+ python -m lidar_slam --no-model /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add Lidar SLAM 0.0.11 ===================================================== The recording path: /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add 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 0.001652532 Adjusted end_distance from 9.223372036854776e+18 to 148.251652532 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001652532 meters 0.33771948595726997 Centerline is valid? [0, False] SLAMing on 0.061652531999999996 meters 0.3241567273836879 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:-0.00 [[ 9.99993295e-01 3.64551376e-03 3.45620633e-04 -5.92495723e-04] [-3.64659374e-03 9.99988303e-01 3.17737242e-03 3.10741506e-03] [-3.34033435e-04 -3.17861145e-03 9.99994892e-01 -2.94609382e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121652532 meters 0.3263871562641026 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:-0.00 [[ 0.99996081 0.00858849 0.00214807 -0.00442144] [-0.00860334 0.99993849 0.00699932 0.00555232] [-0.00208783 -0.00701753 0.9999732 -0.00157773] [ 0. 0. 0. 1. ]] SLAMing on 0.181652532 meters 0.33344575373229296 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:-0.01 [[ 0.9997985 0.01794607 0.0089948 -0.01785492] [-0.01802444 0.99979962 0.008709 0.00901381] [-0.00883671 -0.00886937 0.99992162 -0.01084595] [ 0. 0. 0. 1. ]] SLAMing on 0.241652532 meters 0.34048828602150505 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-0.02 [[ 0.99951656 0.02663661 0.01603527 -0.03227748] [-0.02679467 0.99959366 0.00972421 0.01210466] [-0.01576974 -0.01014917 0.99982414 -0.01989178] [ 0. 0. 0. 1. ]] SLAMing on 0.301652532 meters 0.34780764426020866 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:-0.02 [[ 0.99935612 0.03115788 0.01779129 -0.03596958] [-0.03140072 0.9994152 0.01353724 0.01401692] [-0.01735909 -0.01408719 0.99975008 -0.02075007] [ 0. 0. 0. 1. ]] SLAMing on 0.36165253199999997 meters 0.34382697431617526 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.01, Z:-0.03 [[ 0.99903193 0.03685187 0.02402388 -0.04872688] [-0.03721044 0.99920001 0.01465317 0.0116622 ] [-0.02346467 -0.01553292 0.99960399 -0.02624632] [ 0. 0. 0. 1. ]] SLAMing on 0.42165253199999997 meters 0.35883749584146635 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.01, Z:-0.03 [[ 0.99752795 0.06510585 0.02644286 -0.07337022] [-0.06553345 0.99772782 0.01563863 -0.00660374] [-0.02536461 -0.01733286 0.99952799 -0.02832936] [ 0. 0. 0. 1. ]] SLAMing on 0.48165253199999997 meters 0.36830730987050037 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:-0.03 [[ 0.99617265 0.08069775 0.03358449 -0.09197504] [-0.0815486 0.99636115 0.02478473 -0.01270207] [-0.03146221 -0.02742864 0.99912852 -0.03105107] [ 0. 0. 0. 1. ]] SLAMing on 0.5416525320000001 meters 0.3810053252344032 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.04 [[ 0.99508643 0.09384576 0.03155895 -0.11695411] [-0.09473974 0.99510443 0.02813451 -0.03860132] [-0.02876414 -0.03098616 0.99910584 -0.03641727] [ 0. 0. 0. 1. ]] SLAMing on 0.601652532 meters 0.38183701159723177 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.04 [[ 0.99439279 0.10152061 0.02960642 -0.14327852] [-0.10236692 0.99433479 0.02862422 -0.06741691] [-0.02653275 -0.03149443 0.9991517 -0.04039995] [ 0. 0. 0. 1. ]] SLAMing on 0.661652532 meters 0.39083881975902823 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:-0.04 [[ 0.99327939 0.1125943 0.02680628 -0.16807809] [-0.1134197 0.99304558 0.0315666 -0.10102648] [-0.02306564 -0.03439482 0.99914212 -0.04462884] [ 0. 0. 0. 1. ]] SLAMing on 0.721652532 meters 0.3990590060398518 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:-0.04 [[ 0.99148712 0.12724624 0.02759866 -0.20280256] [-0.12834474 0.99081605 0.04255807 -0.13920637] [-0.02192985 -0.04573792 0.99871273 -0.04060748] [ 0. 0. 0. 1. ]] SLAMing on 0.7816525320000001 meters 0.41536121976247015 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:-0.04 [[ 0.98933768 0.14244275 0.03034837 -0.22637189] [-0.14358996 0.9888391 0.03973849 -0.17137434] [-0.0243492 -0.04367251 0.99874913 -0.03647012] [ 0. 0. 0. 1. ]] SLAMing on 0.841652532 meters 0.42137906240064094 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-0.04 [[ 0.98714217 0.1566373 0.0318606 -0.26302535] [-0.15802712 0.9863078 0.04716314 -0.21391472] [-0.02403685 -0.05159156 0.99837896 -0.03593454] [ 0. 0. 0. 1. ]] SLAMing on 0.901652532 meters 0.43100498953388466 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.24, Z:-0.03 [[ 0.98505928 0.1682565 0.03671453 -0.28840448] [-0.16993202 0.98425455 0.04864257 -0.24441823] [-0.02795201 -0.05415479 0.99814124 -0.02992968] [ 0. 0. 0. 1. ]] SLAMing on 0.961652532 meters 0.4406328924196293 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.29, Z:-0.02 [[ 0.98261219 0.18298808 0.03144267 -0.32461993] [-0.18429222 0.98182544 0.04533412 -0.2926989 ] [-0.02257561 -0.0503405 0.99847693 -0.02463812] [ 0. 0. 0. 1. ]] SLAMing on 1.021652532 meters 0.4417461192320075 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.32, Z:-0.02 [[ 0.98243166 0.18478625 0.02611677 -0.34688018] [-0.18582518 0.98153087 0.04545489 -0.32302722] [-0.01723497 -0.04950947 0.99862494 -0.02234263] [ 0. 0. 0. 1. ]] SLAMing on 1.081652532 meters 0.44414122795582933 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.37, Z:-0.01 [[ 0.98132588 0.19064946 0.02554013 -0.38500363] [-0.19176099 0.98005125 0.05222334 -0.37137459] [-0.01507428 -0.05614571 0.99830878 -0.01438318] [ 0. 0. 0. 1. ]] SLAMing on 1.141652532 meters 0.44399398423439546 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.42, Z:-0.01 [[ 0.98204733 0.18718859 0.02331251 -0.41484767] [-0.18830346 0.98012819 0.06237416 -0.41773125] [-0.01117352 -0.06564421 0.99778053 -0.00873365] [ 0. 0. 0. 1. ]] SLAMing on 1.201652532 meters 0.43396326703027455 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.44, Z:-0.00 [[ 0.98295778 0.18197867 0.02603395 -0.43218645] [-0.18319554 0.98145405 0.05645652 -0.44273316] [-0.01527724 -0.06026368 0.99806558 -0.00455506] [ 0. 0. 0. 1. ]] SLAMing on 1.261652532 meters 0.43393647820015147 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.48, Z:-0.00 [[ 0.98437755 0.17478919 0.02120304 -0.45729099] [-0.17577774 0.98253071 0.06111939 -0.48460387] [-0.01014963 -0.06389158 0.99790523 -0.00130084] [ 0. 0. 0. 1. ]] SLAMing on 1.3216525319999999 meters 0.4309493372792109 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.52, Z:0.01 [[ 0.98422576 0.17473634 0.0276924 -0.48462529] [-0.17612394 0.98254082 0.05994915 -0.52102305] [-0.01673362 -0.06388079 0.99781723 0.00541946] [ 0. 0. 0. 1. ]] SLAMing on 1.381652532 meters 0.4261068341067455 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.56, Z:0.01 [[ 0.9840989 0.17603978 0.0236508 -0.51055185] [-0.177202 0.9821779 0.06265807 -0.56016514] [-0.01219898 -0.0658527 0.99775478 0.01060746] [ 0. 0. 0. 1. ]] SLAMing on 1.441652532 meters 0.42046045910990093 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.60, Z:0.02 [[ 0.98528671 0.16829638 0.02977303 -0.53595086] [-0.16978767 0.98378023 0.05786711 -0.59535873] [-0.0195513 -0.06207079 0.99788024 0.01705596] [ 0. 0. 0. 1. ]] SLAMing on 1.501652532 meters 0.4221691227843879 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.63, Z:0.02 [[ 0.98699774 0.15878581 0.02495034 -0.55959086] [-0.16005958 0.98514837 0.06215798 -0.63216354] [-0.01470998 -0.06534332 0.99775441 0.02191929] [ 0. 0. 0. 1. ]] SLAMing on 1.561652532 meters 0.4084489872213053 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.64, Z:0.03 [[ 0.98818447 0.15136045 0.02411348 -0.56491215] [-0.15249778 0.98673126 0.0557301 -0.6430593 ] [-0.01535819 -0.05874887 0.99815465 0.02648998] [ 0. 0. 0. 1. ]] SLAMing on 1.621652532 meters 0.3980118215183523 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.68, Z:0.03 [[ 0.98902794 0.14435349 0.03139761 -0.58756336] [-0.1459839 0.98758604 0.05798724 -0.67649335] [-0.02263718 -0.06193454 0.99782347 0.03412707] [ 0. 0. 0. 1. ]] SLAMing on 1.681652532 meters 0.3870923883166775 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.70, Z:0.04 [[ 0.99098049 0.12909236 0.03595593 -0.60395519] [-0.13089092 0.98996809 0.05320475 -0.70333725] [-0.0287269 -0.05743117 0.99793608 0.04023634] [ 0. 0. 0. 1. ]] SLAMing on 1.741652532 meters 0.3745812913138476 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.71, Z:0.04 [[ 0.99209677 0.12054307 0.03483328 -0.60726639] [-0.12206603 0.99147768 0.04551807 -0.71134738] [-0.02904953 -0.04941029 0.99835602 0.04417914] [ 0. 0. 0. 1. ]] SLAMing on 1.8016525319999999 meters 0.36322611692851053 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.73, Z:0.04 [[ 0.99360073 0.10864103 0.03089847 -0.61624742] [-0.11004683 0.99275859 0.04816726 -0.72624888] [-0.02544178 -0.05125931 0.99836126 0.04302202] [ 0. 0. 0. 1. ]] SLAMing on 1.861652532 meters 0.3637500178850459 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.74, Z:0.04 [[ 0.9946939 0.09835282 0.03017894 -0.62870883] [-0.09982632 0.99364616 0.05198091 -0.74108703] [-0.02487472 -0.05471774 0.99819197 0.04169141] [ 0. 0. 0. 1. ]] SLAMing on 1.921652532 meters 0.3534438050631258 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.76, Z:0.04 [[ 0.99592888 0.08483716 0.03046844 -0.6406238 ] [-0.08633759 0.99491481 0.05186845 -0.75747366] [-0.02591313 -0.05428786 0.99818903 0.03949143] [ 0. 0. 0. 1. ]] SLAMing on 1.981652532 meters 0.35006981410802207 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.77, Z:0.04 [[ 0.99631501 0.08039355 0.02988783 -0.64396504] [-0.0817828 0.9954646 0.04859841 -0.765727 ] [-0.02584528 -0.05086364 0.99837113 0.04450017] [ 0. 0. 0. 1. ]] SLAMing on 2.041652532 meters 0.3531811262251231 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.77, Z:0.05 [[ 0.99651297 0.07757788 0.03071777 -0.64738528] [-0.07894016 0.9958201 0.04594333 -0.76956155] [-0.02702518 -0.04820799 0.99847165 0.04553615] [ 0. 0. 0. 1. ]] SLAMing on 2.101652532 meters 0.3373008780907845 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.78, Z:0.05 [[ 0.99630555 0.07847548 0.03488348 -0.66122196] [-0.07993605 0.99588685 0.04265694 -0.78431244] [-0.03139247 -0.0452878 0.99848061 0.04569793] [ 0. 0. 0. 1. ]] SLAMing on 2.161652532 meters 0.34815377635930234 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.81, Z:0.05 [[ 0.99575161 0.08758733 0.02841107 -0.67700945] [-0.08885113 0.99494589 0.04677762 -0.8074553 ] [-0.02417035 -0.04910325 0.99850121 0.04536752] [ 0. 0. 0. 1. ]] SLAMing on 2.221652532 meters 0.3711863956993238 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.82, Z:0.04 [[ 0.99545299 0.09295275 0.02081175 -0.68949985] [-0.09384099 0.99448649 0.04680263 -0.82291547] [-0.01634657 -0.04854281 0.99868733 0.04319738] [ 0. 0. 0. 1. ]] SLAMing on 2.281652532 meters 0.36793646080100356 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.84, Z:0.04 [[ 0.99421609 0.10408685 0.02646317 -0.70634309] [-0.10536149 0.99304815 0.0524817 -0.83788811] [-0.02081655 -0.05496635 0.99827119 0.04349486] [ 0. 0. 0. 1. ]] SLAMing on 2.341652532 meters 0.3993346175626421 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.85, Z:0.04 [[ 0.99294129 0.11412953 0.03228078 -0.72282091] [-0.11585494 0.99157744 0.05789477 -0.85183322] [-0.02540139 -0.061226 0.99780065 0.04368758] [ 0. 0. 0. 1. ]] SLAMing on 2.401652532 meters 0.394848750977517 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.88, Z:0.04 [[ 0.99174097 0.12494567 0.02895579 -0.74563482] [-0.12644483 0.99030266 0.05755299 -0.88458956] [-0.021484 -0.06073897 0.99792245 0.03965854] [ 0. 0. 0. 1. ]] SLAMing on 2.461652532 meters 0.401007442853546 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.91, Z:0.04 [[ 0.9907784 0.13146289 0.03279749 -0.76234659] [-0.13320783 0.98936803 0.05836581 -0.91001651] [-0.02477585 -0.06219647 0.99775636 0.0420816 ] [ 0. 0. 0. 1. ]] SLAMing on 2.521652532 meters 0.4089325769855035 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.93, Z:0.04 [[ 0.99016584 0.13494055 0.03691423 -0.77763309] [-0.13692883 0.98887937 0.05803524 -0.92897213] [-0.02867242 -0.06251913 0.99763182 0.04374676] [ 0. 0. 0. 1. ]] SLAMing on 2.581652532 meters 0.4124129922548602 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.94, Z:0.05 [[ 0.99038417 0.13278802 0.03881418 -0.78630257] [-0.13483188 0.98929092 0.05589126 -0.9405988 ] [-0.03097682 -0.06058721 0.99768213 0.04644151] [ 0. 0. 0. 1. ]] SLAMing on 2.6416525319999997 meters 0.4031785982174083 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.95, Z:0.05 [[ 0.99056814 0.13090456 0.04048164 -0.79431013] [-0.13300982 0.98960867 0.05461741 -0.95257781] [-0.03291132 -0.05948672 0.99768641 0.04956242] [ 0. 0. 0. 1. ]] SLAMing on 2.7016525319999998 meters 0.4036015577995509 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.99, Z:0.05 [[ 0.99118158 0.12756174 0.03587576 -0.81699405] [-0.12960888 0.9896174 0.06212032 -0.99269906] [-0.0275791 -0.06622233 0.99742368 0.05333119] [ 0. 0. 0. 1. ]] SLAMing on 2.761652532 meters 0.3982680615034702 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.01, Z:0.06 [[ 0.99252953 0.11791394 0.03132784 -0.8314668 ] [-0.11975308 0.99065146 0.06533667 -1.00728153] [-0.02333087 -0.06860018 0.99737139 0.05596247] [ 0. 0. 0. 1. ]] SLAMing on 2.821652532 meters 0.3948887772325811 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.02, Z:0.06 [[ 0.99290343 0.11365348 0.03500939 -0.84619533] [-0.11555851 0.99158843 0.05829763 -1.02184394] [-0.02808917 -0.06192954 0.99768519 0.05773983] [ 0. 0. 0. 1. ]] SLAMing on 2.881652532 meters 0.39292097750704974 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.03, Z:0.06 [[ 0.99327497 0.11046632 0.03467019 -0.84799147] [-0.11227903 0.99211912 0.05561536 -1.02621563] [-0.02825334 -0.05913408 0.99785014 0.05991009] [ 0. 0. 0. 1. ]] SLAMing on 2.941652532 meters 0.3904013722198801 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.03, Z:0.06 [[ 0.99354368 0.10786453 0.03515949 -0.85134336] [-0.1096484 0.99252829 0.05352403 -1.03184272] [-0.02912345 -0.05703364 0.99794739 0.06151751] [ 0. 0. 0. 1. ]] SLAMing on 3.001652532 meters 0.394090403322063 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.04, Z:0.06 [[ 0.99388045 0.10484058 0.03478664 -0.8524843 ] [-0.10653481 0.99299661 0.05106924 -1.03712368] [-0.02918888 -0.05446271 0.99808909 0.06299461] [ 0. 0. 0. 1. ]] SLAMing on 3.061652532 meters 0.3844014514321914 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.05, Z:0.07 [[ 0.99433795 0.10080387 0.03362458 -0.85328878] [-0.10236778 0.99355964 0.04858073 -1.04823068] [-0.0285109 -0.05174774 0.99825312 0.06615553] [ 0. 0. 0. 1. ]] SLAMing on 3.121652532 meters 0.37775702849527204 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.06, Z:0.07 [[ 0.99479059 0.09641166 0.03311319 -0.85626531] [-0.0978606 0.99416649 0.04534633 -1.05678259] [-0.02854811 -0.04835058 0.99842237 0.07012103] [ 0. 0. 0. 1. ]] SLAMing on 3.1816525319999998 meters 0.37888899190609376 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.07, Z:0.08 [[ 0.99629266 0.07753491 0.03727286 -0.87053238] [-0.07923867 0.99576396 0.04664076 -1.07446697] [-0.03349868 -0.0494213 0.9982161 0.0751852 ] [ 0. 0. 0. 1. ]] SLAMing on 3.241652532 meters 0.3563957458118362 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.08, Z:0.08 [[ 0.99687004 0.06968964 0.03732941 -0.87289084] [-0.07120178 0.99662561 0.04083755 -1.08419132] [-0.0343575 -0.04336765 0.99846823 0.07627375] [ 0. 0. 0. 1. ]] SLAMing on 3.301652532 meters 0.35704313108814867 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.11, Z:0.08 [[ 0.99698628 0.07263542 0.02724782 -0.88058513] [-0.07372521 0.99641949 0.04138589 -1.10622994] [-0.02414418 -0.04327002 0.99877163 0.07657854] [ 0. 0. 0. 1. ]] SLAMing on 3.361652532 meters 0.35871299451770694 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.11, Z:0.08 [[ 0.99694295 0.07321811 0.02727387 -0.88192785] [-0.07433345 0.99633117 0.04241142 -1.10902564] [-0.02406852 -0.04430913 0.99872789 0.07846268] [ 0. 0. 0. 1. ]] SLAMing on 3.421652532 meters 0.3907778955580702 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.12, Z:0.07 [[ 0.99736231 0.06613963 0.02989954 -0.89035777] [-0.06747533 0.99665436 0.04612119 -1.11637695] [-0.02674906 -0.04801702 0.99848828 0.06723062] [ 0. 0. 0. 