e+01] [ 1.26358531e-02 9.99916795e-01 -2.59563827e-03 -5.58325394e+01] [-2.71761055e-03 2.63017788e-03 9.99992848e-01 1.27909047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.23907232899995 meters 0.2190197517520294 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99912547e-01 -1.27542876e-02 3.49661025e-03 -9.03129706e+01] [ 1.27630786e-02 9.99915415e-01 -2.50346225e-03 -5.58329008e+01] [-3.46438461e-03 2.54787082e-03 9.99990753e-01 1.27908549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.29907232899996 meters 0.2216736013918955 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99913458e-01 -1.26030877e-02 3.77354894e-03 -9.03128293e+01] [ 1.26112598e-02 9.99918164e-01 -2.14973691e-03 -5.58334534e+01] [-3.74614681e-03 2.19714007e-03 9.99990569e-01 1.27907328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.35907232899996 meters 0.2950360037658682 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99916268e-01 -1.24295325e-02 3.60037865e-03 -9.03120699e+01] [ 1.24364722e-02 9.99920837e-01 -1.91157439e-03 -5.58338812e+01] [-3.57633366e-03 1.95619034e-03 9.99991692e-01 1.27906889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41907232899996 meters 0.27839526225704897 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.91 [[ 9.99911919e-01 -1.26225245e-02 4.10194118e-03 -9.03133548e+01] [ 1.26311600e-02 9.99918047e-01 -2.08618656e-03 -5.58335169e+01] [-4.07527208e-03 2.13781508e-03 9.99989411e-01 1.27907027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47907232899996 meters 0.2687818233440063 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.83, Z:127.91 [[ 9.99905851e-01 -1.27105899e-02 5.17014495e-03 -9.03159906e+01] [ 1.27200217e-02 9.99917485e-01 -1.79549925e-03 -5.58349974e+01] [-5.14689648e-03 1.86109456e-03 9.99985023e-01 1.27907109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53907232899996 meters 0.25375406332597866 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.84, Z:127.91 [[ 9.99895759e-01 -1.28482128e-02 6.58752725e-03 -9.03186724e+01] [ 1.28552245e-02 9.99916845e-01 -1.02315751e-03 -5.58373815e+01] [-6.57383371e-03 1.10773500e-03 9.99977779e-01 1.27905617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59907232899997 meters 0.24426900995072096 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.84, Z:127.90 [[ 9.99886459e-01 -1.29394294e-02 7.72272188e-03 -9.03208892e+01] [ 1.29417656e-02 9.99916220e-01 -2.52606629e-04 -5.58397213e+01] [-7.71880629e-03 3.52523604e-04 9.99970147e-01 1.27904459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65907232899997 meters 0.2471617554216923 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.84, Z:127.90 [[ 9.99881889e-01 -1.28430478e-02 8.44184517e-03 -9.03223193e+01] [ 1.28420315e-02 9.99917522e-01 1.74585211e-04 -5.58409749e+01] [-8.44339111e-03 -6.61541484e-05 9.99964352e-01 1.27903896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71907232899997 meters 0.2278151294297167 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.84, Z:127.90 [[ 9.99875677e-01 -1.27603876e-02 9.26297259e-03 -9.03237348e+01] [ 1.27545714e-02 9.99918421e-01 6.86707562e-04 -5.58423090e+01] [-9.27097958e-03 -5.68476943e-04 9.99956862e-01 1.27902893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779072329 meters 0.24789783486832098 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.84, Z:127.90 [[ 9.99852697e-01 -1.33979698e-02 1.07274595e-02 -9.03272123e+01] [ 1.33886940e-02 9.99909929e-01 9.36035295e-04 -5.58440253e+01] [-1.07390342e-02 -7.92270743e-04 9.99942021e-01 1.27902515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839072329 meters 0.26199115574153065 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.84, Z:127.90 [[ 9.99848905e-01 -1.33387017e-02 1.11465943e-02 -9.03280023e+01] [ 1.33262820e-02 9.99910496e-01 1.18774533e-03 -5.58446900e+01] [-1.11614396e-02 -1.03902321e-03 9.99937169e-01 1.27902127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899072329 meters 0.2667309406594838 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.84, Z:127.90 [[ 9.99844536e-01 -1.33473460e-02 1.15217944e-02 -9.03285415e+01] [ 1.33332619e-02 9.99910265e-01 1.29834205e-03 -5.58448352e+01] [-1.15380900e-02 -1.14451710e-03 9.99932779e-01 1.27901551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959072329 meters 0.24665481528296918 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.84, Z:127.90 [[ 9.99846476e-01 -1.35252876e-02 1.11396056e-02 -9.03282247e+01] [ 1.35167879e-02 9.99908293e-01 8.37956905e-04 -5.58437605e+01] [-1.11499177e-02 -6.87256572e-04 9.99937602e-01 1.27902541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019072329 meters 0.24296446879279135 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.84, Z:127.90 [[ 9.99852129e-01 -1.35219115e-02 1.06243689e-02 -9.03273302e+01] [ 1.35158792e-02 9.99908452e-01 6.39377079e-04 -5.58433190e+01] [-1.06320418e-02 -4.95684848e-04 9.99943355e-01 1.27903146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079072329 meters 0.24105131052136322 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.85, Z:127.91 [[ 9.99981318e-01 -2.79210396e-03 5.43763713e-03 -9.03126916e+01] [ 2.76251100e-03 9.99981375e-01 5.44217372e-03 -5.58465814e+01] [-5.45273097e-03 -5.42705052e-03 9.99970407e-01 1.27905926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139072329 meters 0.22399466676607133 Centerline is valid? [False, False] Translation: X:-90.30, Y:-55.85, Z:127.91 [[ 9.99995802e-01 2.88073805e-03 3.10526977e-04 -9.02983167e+01] [-2.88204624e-03 9.99986610e-01 4.29805938e-03 -5.58461216e+01] [-2.98141236e-04 -4.29893629e-03 9.99990715e-01 1.27909779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199072329 meters 0.22704598015576202 Centerline is valid? [False, False] Translation: X:-90.28, Y:-55.85, Z:127.91 [[ 9.99874505e-01 1.49187513e-02 -5.32958265e-03 -9.02814415e+01] [-1.48746225e-02 9.99855530e-01 8.22582639e-03 -5.58454539e+01] [ 5.45153175e-03 -8.14551856e-03 9.99951965e-01 1.27913906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259072329 meters 0.28038501991724485 Centerline is valid? [False, False] Translation: X:-90.27, Y:-55.84, Z:127.92 [[ 9.99696358e-01 2.23834749e-02 -1.03040001e-02 -9.02704331e+01] [-2.22931548e-02 9.99712759e-01 8.79851048e-03 -5.58396048e+01] [ 1.04979816e-02 -8.56613021e-03 9.99908203e-01 1.27921011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319072329 meters 0.2794474804440701 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.84, Z:127.93 [[ 9.99656283e-01 2.12682894e-02 -1.53289221e-02 -9.02582605e+01] [-2.09717121e-02 9.99594627e-01 1.92553697e-02 -5.58417153e+01] [ 1.57322370e-02 -1.89272775e-02 9.99697082e-01 1.27928589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37907232899994 meters 0.2686577136528685 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.84, Z:127.93 [[ 9.99620538e-01 2.17364349e-02 -1.69205964e-02 -9.02544961e+01] [-2.14241615e-02 9.99600724e-01 1.84227665e-02 -5.58375385e+01] [ 1.73142857e-02 -1.80532662e-02 9.99687099e-01 1.27929435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43907232899994 meters 0.25806438377953167 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.84, Z:127.93 [[ 9.99655426e-01 1.83843480e-02 -1.87361835e-02 -9.02509203e+01] [-1.81237745e-02 9.99737958e-01 1.39836881e-02 -5.58350644e+01] [ 1.89883548e-02 -1.36392994e-02 9.99726669e-01 1.27930855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49907232899994 meters 0.24839195416457635 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.83, Z:127.93 [[ 9.99645540e-01 1.81777736e-02 -1.94515757e-02 -9.02495486e+01] [-1.79194376e-02 9.99749985e-01 1.33738830e-02 -5.58332480e+01] [ 1.96898200e-02 -1.30205812e-02 9.99721349e-01 1.27931517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55907232899995 meters 0.25737411410341277 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.84, Z:127.93 [[ 9.99838278e-01 1.51108822e-02 -9.75083108e-03 -9.02431308e+01] [-1.49151618e-02 9.99691868e-01 1.98420455e-02 -5.58429780e+01] [ 1.00476574e-02 -1.96934014e-02 9.99755577e-01 1.27930205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61907232899995 meters 0.23243120053905772 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.84, Z:127.93 [[ 9.99886349e-01 1.10249690e-02 -1.02829729e-02 -9.02416381e+01] [-1.08612447e-02 9.99815482e-01 1.58441012e-02 -5.58434376e+01] [ 1.04557563e-02 -1.57306146e-02 9.99821597e-01 1.27929815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.67907232899995 meters 0.24867167039886362 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.84, Z:127.93 [[ 9.99922728e-01 6.56367085e-03 -1.05573003e-02 -9.02414855e+01] [-6.44425126e-03 9.99915318e-01 1.13060841e-02 -5.58430175e+01] [ 1.06306157e-02 -1.12371766e-02 9.99880351e-01 1.27930480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.73907232899995 meters 0.21112650472649655 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.84, Z:127.93 [[ 9.99922881e-01 1.23354682e-02 1.43792003e-03 -9.02454202e+01] [-1.23370242e-02 9.99923315e-01 1.07831852e-03 -5.58433584e+01] [-1.42450820e-03 -1.09597501e-03 9.99998385e-01 1.27928845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.79907232899996 meters 0.23352135204105895 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.85, Z:127.93 [[ 9.99963276e-01 8.46286582e-03 1.35124751e-03 -9.02451571e+01] [-8.45948667e-03 9.99961125e-01 -2.48719311e-03 -5.58455173e+01] [-1.37224376e-03 2.47567091e-03 9.99995994e-01 1.27928613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.85907232899996 meters 0.27182285664667377 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.85, Z:127.93 [[ 9.99986260e-01 4.75273014e-03 2.21173948e-03 -9.02467859e+01] [-4.74079314e-03 9.99974336e-01 -5.37141165e-03 -5.58497126e+01] [-2.23721158e-03 5.36085245e-03 9.99983128e-01 1.27927581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91907232899996 meters 0.2637727893025628 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.86, Z:127.93 [[ 9.99996664e-01 -1.17144563e-03 -2.30224856e-03 -9.02368499e+01] [ 1.17299806e-03 9.99999086e-01 6.73074806e-04 -5.58610207e+01] [ 2.30145798e-03 -6.75773093e-04 9.99997123e-01 1.27931352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97907232899996 meters 0.2280455727864473 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.87, Z:127.93 [[ 9.99986939e-01 -4.97200802e-03 -1.18337436e-03 -9.02384639e+01] [ 4.96974214e-03 9.99985827e-01 -1.91005774e-03 -5.58656567e+01] [ 1.19285441e-03 1.90415173e-03 9.99997476e-01 1.27929338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03907232899996 meters 0.22042818559260258 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.87, Z:127.93 [[ 9.99987937e-01 -4.90358643e-03 -2.82432919e-04 -9.02399885e+01] [ 4.90319648e-03 9.99987047e-01 -1.36519898e-03 -5.58670716e+01] [ 2.89123632e-04 1.36379768e-03 9.99999028e-01 1.27928228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09907232899997 meters 0.22010189283486012 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.87, Z:127.93 [[ 9.99958907e-01 -9.03699003e-03 7.19577826e-04 -9.02422205e+01] [ 9.04030048e-03 9.99947909e-01 -4.73847601e-03 -5.58701551e+01] [-6.76718782e-04 4.74478649e-03 9.99988514e-01 1.27927880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15907232899997 meters 0.21069676549299507 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.87, Z:127.93 [[ 9.99956133e-01 -9.18380490e-03 1.84106003e-03 -9.02448516e+01] [ 9.19209479e-03 9.99947418e-01 -4.54605525e-03 -5.58711752e+01] [-1.79921314e-03 4.56277903e-03 9.99987972e-01 1.27927800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21907232899997 meters 0.2747300190689307 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.88, Z:127.93 [[ 9.99955409e-01 -8.90709632e-03 3.13760782e-03 -9.02475964e+01] [ 8.91667277e-03 9.99955590e-01 -3.05150101e-03 -5.58757018e+01] [-3.11028846e-03 3.07934196e-03 9.99990422e-01 1.27926764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279072329 meters 0.21379226271802473 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.88, Z:127.93 [[ 9.99916387e-01 -1.24149695e-02 3.61779645e-03 -9.02476371e+01] [ 1.24357966e-02 9.99905895e-01 -5.79234853e-03 -5.58799198e+01] [-3.54554417e-03 5.83685440e-03 9.99976680e-01 1.27925159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339072329 meters 0.26094034854532083 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.88, Z:127.92 [[ 9.99959551e-01 -8.22106973e-03 3.64842712e-03 -9.02475052e+01] [ 8.22720975e-03 9.99964760e-01 -1.67111644e-03 -5.58790592e+01] [-3.63456019e-03 1.70106522e-03 9.99991948e-01 1.27924715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399072329 meters 0.2390496425699063 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.88, Z:127.92 [[ 9.99962203e-01 -8.11264435e-03 3.12683969e-03 -9.02462503e+01] [ 8.11807409e-03 9.99965555e-01 -1.72772919e-03 -5.58786916e+01] [-3.11271554e-03 1.75304780e-03 9.99993619e-01 1.27924859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459072329 meters 0.22233209365888285 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.88, Z:127.93 [[ 9.99985043e-01 -5.39640075e-03 -8.89817898e-04 -9.02375125e+01] [ 5.39311245e-03 9.99978769e-01 -3.65736113e-03 -5.58780429e+01] [ 9.09535593e-04 3.65250754e-03 9.99992916e-01 1.27929902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519072329 meters 0.27558847283523746 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.88, Z:127.93 [[ 9.99983852e-01 -5.57178800e-03 -1.11815140e-03 -9.02373823e+01] [ 5.56720717e-03 9.99976265e-01 -4.05891974e-03 -5.58770060e+01] [ 1.14074030e-03 4.05262922e-03 9.99991137e-01 1.27930630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579072329 meters 0.2535388368693095 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.88, Z:127.93 [[ 9.99984224e-01 -5.52685272e-03 -1.00274643e-03 -9.02377926e+01] [ 5.52286134e-03 9.99976985e-01 -3.94048163e-03 -5.58774318e+01] [ 1.02450182e-03 3.93488144e-03 9.99991734e-01 1.27930825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639072329 meters 0.2435732609955177 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.88, Z:127.93 [[ 9.99984772e-01 -5.49782901e-03 -4.79622710e-04 -9.02389959e+01] [ 5.49600744e-03 9.99977978e-01 -3.72000043e-03 -5.58781631e+01] [ 5.00064074e-04 3.71730777e-03 9.99992966e-01 1.27930679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699072329 meters 0.25845072592564744 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.88, Z:127.93 [[ 9.99986285e-01 -5.21049803e-03 5.29971939e-04 -9.02405442e+01] [ 5.21190794e-03 9.99982787e-01 -2.69470935e-03 -5.58808597e+01] [-5.15922039e-04 2.69743455e-03 9.99996229e-01 1.27929046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759072329 meters 0.2615030843816855 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.88, Z:127.93 [[ 9.99987133e-01 -4.96875219e-03 1.02193824e-03 -9.02414412e+01] [ 4.97088124e-03 9.99985458e-01 -2.09146667e-03 -5.58825729e+01] [-1.01153140e-03 2.09651969e-03 9.99997291e-01 1.27928522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819072329 meters 0.27485751729538077 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.89, Z:127.93 [[ 9.99987783e-01 -4.58831632e-03 1.83873017e-03 -9.02429370e+01] [ 4.59033782e-03 9.99988863e-01 -1.09668852e-03 -5.58855342e+01] [-1.83367774e-03 1.10511551e-03 9.99997708e-01 1.27927610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87907232899994 meters 0.283504180903484 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.89, Z:127.93 [[ 9.99960702e-01 -8.69155888e-03 1.74705926e-03 -9.02423531e+01] [ 8.70033632e-03 9.99949243e-01 -5.08092942e-03 -5.58863358e+01] [-1.70280938e-03 5.09592975e-03 9.99985566e-01 1.27927251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93907232899994 meters 0.2713853720948625 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.89, Z:127.93 [[ 9.99960202e-01 -8.77156745e-03 1.62886397e-03 -9.02423600e+01] [ 8.78002948e-03 9.99947606e-01 -5.26267217e-03 -5.58859198e+01] [-1.58261675e-03 5.27676420e-03 9.99984825e-01 1.27927730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99907232899994 meters 0.2589692924637077 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.89, Z:127.93 [[ 9.99953528e-01 -9.25270848e-03 2.70742791e-03 -9.02453065e+01] [ 9.26774028e-03 9.99941411e-01 -5.59321168e-03 -5.58858950e+01] [-2.65551693e-03 5.61804349e-03 9.99980693e-01 1.27928371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05907232899995 meters 0.23905894189467772 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.89, Z:127.93 [[ 9.99944044e-01 -9.65135254e-03 4.33139754e-03 -9.02489848e+01] [ 9.67037595e-03 9.99943592e-01 -4.39273906e-03 -5.58903635e+01] [-4.28875734e-03 4.43437950e-03 9.99980971e-01 1.27927210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.11907232899995 meters 0.22654312675934718 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.89, Z:127.92 [[ 9.99832789e-01 -1.57707837e-02 9.25616565e-03 -9.02628390e+01] [ 1.58082099e-02 9.99867104e-01 -3.98423226e-03 -5.58884770e+01] [-9.19210109e-03 4.12988946e-03 9.99949223e-01 1.27923439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.17907232899995 meters 0.2847867483208743 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.89, Z:127.92 [[ 9.99833160e-01 -1.54253487e-02 9.78314673e-03 -9.02637122e+01] [ 1.54571163e-02 9.99875475e-01 -3.17991378e-03 -5.58907541e+01] [-9.73287720e-03 3.33060249e-03 9.99947088e-01 1.27922748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.23907232899995 meters 0.2478987333136079 Centerline is valid? [False, False] Translation: X:-90.27, Y:-55.89, Z:127.92 [[ 9.99870842e-01 -1.17608585e-02 1.09536224e-02 -9.02661866e+01] [ 1.17534561e-02 9.99930652e-01 7.39921682e-04 -5.58903280e+01] [-1.09615649e-02 -6.11083194e-04 9.99939734e-01 1.27922044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.29907232899996 meters 0.23957200293108943 Centerline is valid? [False, False] Translation: X:-90.27, Y:-55.89, Z:127.92 [[ 9.99861968e-01 -1.16034532e-02 1.18914166e-02 -9.02676530e+01] [ 1.15870966e-02 9.99931825e-01 1.44347378e-03 -5.58921426e+01] [-1.19073552e-02 -1.30548754e-03 9.99928253e-01 1.27920628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.35907232899996 meters 0.25505157912460913 Centerline is valid? [False, False] Translation: X:-90.27, Y:-55.89, Z:127.92 [[ 9.99865046e-01 -1.15969814e-02 1.16361413e-02 -9.02672080e+01] [ 1.15818800e-02 9.99931997e-01 1.36434938e-03 -5.58919442e+01] [-1.16511724e-02 -1.22939687e-03 9.99931367e-01 1.27920950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41907232899996 meters 0.24163225223374882 Centerline is valid? [False, False] Translation: X:-90.27, Y:-55.89, Z:127.92 [[ 9.99858830e-01 -1.16518395e-02 1.21059383e-02 -9.02685937e+01] [ 1.16352964e-02 9.99931276e-01 1.43606197e-03 -5.58924355e+01] [-1.21218391e-02 -1.29500306e-03 9.99925689e-01 1.27921325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47907232899996 meters 0.21205487007110177 Centerline is valid? [False, False] Translation: X:-90.27, Y:-55.89, Z:127.92 [[ 9.99840609e-01 -1.19486771e-02 1.32659596e-02 -9.02712608e+01] [ 1.19307392e-02 9.99927803e-01 1.43049668e-03 -5.58931659e+01] [-1.32820944e-02 -1.27199597e-03 9.99910980e-01 1.27921168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53907232899996 meters 0.23164407302085047 Centerline is valid? [False, False] Translation: X:-90.27, Y:-55.90, Z:127.92 [[ 9.99850537e-01 -1.12023254e-02 1.31685987e-02 -9.02697175e+01] [ 1.11688941e-02 9.99934221e-01 2.60952285e-03 -5.58956749e+01] [-1.31969652e-02 -2.46205414e-03 9.99909885e-01 1.27919282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59907232899997 meters 0.2175688149823027 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.90, Z:127.92 [[ 9.99938149e-01 -6.42687361e-03 9.07708022e-03 -9.02588721e+01] [ 6.39937742e-03 9.99974857e-01 3.05499203e-03 -5.58997519e+01] [-9.09648604e-03 -2.99671541e-03 9.99954136e-01 1.27921674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65907232899997 meters 0.23856321690694793 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.90, Z:127.93 [[ 9.99984993e-01 -3.12754211e-03 4.49809956e-03 -9.02491700e+01] [ 3.12264584e-03 9.99994525e-01 1.09513267e-03 -5.58997302e+01] [-4.50150001e-03 -1.08107026e-03 9.99989284e-01 1.27927583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71907232899997 meters 0.2476122654509044 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.90, Z:127.93 [[ 9.99985413e-01 -3.38101204e-03 4.21218717e-03 -9.02488593e+01] [ 3.37878364e-03 9.99994148e-01 5.36041771e-04 -5.58982264e+01] [-4.21397489e-03 -5.21801882e-04 9.99990985e-01 1.27928209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779072329 meters 0.2532186057291209 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.90, Z:127.93 [[ 9.99996591e-01 2.37135100e-03 -1.09325057e-03 -9.02353897e+01] [-2.37150373e-03 9.99997178e-01 -1.38431469e-04 -5.58995985e+01] [ 1.09291921e-03 1.41023645e-04 9.99999393e-01 1.27933064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839072329 meters 0.24492707459811416 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.90, Z:127.93 [[ 9.99975612e-01 6.60326650e-03 -2.27420216e-03 -9.02327265e+01] [-6.59621320e-03 9.99973455e-01 3.09509774e-03 -5.58961358e+01] [ 2.29457955e-03 -3.08002114e-03 9.99992624e-01 1.27933902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899072329 meters 0.30787588842792113 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.90, Z:127.93 [[ 9.99988445e-01 3.43457013e-03 -3.36365953e-03 -9.02289614e+01] [-3.43583650e-03 9.99994029e-01 -3.70780594e-04 -5.58962008e+01] [ 3.36236597e-03 3.82333294e-04 9.99994274e-01 1.27932769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959072329 meters 0.2848724367993242 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.90, Z:127.93 [[ 9.99986536e-01 3.59721128e-03 -3.74017116e-03 -9.02280748e+01] [-3.59822711e-03 9.99993491e-01 -2.64906286e-04 -5.58963774e+01] [ 3.73919389e-03 2.78360704e-04 9.99992970e-01 1.27932885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019072329 meters 0.28856911472436475 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.89, Z:127.93 [[ 9.99948890e-01 8.58824138e-03 -5.33479282e-03 -9.02236259e+01] [-8.56806757e-03 9.99956100e-01 3.79296947e-03 -5.58938653e+01] [ 5.36713356e-03 -3.74706674e-03 9.99978576e-01 1.27932574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079072329 meters 0.2620797472536062 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.89, Z:127.93 [[ 9.99943484e-01 8.65820985e-03 -6.16967122e-03 -9.02212976e+01] [-8.63629507e-03 9.99956334e-01 3.56985134e-03 -5.58925296e+01] [ 6.20031034e-03 -3.51636648e-03 9.99974595e-01 1.27932191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139072329 meters 0.2413834095782921 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.89, Z:127.93 [[ 9.99931515e-01 9.04032358e-03 -7.43224691e-03 -9.02179705e+01] [-9.01730310e-03 9.99954460e-01 3.12507643e-03 -5.58902172e+01] [ 7.46016015e-03 -3.05784359e-03 9.99967497e-01 1.27932212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199072329 meters 0.22687965050432854 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.89, Z:127.93 [[ 9.99924905e-01 8.79346360e-03 -8.53579805e-03 -9.02158344e+01] [-8.77532414e-03 9.99959163e-01 2.16023670e-03 -5.58872932e+01] [ 8.55444544e-03 -2.08517008e-03 9.99961236e-01 1.27933352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259072329 meters 0.25924666877085056 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.88, Z:127.93 [[ 9.99903408e-01 9.73995786e-03 -9.91504948e-03 -9.02115660e+01] [-9.72165378e-03 9.99950953e-01 1.89261746e-03 -5.58840475e+01] [ 9.93299718e-03 -1.79604397e-03 9.99949054e-01 1.27933256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319072329 meters 0.22492454575336002 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.88, Z:127.93 [[ 9.99920134e-01 6.14684515e-03 -1.10427303e-02 -9.02083604e+01] [-6.17050581e-03 9.99978736e-01 -2.10985425e-03 -5.58833587e+01] [ 1.10295265e-02 2.17782498e-03 9.99936801e-01 1.27933078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37907232899994 meters 0.24825801592287217 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.89, Z:127.93 [[ 9.99895682e-01 1.44381719e-02 -4.05801815e-04 -9.02005813e+01] [-1.44375216e-02 9.99894553e-01 1.56209208e-03 -5.58876389e+01] [ 4.28312779e-04 -1.55607036e-03 9.99998698e-01 1.27933056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43907232899994 meters 0.28249132658191545 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.88, Z:127.93 [[ 9.99823142e-01 1.87474772e-02 -1.48874518e-03 -9.01975401e+01] [-1.87395744e-02 9.99811105e-01 5.15585364e-03 -5.58846184e+01] [ 1.58512321e-03 -5.12704334e-03 9.99985600e-01 1.27933008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49907232899994 meters 0.28178153392941235 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.88, Z:127.93 [[ 9.99888608e-01 1.47081137e-02 -2.53847329e-03 -9.01954043e+01] [-1.47057811e-02 9.99891427e-01 9.35145914e-04 -5.58844357e+01] [ 2.55195192e-03 -8.97711513e-04 9.99996341e-01 1.27933419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55907232899995 meters 0.2696495219897673 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.89, Z:127.94 [[ 9.99959276e-01 5.79381285e-03 -6.91946697e-03 -9.01852617e+01] [-5.76267175e-03 9.99973216e-01 4.51199541e-03 -5.58920934e+01] [ 6.94542329e-03 -4.47193705e-03 9.99965881e-01 1.27940806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.61907232899995 meters 0.25711447321104924 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.89, Z:127.94 [[ 9.99970749e-01 1.81288917e-03 -7.43064205e-03 -9.01839225e+01] [-1.80779673e-03 9.99998127e-01 6.91988942e-04 -5.58931355e+01] [ 7.43188262e-03 -6.78535610e-04 9.99972153e-01 1.27940707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.67907232899995 meters 0.2619667818656647 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.89, Z:127.94 [[ 9.99967002e-01 -2.25363321e-03 -7.80488359e-03 -9.01827701e+01] [ 2.22811220e-03 9.99992148e-01 -3.27703004e-03 -5.58937363e+01] [ 7.81220753e-03 3.25953175e-03 9.99964172e-01 1.27940472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.73907232899995 meters 0.24530424997138187 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.90, Z:127.94 [[ 9.99958680e-01 -6.17695103e-03 -6.66963621e-03 -9.01846259e+01] [ 6.13658527e-03 9.99962834e-01 -6.05576597e-03 -5.58978932e+01] [ 6.70679450e-03 6.01458695e-03 9.99959421e-01 1.27938778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.79907232899996 meters 0.2674177626843277 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.90, Z:127.94 [[ 9.99966549e-01 -6.47523549e-03 -4.99720713e-03 -9.01878926e+01] [ 6.44983532e-03 9.99966284e-01 -5.08236091e-03 -5.59008813e+01] [ 5.02994812e-03 5.04995974e-03 9.99974598e-01 1.27937051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.85907232899996 meters 0.24212806171297602 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.90, Z:127.94 [[ 9.99935694e-01 -1.04994533e-02 -4.28587667e-03 -9.01891282e+01] [ 1.04624332e-02 9.99908537e-01 -8.57060834e-03 -5.59032749e+01] [ 4.37547138e-03 8.52521651e-03 9.99954087e-01 1.27936332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91907232899996 meters 0.24271263489454534 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.90, Z:127.94 [[ 9.99938625e-01 -1.04183549e-02 -3.76892752e-03 -9.01901254e+01] [ 1.03870445e-02 9.99912153e-01 -8.23381434e-03 -5.59042012e+01] [ 3.85437923e-03 8.19416097e-03 9.99958999e-01 1.27935886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97907232899996 meters 0.24424273656404982 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.90, Z:127.94 [[ 9.99937192e-01 -1.01621879e-02 -4.72673171e-03 -9.01878649e+01] [ 1.01228727e-02 9.99914576e-01 -8.26848787e-03 -5.59035587e+01] [ 4.81035387e-03 8.22012044e-03 9.99954644e-01 1.27936209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03907232899996 meters 0.27074738308355484 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.90, Z:127.94 [[ 9.99968151e-01 -6.13702665e-03 -5.10231168e-03 -9.01875347e+01] [ 6.11325768e-03 9.99970451e-01 -4.66108953e-03 -5.59016300e+01] [ 5.13076614e-03 4.62974933e-03 9.99976120e-01 1.27937064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09907232899997 meters 0.29085442985570703 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.90, Z:127.93 [[ 9.99977691e-01 -3.50888981e-03 -5.68375689e-03 -9.01829246e+01] [ 3.49897487e-03 9.99992341e-01 -1.75344002e-03 -5.59042885e+01] [ 5.68986599e-03 1.73351358e-03 9.99982310e-01 1.27933206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15907232899997 meters 0.2829705299694201 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.90, Z:127.93 [[ 9.99979680e-01 -1.01462131e-03 -6.29367728e-03 -9.01785455e+01] [ 1.01780542e-03 9.99999356e-01 5.02740590e-04 -5.59045349e+01] [ 6.29316313e-03 -5.09136113e-04 9.99980068e-01 1.27930134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21907232899997 meters 0.2855952526237236 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.90, Z:127.93 [[ 9.99970107e-01 3.26222558e-03 -7.01018747e-03 -9.01767827e+01] [-3.23186956e-03 9.99985372e-01 4.33724638e-03 -5.59027157e+01] [ 7.02423400e-03 -4.31446071e-03 9.99966022e-01 1.27930320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279072329 meters 0.2644686427818688 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.90, Z:127.93 [[ 9.99964655e-01 3.40387204e-03 -7.68775942e-03 -9.01746625e+01] [-3.37191001e-03 9.99985634e-01 4.16666427e-03 -5.59013172e+01] [ 7.70183178e-03 -4.14059457e-03 9.99961768e-01 1.27929882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339072329 meters 0.26699738833498565 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.90, Z:127.93 [[ 9.99958090e-01 3.66141628e-03 -8.39117531e-03 -9.01725414e+01] [-3.62602668e-03 9.99984484e-01 4.22881819e-03 -5.59006402e+01] [ 8.40652858e-03 -4.19821434e-03 9.99955852e-01 1.27929459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399072329 meters 0.2764569425196895 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.90, Z:127.93 [[ 9.99955932e-01 3.58707519e-03 -8.67564447e-03 -9.01718190e+01] [-3.55266184e-03 9.99985774e-01 3.97882621e-03 -5.58997286e+01] [ 8.68979340e-03 -3.94782925e-03 9.99954450e-01 1.27929536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459072329 meters 0.24296507247782523 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.90, Z:127.93 [[ 9.99961687e-01 -6.38146549e-04 -8.73027668e-03 -9.01717788e+01] [ 6.37095090e-04 9.99999789e-01 -1.23218794e-04 -5.59004036e+01] [ 8.73035347e-03 1.17652057e-04 9.99961883e-01 1.27929713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519072329 meters 0.24685339301381543 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.90, Z:127.93 [[ 9.99953551e-01 -4.65905018e-03 -8.43736766e-03 -9.01722648e+01] [ 4.62773024e-03 9.99982344e-01 -3.72777830e-03 -5.59024911e+01] [ 8.45458660e-03 3.68855929e-03 9.99957456e-01 1.27929398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579072329 meters 0.28959388868838726 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.90, Z:127.93 [[ 9.99960506e-01 -4.44817873e-03 -7.69414168e-03 -9.01736731e+01] [ 4.42480651e-03 9.99985553e-01 -3.05202524e-03 -5.59044112e+01] [ 7.70760648e-03 3.01785961e-03 9.99965742e-01 1.27928685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639072329 meters 0.23171308719837144 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.91, Z:127.93 [[ 9.99960389e-01 -4.24008675e-03 -7.82573523e-03 -9.01731335e+01] [ 4.21882091e-03 9.99987369e-01 -2.73193378e-03 -5.59051875e+01] [ 7.83722002e-03 2.69881019e-03 9.99965647e-01 1.27928380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699072329 meters 0.22329515922104443 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.90, Z:127.93 [[ 9.99960409e-01 -4.28445133e-03 -7.79895347e-03 -9.01729666e+01] [ 4.26265819e-03 9.99986970e-01 -2.80884828e-03 -5.59047363e+01] [ 7.81088623e-03 2.77549280e-03 9.99965643e-01 1.27928103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759072329 meters 0.2502529362453496 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.91, Z:127.93 [[ 9.99964840e-01 -4.14826671e-03 -7.28769556e-03 -9.01739252e+01] [ 4.13100010e-03 9.99988629e-01 -2.38274133e-03 -5.59059296e+01] [ 7.29749693e-03 2.35255208e-03 9.99970606e-01 1.27927607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819072329 meters 0.2508218849051231 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.91, Z:127.93 [[ 9.99940468e-01 -8.18354941e-03 -7.21730667e-03 -9.01735022e+01] [ 8.13937682e-03 9.99948094e-01 -6.12865183e-03 -5.59072516e+01] [ 7.26708617e-03 6.06954260e-03 9.99955174e-01 1.27926918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87907232899994 meters 0.2379333847162449 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.91, Z:127.93 [[ 9.99947426e-01 -8.16142127e-03 -6.20779229e-03 -9.01758887e+01] [ 8.12621491e-03 9.99950875e-01 -5.67555335e-03 -5.59089496e+01] [ 6.25380792e-03 5.62480910e-03 9.99964625e-01 1.27926826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93907232899994 meters 0.22626167070143657 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.91, Z:127.92 [[ 9.99806067e-01 -1.96592776e-02 -1.15833017e-03 -9.01920498e+01] [ 1.96466313e-02 9.99756269e-01 -1.00703904e-02 -5.59101301e+01] [ 1.35602445e-03 1.00456802e-02 9.99948621e-01 1.27924934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99907232899994 meters 0.23978694869513506 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.91, Z:127.92 [[ 9.99599748e-01 -2.80006176e-02 4.03858602e-03 -9.02043409e+01] [ 2.80452728e-02 9.99540956e-01 -1.14603373e-02 -5.59135811e+01] [-3.71583562e-03 1.15690135e-02 9.99926173e-01 1.27919175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05907232899995 meters 0.25567756675635717 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.91 [[ 9.99276746e-01 -3.68210851e-02 9.49694447e-03 -9.02171077e+01] [ 3.69412303e-02 9.99235435e-01 -1.28019583e-02 -5.59167842e+01] [-9.01830145e-03 1.31435281e-02 9.99872951e-01 1.27912655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.11907232899995 meters 0.26833640692409333 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.91 [[ 9.99268873e-01 -3.66672211e-02 1.08274812e-02 -9.02192190e+01] [ 3.67906384e-02 9.99257647e-01 -1.14282063e-02 -5.59201096e+01] [-1.04004028e-02 1.18182008e-02 9.99876073e-01 1.27910457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.17907232899995 meters 0.2315676800439113 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.91 [[ 9.99266523e-01 -3.64266732e-02 1.18116208e-02 -9.02211565e+01] [ 3.65506123e-02 9.99277137e-01 -1.04525431e-02 -5.59229897e+01] [-1.14223312e-02 1.08765983e-02 9.99875607e-01 1.27909643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.23907232899995 meters 0.22105790994186367 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.92, Z:127.90 [[ 9.99274045e-01 -3.44726728e-02 1.62178252e-02 -9.02341491e+01] [ 3.48043271e-02 9.99181142e-01 -2.06326177e-02 -5.59173664e+01] [-1.54932836e-02 2.11820899e-02 9.99655579e-01 1.27904331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.29907232899996 meters 0.22335732724833282 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.92, Z:127.90 [[ 9.99228417e-01 -3.50923291e-02 1.76379850e-02 -9.02378439e+01] [ 3.54502851e-02 9.99163024e-01 -2.04090556e-02 -5.59193978e+01] [-1.69070211e-02 2.10185799e-02 9.99636120e-01 1.27904559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.35907232899996 meters 0.21554350642801962 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.92, Z:127.90 [[ 9.98864036e-01 -4.18578242e-02 2.27719149e-02 -9.02525334e+01] [ 4.23350184e-02 9.98884992e-01 -2.08930590e-02 -5.59166038e+01] [-2.18719861e-02 2.18333747e-02 9.99522346e-01 1.27901979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41907232899996 meters 0.23282712685398618 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.92, Z:127.90 [[ 9.98831198e-01 -4.21314938e-02 2.36891183e-02 -9.02548333e+01] [ 4.26305338e-02 9.98870786e-01 -2.09711815e-02 -5.59168235e+01] [-2.27788210e-02 2.19565501e-02 9.99499392e-01 1.27901980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47907232899996 meters 0.23962498044493344 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.91, Z:127.89 [[ 9.99035283e-01 -3.52651079e-02 2.61701197e-02 -9.02647163e+01] [ 3.59573925e-02 9.99002661e-01 -2.64716856e-02 -5.59121674e+01] [-2.52104924e-02 2.73871572e-02 9.99306947e-01 1.27894440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53907232899996 meters 0.28126782922062704 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.91, Z:127.89 [[ 9.99318092e-01 -2.68594210e-02 2.53361994e-02 -9.02628058e+01] [ 2.73236974e-02 9.99461672e-01 -1.81599190e-02 -5.59105405e+01] [-2.48347953e-02 1.88398142e-02 9.99514029e-01 1.27893636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59907232899997 meters 0.2366352426381382 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.91, Z:127.89 [[ 9.99507147e-01 -1.88932804e-02 2.50700506e-02 -9.02627168e+01] [ 1.91600089e-02 9.99761900e-01 -1.04420989e-02 -5.59076965e+01] [-2.48667959e-02 1.09172948e-02 9.99631160e-01 1.27893832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65907232899997 meters 0.3077665187008989 Centerline is valid? [False, False] Translation: X:-90.27, Y:-55.89, Z:127.90 [[ 9.99864056e-01 -8.56727048e-03 1.40879984e-02 -9.02657178e+01] [ 8.76050903e-03 9.99867601e-01 -1.37125163e-02 -5.58915339e+01] [-1.39686543e-02 1.38340702e-02 9.99806729e-01 1.27898223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71907232899997 meters 0.27893959827686127 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.89, Z:127.90 [[ 9.99934115e-01 -6.99943655e-03 9.09795324e-03 -9.02531053e+01] [ 7.00614967e-03 9.99975207e-01 -7.06209731e-04 -5.58938939e+01] [-9.09278461e-03 7.69904825e-04 9.99958363e-01 1.27904845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779072329 meters 0.26614258936592755 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.89, Z:127.91 [[ 9.99977729e-01 -4.19432521e-03 5.19121034e-03 -9.02443178e+01] [ 4.20763108e-03 9.99987884e-01 -2.55489295e-03 -5.58932749e+01] [-5.18043139e-03 2.57667874e-03 9.99983262e-01 1.27909328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839072329 meters 0.2947112096990473 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.89, Z:127.91 [[ 9.99984785e-01 -3.53794187e-03 4.23230756e-03 -9.02411688e+01] [ 3.54630353e-03 9.99991772e-01 -1.96980361e-03 -5.58935273e+01] [-4.22530369e-03 1.98478269e-03 9.99989104e-01 1.27908317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899072329 meters 0.2888675413305924 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.90, Z:127.91 [[ 9.99999435e-01 7.37268061e-04 7.65723360e-04 -9.02312757e+01] [-7.36588666e-04 9.99999335e-01 -8.87163452e-04 -5.58962835e+01] [-7.66376928e-04 8.86598927e-04 9.99999313e-01 1.27909018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959072329 meters 0.23655068026658496 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.89, Z:127.91 [[ 9.99998080e-01 1.87070222e-03 -5.83096634e-04 -9.02269173e+01] [-1.87111184e-03 9.99998003e-01 -7.02741048e-04 -5.58944767e+01] [ 5.81780850e-04 7.03830738e-04 9.99999583e-01 1.27908322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019072329 meters 0.27202575455058414 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.89, Z:127.91 [[ 9.99991276e-01 3.53811877e-03 -2.22048869e-03 -9.02217583e+01] [-3.53958550e-03 9.99993520e-01 -6.56960086e-04 -5.58908880e+01] [ 2.21814990e-03 6.64813964e-04 9.99997319e-01 1.27907999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079072329 meters 0.28414131610034843 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.89, Z:127.91 [[ 9.99982744e-01 4.56886222e-03 -3.69288490e-03 -9.02173866e+01] [-4.57154944e-03 9.99989292e-01 -7.19563864e-04 -5.58884541e+01] [ 3.68955777e-03 7.36433653e-04 9.99992922e-01 1.27907734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139072329 meters 0.2912233450425657 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.88, Z:127.91 [[ 9.99968532e-01 5.78874226e-03 -5.42452264e-03 -9.02127659e+01] [-5.79476808e-03 9.99982610e-01 -1.09578954e-03 -5.58846199e+01] [ 5.41808506e-03 1.12718890e-03 9.99984687e-01 1.27908198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199072329 meters 0.25962459536255683 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.88, Z:127.91 [[ 9.99952319e-01 6.66990407e-03 -7.13246343e-03 -9.02083558e+01] [-6.68477020e-03 9.99975530e-01 -2.06248594e-03 -5.58803615e+01] [ 7.11853231e-03 2.11006648e-03 9.99972437e-01 1.27909180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259072329 meters 0.27000985621615586 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.88, Z:127.91 [[ 9.99947141e-01 6.49470806e-03 -7.97076039e-03 -9.02065575e+01] [-6.51696439e-03 9.99974929e-01 -2.76945682e-03 -5.58779550e+01] [ 7.95257375e-03 2.82125559e-03 9.99964398e-01 1.27909887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319072329 meters 0.25051043630630954 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.88, Z:127.91 [[ 9.99943158e-01 6.62663607e-03 -8.35274379e-03 -9.02051959e+01] [-6.64974489e-03 9.99974131e-01 -2.74188407e-03 -5.58773684e+01] [ 8.33435825e-03 2.79727183e-03 9.99961356e-01 1.27909395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37907232899994 meters 0.24177565093165546 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.88, Z:127.91 [[ 9.99958949e-01 2.38645690e-03 -8.74105079e-03 -9.02042544e+01] [-2.44743317e-03 9.99972702e-01 -6.97181058e-03 -5.58774420e+01] [ 8.72417424e-03 6.99291752e-03 9.99937492e-01 1.27909455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43907232899994 meters 0.29394575693273994 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.89, Z:127.91 [[ 9.99998717e-01 -7.36691059e-04 1.42218402e-03 -9.01988450e+01] [ 7.37953187e-04 9.99999334e-01 -8.87137020e-04 -5.58876395e+01] [-1.42152952e-03 8.88185387e-04 9.99998595e-01 1.27908378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49907232899994 meters 0.276414644150844 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.89, Z:127.91 [[ 9.99988903e-01 -4.56483878e-03 1.16439018e-03 -9.01978030e+01] [ 4.56998109e-03 9.99979645e-01 -4.45256027e-03 -5.58893356e+01] [-1.14404126e-03 4.45783210e-03 9.99989409e-01 1.27907849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55907232899995 meters 0.2648618393154871 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.89, Z:127.91 [[ 9.99989195e-01 -4.34643085e-03 1.64852389e-03 -9.01985922e+01] [ 4.35278897e-03 9.99983026e-01 -3.87308101e-03 -5.58909116e+01] [-1.63166183e-03 3.88021484e-03 9.99991141e-01 1.27907173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.61907232899995 meters 0.26717773537022843 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.89, Z:127.91 [[ 9.99988577e-01 -4.32633193e-03 2.03201834e-03 -9.01994563e+01] [ 4.33382975e-03 9.99983764e-01 -3.70004301e-03 -5.58914487e+01] [-2.01597774e-03 3.70880716e-03 9.99991090e-01 1.27907062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.67907232899995 meters 0.24778630500825832 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.89, Z:127.91 [[ 9.99961828e-01 -8.27186060e-03 2.81400526e-03 -9.02009082e+01] [ 8.29137309e-03 9.99941163e-01 -6.99454467e-03 -5.58944833e+01] [-2.75598180e-03 7.01760964e-03 9.99971578e-01 1.27906353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.73907232899995 meters 0.23184349926797188 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.89, Z:127.91 [[ 9.99955784e-01 -8.56977901e-03 3.87144503e-03 -9.02034986e+01] [ 8.59718411e-03 9.99937706e-01 -7.11848461e-03 -5.58946792e+01] [-3.81020002e-03 7.15145339e-03 9.99967169e-01 1.27906479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.79907232899996 meters 0.2418165854299558 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.90, Z:127.91 [[ 9.99955150e-01 -8.38004706e-03 4.41274506e-03 -9.02041371e+01] [ 8.40873702e-03 9.99943366e-01 -6.52370169e-03 -5.58960309e+01] [-4.35782622e-03 6.56051472e-03 9.99968984e-01 1.27905340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.85907232899996 meters 0.22461186975891106 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.90, Z:127.90 [[ 9.99952473e-01 -8.28564138e-03 5.13801526e-03 -9.02055704e+01] [ 8.31704987e-03 9.99946672e-01 -6.12202674e-03 -5.58972165e+01] [-5.08701634e-03 6.16446891e-03 9.99968060e-01 1.27904785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91907232899996 meters 0.23933176361928218 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.90, Z:127.91 [[ 9.99954201e-01 -8.30857724e-03 4.75011729e-03 -9.02049071e+01] [ 8.33876794e-03 9.99944932e-01 -6.37170096e-03 -5.58965672e+01] [-4.69691594e-03 6.41101927e-03 9.99968418e-01 1.27905288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97907232899996 meters 0.2387036284731097 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.90, Z:127.91 [[ 9.99955261e-01 -8.37162512e-03 4.40362418e-03 -9.02041299e+01] [ 8.40075687e-03 9.99942674e-01 -6.63903709e-03 -5.58956809e+01] [-4.34779221e-03 6.67573384e-03 9.99968265e-01 1.27905499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03907232899996 meters 0.2361995765297742 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.89, Z:127.91 [[ 9.99948647e-01 -8.76522514e-03 5.08662200e-03 -9.02057492e+01] [ 8.80174782e-03 9.99935323e-01 -7.20273657e-03 -5.58942629e+01] [-5.02315940e-03 7.24713786e-03 9.99961123e-01 1.27905636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09907232899997 meters 0.24127587436262596 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.90, Z:127.90 [[ 9.99947906e-01 -8.48458381e-03 5.67426352e-03 -9.02067989e+01] [ 8.52113472e-03 9.99942901e-01 -6.44867362e-03 -5.58963937e+01] [-5.61922521e-03 6.49668885e-03 9.99963108e-01 1.27904927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15907232899997 meters 0.24770301322283622 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.90, Z:127.90 [[ 9.99943602e-01 -8.30130828e-03 6.62424243e-03 -9.02087128e+01] [ 8.33891910e-03 9.99949153e-01 -5.67047857e-03 -5.58987129e+01] [-6.57683321e-03 5.72539779e-03 9.99961982e-01 1.27904192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21907232899997 meters 0.22538536199012982 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.90, Z:127.90 [[ 9.99940663e-01 -8.01169319e-03 7.38127818e-03 -9.02105466e+01] [ 8.04737946e-03 9.99956014e-01 -4.81775252e-03 -5.59015467e+01] [-7.34235515e-03 4.87686659e-03 9.99961152e-01 1.27904105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279072329 meters 0.26692456231302425 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.90, Z:127.90 [[ 9.99931337e-01 -8.00471874e-03 8.55840710e-03 -9.02123287e+01] [ 8.03949108e-03 9.99959537e-01 -4.03629015e-03 -5.59035085e+01] [-8.52575143e-03 4.10481825e-03 9.99955230e-01 1.27902150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339072329 meters 0.2382556568967562 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.91, Z:127.90 [[ 9.99923549e-01 -7.71750990e-03 9.66111545e-03 -9.02143269e+01] [ 7.74647181e-03 9.99965603e-01 -2.96395812e-03 -5.59065658e+01] [-9.63790876e-03 3.03857108e-03 9.99948938e-01 1.27900842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399072329 meters 0.23818428244730436 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.91, Z:127.90 [[ 9.99916013e-01 -7.70541543e-03 1.04207792e-02 -9.02160069e+01] [ 7.73336708e-03 9.99966600e-01 -2.64466945e-03 -5.59076026e+01] [-1.04000529e-02 2.72503504e-03 9.99942205e-01 1.27900586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459072329 meters 0.23446593475877126 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.91, Z:127.90 [[ 9.99903860e-01 -7.76644289e-03 1.14870882e-02 -9.02186644e+01] [ 7.79215794e-03 9.99967230e-01 -2.19554413e-03 -5.59094878e+01] [-1.14696602e-02 2.28484225e-03 9.99931611e-01 1.27900641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519072329 meters 0.260117364574884 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.91, Z:127.90 [[ 9.99890787e-01 -7.70195420e-03 1.26132351e-02 -9.02213112e+01] [ 7.71855192e-03 9.99969408e-01 -1.26774545e-03 -5.59126051e+01] [-1.26030851e-02 1.36496291e-03 9.99919646e-01 1.27900282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579072329 meters 0.23927003015400408 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.91, Z:127.90 [[ 9.99878417e-01 -7.70135715e-03 1.35587668e-02 -9.02232334e+01] [ 7.71359213e-03 9.99969888e-01 -8.50301166e-04 -5.59139205e+01] [-1.35518101e-02 9.54784581e-04 9.99907714e-01 1.27899613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639072329 meters 0.23692729151457878 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99875012e-01 -7.16317901e-03 1.40943169e-02 -9.02238622e+01] [ 7.15880622e-03 9.99974310e-01 3.60679613e-04 -5.59172448e+01] [-1.40965384e-02 -2.59736049e-04 9.99900605e-01 1.27898481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699072329 meters 0.2511223332157303 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99869435e-01 -7.07771865e-03 1.45264712e-02 -9.02247443e+01] [ 7.06877175e-03 9.99974793e-01 6.67156399e-04 -5.59181583e+01] [-1.45308269e-02 -5.64384983e-04 9.99894263e-01 1.27898170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759072329 meters 0.27307525999301396 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99839578e-01 -1.09022610e-02 1.42112387e-02 -9.02233742e+01] [ 1.09458895e-02 9.99935604e-01 -2.99583917e-03 -5.59195707e+01] [-1.41776621e-02 3.15091322e-03 9.99894527e-01 1.27897404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819072329 meters 0.3562865461662001 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99833675e-01 -1.07102934e-02 1.47618282e-02 -9.02241126e+01] [ 1.07471620e-02 9.99939318e-01 -2.42049570e-03 -5.59209422e+01] [-1.47350082e-02 2.57874087e-03 9.99888109e-01 1.27896454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87907232899994 meters 0.26962281290495116 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99828639e-01 -1.08607876e-02 1.49911621e-02 -9.02249777e+01] [ 1.09013923e-02 9.99937121e-01 -2.62951945e-03 -5.59205689e+01] [-1.49616608e-02 2.79249339e-03 9.99884169e-01 1.27896913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93907232899994 meters 0.2423414748496642 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99840155e-01 -1.06645929e-02 1.43503265e-02 -9.02231061e+01] [ 1.07031608e-02 9.99939304e-01 -2.61348862e-03 -5.59199628e+01] [-1.43215837e-02 2.76666472e-03 9.99893613e-01 1.27896661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99907232899994 meters 0.25423537311314165 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99843494e-01 -1.07750248e-02 1.40316516e-02 -9.02227541e+01] [ 1.08176677e-02 9.99937086e-01 -2.96670573e-03 -5.59191200e+01] [-1.39988025e-02 3.11803116e-03 9.99897150e-01 1.27897403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05907232899995 meters 0.2304601640782354 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99846986e-01 -1.08835645e-02 1.36949805e-02 -9.02223194e+01] [ 1.09302836e-02 9.99934681e-01 -3.34119265e-03 -5.59181556e+01] [-1.36577219e-02 3.49037142e-03 9.99900637e-01 1.27898097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.11907232899995 meters 0.2528221402106797 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99866985e-01 -1.00080150e-02 1.28783684e-02 -9.02190464e+01] [ 1.00384173e-02 9.99946973e-01 -2.29825108e-03 -5.59193213e+01] [-1.28546845e-02 2.42722382e-03 9.99914429e-01 1.27896248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.17907232899995 meters 0.24819565959167325 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99868206e-01 -1.00277665e-02 1.27676905e-02 -9.02187313e+01] [ 1.00591352e-02 9.99946537e-01 -2.39502958e-03 -5.59189227e+01] [-1.27429912e-02 2.52314586e-03 9.99915621e-01 1.27896253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.23907232899995 meters 0.23269391782763194 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.92, Z:127.90 [[ 9.99872523e-01 -9.90336491e-03 1.25244485e-02 -9.02182468e+01] [ 9.93268241e-03 9.99948069e-01 -2.28078759e-03 -5.59192347e+01] [-1.25012106e-02 2.40489821e-03 9.99918965e-01 1.27896472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.29907232899996 meters 0.22666038205666167 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.91, Z:127.90 [[ 9.99913883e-01 -6.16263623e-03 1.15865914e-02 -9.02166007e+01] [ 6.15768476e-03 9.99980934e-01 4.62971612e-04 -5.59147757e+01] [-1.15892236e-02 -3.91585165e-04 9.99932766e-01 1.27897605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.35907232899996 meters 0.24693616136115404 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.91, Z:127.90 [[ 9.99925847e-01 -6.18077173e-03 1.04927527e-02 -9.02144996e+01] [ 6.18202537e-03 9.99980887e-01 -8.70471145e-05 -5.59131337e+01] [-1.04920142e-02 1.51907123e-04 9.99944946e-01 1.27898640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41907232899996 meters 0.24083636625606794 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.91, Z:127.90 [[ 9.99981807e-01 1.04911575e-03 5.94018373e-03 -9.02041675e+01] [-1.05772020e-03 9.99998396e-01 1.44556007e-03 -5.59105063e+01] [-5.93865764e-03 -1.45181682e-03 9.99981312e-01 1.27904039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47907232899996 meters 0.2421434944698772 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.91, Z:127.91 [[ 9.99989916e-01 4.09049259e-03 1.85332365e-03 -9.01944183e+01] [-4.08961213e-03 9.99991523e-01 -4.78610812e-04 -5.59087075e+01] [-1.85526569e-03 4.71026611e-04 9.99998168e-01 1.27908073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53907232899996 meters 0.27772053402123714 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.91, Z:127.91 [[ 9.99988243e-01 4.81590909e-03 5.66835714e-04 -9.01902496e+01] [-4.81574382e-03 9.99988361e-01 -2.92577787e-04 -5.59068997e+01] [-5.68238145e-04 2.89844611e-04 9.99999797e-01 1.27907027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59907232899997 meters 0.2617905985430651 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.90, Z:127.91 [[ 9.99959494e-01 8.97660066e-03 -6.56938345e-04 -9.01873111e+01] [-8.97478887e-03 9.99956051e-01 2.71078417e-03 -5.59026041e+01] [ 6.81243100e-04 -2.70477849e-03 9.99996110e-01 1.27907746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65907232899997 meters 0.26464776439046844 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.90, Z:127.91 [[ 9.99961924e-01 8.60339893e-03 -1.45999414e-03 -9.01857573e+01] [-8.60092703e-03 9.99961582e-01 1.69100681e-03 -5.58995734e+01] [ 1.47448646e-03 -1.67838512e-03 9.99997504e-01 1.27908602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71907232899997 meters 0.2515948316093087 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.90, Z:127.91 [[ 9.99959339e-01 8.58186410e-03 -2.76965061e-03 -9.01828021e+01] [-8.58004552e-03 9.99962968e-01 6.67822459e-04 -5.58958688e+01] [ 2.77527921e-03 -6.44031576e-04 9.99995942e-01 1.27909530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779072329 meters 0.2784774953933823 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.90, Z:127.91 [[ 9.99952407e-01 9.02559573e-03 -3.70448112e-03 -9.01799849e+01] [-9.02207062e-03 9.99958833e-01 9.67189645e-04 -5.58956894e+01] [ 3.71305808e-03 -9.33721523e-04 9.99992671e-01 1.27908814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839072329 meters 0.2700040173578099 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.89, Z:127.91 [[ 9.99944522e-01 9.25267896e-03 -5.03389206e-03 -9.01765856e+01] [-9.25108647e-03 9.99957150e-01 3.39547308e-04 -5.58926530e+01] [ 5.03681808e-03 -2.92959500e-04 9.99987272e-01 1.27909040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899072329 meters 0.26869295958361883 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.89, Z:127.91 [[ 9.99965275e-01 5.92014211e-03 -5.86520716e-03 -9.01732668e+01] [-5.93660607e-03 9.99978476e-01 -2.79363307e-03 -5.58936771e+01] [ 5.84854221e-03 2.82835549e-03 9.99978897e-01 1.27907345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959072329 meters 0.25417467527994153 Centerline is valid? [False, False] Translation: X:-90.17, Y:-55.89, Z:127.91 [[ 9.99982941e-01 1.68651074e-03 -5.59220897e-03 -9.01738172e+01] [-1.72462754e-03 9.99975268e-01 -6.81825351e-03 -5.58945243e+01] [ 5.58057160e-03 6.82778168e-03 9.99961119e-01 1.27907127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019072329 meters 0.24559120885928 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.90, Z:127.91 [[ 9.99986790e-01 -2.08484849e-03 -4.69828811e-03 -9.01752288e+01] [ 2.03992852e-03 9.99952360e-01 -9.54551913e-03 -5.58989104e+01] [ 4.71796525e-03 9.53580886e-03 9.99943403e-01 1.27905659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079072329 meters 0.2347581921748798 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.90, Z:127.91 [[ 9.99991226e-01 -2.61866069e-03 -3.26956180e-03 -9.01788482e+01] [ 2.58990627e-03 9.99958206e-01 -8.76805655e-03 -5.59026509e+01] [ 3.29238571e-03 8.75951176e-03 9.99956215e-01 1.27905189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139072329 meters 0.269889469854259 Centerline is valid? [False, False] Translation: X:-90.19, Y:-55.91, Z:127.90 [[ 9.99966905e-01 -8.13364790e-03 1.79140476e-04 -9.01854575e+01] [ 8.13499126e-03 9.99920985e-01 -9.58364138e-03 -5.59096014e+01] [-1.01176356e-04 9.58478152e-03 9.99954060e-01 1.27899852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199072329 meters 0.2505382654968877 Centerline is valid? [False, False] Translation: X:-90.20, Y:-55.92, Z:127.89 [[ 9.99858617e-01 -1.60001122e-02 5.17122174e-03 -9.01968246e+01] [ 1.60514721e-02 9.99820679e-01 -1.00478494e-02 -5.59150669e+01] [-5.00952772e-03 1.01294345e-02 9.99936148e-01 1.27892831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259072329 meters 0.24593274047310912 Centerline is valid? [False, False] Translation: X:-90.21, Y:-55.91, Z:127.89 [[ 9.99701552e-01 -2.22658641e-02 1.00517568e-02 -9.02110308e+01] [ 2.23617700e-02 9.99704504e-01 -9.53182425e-03 -5.59141393e+01] [-9.83655223e-03 9.75375457e-03 9.99904049e-01 1.27889301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319072329 meters 0.23869786450925065 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.92, Z:127.88 [[ 9.99357910e-01 -3.23469940e-02 1.54090800e-02 -9.02257198e+01] [ 3.25315689e-02 9.99400076e-01 -1.18821157e-02 -5.59167742e+01] [-1.50154850e-02 1.23757678e-02 9.99810670e-01 1.27884906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37907232899994 meters 0.23631878459842345 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.92, Z:127.88 [[ 9.99295413e-01 -3.31827565e-02 1.75380485e-02 -9.02302340e+01] [ 3.33784491e-02 9.99382406e-01 -1.09857173e-02 -5.59202725e+01] [-1.71626807e-02 1.15633698e-02 9.99785843e-01 1.27883375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43907232899994 meters 0.24602188697490712 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.92, Z:127.88 [[ 9.99188542e-01 -3.24942396e-02 2.37987679e-02 -9.02436065e+01] [ 3.29992645e-02 9.99231684e-01 -2.11445084e-02 -5.59161095e+01] [-2.30934082e-02 2.19126923e-02 9.99493136e-01 1.27876306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49907232899994 meters 0.23307308418136574 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.92, Z:127.87 [[ 9.98607235e-01 -4.37227760e-02 2.95281091e-02 -9.02590505e+01] [ 4.44668989e-02 9.98697194e-01 -2.50321904e-02 -5.59153751e+01] [-2.83951628e-02 2.63103499e-02 9.99250459e-01 1.27872396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55907232899995 meters 0.2525672888392076 Centerline is valid? [False, False] Translation: X:-90.27, Y:-55.91, Z:127.87 [[ 9.98107360e-01 -5.07246370e-02 3.47664922e-02 -9.02741495e+01] [ 5.16229821e-02 9.98342370e-01 -2.54476092e-02 -5.59130899e+01] [-3.34180415e-02 2.71941961e-02 9.99071424e-01 1.27869897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.61907232899995 meters 0.2400903095744431 Centerline is valid? [False, False] Translation: X:-90.29, Y:-55.92, Z:127.86 [[ 9.97371817e-01 -5.99455620e-02 4.06938399e-02 -9.02882167e+01] [ 6.10761687e-02 9.97764276e-01 -2.71320934e-02 -5.59151626e+01] [-3.89764111e-02 2.95462091e-02 9.98803214e-01 1.27864161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.67907232899995 meters 0.23567359066560614 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.91, Z:127.86 [[ 9.97483524e-01 -6.13946183e-02 3.54587058e-02 -9.03055341e+01] [ 6.24703708e-02 9.97593697e-01 -3.00710730e-02 -5.59096484e+01] [-3.35271793e-02 3.22105184e-02 9.98918621e-01 1.27859522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.73907232899995 meters 0.21650296789696943 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.90, Z:127.86 [[ 9.96809130e-01 -6.86501743e-02 4.07272922e-02 -9.03199056e+01] [ 6.99628607e-02 9.97044803e-01 -3.17310254e-02 -5.59028854e+01] [-3.84285946e-02 3.44791737e-02 9.98666326e-01 1.27857014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.79907232899996 meters 0.23754815244862054 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.90, Z:127.85 [[ 9.97009925e-01 -6.28115462e-02 4.50102047e-02 -9.03316013e+01] [ 6.45204422e-02 9.97208684e-01 -3.75759659e-02 -5.58969448e+01] [-4.25243625e-02 4.03676892e-02 9.98279584e-01 1.27850462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.85907232899996 meters 0.27523534411732914 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.89, Z:127.85 [[ 9.97380643e-01 -5.61029454e-02 4.56542615e-02 -9.03348237e+01] [ 5.75528156e-02 9.97858330e-01 -3.10874118e-02 -5.58927639e+01] [-4.38123897e-02 3.36335141e-02 9.98473465e-01 1.27851981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91907232899996 meters 0.33241696414321265 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.89, Z:127.85 [[ 9.97580979e-01 -5.27540027e-02 4.52681459e-02 -9.03347624e+01] [ 5.40661986e-02 9.98137121e-01 -2.82689501e-02 -5.58883863e+01] [-4.36925165e-02 3.06480435e-02 9.98574815e-01 1.27852695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97907232899996 meters 0.22802483848996846 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.87, Z:127.86 [[ 9.98420742e-01 -4.65160022e-02 3.15005285e-02 -9.03365052e+01] [ 4.73267069e-02 9.98553950e-01 -2.54988768e-02 -5.58746660e+01] [-3.02688713e-02 2.69494238e-02 9.99178425e-01 1.27857596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03907232899996 meters 0.22272701740782602 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.86, Z:127.86 [[ 9.99238766e-01 -3.49201206e-02 1.73917994e-02 -9.03384435e+01] [ 3.52400449e-02 9.99208713e-01 -1.84414623e-02 -5.58577890e+01] [-1.67340594e-02 1.90403119e-02 9.99678667e-01 1.27863561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09907232899997 meters 0.26723310207710005 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.85, Z:127.87 [[ 9.99529724e-01 -2.66145546e-02 1.52314334e-02 -9.03353722e+01] [ 2.68119041e-02 9.99557225e-01 -1.29025763e-02 -5.58501921e+01] [-1.48812930e-02 1.33048923e-02 9.99800744e-01 1.27867095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15907232899997 meters 0.22451509762602445 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.84, Z:127.87 [[ 9.99947510e-01 -9.93003782e-03 2.52407474e-03 -9.03319194e+01] [ 9.96243549e-03 9.99863714e-01 -1.31644528e-02 -5.58354821e+01] [-2.39300723e-03 1.31889077e-02 9.99910159e-01 1.27871794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21907232899997 meters 0.23396352487265165 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.83, Z:127.87 [[ 9.99986979e-01 -4.97969871e-03 1.11518330e-03 -9.03279233e+01] [ 4.99011164e-03 9.99942062e-01 -9.53786137e-03 -5.58318743e+01] [-1.06762302e-03 9.54330207e-03 9.99953892e-01 1.27871666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279072329 meters 0.2462640174591421 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.83, Z:127.88 [[ 9.99941066e-01 9.98534132e-03 -4.26114097e-03 -9.03119307e+01] [-9.99750459e-03 9.99945983e-01 -2.84277378e-03 -5.58295701e+01] [ 4.23252473e-03 2.88520702e-03 9.99986881e-01 1.27875949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339072329 meters 0.2887230542753722 Centerline is valid? [False, False] Translation: X:-90.30, Y:-55.83, Z:127.88 [[ 9.99917569e-01 8.71428584e-03 -9.42955082e-03 -9.02994267e+01] [-8.65072223e-03 9.99939726e-01 6.76081620e-03 -5.58304707e+01] [ 9.48789815e-03 -6.67868647e-03 9.99932685e-01 1.27882840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399072329 meters 0.2539426838243081 Centerline is valid? [False, False] Translation: X:-90.28, Y:-55.83, Z:127.89 [[ 9.99601225e-01 2.41844284e-02 -1.45775498e-02 -9.02836252e+01] [-2.39849681e-02 9.99618365e-01 1.37056837e-02 -5.58257703e+01] [ 1.49034506e-02 -1.33505761e-02 9.99799805e-01 1.27887153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459072329 meters 0.24661810770672296 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.82, Z:127.89 [[ 9.98763876e-01 4.49725220e-02 -2.11705522e-02 -9.02632331e+01] [-4.44855710e-02 9.98746692e-01 2.29364009e-02 -5.58213997e+01] [ 2.21755268e-02 -2.19662645e-02 9.99512746e-01 1.27894330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519072329 meters 0.29121583797050515 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.81, Z:127.90 [[ 9.98049714e-01 5.68003743e-02 -2.58937475e-02 -9.02513721e+01] [-5.60990389e-02 9.98058661e-01 2.70519279e-02 -5.58125141e+01] [ 2.73800385e-02 -2.55465545e-02 9.99298608e-01 1.27901258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579072329 meters 0.2780232088319753 Centerline is valid? [False, False] Translation: X:-90.24, Y:-55.80, Z:127.90 [[ 9.96262269e-01 8.17658699e-02 -2.78537805e-02 -9.02400892e+01] [-8.10498306e-02 9.96372576e-01 2.59348007e-02 -5.57964516e+01] [ 2.98733246e-02 -2.35803192e-02 9.99275514e-01 1.27903385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639072329 meters 0.29189805606268787 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.78, Z:127.91 [[ 9.93982914e-01 1.05632011e-01 -2.89800671e-02 -9.02331115e+01] [-1.04945944e-01 9.94182046e-01 2.42571262e-02 -5.57783581e+01] [ 3.13737914e-02 -2.10698285e-02 9.99285619e-01 1.27907557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699072329 meters 0.28553373046049635 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.76, Z:127.91 [[ 9.91931173e-01 1.22877578e-01 -3.12033373e-02 -9.02245277e+01] [-1.21792274e-01 9.91952835e-01 3.45863312e-02 -5.57626316e+01] [ 3.52021235e-02 -3.05069347e-02 9.98914480e-01 1.27913837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759072329 meters 0.32969429358249264 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.74, Z:127.92 [[ 9.89848839e-01 1.35829916e-01 -4.18271379e-02 -9.02266556e+01] [-1.34437012e-01 9.90321447e-01 3.44981427e-02 -5.57412021e+01] [ 4.61081915e-02 -2.85248310e-02 9.98529103e-01 1.27920025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819072329 meters 0.31687694191149496 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.72, Z:127.93 [[ 9.87007842e-01 1.52089849e-01 -5.18092508e-02 -9.02285653e+01] [-1.50387375e-01 9.87995555e-01 3.53330052e-02 -5.57157685e+01] [ 5.65611009e-02 -2.70824960e-02 9.98031753e-01 1.27927879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87907232899994 meters 0.2749699518963023 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.71, Z:127.93 [[ 9.85665433e-01 1.60303158e-01 -5.25980232e-02 -9.02248983e+01] [-1.58307635e-01 9.86572766e-01 4.01605627e-02 -5.57065889e+01] [ 5.83296422e-02 -3.12582098e-02 9.97807886e-01 1.27931697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93907232899994 meters 0.2937919802926871 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.69, Z:127.93 [[ 9.82941083e-01 1.77543388e-01 -4.80122185e-02 -9.02300963e+01] [-1.75745451e-01 9.83646227e-01 3.94162046e-02 -5.56855709e+01] [ 5.42251240e-02 -3.03058779e-02 9.98068730e-01 1.27931926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99907232899994 meters 0.27803468100456646 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.67, Z:127.94 [[ 9.81207906e-01 1.87131703e-01 -4.70401049e-02 -9.02319556e+01] [-1.85023845e-01 9.81666562e-01 4.57923287e-02 -5.56724163e+01] [ 5.47468945e-02 -3.62282538e-02 9.97842819e-01 1.27938685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.05907232899995 meters 0.27031319839772944 Centerline is valid? [False, False] Translation: X:-90.25, Y:-55.65, Z:127.94 [[ 9.79884357e-01 1.92494588e-01 -5.26543528e-02 -9.02489129e+01] [-1.90359209e-01 9.80772895e-01 4.29872017e-02 -5.56503484e+01] [ 5.99167657e-02 -3.20992456e-02 9.97687135e-01 1.27942720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.11907232899995 meters 0.2839408972346818 Centerline is valid? [False, False] Translation: X:-90.26, Y:-55.64, Z:127.95 [[ 9.80095781e-01 1.92033071e-01 -5.03543326e-02 -9.02645807e+01] [-1.89827350e-01 9.80763602e-01 4.54789469e-02 -5.56365930e+01] [ 5.81191584e-02 -3.50150945e-02 9.97695398e-01 1.27948956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.17907232899995 meters 0.24417623466956953 Centerline is valid? [False, False] Translation: X:-90.28, Y:-55.62, Z:127.95 [[ 9.81354165e-01 1.85858683e-01 -4.89954290e-02 -9.02828599e+01] [-1.83629077e-01 9.81886714e-01 4.66780846e-02 -5.56228378e+01] [ 5.67834882e-02 -3.68107474e-02 9.97707675e-01 1.27952072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.23907232899995 meters 0.2793172293050473 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.61, Z:127.96 [[ 9.83617070e-01 1.73437252e-01 -4.91627834e-02 -9.03055765e+01] [-1.71309527e-01 9.84205199e-01 4.46449600e-02 -5.56107686e+01] [ 5.61293662e-02 -3.54914915e-02 9.97792488e-01 1.27955495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.29907232899996 meters 0.27662329416168835 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.60, Z:127.96 [[ 9.85778130e-01 1.60580279e-01 -4.95525254e-02 -9.03291690e+01] [-1.58529594e-01 9.86422505e-01 4.28836739e-02 -5.56028636e+01] [ 5.57659985e-02 -3.44182461e-02 9.97850459e-01 1.27958459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.35907232899996 meters 0.2759062244069568 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.60, Z:127.96 [[ 9.87690564e-01 1.48961273e-01 -4.77272351e-02 -9.03516151e+01] [-1.47062812e-01 9.88272706e-01 4.11045947e-02 -5.55951205e+01] [ 5.32905165e-02 -3.35797189e-02 9.98014290e-01 1.27959784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41907232899996 meters 0.3189580328685147 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.59, Z:127.96 [[ 9.90604375e-01 1.27335566e-01 -4.98861208e-02 -9.03761403e+01] [-1.24964432e-01 9.90995438e-01 4.80825522e-02 -5.55911928e+01] [ 5.55595372e-02 -4.13967958e-02 9.97596834e-01 1.27964047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47907232899996 meters 0.3049435134460685 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.59, Z:127.96 [[ 9.92816588e-01 1.09125508e-01 -4.90596161e-02 -9.04023698e+01] [-1.07072786e-01 9.93334184e-01 4.26921308e-02 -5.55870090e+01] [ 5.33913941e-02 -3.71325059e-02 9.97883027e-01 1.27964997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53907232899996 meters 0.3033400856559086 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.59, Z:127.96 [[ 9.94033925e-01 9.88104191e-02 -4.61850300e-02 -9.04159201e+01] [-9.70048135e-02 9.94486608e-01 3.98302864e-02 -5.55885317e+01] [ 4.98660411e-02 -3.51124857e-02 9.98138513e-01 1.27961794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59907232899997 meters 0.3088568539305817 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.59, Z:127.96 [[ 9.95624423e-01 8.32583650e-02 -4.24270287e-02 -9.04323840e+01] [-8.18727345e-02 9.96082469e-01 3.34151099e-02 -5.55922445e+01] [ 4.50429069e-02 -2.97952827e-02 9.98540624e-01 1.27957344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65907232899997 meters 0.3129840705917697 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.60, Z:127.96 [[ 9.96312170e-01 7.49607532e-02 -4.17485994e-02 -9.04354895e+01] [-7.38720896e-02 9.96901130e-01 2.70379764e-02 -5.55990397e+01] [ 4.36460130e-02 -2.38542087e-02 9.98762235e-01 1.27956363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71907232899997 meters 0.30555056878884884 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.61, Z:127.95 [[ 9.97646660e-01 5.95220931e-02 -3.40332547e-02 -9.04366203e+01] [-5.85453838e-02 9.97863153e-01 2.90097685e-02 -5.56122585e+01] [ 3.56872530e-02 -2.69490087e-02 9.98999585e-01 1.27954996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779072329 meters 0.2682088906519865 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.62, Z:127.95 [[ 9.98514699e-01 4.52157933e-02 -3.03961988e-02 -9.04503407e+01] [-4.45512790e-02 9.98760516e-01 2.21949493e-02 -5.56161790e+01] [ 3.13620854e-02 -2.08077935e-02 9.99291477e-01 1.27951711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839072329 meters 0.2697069696402257 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.63, Z:127.94 [[ 9.99232758e-01 3.62614565e-02 -1.47987531e-02 -9.04552225e+01] [-3.59540918e-02 9.99142492e-01 2.05325228e-02 -5.56294381e+01] [ 1.55306023e-02 -1.99846936e-02 9.99679655e-01 1.27943835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899072329 meters 0.257261213597135 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.64, Z:127.95 [[ 9.99664851e-01 2.45603167e-02 -8.18389153e-03 -9.04523859e+01] [-2.43794954e-02 9.99471408e-01 2.15068492e-02 -5.56372164e+01] [ 8.70778061e-03 -2.13001221e-02 9.99735205e-01 1.27947740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959072329 meters 0.24825739971479538 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.64, Z:127.95 [[ 9.99896792e-01 1.20105525e-02 -7.88363848e-03 -9.04537441e+01] [-1.19328428e-02 9.99880470e-01 9.83119209e-03 -5.56412502e+01] [ 8.00077420e-03 -9.73610321e-03 9.99920595e-01 1.27947690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019072329 meters 0.24291473209663875 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.65, Z:127.95 [[ 9.99968660e-01 4.15907752e-03 -6.73655944e-03 -9.04560961e+01] [-4.13003110e-03 9.99982140e-01 4.31994535e-03 -5.56499945e+01] [ 6.75440611e-03 -4.29198776e-03 9.99967978e-01 1.27945819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079072329 meters 0.344853500948312 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.66, Z:127.94 [[ 9.99993510e-01 -1.31330912e-03 -3.35478859e-03 -9.04625225e+01] [ 1.32546067e-03 9.99992560e-01 3.62249870e-03 -5.56572118e+01] [ 3.35000617e-03 -3.62692183e-03 9.99987811e-01 1.27940241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139072329 meters 0.22940115310708287 Centerline is valid? [False, False] Translation: X:-90.46, Y:-55.66, Z:127.94 [[ 9.99982160e-01 -5.19805579e-03 -2.94261218e-03 -9.04629434e+01] [ 5.19890124e-03 9.99986446e-01 2.79735872e-04 -5.56598632e+01] [ 2.94111822e-03 -2.95029232e-04 9.99995631e-01 1.27939358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199072329 meters 0.23995049793132356 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.66, Z:127.94 [[ 9.99954733e-01 -9.37455324e-03 -1.62793550e-03 -9.04655143e+01] [ 9.37024593e-03 9.99952630e-01 -2.63364423e-03 -5.56641210e+01] [ 1.65254763e-03 2.61827086e-03 9.99995207e-01 1.27938072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259072329 meters 0.3104460428371866 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.67, Z:127.94 [[ 9.99957235e-01 -9.19503770e-03 -9.89871078e-04 -9.04667106e+01] [ 9.19300077e-03 9.99955656e-01 -2.04302112e-03 -5.56657769e+01] [ 1.00861284e-03 2.03383386e-03 9.99997423e-01 1.27937416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319072329 meters 0.23041002146648293 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.67, Z:127.94 [[ 9.99960825e-01 -8.85140863e-03 -1.14308367e-05 -9.04686009e+01] [ 8.85139560e-03 9.99960459e-01 -8.55985889e-04 -5.56692758e+01] [ 1.90070656e-05 8.55851178e-04 9.99999634e-01 1.27936399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37907232899994 meters 0.30030918472930784 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.67, Z:127.94 [[ 9.99960277e-01 -8.91305258e-03 3.18836086e-05 -9.04686568e+01] [ 8.91307934e-03 9.99959806e-01 -9.70873582e-04 -5.56688028e+01] [-2.32288798e-05 9.71119198e-04 9.99999528e-01 1.27936412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43907232899994 meters 0.2817689539297768 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.67, Z:127.94 [[ 9.99961732e-01 -8.69530656e-03 9.62736491e-04 -9.04704547e+01] [ 8.69526127e-03 9.99962194e-01 5.12187903e-05 -5.56720148e+01] [-9.63145457e-04 -4.28455849e-05 9.99999535e-01 1.27935391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49907232899994 meters 0.2813365149153768 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.67, Z:127.94 [[ 9.99962404e-01 -8.61108170e-03 1.02006212e-03 -9.04704951e+01] [ 8.61087306e-03 9.99962904e-01 2.08752910e-04 -5.56724279e+01] [-1.02182187e-03 -1.99961436e-04 9.99999458e-01 1.27935247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.55907232899995 meters 0.2724116230052262 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.67, Z:127.93 [[ 9.99963262e-01 -8.48874546e-03 1.18960124e-03 -9.04704568e+01] [ 8.48817640e-03 9.99963858e-01 4.82595681e-04 -5.56729143e+01] [-1.19365488e-03 -4.72480407e-04 9.99999176e-01 1.27934581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.61907232899995 meters 0.2488029033161205 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.67, Z:127.93 [[ 9.99921068e-01 -1.24713777e-02 1.52424372e-03 -9.04706853e+01] [ 1.24760857e-02 9.99917305e-01 -3.11928594e-03 -5.56748181e+01] [-1.48521588e-03 3.13805632e-03 9.99993973e-01 1.27933825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.67907232899995 meters 0.24262723988348753 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.68, Z:127.93 [[ 9.99919776e-01 -1.25208470e-02 1.91550267e-03 -9.04718754e+01] [ 1.25266990e-02 9.99916812e-01 -3.07422331e-03 -5.56752578e+01] [-1.87685144e-03 3.09797161e-03 9.99993440e-01 1.27934189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.73907232899995 meters 0.28295293112903264 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.68, Z:127.93 [[ 9.99920024e-01 -1.24672902e-02 2.12408853e-03 -9.04724322e+01] [ 1.24734570e-02 9.99917954e-01 -2.91516023e-03 -5.56757724e+01] [-2.08757011e-03 2.94142182e-03 9.99993495e-01 1.27934271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.79907232899996 meters 0.2741272973383549 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.68, Z:127.93 [[ 9.99923064e-01 -1.22254489e-02 2.09891993e-03 -9.04719759e+01] [ 1.22306941e-02 9.99922066e-01 -2.50460026e-03 -5.56766924e+01] [-2.06813649e-03 2.53007882e-03 9.99994661e-01 1.27933711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.85907232899996 meters 0.28819629235496086 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.68, Z:127.93 [[ 9.99922982e-01 -1.21833396e-02 2.36577889e-03 -9.04724767e+01] [ 1.21888538e-02 9.99922997e-01 -2.33053848e-03 -5.56771445e+01] [-2.33720298e-03 2.35919512e-03 9.99994486e-01 1.27933465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91907232899996 meters 0.2758565785205392 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.68, Z:127.93 [[ 9.99927852e-01 -1.18430855e-02 2.00803386e-03 -9.04712291e+01] [ 1.18468660e-02 9.99928054e-01 -1.88133274e-03 -5.56779315e+01] [-1.98560860e-03 1.90498591e-03 9.99996214e-01 1.27932985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97907232899996 meters 0.31859570462864145 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.68, Z:127.93 [[ 9.99927356e-01 -1.19803638e-02 1.32406135e-03 -9.04693540e+01] [ 1.19836509e-02 9.99925060e-01 -2.50316574e-03 -5.56754775e+01] [-1.29397329e-03 2.51885099e-03 9.99995991e-01 1.27932926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03907232899996 meters 0.3088048927314965 Centerline is valid? [False, False] Translation: X:-90.47, Y:-55.68, Z:127.93 [[ 9.99970245e-01 -7.59706462e-03 1.33948724e-03 -9.04697340e+01] [ 7.59448632e-03 9.99969319e-01 1.91953823e-03 -5.56759754e+01] [-1.35402900e-03 -1.90930839e-03 9.99997261e-01 1.27933252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09907232899997 meters 0.3137890884920972 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.68, Z:127.94 [[ 9.99986762e-01 3.61967767e-03 -3.65690904e-03 -9.04547218e+01] [-3.59671650e-03 9.99973900e-01 6.26603271e-03 -5.56783510e+01] [ 3.67949461e-03 -6.25279690e-03 9.99973682e-01 1.27936519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15907232899997 meters 0.2987726979014189 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.67, Z:127.94 [[ 9.99981914e-01 3.51835960e-03 -4.87776315e-03 -9.04520483e+01] [-3.49506872e-03 9.99982491e-01 4.77523907e-03 -5.56736906e+01] [ 4.89447875e-03 -4.75810458e-03 9.99976702e-01 1.27937657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21907232899997 meters 0.29289869189708423 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.67, Z:127.94 [[ 9.99976506e-01 3.60825497e-03 -5.82812839e-03 -9.04496929e+01] [-3.58255365e-03 9.99983839e-01 4.41431249e-03 -5.56719721e+01] [ 5.84396217e-03 -4.39332920e-03 9.99973273e-01 1.27937767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279072329 meters 0.2808875825511952 Centerline is valid? [False, False] Translation: X:-90.45, Y:-55.67, Z:127.94 [[ 9.99970018e-01 3.52443131e-03 -6.89501798e-03 -9.04471315e+01] [-3.50083401e-03 9.99987985e-01 3.43145134e-03 -5.56683424e+01] [ 6.90702904e-03 -3.40721015e-03 9.99970341e-01 1.27938258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339072329 meters 0.27139648114214077 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.67, Z:127.94 [[ 9.99968297e-01 5.95970311e-05 -7.96245173e-03 -9.04437841e+01] [-6.03610336e-05 9.99999994e-01 -9.57103908e-05 -5.56686200e+01] [ 7.96244598e-03 9.61879783e-05 9.99968295e-01 1.27937476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399072329 meters 0.2701405251881924 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.67, Z:127.94 [[ 9.99960102e-01 2.18556884e-04 -8.93011086e-03 -9.04411679e+01] [-2.22206575e-04 9.99999892e-01 -4.07704788e-04 -5.56666901e+01] [ 8.93002079e-03 4.09672850e-04 9.99960043e-01 1.27937369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459072329 meters 0.2639362377903921 Centerline is valid? [False, False] Translation: X:-90.44, Y:-55.67, Z:127.93 [[ 9.99948662e-01 2.10432420e-03 -9.91187184e-03 -9.04366036e+01] [-2.09574974e-03 9.99997421e-01 8.75377402e-04 -5.56658079e+01] [ 9.91368835e-03 -8.54559659e-04 9.99950493e-01 1.27934961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519072329 meters 0.2509668055451179 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.67, Z:127.93 [[ 9.99976463e-01 6.77481807e-03 1.08438226e-03 -9.04304921e+01] [-6.77453078e-03 9.99977017e-01 -2.68389337e-04 -5.56702348e+01] [-1.08617562e-03 2.61036839e-04 9.99999376e-01 1.27934481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579072329 meters 0.24787368592752373 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.67, Z:127.93 [[ 9.99972542e-01 7.40347088e-03 -3.22279239e-04 -9.04266827e+01] [-7.40368550e-03 9.99972368e-01 -6.69907627e-04 -5.56671907e+01] [ 3.17310692e-04 6.72275287e-04 9.99999724e-01 1.27934437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639072329 meters 0.3192428211125521 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.66, Z:127.94 [[ 9.99975156e-01 7.00487658e-03 -7.86753868e-04 -9.04259271e+01] [-7.00610881e-03 9.99974217e-01 -1.57453959e-03 -5.56645080e+01] [ 7.75704128e-04 1.58001256e-03 9.99998451e-01 1.27935242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699072329 meters 0.2797056337175785 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.67, Z:127.93 [[ 9.99994257e-01 3.14235948e-03 -1.26911576e-03 -9.04243549e+01] [-3.14897004e-03 9.99981309e-01 -5.24082507e-03 -5.56657384e+01] [ 1.25262348e-03 5.24479138e-03 9.99985461e-01 1.27934619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759072329 meters 0.2646688589521882 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.67, Z:127.93 [[ 9.99994293e-01 3.23117921e-03 -9.86424917e-04 -9.04247936e+01] [-3.23605781e-03 9.99982339e-01 -4.98487516e-03 -5.56663992e+01] [ 9.70300471e-04 4.98803884e-03 9.99987089e-01 1.27934181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819072329 meters 0.24972934826896379 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.67, Z:127.93 [[ 9.99994164e-01 3.35399684e-03 -6.50521406e-04 -9.04253129e+01] [-3.35698199e-03 9.99983585e-01 -4.64338362e-03 -5.56672912e+01] [ 6.34936833e-04 4.64554031e-03 9.99989008e-01 1.27933670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87907232899994 meters 0.25438991176055115 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.67, Z:127.93 [[ 9.99993042e-01 3.71937899e-03 -2.87400248e-04 -9.04260956e+01] [-3.72046888e-03 9.99985514e-01 -3.88963381e-03 -5.56696563e+01] [ 2.72929063e-04 3.89067601e-03 9.99992394e-01 1.27933389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93907232899994 meters 0.28652605804306575 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.67, Z:127.93 [[ 9.99993253e-01 3.67350840e-03 8.43080368e-06 -9.04267014e+01] [-3.67344823e-03 9.99985759e-01 -3.87126907e-03 -5.56696971e+01] [-2.26518230e-05 3.87121197e-03 9.99992507e-01 1.27933225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99907232899994 meters 0.25534127583814 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.67, Z:127.93 [[ 9.99989842e-01 4.42224682e-03 -8.72008846e-04 -9.04234945e+01] [-4.42494249e-03 9.99985361e-01 -3.11402715e-03 -5.56699592e+01] [ 8.58225085e-04 3.11785410e-03 9.99994771e-01 1.27931780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.05907232899995 meters 0.276162374082803 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.67, Z:127.93 [[ 9.99986493e-01 4.83057747e-03 -1.91805342e-03 -9.04200921e+01] [-4.83647080e-03 9.99983561e-01 -3.07989728e-03 -5.56681385e+01] [ 1.90314421e-03 3.08913229e-03 9.99993418e-01 1.27930870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.11907232899995 meters 0.2682770751482522 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.67, Z:127.93 [[ 9.99987240e-01 4.60311958e-03 -2.08092840e-03 -9.04198798e+01] [-4.61047893e-03 9.99983086e-01 -3.54571359e-03 -5.56667879e+01] [ 2.06457186e-03 3.55526242e-03 9.99991549e-01 1.27931251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.17907232899995 meters 0.26101029320994173 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.67, Z:127.93 [[ 9.99985699e-01 4.64747456e-03 -2.64616024e-03 -9.04184648e+01] [-4.65726395e-03 9.99982290e-01 -3.70540736e-03 -5.56659702e+01] [ 2.62889259e-03 3.71767823e-03 9.99989634e-01 1.27931310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.23907232899995 meters 0.25839484500824494 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.66, Z:127.93 [[ 9.99984525e-01 4.56721629e-03 -3.17639185e-03 -9.04171242e+01] [-4.58018251e-03 9.99981160e-01 -4.08683550e-03 -5.56645256e+01] [ 3.15766655e-03 4.10132072e-03 9.99986604e-01 1.27931404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.29907232899996 meters 0.24792534099823943 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.67, Z:127.94 [[ 9.99958701e-01 2.14945645e-04 -9.08572982e-03 -9.04054973e+01] [-2.00018340e-04 9.99998629e-01 1.64381635e-03 -5.56681633e+01] [ 9.08607070e-03 -1.64193115e-03 9.99957373e-01 1.27937414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.35907232899996 meters 0.25506009693798143 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.67, Z:127.94 [[ 9.99952537e-01 2.40986221e-04 -9.73986099e-03 -9.04037168e+01] [-2.28647601e-04 9.99999170e-01 1.26791050e-03 -5.56663379e+01] [ 9.74015845e-03 -1.26562333e-03 9.99951763e-01 1.27937403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41907232899996 meters 0.25381255733273445 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.67, Z:127.94 [[ 9.99950993e-01 5.45070023e-04 -9.88507905e-03 -9.04030105e+01] [-5.27919591e-04 9.99998351e-01 1.73750812e-03 -5.56674213e+01] [ 9.88600981e-03 -1.73220445e-03 9.99949632e-01 1.27936890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47907232899996 meters 0.2790913815785483 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.67, Z:127.94 [[ 9.99947545e-01 3.93855661e-04 -1.02348633e-02 -9.04019662e+01] [-3.80381822e-04 9.99999059e-01 1.31837826e-03 -5.56658258e+01] [ 1.02353730e-02 -1.31441595e-03 9.99946753e-01 1.27936719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53907232899996 meters 0.2668519466208342 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.66, Z:127.94 [[ 9.99939649e-01 3.96782101e-04 -1.09791286e-02 -9.03998932e+01] [-3.87015199e-04 9.99999528e-01 8.91698413e-04 -5.56636091e+01] [ 1.09794773e-02 -8.87395508e-04 9.99939330e-01 1.27936634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59907232899997 meters 0.2683650830281953 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.66, Z:127.94 [[ 9.99939010e-01 3.52535140e-04 -1.10386954e-02 -9.03998621e+01] [-3.43860767e-04 9.99999631e-01 7.87703198e-04 -5.56632872e+01] [ 1.10389690e-02 -7.83859382e-04 9.99938761e-01 1.27936862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65907232899997 meters 0.2714747570068177 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.66, Z:127.94 [[ 9.99927682e-01 -3.79404287e-03 -1.14120803e-02 -9.03987113e+01] [ 3.75698121e-03 9.99987605e-01 -3.26726899e-03 -5.56636577e+01] [ 1.14243350e-02 3.22415774e-03 9.99929542e-01 1.27936614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71907232899997 meters 0.29888284933274273 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.67, Z:127.93 [[ 9.99984380e-01 -4.80967744e-03 2.84737210e-03 -9.03990271e+01] [ 4.81442582e-03 9.99987028e-01 -1.66313562e-03 -5.56723487e+01] [-2.83933602e-03 1.67681810e-03 9.99994563e-01 1.27931656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779072329 meters 0.2522054665722759 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.67, Z:127.93 [[ 9.99979084e-01 -5.00000097e-03 4.10268976e-03 -9.04020735e+01] [ 5.00506073e-03 9.99986726e-01 -1.22394154e-03 -5.56746729e+01] [-4.09651559e-03 1.24445015e-03 9.99990835e-01 1.27931581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839072329 meters 0.28115484219292786 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.68, Z:127.93 [[ 9.99947272e-01 -8.95217732e-03 5.03112590e-03 -9.04038167e+01] [ 8.97359475e-03 9.99950702e-01 -4.25065574e-03 -5.56784607e+01] [-4.99282525e-03 4.29557890e-03 9.99978310e-01 1.27930630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899072329 meters 0.27037770365880864 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.68, Z:127.93 [[ 9.99940311e-01 -8.88610011e-03 6.35708804e-03 -9.04066972e+01] [ 8.90442748e-03 9.99956263e-01 -2.86051023e-03 -5.56833003e+01] [-6.33139122e-03 2.91694572e-03 9.99975702e-01 1.27929490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959072329 meters 0.24884445192857158 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99932034e-01 -8.95679362e-03 7.46346105e-03 -9.04091241e+01] [ 8.97477475e-03 9.99956895e-01 -2.37922186e-03 -5.56850901e+01] [-7.44182914e-03 2.44604303e-03 9.99969318e-01 1.27929027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019072329 meters 0.2502491510236772 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99923235e-01 -8.94715300e-03 8.57161102e-03 -9.04113712e+01] [ 8.95967554e-03 9.99958848e-01 -1.42364744e-03 -5.56881544e+01] [-8.55852069e-03 1.50033701e-03 9.99962250e-01 1.27927976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079072329 meters 0.27723662507037683 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99918754e-01 -8.77690817e-03 9.24403079e-03 -9.04129580e+01] [ 8.78511931e-03 9.99961051e-01 -8.48032396e-04 -5.56901498e+01] [-9.23622764e-03 9.29173410e-04 9.99956913e-01 1.27927864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139072329 meters 0.2629188160739282 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99911580e-01 -8.81335294e-03 9.95780567e-03 -9.04146218e+01] [ 8.82083268e-03 9.99960845e-01 -7.07473880e-04 -5.56908178e+01] [-9.95118056e-03 7.95247462e-04 9.99950170e-01 1.27927785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199072329 meters 0.2528465381725464 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.69, Z:127.93 [[ 9.99909673e-01 -8.62924592e-03 1.03045107e-02 -9.04154565e+01] [ 8.63223706e-03 9.99962711e-01 -2.45832566e-04 -5.56923088e+01] [-1.03020051e-02 3.34761339e-04 9.99946877e-01 1.27927742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259072329 meters 0.2416848940906431 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.69, Z:127.93 [[ 9.99907366e-01 -8.50583729e-03 1.06259640e-02 -9.04160610e+01] [ 8.50543699e-03 9.99963825e-01 8.28625182e-05 -5.56932421e+01] [-1.06262844e-02 7.52362476e-06 9.99943539e-01 1.27927435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319072329 meters 0.35248492406342585 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99915706e-01 -8.16178244e-03 1.00978138e-02 -9.04145684e+01] [ 8.15774135e-03 9.99966628e-01 4.41319059e-04 -5.56937813e+01] [-1.01010788e-02 -3.58906505e-04 9.99948918e-01 1.27927174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37907232899994 meters 0.2510459349013356 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99913832e-01 -8.32071229e-03 1.01535411e-02 -9.04145609e+01] [ 8.31951252e-03 9.99965379e-01 1.60395226e-04 -5.56928175e+01] [-1.01545242e-02 -7.59088928e-05 9.99948439e-01 1.27927001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43907232899994 meters 0.33582640562902594 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99913988e-01 -8.37124894e-03 1.00965174e-02 -9.04145192e+01] [ 8.37125795e-03 9.99964960e-01 4.13706192e-05 -5.56924753e+01] [-1.00965099e-02 4.31534903e-05 9.99949028e-01 1.27927191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49907232899994 meters 0.31893079704794486 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99917382e-01 -8.54425822e-03 9.60338600e-03 -9.04136420e+01] [ 8.54926853e-03 9.99963339e-01 -4.80791374e-04 -5.56909070e+01] [-9.59892592e-03 5.62853578e-04 9.99953771e-01 1.27927851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.55907232899995 meters 0.3119197792816082 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99918461e-01 -8.52685864e-03 9.50604509e-03 -9.04132271e+01] [ 8.53198713e-03 9.99963477e-01 -4.99073853e-04 -5.56906399e+01] [-9.50144237e-03 5.80138613e-04 9.99954692e-01 1.27927634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.61907232899995 meters 0.3022242192111765 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.69, Z:127.93 [[ 9.99913017e-01 -8.40956181e-03 1.01606349e-02 -9.04144320e+01] [ 8.41050143e-03 9.99964630e-01 -4.97508738e-05 -5.56919150e+01] [-1.01598571e-02 1.35202581e-04 9.99948378e-01 1.27926986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.67907232899995 meters 0.3027869501249504 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.69, Z:127.93 [[ 9.99911500e-01 -8.14728867e-03 1.05173093e-02 -9.04150343e+01] [ 8.14187881e-03 9.99966699e-01 5.57091594e-04 -5.56936307e+01] [-1.05214978e-02 -4.71411634e-04 9.99944536e-01 1.27926503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.73907232899995 meters 0.2787652167629369 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.69, Z:127.93 [[ 9.99967758e-01 -4.43759849e-03 6.69262762e-03 -9.04046164e+01] [ 4.44825863e-03 9.99988860e-01 -1.57877514e-03 -5.56914525e+01] [-6.68554710e-03 1.60849477e-03 9.99976358e-01 1.27930290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.79907232899996 meters 0.29567398817842033 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.69, Z:127.93 [[ 9.99995256e-01 2.37759897e-03 1.95829655e-03 -9.03903636e+01] [-2.37312369e-03 9.99994575e-01 -2.28445266e-03 -5.56899440e+01] [-1.96371743e-03 2.27979454e-03 9.99995473e-01 1.27934592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.85907232899996 meters 0.26619886120958913 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.69, Z:127.93 [[ 9.99993406e-01 3.58905984e-03 5.52866383e-04 -9.03859337e+01] [-3.58760308e-03 9.99990149e-01 -2.61375324e-03 -5.56857383e+01] [-5.62241853e-04 2.61175254e-03 9.99996431e-01 1.27934422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91907232899996 meters 0.2730973400240677 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.68, Z:127.93 [[ 9.99992201e-01 3.90257239e-03 -6.07276888e-04 -9.03825134e+01] [-3.90452194e-03 9.99987119e-01 -3.24294386e-03 -5.56820645e+01] [ 5.94613242e-04 3.24528970e-03 9.99994557e-01 1.27934225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97907232899996 meters 0.2698573319414522 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.68, Z:127.93 [[ 9.99990751e-01 4.07462584e-03 -1.37682986e-03 -9.03804791e+01] [-4.07917002e-03 9.99986189e-01 -3.31393043e-03 -5.56811092e+01] [ 1.36330781e-03 3.31951610e-03 9.99993561e-01 1.27934126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03907232899996 meters 0.2731968424401597 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.68, Z:127.93 [[ 9.99983885e-01 5.03974594e-03 -2.61344055e-03 -9.03762300e+01] [-5.04616765e-03 9.99984251e-01 -2.45643959e-03 -5.56806805e+01] [ 2.60101956e-03 2.46958787e-03 9.99993568e-01 1.27932314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09907232899997 meters 0.2577348664390239 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.68, Z:127.93 [[ 9.99983737e-01 5.00158162e-03 -2.74040178e-03 -9.03760030e+01] [-5.00868430e-03 9.99984099e-01 -2.59113587e-03 -5.56802422e+01] [ 2.72739843e-03 2.60481953e-03 9.99992888e-01 1.27932529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15907232899997 meters 0.25345003706326524 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.68, Z:127.93 [[ 9.99994610e-01 9.75354402e-04 -3.13491464e-03 -9.03749434e+01] [-9.95723741e-04 9.99978362e-01 -6.50259400e-03 -5.56810847e+01] [ 3.12850447e-03 6.50568046e-03 9.99973944e-01 1.27932383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21907232899997 meters 0.26926827819965427 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.68, Z:127.93 [[ 9.99995192e-01 1.19588833e-03 -2.86095087e-03 -9.03755115e+01] [-1.21307580e-03 9.99981183e-01 -6.01343416e-03 -5.56825168e+01] [ 2.85370564e-03 6.01687580e-03 9.99977827e-01 1.27932190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279072329 meters 0.2599578736428072 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.68, Z:127.93 [[ 9.99995584e-01 1.33036922e-03 -2.65751527e-03 -9.03759635e+01] [-1.34551705e-03 9.99982813e-01 -5.70636541e-03 -5.56834447e+01] [ 2.64987803e-03 5.70991594e-03 9.99980187e-01 1.27932096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339072329 meters 0.26310273606326473 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.68, Z:127.93 [[ 9.99995851e-01 1.40319719e-03 -2.51585961e-03 -9.03762971e+01] [-1.41711472e-03 9.99983657e-01 -5.53869471e-03 -5.56839641e+01] [ 2.50804661e-03 5.54223699e-03 9.99981496e-01 1.27932067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399072329 meters 0.25943775430661425 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.68, Z:127.93 [[ 9.99992872e-01 -2.83669002e-03 -2.49201004e-03 -9.03759038e+01] [ 2.81242267e-03 9.99949113e-01 -9.68817990e-03 -5.56840736e+01] [ 2.51936559e-03 9.68110225e-03 9.99949963e-01 1.27931487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459072329 meters 0.25950481951449667 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.69, Z:127.93 [[ 9.99995698e-01 -2.41756932e-03 -1.66126389e-03 -9.03771929e+01] [ 2.40333496e-03 9.99960836e-01 -8.51761916e-03 -5.56872139e+01] [ 1.68179076e-03 8.51358994e-03 9.99962344e-01 1.27930074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519072329 meters 0.2334323297090341 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.69, Z:127.93 [[ 9.99997032e-01 -2.28981503e-03 -8.32316756e-04 -9.03789813e+01] [ 2.28307612e-03 9.99965319e-01 -8.00929397e-03 -5.56889505e+01] [ 8.50627692e-04 8.00736995e-03 9.99967579e-01 1.27929689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579072329 meters 0.2827564435220563 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.69, Z:127.93 [[ 9.99997486e-01 -2.14418265e-03 -6.55386480e-04 -9.03793646e+01] [ 2.13908120e-03 9.99968160e-01 -7.68790883e-03 -5.56899168e+01] [ 6.71849893e-04 7.68648758e-03 9.99970233e-01 1.27929576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639072329 meters 0.3108486627852968 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.69, Z:127.93 [[ 9.99998185e-01 -1.89262468e-03 -2.19460848e-04 -9.03800794e+01] [ 1.89102416e-03 9.99973168e-01 -7.07720214e-03 -5.56915904e+01] [ 2.32849447e-04 7.07677429e-03 9.99974932e-01 1.27928960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699072329 meters 0.30283902215516967 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.70, Z:127.93 [[ 9.99998382e-01 -1.61658958e-03 7.89481271e-04 -9.03821698e+01] [ 1.62122137e-03 9.99981269e-01 -5.90190060e-03 -5.56954110e+01] [-7.79925532e-04 5.90317098e-03 9.99982272e-01 1.27928037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759072329 meters 0.2983527047724166 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.70, Z:127.93 [[ 9.99998068e-01 -1.22010284e-03 1.54092867e-03 -9.03832892e+01] [ 1.22762825e-03 9.99987279e-01 -4.89221901e-03 -5.56980898e+01] [-1.53494006e-03 4.89410125e-03 9.99986846e-01 1.27926767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819072329 meters 0.28077175057890985 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.70, Z:127.93 [[ 9.99997702e-01 -9.61277007e-04 1.91638593e-03 -9.03838170e+01] [ 9.69456598e-04 9.99990406e-01 -4.27188820e-03 -5.56997381e+01] [-1.91226107e-03 4.27373623e-03 9.99989039e-01 1.27926101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87907232899994 meters 0.29073107447125013 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.70, Z:127.93 [[ 9.99997209e-01 -1.25523683e-03 2.00147010e-03 -9.03844539e+01] [ 1.26474529e-03 9.99987888e-01 -4.75657061e-03 -5.56985246e+01] [-1.99547523e-03 4.75908868e-03 9.99986684e-01 1.27926861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93907232899994 meters 0.2628589751969158 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.70, Z:127.93 [[ 9.99982302e-01 -5.08660338e-03 3.08579551e-03 -9.03864883e+01] [ 5.10923398e-03 9.99959783e-01 -7.37078728e-03 -5.57034572e+01] [-3.04817914e-03 7.38642289e-03 9.99968074e-01 1.27925525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99907232899994 meters 0.2522275675655838 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.71, Z:127.92 [[ 9.99975007e-01 -5.38678170e-03 4.57903700e-03 -9.03899836e+01] [ 5.41519747e-03 9.99966018e-01 -6.21604103e-03 -5.57081382e+01] [-4.54539694e-03 6.24068206e-03 9.99970196e-01 1.27924610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.05907232899995 meters 0.2511783122598992 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.71, Z:127.92 [[ 9.99970188e-01 -5.23537337e-03 5.67578645e-03 -9.03922079e+01] [ 5.26557707e-03 9.99971987e-01 -5.31968173e-03 -5.57108462e+01] [-5.64777693e-03 5.34940943e-03 9.99969743e-01 1.27923709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.11907232899995 meters 0.2354583276429466 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.71, Z:127.92 [[ 9.99964120e-01 -5.10373071e-03 6.76097375e-03 -9.03944565e+01] [ 5.13238946e-03 9.99977890e-01 -4.22830249e-03 -5.57142405e+01] [-6.73924414e-03 4.26285073e-03 9.99968205e-01 1.27922797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.17907232899995 meters 0.23893014766007872 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.71, Z:127.92 [[ 9.99966297e-01 -4.95658275e-03 6.54496083e-03 -9.03936690e+01] [ 4.98309680e-03 9.99979419e-01 -4.04099024e-03 -5.57144495e+01] [-6.52479663e-03 4.07346822e-03 9.99970417e-01 1.27922452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.23907232899995 meters 0.22787429314668828 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.72, Z:127.92 [[ 9.99963129e-01 -4.74198271e-03 7.15923496e-03 -9.03945902e+01] [ 4.76637017e-03 9.99982884e-01 -3.39322278e-03 -5.57161023e+01] [-7.14302182e-03 3.42722124e-03 9.99968615e-01 1.27921445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.29907232899996 meters 0.28974335660459144 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.72, Z:127.92 [[ 9.99935404e-01 -8.38632939e-03 7.67184195e-03 -9.03952773e+01] [ 8.43504774e-03 9.99944325e-01 -6.34011893e-03 -5.57200264e+01] [-7.61824449e-03 6.40442174e-03 9.99950472e-01 1.27920533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.35907232899996 meters 0.23709638429792784 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.72, Z:127.92 [[ 9.99934494e-01 -8.33028739e-03 7.84945172e-03 -9.03958728e+01] [ 8.37883604e-03 9.99945846e-01 -6.17252171e-03 -5.57206974e+01] [-7.79760776e-03 6.23788664e-03 9.99950142e-01 1.27920770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41907232899996 meters 0.2658261763635617 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.72, Z:127.92 [[ 9.99961811e-01 -4.62569210e-03 7.41478593e-03 -9.03952944e+01] [ 4.64875415e-03 9.99984402e-01 -3.09606632e-03 -5.57170697e+01] [-7.40034882e-03 3.13041760e-03 9.99967717e-01 1.27921608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47907232899996 meters 0.2817281287099857 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.72, Z:127.92 [[ 9.99973045e-01 -3.96210753e-03 6.18148872e-03 -9.03915427e+01] [ 3.97915701e-03 9.99988307e-01 -2.74829504e-03 -5.57161542e+01] [-6.17052740e-03 2.77281807e-03 9.99977118e-01 1.27920665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53907232899996 meters 0.2650902835038341 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.72, Z:127.92 [[ 9.99980932e-01 -3.36193949e-03 5.18002671e-03 -9.03880331e+01] [ 3.37458858e-03 9.99991341e-01 -2.43509423e-03 -5.57150864e+01] [-5.17179522e-03 2.45252826e-03 9.99983619e-01 1.27919317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59907232899997 meters 0.25886337595285464 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.71, Z:127.92 [[ 9.99981736e-01 -3.46289569e-03 4.95338676e-03 -9.03874208e+01] [ 3.47645942e-03 9.99990224e-01 -2.73228987e-03 -5.57140241e+01] [-4.94387670e-03 2.74946021e-03 9.99983999e-01 1.27919330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65907232899997 meters 0.24684205324024566 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.71, Z:127.92 [[ 9.99982114e-01 -3.66520525e-03 4.72628200e-03 -9.03871063e+01] [ 3.68028718e-03 9.99988151e-01 -3.18633740e-03 -5.57126986e+01] [-4.71454742e-03 3.20367448e-03 9.99983755e-01 1.27919811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71907232899997 meters 0.24271389330560517 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.71, Z:127.92 [[ 9.99981742e-01 -3.36787337e-03 5.01728460e-03 -9.03874012e+01] [ 3.38070283e-03 9.99991032e-01 -2.55077041e-03 -5.57143829e+01] [-5.00864893e-03 2.56768579e-03 9.99984160e-01 1.27919114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779072329 meters 0.2486832858866523 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.71, Z:127.92 [[ 9.99984873e-01 -3.02563081e-03 4.59348583e-03 -9.03858339e+01] [ 3.03553744e-03 9.99993079e-01 -2.15123041e-03 -5.57148808e+01] [-4.58694521e-03 2.16514156e-03 9.99987136e-01 1.27918328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839072329 meters 0.2398962088527442 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.92 [[ 9.99986228e-01 -2.95133553e-03 4.33966670e-03 -9.03848173e+01] [ 2.96070239e-03 9.99993298e-01 -2.15359213e-03 -5.57144521e+01] [-4.33328165e-03 2.16641094e-03 9.99988265e-01 1.27917755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899072329 meters 0.2947150571202686 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.92 [[ 9.99987326e-01 -2.87151285e-03 4.13551888e-03 -9.03843233e+01] [ 2.88022758e-03 9.99993641e-01 -2.10287639e-03 -5.57145006e+01] [-4.12945414e-03 2.11476097e-03 9.99989238e-01 1.27917789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959072329 meters 0.26369643841128987 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.92 [[ 9.99986242e-01 -3.01517778e-03 4.29232186e-03 -9.03849245e+01] [ 3.02509087e-03 9.99992768e-01 -2.30487749e-03 -5.57140455e+01] [-4.28534120e-03 2.31783044e-03 9.99988132e-01 1.27918133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019072329 meters 0.22996431199740716 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.92 [[ 9.99987486e-01 -3.32369673e-03 3.73899115e-03 -9.03837598e+01] [ 3.33541563e-03 9.99989532e-01 -3.13238353e-03 -5.57113372e+01] [-3.72854091e-03 3.14481542e-03 9.99988104e-01 1.27918685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079072329 meters 0.24865846607045264 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.92 [[ 9.99993783e-01 -2.30284773e-03 2.67030918e-03 -9.03800046e+01] [ 2.30814455e-03 9.99995372e-01 -1.98221314e-03 -5.57122829e+01] [-2.66573208e-03 1.98836428e-03 9.99994470e-01 1.27916945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139072329 meters 0.26049795298599826 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.92 [[ 9.99997251e-01 -1.69063600e-03 1.62467806e-03 -9.03765377e+01] [ 1.69374821e-03 9.99996730e-01 -1.91612371e-03 -5.57104396e+01] [-1.62143328e-03 1.91887024e-03 9.99996844e-01 1.27916019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199072329 meters 0.2449167659039191 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.92 [[ 9.99997154e-01 -1.72393002e-03 1.64951107e-03 -9.03765697e+01] [ 1.72719770e-03 9.99996545e-01 -1.98162988e-03 -5.57102185e+01] [-1.64608918e-03 1.98447327e-03 9.99996676e-01 1.27915983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259072329 meters 0.24563095647893088 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.92 [[ 9.99996311e-01 -1.62792117e-03 2.17447891e-03 -9.03779071e+01] [ 1.63150056e-03 9.99997316e-01 -1.64533148e-03 -5.57114948e+01] [-2.17179460e-03 1.64887307e-03 9.99996282e-01 1.27916025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319072329 meters 0.24948954401877937 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.92 [[ 9.99997561e-01 -1.10722706e-03 1.91103375e-03 -9.03766818e+01] [ 1.10881807e-03 9.99999039e-01 -8.31679853e-04 -5.57132396e+01] [-1.91011106e-03 8.33796813e-04 9.99997828e-01 1.27915117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37907232899994 meters 0.2494740632867847 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.91 [[ 9.99998324e-01 -1.06790566e-03 1.48698455e-03 -9.03753841e+01] [ 1.06927101e-03 9.99999007e-01 -9.17704691e-04 -5.57125806e+01] [-1.48600305e-03 9.19293143e-04 9.99998473e-01 1.27914742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43907232899994 meters 0.2488108094920635 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.71, Z:127.91 [[ 9.99998984e-01 -1.15354297e-03 8.37186594e-04 -9.03734864e+01] [ 1.15480830e-03 9.99998189e-01 -1.51250468e-03 -5.57101189e+01] [-8.35440339e-04 1.51346994e-03 9.99998506e-01 1.27914453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49907232899994 meters 0.24583025732659242 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.71, Z:127.91 [[ 9.99999130e-01 -1.29874956e-03 2.30402722e-04 -9.03720875e+01] [ 1.29923027e-03 9.99996954e-01 -2.09864549e-03 -5.57080231e+01] [-2.27676406e-04 2.09894301e-03 9.99997771e-01 1.27914797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.55907232899995 meters 0.27288842999265933 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.71, Z:127.91 [[ 9.99985237e-01 -5.42412497e-03 3.23908725e-04 -9.03722346e+01] [ 5.42598275e-03 9.99967037e-01 -6.04021719e-03 -5.57091490e+01] [-2.91135155e-04 6.04188554e-03 9.99981705e-01 1.27914736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.61907232899995 meters 0.32518479482883056 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.71, Z:127.91 [[ 9.99979292e-01 -6.16764357e-03 1.83731505e-03 -9.03759702e+01] [ 6.17743981e-03 9.99966475e-01 -5.37474288e-03 -5.57128612e+01] [-1.80410396e-03 5.38598148e-03 9.99983868e-01 1.27914159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.67907232899995 meters 0.30716842710988057 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.72, Z:127.91 [[ 9.99975799e-01 -6.22596011e-03 3.10471570e-03 -9.03784908e+01] [ 6.23907510e-03 9.99971579e-01 -4.23257444e-03 -5.57164254e+01] [-3.07827563e-03 4.25184256e-03 9.99986223e-01 1.27912798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.73907232899995 meters 0.2945829149475513 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.72, Z:127.91 [[ 9.99973524e-01 -6.33902516e-03 3.57318458e-03 -9.03796975e+01] [ 6.35405659e-03 9.99970945e-01 -4.21119525e-03 -5.57166657e+01] [-3.54638589e-03 4.23378797e-03 9.99984749e-01 1.27912926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.79907232899996 meters 0.31987126042464686 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.72, Z:127.91 [[ 9.99968314e-01 -6.46485161e-03 4.64496658e-03 -9.03824192e+01] [ 6.48225182e-03 9.99971993e-01 -3.74079797e-03 -5.57189606e+01] [-4.62065278e-03 3.77078929e-03 9.99982215e-01 1.27913062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.85907232899996 meters 0.30328191078022787 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.72, Z:127.91 [[ 9.99964937e-01 -6.17604894e-03 5.65524405e-03 -9.03844882e+01] [ 6.19143849e-03 9.99977167e-01 -2.70783585e-03 -5.57221677e+01] [-5.63839119e-03 2.74275500e-03 9.99980343e-01 1.27912262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91907232899996 meters 0.3195183837421489 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.73, Z:127.91 [[ 9.99964372e-01 -5.68358662e-03 6.24114608e-03 -9.03851643e+01] [ 5.69302113e-03 9.99982677e-01 -1.49493933e-03 -5.57253768e+01] [-6.23254135e-03 1.53041704e-03 9.99979406e-01 1.27910866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97907232899996 meters 0.29329641985007154 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.72, Z:127.91 [[ 9.99961531e-01 -5.86297636e-03 6.52397445e-03 -9.03860589e+01] [ 5.87441624e-03 9.99981239e-01 -1.73573556e-03 -5.57248162e+01] [-6.51367548e-03 1.77399333e-03 9.99977212e-01 1.27911241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03907232899996 meters 0.27438481282923305 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.72, Z:127.91 [[ 9.99948858e-01 -6.78058597e-03 7.50364428e-03 -9.03899185e+01] [ 6.80032651e-03 9.99973476e-01 -2.60841402e-03 -5.57248134e+01] [-7.48575868e-03 2.65930785e-03 9.99968445e-01 1.27913750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09907232899997 meters 0.3012412217055281 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.72, Z:127.91 [[ 9.99944236e-01 -6.99971359e-03 7.90747708e-03 -9.03908059e+01] [ 7.02236765e-03 9.99971308e-01 -2.84076805e-03 -5.57241367e+01] [-7.88736563e-03 2.89613885e-03 9.99964700e-01 1.27913666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15907232899997 meters 0.2794595367582444 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.73, Z:127.91 [[ 9.99926923e-01 -7.63629749e-03 9.37206519e-03 -9.03939708e+01] [ 7.65813528e-03 9.99968039e-01 -2.29642302e-03 -5.57268538e+01] [-9.35422948e-03 2.36802775e-03 9.99953444e-01 1.27912595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21907232899997 meters 0.2807050843797888 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.73, Z:127.91 [[ 9.99921861e-01 -7.25752491e-03 1.01783842e-02 -9.03953185e+01] [ 7.26939874e-03 9.99972939e-01 -1.13006212e-03 -5.57301504e+01] [-1.01699073e-02 1.20396455e-03 9.99947560e-01 1.27911368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279072329 meters 0.26959252301359066 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.73, Z:127.91 [[ 9.99923030e-01 -7.37549709e-03 9.97681003e-03 -9.03945758e+01] [ 7.39010806e-03 9.99971673e-01 -1.42842054e-03 -5.57289498e+01] [-9.96599210e-03 1.50204030e-03 9.99949210e-01 1.27911030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339072329 meters 0.3170920549609639 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.73, Z:127.91 [[ 9.99930163e-01 -7.04899430e-03 9.48582603e-03 -9.03928493e+01] [ 7.05935178e-03 9.99974522e-01 -1.05885077e-03 -5.57292939e+01] [-9.47812051e-03 1.12574061e-03 9.99954448e-01 1.27910205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399072329 meters 0.30588415568099425 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.73, Z:127.91 [[ 9.99935117e-01 -6.99249692e-03 8.99260072e-03 -9.03915982e+01] [ 7.00344629e-03 9.99974771e-01 -1.18668384e-03 -5.57286260e+01] [-8.98407597e-03 1.24958604e-03 9.99958862e-01 1.27910243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459072329 meters 0.30770284175577917 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.73, Z:127.91 [[ 9.99943498e-01 -7.02575867e-03 7.97749218e-03 -9.03892166e+01] [ 7.04274751e-03 9.99972987e-01 -2.10350563e-03 -5.57253614e+01] [-7.96249796e-03 2.15957024e-03 9.99965967e-01 1.27910633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519072329 meters 0.3295134912550825 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.72, Z:127.91 [[ 9.99946547e-01 -7.21296993e-03 7.40780423e-03 -9.03878552e+01] [ 7.23347286e-03 9.99970071e-01 -2.74469414e-03 -5.57230710e+01] [-7.38778513e-03 2.79813158e-03 9.99968795e-01 1.27910925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579072329 meters 0.32235333761721296 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.72, Z:127.91 [[ 9.99947022e-01 -7.15498123e-03 7.39995065e-03 -9.03882195e+01] [ 7.17467990e-03 9.99970780e-01 -2.63888786e-03 -5.57236230e+01] [-7.38085322e-03 2.69184033e-03 9.99969138e-01 1.27911567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639072329 meters 0.3024515445366133 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.72, Z:127.91 [[ 9.99950588e-01 -7.00822062e-03 7.05034747e-03 -9.03872881e+01] [ 7.02606997e-03 9.99972166e-01 -2.51012372e-03 -5.57237599e+01] [-7.03255973e-03 2.55953593e-03 9.99971996e-01 1.27911485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699072329 meters 0.29462404853210633 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.73, Z:127.91 [[ 9.99993538e-01 -1.70994664e-03 3.16225308e-03 -9.03754252e+01] [ 1.71687513e-03 9.99996129e-01 -2.18958136e-03 -5.57256223e+01] [-3.15849677e-03 2.19499640e-03 9.99992603e-01 1.27913102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759072329 meters 0.2944876722734726 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.72, Z:127.91 [[ 9.99994441e-01 -1.86755259e-03 2.76223059e-03 -9.03744678e+01] [ 1.87498833e-03 9.99994619e-01 -2.69179868e-03 -5.57238951e+01] [-2.75718865e-03 2.69696287e-03 9.99992562e-01 1.27913293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819072329 meters 0.28353775280176297 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.72, Z:127.91 [[ 9.99995683e-01 -1.73688041e-03 2.37013234e-03 -9.03732231e+01] [ 1.74307258e-03 9.99995067e-01 -2.61302507e-03 -5.57236850e+01] [-2.36558213e-03 2.61714510e-03 9.99993777e-01 1.27912913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87907232899994 meters 0.28342876134414335 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.72, Z:127.91 [[ 9.99995789e-01 -1.85566159e-03 2.23119012e-03 -9.03728512e+01] [ 1.86211290e-03 9.99994082e-01 -2.89283066e-03 -5.57227616e+01] [-2.22580880e-03 2.89697320e-03 9.99993327e-01 1.27912932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93907232899994 meters 0.26904135440936316 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.72, Z:127.91 [[ 9.99998364e-01 -1.08267211e-03 1.44905715e-03 -9.03700956e+01] [ 1.08556002e-03 9.99997423e-01 -1.99365673e-03 -5.57237526e+01] [-1.44689494e-03 1.99522651e-03 9.99996963e-01 1.27911754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99907232899994 meters 0.26113772866855156 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.72, Z:127.91 [[ 9.99985066e-01 -5.38969836e-03 9.04925227e-04 -9.03689102e+01] [ 5.39550756e-03 9.99964027e-01 -6.54475424e-03 -5.57228461e+01] [-8.69618423e-04 6.54953904e-03 9.99978173e-01 1.27912200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.05907232899995 meters 0.25246670758650863 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.72, Z:127.91 [[ 9.99985220e-01 -5.41305189e-03 5.07692680e-04 -9.03678167e+01] [ 5.41634565e-03 9.99962700e-01 -6.72772765e-03 -5.57219724e+01] [-4.71256204e-04 6.73037806e-03 9.99977240e-01 1.27912123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.11907232899995 meters 0.29551851057601003 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.72, Z:127.91 [[ 9.99984303e-01 -5.59843097e-03 2.27571975e-04 -9.03671797e+01] [ 5.59992540e-03 9.99958365e-01 -7.20481754e-03 -5.57203728e+01] [-1.87226826e-04 7.20597883e-03 9.99974019e-01 1.27912366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.17907232899995 meters 0.28405177603313675 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.72, Z:127.91 [[ 9.99986991e-01 -5.03618968e-03 8.09194266e-04 -9.03677863e+01] [ 5.04094383e-03 9.99969386e-01 -5.98466059e-03 -5.57236317e+01] [-7.79029608e-04 5.98866183e-03 9.99981764e-01 1.27910953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.23907232899995 meters 0.2471989336678589 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.73, Z:127.91 [[ 9.99986965e-01 -4.80372612e-03 1.73049304e-03 -9.03695911e+01] [ 4.81221259e-03 9.99976250e-01 -4.93375690e-03 -5.57268349e+01] [-1.70675153e-03 4.94202009e-03 9.99986332e-01 1.27909966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.29907232899996 meters 0.26039143044803215 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.73, Z:127.91 [[ 9.99984715e-01 -4.78377517e-03 2.77226838e-03 -9.03720227e+01] [ 4.79580401e-03 9.99979044e-01 -4.34870752e-03 -5.57290187e+01] [-2.75140705e-03 4.36193631e-03 9.99986702e-01 1.27909697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.35907232899996 meters 0.25196768674245196 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.73, Z:127.91 [[ 9.99983924e-01 -4.71917747e-03 3.14337966e-03 -9.03727453e+01] [ 4.73200660e-03 9.99980454e-01 -4.08646269e-03 -5.57297636e+01] [-3.12403348e-03 4.10127149e-03 9.99986710e-01 1.27909384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41907232899996 meters 0.23841010636957088 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.73, Z:127.91 [[ 9.99981922e-01 -4.72759719e-03 3.71556905e-03 -9.03738090e+01] [ 4.74195611e-03 9.99981287e-01 -3.86526800e-03 -5.57303685e+01] [-3.69722608e-03 3.88281719e-03 9.99985627e-01 1.27908874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47907232899996 meters 0.24385431737491808 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.73, Z:127.91 [[ 9.99978564e-01 -4.61988398e-03 4.63981142e-03 -9.03757614e+01] [ 4.63514874e-03 9.99983863e-01 -3.28460493e-03 -5.57323555e+01] [-4.62456206e-03 3.30604073e-03 9.99983842e-01 1.27908358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53907232899996 meters 0.28024374988372597 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.74, Z:127.91 [[ 9.99950104e-01 -8.30368478e-03 5.55327121e-03 -9.03774080e+01] [ 8.33699189e-03 9.99947235e-01 -6.00173573e-03 -5.57370692e+01] [-5.50314167e-03 6.04773384e-03 9.99966570e-01 1.27907305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59907232899997 meters 0.2819342054321221 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.74, Z:127.91 [[ 9.99949089e-01 -7.86589393e-03 6.32038903e-03 -9.03785457e+01] [ 7.89537793e-03 9.99958003e-01 -4.65357238e-03 -5.57407316e+01] [-6.28351909e-03 4.70323732e-03 9.99969198e-01 1.27905833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65907232899997 meters 0.2803346397816685 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.74, Z:127.90 [[ 9.99959841e-01 -7.12686899e-03 5.43363366e-03 -9.03750270e+01] [ 7.14893657e-03 9.99966233e-01 -4.05274651e-03 -5.57400354e+01] [-5.40456679e-03 4.09142846e-03 9.99977025e-01 1.27904119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71907232899997 meters 0.26612789242902907 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.74, Z:127.91 [[ 9.99983753e-01 -3.27562227e-03 4.66524889e-03 -9.03739835e+01] [ 3.28015825e-03 9.99994155e-01 -9.64972096e-04 -5.57367253e+01] [-4.66206073e-03 9.80259172e-04 9.99988652e-01 1.27905555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779072329 meters 0.2539271180172657 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.73, Z:127.91 [[ 9.99987424e-01 -3.62387252e-03 3.46687254e-03 -9.03714979e+01] [ 3.63312032e-03 9.99989849e-01 -2.66490597e-03 -5.57316455e+01] [-3.45718007e-03 2.67746802e-03 9.99990439e-01 1.27906767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839072329 meters 0.2566696939922988 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.73, Z:127.91 [[ 9.99991280e-01 -3.30025667e-03 2.55909237e-03 -9.03689057e+01] [ 3.30684832e-03 9.99991215e-01 -2.57583707e-03 -5.57308926e+01] [-2.55056897e-03 2.58427714e-03 9.99993408e-01 1.27906307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899072329 meters 0.2521956234581638 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.73, Z:127.91 [[ 9.99991178e-01 -3.46136973e-03 2.37950745e-03 -9.03688048e+01] [ 3.46838576e-03 9.99989632e-01 -2.95074718e-03 -5.57299243e+01] [-2.36926915e-03 2.95897420e-03 9.99992815e-01 1.27906917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959072329 meters 0.2598961600190474 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.73, Z:127.91 [[ 9.99990409e-01 -3.19921018e-03 2.99112741e-03 -9.03696886e+01] [ 3.20581558e-03 9.99992428e-01 -2.20614955e-03 -5.57318706e+01] [-2.98404683e-03 2.21571739e-03 9.99993093e-01 1.27905865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019072329 meters 0.3022952554459303 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.74, Z:127.90 [[ 9.99971878e-01 -6.63117784e-03 3.50283035e-03 -9.03699387e+01] [ 6.64767269e-03 9.99966771e-01 -4.71854096e-03 -5.57367322e+01] [-3.47142448e-03 4.74169394e-03 9.99982733e-01 1.27904203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079072329 meters 0.25341991997115276 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.74, Z:127.90 [[ 9.99965186e-01 -6.82251355e-03 4.80422430e-03 -9.03727328e+01] [ 6.84078254e-03 9.99969394e-01 -3.79658300e-03 -5.57399689e+01] [-4.77817502e-03 3.82931548e-03 9.99981253e-01 1.27903126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139072329 meters 0.24696011027345538 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.74, Z:127.90 [[ 9.99962928e-01 -6.57924696e-03 5.55485250e-03 -9.03742053e+01] [ 6.59578498e-03 9.99973854e-01 -2.96416765e-03 -5.57424340e+01] [-5.53520528e-03 3.00069638e-03 9.99980178e-01 1.27902415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199072329 meters 0.2367759480861813 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.74, Z:127.90 [[ 9.99953779e-01 -6.94408339e-03 6.64983764e-03 -9.03771154e+01] [ 6.96398431e-03 9.99971328e-01 -2.97422810e-03 -5.57433616e+01] [-6.62899368e-03 3.02039999e-03 9.99973466e-01 1.27902880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259072329 meters 0.3025690979907951 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99950763e-01 -6.73241823e-03 7.29018497e-03 -9.03781443e+01] [ 6.74907601e-03 9.99974665e-01 -2.26277425e-03 -5.57452559e+01] [-7.27476633e-03 2.31186485e-03 9.99970866e-01 1.27901929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319072329 meters 0.28963871156536874 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99944841e-01 -6.87056897e-03 7.94422134e-03 -9.03794856e+01] [ 6.88851778e-03 9.99973778e-01 -2.23420425e-03 -5.57453886e+01] [-7.92866277e-03 2.28880492e-03 9.99965948e-01 1.27901569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37907232899994 meters 0.315337080233936 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99936447e-01 -6.75183741e-03 9.02855068e-03 -9.03817885e+01] [ 6.76185870e-03 9.99976555e-01 -1.07989077e-03 -5.57492716e+01] [-9.02104776e-03 1.14087192e-03 9.99958659e-01 1.27900648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43907232899994 meters 0.29152082017602743 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99930757e-01 -6.68394051e-03 9.68538560e-03 -9.03832658e+01] [ 6.69098539e-03 9.99977373e-01 -6.95151397e-04 -5.57505945e+01] [-9.68052010e-03 7.59908036e-04 9.99952854e-01 1.27900388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49907232899994 meters 0.28743046918544446 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99931346e-01 -6.68377520e-03 9.62451087e-03 -9.03828099e+01] [ 6.69091048e-03 9.99977364e-01 -7.09357215e-04 -5.57502140e+01] [-9.61955183e-03 7.73705256e-04 9.99953432e-01 1.27899971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.55907232899995 meters 0.2837348404539633 