1. ]] SLAMing on 3.481652532 meters 0.3770390620746998 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.13, Z:0.07 [[ 0.99682562 0.07170724 0.03459401 -0.90394231] [-0.07331478 0.99616825 0.0476839 -1.13216845] [-0.03104218 -0.05006878 0.99826324 0.06676466] [ 0. 0. 0. 1. ]] SLAMing on 3.541652532 meters 0.3788004525120132 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.14, Z:0.07 [[ 0.99703136 0.0685317 0.03509819 -0.90747025] [-0.07007452 0.99653549 0.04479481 -1.13562878] [-0.03190672 -0.04712132 0.99837946 0.06912678] [ 0. 0. 0. 1. ]] SLAMing on 3.6016525319999997 meters 0.3870829634583549 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.14, Z:0.07 [[ 0.99725586 0.0649095 0.03560195 -0.90931218] [-0.06635719 0.99694861 0.04111191 -1.13777897] [-0.03282476 -0.04336154 0.99852006 0.06886483] [ 0. 0. 0. 1. ]] SLAMing on 3.6616525319999997 meters 0.38758339672082165 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.15, Z:0.06 [[ 0.99780598 0.05631615 0.03480973 -0.91801837] [-0.05786637 0.99729793 0.04525838 -1.14811422] [-0.0321669 -0.0471734 0.99836865 0.06314738] [ 0. 0. 0. 1. ]] SLAMing on 3.721652532 meters 0.39998860871000996 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.16, Z:0.07 [[ 0.99710047 0.06511686 0.03937569 -0.92551041] [-0.06658977 0.99708192 0.03732901 -1.15575584] [-0.03683005 -0.03984279 0.99852697 0.07150539] [ 0. 0. 0. 1. ]] SLAMing on 3.781652532 meters 0.4191066714974779 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.17, Z:0.07 [[ 0.99692611 0.07181127 0.03132839 -0.93541657] [-0.0730207 0.99655429 0.03933859 -1.17135491] [-0.02839549 -0.04150529 0.9987347 0.06881176] [ 0. 0. 0. 1. ]] SLAMing on 3.841652532 meters 0.43435617155012196 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.19, Z:0.07 [[ 0.99660967 0.07881804 0.02359852 -0.94618407] [-0.07974416 0.99596021 0.04128117 -1.19281983] [-0.02024949 -0.04302306 0.99886885 0.06659623] [ 0. 0. 0. 1. ]] SLAMing on 3.901652532 meters 0.45053130789414686 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.20, Z:0.07 [[ 0.99623932 0.08196255 0.02809533 -0.95931432] [-0.08307074 0.995706 0.04085119 -1.20320617] [-0.02462643 -0.04303146 0.99877016 0.06614689] [ 0. 0. 0. 1. ]] SLAMing on 3.961652532 meters 0.4646960710701991 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.22, Z:0.07 [[ 0.99575799 0.08619313 0.03219879 -0.97174286] [-0.08752909 0.99524713 0.04268262 -1.21686591] [-0.0283668 -0.04531989 0.99856969 0.06667992] [ 0. 0. 0. 1. ]] SLAMing on 4.021652531999999 meters 0.4648217665012968 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.23, Z:0.07 [[ 0.99610805 0.08212133 0.03201311 -0.97503302] [-0.08336768 0.99572523 0.03976289 -1.22582028] [-0.02861088 -0.042277 0.99869619 0.07049165] [ 0. 0. 0. 1. ]] SLAMing on 4.081652532 meters 0.4750892281222044 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.24, Z:0.07 [[ 0.99646478 0.07801731 0.03116489 -0.97716617] [-0.07915557 0.9961705 0.03713137 -1.23649608] [-0.02814866 -0.03946698 0.99882431 0.07477296] [ 0. 0. 0. 1. ]] SLAMing on 4.141652531999999 meters 0.4450866041270384 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.24, Z:0.06 [[ 0.99667614 0.07412104 0.03380445 -0.9874148 ] [-0.07558434 0.99615553 0.04428507 -1.24324572] [-0.03039203 -0.04669296 0.99844684 0.06452499] [ 0. 0. 0. 1. ]] SLAMing on 4.201652532 meters 0.4544314295904727 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.25, Z:0.05 [[ 0.99697541 0.06910215 0.03556567 -0.99703516] [-0.07084471 0.99621729 0.05032032 -1.24870335] [-0.0319539 -0.05268776 0.99809967 0.05477701] [ 0. 0. 0. 1. ]] SLAMing on 4.261652531999999 meters 0.46386534876906776 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.25, Z:0.06 [[ 0.99693201 0.06948994 0.0360239 -0.99903302] [-0.07127303 0.99616069 0.05083337 -1.25005376] [-0.03235319 -0.05324495 0.99805724 0.05607139] [ 0. 0. 0. 1. ]] SLAMing on 4.321652532 meters 0.47442363300069884 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.26, Z:0.06 [[ 0.9969028 0.06994346 0.03595435 -1.00181069] [-0.07178155 0.99602905 0.05266441 -1.26021763] [-0.03212805 -0.05508216 0.9979648 0.06021641] [ 0. 0. 0. 1. ]] SLAMing on 4.3816525319999995 meters 0.48496752760659584 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.26, Z:0.06 [[ 0.99713737 0.06638228 0.03620036 -1.0034801 ] [-0.06812245 0.99646475 0.04916634 -1.26284869] [-0.03280861 -0.05149165 0.99813436 0.06074264] [ 0. 0. 0. 1. ]] SLAMing on 4.441652531999999 meters 0.4701000447025895 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.26, Z:0.06 [[ 0.99739659 0.0624079 0.03612889 -1.00378697] [-0.06401129 0.99693098 0.04506861 -1.26378888] [-0.03320537 -0.04726394 0.99833037 0.06034309] [ 0. 0. 0. 1. ]] SLAMing on 4.501652532 meters 0.515073360284042 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.26, Z:0.06 [[ 0.99737695 0.06262056 0.03630273 -1.00432761] [-0.0642409 0.99690425 0.04533244 -1.26466623] [-0.0333516 -0.04754566 0.99831212 0.06044364] [ 0. 0. 0. 1. ]] SLAMing on 4.561652531999999 meters 0.4410055873690232 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.27, Z:0.06 [[ 0.99720309 0.06423193 0.0382133 -1.00858105] [-0.06598933 0.99672889 0.0466576 -1.26767266] [-0.03509139 -0.04904877 0.99817975 0.06026987] [ 0. 0. 0. 1. ]] SLAMing on 4.621652532 meters 0.46484814261530244 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.27, Z:0.06 [[ 0.99733374 0.06158492 0.03914973 -1.0115897 ] [-0.06327626 0.99704585 0.04353955 -1.27030846] [-0.03635269 -0.04590071 0.99828433 0.06042444] [ 0. 0. 0. 1. ]] SLAMing on 4.681652531999999 meters 0.4562794579656418 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.27, Z:0.06 [[ 0.99730979 0.06170287 0.03957185 -1.01284802] [-0.06341672 0.9970332 0.04362473 -1.27061044] [-0.03676268 -0.04601688 0.99826397 0.06073636] [ 0. 0. 0. 1. ]] SLAMing on 4.741652532 meters 0.45491258907006243 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.27, Z:0.06 [[ 0.99747816 0.05844027 0.04027474 -1.0150633 ] [-0.06006308 0.9973793 0.04033551 -1.2734913 ] [-0.03781197 -0.04265282 0.99837417 0.06069439] [ 0. 0. 0. 1. ]] SLAMing on 4.801652531999999 meters 0.47121189527852203 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.27, Z:0.06 [[ 0.99772007 0.0544575 0.03986286 -1.01510861] [-0.05591481 0.99777165 0.03640412 -1.27467494] [-0.03779156 -0.03855005 0.99854178 0.06138362] [ 0. 0. 0. 1. ]] SLAMing on 4.861652531999999 meters 0.4528864756669549 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.28, Z:0.06 [[ 0.99787722 0.05122875 0.04020775 -1.01682964] [-0.0525858 0.99805597 0.03345168 -1.2788327 ] [-0.03841589 -0.03549503 0.99863122 0.06197331] [ 0. 0. 0. 1. ]] SLAMing on 4.9216525319999995 meters 0.48155948589772857 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.28, Z:0.06 [[ 0.99865442 0.04534261 0.02516727 -1.01305621] [-0.04605108 0.99853749 0.02832293 -1.28300309] [-0.02384623 -0.0294438 0.99928195 0.06304771] [ 0. 0. 0. 1. ]] SLAMing on 4.981652531999999 meters 0.4350851945429871 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.29, Z:0.06 [[ 0.99857783 0.04650581 0.02606756 -1.01598809] [-0.04727576 0.99843897 0.02974266 -1.28677567] [-0.02464366 -0.03093272 0.99921762 0.06407872] [ 0. 0. 0. 1. ]] SLAMing on 5.041652532 meters 0.44647359934446335 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.29, Z:0.06 [[ 0.99855648 0.04669758 0.02653836 -1.0172974 ] [-0.04748632 0.99842395 0.02991098 -1.28738329] [-0.02509977 -0.03112802 0.9992002 0.0642158 ] [ 0. 0. 0. 1. ]] SLAMing on 5.101652531999999 meters 0.49007315586050443 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.29, Z:0.06 [[ 0.99854515 0.04690225 0.02660378 -1.01744298] [-0.04770192 0.99840299 0.03026537 -1.28863068] [-0.02514178 -0.03149039 0.99918779 0.06413158] [ 0. 0. 0. 1. ]] SLAMing on 5.161652532 meters 0.3597558509518239 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.29, Z:0.07 [[ 0.99888427 0.03911835 0.02645689 -1.01877199] [-0.03972043 0.99895459 0.02262775 -1.29152253] [-0.02554407 -0.02365338 0.99939383 0.06531878] [ 0. 0. 0. 1. ]] SLAMing on 5.221652531999999 meters 0.35747318261200584 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.29, Z:0.07 [[ 0.9990345 0.03539973 0.02601786 -1.01838715] [-0.03590536 0.99917015 0.01923078 -1.29453909] [-0.02531551 -0.0201464 0.99947649 0.06571917] [ 0. 0. 0. 1. ]] SLAMing on 5.281652531999999 meters 0.35147232711831294 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.30, Z:0.07 [[ 0.99953828 0.02380398 0.0188839 -1.0211607 ] [-0.02426242 0.99940705 0.02443136 -1.30453253] [-0.01829114 -0.02487825 0.99952314 0.06783787] [ 0. 0. 0. 1. ]] SLAMing on 5.3416525319999995 meters 0.34736724219384585 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.30, Z:0.08 [[ 0.99958176 0.02377839 0.01645901 -1.01345264] [-0.02400723 0.99961586 0.01384882 -1.29857052] [-0.01612338 -0.01423816 0.99976863 0.07868925] [ 0. 0. 0. 1. ]] SLAMing on 5.401652531999999 meters 0.3500947659968873 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.30, Z:0.08 [[ 0.99967339 0.01975236 0.01621583 -1.01349971] [-0.01991554 0.99975201 0.00996394 -1.29994433] [-0.016015 -0.01028363 0.99981887 0.0792753 ] [ 0. 0. 0. 1. ]] SLAMing on 5.461652532 meters 0.35081319957126655 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.30, Z:0.08 [[ 0.99973088 0.01613865 0.01666488 -1.01524654] [-0.01624946 0.99984661 0.0065354 -1.30258057] [-0.01655685 -0.00680444 0.99983977 0.07991576] [ 0. 0. 0. 1. ]] SLAMing on 5.521652531999999 meters 0.3522039053965181 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.30, Z:0.08 [[ 0.99977387 0.01188091 0.01763657 -1.01729575] [-0.01191197 0.99992768 0.00165665 -1.30099322] [-0.01761561 -0.00186636 0.99984309 0.07917993] [ 0. 0. 0. 1. ]] SLAMing on 5.581652532 meters 0.3648919642437469 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.30, Z:0.08 [[ 0.99975234 0.01246886 0.01843336 -1.01909866] [-0.01251318 0.99991908 0.0022911 -1.30286694] [-0.0184033 -0.00252119 0.99982747 0.0789029 ] [ 0. 0. 0. 1. ]] SLAMing on 5.641652531999999 meters 0.37488080438007504 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.30, Z:0.08 [[ 0.9997378 0.0125232 0.01917049 -1.02060142] [-0.01256428 0.99991902 0.00202378 -1.30208595] [-0.01914359 -0.00226412 0.99981418 0.07838413] [ 0. 0. 0. 1. ]] SLAMing on 5.701652532 meters 0.35158130695340994 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.30, Z:0.08 [[ 0.99968501 0.0167279 0.01870968 -1.01950481] [-0.01685119 0.99983719 0.00645157 -1.30226673] [-0.01859871 -0.00676482 0.99980414 0.07874254] [ 0. 0. 0. 1. ]] SLAMing on 5.761652531999999 meters 0.34057396053184874 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.08 [[ 0.99973992 0.01373385 0.01820633 -1.01919802] [-0.01381407 0.99989539 0.00428818 -1.30806698] [-0.01814553 -0.00453857 0.99982506 0.08006264] [ 0. 0. 0. 1. ]] SLAMing on 5.821652531999999 meters 0.3376368407702893 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.08 [[ 0.99982972 0.00508644 0.01773886 -1.01782537] [-0.005008 0.9999775 -0.00446332 -1.3079045 ] [-0.01776116 0.00437372 0.99983269 0.0795148 ] [ 0. 0. 0. 1. ]] SLAMing on 5.8816525319999995 meters 0.3381075057106861 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.08 [[ 0.99982959 0.00488796 0.0178016 -1.01749959] [-0.00480137 0.99997645 -0.00490345 -1.30647609] [-0.01782515 0.00481714 0.99982952 0.07877576] [ 0. 0. 0. 1. ]] SLAMing on 5.941652531999999 meters 0.34564912273459103 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.08 [[ 9.99780324e-01 9.69004645e-03 1.85851077e-02 -1.01957316e+00] [-9.69156395e-03 9.99953036e-01 -8.41587793e-06 -1.30803990e+00] [-1.85843164e-02 -1.71704731e-04 9.99827282e-01 7.89174504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001652532 meters 0.3446245234587212 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.08 [[ 9.99740221e-01 1.06402149e-02 2.01563168e-02 -1.02373985e+00] [-1.06516901e-02 9.99943162e-01 4.62029530e-04 -1.30854165e+00] [-2.01502550e-02 -6.76608343e-04 9.99796734e-01 7.93080502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061652531999999 meters 0.36157009244283844 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.08 [[ 9.99747329e-01 1.03380061e-02 1.99600578e-02 -1.02256179e+00] [-1.03396760e-02 9.99946544e-01 -1.95358245e-05 -1.30709021e+00] [-1.99591928e-02 -1.86849643e-04 9.99800778e-01 7.83505381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121652532 meters 0.43277049608277574 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.08 [[ 0.99968965 0.01483535 0.02001314 -1.0224988 ] [-0.01493305 0.99987726 0.00474092 -1.30851941] [-0.01994035 -0.00503831 0.99978848 0.07814483] [ 0. 0. 0. 1. ]] SLAMing on 6.181652531999999 meters 0.35700215617566877 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.08 [[ 0.99957502 0.01981472 0.02138103 -1.02535174] [-0.02002149 0.99975441 0.0095004 -1.30950951] [-0.02118754 -0.00992444 0.99972626 0.07762143] [ 0. 0. 0. 1. ]] SLAMing on 6.241652532 meters 0.3619728742155891 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.08 [[ 0.99955357 0.02041923 0.02181101 -1.02660677] [-0.02064876 0.99973321 0.01035062 -1.31218558] [-0.02159384 -0.01079637 0.99970853 0.0778969 ] [ 0. 0. 0. 1. ]] SLAMing on 6.301652531999999 meters 0.36497621659287716 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.08 [[ 0.99954263 0.02051517 0.02221823 -1.02673806] [-0.0207439 0.99973367 0.01011373 -1.31161567] [-0.02200483 -0.01056999 0.99970199 0.076563 ] [ 0. 0. 0. 1. ]] SLAMing on 6.361652531999999 meters 0.37042285286351184 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.08 [[ 0.99951804 0.02066962 0.02316136 -1.02822206] [-0.02090235 0.99973298 0.00985157 -1.31105662] [-0.02295155 -0.01033095 0.9996832 0.07523546] [ 0. 0. 0. 1. ]] SLAMing on 6.4216525319999995 meters 0.36955396282563036 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.07 [[ 0.99953183 0.01997343 0.02317705 -1.02770606] [-0.02018055 0.99975817 0.00873711 -1.30780074] [-0.02299694 -0.00920074 0.9996932 0.07460175] [ 0. 0. 0. 1. ]] SLAMing on 6.481652531999999 meters 0.3488674762915248 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.07 [[ 0.99990716 0.00765647 0.01127128 -1.02596655] [-0.00772019 0.9999544 0.00562089 -1.31050111] [-0.01122773 -0.00570738 0.99992068 0.07047936] [ 0. 0. 0. 1. ]] SLAMing on 6.541652532 meters 0.3412945083140388 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.07 [[ 9.99934086e-01 3.20809916e-03 1.10241604e-02 -1.02591895e+00] [-3.22161641e-03 9.99994080e-01 1.20860854e-03 -1.31032238e+00] [-1.10202178e-02 -1.24404449e-03 9.99938502e-01 7.12709298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601652531999999 meters 0.34936771945914 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.07 [[ 0.99990132 0.00787785 0.01163109 -1.02798815] [-0.00794812 0.99995037 0.00600748 -1.31162073] [-0.01158319 -0.00609933 0.99991431 0.07217605] [ 0. 0. 0. 1. ]] SLAMing on 6.661652532 meters 0.3717986611962619 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.07 [[ 0.99984105 0.01308122 0.01211415 -1.02880401] [-0.01321961 0.99984746 0.01141511 -1.31449861] [-0.01196298 -0.01157344 0.99986146 0.07171026] [ 0. 0. 0. 1. ]] SLAMing on 6.721652531999999 meters 0.36495758226505726 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99983226 0.01349637 0.01238139 -1.02873298] [-0.01364358 0.99983631 0.01188282 -1.31606283] [-0.01221898 -0.01204976 0.99985274 0.07051334] [ 0. 0. 0. 1. ]] SLAMing on 6.781652531999999 meters 0.36497214828625113 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.07 [[ 0.99982997 0.01324569 0.01282918 -1.0293353 ] [-0.0133907 0.99984666 0.01128441 -1.31418791] [-0.01267775 -0.01145429 0.99985403 0.06981822] [ 0. 0. 0. 1. ]] SLAMing on 6.8416525319999995 meters 0.3649857552979829 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99982221 0.01383402 0.01281243 -1.02938952] [-0.0139909 0.99982725 0.01223627 -1.31734515] [-0.01264094 -0.01241335 0.99984305 0.06990402] [ 0. 0. 0. 1. ]] SLAMing on 6.901652531999999 meters 0.376294305817993 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99982132 0.0139737 0.01273056 -1.02867203] [-0.01413202 0.99982284 0.01243258 -1.31808584] [-0.01255457 -0.01261027 0.99984167 0.069119 ] [ 0. 0. 0. 1. ]] SLAMing on 6.961652532 meters 0.37667913599937686 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99981213 0.01425759 0.01313135 -1.02955204] [-0.01442565 0.99981409 0.0127939 -1.31940948] [-0.0129465 -0.01298092 0.99983193 0.06889193] [ 0. 0. 0. 1. ]] SLAMing on 7.021652531999999 meters 0.38158012380888934 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99981305 0.01426455 0.0130532 -1.02979809] [-0.01443355 0.99981202 0.0129456 -1.31984222] [-0.01286608 -0.01313159 0.999831 0.06960269] [ 0. 0. 0. 1. ]] SLAMing on 7.081652532 meters 0.36881798404008903 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99985716 0.01035917 0.01335494 -1.03048491] [-0.01048145 0.99990349 0.00911848 -1.32160129] [-0.01325919 -0.00925715 0.99986924 0.06922851] [ 0. 0. 0. 1. ]] SLAMing on 7.141652531999999 meters 0.36201258777358514 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99986418 0.01017586 0.01296445 -1.02948828] [-0.01029255 0.99990684 0.00896559 -1.32104022] [-0.01287201 -0.00909781 0.99987576 0.06929851] [ 0. 0. 0. 1. ]] SLAMing on 7.201652531999999 meters 0.3595116643343922 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99986611 0.01032903 0.01269116 -1.02930544] [-0.01044845 0.99990142 0.00937963 -1.32226667] [-0.01259302 -0.00951097 0.99987547 0.07004391] [ 0. 0. 0. 1. ]] SLAMing on 7.261652531999999 meters 0.3494803200497679 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99965973e-01 4.83295907e-04 8.23520660e-03 -1.01944300e+00] [-5.04787788e-04 9.99996472e-01 2.60787743e-03 -1.31569542e+00] [-8.23391717e-03 -2.61194573e-03 9.99962689e-01 7.29535552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321652531999999 meters 0.34944793716799816 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99970042e-01 4.92759221e-04 7.72475650e-03 -1.01845077e+00] [-5.14256138e-04 9.99996000e-01 2.78112083e-03 -1.31610031e+00] [-7.72335518e-03 -2.78501002e-03 9.99966296e-01 7.33680531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3816525319999995 meters 0.35199617504210556 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99970868e-01 7.11570205e-04 7.59978262e-03 -1.01866775e+00] [-7.36020164e-04 9.99994561e-01 3.21487983e-03 -1.31744489e+00] [-7.59745368e-03 -3.22037977e-03 9.99965953e-01 7.41202627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441652531999999 meters 0.35333890773566456 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99961875e-01 1.26821096e-03 8.63945177e-03 -1.02033683e+00] [-1.29694925e-03 9.99993642e-01 3.32161154e-03 -1.31767756e+00] [-8.63518434e-03 -3.33268983e-03 9.99957162e-01 7.26372368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501652532 meters 0.35411642637376317 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99959285e-01 9.03254490e-04 8.97839532e-03 -1.02126221e+00] [-9.26913456e-04 9.99996109e-01 2.63128782e-03 -1.31535978e+00] [-8.97598366e-03 -2.63950289e-03 9.99956231e-01 7.28740943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561652531999999 meters 0.34898331293024343 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99996098 0.00145479 0.00871365 -1.0214284 ] [-0.00148649 0.9999923 0.00363269 -1.31839639] [-0.0087083 -0.0036455 0.99995544 0.0739869 ] [ 0. 0. 0. 1. ]] SLAMing on 7.621652532 meters 0.34942691534815234 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99996159 0.00162291 0.0086133 -1.0214492 ] [-0.001657 0.99999082 0.00395238 -1.31942173] [-0.00860681 -0.0039665 0.99995509 0.07436589] [ 0. 0. 0. 1. ]] SLAMing on 7.681652531999999 meters 0.354692068497191 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99997053 0.00132278 0.00756217 -1.01894843] [-0.0013513 0.99999199 0.00376768 -1.31871546] [-0.00755713 -0.00377779 0.99996431 0.0746208 ] [ 0. 0. 0. 1. ]] SLAMing on 7.741652531999999 meters 0.352351454454068 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99973435e-01 1.04740329e-03 7.21331109e-03 -1.01792975e+00] [-1.07195618e-03 9.99993643e-01 3.40080598e-03 -1.31743621e+00] [-7.20970321e-03 -3.40844799e-03 9.99968201e-01 7.44508626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801652531999999 meters 0.352438177133731 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99968054e-01 1.06809442e-03 7.92150844e-03 -1.01885423e+00] [-1.09328297e-03 9.99994358e-01 3.17611924e-03 -1.31693069e+00] [-7.91807136e-03 -3.18467823e-03 9.99963580e-01 7.31764900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861652531999999 meters 0.36266892936743417 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.07 [[ 9.99967997e-01 7.34362765e-04 7.96649252e-03 -1.01850561e+00] [-7.54950599e-04 9.99996383e-01 2.58160412e-03 -1.31499366e+00] [-7.96456787e-03 -2.58753582e-03 9.99964935e-01 7.25790753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9216525319999995 meters 0.3540604709470196 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99995351 0.00523521 0.00809702 -1.01934292] [-0.00529414 0.99995953 0.00727432 -1.31614426] [-0.00805861 -0.00731685 0.99994076 0.07335357] [ 0. 0. 0. 1. ]] SLAMing on 7.981652531999999 meters 0.35395196479997704 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99969427e-01 1.15772445e-03 7.73334242e-03 -1.01827113e+00] [-1.18405793e-03 9.99993514e-01 3.40147682e-03 -1.31770693e+00] [-7.72935429e-03 -3.41052955e-03 9.99964312e-01 7.30308120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041652531999999 meters 0.3501753631234439 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99973859e-01 9.17833017e-04 7.17205688e-03 -1.01690888e+00] [-9.40525922e-04 9.99994561e-01 3.16134011e-03 -1.31681009e+00] [-7.16911629e-03 -3.16800298e-03 9.99969283e-01 7.31717433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101652532 meters 0.3445954046499402 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99977058e-01 7.09045953e-04 6.73647163e-03 -1.01589237e+00] [-7.29286790e-04 9.99995226e-01 3.00268331e-03 -1.31622502e+00] [-6.73431043e-03 -3.00752724e-03 9.99972802e-01 7.33413047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161652532 meters 0.3430861819489212 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99977934e-01 5.73879079e-04 6.61832623e-03 -1.01565057e+00] [-5.92527109e-04 9.99995859e-01 2.81601890e-03 -1.31555057e+00] [-6.61668277e-03 -2.81987830e-03 9.99974134e-01 7.34709433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221652531999998 meters 0.34256655681741305 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 9.99978532e-01 1.00880834e-03 6.47432338e-03 -1.01568703e+00] [-1.03217111e-03 9.99992965e-01 3.60620093e-03 -1.31811165e+00] [-6.47063987e-03 -3.61280613e-03 9.99972539e-01 7.39705464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281652531999999 meters 0.3450639683146088 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99997362 0.00133502 0.00714024 -1.017096 ] [-0.00136283 0.9999915 0.00389118 -1.31913183] [-0.00713499 -0.00390081 0.99996694 0.07354164] [ 0. 0. 0. 1. ]] SLAMing on 8.341652532 meters 0.35340199322288307 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99995292 0.00529557 0.00813081 -1.01827089] [-0.00535408 0.99995982 0.00719038 -1.31631022] [-0.00809241 -0.00723357 0.99994109 0.07178584] [ 0. 0. 0. 1. ]] SLAMing on 8.401652532 meters 0.3588294313662378 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99993717 0.00594149 0.00950546 -1.02121885] [-0.00601152 0.99995487 0.00735651 -1.31660572] [-0.00946132 -0.00741319 0.99992776 0.07102969] [ 0. 0. 0. 1. ]] SLAMing on 8.461652531999999 meters 0.36725040612110527 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99990099 0.01008676 0.0098113 -1.02104517] [-0.01019774 0.99988383 0.01132861 -1.31564311] [-0.00969589 -0.01142754 0.99988769 0.06984537] [ 0. 0. 0. 1. ]] SLAMing on 8.521652532 meters 0.3705956066575331 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99988724 0.01041844 0.01081479 -1.02303084] [-0.01053964 0.9998816 0.01121137 -1.31535352] [-0.01069671 -0.01132409 0.99987867 0.0690423 ] [ 0. 0. 0. 1. ]] SLAMing on 8.581652532 meters 0.37026803740161024 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99986515 0.01120178 0.01200873 -1.02490188] [-0.01133923 0.99987027 0.01144002 -1.31573744] [-0.01187902 -0.01157464 0.99986245 0.06737879] [ 0. 0. 0. 1. ]] SLAMing on 8.641652532 meters 0.384335516613198 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99986462 0.01111934 0.01212858 -1.02484354] [-0.01125589 0.99987337 0.01124941 -1.31521764] [-0.01200196 -0.0113844 0.99986316 0.06686788] [ 0. 0. 0. 1. ]] SLAMing on 8.701652531999999 meters 0.37461830394593487 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.07 [[ 0.99986023 0.01106553 0.01253291 -1.0250977 ] [-0.01120323 0.99987705 0.01097126 -1.31448111] [-0.01240997 -0.01111013 0.99986127 0.06576185] [ 0. 0. 0. 1. ]] SLAMing on 8.761652532 meters 0.37398449889401164 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99985154 0.01134057 0.01297244 -1.02619518] [-0.01148784 0.99986977 0.01133482 -1.31583582] [-0.01284221 -0.01148216 0.99985161 0.0657372 ] [ 0. 0. 0. 1. ]] SLAMing on 8.821652532 meters 0.3770519327051508 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.9998489 0.01125852 0.01324499 -1.02654182] [-0.011406 0.9998732 0.01111248 -1.31519626] [-0.0131182 -0.01126188 0.99985053 0.06525375] [ 0. 0. 0. 1. ]] SLAMing on 8.881652531999999 meters 0.36897229799049536 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.32, Z:0.07 [[ 0.99987502 0.0074988 0.01391808 -1.02888263] [-0.00760212 0.99994383 0.00738531 -1.31697306] [-0.01386191 -0.00749019 0.99987586 0.06607068] [ 0. 0. 0. 1. ]] SLAMing on 8.941652531999999 meters 0.3729933397391332 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.31, Z:0.07 [[ 0.99988445 0.00692429 0.01353267 -1.02765635] [-0.00701527 0.99995303 0.00668747 -1.3149434 ] [-0.01348573 -0.00678163 0.99988607 0.06588843] [ 0. 0. 0. 1. ]] SLAMing on 9.001652532 meters 0.3662908939079452 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99990282 0.00652982 0.01231687 -1.02438997] [-0.00661235 0.99995589 0.00667119 -1.31514476] [-0.01227276 -0.00675199 0.99990189 0.06565476] [ 0. 0. 0. 1. ]] SLAMing on 9.061652532 meters 0.36490886254524496 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99991204 0.00653285 0.01154242 -1.02270305] [-0.00661361 0.99995382 0.00697264 -1.31603518] [-0.01149633 -0.00704837 0.99990907 0.0660793 ] [ 0. 0. 0. 1. ]] SLAMing on 9.121652531999999 meters 0.3625063083588086 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99990589 0.00684528 0.0118894 -1.02436725] [-0.00693439 0.99994805 0.00747025 -1.31741818] [-0.01183764 -0.00755199 0.99990141 0.06722219] [ 0. 0. 0. 1. ]] SLAMing on 9.181652532 meters 0.35885331417304317 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.32, Z:0.07 [[ 0.99992319 0.00248033 0.01214332 -1.02464076] [-0.00251588 0.99999259 0.00291316 -1.31681324] [-0.01213601 -0.00294349 0.99992202 0.06662146] [ 0. 0. 0. 1. ]] SLAMing on 9.241652532 meters 0.35856398561016095 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.07 [[ 9.99940850e-01 -1.35771949e-03 1.07913005e-02 -1.02131557e+00] [ 1.36693982e-03 9.99998707e-01 -8.47092611e-04 -1.31086519e+00] [-1.07901364e-02 8.61793564e-04 9.99941413e-01 6.66868573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301652531999999 meters 0.34935893967437026 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.07 [[ 9.99953431e-01 -1.82282796e-03 9.47699360e-03 -1.01861682e+00] [ 1.82930312e-03 9.99998099e-01 -6.74627327e-04 -1.31142069e+00] [-9.47574585e-03 6.91932204e-04 9.99954865e-01 6.76174008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361652531999999 meters 0.3454434732001822 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.07 [[ 9.99962729e-01 -2.60377756e-03 8.23169643e-03 -1.01631608e+00] [ 2.61307442e-03 9.99995960e-01 -1.11884484e-03 -1.31040737e+00] [-8.22874995e-03 1.14031317e-03 9.99965493e-01 6.88479735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421652532 meters 0.34129874001871785 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.31, Z:0.07 [[ 9.99968094e-01 -2.55021083e-03 7.57019129e-03 -1.01597676e+00] [ 2.55474720e-03 9.99996563e-01 -5.89631189e-04 -1.31155337e+00] [-7.56866159e-03 6.08952301e-04 9.99971172e-01 7.07847229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481652532 meters 0.34215034732958177 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.31, Z:0.07 [[ 0.99997286 -0.00384066 0.00628796 -1.01271267] [ 0.00385242 0.99999085 -0.00186021 -1.30889569] [-0.00628075 0.00188438 0.9999785 0.07042584] [ 0. 0. 0. 1. ]] SLAMing on 9.541652531999999 meters 0.33253346403809403 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.31, Z:0.07 [[ 0.99997868 -0.00460606 0.00462756 -1.00940211] [ 0.0046158 0.99998715 -0.00209738 -1.30852206] [-0.00461784 0.0021187 0.99998709 0.07160453] [ 0. 0. 0. 1. ]] SLAMing on 9.601652532 meters 0.33409575367777533 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.31, Z:0.07 [[ 9.99991937e-01 -1.26977255e-03 3.80971340e-03 -1.00720288e+00] [ 1.26573758e-03 9.99998636e-01 1.06135174e-03 -1.30570480e+00] [-3.81105587e-03 -1.05652109e-03 9.99992180e-01 7.11659428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661652532 meters 0.33836248907996797 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.31, Z:0.07 [[ 9.99989915e-01 -1.27153573e-03 4.30728009e-03 -1.00882751e+00] [ 1.26740029e-03 9.99998733e-01 9.62699104e-04 -1.30530531e+00] [-4.30849874e-03 -9.57230348e-04 9.99990260e-01 7.17032830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721652531999998 meters 0.3321704722068059 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.31, Z:0.07 [[ 9.99993084e-01 -1.35285094e-03 3.46433081e-03 -1.00671417e+00] [ 1.34879070e-03 9.99998401e-01 1.17407948e-03 -1.30593543e+00] [-3.46591362e-03 -1.16939870e-03 9.99993310e-01 7.17358621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781652531999999 meters 0.3562358579721243 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.31, Z:0.07 [[ 9.99993969e-01 -1.03738920e-03 3.31438139e-03 -1.00645727e+00] [ 1.03162233e-03 9.99997952e-01 1.74119021e-03 -1.30779668e+00] [-3.31618089e-03 -1.73776052e-03 9.99992992e-01 7.18405173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841652532 meters 0.3354756698855078 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.31, Z:0.07 [[ 9.99994263e-01 -1.12968085e-03 3.19334448e-03 -1.00635802e+00] [ 1.12448305e-03 9.99998041e-01 1.62902397e-03 -1.30732457e+00] [-3.19517850e-03 -1.62542376e-03 9.99993574e-01 7.21783420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901652532 meters 0.3291526714301713 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.31, Z:0.07 [[ 9.99996182e-01 -1.92556516e-03 1.98200775e-03 -1.00366978e+00] [ 1.92349446e-03 9.99997603e-01 1.04612506e-03 -1.30611440e+00] [-1.98401738e-03 -1.04230869e-03 9.99997489e-01 7.25984087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961652531999999 meters 0.3274676580638344 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.31, Z:0.07 [[ 9.99996805e-01 -2.05703119e-03 1.46923447e-03 -1.00227467e+00] [ 2.05561843e-03 9.99997424e-01 9.62425750e-04 -1.30579937e+00] [-1.47121042e-03 -9.59402489e-04 9.99998458e-01 7.24847785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021652532 meters 0.31932552018090826 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 9.99986969e-01 -5.09593178e-03 -3.05611390e-04 -9.98343470e-01] [ 5.09548841e-03 9.99985989e-01 -1.43440885e-03 -1.30173722e+00] [ 3.12916758e-04 1.43283292e-03 9.99998925e-01 7.32966806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081652532 meters 0.31503526441036606 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 9.99976414e-01 -6.75193601e-03 -1.25802659e-03 -9.96469227e-01] [ 6.74825415e-03 9.99973001e-01 -2.90830791e-03 -1.29866753e+00] [ 1.27762933e-03 2.89974984e-03 9.99994980e-01 7.40706059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141652531999998 meters 0.31871806178178025 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 9.99995614e-01 -2.60303186e-03 -1.41286503e-03 -9.95563639e-01] [ 2.60466098e-03 9.99995944e-01 1.15245504e-03 -1.29790652e+00] [ 1.40985942e-03 -1.15613002e-03 9.99998338e-01 7.32850296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201652531999999 meters 0.32559865447331987 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 9.99998409e-01 1.61682534e-03 -7.54187928e-04 -9.97122375e-01] [-1.61302830e-03 9.99986157e-01 5.00833285e-03 -1.29641572e+00] [ 7.62275088e-04 -5.00710835e-03 9.99987174e-01 7.32100190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261652532 meters 0.32943292056463425 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 9.99975691e-01 6.93423341e-03 7.31107302e-04 -1.00007228e+00] [-6.94100001e-03 9.99928872e-01 9.69910167e-03 -1.29683216e+00] [-6.63799465e-04 -9.70394051e-03 9.99952695e-01 7.21390771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321652532 meters 0.3400278033209359 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 0.99992607 0.0119573 0.00220972 -1.00165988] [-0.01198653 0.9998339 0.0137294 -1.29623327] [-0.00204519 -0.01375487 0.99990331 0.06916136] [ 0. 