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99928736e-01 -6.34678009e-03 1.01114743e-02 -9.03834434e+01] [ 6.34594068e-03 9.99979858e-01 1.15097538e-04 -5.57523988e+01] [-1.01120011e-02 -5.09225193e-05 9.99948871e-01 1.27899031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.61907232899995 meters 0.2865636064419756 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99922857e-01 -6.45113266e-03 1.06142607e-02 -9.03843291e+01] [ 6.45096909e-03 9.99979191e-01 4.96482862e-05 -5.57521234e+01] [-1.06143601e-02 1.88278112e-05 9.99943666e-01 1.27898521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.67907232899995 meters 0.2654629039769442 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99926626e-01 -6.71007623e-03 1.00854780e-02 -9.03834049e+01] [ 6.71723883e-03 9.99977210e-01 -6.76482398e-04 -5.57500224e+01] [-1.00807089e-02 7.44179326e-04 9.99948911e-01 1.27899234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.73907232899995 meters 0.25034306839727866 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99933413e-01 -6.87498746e-03 9.26846674e-03 -9.03820466e+01] [ 6.88914265e-03 9.99975150e-01 -1.49618079e-03 -5.57477474e+01] [-9.25795019e-03 1.55993295e-03 9.99955928e-01 1.27900453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.79907232899996 meters 0.24631401773519537 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99936779e-01 -6.92829489e-03 8.85640050e-03 -9.03811876e+01] [ 6.94469788e-03 9.99974224e-01 -1.82269613e-03 -5.57466901e+01] [-8.84354404e-03 1.88408593e-03 9.99959120e-01 1.27900811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.85907232899996 meters 0.28107856249535923 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.75, Z:127.90 [[ 9.99944471e-01 -6.75093281e-03 8.09193358e-03 -9.03791574e+01] [ 6.76677589e-03 9.99975239e-01 -1.93210836e-03 -5.57456973e+01] [-8.07868967e-03 1.98675737e-03 9.99965393e-01 1.27900716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91907232899996 meters 0.24623062645281177 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.75, Z:127.90 [[ 9.99993792e-01 -3.62871520e-04 3.50479807e-03 -9.03663546e+01] [ 3.66252984e-04 9.99999468e-01 -9.64216276e-04 -5.57462720e+01] [-3.50444632e-03 9.65493933e-04 9.99993393e-01 1.27903345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97907232899996 meters 0.2633207303761566 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.75, Z:127.90 [[ 9.99996353e-01 3.28719236e-05 2.70063188e-03 -9.03640680e+01] [-3.05433227e-05 9.99999628e-01 -8.62279714e-04 -5.57456619e+01] [-2.70065922e-03 8.62194083e-04 9.99995982e-01 1.27903042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03907232899996 meters 0.2876223431030845 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.74, Z:127.90 [[ 9.99997184e-01 -1.00796294e-05 2.37332204e-03 -9.03632061e+01] [ 1.27227167e-05 9.99999380e-01 -1.11365322e-03 -5.57446689e+01] [-2.37330934e-03 1.11368027e-03 9.99996564e-01 1.27903057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09907232899997 meters 0.28052632602884864 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.74, Z:127.90 [[ 9.99997912e-01 2.53125567e-05 2.04317302e-03 -9.03623528e+01] [-2.29050390e-05 9.99999305e-01 -1.17833777e-03 -5.57442208e+01] [-2.04320142e-03 1.17828851e-03 9.99997218e-01 1.27903094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15907232899997 meters 0.266161748983991 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.74, Z:127.90 [[ 9.99988851e-01 -4.37433846e-03 1.77846499e-03 -9.03616869e+01] [ 4.38453842e-03 9.99973727e-01 -5.77239419e-03 -5.57432119e+01] [-1.75316786e-03 5.78012759e-03 9.99981758e-01 1.27903256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21907232899997 meters 0.2542165286411132 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.74, Z:127.90 [[ 9.99993404e-01 -3.48015706e-03 1.03912080e-03 -9.03586306e+01] [ 3.48493812e-03 9.99983185e-01 -4.63526240e-03 -5.57446645e+01] [-1.02297189e-03 4.63885310e-03 9.99988717e-01 1.27901366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279072329 meters 0.24635814707252984 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.74, Z:127.90 [[ 9.99992769e-01 -3.78016147e-03 4.16011367e-04 -9.03572676e+01] [ 3.78245882e-03 9.99976786e-01 -5.66750508e-03 -5.57413432e+01] [-3.94577625e-04 5.66903764e-03 9.99983853e-01 1.27901963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339072329 meters 0.2476853214994801 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.74, Z:127.90 [[ 9.99992784e-01 -3.78791704e-03 -2.89712913e-04 -9.03555169e+01] [ 3.78607421e-03 9.99974124e-01 -6.11686889e-03 -5.57395364e+01] [ 3.12875608e-04 6.11572788e-03 9.99981250e-01 1.27902155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399072329 meters 0.24334638875123737 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99999685e-01 2.90597206e-04 -7.38024120e-04 -9.03544399e+01] [-2.92433637e-04 9.99996859e-01 -2.48942051e-03 -5.57371792e+01] [ 7.37298383e-04 2.48963555e-03 9.99996629e-01 1.27902321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459072329 meters 0.25231405820403874 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99998664e-01 5.76212670e-04 -1.52958695e-03 -9.03520028e+01] [-5.79939422e-04 9.99996862e-01 -2.43711947e-03 -5.57362251e+01] [ 1.52817785e-03 2.43800328e-03 9.99995860e-01 1.27901733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519072329 meters 0.24079471750033402 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99998861e-01 4.12589343e-04 -1.45167261e-03 -9.03522187e+01] [-4.16538877e-04 9.99996210e-01 -2.72142918e-03 -5.57353654e+01] [ 1.45054428e-03 2.72203076e-03 9.99995243e-01 1.27901814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579072329 meters 0.22681765896970943 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99998854e-01 3.92914125e-04 -1.46233107e-03 -9.03523887e+01] [-3.96984058e-04 9.99996046e-01 -2.78393268e-03 -5.57352673e+01] [ 1.46123144e-03 2.78451001e-03 9.99995056e-01 1.27902170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639072329 meters 0.3423013306675813 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.73, Z:127.90 [[ 9.99998785e-01 3.09630669e-04 -1.52767310e-03 -9.03522416e+01] [-3.14180248e-04 9.99995514e-01 -2.97876995e-03 -5.57345789e+01] [ 1.52674393e-03 2.97924630e-03 9.99994397e-01 1.27902274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699072329 meters 0.2481953707098822 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99999262e-01 6.47931186e-04 -1.02749636e-03 -9.03531649e+01] [-6.50170116e-04 9.99997412e-01 -2.18018006e-03 -5.57369540e+01] [ 1.02608110e-03 2.18084650e-03 9.99997096e-01 1.27901698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759072329 meters 0.2643835154829558 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99993070e-01 -3.36700570e-03 -1.58852675e-03 -9.03515783e+01] [ 3.35712462e-03 9.99975253e-01 -6.18247156e-03 -5.57373200e+01] [ 1.60930385e-03 6.17709583e-03 9.99979627e-01 1.27901467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819072329 meters 0.3129400459420415 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99993046e-01 -2.83365584e-03 -2.42461495e-03 -9.03487762e+01] [ 2.81940821e-03 9.99978858e-01 -5.85962103e-03 -5.57366911e+01] [ 2.44116783e-03 5.85274430e-03 9.99979893e-01 1.27900531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87907232899994 meters 0.295386976631881 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99995331e-01 1.38909697e-03 -2.72176145e-03 -9.03476978e+01] [-1.39430991e-03 9.99997196e-01 -1.91431902e-03 -5.57350848e+01] [ 2.71909465e-03 1.91810507e-03 9.99994464e-01 1.27900062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93907232899994 meters 0.29888454933856856 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.73, Z:127.90 [[ 9.99992973e-01 1.62949291e-03 -3.37617220e-03 -9.03456181e+01] [-1.63579153e-03 9.99996925e-01 -1.86368830e-03 -5.57342471e+01] [ 3.37312495e-03 1.86919792e-03 9.99992564e-01 1.27899478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99907232899994 meters 0.284345646432948 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.90 [[ 9.99992285e-01 1.60659196e-03 -3.58454941e-03 -9.03449804e+01] [-1.61378465e-03 9.99996689e-01 -2.00459172e-03 -5.57335778e+01] [ 3.58131698e-03 2.01036095e-03 9.99991566e-01 1.27899368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.05907232899995 meters 0.272517272002095 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.90 [[ 9.99988715e-01 -2.67215134e-03 -3.92796931e-03 -9.03439758e+01] [ 2.64701566e-03 9.99976077e-01 -6.39048413e-03 -5.57329184e+01] [ 3.94495168e-03 6.38001462e-03 9.99971866e-01 1.27899311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.11907232899995 meters 0.3338894245171721 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.90 [[ 9.99990946e-01 -2.44546952e-03 -3.48246376e-03 -9.03447616e+01] [ 2.42505977e-03 9.99979931e-01 -5.85293221e-03 -5.57344960e+01] [ 3.49670704e-03 5.84443403e-03 9.99976808e-01 1.27898763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.17907232899995 meters 0.32527300579365725 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99993007e-01 -2.23078660e-03 -3.00146071e-03 -9.03454995e+01] [ 2.21488329e-03 9.99983547e-01 -5.29145553e-03 -5.57360183e+01] [ 3.01321543e-03 5.28477064e-03 9.99981496e-01 1.27898000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.23907232899995 meters 0.3207136217010658 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99993384e-01 -2.10553988e-03 -2.96634963e-03 -9.03451923e+01] [ 2.09052284e-03 9.99985031e-01 -5.05650035e-03 -5.57363884e+01] [ 2.97695189e-03 5.05026567e-03 9.99982816e-01 1.27897430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.29907232899996 meters 0.3053967908396397 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.74, Z:127.90 [[ 9.99992602e-01 -2.15377583e-03 -3.18698943e-03 -9.03446029e+01] [ 2.13712967e-03 9.99984106e-01 -5.21738176e-03 -5.57356565e+01] [ 3.19817585e-03 5.21053215e-03 9.99981311e-01 1.27897468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.35907232899996 meters 0.316162801684417 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.73, Z:127.90 [[ 9.99992343e-01 -2.49674799e-03 -3.01343258e-03 -9.03453288e+01] [ 2.47918996e-03 9.99980012e-01 -5.81632719e-03 -5.57340911e+01] [ 3.02789425e-03 5.80881179e-03 9.99978545e-01 1.27898044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41907232899996 meters 0.3055158229469068 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.74, Z:127.90 [[ 9.99993378e-01 -2.27740871e-03 -2.83848921e-03 -9.03456515e+01] [ 2.26206513e-03 9.99982877e-01 -5.39708094e-03 -5.57352930e+01] [ 2.85073197e-03 5.39062436e-03 9.99981407e-01 1.27897866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47907232899996 meters 0.2857081725723484 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.90 [[ 9.99992207e-01 -2.21986266e-03 -3.26475720e-03 -9.03445586e+01] [ 2.20199775e-03 9.99982640e-01 -5.46550054e-03 -5.57346901e+01] [ 3.27683319e-03 5.45826896e-03 9.99979735e-01 1.27897934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53907232899996 meters 0.27593940297801833 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.90 [[ 9.99989205e-01 -2.36698372e-03 -3.99850549e-03 -9.03425836e+01] [ 2.34284869e-03 9.99979075e-01 -6.02994921e-03 -5.57322684e+01] [ 4.01269461e-03 6.02051622e-03 9.99973825e-01 1.27897876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59907232899997 meters 0.27283669261272697 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.89 [[ 9.99990455e-01 -1.34086388e-04 -4.36720021e-03 -9.03386443e+01] [ 1.17714906e-04 9.99992966e-01 -3.74877769e-03 -5.57320995e+01] [ 4.36767216e-03 3.74822782e-03 9.99983437e-01 1.27894414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65907232899997 meters 0.25841599783803143 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.89 [[ 9.99989700e-01 -1.50364331e-04 -4.53630833e-03 -9.03382475e+01] [ 1.32743266e-04 9.99992446e-01 -3.88450152e-03 -5.57315795e+01] [ 4.53685816e-03 3.88385935e-03 9.99982166e-01 1.27894525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71907232899997 meters 0.2628712005588253 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.89 [[ 9.99991747e-01 -1.90357760e-04 -4.05840200e-03 -9.03393862e+01] [ 1.74945545e-04 9.99992774e-01 -3.79762367e-03 -5.57319925e+01] [ 4.05909558e-03 3.79688232e-03 9.99984554e-01 1.27894476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779072329 meters 0.2593560792697765 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.89 [[ 9.99988931e-01 -9.27459411e-05 -4.70412889e-03 -9.03379386e+01] [ 7.42811512e-05 9.99992293e-01 -3.92525328e-03 -5.57311297e+01] [ 4.70445669e-03 3.92486040e-03 9.99981232e-01 1.27894824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839072329 meters 0.24215819058120294 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.89 [[ 9.99991515e-01 1.76277044e-05 -4.11935513e-03 -9.03392354e+01] [-3.23124238e-05 9.99993646e-01 -3.56477087e-03 -5.57323585e+01] [ 4.11926612e-03 3.56487373e-03 9.99985162e-01 1.27894597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899072329 meters 0.24203294020916635 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.73, Z:127.89 [[ 9.99985023e-01 -3.90158514e-03 -3.83802779e-03 -9.03391648e+01] [ 3.87447664e-03 9.99967675e-01 -7.04539173e-03 -5.57344457e+01] [ 3.86539193e-03 7.03041586e-03 9.99967815e-01 1.27893429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959072329 meters 0.2623352300665541 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.74, Z:127.89 [[ 9.99987683e-01 -4.04685241e-03 -2.87340002e-03 -9.03412168e+01] [ 4.02743359e-03 9.99969229e-01 -6.73205970e-03 -5.57358585e+01] [ 2.90055526e-03 6.72040436e-03 9.99973211e-01 1.27892856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019072329 meters 0.2560219624982273 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.74, Z:127.89 [[ 9.99990597e-01 -3.85255916e-03 -1.99108201e-03 -9.03431809e+01] [ 3.84104799e-03 9.99976073e-01 -5.75320887e-03 -5.57391683e+01] [ 2.01319895e-03 5.74550693e-03 9.99981468e-01 1.27892246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079072329 meters 0.2687151405899061 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.74, Z:127.89 [[ 9.99992641e-01 -3.60785538e-03 -1.30445214e-03 -9.03445125e+01] [ 3.60126079e-03 9.99980900e-01 -5.02293996e-03 -5.57413666e+01] [ 1.32254926e-03 5.01820532e-03 9.99986534e-01 1.27891571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139072329 meters 0.25014454757434124 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99993853e-01 -3.49259295e-03 -3.10295458e-04 -9.03467053e+01] [ 3.49134163e-03 9.99986121e-01 -3.94564184e-03 -5.57450489e+01] [ 3.24071672e-04 3.94453424e-03 9.99992168e-01 1.27890775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199072329 meters 0.2737939293098895 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99976098e-01 -6.91116470e-03 -1.98281487e-04 -9.03460633e+01] [ 6.90967635e-03 9.99953547e-01 -6.72006343e-03 -5.57489757e+01] [ 2.44715742e-04 6.71853274e-03 9.99977400e-01 1.27889384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259072329 meters 0.25756240261587765 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99937962e-01 -1.11142462e-02 7.38766765e-04 -9.03482848e+01] [ 1.11213423e-02 9.99883879e-01 -1.04184526e-02 -5.57514235e+01] [-6.22887731e-04 1.04260223e-02 9.99945454e-01 1.27889195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319072329 meters 0.24794848181572537 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99938683e-01 -1.10300749e-02 9.84057583e-04 -9.03488333e+01] [ 1.10395310e-02 9.99887182e-01 -1.01859210e-02 -5.57521254e+01] [-8.71595091e-04 1.01961600e-02 9.99947638e-01 1.27889108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37907232899994 meters 0.2659428432491925 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99974426e-01 -6.93609056e-03 1.74287432e-03 -9.03506119e+01] [ 6.94640831e-03 9.99957961e-01 -5.98534318e-03 -5.57521554e+01] [-1.70128616e-03 5.99729683e-03 9.99980569e-01 1.27888867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43907232899994 meters 0.27406863850194946 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99975537e-01 -6.64644360e-03 2.17944115e-03 -9.03510708e+01] [ 6.65786279e-03 9.99963924e-01 -5.27479526e-03 -5.57540271e+01] [-2.14430390e-03 5.28917664e-03 9.99983713e-01 1.27887795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49907232899994 meters 0.24476664499975687 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99975972e-01 -6.58800044e-03 2.15701945e-03 -9.03507571e+01] [ 6.59916635e-03 9.99964648e-01 -5.21100989e-03 -5.57539352e+01] [-2.12261306e-03 5.22511921e-03 9.99984096e-01 1.27887457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.55907232899995 meters 0.25728741977332775 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99975472e-01 -6.58130315e-03 2.39636108e-03 -9.03512460e+01] [ 6.59354644e-03 9.99965065e-01 -5.13757222e-03 -5.57541184e+01] [-2.36246544e-03 5.15324672e-03 9.99983931e-01 1.27887321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.61907232899995 meters 0.271054337592613 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99974793e-01 -6.61308947e-03 2.58453795e-03 -9.03517463e+01] [ 6.62635033e-03 9.99964751e-01 -5.15640887e-03 -5.57541260e+01] [-2.55034705e-03 5.17340494e-03 9.99983366e-01 1.27887378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.67907232899995 meters 0.25947213856417745 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99974874e-01 -6.52788164e-03 2.76382732e-03 -9.03517059e+01] [ 6.54150125e-03 9.99966364e-01 -4.94778293e-03 -5.57544341e+01] [-2.73143581e-03 4.96573820e-03 9.99983940e-01 1.27886654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.73907232899995 meters 0.2624762434998783 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99977930e-01 -6.27454745e-03 2.18409993e-03 -9.03497754e+01] [ 6.28493158e-03 9.99968823e-01 -4.78047981e-03 -5.57540706e+01] [-2.15403649e-03 4.79410122e-03 9.99986188e-01 1.27885981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.79907232899996 meters 0.3405732391427736 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99980221e-01 -6.12812028e-03 1.41559254e-03 -9.03474061e+01] [ 6.13511515e-03 9.99968725e-01 -4.99096877e-03 -5.57522756e+01] [-1.38496301e-03 4.99955487e-03 9.99986543e-01 1.27885546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.85907232899996 meters 0.3261321273961298 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99980254e-01 -6.22825239e-03 8.36438848e-04 -9.03461269e+01] [ 6.23282837e-03 9.99964983e-01 -5.58439514e-03 -5.57500666e+01] [-8.01628535e-04 5.58949826e-03 9.99984057e-01 1.27886100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91907232899996 meters 0.3132233115192757 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.75, Z:127.89 [[ 9.99980262e-01 -6.25292189e-03 6.14425475e-04 -9.03456014e+01] [ 6.25633736e-03 9.99964048e-01 -5.72369006e-03 -5.57494764e+01] [-5.78613599e-04 5.72742113e-03 9.99983431e-01 1.27886230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97907232899996 meters 0.2899269815745151 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.89 [[ 9.99981789e-01 -6.03088556e-03 2.24987939e-04 -9.03440433e+01] [ 6.03203196e-03 9.99966680e-01 -5.50028437e-03 -5.57493611e+01] [-1.91808857e-04 5.50154134e-03 9.99984848e-01 1.27885375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03907232899996 meters 0.302541697693408 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.88 [[ 9.99982140e-01 -5.97599222e-03 8.44575059e-05 -9.03431323e+01] [ 5.97636488e-03 9.99967173e-01 -5.47136074e-03 -5.57488917e+01] [-5.17579242e-05 5.47176777e-03 9.99985028e-01 1.27884615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09907232899997 meters 0.2969304624551213 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.88 [[ 9.99982071e-01 -5.98549111e-03 -1.77278075e-04 -9.03423800e+01] [ 5.98440329e-03 9.99966378e-01 -5.60629418e-03 -5.57481926e+01] [ 2.10828539e-04 5.60513276e-03 9.99984269e-01 1.27884576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15907232899997 meters 0.2964433247881442 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.88 [[ 9.99983994e-01 -5.60896128e-03 -7.41923848e-04 -9.03406882e+01] [ 5.60502606e-03 9.99970751e-01 -5.20386930e-03 -5.57486110e+01] [ 7.71090449e-04 5.19962750e-03 9.99986185e-01 1.27884155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21907232899997 meters 0.304354619339287 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.88 [[ 9.99984707e-01 -5.24810522e-03 -1.74459417e-03 -9.03381315e+01] [ 5.23837604e-03 9.99970959e-01 -5.53531840e-03 -5.57463047e+01] [ 1.77359344e-03 5.52609490e-03 9.99983158e-01 1.27884494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279072329 meters 0.2616553664238063 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.88 [[ 9.99984558e-01 -5.24216568e-03 -1.84475782e-03 -9.03377664e+01] [ 5.23181082e-03 9.99970780e-01 -5.57388496e-03 -5.57459681e+01] [ 1.87392315e-03 5.56414746e-03 9.99982764e-01 1.27884385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339072329 meters 0.2775107837050981 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.88 [[ 9.99985768e-01 -5.03970257e-03 -1.75059756e-03 -9.03375914e+01] [ 5.03053420e-03 9.99973812e-01 -5.20278673e-03 -5.57467807e+01] [ 1.77677221e-03 5.19390625e-03 9.99984933e-01 1.27883774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399072329 meters 0.26015884447921594 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.88 [[ 9.99987285e-01 -4.85423056e-03 -1.36623146e-03 -9.03381369e+01] [ 4.84769234e-03 9.99976974e-01 -4.74888947e-03 -5.57480119e+01] [ 1.38925221e-03 4.74220602e-03 9.99987791e-01 1.27883109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459072329 meters 0.2559053888980544 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.88 [[ 9.99989147e-01 -4.50313130e-03 -1.19453575e-03 -9.03382224e+01] [ 4.49822173e-03 9.99981554e-01 -4.08135070e-03 -5.57498269e+01] [ 1.21289257e-03 4.07593312e-03 9.99990958e-01 1.27882538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519072329 meters 0.2461481352291223 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.88 [[ 9.99989605e-01 -4.55812281e-03 -1.13837253e-04 -9.03408218e+01] [ 4.55773131e-03 9.99984395e-01 -3.23048689e-03 -5.57532826e+01] [ 1.28560433e-04 3.22993447e-03 9.99994775e-01 1.27882114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579072329 meters 0.23685946909002586 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.76, Z:127.88 [[ 9.99989823e-01 -4.43330870e-03 8.36686513e-04 -9.03429947e+01] [ 4.43536343e-03 9.99987113e-01 -2.47012916e-03 -5.57559310e+01] [-8.25724885e-04 2.47381503e-03 9.99996599e-01 1.27881789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639072329 meters 0.2514608980594559 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.76, Z:127.88 [[ 9.99989951e-01 -4.14655129e-03 1.70391670e-03 -9.03447842e+01] [ 4.14900274e-03 9.99990359e-01 -1.43771027e-03 -5.57591602e+01] [-1.69793873e-03 1.44476537e-03 9.99997515e-01 1.27881000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699072329 meters 0.2400199404180514 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.76, Z:127.88 [[ 9.99988354e-01 -4.09051086e-03 2.56107468e-03 -9.03465730e+01] [ 4.09274461e-03 9.99991248e-01 -8.67560980e-04 -5.57610659e+01] [-2.55750350e-03 8.78032701e-04 9.99996344e-01 1.27880390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759072329 meters 0.25109240626299184 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99966488e-01 -7.57244610e-03 3.11142468e-03 -9.03470436e+01] [ 7.58330480e-03 9.99965145e-01 -3.49309741e-03 -5.57657909e+01] [-3.08486494e-03 3.51657524e-03 9.99989059e-01 1.27878983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819072329 meters 0.2568780651580492 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99967002e-01 -7.47203104e-03 3.18792832e-03 -9.03471608e+01] [ 7.48250631e-03 9.99966604e-01 -3.28674327e-03 -5.57663627e+01] [-3.16326321e-03 3.31048851e-03 9.99989517e-01 1.27878871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87907232899994 meters 0.2458526218923391 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99965213e-01 -7.45421422e-03 3.74277087e-03 -9.03484700e+01] [ 7.46568169e-03 9.99967452e-01 -3.05933349e-03 -5.57671798e+01] [-3.71984412e-03 3.08716940e-03 9.99988316e-01 1.27878794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93907232899994 meters 0.29147613648332177 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99963965e-01 -7.29902723e-03 4.33506681e-03 -9.03497504e+01] [ 7.31021518e-03 9.99969976e-01 -2.57058960e-03 -5.57688055e+01] [-4.31617385e-03 2.60218724e-03 9.99987300e-01 1.27878454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99907232899994 meters 0.27831452065001366 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99972359e-01 -6.42249347e-03 3.74614098e-03 -9.03467415e+01] [ 6.42786758e-03 9.99978327e-01 -1.42430270e-03 -5.57702504e+01] [-3.73691222e-03 1.44834303e-03 9.99991969e-01 1.27876093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.05907232899995 meters 0.2531677536678124 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99972423e-01 -6.55615866e-03 3.48861486e-03 -9.03460585e+01] [ 6.56243296e-03 9.99976865e-01 -1.79011204e-03 -5.57689251e+01] [-3.47679789e-03 1.81295647e-03 9.99992313e-01 1.27876135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.11907232899995 meters 0.25769049569092284 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99972135e-01 -6.62298180e-03 3.44448823e-03 -9.03462709e+01] [ 6.62970867e-03 9.99976131e-01 -1.94519912e-03 -5.57685551e+01] [-3.43152300e-03 1.96798088e-03 9.99992176e-01 1.27876723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.17907232899995 meters 0.23657051486700278 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99970063e-01 -6.81085296e-03 3.67211852e-03 -9.03470105e+01] [ 6.81908278e-03 9.99974256e-01 -2.23332109e-03 -5.57678466e+01] [-3.65681317e-03 2.25829471e-03 9.99990764e-01 1.27877020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.23907232899995 meters 0.2532543978896257 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99974044e-01 -6.36412123e-03 3.37768911e-03 -9.03456617e+01] [ 6.36948046e-03 9.99978469e-01 -1.57827499e-03 -5.57691287e+01] [-3.36757205e-03 1.59974815e-03 9.99993050e-01 1.27876058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.29907232899996 meters 0.2641086217216153 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99973241e-01 -6.36399246e-03 3.60800226e-03 -9.03462055e+01] [ 6.36950147e-03 9.99978563e-01 -1.51745563e-03 -5.57692964e+01] [-3.59826784e-03 1.54039620e-03 9.99992340e-01 1.27876066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.35907232899996 meters 0.288978961888877 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.77, Z:127.88 [[ 9.99938779e-01 -1.04057550e-02 3.76285301e-03 -9.03463573e+01] [ 1.04257976e-02 9.99931356e-01 -5.34664794e-03 -5.57706874e+01] [-3.70695880e-03 5.38555135e-03 9.99978627e-01 1.27875889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41907232899996 meters 0.2678980517087846 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.78, Z:127.87 [[ 9.99923595e-01 -1.10931242e-02 5.45400170e-03 -9.03503433e+01] [ 1.11167692e-02 9.99928856e-01 -4.32431409e-03 -5.57751596e+01] [-5.40564353e-03 4.38461457e-03 9.99975777e-01 1.27874996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47907232899996 meters 0.27774781423705647 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.78, Z:127.87 [[ 9.99920501e-01 -1.08990391e-02 6.34061024e-03 -9.03520262e+01] [ 1.09214750e-02 9.99934182e-01 -3.51464481e-03 -5.57775290e+01] [-6.30188667e-03 3.58361421e-03 9.99973722e-01 1.27874079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53907232899996 meters 0.254133819366849 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.78, Z:127.87 [[ 9.99856270e-01 -1.51656114e-02 7.57920915e-03 -9.03545811e+01] [ 1.52163652e-02 9.99861882e-01 -6.68425962e-03 -5.57812070e+01] [-7.47679144e-03 6.79862691e-03 9.99948937e-01 1.27873165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59907232899997 meters 0.24648295886744384 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.78, Z:127.87 [[ 9.99844014e-01 -1.53479335e-02 8.74009203e-03 -9.03571583e+01] [ 1.53996066e-02 9.99864154e-01 -5.87590922e-03 -5.57841378e+01] [-8.64872165e-03 6.00958664e-03 9.99944541e-01 1.27872393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65907232899997 meters 0.23731928286489423 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.78, Z:127.87 [[ 9.99835886e-01 -1.54325144e-02 9.48887717e-03 -9.03588165e+01] [ 1.54869570e-02 9.99863874e-01 -5.69106308e-03 -5.57847972e+01] [-9.39975807e-03 5.83708293e-03 9.99938785e-01 1.27872119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71907232899997 meters 0.22320249869819617 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.79, Z:127.87 [[ 9.99821143e-01 -1.56154959e-02 1.06695124e-02 -9.03613910e+01] [ 1.56604845e-02 9.99868771e-01 -4.14609858e-03 -5.57902176e+01] [-1.06033689e-02 4.31244675e-03 9.99934484e-01 1.27870798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779072329 meters 0.234310713882528 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.79, Z:127.87 [[ 9.99807179e-01 -1.58909630e-02 1.15361216e-02 -9.03637588e+01] [ 1.59415217e-02 9.99863663e-01 -4.30398634e-03 -5.57904198e+01] [-1.14661543e-02 4.48705977e-03 9.99924194e-01 1.27871269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839072329 meters 0.22256137821927546 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.79, Z:127.87 [[ 9.99856198e-01 -1.17723614e-02 1.22063184e-02 -9.03654294e+01] [ 1.17734723e-02 9.99930690e-01 -1.91547079e-05 -5.57905611e+01] [-1.22052469e-02 1.62862705e-04 9.99925500e-01 1.27871122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899072329 meters 0.228895471595439 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.79, Z:127.87 [[ 9.99844260e-01 -1.17998380e-02 1.31232151e-02 -9.03673684e+01] [ 1.17944978e-02 9.99930325e-01 4.84250968e-04 -5.57922643e+01] [-1.31280149e-02 -3.29393820e-04 9.99913770e-01 1.27870539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959072329 meters 0.24365715210196404 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.79, Z:127.87 [[ 9.99841103e-01 -1.15833972e-02 1.35496967e-02 -9.03677187e+01] [ 1.15702237e-02 9.99932511e-01 1.05022363e-03 -5.57935686e+01] [-1.35609474e-02 -8.93283730e-04 9.99907647e-01 1.27869420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019072329 meters 0.24641610378780598 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.79, Z:127.87 [[ 9.99833866e-01 -1.16106353e-02 1.40511145e-02 -9.03688841e+01] [ 1.15952776e-02 9.99932083e-01 1.17396622e-03 -5.57940261e+01] [-1.40637907e-02 -1.01084461e-03 9.99900589e-01 1.27869311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079072329 meters 0.23388380423339192 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.79, Z:127.87 [[ 9.99829981e-01 -1.19206538e-02 1.40679178e-02 -9.03696911e+01] [ 1.19132714e-02 9.99928849e-01 6.08459957e-04 -5.57927976e+01] [-1.40741701e-02 -4.40761584e-04 9.99900857e-01 1.27870523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139072329 meters 0.2804843479453972 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.80, Z:127.87 [[ 9.99760327e-01 -1.58174911e-02 1.51358959e-02 -9.03722004e+01] [ 1.58549748e-02 9.99871518e-01 -2.35968433e-03 -5.57973048e+01] [-1.50966269e-02 2.59909802e-03 9.99882661e-01 1.27870358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199072329 meters 0.26228628464540654 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.80, Z:127.87 [[ 9.99753068e-01 -1.56444325e-02 1.57814498e-02 -9.03733298e+01] [ 1.56741045e-02 9.99875608e-01 -1.75824231e-03 -5.57989754e+01] [-1.57519801e-02 2.00516824e-03 9.99873919e-01 1.27869549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259072329 meters 0.2620042587512094 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.80, Z:127.87 [[ 9.99750557e-01 -1.54436597e-02 1.61343254e-02 -9.03739017e+01] [ 1.54661908e-02 9.99879581e-01 -1.27261588e-03 -5.58003170e+01] [-1.61127287e-02 1.52183499e-03 9.99869023e-01 1.27869067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319072329 meters 0.2499050139224549 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.80, Z:127.87 [[ 9.99892016e-01 -1.30856113e-02 6.68756457e-03 -9.03768433e+01] [ 1.31458531e-02 9.99872680e-01 -9.04489499e-03 -5.57955538e+01] [-6.56835513e-03 9.13183203e-03 9.99936731e-01 1.27866815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37907232899994 meters 0.32512929905600485 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99934801e-01 -9.10941881e-03 6.88566551e-03 -9.03777693e+01] [ 9.14556628e-03 9.99944467e-01 -5.23653942e-03 -5.57942530e+01] [-6.83758129e-03 5.29917131e-03 9.99962582e-01 1.27867358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43907232899994 meters 0.27296254603149905 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99963585e-01 -5.22642615e-03 6.74632217e-03 -9.03777241e+01] [ 5.23802568e-03 9.99984832e-01 -1.70286450e-03 -5.57918582e+01] [-6.73731995e-03 1.73813990e-03 9.99975793e-01 1.27867800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49907232899994 meters 0.26516783153877116 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99964933e-01 -5.10655143e-03 6.63739588e-03 -9.03774252e+01] [ 5.11680847e-03 9.99985740e-01 -1.52927961e-03 -5.57923386e+01] [-6.62949188e-03 1.56318826e-03 9.99976803e-01 1.27867764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.55907232899995 meters 0.2432397333506258 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99961241e-01 -5.16626141e-03 7.12919806e-03 -9.03788016e+01] [ 5.17731996e-03 9.99985422e-01 -1.53358159e-03 -5.57925670e+01] [-7.12117124e-03 1.57043229e-03 9.99973411e-01 1.27868083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.61907232899995 meters 0.3297453104104416 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99962239e-01 -5.08802882e-03 7.04503632e-03 -9.03784214e+01] [ 5.09815761e-03 9.99985995e-01 -1.42050880e-03 -5.57927334e+01] [-7.03771006e-03 1.45637187e-03 9.99974174e-01 1.27867869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.67907232899995 meters 0.263368900957849 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99959271e-01 -4.80312229e-03 7.64107312e-03 -9.03788164e+01] [ 4.80803549e-03 9.99988246e-01 -6.24757891e-04 -5.57945136e+01] [-7.63798252e-03 6.61470996e-04 9.99970611e-01 1.27866181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.73907232899995 meters 0.29622897004931803 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99960957e-01 -4.87097489e-03 7.37273284e-03 -9.03780097e+01] [ 4.87735921e-03 9.99987746e-01 -8.48204878e-04 -5.57935872e+01] [-7.36851091e-03 8.84131229e-04 9.99972461e-01 1.27866055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.79907232899996 meters 0.2932862536367621 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99959728e-01 -5.00250855e-03 7.45104879e-03 -9.03783956e+01] [ 5.01070104e-03 9.99986862e-01 -1.08124687e-03 -5.57929864e+01] [-7.44554195e-03 1.11853830e-03 9.99971656e-01 1.27866399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.85907232899996 meters 0.2799108651775387 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99966925e-01 -4.73696704e-03 6.61128222e-03 -9.03765232e+01] [ 4.74413636e-03 9.99988175e-01 -1.06914590e-03 -5.57926194e+01] [-6.60613954e-03 1.10047537e-03 9.99977574e-01 1.27866759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91907232899996 meters 0.31904763035513056 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.79, Z:127.87 [[ 9.99969947e-01 -4.69731302e-03 6.16772947e-03 -9.03754039e+01] [ 4.70467279e-03 9.99988238e-01 -1.17930434e-03 -5.57920835e+01] [-6.16211736e-03 1.20828605e-03 9.99980284e-01 1.27866812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97907232899996 meters 0.2698653914315609 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.79, Z:127.87 [[ 9.99976185e-01 -4.61998974e-03 5.12684962e-03 -9.03729088e+01] [ 4.62807743e-03 9.99988063e-01 -1.56677609e-03 -5.57902671e+01] [-5.11954993e-03 1.59046623e-03 9.99985630e-01 1.27867078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03907232899996 meters 0.30839806097019484 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.79, Z:127.87 [[ 9.99998099e-01 1.89535850e-03 4.58209275e-04 -9.03586454e+01] [-1.89463504e-03 9.99996966e-01 -1.57419729e-03 -5.57927022e+01] [-4.61191553e-04 1.57332616e-03 9.99998656e-01 1.27870156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09907232899997 meters 0.28786237465786574 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.79, Z:127.87 [[ 9.99995936e-01 2.71781662e-03 -8.61462697e-04 -9.03546875e+01] [-2.71962367e-03 9.99994090e-01 -2.10346584e-03 -5.57892705e+01] [ 8.55740771e-04 2.10580015e-03 9.99997417e-01 1.27870048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15907232899997 meters 0.2835198466627031 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.79, Z:127.87 [[ 9.99995194e-01 2.59768242e-03 -1.69252879e-03 -9.03525931e+01] [-2.60229873e-03 9.99992885e-01 -2.73099698e-03 -5.57868278e+01] [ 1.68542248e-03 2.73538832e-03 9.99994838e-01 1.27870225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21907232899997 meters 0.2833724281857883 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.79, Z:127.87 [[ 9.99992414e-01 2.84821233e-03 -2.65708198e-03 -9.03500594e+01] [-2.85543680e-03 9.99992226e-01 -2.71913170e-03 -5.57860879e+01] [ 2.64931666e-03 2.72669820e-03 9.99992773e-01 1.27870083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279072329 meters 0.27396963601753815 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.78, Z:127.87 [[ 9.99962822e-01 7.64675460e-03 -3.98515070e-03 -9.03466723e+01] [-7.64218273e-03 9.99970124e-01 1.16119430e-03 -5.57836179e+01] [ 3.99391100e-03 -1.13069588e-03 9.99991385e-01 1.27870382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339072329 meters 0.2635672925921522 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.78, Z:127.87 [[ 9.99961677e-01 7.39220395e-03 -4.69040836e-03 -9.03450579e+01] [-7.39153081e-03 9.99972669e-01 1.60832565e-04 -5.57803295e+01] [ 4.69146907e-03 -1.26157103e-04 9.99988987e-01 1.27870977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399072329 meters 0.2605657792878503 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.87 [[ 9.99960860e-01 7.20552760e-03 -5.13399885e-03 -9.03443532e+01] [-7.20722618e-03 9.99973979e-01 -3.12425807e-04 -5.57789798e+01] [ 5.13161407e-03 3.49415470e-04 9.99986772e-01 1.27871668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459072329 meters 0.2587376877514068 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.87 [[ 9.99959712e-01 7.04246287e-03 -5.56578077e-03 -9.03433483e+01] [-7.04655978e-03 9.99974916e-01 -7.16822319e-04 -5.57775810e+01] [ 5.56059297e-03 7.56013047e-04 9.99984254e-01 1.27871875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519072329 meters 0.24707647935746077 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.87 [[ 9.99951521e-01 7.22034131e-03 -6.69497464e-03 -9.03405350e+01] [-7.22842804e-03 9.99973173e-01 -1.18447041e-03 -5.57752935e+01] [ 6.68624275e-03 1.23280713e-03 9.99976887e-01 1.27872043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579072329 meters 0.24444206938513363 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.87 [[ 9.99968299e-01 3.28563040e-03 -7.25290942e-03 -9.03387152e+01] [-3.32168307e-03 9.99982161e-01 -4.96435100e-03 -5.57761580e+01] [ 7.23646901e-03 4.98828549e-03 9.99961375e-01 1.27871299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639072329 meters 0.274225954334287 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.77, Z:127.87 [[ 9.99942847e-01 7.28405329e-03 -7.82598469e-03 -9.03373677e+01] [-7.29625357e-03 9.99972209e-01 -1.53152598e-03 -5.57732637e+01] [ 7.81461149e-03 1.58853882e-03 9.99968204e-01 1.27871677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699072329 meters 0.2521268266309385 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.77, Z:127.87 [[ 9.99897662e-01 1.13023804e-02 -8.77050572e-03 -9.03351962e+01] [-1.12911030e-02 9.99935363e-01 1.33427904e-03 -5.57686261e+01] [ 8.78501935e-03 -1.23511381e-03 9.99960648e-01 1.27872567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759072329 meters 0.26016263690237457 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.77, Z:127.87 [[ 9.99892105e-01 1.10625316e-02 -9.66434434e-03 -9.03336489e+01] [-1.10591726e-02 9.99938765e-01 4.00936639e-04 -5.57659588e+01] [ 9.66818792e-03 -2.94013727e-04 9.99953219e-01 1.27873818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819072329 meters 0.24601623282848287 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.77, Z:127.87 [[ 9.99917311e-01 7.39610785e-03 -1.05198788e-02 -9.03307191e+01] [-7.43036871e-03 9.99967205e-01 -3.22142517e-03 -5.57661114e+01] [ 1.04957078e-02 3.29932538e-03 9.99939475e-01 1.27872729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87907232899994 meters 0.29895909735836806 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.78, Z:127.87 [[ 9.99985870e-01 5.27177811e-03 -6.83892473e-04 -9.03251933e+01] [-5.26873577e-03 9.99976543e-01 4.37660623e-03 -5.57759333e+01] [ 7.06948928e-04 -4.37294114e-03 9.99990189e-01 1.27871599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93907232899994 meters 0.24084999916698283 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.78, Z:127.87 [[ 9.99998839e-01 1.27032678e-03 -8.41167395e-04 -9.03246129e+01] [-1.26980234e-03 9.99998999e-01 6.23705565e-04 -5.57773729e+01] [ 8.41958863e-04 -6.22636725e-04 9.99999452e-01 1.27871256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99907232899994 meters 0.2773644294487475 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.78, Z:127.87 [[ 9.99999247e-01 -5.01383753e-04 -1.11973799e-03 -9.03208147e+01] [ 5.00385158e-04 9.99999477e-01 -8.91913800e-04 -5.57779538e+01] [ 1.12018460e-03 8.91352828e-04 9.99998975e-01 1.27867723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.05907232899995 meters 0.2886391045785368 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.78, Z:127.87 [[ 9.99989725e-01 -4.33059845e-03 -1.34015166e-03 -9.03199027e+01] [ 4.32465932e-03 9.99980954e-01 -4.40329171e-03 -5.57800010e+01] [ 1.35919502e-03 4.39745077e-03 9.99989407e-01 1.27867151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.11907232899995 meters 0.35878458893112136 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.78, Z:127.87 [[ 9.99990556e-01 -4.13571900e-03 -1.33590046e-03 -9.03201025e+01] [ 4.13028227e-03 9.99983281e-01 -4.04715679e-03 -5.57811437e+01] [ 1.35261602e-03 4.04160092e-03 9.99990918e-01 1.27867445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.17907232899995 meters 0.250121036364684 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.78, Z:127.87 [[ 9.99965195e-01 -8.29491431e-03 -8.96522138e-04 -9.03209257e+01] [ 8.28756176e-03 9.99934330e-01 -7.91533122e-03 -5.57825099e+01] [ 9.62120257e-04 7.90762574e-03 9.99968271e-01 1.27867143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.23907232899995 meters 0.27050648475853584 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.87 [[ 9.99966590e-01 -8.16378680e-03 4.13297201e-04 -9.03235784e+01] [ 8.16607021e-03 9.99949470e-01 -5.86287520e-03 -5.57888499e+01] [-3.65413054e-04 5.86605434e-03 9.99982728e-01 1.27865220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.29907232899996 meters 0.2632498647409489 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.86 [[ 9.99964501e-01 -8.29323802e-03 1.48990230e-03 -9.03259774e+01] [ 8.30096816e-03 9.99951716e-01 -5.25932867e-03 -5.57910430e+01] [-1.44621349e-03 5.27150960e-03 9.99985060e-01 1.27864642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.35907232899996 meters 0.24981455638869543 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.86 [[ 9.99962432e-01 -8.32890107e-03 2.40076441e-03 -9.03282383e+01] [ 8.34040845e-03 9.99953584e-01 -4.82373054e-03 -5.57928096e+01] [-2.36047660e-03 4.84357268e-03 9.99985484e-01 1.27864711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41907232899996 meters 0.26165862382031124 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.80, Z:127.86 [[ 9.99951727e-01 -8.98730201e-03 3.97138119e-03 -9.03319280e+01] [ 9.00390394e-03 9.99950717e-01 -4.18247510e-03 -5.57962588e+01] [-3.93359630e-03 4.21803114e-03 9.99983367e-01 1.27863995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47907232899996 meters 0.3022444736437819 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.80, Z:127.86 [[ 9.99903132e-01 -1.29093809e-02 5.20335828e-03 -9.03341511e+01] [ 1.29434248e-02 9.99894692e-01 -6.56298380e-03 -5.58017921e+01] [-5.11808627e-03 6.62969733e-03 9.99964926e-01 1.27862338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53907232899996 meters 0.3243806287378728 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.86 [[ 9.99718542e-01 -2.14311733e-02 1.01755237e-02 -9.03463693e+01] [ 2.15131095e-02 9.99736460e-01 -8.01227251e-03 -5.58051582e+01] [-1.00011297e-02 8.22892455e-03 9.99916128e-01 1.27856628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59907232899997 meters 0.3093133664753775 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99707991e-01 -2.14030302e-02 1.12179905e-02 -9.03481635e+01] [ 2.14790528e-02 9.99746843e-01 -6.70073209e-03 -5.58089051e+01] [-1.10717347e-02 6.93972723e-03 9.99914625e-01 1.27854877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65907232899997 meters 0.2621563969588977 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99702559e-01 -2.14367604e-02 1.16301235e-02 -9.03487378e+01] [ 2.15139825e-02 9.99747053e-01 -6.55584315e-03 -5.58091511e+01] [-1.14866456e-02 6.80410344e-03 9.99910877e-01 1.27854173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71907232899997 meters 0.2488729488038198 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99773829e-01 -1.74691641e-02 1.21292367e-02 -9.03503432e+01] [ 1.75016400e-02 9.99843515e-01 -2.57651686e-03 -5.58086308e+01] [-1.20823291e-02 2.78821566e-03 9.99923119e-01 1.27854526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779072329 meters 0.26938133434477185 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99837425e-01 -1.33461167e-02 1.21245553e-02 -9.03508205e+01] [ 1.33292092e-02 9.99910075e-01 1.47422999e-03 -5.58081187e+01] [-1.21431402e-02 -1.31237958e-03 9.99925408e-01 1.27854989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839072329 meters 0.2667329086449568 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.86 [[ 9.99842305e-01 -1.32926007e-02 1.17758661e-02 -9.03500878e+01] [ 1.32767166e-02 9.99910844e-01 1.42602985e-03 -5.58079494e+01] [-1.17937719e-02 -1.26946014e-03 9.99929645e-01 1.27855181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899072329 meters 0.2663898701661383 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99888686e-01 -9.03201259e-03 1.18759454e-02 -9.03503305e+01] [ 8.96393583e-03 9.99943158e-01 5.77311306e-03 -5.58080591e+01] [-1.19274132e-02 -5.66601522e-03 9.99912813e-01 1.27854863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959072329 meters 0.278882260763902 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99897373e-01 -9.02209601e-03 1.11285561e-02 -9.03483636e+01] [ 8.96240090e-03 9.99945243e-01 5.40239696e-03 -5.58064629e+01] [-1.11766877e-02 -5.30210395e-03 9.99923482e-01 1.27854624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019072329 meters 0.27252170181135493 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.86 [[ 9.99903530e-01 -9.32276649e-03 1.02964284e-02 -9.03468041e+01] [ 9.27951729e-03 9.99947954e-01 4.24022594e-03 -5.58029601e+01] [-1.03354232e-02 -4.14427100e-03 9.99938000e-01 1.27855603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079072329 meters 0.25116505280977014 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.86 [[ 9.99911997e-01 -9.18647118e-03 9.57119936e-03 -9.03450143e+01] [ 9.14687576e-03 9.99949461e-01 4.17252808e-03 -5.58024080e+01] [-9.60904645e-03 -4.08461431e-03 9.99945490e-01 1.27855541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139072329 meters 0.2623364608831037 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.80, Z:127.86 [[ 9.99909552e-01 -9.70619578e-03 9.31009891e-03 -9.03449387e+01] [ 9.67784693e-03 9.99948409e-01 3.08519125e-03 -5.57994646e+01] [-9.33956407e-03 -2.99481049e-03 9.99951901e-01 1.27856487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199072329 meters 0.2522834553305778 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.86 [[ 9.99907991e-01 -9.57911214e-03 9.60471153e-03 -9.03455387e+01] [ 9.54655921e-03 9.99948550e-01 3.42940590e-03 -5.58005404e+01] [-9.63706803e-03 -3.33739842e-03 9.99947993e-01 1.27856234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259072329 meters 0.2476209402498536 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.85 [[ 9.99902875e-01 -9.27095277e-03 1.04062198e-02 -9.03468361e+01] [ 9.22512854e-03 9.99947577e-01 4.44294037e-03 -5.58034258e+01] [-1.04468645e-02 -4.34651014e-03 9.99935983e-01 1.27854987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319072329 meters 0.28758808935768027 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99858634e-01 -1.30197820e-02 1.06394354e-02 -9.03463807e+01] [ 1.30081763e-02 9.99914718e-01 1.15929763e-03 -5.58059801e+01] [-1.06536218e-02 -1.02073409e-03 9.99942728e-01 1.27853516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37907232899994 meters 0.27507550501800426 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99847661e-01 -1.29771184e-02 1.16726050e-02 -9.03486520e+01] [ 1.29548107e-02 9.99914113e-01 1.98469838e-03 -5.58087917e+01] [-1.16973582e-02 -1.83317964e-03 9.99929903e-01 1.27852939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43907232899994 meters 0.25440486270038803 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99768533e-01 -1.73963655e-02 1.26588405e-02 -9.03510169e+01] [ 1.74253476e-02 9.99845784e-01 -2.18278032e-03 -5.58097628e+01] [-1.26189159e-02 2.40285977e-03 9.99917491e-01 1.27853262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49907232899994 meters 0.23748283314095772 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.81, Z:127.85 [[ 9.99754615e-01 -1.73652229e-02 1.37535211e-02 -9.03534182e+01] [ 1.73855691e-02 9.99847933e-01 -1.36115500e-03 -5.58125058e+01] [-1.37277929e-02 1.59993378e-03 9.99904489e-01 1.27852687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.55907232899995 meters 0.28630152077455834 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.81, Z:127.84 [[ 9.99833886e-01 -1.32440921e-02 1.25217697e-02 -9.03587707e+01] [ 1.33645050e-02 9.99864778e-01 -9.58200992e-03 -5.58113229e+01] [-1.23931714e-02 9.74776546e-03 9.99875687e-01 1.27843076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.61907232899995 meters 0.280735131061353 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.81, Z:127.84 [[ 9.99826150e-01 -1.32642100e-02 1.31046021e-02 -9.03596303e+01] [ 1.33877072e-02 9.99866368e-01 -9.38161242e-03 -5.58116269e+01] [-1.29784112e-02 9.55542200e-03 9.99870119e-01 1.27842191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.67907232899995 meters 0.32877664488851016 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.81, Z:127.84 [[ 9.99812152e-01 -1.32880786e-02 1.41098721e-02 -9.03618607e+01] [ 1.34156587e-02 9.99869627e-01 -8.98607434e-03 -5.58130246e+01] [-1.39886249e-02 9.17367955e-03 9.99860071e-01 1.27841807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.73907232899995 meters 0.2565563935006846 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.82, Z:127.84 [[ 9.99765834e-01 -1.46889491e-02 1.58906115e-02 -9.03657027e+01] [ 1.48309447e-02 9.99850803e-01 -8.85517734e-03 -5.58158716e+01] [-1.57581674e-02 9.08877654e-03 9.99834523e-01 1.27840507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.79907232899996 meters 0.23104722766080596 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.82, Z:127.84 [[ 9.99749537e-01 -1.47491259e-02 1.68323247e-02 -9.03676345e+01] [ 1.48912348e-02 9.99854264e-01 -8.34873775e-03 -5.58174676e+01] [-1.67067350e-02 8.59730080e-03 9.99823470e-01 1.27839817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.85907232899996 meters 0.2711356068847644 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.82, Z:127.84 [[ 9.99652447e-01 -1.93097367e-02 1.79476758e-02 -9.03705002e+01] [ 1.95371827e-02 9.99729922e-01 -1.25849685e-02 -5.58184806e+01] [-1.76998161e-02 1.29312415e-02 9.99759721e-01 1.27840311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91907232899996 meters 0.27057783958761855 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.82, Z:127.84 [[ 9.99637538e-01 -1.91144594e-02 1.89586403e-02 -9.03724380e+01] [ 1.93363585e-02 9.99745845e-01 -1.15909377e-02 -5.58213400e+01] [-1.87322674e-02 1.19533275e-02 9.99753080e-01 1.27839283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97907232899996 meters 0.24855465721776096 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.83, Z:127.83 [[ 9.99423000e-01 -2.50091367e-02 2.29828368e-02 -9.03799523e+01] [ 2.53010893e-02 9.99601707e-01 -1.25012806e-02 -5.58271991e+01] [-2.26610367e-02 1.30755581e-02 9.99657695e-01 1.27833368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03907232899996 meters 0.24537354035388212 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.83, Z:127.83 [[ 9.99406292e-01 -2.49154784e-02 2.37966749e-02 -9.03813794e+01] [ 2.52030277e-02 9.99611986e-01 -1.18610543e-02 -5.58289462e+01] [-2.34919176e-02 1.24537606e-02 9.99646454e-01 1.27832359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09907232899997 meters 0.21705016963435805 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.83, Z:127.83 [[ 9.99394848e-01 -2.49233356e-02 2.42644867e-02 -9.03822636e+01] [ 2.52131359e-02 9.99613494e-01 -1.17115824e-02 -5.58292867e+01] [-2.39632166e-02 1.23162789e-02 9.99636971e-01 1.27831951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15907232899997 meters 0.23004360708083083 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.82, Z:127.84 [[ 9.99582129e-01 -2.69515697e-02 1.04489644e-02 -9.03815223e+01] [ 2.71163011e-02 9.99504903e-01 -1.59579334e-02 -5.58177430e+01] [-1.00136998e-02 1.62346023e-02 9.99818065e-01 1.27835337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21907232899997 meters 0.28897148178244453 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.82, Z:127.84 [[ 9.99677759e-01 -2.29829151e-02 1.07779698e-02 -9.03826270e+01] [ 2.31129438e-02 9.99659645e-01 -1.20990426e-02 -5.58165153e+01] [-1.04962302e-02 1.23442544e-02 9.99868716e-01 1.27835455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279072329 meters 0.2523513028849549 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.81, Z:127.84 [[ 9.99853384e-01 -1.43882259e-02 9.28380921e-03 -9.03799450e+01] [ 1.44331039e-02 9.99884387e-01 -4.78525186e-03 -5.58123306e+01] [-9.21388459e-03 4.91854445e-03 9.99945455e-01 1.27836861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339072329 meters 0.28979771228288126 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.81, Z:127.84 [[ 9.99910311e-01 -1.02847702e-02 8.57869985e-03 -9.03788843e+01] [ 1.02941692e-02 9.99946460e-01 -1.05218147e-03 -5.58107561e+01] [-8.56741910e-03 1.14039768e-03 9.99962649e-01 1.27837751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399072329 meters 0.25146193678412476 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.80, Z:127.84 [[ 9.99990408e-01 -4.70323835e-04 4.35461000e-03 -9.03700775e+01] [ 4.60172397e-04 9.99997175e-01 2.33190194e-03 -5.57994569e+01] [-4.35569445e-03 -2.32987570e-03 9.99987800e-01 1.27843521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459072329 meters 0.2585656660009039 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.80, Z:127.85 [[ 9.99968752e-01 7.87623107e-03 -6.77625375e-04 -9.03578835e+01] [-7.87323387e-03 9.99959685e-01 4.31755397e-03 -5.57980114e+01] [ 7.11604109e-04 -4.31208396e-03 9.99990450e-01 1.27848882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519072329 meters 0.2819432451691361 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.79, Z:127.85 [[ 9.99964844e-01 8.14787618e-03 -1.98052937e-03 -9.03544145e+01] [-8.14152183e-03 9.99961751e-01 3.19557563e-03 -5.57931592e+01] [ 2.00649077e-03 -3.17933876e-03 9.99992933e-01 1.27849245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579072329 meters 0.27178469560782725 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.79, Z:127.85 [[ 9.99983831e-01 4.79403402e-03 -3.05873230e-03 -9.03513047e+01] [-4.79532700e-03 9.99988416e-01 -4.15524491e-04 -5.57931956e+01] [ 3.05670483e-03 4.30185394e-04 9.99995236e-01 1.27848850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639072329 meters 0.28283082060143316 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.79, Z:127.85 [[ 9.99978403e-01 5.24382045e-03 -3.96174397e-03 -9.03488117e+01] [-5.24502396e-03 9.99986202e-01 -2.93453062e-04 -5.57924652e+01] [ 3.96015049e-03 3.14226166e-04 9.99992109e-01 1.27848712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699072329 meters 0.27229342185441174 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.79, Z:127.85 [[ 9.99990245e-01 7.47165231e-04 -4.35338524e-03 -9.03479329e+01] [-7.69014010e-04 9.99987108e-01 -5.01929163e-03 -5.57910286e+01] [ 4.34957887e-03 5.02259048e-03 9.99977927e-01 1.27848993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759072329 meters 0.27530249478847096 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.79, Z:127.85 [[ 9.99986047e-01 -2.98635349e-03 -4.35748696e-03 -9.03475018e+01] [ 2.95015477e-03 9.99961284e-01 -8.29016029e-03 -5.57938682e+01] [ 4.38207561e-03 8.27718936e-03 9.99956142e-01 1.27848339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819072329 meters 0.26716292423427807 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.79, Z:127.85 [[ 9.99989218e-01 -3.05491729e-03 -3.49747029e-03 -9.03493934e+01] [ 3.02633188e-03 9.99962213e-01 -8.14949026e-03 -5.57945125e+01] [ 3.52223415e-03 8.13881788e-03 9.99960676e-01 1.27847977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87907232899994 meters 0.272812642435806 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.85 [[ 9.99972075e-01 -6.80179645e-03 -3.09585703e-03 -9.03492855e+01] [ 6.76657213e-03 9.99913826e-01 -1.12495960e-02 -5.57976165e+01] [ 3.17210771e-03 1.12283335e-02 9.99931929e-01 1.27846349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93907232899994 meters 0.2653159308057653 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.85 [[ 9.99974320e-01 -6.98247150e-03 -1.61352857e-03 -9.03523968e+01] [ 6.96579586e-03 9.99924537e-01 -1.01191854e-02 -5.58015441e+01] [ 1.68406373e-03 1.01076860e-02 9.99947498e-01 1.27845021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99907232899994 meters 0.3138122616824284 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.80, Z:127.84 [[ 9.99903527e-01 -1.33873908e-02 3.70326873e-03 -9.03659318e+01] [ 1.34243063e-02 9.99858577e-01 -1.01298846e-02 -5.57994754e+01] [-3.56713227e-03 1.01786212e-02 9.99941834e-01 1.27840237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.05907232899995 meters 0.2293181141809645 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.80, Z:127.84 [[ 9.99764421e-01 -2.01606296e-02 8.04059122e-03 -9.03750562e+01] [ 2.02602355e-02 9.99716533e-01 -1.25050398e-02 -5.58005440e+01] [-7.78620250e-03 1.26649982e-02 9.99889480e-01 1.27835630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.11907232899995 meters 0.278938958815339 Centerline is valid? [False, False] Translation: X:-90.39, Y:-55.80, Z:127.83 [[ 9.99551740e-01 -2.68979554e-02 1.31460354e-02 -9.03893778e+01] [ 2.70708625e-02 9.99546932e-01 -1.31567383e-02 -5.57975111e+01] [-1.27861900e-02 1.35067152e-02 9.99827026e-01 1.27832641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.17907232899995 meters 0.2858635889429061 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.80, Z:127.83 [[ 9.99279495e-01 -3.32436997e-02 1.83124896e-02 -9.04037487e+01] [ 3.34680546e-02 9.99366729e-01 -1.20842805e-02 -5.57984821e+01] [-1.78991666e-02 1.26884572e-02 9.99759282e-01 1.27828434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.23907232899995 meters 0.2707643988589322 Centerline is valid? [False, False] Translation: X:-90.41, Y:-55.80, Z:127.83 [[ 9.99117549e-01 -3.71508251e-02 1.95943617e-02 -9.04061520e+01] [ 3.74486380e-02 9.99185105e-01 -1.50574085e-02 -5.58026802e+01] [-1.90189992e-02 1.57779032e-02 9.99694621e-01 1.27827543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.29907232899996 meters 0.24817306271312425 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.80, Z:127.82 [[ 9.99128295e-01 -3.42532104e-02 2.38614325e-02 -9.04171357e+01] [ 3.48221537e-02 9.99108883e-01 -2.38507189e-02 -5.57979289e+01] [-2.30232054e-02 2.46608346e-02 9.99430726e-01 1.27819842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.35907232899996 meters 0.24528980494509448 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.80, Z:127.82 [[ 9.99096930e-01 -3.43456715e-02 2.50139689e-02 -9.04191410e+01] [ 3.49258623e-02 9.99121993e-01 -2.31393146e-02 -5.57999212e+01] [-2.41972711e-02 2.39920527e-02 9.99419268e-01 1.27818344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41907232899996 meters 0.23799798433479072 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.80, Z:127.82 [[ 9.98895041e-01 -3.91514119e-02 2.59973747e-02 -9.04221289e+01] [ 3.98800915e-02 9.98808477e-01 -2.81283606e-02 -5.57990880e+01] [-2.48651332e-02 2.91340576e-02 9.99266197e-01 1.27819950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47907232899996 meters 0.22551690046381703 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.80, Z:127.82 [[ 9.98826577e-01 -3.98696660e-02 2.74932510e-02 -9.04258718e+01] [ 4.06302554e-02 9.98790652e-01 -2.76842229e-02 -5.58021925e+01] [-2.63562413e-02 2.87687954e-02 9.99238563e-01 1.27819747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53907232899996 meters 0.23341411012377034 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.80, Z:127.82 [[ 9.98960675e-01 -3.58878338e-02 2.81004233e-02 -9.04275201e+01] [ 3.65453365e-02 9.99061612e-01 -2.32450939e-02 -5.58028484e+01] [-2.72398381e-02 2.42478741e-02 9.99334795e-01 1.27819244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59907232899997 meters 0.22226665443510427 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.80, Z:127.82 [[ 9.99065534e-01 -3.21323986e-02 2.89062011e-02 -9.04302476e+01] [ 3.26900619e-02 9.99284336e-01 -1.90309179e-02 -5.58038194e+01] [-2.82740049e-02 1.99580797e-02 9.99400948e-01 1.27819871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65907232899997 meters 0.2634534654521791 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.80, Z:127.82 [[ 9.99157113e-01 -2.82916400e-02 2.97429951e-02 -9.04322698e+01] [ 2.87419571e-02 9.99476948e-01 -1.48232858e-02 -5.58038649e+01] [-2.93080629e-02 1.56656634e-02 9.99447660e-01 1.27819296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71907232899997 meters 0.24268444548539048 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.80, Z:127.82 [[ 9.99574356e-01 -2.23335109e-02 1.87702316e-02 -9.04343960e+01] [ 2.26701927e-02 9.99582384e-01 -1.79198204e-02 -5.57951456e+01] [-1.83621804e-02 1.83377177e-02 9.99663223e-01 1.27818049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779072329 meters 0.27305701937148935 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.79, Z:127.82 [[ 9.99657765e-01 -1.84829959e-02 1.85130299e-02 -9.04339504e+01] [ 1.87512547e-02 9.99720144e-01 -1.44230332e-02 -5.57925036e+01] [-1.82412681e-02 1.47652397e-02 9.99724584e-01 1.27818145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839072329 meters 0.24606660229918156 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.79, Z:127.82 [[ 9.99734393e-01 -1.44826182e-02 1.79275494e-02 -9.04330051e+01] [ 1.46803014e-02 9.99832337e-01 -1.09447319e-02 -5.57899517e+01] [-1.77660352e-02 1.12050068e-02 9.99779384e-01 1.27818858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899072329 meters 0.24382225101383037 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.79, Z:127.82 [[ 9.99791231e-01 -1.05407834e-02 1.75038859e-02 -9.04328608e+01] [ 1.06733002e-02 9.99914952e-01 -7.49461860e-03 -5.57876566e+01] [-1.74233981e-02 7.67987819e-03 9.99818706e-01 