0. 0. 1. ]] SLAMing on 10.381652531999999 meters 0.3463819496092089 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 0.9998924 0.01423278 0.00355191 -1.00488929] [-0.01428695 0.99977434 0.01572089 -1.2998487 ] [-0.00332736 -0.01576994 0.99987011 0.06917931] [ 0. 0. 0. 1. ]] SLAMing on 10.441652531999999 meters 0.3571127348194814 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.30, Z:0.07 [[ 0.99979905 0.01953217 0.00451054 -1.00676982] [-0.01962273 0.99958708 0.0209908 -1.30223933] [-0.00409868 -0.02107509 0.99976949 0.06874306] [ 0. 0. 0. 1. ]] SLAMing on 10.501652532 meters 0.3348027620115378 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.07 [[ 9.99999457e-01 -9.53160725e-04 -4.20379810e-04 -9.95858307e-01] [ 9.55332393e-04 9.99986042e-01 5.19637867e-03 -1.29078694e+00] [ 4.15420958e-04 -5.19677745e-03 9.99986410e-01 7.28073533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561652531999998 meters 0.32576409071275947 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.07 [[ 9.99985439e-01 -5.33514501e-03 -8.10770756e-04 -9.95033899e-01] [ 5.33586458e-03 9.99985370e-01 8.87957416e-04 -1.29082695e+00] [ 8.06021513e-04 -8.92270649e-04 9.99999277e-01 7.31646253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621652531999999 meters 0.33127835453507065 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.07 [[ 9.99999428e-01 -1.06577203e-03 -8.47376912e-05 -9.96088724e-01] [ 1.06615205e-03 9.99988765e-01 4.61884455e-03 -1.28900477e+00] [ 7.98141038e-05 -4.61893226e-03 9.99989329e-01 7.19631242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681652532 meters 0.3395114242330219 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.07 [[ 9.99994106e-01 3.41871356e-03 3.18317650e-04 -9.97361160e-01] [-3.42148204e-03 9.99952322e-01 9.14593814e-03 -1.28958491e+00] [-2.87035130e-04 -9.14697335e-03 9.99958124e-01 7.23263719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741652532 meters 0.33454924998098495 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.07 [[ 9.99994998e-01 3.11412753e-03 -5.52833039e-04 -9.95353051e-01] [-3.10898551e-03 9.99954030e-01 9.07039147e-03 -1.28929053e+00] [ 5.81053981e-04 -9.06862735e-03 9.99958710e-01 7.27484739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801652531999999 meters 0.33123170548934505 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.29, Z:0.07 [[ 9.99998170e-01 -1.04111506e-03 -1.60500689e-03 -9.93166582e-01] [ 1.04972023e-03 9.99985031e-01 5.36996746e-03 -1.29131012e+00] [ 1.59939211e-03 -5.37164244e-03 9.99984294e-01 7.33982567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861652531999999 meters 0.3359485342677786 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.29, Z:0.07 [[ 9.99999021e-01 -8.95072121e-04 -1.07571616e-03 -9.94657535e-01] [ 9.00938308e-04 9.99984660e-01 5.46522915e-03 -1.29160328e+00] [ 1.07080789e-03 -5.46619296e-03 9.99984487e-01 7.36419389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921652532 meters 0.33747749478969413 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.07 [[ 9.99994220e-01 3.37000640e-03 4.49833953e-04 -9.96785967e-01] [-3.37374994e-03 9.99957343e-01 8.59826521e-03 -1.28834663e+00] [-4.20838556e-04 -8.59973314e-03 9.99962933e-01 7.12059205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981652532 meters 0.3569731632297413 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.07 [[ 0.99997296 0.00713218 0.00179322 -1.00103553] [-0.00715306 0.99990336 0.01192113 -1.29316077] [-0.00170802 -0.01193363 0.99992733 0.0719455 ] [ 0. 0. 0. 1. ]] SLAMing on 11.041652531999999 meters 0.35700529131019704 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.07 [[ 0.99992603 0.01199584 0.00200625 -1.00147493] [-0.01202798 0.99978556 0.01685695 -1.2948994 ] [-0.00180361 -0.01687983 0.9998559 0.07190011] [ 0. 0. 0. 1. ]] SLAMing on 11.101652532 meters 0.3547384856665576 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 0.99986087 0.01652631 0.0022618 -1.0021093 ] [-0.01657118 0.99963128 0.02151044 -1.29599742] [-0.00190548 -0.02154493 0.99976607 0.07207493] [ 0. 0. 0. 1. ]] SLAMing on 11.161652532 meters 0.36687079524134847 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 0.99983352 0.01784693 0.00379762 -1.00482303] [-0.01792664 0.99959485 0.02210836 -1.29700738] [-0.00340151 -0.02217276 0.99974837 0.07035154] [ 0. 0. 0. 1. ]] SLAMing on 11.221652531999998 meters 0.35997256556991303 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.30, Z:0.07 [[ 0.99989711 0.01374376 0.00410754 -1.00580117] [-0.01381564 0.99974221 0.01801795 -1.29791744] [-0.00385885 -0.01807285 0.99982923 0.07036536] [ 0. 0. 0. 1. ]] SLAMing on 11.281652531999999 meters 0.374334196898732 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 0.99989441 0.01414579 0.00332785 -1.00410305] [-0.01420643 0.99971926 0.01896252 -1.30104522] [-0.00305867 -0.01900779 0.99981466 0.07070858] [ 0. 0. 0. 1. ]] SLAMing on 11.341652532 meters 0.3752535373100033 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.07 [[ 0.99989257 0.01420904 0.00359759 -1.00466736] [-0.0142749 0.99971765 0.01899599 -1.30124814] [-0.00332666 -0.0190453 0.99981309 0.0705427 ] [ 0. 0. 0. 1. ]] SLAMing on 11.401652532 meters 0.3687967918961546 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.30, Z:0.07 [[ 0.9998885 0.01437404 0.00404761 -1.00566964] [-0.01444891 0.99971278 0.01912034 -1.30180414] [-0.00377161 -0.01917669 0.999809 0.07034211] [ 0. 0. 0. 1. ]] SLAMing on 11.461652531999999 meters 0.3650585767987281 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.30, Z:0.07 [[ 0.99988536 0.01445147 0.00451811 -1.00613047] [-0.01453503 0.99971296 0.01904551 -1.30180084] [-0.00424157 -0.019109 0.99980841 0.06926628] [ 0. 0. 0. 1. ]] SLAMing on 11.521652532 meters 0.3658348284881229 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.30, Z:0.07 [[ 0.99988403 0.01415077 0.00562952 -1.00772664] [-0.0142504 0.99973519 0.01806873 -1.29900088] [-0.00537234 -0.01814685 0.9998209 0.06758302] [ 0. 0. 0. 1. ]] SLAMing on 11.581652532 meters 0.36636022965564613 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99979787 0.0196189 0.00439586 -1.00212854] [-0.01967327 0.99972597 0.01268622 -1.29243989] [-0.00414576 -0.01277014 0.99990986 0.07904576] [ 0. 0. 0. 1. ]] SLAMing on 11.641652531999998 meters 0.36409975173110753 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99981225 0.01913846 0.00302917 -0.99925979] [-0.01917617 0.99973224 0.01295079 -1.29335183] [-0.0027805 -0.01300644 0.99991155 0.08008597] [ 0. 0. 0. 1. ]] SLAMing on 11.701652531999999 meters 0.3656119031788141 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99988747 0.01466738 0.00314744 -0.99913815] [-0.0146929 0.99985804 0.00824714 -1.29229066] [-0.00302603 -0.00829246 0.99996104 0.07923554] [ 0. 0. 0. 1. ]] SLAMing on 11.761652532 meters 0.36929045607482053 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99987534 0.01515617 0.00442751 -1.00159471] [-0.01519169 0.99985178 0.00810128 -1.29179853] [-0.00430407 -0.00816753 0.99995738 0.07804156] [ 0. 0. 0. 1. ]] SLAMing on 11.821652532 meters 0.37317543309950585 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99992084 0.01154318 0.00500771 -1.00381984] [-0.01156668 0.99992211 0.00468932 -1.29430813] [-0.00495319 -0.00474687 0.99997647 0.07897087] [ 0. 0. 0. 1. ]] SLAMing on 11.881652531999999 meters 0.3834754876491378 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.08 [[ 0.99992499 0.01154363 0.0040949 -1.00130947] [-0.01156417 0.99992048 0.00503029 -1.29547568] [-0.00403651 -0.00507727 0.99997896 0.07864148] [ 0. 0. 0. 1. ]] SLAMing on 11.941652531999999 meters 0.38338236522283226 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99993334 0.0109751 0.00358712 -0.99982987] [-0.01099047 0.99993038 0.00429481 -1.29314194] [-0.00353973 -0.00433394 0.99998434 0.07849385] [ 0. 0. 0. 1. ]] SLAMing on 12.001652532 meters 0.36113944608422965 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 9.99971328e-01 6.89617041e-03 3.12834717e-03 -1.00053566e+00] [-6.89817999e-03 9.99976008e-01 6.32045045e-04 -1.29442298e+00] [-3.12391342e-03 -6.53606825e-04 9.99994907e-01 8.09157826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061652531999998 meters 0.34512850907482207 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99999728 0.00145318 0.0018246 -0.99794375] [-0.00144572 0.99999061 -0.00408606 -1.29374485] [-0.00183052 0.00408342 0.99998999 0.082103 ] [ 0. 0. 0. 1. ]] SLAMing on 12.121652531999999 meters 0.3354781377099157 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 9.99980894e-01 -6.17002438e-03 3.77614718e-04 -9.95044069e-01] [ 6.17391636e-03 9.99916411e-01 -1.13601657e-02 -1.28907142e+00] [-3.07490655e-04 1.13622800e-02 9.99935400e-01 8.32483510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181652532 meters 0.3377285593717532 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.29, Z:0.08 [[ 9.99997231e-01 -2.33273286e-03 -3.08987049e-04 -9.92284463e-01] [ 2.33032869e-03 9.99968669e-01 -7.56513375e-03 -1.28773478e+00] [ 3.26624804e-04 7.56439276e-03 9.99971336e-01 8.18058209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241652532 meters 0.3372721672975604 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.29, Z:0.08 [[ 0.99999797 0.00146981 -0.00138057 -0.99021396] [-0.00147425 0.99999373 -0.0032189 -1.28780684] [ 0.00137583 0.00322092 0.99999387 0.08280589] [ 0. 0. 0. 1. ]] SLAMing on 12.301652531999999 meters 0.3330545549872739 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.29, Z:0.08 [[ 0.99999346 -0.00267456 -0.0024326 -0.98848553] [ 0.00265777 0.99997281 -0.00687886 -1.2896133 ] [ 0.00245093 0.00687235 0.99997338 0.08409587] [ 0. 0. 0. 1. ]] SLAMing on 12.361652531999999 meters 0.3354140973373266 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.29, Z:0.08 [[ 0.99999369 0.00150092 -0.00321895 -0.98572406] [-0.00150925 0.99999552 -0.00258532 -1.28976916] [ 0.00321505 0.00259016 0.99999148 0.08297059] [ 0. 0. 0. 1. ]] SLAMing on 12.421652532 meters 0.3356414353704726 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99996649 -0.00717904 -0.00393393 -0.98445681] [ 0.00713343 0.99990856 -0.01148881 -1.28149965] [ 0.00401605 0.01146036 0.99992626 0.08380357] [ 0. 0. 0. 1. ]] SLAMing on 12.481652532 meters 0.32910457562200923 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99997826 -0.00382662 -0.00537036 -0.98107485] [ 0.00378439 0.999962 -0.00785321 -1.28016704] [ 0.00540021 0.00783272 0.99995474 0.08396345] [ 0. 0. 0. 1. ]] SLAMing on 12.541652531999999 meters 0.32151562376413517 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99997264 -0.00375209 -0.00637482 -0.97810185] [ 0.00370492 0.99996579 -0.00739573 -1.28172975] [ 0.00640235 0.00737191 0.99995233 0.0832213 ] [ 0. 0. 0. 1. ]] SLAMing on 12.601652532 meters 0.32072689647112695 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 9.99972222e-01 -6.95722719e-04 -7.42103166e-03 -9.76502201e-01] [ 6.64095193e-04 9.99990691e-01 -4.26349022e-03 -1.27924151e+00] [ 7.42392878e-03 4.25844352e-03 9.99963375e-01 8.44839843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661652532 meters 0.3234221710902826 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.29, Z:0.09 [[ 0.99993979 0.00776502 -0.00775372 -0.97782571] [-0.00772079 0.99995384 0.00571826 -1.28987282] [ 0.00779777 -0.00565805 0.99995359 0.08758111] [ 0. 0. 0. 1. ]] SLAMing on 12.721652531999998 meters 0.3092069777018828 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.09 [[ 0.99984615 -0.01238125 -0.01242467 -0.96610867] [ 0.01225428 0.99987244 -0.010244 -1.27997582] [ 0.01254992 0.01009017 0.99987034 0.0907428 ] [ 0. 0. 0. 1. ]] SLAMing on 12.781652531999999 meters 0.3135365270424971 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.28, Z:0.09 [[ 0.99988796 -0.00814622 -0.01255804 -0.96425408] [ 0.00806814 0.99994788 -0.00625632 -1.2793045 ] [ 0.01260835 0.0061543 0.99990157 0.08849695] [ 0. 0. 0. 1. ]] SLAMing on 12.841652532 meters 0.3180488197225059 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.09 [[ 0.99992729 -0.00419542 -0.01130533 -0.96674094] [ 0.00415965 0.99998627 -0.00318598 -1.27533574] [ 0.01131854 0.00313872 0.99993102 0.08751212] [ 0. 0. 0. 1. ]] SLAMing on 12.901652532 meters 0.31475364541571266 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.09 [[ 0.99991921 -0.00470327 -0.01180927 -0.96618693] [ 0.00466128 0.99998273 -0.00358072 -1.27416704] [ 0.01182591 0.00352539 0.99992386 0.08869721] [ 0. 0. 0. 1. ]] SLAMing on 12.961652531999999 meters 0.31491865584367573 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.09 [[ 0.99991287 -0.00491345 -0.01225225 -0.96458781] [ 0.00486752 0.99998103 -0.00377566 -1.27362385] [ 0.01227057 0.00371569 0.99991781 0.0880379 ] [ 0. 0. 0. 1. ]] SLAMing on 13.021652532 meters 0.3177410219017997 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.09 [[ 0.99990936 -0.00472244 -0.01260842 -0.96358382] [ 0.00468013 0.99998332 -0.00338331 -1.27491442] [ 0.01262419 0.003324 0.99991479 0.08786401] [ 0. 0. 0. 1. ]] SLAMing on 13.081652532 meters 0.3366989113126871 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.09 [[ 9.99933002e-01 -4.77710637e-04 -1.15655666e-02 -9.64935207e-01] [ 4.78120403e-04 9.99999885e-01 3.26648554e-05 -1.27231439e+00] [ 1.15655497e-02 -3.81924003e-05 9.99933116e-01 8.60101819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141652531999998 meters 0.33103059790339 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.08 [[ 0.99993819 0.0039177 -0.01040513 -0.96667335] [-0.00387982 0.99998578 0.00365846 -1.27050701] [ 0.01041931 -0.00361786 0.99993917 0.08431749] [ 0. 0. 0. 1. ]] SLAMing on 13.201652531999999 meters 0.3435297758243795 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.08 [[ 0.99991342 0.009955 -0.00860548 -0.97123969] [-0.0098781 0.99991131 0.00893233 -1.27186079] [ 0.00869364 -0.00884655 0.99992308 0.08434164] [ 0. 0. 0. 1. ]] SLAMing on 13.261652532 meters 0.34226439686780213 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.09 [[ 0.99985318 0.01495416 -0.00836571 -0.97229868] [-0.01483426 0.99978892 0.0142146 -1.27475842] [ 0.00857651 -0.01408842 0.99986397 0.08507051] [ 0. 0. 0. 1. ]] SLAMing on 13.321652532 meters 0.34765210835738025 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.08 [[ 0.99985808 0.01492843 -0.00780756 -0.97309077] [-0.01481867 0.99979312 0.0139326 -1.274072 ] [ 0.00801394 -0.01381492 0.99987245 0.08417585] [ 0. 0. 0. 1. ]] SLAMing on 13.381652531999999 meters 0.34155447044649373 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.08 [[ 0.99992995 0.01002497 -0.00629267 -0.97533105] [-0.00997503 0.9999189 0.00791823 -1.2692748 ] [ 0.00637154 -0.0078549 0.99994885 0.08183926] [ 0. 0. 0. 1. ]] SLAMing on 13.441652531999999 meters 0.34936755864058877 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.08 [[ 0.99992924 0.01085793 -0.00485966 -0.97886323] [-0.01081634 0.99990534 0.00850443 -1.27062899] [ 0.00495154 -0.00845126 0.99995203 0.081815 ] [ 0. 0. 0. 1. ]] SLAMing on 13.501652532 meters 0.35042258925286524 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.08 [[ 0.99992456 0.01146296 -0.00441308 -0.98048076] [-0.01142114 0.99989072 0.00938603 -1.27333883] [ 0.00452019 -0.00933491 0.99994621 0.08250073] [ 0. 0. 0. 1. ]] SLAMing on 13.561652531999998 meters 0.3549696601980152 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99990815 0.01293253 -0.00405596 -0.98125735] [-0.01288512 0.99985079 0.01150551 -1.27886273] [ 0.00420415 -0.01145219 0.99992558 0.0827274 ] [ 0. 0. 0. 1. ]] SLAMing on 13.621652531999999 meters 0.3508192807527468 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99994825 0.00957512 -0.00343596 -0.9828935 ] [-0.00954686 0.99992122 0.00814959 -1.28123342] [ 0.00351372 -0.00811637 0.99996089 0.08258307] [ 0. 0. 0. 1. ]] SLAMing on 13.681652532 meters 0.34747512120377416 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99997828 0.00527317 -0.00395346 -0.98186545] [-0.0052569 0.99997772 0.00411445 -1.28215433] [ 0.00397506 -0.00409358 0.99998372 0.08291457] [ 0. 0. 0. 1. ]] SLAMing on 13.741652532 meters 0.343507169979036 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99997749 0.00508897 -0.00437203 -0.98073274] [-0.00507158 0.99997922 0.00397981 -1.28171562] [ 0.00439219 -0.00395755 0.99998252 0.0829265 ] [ 0. 0. 0. 1. ]] SLAMing on 13.801652531999999 meters 0.34522940081720394 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99998331 0.00463147 -0.00345442 -0.98198785] [-0.00462137 0.99998504 0.00292607 -1.27860736] [ 0.00346792 -0.00291006 0.99998975 0.0815499 ] [ 0. 0. 0. 1. ]] SLAMing on 13.861652531999999 meters 0.3466010155617648 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.08 [[ 0.99998711 0.00375314 -0.00341833 -0.98104127] [-0.00374787 0.99999178 0.00154744 -1.2745826 ] [ 0.00342411 -0.00153461 0.99999296 0.08021435] [ 0. 0. 0. 1. ]] SLAMing on 13.921652532 meters 0.3459017710650122 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99995386 0.00887982 -0.00366439 -0.98110631] [-0.00885292 0.99993421 0.00729421 -1.27895614] [ 0.00372892 -0.00726144 0.99996668 0.08120955] [ 0. 0. 0. 1. ]] SLAMing on 13.981652531999998 meters 0.3508789452535439 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99990806 0.01318224 -0.00317695 -0.98207223] [-0.01314519 0.99984844 0.01141487 -1.2783298 ] [ 0.00332695 -0.01137206 0.9999298 0.08103448] [ 0. 0. 0. 1. ]] SLAMing on 14.041652531999999 meters 0.35789548366029106 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99989869 0.01407694 -0.00211064 -0.98399714] [-0.01405083 0.99983032 0.0119127 -1.27930615] [ 0.00227798 -0.01188183 0.99992681 0.07980071] [ 0. 0. 0. 1. ]] SLAMing on 14.101652532 meters 0.36076079757725604 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99989295 0.01450332 -0.0019323 -0.98337834] [-0.01447847 0.99981941 0.01230944 -1.28064712] [ 0.00211048 -0.01228014 0.99992237 0.07819762] [ 0. 0. 0. 1. ]] SLAMing on 14.161652532 meters 0.362290467278667 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 0.99989283 0.01455871 -0.00154071 -0.98408995] [-0.01453876 0.99981924 0.01225208 -1.28058335] [ 0.0017188 -0.01222837 0.99992375 0.07780739] [ 0. 0. 0. 1. ]] SLAMing on 14.221652531999998 meters 0.36938198665464367 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.08 [[ 9.99824365e-01 1.87184195e-02 -9.27783431e-04 -9.84906330e-01] [-1.87010842e-02 9.99695713e-01 1.60857297e-02 -1.27907403e+00] [ 1.22860055e-03 -1.60655539e-02 9.99870186e-01 7.70548037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281652531999999 meters 0.3680731319485473 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.28, Z:0.08 [[ 9.99886281e-01 1.50692823e-02 5.85304624e-04 -9.88492655e-01] [-1.50753073e-02 9.99811808e-01 1.22099804e-02 -1.27998342e+00] [-4.01198833e-04 -1.22174155e-02 9.99925284e-01 7.66984198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341652532 meters 0.368018543528933 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.28, Z:0.08 [[ 0.9999267 0.01197557 0.00178359 -0.99178013] [-0.01199151 0.99988567 0.00921187 -1.2835177 ] [-0.00167307 -0.00923258 0.99995598 0.07689305] [ 0. 0. 0. 1. ]] SLAMing on 14.401652531999998 meters 0.3798884747473576 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99990688 0.01323148 0.00333942 -0.99519341] [-0.01326435 0.99986183 0.01001932 -1.28521897] [-0.00320639 -0.01006268 0.99994423 0.07618095] [ 0. 0. 0. 1. ]] SLAMing on 14.461652531999999 meters 0.3790574296455697 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99988106 0.01466632 0.00477095 -0.99884738] [-0.0147198 0.99982694 0.0113763 -1.28798977] [-0.00460327 -0.01144518 0.99992391 0.07648625] [ 0. 0. 0. 1. ]] SLAMing on 14.521652532 meters 0.38084199282621795 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.9999186 0.01142996 0.00567072 -1.00084794] [-0.01147587 0.99990109 0.00813097 -1.29067406] [-0.00557722 -0.00819538 0.99995086 0.0759691 ] [ 0. 0. 0. 1. ]] SLAMing on 14.581652532 meters 0.38699198465340334 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99991942 0.01140575 0.00557326 -1.00039711] [-0.01145072 0.99990159 0.00810501 -1.29062717] [-0.00548027 -0.00816817 0.99995162 0.07566493] [ 0. 0. 0. 1. ]] SLAMing on 14.641652531999998 meters 0.37725004396055367 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99992071 0.01151637 0.00509469 -0.99959196] [-0.01155949 0.99989692 0.00851575 -1.291867 ] [-0.00499609 -0.00857397 0.99995076 0.07627036] [ 0. 0. 0. 1. ]] SLAMing on 14.701652531999999 meters 0.3739982945736717 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99995642 0.00742587 0.00565761 -1.00114948] [-0.00745079 0.99996257 0.0043971 -1.29260801] [-0.00562474 -0.00443906 0.99997433 0.07633273] [ 0. 0. 0. 1. ]] SLAMing on 14.761652532 meters 0.3679769162119283 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99998087 0.00204047 0.00583965 -1.00192521] [-0.00203243 0.99999698 -0.0013838 -1.2890023 ] [-0.00584246 0.00137191 0.99998199 0.07693077] [ 0. 0. 0. 1. ]] SLAMing on 14.821652532 meters 0.362182261140805 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 9.99984455e-01 2.15421303e-03 5.14294649e-03 -1.00127182e+00] [-2.15019638e-03 9.99997379e-01 -7.86404190e-04 -1.29057463e+00] [-5.14462710e-03 7.75333620e-04 9.99986466e-01 7.85347298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881652531999999 meters 0.3627590224243504 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 9.99978820e-01 2.41882239e-03 6.04227617e-03 -1.00333861e+00] [-2.41475175e-03 9.99996853e-01 -6.80898189e-04 -1.29092942e+00] [-6.04390412e-03 6.66293170e-04 9.99981513e-01 7.82101590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941652531999999 meters 0.36966768806063227 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99995972 0.00680824 0.00584927 -1.00224947] [-0.00683035 0.99996958 0.00376709 -1.29135899] [-0.00582344 -0.00380689 0.9999758 0.07734735] [ 0. 0. 0. 1. ]] SLAMing on 15.001652532 meters 0.37378542102835555 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99995784 0.00723492 0.0056543 -1.00225692] [-0.00726059 0.99996336 0.004534 -1.29385465] [-0.00562129 -0.00457487 0.99997374 0.07802425] [ 0. 0. 0. 1. ]] SLAMing on 15.061652531999998 meters 0.3745328340980252 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99995701 0.00710139 0.00596262 -1.00209902] [-0.00712623 0.99996597 0.00415525 -1.29287771] [-0.00593291 -0.00419756 0.99997359 0.07666244] [ 0. 0. 0. 1. ]] SLAMing on 15.121652531999999 meters 0.37853716224958134 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.08 [[ 0.99994836 0.00804937 0.00620313 -1.00322693] [-0.00808383 0.99995193 0.00554925 -1.29685823] [-0.00615816 -0.0055991 0.99996536 0.07742972] [ 0. 0. 0. 1. ]] SLAMing on 15.181652532 meters 0.3766353666405658 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.08 [[ 0.99994403 0.0084047 0.00642686 -1.00410232] [-0.00844381 0.99994586 0.00608185 -1.29860943] [-0.00637539 -0.00613577 0.99996085 0.07786297] [ 0. 0. 0. 1. ]] SLAMing on 15.241652532 meters 0.37559904696826907 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.30, Z:0.08 [[ 0.99994271 0.00811554 0.00697981 -1.00507886] [-0.00815341 0.9999521 0.00541451 -1.2964266 ] [-0.00693554 -0.00547111 0.99996098 0.07734692] [ 0. 0. 0. 1. ]] SLAMing on 15.301652531999999 meters 0.37502076307854965 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.30, Z:0.08 [[ 0.99994197 0.00825242 0.00692475 -1.00506658] [-0.00829201 0.99994933 0.00570778 -1.29744994] [-0.0068773 -0.00576487 0.99995973 0.07755828] [ 0. 0. 0. 1. ]] SLAMing on 15.361652531999999 meters 0.37563771344602703 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.30, Z:0.08 [[ 0.99994346 0.00807668 0.00691701 -1.00462957] [-0.00811404 0.99995255 0.00539122 -1.29647988] [-0.00687314 -0.00544704 0.99996154 0.07698782] [ 0. 0. 0. 1. ]] SLAMing on 15.421652532 meters 0.37843265826256967 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.08 [[ 0.99994074 0.00760834 0.00778654 -1.00596753] [-0.00764147 0.99996184 0.00423377 -1.29276685] [-0.00775404 -0.00429302 0.99996072 0.07586801] [ 0. 0. 0. 1. ]] SLAMing on 15.481652531999998 meters 0.375005623643537 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 9.99969338e-01 3.28711445e-03 7.10766301e-03 -1.00477147e+00] [-3.28857400e-03 9.99994574e-01 1.93671278e-04 -1.29357918e+00] [-7.10698782e-03 -2.17039416e-04 9.99974721e-01 7.65462843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541652531999999 meters 0.36911651370119486 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 9.99983129e-01 8.88498734e-04 5.74037871e-03 -1.00161603e+00] [-8.78324095e-04 9.99998039e-01 -1.77474614e-03 -1.28986378e+00] [-5.74194431e-03 1.76967428e-03 9.99981949e-01 7.70916333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601652532 meters 0.3574870211095991 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99999212 -0.00229766 0.00323811 -0.9965753 ] [ 0.00230897 0.99999124 -0.00349261 -1.28665777] [-0.00323005 0.00350006 0.99998866 0.07930727] [ 0. 0. 0. 1. ]] SLAMing on 15.661652532 meters 0.35472693953745005 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99999233 -0.00254449 0.00297818 -0.9961287 ] [ 0.00255597 0.99998929 -0.00385748 -1.28529053] [-0.00296834 0.00386507 0.99998813 0.07970306] [ 0. 0. 0. 1. ]] SLAMing on 15.721652531999998 meters 0.35650922959027037 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 0.99999235 -0.00259978 0.00292109 -0.99582401] [ 0.00261133 0.99998875 -0.00395968 -1.28491531] [-0.00291076 0.00396728 0.99998789 0.0793975 ] [ 0. 0. 0. 1. ]] SLAMing on 15.781652531999999 meters 0.3563072950871246 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 9.99995755e-01 1.01891423e-03 2.72972813e-03 -9.95011860e-01] [-1.01700337e-03 9.99999237e-01 -7.01315814e-04 -1.28167784e+00] [-2.73044063e-03 6.98536694e-04 9.99996028e-01 7.89405315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841652532 meters 0.36569555231148165 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 9.99994947e-01 1.06431923e-03 2.99549431e-03 -9.95429859e-01] [-1.06194695e-03 9.99999121e-01 -7.93426634e-04 -1.28139262e+00] [-2.99633614e-03 7.90241569e-04 9.99995199e-01 7.85506485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901652531999998 meters 0.36474506334825463 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 9.99988635e-01 2.82927201e-03 3.83735767e-03 -9.97557554e-01] [-2.83344035e-03 9.99995401e-01 1.08125200e-03 -1.28548077e+00] [-3.83428086e-03 -1.09211263e-03 9.99992053e-01 7.86841949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961652531999999 meters 0.375500618518557 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99991529 0.01198081 0.00508636 -1.00019703] [-0.01203107 0.99987793 0.0099684 -1.28624376] [-0.00496631 -0.01002875 0.99993738 0.07799742] [ 0. 0. 0. 1. ]] SLAMing on 16.021652532 meters 0.39025524989173355 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 0.99989707 0.01264912 0.00677101 -1.00344246] [-0.01271436 0.9998723 0.0096811 -1.28512836] [-0.00664768 -0.00976619 0.99993021 0.07638471] [ 0. 0. 0. 1. ]] SLAMing on 16.081652532 meters 0.3911362026567699 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.08 [[ 0.99987277 0.0140929 0.00747288 -1.00509293] [-0.01417406 0.99983989 0.01092206 -1.28753276] [-0.00731776 -0.01102659 0.99991243 0.07617608] [ 0. 0. 0. 1. ]] SLAMing on 16.141652532000002 meters 0.39249042127712797 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.08 [[ 0.99986497 0.0143563 0.00799643 -1.00629182] [-0.01444555 0.99983273 0.01121791 -1.2886405 ] [-0.00783404 -0.01133191 0.9999051 0.07598859] [ 0. 0. 0. 1. ]] SLAMing on 16.201652532 meters 0.40880054592517756 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.07 [[ 0.99986189 0.01413367 0.00874334 -1.00744061] [-0.01422566 0.99984315 0.01054991 -1.28652855] [-0.00859286 -0.01067284 0.99990612 0.07498385] [ 0. 0. 0. 1. ]] SLAMing on 16.261652532 meters 0.3963800886158559 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.08 [[ 0.99989649 0.01069078 0.00962889 -1.00984966] [-0.01076208 0.99991482 0.00738418 -1.29007505] [-0.00954913 -0.00748704 0.99992638 0.07507172] [ 0. 0. 0. 1. ]] SLAMing on 16.321652532 meters 0.3981203269938782 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.08 [[ 0.99991031 0.01002627 0.00888008 -1.0083205 ] [-0.01008813 0.99992496 0.00694945 -1.28898695] [-0.00880974 -0.00703841 0.99993642 0.07588252] [ 0. 0. 0. 1. ]] SLAMing on 16.381652532 meters 0.3891934804484256 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.08 [[ 0.99994527 0.00607379 0.00851846 -1.00825568] [-0.00610253 0.99997576 0.00335221 -1.29128407] [-0.00849789 -0.00340401 0.9999581 0.07693849] [ 0. 0. 0. 1. ]] SLAMing on 16.441652532 meters 0.37734936044812856 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.08 [[ 0.99996319 0.00442656 0.00735053 -1.00528271] [-0.00444374 0.99998743 0.00232248 -1.28999774] [-0.00734016 -0.00235506 0.99997029 0.07718135] [ 0. 0. 0. 1. ]] SLAMing on 16.501652532 meters 0.3778590324479551 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.08 [[ 9.99968184e-01 3.37690717e-03 7.22686412e-03 -1.00448858e+00] [-3.38277972e-03 9.99993958e-01 8.00530804e-04 -1.28583579e+00] [-7.22411713e-03 -8.24952223e-04 9.99973565e-01 7.65903766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561652532 meters 0.36004286271212277 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 9.99985155e-01 3.37251737e-04 5.43835215e-03 -1.00067353e+00] [-3.29713750e-04 9.99998984e-01 -1.38691625e-03 -1.28249233e+00] [-5.43881436e-03 1.38510256e-03 9.99984250e-01 7.77669708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621652532000002 meters 0.3665990671856291 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 9.99988696e-01 2.85516137e-04 4.74624226e-03 -9.99377847e-01] [-2.79794805e-04 9.99999234e-01 -1.20606499e-03 -1.28288201e+00] [-4.74658298e-03 1.20472338e-03 9.99988009e-01 7.84256129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681652532 meters 0.3587124898255438 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 0.99997636 -0.00449086 0.00520666 -0.9993929 ] [ 0.00452497 0.99996826 -0.00655821 -1.27960878] [-0.00517704 0.00658161 0.99996494 0.07692798] [ 0. 0. 0. 1. ]] SLAMing on 16.741652532 meters 0.35961691341137053 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 0.99997835 -0.00443278 0.00486272 -0.99899269] [ 0.00446314 0.9999705 -0.00625113 -1.280534 ] [-0.00483487 0.0062727 0.99996864 0.07758974] [ 0. 0. 0. 1. ]] SLAMing on 16.801652532000002 meters 0.359229010120124 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 0.99998192 -0.00425743 0.00424598 -0.99801753] [ 0.0042815 0.99997473 -0.00567487 -1.28238247] [-0.00422171 0.00569294 0.99997488 0.07836949] [ 0. 0. 0. 1. ]] SLAMing on 16.861652532 meters 0.36786715519192376 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 9.99991056e-01 -5.82603542e-04 4.18897951e-03 -9.97731555e-01] [ 5.92608538e-04 9.99996974e-01 -2.38756456e-03 -1.27901848e+00] [-4.18757583e-03 2.39002563e-03 9.99988376e-01 7.81876721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921652532 meters 0.36624597856075597 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 9.99993738e-01 -9.79253103e-04 3.40060697e-03 -9.95778149e-01] [ 9.88501925e-04 9.99995815e-01 -2.71914139e-03 -1.27804081e+00] [-3.39793001e-03 2.72248587e-03 9.99990521e-01 7.82635927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981652532000002 meters 0.3718658073380086 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.28, Z:0.08 [[ 9.99996579e-01 -8.89557140e-04 2.45967311e-03 -9.94524044e-01] [ 8.94804242e-04 9.99997325e-01 -2.13297467e-03 -1.27966352e+00] [-2.45776912e-03 2.13516830e-03 9.99994700e-01 7.99023100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041652532 meters 0.3500438626736053 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.08 [[ 9.99996302e-01 -4.90258598e-04 2.67494715e-03 -9.95731730e-01] [ 4.94125828e-04 9.99998834e-01 -1.44525254e-03 -1.28184649e+00] [-2.67423548e-03 1.44656896e-03 9.99995378e-01 8.08199602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101652532 meters 0.3520759864173086 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.28, Z:0.08 [[ 9.99997285e-01 -7.04422833e-04 2.22121573e-03 -9.94485933e-01] [ 7.08072004e-04 9.99998400e-01 -1.64251291e-03 -1.28111915e+00] [-2.22005515e-03 1.64408123e-03 9.99996184e-01 8.07303317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161652532 meters 0.34498650386373747 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.27, Z:0.08 [[ 0.99997829 -0.0062171 0.00218392 -0.99246502] [ 0.00623509 0.99994588 -0.00832789 -1.27420389] [-0.00213203 0.00834132 0.99996294 0.07814819] [ 0. 