1.27820231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959072329 meters 0.2504952912847681 Centerline is valid? [False, False] Translation: X:-90.43, Y:-55.79, Z:127.82 [[ 9.99828295e-01 -6.64030726e-03 1.72999187e-02 -9.04326499e+01] [ 6.70860860e-03 9.99969919e-01 -3.89303482e-03 -5.57855081e+01] [-1.72735473e-02 4.00842475e-03 9.99842766e-01 1.27820606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019072329 meters 0.25004113009988826 Centerline is valid? [False, False] Translation: X:-90.42, Y:-55.79, Z:127.82 [[ 9.99917477e-01 4.32723577e-03 1.20960096e-02 -9.04173785e+01] [-4.32653094e-03 9.99990637e-01 -8.44367906e-05 -5.57851893e+01] [-1.20962618e-02 3.20960627e-05 9.99926837e-01 1.27823838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079072329 meters 0.22953635393463062 Centerline is valid? [False, False] Translation: X:-90.40, Y:-55.78, Z:127.83 [[ 9.99671025e-01 2.50424203e-02 5.54241180e-03 -9.03976365e+01] [-2.50952809e-02 9.99638170e-01 9.68277464e-03 -5.57802686e+01] [-5.29792628e-03 -9.81867763e-03 9.99937761e-01 1.27830231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139072329 meters 0.22599800323078081 Centerline is valid? [False, False] Translation: X:-90.37, Y:-55.78, Z:127.84 [[ 9.98827967e-01 4.83418829e-02 -2.39908830e-03 -9.03725774e+01] [-4.82872822e-02 9.98649978e-01 1.91457680e-02 -5.57783088e+01] [ 3.32139196e-03 -1.90074831e-02 9.99813825e-01 1.27838723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199072329 meters 0.2294690539731763 Centerline is valid? [False, False] Translation: X:-90.38, Y:-55.77, Z:127.84 [[ 9.98395640e-01 5.52526306e-02 -1.23811310e-02 -9.03771684e+01] [-5.50545603e-02 9.98358248e-01 1.58052209e-02 -5.57653399e+01] [ 1.32340842e-02 -1.50982259e-02 9.99798431e-01 1.27840123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259072329 meters 0.29036855060807387 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.76, Z:127.85 [[ 9.97153499e-01 7.32904877e-02 -1.77032155e-02 -9.03613984e+01] [-7.28468499e-02 9.97041555e-01 2.45249585e-02 -5.57598085e+01] [ 1.94482876e-02 -2.31655247e-02 9.99542457e-01 1.27847595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319072329 meters 0.2878949360113461 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.75, Z:127.85 [[ 9.96868021e-01 7.67128853e-02 -1.92166929e-02 -9.03581877e+01] [-7.62246229e-02 9.96777982e-01 2.49692257e-02 -5.57500343e+01] [ 2.10702377e-02 -2.34262375e-02 9.99503505e-01 1.27850738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37907232899994 meters 0.28010270983091246 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.74, Z:127.85 [[ 9.96231832e-01 8.13475481e-02 -3.00784599e-02 -9.03624798e+01] [-8.07420235e-02 9.96517397e-01 2.08279586e-02 -5.57364906e+01] [ 3.16680120e-02 -1.83208797e-02 9.99330517e-01 1.27852635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43907232899994 meters 0.2706152775084811 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.72, Z:127.86 [[ 9.95279223e-01 8.70701058e-02 -4.28726698e-02 -9.03637191e+01] [-8.61864786e-02 9.96035024e-01 2.20481607e-02 -5.57197412e+01] [ 4.46224164e-02 -1.82490318e-02 9.98837230e-01 1.27856683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49907232899994 meters 0.2553626751529128 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.72, Z:127.86 [[ 9.94723050e-01 9.08514357e-02 -4.76662455e-02 -9.03504088e+01] [-8.91998495e-02 9.95373534e-01 3.57059448e-02 -5.57182383e+01] [ 5.06896556e-02 -3.12657043e-02 9.98224932e-01 1.27863677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.55907232899995 meters 0.26051656719372784 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.72, Z:127.86 [[ 9.94732833e-01 9.04255700e-02 -4.82680757e-02 -9.03495795e+01] [-8.88017011e-02 9.95441461e-01 3.47930528e-02 -5.57157397e+01] [ 5.11942254e-02 -3.03235047e-02 9.98228249e-01 1.27864734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.61907232899995 meters 0.2984918336799065 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.71, Z:127.87 [[ 9.94752821e-01 8.98634112e-02 -4.89018644e-02 -9.03488176e+01] [-8.82774120e-02 9.95526257e-01 3.36833928e-02 -5.57126910e+01] [ 5.17099946e-02 -2.91897200e-02 9.98235462e-01 1.27865994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.67907232899995 meters 0.2907008134518591 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.71, Z:127.87 [[ 9.95122970e-01 8.52921883e-02 -4.95531693e-02 -9.03484149e+01] [-8.39149332e-02 9.96043746e-01 2.92427930e-02 -5.57123512e+01] [ 5.18513062e-02 -2.49419242e-02 9.98343299e-01 1.27866410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.73907232899995 meters 0.30904844520654756 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.72, Z:127.87 [[ 9.96262536e-01 7.24345104e-02 -4.70552951e-02 -9.03496105e+01] [-7.07868153e-02 9.96849244e-01 3.57884235e-02 -5.57214480e+01] [ 4.94993523e-02 -3.23237711e-02 9.98250964e-01 1.27867251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.79907232899996 meters 0.26380629000504036 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.73, Z:127.87 [[ 9.96825649e-01 6.41552761e-02 -4.71457873e-02 -9.03507320e+01] [-6.28539105e-02 9.97613233e-01 2.85871200e-02 -5.57257863e+01] [ 4.88672759e-02 -2.55330774e-02 9.98478869e-01 1.27866858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.85907232899996 meters 0.3247071162219136 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.73, Z:127.87 [[ 9.97100414e-01 5.97819985e-02 -4.70837205e-02 -9.03513556e+01] [-5.86685793e-02 9.97972243e-01 2.46860362e-02 -5.57270932e+01] [ 4.84640267e-02 -2.18521219e-02 9.98585862e-01 1.27866485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91907232899996 meters 0.2889197661134086 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.73, Z:127.87 [[ 9.97851168e-01 5.24456383e-02 -3.92746897e-02 -9.03486449e+01] [-5.13437802e-02 9.98272645e-01 2.85577042e-02 -5.57323245e+01] [ 4.07045754e-02 -2.64798275e-02 9.98820282e-01 1.27869867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97907232899996 meters 0.2789922618947189 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.73, Z:127.87 [[ 9.98056705e-01 4.79975772e-02 -3.97372157e-02 -9.03481746e+01] [-4.70569568e-02 9.98597132e-01 2.42777885e-02 -5.57323716e+01] [ 4.08467446e-02 -2.23606971e-02 9.98915183e-01 1.27870108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03907232899996 meters 0.2920298291266266 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.73, Z:127.87 [[ 9.98235489e-01 4.36459428e-02 -4.02609013e-02 -9.03477513e+01] [-4.28631247e-02 9.98878612e-01 2.01065170e-02 -5.57329160e+01] [ 4.10933211e-02 -1.83453308e-02 9.98986881e-01 1.27870643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09907232899997 meters 0.34132739675490387 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.74, Z:127.87 [[ 9.98628245e-01 4.32689497e-02 -2.94860230e-02 -9.03429620e+01] [-4.24524099e-02 9.98712266e-01 2.77777438e-02 -5.57418880e+01] [ 3.06499666e-02 -2.64878869e-02 9.99179149e-01 1.27869703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15907232899997 meters 0.271317584165427 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.74, Z:127.87 [[ 9.98797631e-01 3.87549786e-02 -3.00224036e-02 -9.03423666e+01] [-3.80637373e-02 9.99004485e-01 2.32635215e-02 -5.57413562e+01] [ 3.08940931e-02 -2.20927852e-02 9.99278472e-01 1.27870168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21907232899997 meters 0.31440738315896605 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.74, Z:127.87 [[ 9.98944364e-01 3.43319608e-02 -3.05200596e-02 -9.03419563e+01] [-3.37646468e-02 9.99250836e-01 1.89133598e-02 -5.57413736e+01] [ 3.11465278e-02 -1.78628952e-02 9.99355198e-01 1.27870810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279072329 meters 0.2958922699623707 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.74, Z:127.87 [[ 9.99084082e-01 3.01468673e-02 -3.03671514e-02 -9.03426271e+01] [-2.96952997e-02 9.99443219e-01 1.52131778e-02 -5.57434069e+01] [ 3.08088732e-02 -1.42974821e-02 9.99423031e-01 1.27870597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339072329 meters 0.2929671217250937 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.87 [[ 9.99449827e-01 2.61206294e-02 -2.04390885e-02 -9.03367708e+01] [-2.57049604e-02 9.99462583e-01 2.03420764e-02 -5.57528798e+01] [ 2.09594520e-02 -1.98054988e-02 9.99584135e-01 1.27869742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399072329 meters 0.27183907200605606 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.87 [[ 9.99548901e-01 2.16741559e-02 -2.07900318e-02 -9.03364630e+01] [-2.13452173e-02 9.99645477e-01 1.59154853e-02 -5.57526855e+01] [ 2.11276159e-02 -1.54645381e-02 9.99657177e-01 1.27870209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459072329 meters 0.35010652699654277 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.75, Z:127.87 [[ 9.99616379e-01 1.74102050e-02 -2.15401652e-02 -9.03350063e+01] [-1.71628260e-02 9.99785223e-01 1.16166105e-02 -5.57524145e+01] [ 2.17377864e-02 -1.12424640e-02 9.99700493e-01 1.27870499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519072329 meters 0.2636620295391862 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.76, Z:127.87 [[ 9.99792010e-01 1.88467754e-02 -7.79334415e-03 -9.03335446e+01] [-1.87349611e-02 9.99723929e-01 1.41797890e-02 -5.57590174e+01] [ 8.05843594e-03 -1.40308317e-02 9.99869090e-01 1.27866398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579072329 meters 0.24512197507533562 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.76, Z:127.87 [[ 9.99855304e-01 1.48288894e-02 -8.33516328e-03 -9.03320369e+01] [-1.47430633e-02 9.99838616e-01 1.02656917e-02 -5.57596050e+01] [ 8.48604693e-03 -1.01413205e-02 9.99912566e-01 1.27865974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639072329 meters 0.2954262855693889 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.76, Z:127.87 [[ 9.99902380e-01 1.05890828e-02 -9.11602477e-03 -9.03305769e+01] [-1.05355082e-02 9.99927064e-01 5.90507393e-03 -5.57592200e+01] [ 9.17788920e-03 -5.80845553e-03 9.99941012e-01 1.27866476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699072329 meters 0.30108996493231455 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.76, Z:127.87 [[ 9.99927324e-01 6.58326601e-03 -1.00998569e-02 -9.03280724e+01] [-6.56796799e-03 9.99977234e-01 1.54709928e-03 -5.57579270e+01] [ 1.01098120e-02 -1.48065130e-03 9.99947798e-01 1.27866367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759072329 meters 0.29263576047820933 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.76, Z:127.87 [[ 9.99922383e-01 6.53563144e-03 -1.06072522e-02 -9.03267938e+01] [-6.52289691e-03 9.99977963e-01 1.23470230e-03 -5.57565530e+01] [ 1.06150880e-02 -1.16541646e-03 9.99942979e-01 1.27866523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819072329 meters 0.2910186860477602 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.76, Z:127.87 [[ 9.99915809e-01 6.60486947e-03 -1.11691660e-02 -9.03249176e+01] [-6.59325105e-03 9.99977685e-01 1.07672500e-03 -5.57552510e+01] [ 1.11760284e-02 -1.00299323e-03 9.99937043e-01 1.27865964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87907232899994 meters 0.2899591636470995 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.76, Z:127.86 [[ 9.99954407e-01 9.06016460e-03 3.01631431e-03 -9.03245351e+01] [-9.07099049e-03 9.99952395e-01 3.59498953e-03 -5.57611973e+01] [-2.98359953e-03 -3.62218658e-03 9.99988989e-01 1.27860780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93907232899994 meters 0.2568059110124714 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.76, Z:127.86 [[ 9.99984111e-01 5.13308234e-03 2.32994621e-03 -9.03227883e+01] [-5.13245699e-03 9.99986791e-01 -2.74297681e-04 -5.57618745e+01] [-2.33132342e-03 2.62334974e-04 9.99997248e-01 1.27860620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99907232899994 meters 0.2923224124132063 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.76, Z:127.86 [[ 9.99993060e-01 3.21853788e-03 1.87616390e-03 -9.03194381e+01] [-3.21509232e-03 9.99993145e-01 -1.83662236e-03 -5.57637162e+01] [-1.88206228e-03 1.83057757e-03 9.99996553e-01 1.27857900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.05907232899995 meters 0.28889774739466745 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.76, Z:127.86 [[ 9.99993558e-01 3.31215050e-03 1.38328569e-03 -9.03179642e+01] [-3.30952472e-03 9.99992726e-01 -1.89621619e-03 -5.57630342e+01] [-1.38955618e-03 1.89162596e-03 9.99997245e-01 1.27857609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.11907232899995 meters 0.29989127360935847 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.76, Z:127.86 [[ 9.99994324e-01 3.13215312e-03 1.24145209e-03 -9.03174836e+01] [-3.12930593e-03 9.99992484e-01 -2.28878427e-03 -5.57616582e+01] [-1.24861158e-03 2.28488640e-03 9.99996610e-01 1.27857500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.17907232899995 meters 0.28502911456344143 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.76, Z:127.86 [[ 9.99992591e-01 3.84518495e-03 1.78793870e-04 -9.03138278e+01] [-3.84486590e-03 9.99991074e-01 -1.75183265e-03 -5.57611199e+01] [-1.85528395e-04 1.75113223e-03 9.99998450e-01 1.27856157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.23907232899995 meters 0.26220497147915517 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.76, Z:127.86 [[ 9.99992895e-01 3.75934434e-03 -2.78680058e-04 -9.03129089e+01] [-3.75993531e-03 9.99990617e-01 -2.15131426e-03 -5.57597718e+01] [ 2.70589912e-04 2.15234680e-03 9.99997647e-01 1.27856666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.29907232899996 meters 0.27155188400842184 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.76, Z:127.86 [[ 9.99992643e-01 3.82966490e-03 -2.17391512e-04 -9.03129298e+01] [-3.83009546e-03 9.99990633e-01 -2.01594560e-03 -5.57600544e+01] [ 2.09669079e-04 2.01676340e-03 9.99997944e-01 1.27856490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.35907232899996 meters 0.25646432214957343 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.76, Z:127.85 [[ 9.99997078e-01 2.39434050e-03 -3.33321076e-04 -9.03090530e+01] [-2.39520009e-03 9.99993744e-01 -2.60280400e-03 -5.57628697e+01] [ 3.27086992e-04 2.60359476e-03 9.99996557e-01 1.27852005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41907232899996 meters 0.24514120275632734 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.77, Z:127.85 [[ 9.99999215e-01 1.15551559e-03 -4.84736547e-04 -9.03054631e+01] [-1.15703733e-03 9.99994367e-01 -3.15088535e-03 -5.57651248e+01] [ 4.81092919e-04 3.15144373e-03 9.99994918e-01 1.27848009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47907232899996 meters 0.2669480057909943 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.77, Z:127.85 [[ 9.99999206e-01 1.20452541e-03 -3.71146267e-04 -9.03054997e+01] [-1.20565022e-03 9.99994636e-01 -3.04546973e-03 -5.57652419e+01] [ 3.67475930e-04 3.04591478e-03 9.99995294e-01 1.27847673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53907232899996 meters 0.25503246552689623 Centerline is valid? [False, False] Translation: X:-90.30, Y:-55.76, Z:127.85 [[ 9.99998422e-01 1.35710880e-03 -1.14620168e-03 -9.03033201e+01] [-1.36077415e-03 9.99993944e-01 -3.20311473e-03 -5.57639294e+01] [ 1.14184777e-03 3.20466940e-03 9.99994213e-01 1.27847432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59907232899997 meters 0.2449825615083423 Centerline is valid? [False, False] Translation: X:-90.30, Y:-55.76, Z:127.85 [[ 9.99998354e-01 1.21599902e-03 -1.34627635e-03 -9.03028359e+01] [-1.22077243e-03 9.99992952e-01 -3.55051340e-03 -5.57626537e+01] [ 1.34194944e-03 3.55215106e-03 9.99992791e-01 1.27847599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65907232899997 meters 0.24817167805454451 Centerline is valid? [False, False] Translation: X:-90.30, Y:-55.76, Z:127.85 [[ 9.99994296e-01 -2.99892424e-03 -1.55399814e-03 -9.03021758e+01] [ 2.98680340e-03 9.99965552e-01 -7.74426290e-03 -5.57627520e+01] [ 1.57716907e-03 7.73957724e-03 9.99968805e-01 1.27847484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71907232899997 meters 0.3121218992681065 Centerline is valid? [False, False] Translation: X:-90.30, Y:-55.77, Z:127.85 [[ 9.99977152e-01 -6.52549003e-03 -1.76475892e-03 -9.03004445e+01] [ 6.50604320e-03 9.99920410e-01 -1.08094738e-02 -5.57653196e+01] [ 1.83515558e-03 1.07977452e-02 9.99940019e-01 1.27845792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779072329 meters 0.2979131830641718 Centerline is valid? [False, False] Translation: X:-90.30, Y:-55.77, Z:127.85 [[ 9.99977301e-01 -6.67785538e-03 -8.96971472e-04 -9.03025476e+01] [ 6.66796540e-03 9.99921479e-01 -1.06101241e-02 -5.57665016e+01] [ 9.67753915e-04 1.06039022e-02 9.99943309e-01 1.27845589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839072329 meters 0.2917292677552615 Centerline is valid? [False, False] Translation: X:-90.30, Y:-55.77, Z:127.85 [[ 9.99978777e-01 -6.49120502e-03 -5.56436256e-04 -9.03030813e+01] [ 6.48521527e-03 9.99927316e-01 -1.01639235e-02 -5.57677141e+01] [ 6.22371922e-04 1.01600991e-02 9.99948191e-01 1.27845075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899072329 meters 0.28030461732102063 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.77, Z:127.85 [[ 9.99940691e-01 -1.08841321e-02 3.86307537e-04 -9.03056534e+01] [ 1.08885138e-02 9.99840316e-01 -1.41697960e-02 -5.57695159e+01] [-2.32019917e-04 1.41731620e-02 9.99899529e-01 1.27845498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959072329 meters 0.2682792309349481 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.77, Z:127.84 [[ 9.99932928e-01 -1.14203664e-02 1.92752364e-03 -9.03091577e+01] [ 1.14452291e-02 9.99844412e-01 -1.34223217e-02 -5.57730449e+01] [-1.77393591e-03 1.34434824e-02 9.99908059e-01 1.27844529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019072329 meters 0.2533500578734696 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.77, Z:127.84 [[ 9.99821351e-01 -1.76246386e-02 6.82928515e-03 -9.03232538e+01] [ 1.77102524e-02 9.99762685e-01 -1.26854311e-02 -5.57719357e+01] [-6.60408832e-03 1.28041132e-02 9.99896215e-01 1.27840315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079072329 meters 0.3053411138021103 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.78, Z:127.84 [[ 9.99817646e-01 -1.73920694e-02 7.88612909e-03 -9.03251547e+01] [ 1.74829326e-02 9.99779832e-01 -1.16031861e-02 -5.57750648e+01] [-7.68258940e-03 1.17389429e-02 9.99901583e-01 1.27838937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139072329 meters 0.264622460989211 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.78, Z:127.84 [[ 9.99796925e-01 -1.78910416e-02 9.27465940e-03 -9.03282531e+01] [ 1.79927451e-02 9.99777597e-01 -1.10007877e-02 -5.57778886e+01] [-9.07578114e-03 1.11654303e-02 9.99896476e-01 1.27838016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199072329 meters 0.2731732943705696 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.78, Z:127.84 [[ 9.99841999e-01 -1.43245998e-02 1.05253213e-02 -9.03316268e+01] [ 1.43940410e-02 9.99874936e-01 -6.55166575e-03 -5.57799907e+01] [-1.04301550e-02 6.70213249e-03 9.99923144e-01 1.27837942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259072329 meters 0.25959434440745854 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.78, Z:127.84 [[ 9.99882661e-01 -1.04772931e-02 1.11754650e-02 -9.03331978e+01] [ 1.05091210e-02 9.99940877e-01 -2.79310036e-03 -5.57787244e+01] [-1.11455401e-02 2.91021694e-03 9.99933652e-01 1.27837870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319072329 meters 0.24886580896964036 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.78, Z:127.84 [[ 9.99883184e-01 -1.01564214e-02 1.14221752e-02 -9.03334699e+01] [ 1.01814009e-02 9.99945898e-01 -2.13091190e-03 -5.57805639e+01] [-1.13999148e-02 2.24695672e-03 9.99932494e-01 1.27837306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37907232899994 meters 0.25807819417901207 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.78, Z:127.84 [[ 9.99879248e-01 -9.92254371e-03 1.19595974e-02 -9.03344276e+01] [ 9.94125883e-03 9.99949450e-01 -1.50642934e-03 -5.57823707e+01] [-1.19440453e-02 1.62514089e-03 9.99927347e-01 1.27836649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43907232899994 meters 0.2882048649204499 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.84 [[ 9.99874605e-01 -9.93808939e-03 1.23291441e-02 -9.03354968e+01] [ 9.95633229e-03 9.99949427e-01 -1.41915919e-03 -5.57828830e+01] [-1.23144169e-02 1.54173429e-03 9.99922986e-01 1.27836909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49907232899994 meters 0.23559719157140122 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.78, Z:127.84 [[ 9.99874678e-01 -9.90843795e-03 1.23471021e-02 -9.03348975e+01] [ 9.92592105e-03 9.99949818e-01 -1.35549186e-03 -5.57825588e+01] [-1.23330517e-02 1.47787835e-03 9.99922853e-01 1.27835962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.55907232899995 meters 0.27494564699491786 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.84 [[ 9.99866370e-01 -9.91429357e-03 1.29980568e-02 -9.03361731e+01] [ 9.92989497e-03 9.99950052e-01 -1.13629797e-03 -5.57832057e+01] [-1.29861420e-02 1.26521546e-03 9.99914876e-01 1.27835447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.61907232899995 meters 0.2557010209918366 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.83 [[ 9.99861941e-01 -9.81626154e-03 1.34067464e-02 -9.03369010e+01] [ 9.82800974e-03 9.99951375e-01 -8.10686314e-04 -5.57841204e+01] [-1.33981366e-02 9.42336025e-04 9.99909797e-01 1.27834988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.67907232899995 meters 0.24772491534439975 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.83 [[ 9.99858945e-01 -9.82962461e-03 1.36186616e-02 -9.03373315e+01] [ 9.84128165e-03 9.99951262e-01 -7.89208005e-04 -5.57841744e+01] [-1.36102402e-02 9.23121768e-04 9.99906950e-01 1.27834851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.73907232899995 meters 0.2558123266025326 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.83 [[ 9.99861646e-01 -9.96443065e-03 1.33191125e-02 -9.03365597e+01] [ 9.98085426e-03 9.99949509e-01 -1.16718242e-03 -5.57828027e+01] [-1.33068097e-02 1.29995705e-03 9.99910615e-01 1.27834929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.79907232899996 meters 0.27771141411001715 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.83 [[ 9.99851529e-01 -1.00152763e-02 1.40219268e-02 -9.03380517e+01] [ 1.00288351e-02 9.99949308e-01 -8.96985614e-04 -5.57838688e+01] [-1.40122324e-02 1.03747603e-03 9.99901286e-01 1.27834509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.85907232899996 meters 0.26927359485506636 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.83 [[ 9.99855669e-01 -9.93476537e-03 1.37818954e-02 -9.03371494e+01] [ 9.94754203e-03 9.99950153e-01 -8.58818100e-04 -5.57836052e+01] [-1.37726763e-02 9.95790130e-04 9.99904656e-01 1.27834065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91907232899996 meters 0.2704600695842453 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.83 [[ 9.99856821e-01 -1.00933262e-02 1.35817092e-02 -9.03364900e+01] [ 1.01112751e-02 9.99948094e-01 -1.25353442e-03 -5.57821170e+01] [-1.35683519e-02 1.39068334e-03 9.99906979e-01 1.27833910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97907232899996 meters 0.24057749343785512 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.83 [[ 9.99854845e-01 -1.01857652e-02 1.36579547e-02 -9.03368707e+01] [ 1.02058291e-02 9.99946939e-01 -1.40013818e-03 -5.57817565e+01] [-1.36429685e-02 1.53932570e-03 9.99905746e-01 1.27834285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03907232899996 meters 0.23051674225297986 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.78, Z:127.83 [[ 9.99853491e-01 -1.01531576e-02 1.37807871e-02 -9.03370019e+01] [ 1.01721122e-02 9.99947410e-01 -1.30603916e-03 -5.57818939e+01] [-1.37668020e-02 1.44602753e-03 9.99904187e-01 1.27834063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09907232899997 meters 0.23633822286838393 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.79, Z:127.83 [[ 9.99800257e-01 -1.39065015e-02 1.43546258e-02 -9.03374334e+01] [ 1.39705890e-02 9.99892840e-01 -4.37400138e-03 -5.57851786e+01] [-1.42922605e-02 4.57367028e-03 9.99887400e-01 1.27832626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15907232899997 meters 0.23054786529572116 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.79, Z:127.83 [[ 9.99777687e-01 -1.40994115e-02 1.56774972e-02 -9.03405478e+01] [ 1.41532136e-02 9.99894306e-01 -3.32615682e-03 -5.57893769e+01] [-1.56289433e-02 3.54730434e-03 9.99871568e-01 1.27831971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21907232899997 meters 0.22351721621905515 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.80, Z:127.83 [[ 9.99693182e-01 -1.80773109e-02 1.69337832e-02 -9.03429606e+01] [ 1.81760183e-02 9.99818593e-01 -5.69334881e-03 -5.57952023e+01] [-1.68277908e-02 5.99939074e-03 9.99840404e-01 1.27830501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279072329 meters 0.21666481596683487 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.83 [[ 9.99645548e-01 -1.88363732e-02 1.88140954e-02 -9.03471042e+01] [ 1.89249734e-02 9.99810588e-01 -4.54234444e-03 -5.57999286e+01] [-1.87249705e-02 4.89679065e-03 9.99812681e-01 1.27829019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339072329 meters 0.19937608176987504 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.83 [[ 9.99791713e-01 -1.67133806e-02 1.17129865e-02 -9.03528856e+01] [ 1.68744714e-02 9.99762488e-01 -1.37920110e-02 -5.57960576e+01] [-1.14796934e-02 1.39867888e-02 9.99836280e-01 1.27826526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399072329 meters 0.2859636100211431 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.80, Z:127.83 [[ 9.99840312e-01 -1.25837277e-02 1.26885973e-02 -9.03552395e+01] [ 1.27005597e-02 9.99877301e-01 -9.16948048e-03 -5.57973200e+01] [-1.25716542e-02 9.32916851e-03 9.99877453e-01 1.27826186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459072329 meters 0.2166831890428016 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.80, Z:127.83 [[ 9.99825925e-01 -1.26217910e-02 1.37408417e-02 -9.03576337e+01] [ 1.27403283e-02 9.99882082e-01 -8.57355120e-03 -5.57995407e+01] [-1.36310078e-02 8.74712159e-03 9.99868833e-01 1.27825704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519072329 meters 0.2725281988094552 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.80, Z:127.82 [[ 9.99819737e-01 -1.23473529e-02 1.44234604e-02 -9.03589137e+01] [ 1.24592258e-02 9.99892792e-01 -7.69237715e-03 -5.58022058e+01] [-1.43269336e-02 7.87069565e-03 9.99866387e-01 1.27824926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579072329 meters 0.26055969712166255 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.80, Z:127.82 [[ 9.99863494e-01 -8.07631559e-03 1.44141192e-02 -9.03587341e+01] [ 8.12587670e-03 9.99961262e-01 -3.38312321e-03 -5.58018970e+01] [-1.43862376e-02 3.49978875e-03 9.99890388e-01 1.27824556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639072329 meters 0.3115934892183501 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.80, Z:127.82 [[ 9.99875219e-01 -7.97698700e-03 1.36350535e-02 -9.03564861e+01] [ 8.02853394e-03 9.99960814e-01 -3.72992355e-03 -5.58000224e+01] [-1.36047657e-02 3.83892761e-03 9.99900082e-01 1.27824263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699072329 meters 0.3059664045172959 Centerline is valid? [False, False] Translation: X:-90.36, Y:-55.80, Z:127.82 [[ 9.99881206e-01 -7.84755323e-03 1.32661069e-02 -9.03554683e+01] [ 7.89687670e-03 9.99962086e-01 -3.66972103e-03 -5.57999073e+01] [-1.32368056e-02 3.77404590e-03 9.99905267e-01 1.27824193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759072329 meters 0.28760616050518517 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.82 [[ 9.99898568e-01 -7.48357861e-03 1.21181708e-02 -9.03525117e+01] [ 7.53125323e-03 9.99964061e-01 -3.89329932e-03 -5.57983221e+01] [-1.20885995e-02 3.98416942e-03 9.99918993e-01 1.27824153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819072329 meters 0.3326386032986916 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.80, Z:127.83 [[ 9.99930847e-01 -3.47452325e-03 1.12351379e-02 -9.03509319e+01] [ 3.48249699e-03 9.99993698e-01 -6.90228554e-04 -5.57950740e+01] [-1.12326689e-02 7.29307157e-04 9.99936646e-01 1.27825256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87907232899994 meters 0.3409737718080988 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.79, Z:127.83 [[ 9.99975464e-01 -3.16336138e-04 6.99794775e-03 -9.03409421e+01] [ 3.33895460e-04 9.99996799e-01 -2.50818424e-03 -5.57945365e+01] [-6.99713191e-03 2.51045928e-03 9.99972368e-01 1.27829627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93907232899994 meters 0.2705076861125384 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.79, Z:127.83 [[ 9.99984702e-01 6.41996893e-04 5.49387136e-03 -9.03369427e+01] [-6.27939705e-04 9.99996526e-01 -2.56004606e-03 -5.57923730e+01] [-5.49549581e-03 2.55655708e-03 9.99981632e-01 1.27829686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99907232899994 meters 0.2550915386752959 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.83 [[ 9.99991456e-01 1.55056551e-03 3.83201908e-03 -9.03328006e+01] [-1.53870703e-03 9.99994025e-01 -3.09559019e-03 -5.57889084e+01] [-3.83679610e-03 3.08966738e-03 9.99987866e-01 1.27830488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.05907232899995 meters 0.3020631699602811 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.83 [[ 9.99993859e-01 1.93140377e-03 2.92421481e-03 -9.03300784e+01] [-1.92235250e-03 9.99993363e-01 -3.09493473e-03 -5.57877114e+01] [-2.93017298e-03 3.08929435e-03 9.99990935e-01 1.27830031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.11907232899995 meters 0.29368675241885756 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.83 [[ 9.99994531e-01 1.68694323e-03 2.84480236e-03 -9.03303254e+01] [-1.67672702e-03 9.99992151e-01 -3.58975451e-03 -5.57864097e+01] [-2.85083574e-03 3.58496492e-03 9.99989510e-01 1.27830837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.17907232899995 meters 0.2807344416235661 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.83 [[ 9.99993177e-01 -2.34361256e-03 2.85550187e-03 -9.03302961e+01] [ 2.36470774e-03 9.99969774e-01 -7.40671330e-03 -5.57878385e+01] [-2.83805710e-03 7.41341519e-03 9.99968493e-01 1.27830789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.23907232899995 meters 0.2857156727972902 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.83 [[ 9.99972677e-01 -6.20865829e-03 4.01220668e-03 -9.03325619e+01] [ 6.24893326e-03 9.99929420e-01 -1.01047744e-02 -5.57926873e+01] [-3.94918641e-03 1.01295703e-02 9.99940896e-01 1.27829473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.29907232899996 meters 0.2785752845169175 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.80, Z:127.83 [[ 9.99938708e-01 -9.95582871e-03 4.84376642e-03 -9.03336030e+01] [ 1.00164005e-02 9.99869869e-01 -1.26458263e-02 -5.57975154e+01] [-4.71723642e-03 1.26935683e-02 9.99908306e-01 1.27827618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.35907232899996 meters 0.2679779392408413 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.80, Z:127.83 [[ 9.99934328e-01 -9.83829194e-03 5.87769549e-03 -9.03356936e+01] [ 9.90631895e-03 9.99882960e-01 -1.16589778e-02 -5.58004901e+01] [-5.76230313e-03 1.17164385e-02 9.99914757e-01 1.27826619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41907232899996 meters 0.24365034938030541 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.80, Z:127.83 [[ 9.99941195e-01 -9.62753064e-03 4.99176943e-03 -9.03332429e+01] [ 9.68685975e-03 9.99881067e-01 -1.20006545e-02 -5.57984930e+01] [-4.87563908e-03 1.20483034e-02 9.99915530e-01 1.27826548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47907232899996 meters 0.24163531811924907 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.80, Z:127.83 [[ 9.99972051e-01 -5.20292101e-03 5.36908646e-03 -9.03342583e+01] [ 5.24244408e-03 9.99959073e-01 -7.37360008e-03 -5.57995757e+01] [-5.33050246e-03 7.40154113e-03 9.99958401e-01 1.27826519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53907232899996 