0. 0. 1. ]] SLAMing on 17.221652532 meters 0.3385635430590005 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.27, Z:0.08 [[ 9.99967317e-01 -8.01454056e-03 1.06429545e-03 -9.90200448e-01] [ 8.02469953e-03 9.99918683e-01 -9.91117593e-03 -1.27151705e+00] [-9.84775385e-04 9.91939265e-03 9.99950317e-01 7.88865599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281652532000003 meters 0.3345604529360809 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.27, Z:0.08 [[ 9.99980595e-01 -6.19928340e-03 -6.14783923e-04 -9.87010738e-01] [ 6.19451214e-03 9.99952832e-01 -7.48076669e-03 -1.26835674e+00] [ 6.61130317e-04 7.47681325e-03 9.99971830e-01 8.02201105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341652532 meters 0.3328956935563965 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.08 [[ 0.99998767 -0.00436994 -0.00235954 -0.98306743] [ 0.00435861 0.99997905 -0.00478615 -1.26659603] [ 0.00238041 0.00477581 0.99998576 0.08107172] [ 0. 0. 0. 1. ]] SLAMing on 17.401652532 meters 0.33994408621322 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.08 [[ 0.99998749 -0.00433475 -0.00249744 -0.98285571] [ 0.00432307 0.99997978 -0.00466359 -1.26701698] [ 0.00251761 0.00465273 0.99998601 0.08122897] [ 0. 0. 0. 1. ]] SLAMing on 17.461652532000002 meters 0.3390945195619395 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99997664 -0.00578459 -0.00364056 -0.98006831] [ 0.00576145 0.99996335 -0.00633268 -1.26340098] [ 0.00367706 0.00631155 0.99997332 0.08111748] [ 0. 0. 0. 1. ]] SLAMing on 17.521652532 meters 0.3328439911688877 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99998882 -0.00216157 -0.00420633 -0.97782049] [ 0.00214894 0.99999318 -0.00300461 -1.26082216] [ 0.00421279 0.00299554 0.99998664 0.07990012] [ 0. 0. 0. 1. ]] SLAMing on 17.581652532 meters 0.3456430760233788 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 9.99990584e-01 1.04264070e-03 -4.21252250e-03 -9.76830539e-01] [-1.04448737e-03 9.99999359e-01 -4.36200472e-04 -1.25604406e+00] [ 4.21206500e-03 4.40596292e-04 9.99991032e-01 7.86441124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641652532000002 meters 0.3383590360944515 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 9.99992023e-01 1.60427930e-03 -3.65783463e-03 -9.78820735e-01] [-1.60301370e-03 9.99998654e-01 3.48901075e-04 -1.25846472e+00] [ 3.65838945e-03 -3.43034733e-04 9.99993249e-01 7.94558810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701652532 meters 0.3339357218848884 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99998995 0.00210552 -0.00395854 -0.9793019 ] [-0.00210023 0.9999969 0.00133817 -1.26137264] [ 0.00396135 -0.00132984 0.99999127 0.08110402] [ 0. 0. 0. 1. ]] SLAMing on 17.761652532 meters 0.3357518717691307 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99999035 0.00218831 -0.00380913 -0.97885533] [-0.00218311 0.99999668 0.00136779 -1.26164702] [ 0.00381211 -0.00135946 0.99999181 0.0798849 ] [ 0. 0. 0. 1. ]] SLAMing on 17.821652532 meters 0.34960099941848966 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99997835 0.00599044 -0.00272461 -0.97957896] [-0.00597931 0.99997382 0.00407558 -1.25736155] [ 0.00274895 -0.00405921 0.99998798 0.07718903] [ 0. 0. 0. 1. ]] SLAMing on 17.881652532 meters 0.3406952024021253 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99997876 0.00614065 -0.00218619 -0.98157341] [-0.00613139 0.99997231 0.00421621 -1.25782331] [ 0.00221202 -0.00420271 0.99998872 0.0780659 ] [ 0. 0. 0. 1. ]] SLAMing on 17.941652532 meters 0.3436726926444857 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99998006 0.00579905 -0.00249888 -0.98001705] [-0.00578976 0.99997636 0.00370984 -1.25631984] [ 0.00252034 -0.0036953 0.99999 0.07707389] [ 0. 0. 0. 1. ]] SLAMing on 18.001652532 meters 0.3407102896951797 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99998121 0.00564009 -0.0024035 -0.97921547] [-0.00563195 0.99997843 0.00338074 -1.255433 ] [ 0.00242251 -0.00336715 0.9999914 0.07563865] [ 0. 0. 0. 1. ]] SLAMing on 18.061652532 meters 0.3403821296292804 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99997908 0.00575337 -0.00295586 -0.97893434] [-0.00574189 0.99997599 0.00387874 -1.25684364] [ 0.00297811 -0.00386168 0.99998811 0.07727434] [ 0. 0. 0. 1. ]] SLAMing on 18.121652532000002 meters 0.35168082966688735 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99998 0.00603959 -0.00187937 -0.98105418] [-0.00603211 0.99997396 0.00396027 -1.2571484 ] [ 0.00190324 -0.00394886 0.99999039 0.07639625] [ 0. 0. 0. 1. ]] SLAMing on 18.181652532 meters 0.33970980664885125 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99998276 0.00571083 -0.00136372 -0.9815057 ] [-0.00570637 0.99997844 0.00325033 -1.25502805] [ 0.00138225 -0.00324249 0.99999379 0.07525533] [ 0. 0. 0. 1. ]] SLAMing on 18.241652532 meters 0.34033005980920583 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 9.99982707e-01 5.78756666e-03 -1.04409987e-03 -9.82311303e-01] [-5.78411405e-03 9.99977892e-01 3.28003369e-03 -1.25518269e+00] [ 1.06306020e-03 -3.27393778e-03 9.99994076e-01 7.52365590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301652532000002 meters 0.33960362737013966 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99998219 0.00578097 -0.00148192 -0.98168795] [-0.00577571 0.99997711 0.00352405 -1.25590602] [ 0.00150226 -0.00351543 0.99999269 0.07601474] [ 0. 0. 0. 1. ]] SLAMing on 18.361652532 meters 0.3473872431359953 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99997794 0.00634365 -0.00196799 -0.98106492] [-0.0063345 0.99996927 0.00461839 -1.2594569 ] [ 0.00199723 -0.00460582 0.9999874 0.07678387] [ 0. 0. 0. 1. ]] SLAMing on 18.421652532 meters 0.3450512948079255 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99997941 0.00627177 -0.00135643 -0.98231381] [-0.00626585 0.999971 0.00432954 -1.2586439 ] [ 0.00138355 -0.00432095 0.99998971 0.07638527] [ 0. 0. 0. 1. ]] SLAMing on 18.481652532000002 meters 0.352832472507057 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 9.99996700e-01 2.34948424e-03 -1.03877628e-03 -9.80558958e-01] [-2.35043751e-03 9.99996817e-01 -9.17419030e-04 -1.25118725e+00] [ 1.03661751e-03 9.19857582e-04 9.99999040e-01 7.29326275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541652532 meters 0.33539850071231025 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 9.99997497e-01 2.07498747e-03 -8.37129557e-04 -9.80938095e-01] [-2.07617532e-03 9.99996836e-01 -1.42058931e-03 -1.24954550e+00] [ 8.34179203e-04 1.42232379e-03 9.99998641e-01 7.28395690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601652532 meters 0.3386564031612357 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 9.99997662e-01 2.09819784e-03 -5.23270742e-04 -9.81443229e-01] [-2.09896041e-03 9.99996730e-01 -1.46104182e-03 -1.24948607e+00] [ 5.20203476e-04 1.46213673e-03 9.99998796e-01 7.24545264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661652532 meters 0.33717700314400884 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 9.99997514e-01 2.22111517e-03 -1.95755120e-04 -9.81545469e-01] [-2.22138215e-03 9.99996588e-01 -1.37435539e-03 -1.24993105e+00] [ 1.92701850e-04 1.37478682e-03 9.99999036e-01 7.13422687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721652532 meters 0.3410960265781773 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 9.99997659e-01 2.15503869e-03 1.93673296e-04 -9.82096235e-01] [-2.15471901e-03 9.99996340e-01 -1.63593464e-03 -1.24915015e+00] [-1.97198090e-04 1.63551350e-03 9.99998643e-01 7.07308578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781652532 meters 0.34874493649763116 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 9.99979304e-01 6.43280419e-03 1.00559202e-04 -9.81638868e-01] [-6.43304589e-03 9.99975866e-01 2.62351207e-03 -1.24894695e+00] [-8.36802361e-05 -2.62410468e-03 9.99996554e-01 7.05277967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841652532 meters 0.35466994754457687 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 0.99992197 0.01207925 0.00318378 -0.98831681] [-0.01209939 0.99990643 0.00638199 -1.2469597 ] [-0.00310639 -0.00642002 0.99997457 0.06874227] [ 0. 0. 0. 1. ]] SLAMing on 18.901652532 meters 0.36177530975868233 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 0.99985299 0.01662072 0.00421275 -0.99001232] [-0.01666501 0.99980382 0.01070478 -1.24725437] [-0.004034 -0.01077341 0.99993383 0.06751099] [ 0. 0. 0. 1. ]] SLAMing on 18.961652532000002 meters 0.3626729032295384 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 0.99984896 0.01669459 0.00483254 -0.99100293] [-0.01674506 0.99980361 0.01059937 -1.2471169 ] [-0.00465464 -0.01067869 0.99993215 0.06664603] [ 0. 0. 0. 1. ]] SLAMing on 19.021652532 meters 0.3648401752904183 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 0.99984266 0.01696456 0.0051829 -0.99176792] [-0.01702024 0.9997958 0.01089378 -1.24816794] [-0.00499703 -0.01098028 0.99992723 0.06642752] [ 0. 0. 0. 1. ]] SLAMing on 19.081652532 meters 0.36702089739763477 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 0.99983677 0.0171598 0.00565431 -0.99330042] [-0.01722201 0.99978958 0.01114458 -1.24908671] [-0.00546188 -0.01124014 0.99992191 0.06691416] [ 0. 0. 0. 1. ]] SLAMing on 19.141652532000002 meters 0.35682250087542333 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 0.99994669 0.00890919 0.00521957 -0.99278389] [-0.00892647 0.99995472 0.00329774 -1.25168699] [-0.00518995 -0.00334416 0.99998094 0.06740075] [ 0. 0. 0. 1. ]] SLAMing on 19.201652532 meters 0.34945666477324416 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 9.99973274e-01 4.61123676e-03 5.67348071e-03 -9.93677436e-01] [-4.60458318e-03 9.99988696e-01 -1.18525351e-03 -1.25130709e+00] [-5.67888206e-03 1.15909782e-03 9.99983203e-01 6.69032238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261652532 meters 0.34994390146770876 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 9.99978152e-01 4.56015755e-03 4.78537767e-03 -9.92653870e-01] [-4.55702058e-03 9.99989395e-01 -6.66232703e-04 -1.25258632e+00] [-4.78836505e-03 6.44411082e-04 9.99988328e-01 6.87452408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321652532 meters 0.3444702541379426 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 0.99998913 0.00286539 0.00367936 -0.98944495] [-0.00285833 0.99999407 -0.00192261 -1.25035191] [-0.00368484 0.00191207 0.99999138 0.06844471] [ 0. 0. 0. 1. ]] SLAMing on 19.381652532 meters 0.3334951103299824 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 0.99999273 -0.00302856 0.00231598 -0.9862684 ] [ 0.00304545 0.99996855 -0.00732307 -1.24820347] [-0.00229373 0.00733007 0.9999705 0.06902023] [ 0. 0. 0. 1. ]] SLAMing on 19.441652532 meters 0.3319611341860479 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.25, Z:0.07 [[ 0.99996983 -0.00750994 0.00198423 -0.98578783] [ 0.00753266 0.99990314 -0.01170367 -1.24794849] [-0.00189614 0.01171826 0.99992954 0.06974744] [ 0. 0. 0. 1. ]] SLAMing on 19.501652532 meters 0.3253580369931658 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 9.99968356e-01 -7.95336489e-03 1.74971529e-04 -9.82269877e-01] [ 7.95483349e-03 9.99904622e-01 -1.12901321e-02 -1.24902760e+00] [-8.51603000e-05 1.12911667e-02 9.99936249e-01 7.13666810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561652532 meters 0.3278291029967474 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 9.99986432e-01 -5.08346420e-03 -1.13722828e-03 -9.79010902e-01] [ 5.07373647e-03 9.99951854e-01 -8.39921422e-03 -1.24635947e+00] [ 1.17987063e-03 8.39333027e-03 9.99964079e-01 7.11212345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621652532000002 meters 0.32848291200636 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.25, Z:0.07 [[ 0.99999376 -0.00214992 -0.00280275 -0.97477957] [ 0.00213591 0.99998527 -0.00498968 -1.24535779] [ 0.00281344 0.00498366 0.99998362 0.07095625] [ 0. 0. 0. 1. ]] SLAMing on 19.681652532 meters 0.3316629180294616 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.25, Z:0.07 [[ 0.99997159 -0.00670144 -0.00345051 -0.97327371] [ 0.00666915 0.99993464 -0.00928688 -1.24549947] [ 0.00351252 0.00926361 0.99995092 0.0713774 ] [ 0. 0. 0. 1. ]] SLAMing on 19.741652532 meters 0.3215470883849464 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.24, Z:0.07 [[ 0.9999525 -0.00847011 -0.00482168 -0.96980298] [ 0.00841851 0.99990812 -0.0106241 -1.24327615] [ 0.00491123 0.01058301 0.99993194 0.07144152] [ 0. 0. 0. 1. ]] SLAMing on 19.801652532000002 meters 0.32000919746131157 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.24, Z:0.07 [[ 0.99995861 -0.00567767 -0.00710927 -0.96498956] [ 0.00563134 0.99996289 -0.00652036 -1.24394401] [ 0.00714603 0.00648005 0.99995347 0.07301287] [ 0. 0. 0. 1. ]] SLAMing on 19.861652532 meters 0.31942447410985847 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.24, Z:0.07 [[ 0.99995685 -0.00364451 -0.00854498 -0.96169594] [ 0.00361159 0.99998601 -0.00386463 -1.24164996] [ 0.00855894 0.0038336 0.99995602 0.07362878] [ 0. 0. 0. 1. ]] SLAMing on 19.921652532 meters 0.2984363639312566 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.24, Z:0.07 [[ 0.99991061 -0.00921847 -0.00968477 -0.95887069] [ 0.00913192 0.99991831 -0.00894322 -1.2401511 ] [ 0.00976642 0.00885398 0.99991311 0.07410651] [ 0. 0. 0. 1. ]] SLAMing on 19.981652532000002 meters 0.2996831655530646 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.24, Z:0.07 [[ 0.99984985 -0.01370328 -0.01060638 -0.95658319] [ 0.01356453 0.9998229 -0.01304513 -1.24087741] [ 0.01078326 0.0128993 0.99985865 0.07449395] [ 0. 0. 0. 1. ]] SLAMing on 20.041652532 meters 0.28995560485316263 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.24, Z:0.08 [[ 0.99983112 -0.0136558 -0.01229871 -0.95382912] [ 0.01350927 0.99983769 -0.01192001 -1.24399556] [ 0.01245949 0.01175185 0.99985332 0.07671008] [ 0. 0. 0. 1. ]] SLAMing on 20.101652532 meters 0.2905693581251629 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.24, Z:0.08 [[ 0.99986158 -0.01002524 -0.0132782 -0.95135595] [ 0.00991562 0.99991643 -0.00829578 -1.24220783] [ 0.01336025 0.00816297 0.99987743 0.07658624] [ 0. 0. 0. 1. ]] SLAMing on 20.161652532 meters 0.2853470899356888 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.24, Z:0.08 [[ 0.99980269 -0.0153654 -0.01258931 -0.95182963] [ 0.01518523 0.99978266 -0.01428457 -1.23722763] [ 0.01280607 0.01409058 0.99981871 0.07519856] [ 0. 0. 0. 1. ]] SLAMing on 20.221652532 meters 0.28010385846950875 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.24, Z:0.08 [[ 0.9996874 -0.02056636 -0.01421715 -0.94793927] [ 0.02029748 0.99961713 -0.0188045 -1.2368254 ] [ 0.01459845 0.01851005 0.99972209 0.07602211] [ 0. 0. 0. 1. ]] SLAMing on 20.281652532 meters 0.27690706991786324 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.24, Z:0.08 [[ 0.9996677 -0.0204722 -0.01566469 -0.9459973 ] [ 0.02019735 0.99964272 -0.01750703 -1.24043031] [ 0.0160175 0.01718483 0.99972402 0.07858937] [ 0. 0. 0. 1. ]] SLAMing on 20.341652532 meters 0.27999291366306805 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.24, Z:0.08 [[ 0.99974451 -0.01634613 -0.01561147 -0.94553685] [ 0.01613343 0.9997766 -0.01365502 -1.23910074] [ 0.01583119 0.01339967 0.99978489 0.07751533] [ 0. 0. 0. 1. ]] SLAMing on 20.401652532 meters 0.28552128853840764 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.24, Z:0.08 [[ 0.99981436 -0.01181756 -0.01521841 -0.9465311 ] [ 0.01167643 0.9998883 -0.00932989 -1.23910729] [ 0.01532697 0.00915047 0.99984066 0.07718879] [ 0. 0. 0. 1. ]] SLAMing on 20.461652532000002 meters 0.2918256618175495 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.23, Z:0.08 [[ 0.99987419 -0.01499296 -0.00517741 -0.94387302] [ 0.01496456 0.99987299 -0.00548238 -1.23457313] [ 0.00525894 0.00540421 0.99997157 0.08176825] [ 0. 0. 0. 1. ]] SLAMing on 20.521652532 meters 0.2820758199008022 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.23, Z:0.08 [[ 0.99979869 -0.0194084 -0.00508772 -0.94052746] [ 0.0193513 0.99975175 -0.01104366 -1.22690182] [ 0.00530079 0.01094298 0.99992607 0.07725286] [ 0. 0. 0. 