meters 0.23102871335049377 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.80, Z:127.83 [[ 9.99986947e-01 -1.17400243e-03 4.97270888e-03 -9.03333028e+01] [ 1.19272202e-03 9.99992208e-01 -3.76317396e-03 -5.57972333e+01] [-4.96825216e-03 3.76905590e-03 9.99980555e-01 1.27826634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59907232899997 meters 0.21415496636247242 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.80, Z:127.83 [[ 9.99989078e-01 -1.08327991e-03 4.54642882e-03 -9.03320943e+01] [ 1.10061029e-03 9.99992132e-01 -3.81109749e-03 -5.57966762e+01] [-4.54226456e-03 3.81605971e-03 9.99982403e-01 1.27826515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65907232899997 meters 0.267397028466082 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.80, Z:127.83 [[ 9.99991964e-01 -8.51436196e-04 3.91741948e-03 -9.03302352e+01] [ 8.66032140e-04 9.99992684e-01 -3.72572120e-03 -5.57962241e+01] [-3.91421861e-03 3.72908387e-03 9.99985386e-01 1.27826151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71907232899997 meters 0.2596252737629859 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.83 [[ 9.99993498e-01 -9.66255844e-04 3.47417097e-03 -9.03290169e+01] [ 9.80663529e-04 9.99990917e-01 -4.14777671e-03 -5.57945764e+01] [-3.47013160e-03 4.15115674e-03 9.99985363e-01 1.27826136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779072329 meters 0.24728391217641976 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.79, Z:127.82 [[ 9.99996920e-01 -1.76307936e-04 2.47566211e-03 -9.03255441e+01] [ 1.85161056e-04 9.99993588e-01 -3.57628784e-03 -5.57942047e+01] [-2.47501571e-03 3.57673523e-03 9.99990541e-01 1.27824925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839072329 meters 0.29249393963132414 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.83 [[ 9.99998009e-01 -3.17385191e-04 1.97007632e-03 -9.03244465e+01] [ 3.25492660e-04 9.99991475e-01 -4.11635127e-03 -5.57923790e+01] [-1.96875306e-03 4.11698432e-03 9.99989587e-01 1.27825367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899072329 meters 0.2746277975390506 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.83 [[ 9.99997877e-01 -3.14829963e-04 2.03653764e-03 -9.03248708e+01] [ 3.23236565e-04 9.99991424e-01 -4.12887786e-03 -5.57925446e+01] [-2.03522028e-03 4.12952738e-03 9.99989402e-01 1.27825803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959072329 meters 0.30391464009251645 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.82 [[ 9.99999197e-01 7.13812173e-04 1.04731767e-03 -9.03211646e+01] [-7.10522263e-04 9.99994823e-01 -3.13828937e-03 -5.57929661e+01] [-1.04955240e-03 3.13754271e-03 9.99994527e-01 1.27824093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019072329 meters 0.2871996136271981 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.82 [[ 9.99999421e-01 8.24515004e-04 6.92091499e-04 -9.03197740e+01] [-8.22340851e-04 9.99994745e-01 -3.13585283e-03 -5.57923040e+01] [-6.94673420e-04 3.13528188e-03 9.99994844e-01 1.27823416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079072329 meters 0.2654228117450762 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.82 [[ 9.99999401e-01 8.73823047e-04 6.58960825e-04 -9.03197356e+01] [-8.71796081e-04 9.99994907e-01 -3.07004304e-03 -5.57924735e+01] [-6.61640144e-04 3.06946672e-03 9.99995070e-01 1.27823511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139072329 meters 0.2520094279110239 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.82 [[ 9.99998776e-01 8.39664801e-04 1.32009471e-03 -9.03216139e+01] [-8.35787610e-04 9.99995344e-01 -2.93486908e-03 -5.57932971e+01] [-1.32255287e-03 2.93376217e-03 9.99994822e-01 1.27823950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199072329 meters 0.2528089989486283 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.82 [[ 9.99994403e-01 -3.00572791e-03 1.46928031e-03 -9.03212800e+01] [ 3.01500670e-03 9.99975266e-01 -6.35431358e-03 -5.57955351e+01] [-1.45014463e-03 6.35870791e-03 9.99978732e-01 1.27822863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259072329 meters 0.23287431473595258 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.82 [[ 9.99995154e-01 -2.73656884e-03 1.48449479e-03 -9.03210003e+01] [ 2.74521522e-03 9.99979097e-01 -5.85403001e-03 -5.57967780e+01] [-1.46844381e-03 5.85807689e-03 9.99981763e-01 1.27822356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319072329 meters 0.26896553476319524 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.82 [[ 9.99994252e-01 -3.07281479e-03 1.43324216e-03 -9.03210420e+01] [ 3.08207999e-03 9.99974075e-01 -6.50772272e-03 -5.57948365e+01] [-1.41320798e-03 6.51210268e-03 9.99977797e-01 1.27822754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37907232899994 meters 0.2649367227799422 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.82 [[ 9.99995167e-01 -2.90792317e-03 1.10023372e-03 -9.03200435e+01] [ 2.91484996e-03 9.99975607e-01 -6.34741419e-03 -5.57949653e+01] [-1.08174909e-03 6.35059052e-03 9.99979250e-01 1.27822545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43907232899994 meters 0.2544721082096878 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.79, Z:127.82 [[ 9.99995326e-01 -2.88607188e-03 1.00918681e-03 -9.03197407e+01] [ 2.89244318e-03 9.99975529e-01 -6.36989057e-03 -5.57947051e+01] [-9.90778151e-04 6.37277981e-03 9.99979203e-01 1.27822509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49907232899994 meters 0.2501918944544538 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.82 [[ 9.99995493e-01 -2.75901370e-03 1.18435639e-03 -9.03200888e+01] [ 2.76618356e-03 9.99977597e-01 -6.09546316e-03 -5.57954958e+01] [-1.16751239e-03 6.09871183e-03 9.99980721e-01 1.27822372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.55907232899995 meters 0.2414440017479844 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.82 [[ 9.99976233e-01 -6.84600133e-03 8.15908364e-04 -9.03190359e+01] [ 6.85393439e-03 9.99924968e-01 -1.01528864e-02 -5.57958425e+01] [-7.46340471e-04 1.01582373e-02 9.99948125e-01 1.27822360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.61907232899995 meters 0.224526946061511 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.82 [[ 9.99976953e-01 -6.66735466e-03 1.28071434e-03 -9.03199648e+01] [ 6.67938720e-03 9.99931297e-01 -9.63265112e-03 -5.57973492e+01] [-1.21640205e-03 9.64098350e-03 9.99952785e-01 1.27821988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.67907232899995 meters 0.22605574777468693 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.82 [[ 9.99976649e-01 -6.58829314e-03 1.81563059e-03 -9.03208335e+01] [ 6.60487910e-03 9.99935073e-01 -9.28574493e-03 -5.57982183e+01] [-1.75433550e-03 9.29752012e-03 9.99955238e-01 1.27821254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.73907232899995 meters 0.21075886676336142 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.82 [[ 9.99976153e-01 -6.45011494e-03 2.46779361e-03 -9.03218085e+01] [ 6.47170396e-03 9.99939960e-01 -8.84270088e-03 -5.57993322e+01] [-2.41060901e-03 8.85846083e-03 9.99957857e-01 1.27820256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.79907232899996 meters 0.19728705632918275 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.82 [[ 9.99976855e-01 -6.22411986e-03 2.74776386e-03 -9.03224484e+01] [ 6.24686479e-03 9.99945641e-01 -8.34812428e-03 -5.58008585e+01] [-2.69565477e-03 8.36509597e-03 9.99961379e-01 1.27820144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.85907232899996 meters 0.2605431660735809 Centerline is valid? [False, False] Translation: X:-90.32, Y:-55.80, Z:127.82 [[ 9.99973388e-01 -6.28330307e-03 3.70729260e-03 -9.03248525e+01] [ 6.31284929e-03 9.99947972e-01 -8.01262144e-03 -5.58024143e+01] [-3.65675399e-03 8.03581178e-03 9.99961026e-01 1.27820244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91907232899996 meters 0.254100024763104 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.80, Z:127.82 [[ 9.99973226e-01 -6.00570901e-03 4.18066089e-03 -9.03254342e+01] [ 6.03622498e-03 9.99954950e-01 -7.32537576e-03 -5.58041683e+01] [-4.13647848e-03 7.35041504e-03 9.99964430e-01 1.27819287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97907232899996 meters 0.2796763706608354 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.81, Z:127.82 [[ 9.99971024e-01 -5.85061741e-03 4.87048070e-03 -9.03265641e+01] [ 5.88318798e-03 9.99960248e-01 -6.70009402e-03 -5.58058364e+01] [-4.83108740e-03 6.72855383e-03 9.99965693e-01 1.27818336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03907232899996 meters 0.22871638886489024 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.81, Z:127.82 [[ 9.99965355e-01 -5.82113813e-03 5.95002226e-03 -9.03287595e+01] [ 5.85700991e-03 9.99964671e-01 -6.02930787e-03 -5.58078993e+01] [-5.91471462e-03 6.06394832e-03 9.99964122e-01 1.27817487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09907232899997 meters 0.2541913725961263 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.81, Z:127.82 [[ 9.99958169e-01 -5.72227279e-03 7.13549770e-03 -9.03314552e+01] [ 5.75594657e-03 9.99972353e-01 -4.70761981e-03 -5.58123050e+01] [-7.10836214e-03 4.74849443e-03 9.99963461e-01 1.27816768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15907232899997 meters 0.26270529247108704 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.81, Z:127.82 [[ 9.99952003e-01 -5.56549046e-03 8.06329210e-03 -9.03335116e+01] [ 5.59728045e-03 9.99976631e-01 -3.92537050e-03 -5.58148195e+01] [-8.04125706e-03 3.97031461e-03 9.99959787e-01 1.27816334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21907232899997 meters 0.24158067009804834 Centerline is valid? [False, False] Translation: X:-90.33, Y:-55.82, Z:127.82 [[ 9.99946710e-01 -5.37904941e-03 8.81152895e-03 -9.03346947e+01] [ 5.40745964e-03 9.99980248e-01 -3.20356587e-03 -5.58167415e+01] [-8.79412277e-03 3.25104314e-03 9.99956046e-01 1.27815215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279072329 meters 0.2524173322622722 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.82, Z:127.82 [[ 9.99940807e-01 -5.36350848e-03 9.46654363e-03 -9.03361661e+01] [ 5.39197386e-03 9.99981011e-01 -2.98398930e-03 -5.58175384e+01] [-9.45035922e-03 3.03485603e-03 9.99950739e-01 1.27815027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339072329 meters 0.2394418407707599 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.82, Z:127.82 [[ 9.99931827e-01 -5.22008956e-03 1.04446802e-02 -9.03386362e+01] [ 5.24363479e-03 9.99983770e-01 -2.22816596e-03 -5.58202753e+01] [-1.04328795e-02 2.28278215e-03 9.99942970e-01 1.27815199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399072329 meters 0.2584564195819227 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.82, Z:127.81 [[ 9.99918879e-01 -5.06798965e-03 1.16854583e-02 -9.03414164e+01] [ 5.07954253e-03 9.99986639e-01 -9.59186278e-04 -5.58244027e+01] [-1.16804410e-02 1.01846525e-03 9.99931263e-01 1.27814472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459072329 meters 0.30909760157975574 Centerline is valid? [False, False] Translation: X:-90.34, Y:-55.83, Z:127.81 [[ 9.99910299e-01 -4.76206179e-03 1.25186279e-02 -9.03429729e+01] [ 4.76035889e-03 9.99988656e-01 1.65823454e-04 -5.58276187e+01] [-1.25192755e-02 -1.06215418e-04 9.99921625e-01 1.27813517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519072329 meters 0.2944179912814139 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.83, Z:127.81 [[ 9.99859061e-01 -9.46524559e-03 1.38660177e-02 -9.03465481e+01] [ 9.51812227e-03 9.99947661e-01 -3.75238342e-03 -5.58300718e+01] [-1.38297748e-02 3.88383301e-03 9.99896821e-01 1.27813871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579072329 meters 0.28467095567034817 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.83, Z:127.81 [[ 9.99846369e-01 -9.38536516e-03 1.48038338e-02 -9.03487237e+01] [ 9.43242744e-03 9.99950670e-01 -3.11244724e-03 -5.58322866e+01] [-1.47738921e-02 3.25160516e-03 9.99885573e-01 1.27813658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639072329 meters 0.356967286590387 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.83, Z:127.81 [[ 9.99836240e-01 -9.28651023e-03 1.55323774e-02 -9.03499576e+01] [ 9.32715078e-03 9.99953260e-01 -2.54611295e-03 -5.58337759e+01] [-1.55080069e-02 2.69056883e-03 9.99876124e-01 1.27812722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699072329 meters 0.6027481171220165 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.84, Z:127.81 [[ 9.99822970e-01 -9.05668036e-03 1.64925586e-02 -9.03517486e+01] [ 9.08324533e-03 9.99957566e-01 -1.53652805e-03 -5.58367133e+01] [-1.64779429e-02 1.68606200e-03 9.99862808e-01 1.27811702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759072329 meters 0.5826278946641377 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.84, Z:127.81 [[ 9.99817834e-01 -8.89310073e-03 1.68882302e-02 -9.03525409e+01] [ 8.91277609e-03 9.99959686e-01 -1.09012410e-03 -5.58380250e+01] [-1.68778548e-02 1.24044653e-03 9.99856789e-01 1.27811438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819072329 meters 0.5705743512936761 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.84, Z:127.81 [[ 9.99809017e-01 -8.88582526e-03 1.74060852e-02 -9.03536315e+01] [ 8.90271446e-03 9.99959971e-01 -8.93057074e-04 -5.58386403e+01] [-1.73974529e-02 1.04784792e-03 9.99848104e-01 1.27811191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87907232899994 meters 0.5673851289671744 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.84, Z:127.81 [[ 9.99801837e-01 -8.94591027e-03 1.77836517e-02 -9.03546412e+01] [ 8.96292091e-03 9.99959448e-01 -8.77058133e-04 -5.58389377e+01] [-1.77750845e-02 1.03627780e-03 9.99841474e-01 1.27811351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93907232899994 meters 0.5489025989642393 Centerline is valid? [False, False] Translation: X:-90.35, Y:-55.84, Z:127.81 [[ 9.99811524e-01 -8.76299338e-03 1.73241594e-02 -9.03533534e+01] [ 8.77693957e-03 9.99961216e-01 -7.29144548e-04 -5.58388875e+01] [-1.73170980e-02 8.81060222e-04 9.99849660e-01 1.27811133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99907232899994 meters 0.673252870049182 Centerline is valid? [False, False] Translation: X:-90.31, Y:-55.87, Z:127.81 [[ 9.99892961e-01 -3.02899604e-03 1.43140432e-02 -9.03122063e+01] [ 3.04775786e-03 9.99994525e-01 -1.28909557e-03 -5.58694310e+01] [-1.43100601e-02 1.33258332e-03 9.99896718e-01 1.27811761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.05907232899995 meters 0.6695568157373732 Centerline is valid? [False, False] Translation: X:-90.23, Y:-55.94, Z:127.81 [[ 9.99941546e-01 -1.52075247e-03 1.07048068e-02 -9.02330680e+01] [ 1.57349376e-03 9.99986658e-01 -4.92018171e-03 -5.59350032e+01] [-1.06971816e-02 4.93673805e-03 9.99930597e-01 1.27808072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.11907232899995 meters 0.6626693084807946 Centerline is valid? [False, False] Translation: X:-90.29, Y:-55.87, Z:127.82 [[ 9.99951286e-01 7.14576326e-03 6.80902074e-03 -9.02931559e+01] [-7.17804330e-03 9.99963059e-01 4.72818912e-03 -5.58744623e+01] [-6.77498269e-03 -4.77683424e-03 9.99965640e-01 1.27815677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.17907232899995 meters 0.6542999742919788 Centerline is valid? [False, False] Translation: X:-90.22, Y:-55.93, Z:127.82 [[ 9.99843922e-01 1.63952125e-02 6.58243625e-03 -9.02191500e+01] [-1.63986733e-02 9.99865421e-01 4.72140783e-04 -5.59287448e+01] [-6.57380955e-03 -5.80010314e-04 9.99978224e-01 1.27815257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.23907232899995 meters 0.651941303713728 Centerline is valid? [False, False] Translation: X:-90.18, Y:-55.96, Z:127.82 [[ 9.99667073e-01 2.56690197e-02 2.61606242e-03 -9.01759435e+01] [-2.56721752e-02 9.99669719e-01 1.17981812e-03 -5.59553182e+01] [-2.58491362e-03 -1.24658534e-03 9.99995882e-01 1.27818194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.29907232899996 meters 0.6561717687049837 Centerline is valid? [False, False] Translation: X:-90.16, Y:-55.96, Z:127.82 [[ 9.99550851e-01 2.96658964e-02 -4.24627875e-03 -9.01620495e+01] [-2.95972768e-02 9.99443251e-01 1.54009440e-02 -5.59589505e+01] [ 4.70079745e-03 -1.52683484e-02 9.99872382e-01 1.27824086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.35907232899996 meters 0.6499929466184331 Centerline is valid? [False, False] Translation: X:-90.14, Y:-55.97, Z:127.83 [[ 9.99457461e-01 3.29353055e-02 2.20834610e-04 -9.01444041e+01] [-3.29315094e-02 9.99186058e-01 2.32967304e-02 -5.59678757e+01] [ 5.46630070e-04 -2.32913635e-02 9.99728570e-01 1.27828116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41907232899996 meters 0.6420662268560281 Centerline is valid? [False, False] Translation: X:-90.13, Y:-55.97, Z:127.83 [[ 9.99290756e-01 3.74604592e-02 -3.83380983e-03 -9.01326753e+01] [-3.73711326e-02 9.99076725e-01 2.11918775e-02 -5.59667015e+01] [ 4.62412763e-03 -2.10335735e-02 9.99768076e-01 1.27832649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47907232899996 meters 0.6379226473426138 Centerline is valid? [False, False] Translation: X:-90.13, Y:-55.96, Z:127.83 [[ 9.99406392e-01 3.40118686e-02 -5.48235604e-03 -9.01295935e+01] [-3.39163574e-02 9.99285760e-01 1.66628329e-02 -5.59641896e+01] [ 6.04517441e-03 -1.64670001e-02 9.99846135e-01 1.27834051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53907232899996 meters 0.6250329108277071 Centerline is valid? [False, False] Translation: X:-90.13, Y:-55.96, Z:127.84 [[ 9.99031159e-01 4.37684284e-02 -4.58998010e-03 -9.01323593e+01] [-4.36385866e-02 9.98725753e-01 2.53484492e-02 -5.59572127e+01] [ 5.69359312e-03 -2.51235903e-02 9.99668139e-01 1.27836662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59907232899997 meters 0.6176171786693353 Centerline is valid? [False, False] Translation: X:-90.12, Y:-55.96, Z:127.84 [[ 9.98950966e-01 4.49382986e-02 -8.80434454e-03 -9.01207316e+01] [-4.47506476e-02 9.98788602e-01 2.04623625e-02 -5.59591623e+01] [ 9.71322273e-03 -2.00468966e-02 9.99751857e-01 1.27841089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65907232899997 meters 0.622344033577133 Centerline is valid? [False, False] Translation: X:-90.09, Y:-55.98, Z:127.84 [[ 9.98900233e-01 4.59120908e-02 -9.50816852e-03 -9.00896991e+01] [-4.57433751e-02 9.98804093e-01 1.72605468e-02 -5.59833967e+01] [ 1.02892654e-02 -1.68066285e-02 9.99805815e-01 1.27844959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71907232899997 meters 0.6388347306418719 Centerline is valid? [False, False] Translation: X:-90.05, Y:-56.01, Z:127.85 [[ 9.98863270e-01 4.59113024e-02 -1.28187486e-02 -9.00542518e+01] [-4.57445352e-02 9.98868406e-01 1.30132372e-02 -5.60103679e+01] [ 1.34016976e-02 -1.24120570e-02 9.99833154e-01 1.27849888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779072329 meters 0.6328943695145857 Centerline is valid? [False, False] Translation: X:-90.05, Y:-56.02, Z:127.85 [[ 9.99009529e-01 4.42482420e-02 -4.69620749e-03 -9.00481309e+01] [-4.41360790e-02 9.98788200e-01 2.17747054e-02 -5.60159673e+01] [ 5.65400906e-03 -2.15458660e-02 9.99751873e-01 1.27851499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839072329 meters 0.6452905342735613 Centerline is valid? [False, False] Translation: X:-90.05, Y:-56.02, Z:127.85 [[ 9.99150517e-01 4.08111779e-02 -5.71762672e-03 -9.00460750e+01] [-4.07003136e-02 9.99003376e-01 1.83231858e-02 -5.60170024e+01] [ 6.45971919e-03 -1.80749113e-02 9.99815768e-01 1.27851658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899072329 meters 0.6819881594408072 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.04, Z:127.85 [[ 9.99028117e-01 4.32723717e-02 -8.38588222e-03 -9.00094941e+01] [-4.31492525e-02 9.98965645e-01 1.43450868e-02 -5.60403038e+01] [ 8.99795417e-03 -1.39693005e-02 9.99861938e-01 1.27854782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959072329 meters 0.6720038009590595 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.04, Z:127.86 [[ 9.99113321e-01 4.13350532e-02 -7.99905475e-03 -9.00131804e+01] [-4.12316679e-02 9.99069091e-01 1.26846740e-02 -5.60394913e+01] [ 8.51593003e-03 -1.23436124e-02 9.99887551e-01 1.27857550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019072329 meters 0.931431627026161 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.04, Z:127.86 [[ 9.99264954e-01 3.74032576e-02 -8.39929082e-03 -9.00125674e+01] [-3.73279908e-02 9.99263024e-01 8.94591828e-03 -5.60408653e+01] [ 8.72770724e-03 -8.62581397e-03 9.99924708e-01 1.27857641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079072329 meters 0.9405582999174946 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.04, Z:127.86 [[ 9.99390854e-01 3.37408202e-02 -8.91500887e-03 -9.00116936e+01] [-3.36936861e-02 9.99417697e-01 5.38541447e-03 -5.60427608e+01] [ 9.09152593e-03 -5.08175445e-03 9.99945758e-01 1.27857851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139072329 meters 0.8986548098423605 Centerline is valid? [False, False] Translation: X:-90.03, Y:-56.03, Z:127.87 [[ 9.99608900e-01 2.79596483e-02 -5.51471590e-04 -9.00299100e+01] [-2.79440460e-02 9.99427399e-01 1.90789015e-02 -5.60332156e+01] [ 1.08459519e-03 -1.90560294e-02 9.99817829e-01 1.27866388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199072329 meters 1.0011505436789525 Centerline is valid? [False, False] Translation: X:-89.92, Y:-56.12, Z:127.87 [[ 9.99533894e-01 2.97840356e-02 -6.70120438e-03 -8.99195106e+01] [-2.96460106e-02 9.99363719e-01 1.98310887e-02 -5.61166093e+01] [ 7.28759038e-03 -1.96231813e-02 9.99780887e-01 1.27865333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259072329 meters 1.0138435040899654 Centerline is valid? [False, False] Translation: X:-89.91, Y:-56.13, Z:127.86 [[ 9.99647393e-01 2.49037673e-02 -9.21367933e-03 -8.99074683e+01] [-2.47963623e-02 9.99625298e-01 1.15932928e-02 -5.61251903e+01] [ 9.49894361e-03 -1.13607392e-02 9.99890346e-01 1.27863909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319072329 meters 0.9573716825728916 Centerline is valid? [False, False] Translation: X:-89.96, Y:-56.09, Z:127.87 [[ 9.99832613e-01 1.80759163e-02 -2.82982147e-03 -8.99557469e+01] [-1.80556328e-02 9.99812224e-01 7.03634113e-03 -5.60919039e+01] [ 2.95647841e-03 -6.98406912e-03 9.99971241e-01 1.27868593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37907232899994 meters 0.8829785400164788 Centerline is valid? [False, False] Translation: X:-90.02, Y:-56.05, Z:127.88 [[ 9.99973701e-01 5.09370500e-03 5.16250739e-03 -9.00198089e+01] [-5.09065586e-03 9.99986860e-01 -6.03600755e-04 -5.60494914e+01] [-5.16551412e-03 5.77304332e-04 9.99986492e-01 1.27880858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43907232899994 meters 0.8604240554102724 Centerline is valid? [False, False] Translation: X:-90.05, Y:-56.02, Z:127.91 [[ 9.99962168e-01 -7.46730428e-04 8.66626969e-03 -9.00515159e+01] [ 6.81757730e-04 9.99971659e-01 7.49772729e-03 -5.60205506e+01] [-8.67162287e-03 -7.49153534e-03 9.99934338e-01 1.27911994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49907232899994 meters 0.8595360036269201 Centerline is valid? [False, False] Translation: X:-90.02, Y:-56.04, Z:127.91 [[ 9.99987165e-01 2.65130870e-03 4.31750631e-03 -9.00248133e+01] [-2.66605631e-03 9.99990620e-01 3.41360451e-03 -5.60355480e+01] [-4.30841529e-03 -3.42507141e-03 9.99984853e-01 1.27907059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.55907232899995 meters 0.8367339949167173 Centerline is valid? [False, False] Translation: X:-90.02, Y:-56.04, Z:127.91 [[ 9.99987650e-01 2.82339013e-03 4.08996080e-03 -9.00240215e+01] [-2.83706553e-03 9.99990392e-01 3.34171506e-03 -5.60351219e+01] [-4.08048654e-03 -3.35327728e-03 9.99986052e-01 1.27907145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.61907232899995 meters 0.8233755584516095 Centerline is valid? [False, False] Translation: X:-90.02, Y:-56.03, Z:127.91 [[ 9.99986746e-01 3.64275895e-03 3.63834925e-03 -9.00217541e+01] [-3.65487780e-03 9.99987777e-01 3.32979115e-03 -5.60334574e+01] [-3.62617515e-03 -3.34304474e-03 9.99987837e-01 1.27906614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.67907232899995 meters 0.8139096999771835 Centerline is valid? [False, False] Translation: X:-90.03, Y:-56.03, Z:127.91 [[ 9.99965173e-01 7.00504266e-03 4.53674234e-03 -9.00284767e+01] [-7.03356251e-03 9.99955411e-01 6.30126975e-03 -5.60262260e+01] [-4.49239938e-03 -6.33295976e-03 9.99969856e-01 1.27911246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.73907232899995 meters 0.8003344769150538 Centerline is valid? [False, False] Translation: X:-90.02, Y:-56.03, Z:127.91 [[ 9.99978401e-01 5.35079762e-03 3.81663120e-03 -9.00246730e+01] [-5.36252812e-03 9.99980909e-01 3.06993905e-03 -5.60261453e+01] [-3.80013171e-03 -3.09033953e-03 9.99988004e-01 1.27910265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.79907232899996 meters 0.790674193893079 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.04, Z:127.91 [[ 9.99985416e-01 5.26697184e-03 1.19470473e-03 -9.00107800e+01] [-5.26668040e-03 9.99986100e-01 -2.46956500e-04 -5.60368282e+01] [-1.19598884e-03 2.40660771e-04 9.99999256e-01 1.27908277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.85907232899996 meters 0.7895544660207355 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.04, Z:127.90 [[ 9.99990024e-01 4.35638174e-03 9.86702055e-04 -9.00069553e+01] [-4.35667789e-03 9.99990465e-01 2.98185715e-04 -5.60424550e+01] [-9.85393636e-04 -3.02481483e-04 9.99999469e-01 1.27903963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91907232899996 meters 0.7895738871284307 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.04, Z:127.90 [[ 9.99989686e-01 4.39833841e-03 1.13217136e-03 -9.00077568e+01] [-4.39895153e-03 9.99990179e-01 5.39624534e-04 -5.60436651e+01] [-1.12978679e-03 -5.44599336e-04 9.99999213e-01 1.27904138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97907232899996 meters 0.772981726168767 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.04, Z:127.91 [[ 9.99992999e-01 3.32847961e-03 1.70949482e-03 -9.00116961e+01] [-3.32869526e-03 9.99994452e-01 1.23317996e-04 -5.60437701e+01] [-1.70907487e-03 -1.29007520e-04 9.99998531e-01 1.27906143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03907232899996 meters 0.7912823787749562 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.05, Z:127.90 [[ 9.99999442e-01 -1.18018730e-04 1.04956804e-03 -9.00066163e+01] [ 1.21017353e-04 9.99995910e-01 -2.85740222e-03 -5.60486249e+01] [-1.04922652e-03 2.85752764e-03 9.99995367e-01 1.27902393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09907232899997 meters 0.770907068659735 Centerline is valid? [False, False] Translation: X:-90.02, Y:-56.04, Z:127.90 [[ 9.99974092e-01 -5.96789416e-03 4.02491425e-03 -9.00236518e+01] [ 5.98108821e-03 9.99976753e-01 -3.27406497e-03 -5.60370728e+01] [-4.00528142e-03 3.29805351e-03 9.99986540e-01 1.27902882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15907232899997 meters 0.7582178334572103 Centerline is valid? [False, False] Translation: X:-90.02, Y:-56.03, Z:127.90 [[ 9.99994182e-01 6.85574945e-04 3.34168037e-03 -9.00196202e+01] [-6.90663232e-04 9.99998604e-01 1.52175712e-03 -5.60339971e+01] [-3.34063242e-03 -1.52405624e-03 9.99993259e-01 1.27901712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21907232899997 meters 0.7397044839215204 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.03, Z:127.90 [[ 9.99959336e-01 8.93424911e-03 1.22681301e-03 -9.00101123e+01] [-8.94039686e-03 9.99947025e-01 5.10060794e-03 -5.60317606e+01] [-1.18117792e-03 -5.11136872e-03 9.99986239e-01 1.27903540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279072329 meters 0.7073317165373918 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.01, Z:127.94 [[ 9.99750580e-01 2.15083205e-02 -6.01410686e-03 -9.00084115e+01] [-2.13960852e-02 9.99606462e-01 1.81419303e-02 -5.60138818e+01] [ 6.40194253e-03 -1.80087270e-02 9.99817334e-01 1.27936150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339072329 meters 0.6965333264342924 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.00, Z:127.94 [[ 9.99634623e-01 2.59986855e-02 -7.39519323e-03 -9.00052846e+01] [-2.58752850e-02 9.99531961e-01 1.63195623e-02 -5.60028442e+01] [ 7.81601916e-03 -1.61222468e-02 9.99839479e-01 1.27943728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399072329 meters 0.6956902006729676 Centerline is valid? [False, False] Translation: X:-90.01, Y:-56.00, Z:127.95 [[ 9.99618594e-01 2.65600987e-02 -7.56485015e-03 -9.00052613e+01] [-2.64422330e-02 9.99533611e-01 1.52763914e-02 -5.59962255e+01] [ 7.96706445e-03 -1.50705334e-02 9.99854692e-01 1.27945501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459072329 meters 0.7052283329004841 Centerline is valid? [False, False] Translation: X:-90.01, Y:-55.99, Z:127.94 [[ 9.99559492e-01 2.91907824e-02 -5.35903951e-03 -9.00116288e+01] [-2.91428361e-02 9.99536371e-01 8.81692510e-03 -5.59911833e+01] [ 5.61392784e-03 -8.65686357e-03 9.99946770e-01 1.27935533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519072329 meters 0.7070906741541074 Centerline is valid? [False, False] Translation: X:-90.01, Y:-55.99, Z:127.93 [[ 9.99558843e-01 2.91802130e-02 -5.53487251e-03 -9.00101985e+01] [-2.91320923e-02 9.99538711e-01 8.58411709e-03 -5.59891430e+01] [ 5.78280570e-03 -8.41908773e-03 9.99947838e-01 1.27934791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579072329 meters 0.6921959330585561 Centerline is valid? [False, False] Translation: X:-90.01, Y:-55.98, Z:127.94 [[ 9.99432993e-01 3.31935445e-02 -5.64625494e-03 -9.00095046e+01] [-3.31245570e-02 9.99380362e-01 1.19019425e-02 -5.59841637e+01] [ 6.03782396e-03 -1.17081643e-02 9.99913228e-01 1.27935550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639072329 meters 0.6881934029302333 Centerline is valid? [False, False] Translation: X:-90.01, Y:-55.98, Z:127.94 [[ 9.99259063e-01 3.80159457e-02 -6.00936781e-03 -9.00073515e+01] [-3.79228401e-02 9.99169363e-01 1.49144776e-02 -5.59760984e+01] [ 6.57136418e-03 -1.46755347e-02 9.99870715e-01 1.27936414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699072329 meters 0.6645682178010762 Centerline is valid? [False, False] Translation: X:-90.00, Y:-55.96, Z:127.95 [[ 9.98817074e-01 4.79452981e-02 -8.10562810e-03 -9.00024481e+01] [-4.77990589e-02 9.98706041e-01 1.73635749e-02 -5.59639833e+01] [ 8.92764152e-03 -1.69555937e-02 9.99816386e-01 1.27945906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759072329 meters 0.6670321579463518 Centerline is valid? [False, False] Translation: X:-90.00, Y:-55.96, Z:127.95 [[ 9.98575200e-01 5.26540387e-02 -8.66727151e-03 -8.99999874e+01] [-5.24702276e-02 9.98417747e-01 2.02207376e-02 -5.59565539e+01] [ 9.71826120e-03 -1.97371534e-02 9.99757971e-01 1.27947851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819072329 meters 0.6511209142800537 Centerline is valid? [False, False] Translation: X:-90.01, Y:-55.95, Z:127.95 [[ 9.98750688e-01 4.92190667e-02 -8.63409912e-03 -9.00057590e+01] [-4.90831410e-02 9.98677418e-01 1.53055460e-02 -5.59501835e+01] [ 9.37600451e-03 -1.48626359e-02 9.99845584e-01 1.27954288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87907232899994 meters 0.6587920341079042 Centerline is valid? [False, False] Translation: X:-90.02, Y:-55.95, Z:127.95 [[ 9.99214912e-01 3.91669688e-02 5.95879685e-03 -9.00232846e+01] [-3.92170223e-02 9.99194319e-01 8.52870445e-03 -5.59484265e+01] [-5.61995246e-03 -8.75569494e-03 9.99945876e-01 1.27954821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93907232899994 meters 0.6664098188763086 Centerline is valid? [False, False] Translation: X:-90.04, Y:-55.95, Z:127.95 [[ 9.99689650e-01 2.36415665e-02 7.85368633e-03 -9.00397947e+01] [-2.36557181e-02 9.99718695e-01 1.71391092e-03 -5.59500900e+01] [-7.81095751e-03 -1.89916360e-03 9.99967691e-01 1.27952892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99907232899994 meters 0.6627392279047423 Centerline is valid? [False, False] Translation: X:-90.04, Y:-55.95, Z:127.96 [[ 9.99939568e-01 1.09852358e-02 -4.30127149e-04 -9.00433818e+01] [-1.09824299e-02 9.99921343e-01 6.05751886e-03 -5.59519833e+01] [ 4.96636590e-04 -6.05242895e-03 9.99981561e-01 1.27961896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 16222.30 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%| | 0/15068 [00:00