1. ]] SLAMing on 20.581652532 meters 0.2817630896648695 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.23, Z:0.08 [[ 0.99985841 -0.01564762 -0.00618972 -0.93832717] [ 0.01560232 0.99985162 -0.00730072 -1.22550942] [ 0.00630304 0.00720312 0.99995419 0.07776515] [ 0. 0. 0. 1. ]] SLAMing on 20.641652532000002 meters 0.2848731821537372 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.23, Z:0.08 [[ 0.99992213 -0.01099433 -0.00590489 -0.93969097] [ 0.01097943 0.99993648 -0.00254913 -1.22671763] [ 0.00593254 0.0024841 0.99997932 0.07839012] [ 0. 0. 0. 1. ]] SLAMing on 20.701652532 meters 0.28942487337633055 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 9.99961266e-01 -7.13520364e-03 -5.15315181e-03 -9.41021092e-01] [ 7.13900836e-03 9.99974258e-01 7.20312056e-04 -1.22351276e+00] [ 5.14787958e-03 -7.57072549e-04 9.99986463e-01 7.74774696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761652532 meters 0.29683082850149783 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 0.99997851 -0.00415619 -0.00506965 -0.94068337] [ 0.00417082 0.99998716 0.00287782 -1.21779908] [ 0.00505762 -0.00289891 0.99998301 0.07653687] [ 0. 0. 0. 1. ]] SLAMing on 20.821652532 meters 0.29847881645881263 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.22, Z:0.08 [[ 0.99999116 0.00289413 -0.00305085 -0.94532471] [-0.00286584 0.99995325 0.00923541 -1.22134034] [ 0.00307743 -0.00922659 0.9999527 0.07596566] [ 0. 0. 0. 1. ]] SLAMing on 20.881652532 meters 0.32046332464161736 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.22, Z:0.07 [[ 0.99993482 0.01129607 -0.00166212 -0.94737569] [-0.01126706 0.99979984 0.01653296 -1.21753563] [ 0.00184854 -0.01651315 0.99986194 0.07407829] [ 0. 0. 0. 1. ]] SLAMing on 20.941652532 meters 0.33084123377087865 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.22, Z:0.08 [[ 0.99944649 0.03310269 0.00330682 -0.95380572] [-0.03315923 0.99927272 0.01882816 -1.21805846] [-0.00268115 -0.01892739 0.99981727 0.07629712] [ 0. 0. 0. 1. ]] SLAMing on 21.001652532 meters 0.3386029369660553 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.22, Z:0.08 [[ 0.99926822 0.03801083 0.0042666 -0.95560322] [-0.03810098 0.99899678 0.02353206 -1.21911474] [-0.00336784 -0.0236774 0.99971398 0.07573327] [ 0. 0. 0. 1. ]] SLAMing on 21.061652532 meters 0.3449775855681731 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.22, Z:0.07 [[ 0.99929682 0.03704745 0.00577513 -0.95882684] [-0.03716772 0.99905942 0.02233462 -1.22497958] [-0.00494226 -0.02253356 0.99973387 0.07489125] [ 0. 0. 0. 1. ]] SLAMing on 21.121652532 meters 0.3452250993155725 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.22, Z:0.07 [[ 0.99944572 0.03270312 0.00622556 -0.96021614] [-0.03280916 0.99930367 0.01776902 -1.22432842] [-0.00564012 -0.01796343 0.99982274 0.07470239] [ 0. 0. 0. 1. ]] SLAMing on 21.181652532 meters 0.3405877510564744 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.23, Z:0.08 [[ 0.99959478 0.02812266 0.00440314 -0.95645283] [-0.0281829 0.99950086 0.01427461 -1.22705166] [-0.0039995 -0.01439292 0.99988842 0.07554053] [ 0. 0. 0. 1. ]] SLAMing on 21.241652532 meters 0.3188832581237479 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.23, Z:0.08 [[ 0.99980066 0.01971822 0.00313517 -0.95472073] [-0.01973846 0.99978365 0.00656048 -1.22976106] [-0.00300513 -0.00662105 0.99997357 0.0769089 ] [ 0. 0. 0. 1. ]] SLAMing on 21.301652532000002 meters 0.3158942822590138 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.23, Z:0.08 [[ 0.99981096 0.0193286 0.00211102 -0.95245401] [-0.0193424 0.9997903 0.00672562 -1.23038065] [-0.00198058 -0.00676518 0.99997515 0.07767859] [ 0. 0. 0. 1. ]] SLAMing on 21.361652532 meters 0.31257294988720224 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 0.99991433 0.01293215 -0.00202258 -0.94340746] [-0.01292514 0.99991054 0.00344343 -1.22157738] [ 0.00206693 -0.00341699 0.99999203 0.08089681] [ 0. 0. 0. 1. ]] SLAMing on 21.421652532 meters 0.3051972836170479 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 9.99962156e-01 8.55829993e-03 -1.56261506e-03 -9.44118683e-01] [-8.56005766e-03 9.99962733e-01 -1.12166035e-03 -1.22100154e+00] [ 1.55295732e-03 1.13499398e-03 9.99998150e-01 8.00278538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481652532000002 meters 0.3042359518586623 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 0.99996659 0.00781741 -0.00239012 -0.94210065] [-0.00782143 0.999968 -0.00168009 -1.21964243] [ 0.0023769 0.00169873 0.99999573 0.08037986] [ 0. 0. 0. 1. ]] SLAMing on 21.541652532 meters 0.3080774349611246 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 0.99997095 0.00675367 -0.00353393 -0.93940627] [-0.00676221 0.99997423 -0.00240902 -1.21822634] [ 0.00351757 0.00243285 0.99999085 0.08090593] [ 0. 0. 0. 1. ]] SLAMing on 21.601652532 meters 0.29837773302410053 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 0.9999666 0.00726903 -0.00373724 -0.94021347] [-0.0072745 0.99997249 -0.0014508 -1.22082324] [ 0.00372659 0.00147794 0.99999196 0.0827584 ] [ 0. 0. 0. 1. ]] SLAMing on 21.661652532 meters 0.29072506702467543 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.22, Z:0.09 [[ 0.99995676 0.0018295 -0.00911794 -0.92947949] [-0.00185115 0.99999549 -0.00236691 -1.21628249] [ 0.00911357 0.00238368 0.99995563 0.08829751] [ 0. 0. 0. 1. ]] SLAMing on 21.721652532 meters 0.2826011884647308 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.22, Z:0.09 [[ 0.99994568 -0.0030129 -0.00997763 -0.92730035] [ 0.0029429 0.999971 -0.00702356 -1.2154319 ] [ 0.0099985 0.00699382 0.99992556 0.08847631] [ 0. 0. 0. 1. ]] SLAMing on 21.781652532 meters 0.2821169163662887 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.22, Z:0.09 [[ 0.9999294 -0.00359695 -0.01132497 -0.92416214] [ 0.00351537 0.99996779 -0.00721517 -1.21525269] [ 0.01135056 0.00717485 0.99990984 0.08883004] [ 0. 0. 0. 1. ]] SLAMing on 21.841652532 meters 0.28103522457645785 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.09 [[ 9.99940061e-01 3.51643644e-04 -1.09430928e-02 -9.25035718e-01] [-3.91575596e-04 9.99993273e-01 -3.64712675e-03 -1.21286453e+00] [ 1.09417367e-02 3.65119319e-03 9.99933471e-01 8.87456422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901652532 meters 0.282096782689132 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.09 [[ 9.99948406e-01 4.86557944e-04 -1.01463851e-02 -9.26977937e-01] [-5.24129611e-04 9.99993015e-01 -3.70063066e-03 -1.21272262e+00] [ 1.01445137e-02 3.70575775e-03 9.99941676e-01 8.85845559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961652532000002 meters 0.2796991823587314 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.09 [[ 9.99944117e-01 1.76675870e-04 -1.05702995e-02 -9.25739822e-01] [-2.20065230e-04 9.99991555e-01 -4.10381506e-03 -1.21146581e+00] [ 1.05694852e-02 4.10591188e-03 9.99935712e-01 8.83654211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021652532 meters 0.2807102779984855 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.09 [[ 9.99948579e-01 3.23847423e-04 -1.01357999e-02 -9.26624800e-01] [-3.64259037e-04 9.99991992e-01 -3.98542571e-03 -1.21195721e+00] [ 1.01344281e-02 3.98891283e-03 9.99940689e-01 8.79959315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081652532 meters 0.28707063796752236 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.09 [[ 9.99941078e-01 5.14036410e-03 -9.56121671e-03 -9.28607069e-01] [-5.13197342e-03 9.99986425e-01 9.01902218e-04 -1.21353750e+00] [ 9.56572302e-03 -8.52781166e-04 9.99953884e-01 8.88264041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141652532000002 meters 0.29359998304611645 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.09 [[ 0.99991239 0.00983978 -0.00885409 -0.93036515] [-0.00979087 0.99993667 0.00555006 -1.2145552 ] [ 0.00890814 -0.00546288 0.9999454 0.08889341] [ 0. 0. 0. 1. ]] SLAMing on 22.201652532 meters 0.30168025296983825 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 0.99984601 0.01708911 -0.00399016 -0.93893977] [-0.0170539 0.99981675 0.00869672 -1.21556268] [ 0.00413805 -0.00862734 0.99995422 0.08281549] [ 0. 0. 0. 1. ]] SLAMing on 22.261652532 meters 0.3022155344402954 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 0.99984801 0.01704636 -0.00365828 -0.93935545] [-0.0170148 0.99981917 0.00849256 -1.21503727] [ 0.00380238 -0.00842903 0.99995725 0.08220501] [ 0. 0. 0. 1. ]] SLAMing on 22.321652532 meters 0.29380324801246316 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.08 [[ 9.99957672e-01 7.48764775e-03 -5.34689498e-03 -9.35103320e-01] [-7.48927907e-03 9.99971914e-01 -2.85138610e-04 -1.21536625e+00] [ 5.34460979e-03 3.25170930e-04 9.99985665e-01 8.19742587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381652532 meters 0.28178034665155166 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.09 [[ 0.99994324 -0.0035896 -0.01003183 -0.92418732] [ 0.00351201 0.99996386 -0.00774176 -1.20733912] [ 0.01005926 0.00770609 0.99991971 0.08522097] [ 0. 0. 0. 1. ]] SLAMing on 22.441652532 meters 0.27609943928706165 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.09 [[ 9.99938791e-01 -1.09905447e-02 -1.27354423e-03 -9.25689961e-01] [ 1.09903912e-02 9.99939596e-01 -1.27428787e-04 -1.20909019e+00] [ 1.27486781e-03 1.13424238e-04 9.99999181e-01 8.83115696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501652532 meters 0.26709212059257237 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.20, Z:0.09 [[ 0.99980988 -0.01812018 -0.00720196 -0.91363058] [ 0.01810787 0.99983447 -0.00177064 -1.20250929] [ 0.00723285 0.00163989 0.9999725 0.09491918] [ 0. 0. 0. 1. ]] SLAMing on 22.561652532 meters 0.2659037549710033 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.20, Z:0.09 [[ 0.99971147 -0.02300073 -0.00692466 -0.91299984] [ 0.02295212 0.99971192 -0.00702039 -1.1999706 ] [ 0.00708414 0.00685942 0.99995138 0.09344385] [ 0. 0. 0. 1. ]] SLAMing on 22.621652532 meters 0.26830547522236187 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.20, Z:0.09 [[ 0.99975574 -0.02016731 -0.0090411 -0.90885108] [ 0.02013537 0.99979074 -0.00361045 -1.19936962] [ 0.00911202 0.00342752 0.99995261 0.09458603] [ 0. 0. 0. 1. ]] SLAMing on 22.681652532 meters 0.27323987336791516 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.20, Z:0.09 [[ 9.99859745e-01 -1.49416551e-02 -7.56550063e-03 -9.12271904e-01] [ 1.49498244e-02 9.99887720e-01 1.02441018e-03 -1.20004377e+00] [ 7.54934480e-03 -1.13736941e-03 9.99970856e-01 9.36019166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741652532 meters 0.2815012012891929 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.19, Z:0.09 [[ 9.99992505e-01 3.08293192e-04 -3.85939209e-03 -9.16471621e-01] [-3.24527161e-04 9.99991100e-01 -4.20643476e-03 -1.19074448e+00] [ 3.85806093e-03 4.20765571e-03 9.99983705e-01 9.34339329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801652532000002 meters 0.2907441384006842 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.19, Z:0.09 [[ 0.999972 0.00731131 -0.00159622 -0.92171989] [-0.00730867 0.99997192 0.00165802 -1.19334679] [ 0.0016083 -0.00164631 0.99999735 0.09267793] [ 0. 0. 0. 1. ]] SLAMing on 22.861652532 meters 0.3187747441994165 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.20, Z:0.09 [[ 0.9994531 0.03262093 0.00541927 -0.93628077] [-0.03272541 0.99925493 0.02046071 -1.2030869 ] [-0.00474778 -0.02062687 0.99977597 0.08592941] [ 0. 0. 0. 1. ]] SLAMing on 22.921652532 meters 0.3460769988388704 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.21, Z:0.08 [[ 0.99876935 0.04815248 0.01187918 -0.94942911] [-0.04849454 0.99836018 0.03041763 -1.21155079] [-0.01039501 -0.03095627 0.99946668 0.08047715] [ 0. 0. 0. 1. ]] SLAMing on 22.981652532000002 meters 0.3652570806516654 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.22, Z:0.08 [[ 0.99799926 0.06045288 0.01851839 -0.963413 ] [-0.06110653 0.99744374 0.03704015 -1.22143631] [-0.01623186 -0.03809764 0.99914218 0.07518792] [ 0. 0. 0. 1. ]] SLAMing on 23.041652532 meters 0.3499382038212054 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.22, Z:0.08 [[ 0.99797524 0.06067022 0.0190932 -0.96497284] [-0.06134701 0.99742602 0.03711971 -1.22171457] [-0.01679199 -0.03821586 0.99912841 0.07532579] [ 0. 0. 0. 1. ]] SLAMing on 23.101652532 meters 0.3646753875411161 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.22, Z:0.07 [[ 0.99807648 0.05849458 0.02053579 -0.96843674] [-0.05918042 0.99764923 0.03454985 -1.22495034] [-0.01846654 -0.03569871 0.99919197 0.07471996] [ 0. 0. 0. 1. ]] SLAMing on 23.161652532 meters 0.3475259696496849 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.23, Z:0.08 [[ 0.99848996 0.05156442 0.01894487 -0.96688383] [-0.05210341 0.99821608 0.02915305 -1.23252103] [-0.01740781 -0.03009612 0.99939541 0.07715302] [ 0. 0. 0. 1. ]] SLAMing on 23.221652532 meters 0.3317478008880071 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.23, Z:0.08 [[ 0.9989753 0.04207837 0.01666617 -0.96230217] [-0.04241887 0.99888685 0.02063243 -1.23333838] [-0.01577944 -0.02131825 0.99964821 0.07759132] [ 0. 0. 0. 1. ]] SLAMing on 23.281652532 meters 0.3119187206098617 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.22, Z:0.08 [[ 0.99971619 0.02153577 0.01018567 -0.94900233] [-0.02159982 0.99974734 0.00622059 -1.22453364] [-0.01004913 -0.00643883 0.99992878 0.08376177] [ 0. 0. 0. 1. ]] SLAMing on 23.341652532 meters 0.2956897519842251 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.09 [[ 0.99995133 0.00862302 0.00479325 -0.93946375] [-0.00861286 0.99996062 -0.00213714 -1.22013285] [-0.00481149 0.00209575 0.99998623 0.0904075 ] [ 0. 0. 0. 1. ]] SLAMing on 23.401652532 meters 0.28620043397473865 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.22, Z:0.10 [[ 9.99999234e-01 1.20265717e-03 -2.93153303e-04 -9.29439556e-01] [-1.20420881e-03 9.99984956e-01 -5.35150664e-03 -1.21997014e+00] [ 2.86712865e-04 5.35185556e-03 9.99985638e-01 9.57207672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461652532000002 meters 0.2712466826001579 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.22, Z:0.10 [[ 0.99987892 -0.01408555 -0.00661349 -0.91378502] [ 0.01399114 0.99980255 -0.01411028 -1.21687514] [ 0.00681093 0.01401605 0.99987857 0.10049634] [ 0. 0. 0. 1. ]] SLAMing on 23.521652532 meters 0.2636158114486335 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.21, Z:0.11 [[ 0.99972022 -0.02022013 -0.01227271 -0.90056553] [ 0.02003742 0.9996892 -0.01483226 -1.21288117] [ 0.01256881 0.01458219 0.99981468 0.10525957] [ 0. 0. 0. 1. ]] SLAMing on 23.581652532 meters 0.2562935563989525 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.11 [[ 0.99953842 -0.0247166 -0.01766448 -0.89172198] [ 0.02445142 0.99958738 -0.01507318 -1.20918891] [ 0.01802975 0.0146343 0.99973035 0.1129698 ] [ 0. 0. 0. 1. ]] SLAMing on 23.641652532000002 meters 0.2555549212790818 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 0.99952478 -0.02580561 -0.01686085 -0.89252946] [ 0.02551762 0.99952849 -0.01707767 -1.20320029] [ 0.0172936 0.01663931 0.99971199 0.11142153] [ 0. 0. 0. 1. ]] SLAMing on 23.701652532 meters 0.26080214882722463 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 0.99963094 -0.02225907 -0.01557279 -0.89446838] [ 0.02202187 0.99964132 -0.01524067 -1.19664672] [ 0.01590645 0.0148921 0.99976258 0.10891358] [ 0. 0. 0. 1. ]] SLAMing on 23.761652532 meters 0.27005940424773645 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.19, Z:0.11 [[ 9.99928381e-01 -1.19666177e-02 -1.82328562e-04 -9.00999634e-01] [ 1.19648016e-02 9.99897138e-01 -7.90935107e-03 -1.19288645e+00] [ 2.76957987e-04 7.90660308e-03 9.99968704e-01 1.08410016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821652532 meters 0.2882512197831819 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.20, Z:0.11 [[ 0.99993356 0.01000623 0.0057236 -0.91701372] [-0.01006047 0.99990401 0.00952709 -1.20378358] [-0.00562772 -0.00958404 0.99993824 0.10685082] [ 0. 0. 0. 1. ]] SLAMing on 23.881652532 meters 0.29421764234276837 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.20, Z:0.11 [[ 0.99987308 0.01448696 0.00662894 -0.91847696] [-0.01457671 0.99979994 0.01369674 -1.20356897] [-0.00642919 -0.01379163 0.99988422 0.10577933] [ 0. 0. 0. 1. ]] SLAMing on 23.941652532 meters 0.30800591282298223 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.99971155 0.02211307 0.00937188 -0.92374672] [-0.02229711 0.99955112 0.02000994 -1.20729295] [-0.00892519 -0.02021313 0.99975586 0.10378729] [ 0. 0. 0. 1. ]] SLAMing on 24.001652532 meters 0.3061036239634021 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.99978571 0.01837169 0.00954024 -0.92401912] [-0.0185273 0.99969241 0.01648688 -1.20987818] [-0.00923441 -0.0166601 0.99981857 0.10318389] [ 0. 0. 0. 1. ]] SLAMing on 24.061652532 meters 0.3031754737151579 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.99985293 0.01385498 0.01010778 -0.92441292] [-0.0139709 0.99983639 0.01148901 -1.20821784] [-0.00994694 -0.01162853 0.99988291 0.10143295] [ 0. 0. 0. 1. ]] SLAMing on 24.121652532 meters 0.3021683985654464 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.99990082 0.00995009 0.00996772 -0.92412986] [-0.0100283 0.99991908 0.00782748 -1.21050303] [-0.00988903 -0.00792667 0.99991968 0.1012816 ] [ 0. 0. 0. 1. ]] SLAMing on 24.181652532 meters 0.29457046388045016 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.22, Z:0.11 [[ 0.99994029 0.00659488 0.00871288 -0.92396842] [-0.00664576 0.99996096 0.00582378 -1.21516369] [-0.00867414 -0.00588134 0.99994508 0.10533896] [ 0. 0. 0. 1. ]] SLAMing on 24.241652532 meters 0.3006345697531832 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.99995917 -0.00309115 0.00849187 -0.9223526 ] [ 0.00313017 0.99998459 -0.00458575 -1.21043373] [-0.00847756 0.00461215 0.99995343 0.10383899] [ 0. 0. 0. 1. ]] SLAMing on 24.301652532000002 meters 0.29195394813140735 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.99996404 -0.00312654 0.00788304 -0.92013615] [ 0.00316187 0.99998499 -0.00447366 -1.21100548] [-0.00786894 0.00449843 0.99995892 0.10281606] [ 0. 0. 0. 1. ]] SLAMing on 24.361652532 meters 0.28745978986036386 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 9.99979705e-01 2.65865602e-04 6.36552429e-03 -9.17432506e-01] [-2.64220066e-04 9.99999931e-01 -2.59347133e-04 -1.21124243e+00] [-6.36559281e-03 2.57659970e-04 9.99979706e-01 1.04570553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421652532 meters 0.28878710597289514 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.99996948 0.00462804 0.00629396 -0.9174763 ] [-0.00465453 0.99998034 0.00420101 -1.21156509] [-0.00627439 -0.00423018 0.99997137 0.10497324] [ 0. 0. 0. 1. ]] SLAMing on 24.481652532000002 meters 0.29649648543607415 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.99989263 0.01184081 0.00863261 -0.92276545] [-0.01192848 0.99987707 0.01017624 -1.21374838] [-0.00851105 -0.01027812 0.99991096 0.10392661] [ 0. 0. 0. 1. ]] SLAMing on 24.541652532 meters 0.30214028993513975 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.10 [[ 0.99986854 0.01271291 0.01006444 -0.92600111] [-0.01281625 0.99986512 0.01027014 -1.21374432] [-0.00993252 -0.01039777 0.99989661 0.10316746] [ 0. 0. 0. 1. ]] SLAMing on 24.601652532 meters 0.303927606821574 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.10 [[ 0.99986008 0.01269354 0.0108948 -0.92782022] [-0.01280123 0.99986932 0.00987259 -1.212591 ] [-0.01076805 -0.01001068 0.99989191 0.10280461] [ 0. 0. 0. 1. ]] SLAMing on 24.661652532 meters 0.3096985377404501 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.10 [[ 0.9998363 0.01346541 0.01208551 -0.93030286] [-0.01359224 0.99985276 0.01047434 -1.21408342] [-0.01194269 -0.0106369 0.99987211 0.10204035] [ 0. 0. 0. 1. ]] SLAMing on 24.721652532 meters 0.311129436916142 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.10 [[ 0.99983905 0.01321927 0.01212937 -0.93049364] [-0.01334149 0.99986049 0.01005059 -1.21270969] [-0.01199482 -0.0102108 0.99987592 0.10230218] [ 0. 0. 0. 1. ]] SLAMing on 24.781652532 meters 0.3122583662440898 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.10 [[ 0.99988832 0.00917281 0.01179861 -0.92976089] [-0.00924662 0.99993792 0.00621692 -1.21436323] [-0.01174085 -0.00632532 0.99991107 0.10220978] [ 0. 0. 0. 1. ]] SLAMing on 24.841652532 meters 0.3248523049004217 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.10 [[ 0.99988997 0.00903303 0.01176689 -0.92960501] [-0.00910379 0.99994072 0.00597351 -1.21357297] [-0.01171224 -0.00607998 0.99991292 0.10213995] [ 0. 0. 0. 1. ]] SLAMing on 24.901652532 meters 0.3017155760317693 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.22, Z:0.10 [[ 0.9998858 0.0093846 0.01184536 -0.93062516] [-0.00946339 0.99993335 0.00661385 -1.21539796] [-0.01178251 -0.00672519 0.99990797 0.10332747] [ 0. 0. 0. 1. ]] SLAMing on 24.961652532000002 meters 0.3007641836097867 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.22, Z:0.10 [[ 0.99988162 0.00975677 0.01189791 -0.93059779] [-0.00984347 0.99992527 0.00725039 -1.21753352] [-0.01182628 -0.00736665 0.99990293 0.1030393 ] [ 0. 0. 0. 1. ]] SLAMing on 25.021652532 meters 0.30322284513287673 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.22, Z:0.10 [[ 0.99987932 0.00943843 0.01233969 -0.93083576] [-0.0095195 0.99993338 0.00652731 -1.21551145] [-0.01227726 -0.00664399 0.99990256 0.10180999] [ 0. 0. 0. 1. ]] SLAMing on 25.081652532 meters 0.3014193016985184 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.10 [[ 0.99989341 0.00535635 0.01358256 -0.93361714] [-0.00538324 0.99998362 0.0019443 -1.21478022] [-0.01357192 -0.00201721 0.99990586 0.10114634] [ 0. 0. 0. 1. ]] SLAMing on 25.141652532000002 meters 0.3067656100638424 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.22, Z:0.10 [[ 0.99990787 0.00521296 0.01253303 -0.93143279] [-0.00524225 0.9999836 0.00230503 -1.21574953] [-0.01252081 -0.00237052 0.9999188 0.10196133] [ 0. 0. 0. 1. ]] SLAMing on 25.201652532 meters 0.2889762017190346 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.22, Z:0.10 [[ 9.99943772e-01 1.89812061e-04 1.06027090e-02 -9.27563745e-01] [-1.76533681e-04 9.99999199e-01 -1.25327916e-03 -1.21813916e+00] [-1.06029384e-02 1.25133695e-03 9.99943004e-01 1.03740260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261652532 meters 0.2898960866604227 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.22, Z:0.10 [[ 0.99994603 -0.00461884 0.00930592 -0.92432627] [ 0.00467306 0.99997218 -0.00581327 -1.21759796] [-0.00927881 0.00585644 0.9999398 0.10392366] [ 0. 0. 0. 1. ]] SLAMing on 25.321652532 meters 0.29300961871916587 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.22, Z:0.10 [[ 0.999922 -0.00905785 0.00859973 -0.92248522] [ 0.00914462 0.99990712 -0.01010551 -1.21770331] [-0.00850739 0.01018337 0.99991196 0.10400441] [ 0. 0. 0. 1. ]] SLAMing on 25.381652532 meters 0.27622541693304953 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.22, Z:0.10 [[ 0.99991674 -0.009807 0.00838689 -0.92214433] [ 0.00989941 0.99988996 -0.01104842 -1.21512382] [-0.00827761 0.01113053 0.99990379 0.1045279 ] [ 0. 0. 0. 1. ]] SLAMing on 25.441652532 meters 0.2889134762600223 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.999919 -0.01033946 0.00742274 -0.91944773] [ 0.01042453 0.99987936 -0.01151511 -1.2139091 ] [-0.00730279 0.01159156 0.99990615 0.10436097] [ 0. 0. 0. 1. ]] SLAMing on 25.501652532 meters 0.28767111533703194 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.11 [[ 0.99991718 -0.01172382 0.00530888 -0.91520645] [ 0.01178511 0.99986252 -0.0116643 -1.21431041] [-0.0051714 0.0117259 0.99991788 0.10622742] [ 0. 0. 0. 1. ]] SLAMing on 25.561652532 meters 0.28028254320808477 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.21, Z:0.11 [[ 0.99990818 -0.01269025 0.00475383 -0.91337324] [ 0.01275154 0.999833 -0.01309115 -1.21049229] [-0.00458691 0.01315056 0.99990301 0.10570775] [ 0. 0. 0. 1. ]] SLAMing on 25.621652532 meters 0.27194656603494904 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.21, Z:0.10 [[ 0.99995625 -0.00841859 0.00407844 -0.91123108] [ 0.00845368 0.99992674 -0.0086633 -1.21103959] [-0.00400521 0.0086974 0.99995416 0.10490413] [ 0. 0. 0. 1. ]] SLAMing on 25.681652532 meters 0.2768403097938017 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.21, Z:0.10 [[ 0.99997955 -0.00434033 0.00469776 -0.91259666] [ 0.00436378 0.99997801 -0.00499315 -1.20899389] [-0.00467598 0.00501355 0.9999765 0.10452608] [ 0. 0. 0. 1. ]] SLAMing on 25.741652532 meters 0.2772728753673983 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.21, Z:0.10 [[ 9.99987192e-01 -2.86288408e-04 5.05310004e-03 -9.13216667e-01] [ 2.92357750e-04 9.99999237e-01 -1.20041475e-03 -1.20733627e+00] [-5.05275252e-03 1.20187669e-03 9.99986513e-01 1.04122855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801652532000002 meters 0.2792544543464201 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.21, Z:0.10 [[ 0.99998033 0.00380633 0.00498487 -0.91262886] [-0.00382016 0.99998887 0.0027693 -1.20631261] [-0.00497427 -0.00278829 0.99998374 0.10364498] [ 0. 0. 0. 1. ]] SLAMing on 25.861652532 meters 0.2836714213832167 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.21, Z:0.10 [[ 0.99995086 0.00815712 0.00563326 -0.9141962 ] [-0.00819634 0.99994208 0.00697545 -1.2059439 ] [-0.00557604 -0.00702128 0.9999598 0.10365435] [ 0. 0. 0. 1. ]] SLAMing on 25.921652532 meters 0.2825599698084632 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.20, Z:0.10 [[ 0.999973 0.00369478 0.00635248 -0.91550147] [-0.00370805 0.99999097 0.00207819 -1.20439638] [-0.00634474 -0.00210169 0.99997766 0.10285361] [ 0. 0. 0. 1. ]] SLAMing on 25.981652532000002 meters 0.284804520386596 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.21, Z:0.10 [[ 0.99996672 0.00460674 0.00673317 -0.91564383] [-0.00462824 0.99998423 0.00318035 -1.20715149] [-0.00671841 -0.00321141 0.99997227 0.10161267] [ 0. 0. 0. 1. ]] SLAMing on 26.041652532 meters 0.2822958638022427 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.20, Z:0.11 [[ 9.99997550e-01 -1.93468019e-03 1.07600647e-03 -9.03821371e-01] [ 1.93304479e-03 9.99996978e-01 1.51884772e-03 -1.20076311e+00] [-1.07894170e-03 -1.51676403e-03 9.99998268e-01 1.07091666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101652532 meters 0.27174856945828935 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.19, Z:0.11 [[ 0.99991067 -0.01276294 -0.00397104 -0.8915727 ] [ 0.01274145 0.99990429 -0.00539074 -1.19231633] [ 0.00403946 0.00533966 0.99997759 0.11034291] [ 0. 0. 0. 1. ]] SLAMing on 26.161652532 meters 0.2618561281207355 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.19, Z:0.11 [[ 0.99989084 -0.01368401 -0.00557301 -0.88854769] [ 0.01365188 0.99989019 -0.00576426 -1.19166656] [ 0.00565127 0.00568755 0.99996786 0.11184471] [ 0. 0. 0. 1. ]] SLAMing on 26.221652532 meters 0.2645023487422621 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.19, Z:0.11 [[ 9.99930317e-01 -9.57933309e-03 -6.89914858e-03 -8.86023154e-01] [ 9.57124574e-03 9.99953469e-01 -1.20429049e-03 -1.19227902e+00] [ 6.91036386e-03 1.13817312e-03 9.99975475e-01 1.12953054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281652532 meters 0.2634234377353062 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.19, Z:0.11 [[ 0.99992934 -0.0098213 -0.00669813 -0.88562864] [ 0.00981012 0.99995043 -0.00170017 -1.1910174 ] [ 0.0067145 0.00163434 0.99997612 0.11168761] [ 0. 0. 0. 1. ]] SLAMing on 26.341652532 meters 0.2690551537744204 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.19, Z:0.11 [[ 0.99997388 -0.00489903 -0.00531457 -0.8893924 ] [ 0.00491324 0.99998438 0.00266399 -1.19055703] [ 0.00530144 -0.00269003 0.99998233 0.11191964] [ 0. 0. 0. 1. ]] SLAMing on 26.401652532 meters 0.2710054017309681 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.19, Z:0.11 [[ 9.99988693e-01 -4.48061483e-04 -4.73424360e-03 -8.90657999e-01] [ 4.81221899e-04 9.99975345e-01 7.00555879e-03 -1.19069783e+00] [ 4.73098795e-03 -7.00775780e-03 9.99964254e-01 1.11588828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461652532 meters 0.27078563524049354 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.19, Z:0.11 [[ 0.99998231 -0.00343044 -0.0048595 -0.88759286] [ 0.00344642 0.99998867 0.00328297 -1.18773513] [ 0.00484818 -0.00329966 0.9999828 0.10828106] [ 0. 0. 0. 1. ]] SLAMing on 26.521652532 meters 0.27052090981437316 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.19, Z:0.11 [[ 0.99997722 -0.00358828 -0.00571612 -0.88549424] [ 0.00360767 0.99998776 0.00338522 -1.18807943] [ 0.0057039 -0.00340576 0.99997793 0.10850112] [ 0. 0. 0. 1. ]] SLAMing on 26.581652532 meters 0.27073664221928345 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 9.99946620e-01 -8.01522462e-03 -6.52025623e-03 -8.83662456e-01] [ 8.01056928e-03 9.99967641e-01 -7.39784405e-04 -1.18867071e+00] [ 6.52597478e-03 6.87513951e-04 9.99978469e-01 1.08984021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641652532000002 meters 0.2675440788657646 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.99994159 -0.00862077 -0.00651855 -0.88286752] [ 0.00860968 0.99996145 -0.00172674 -1.18583263] [ 0.00653318 0.00167052 0.99997726 0.10792253] [ 0. 0. 0. 1. ]] SLAMing on 26.701652532 meters 0.2604392480590169 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.99991809 -0.00958787 -0.0084785 -0.87835766] [ 0.00957517 0.99995297 -0.00153794 -1.18691749] [ 0.00849285 0.00145663 0.99996287 0.10887129] [ 0. 0. 0. 1. ]] SLAMing on 26.761652532 meters 0.2554810370942237 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.99985353 -0.01408646 -0.00972036 -0.87565868] [ 0.01403487 0.99988716 -0.0053559 -1.18849209] [ 0.00979471 0.00521869 0.99993841 0.1099571 ] [ 0. 0. 0. 1. ]] SLAMing on 26.821652532 meters 0.2530184606346939 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.11 [[ 9.99896342e-01 -9.59452365e-03 -1.07355076e-02 -8.74516233e-01] [ 9.59355169e-03 9.99953971e-01 -1.42032167e-04 -1.19082195e+00] [ 1.07363762e-02 3.90257979e-05 9.99942363e-01 1.11951892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881652532 meters 0.2523392928136752 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.11 [[ 0.99987454 -0.01062308 -0.01174933 -0.87189648] [ 0.01060836 0.99994287 -0.0013141 -1.18812336] [ 0.01176262 0.00118929 0.99993011 0.11168783] [ 0. 0. 0. 1. ]] SLAMing on 26.941652532 meters 0.250401997257966 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.11 [[ 9.99879151e-01 -1.05188333e-02 -1.14471373e-02 -8.72897282e-01] [ 1.05054227e-02 9.99944059e-01 -1.23102923e-03 -1.18829456e+00] [ 1.14594459e-02 1.11062345e-03 9.99933722e-01 1.11977828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001652532 meters 0.2585931829449263 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.11 [[ 0.99991205 -0.00616675 -0.01174175 -0.87219881] [ 0.00620418 0.99997578 0.00315376 -1.1884887 ] [ 0.01172202 -0.00322633 0.99992609 0.11199113] [ 0. 0. 0. 1. ]] SLAMing on 27.061652532 meters 0.25753060423450097 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.9999448 -0.00177423 -0.01035638 -0.87517466] [ 0.00184516 0.99997488 0.006843 -1.18667789] [ 0.01034398 -0.00686173 0.99992296 0.1111778 ] [ 0. 0. 0. 1. ]] SLAMing on 27.121652532 meters 0.26068056039461 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.99995774 -0.00134083 -0.00909463 -0.87809201] [ 0.00140401 0.99997491 0.00694373 -1.18685673] [ 0.00908509 -0.0069562 0.99993453 0.11074403] [ 0. 0. 0. 1. ]] SLAMing on 27.181652532 meters 0.2614854867596957 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.99995806 -0.00147238 -0.00903956 -0.87773738] [ 0.00153268 0.9999766 0.00666705 -1.18619284] [ 0.00902953 -0.00668063 0.99993692 0.11007545] [ 0. 0. 0. 1. ]] SLAMing on 27.241652532 meters 0.26412332338897143 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.99995562 0.00275902 -0.00900787 -0.87746967] [-0.00266222 0.99993878 0.01074 -1.18548363] [ 0.00903695 -0.01071554 0.99990175 0.10962848] [ 0. 0. 0. 1. ]] SLAMing on 27.301652532000002 meters 0.2673559925188057 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.99996435 0.00328542 -0.00777818 -0.88025238] [-0.00320058 0.99993552 0.01089517 -1.18581729] [ 0.00781347 -0.01086989 0.99991039 0.10910559] [ 0. 0. 0. 1. ]] SLAMing on 27.361652532 meters 0.26827666722141896 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.18, Z:0.11 [[ 0.99996671 0.00306405 -0.00756305 -0.88034764] [-0.00298499 0.99994102 0.01044291 -1.18457626] [ 0.0075946 -0.01041999 0.99991687 0.10849623] [ 0. 0. 0. 1. ]] SLAMing on 27.421652532 meters 0.2704734802864207 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.99996808 0.00320081 -0.00732078 -0.88074368] [-0.00312321 0.99993907 0.01058753 -1.18515767] [ 0.00735423 -0.01056432 0.99991715 0.10815971] [ 0. 0. 0. 1. ]] SLAMing on 27.481652532000002 meters 0.2757445733795461 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.18, Z:0.11 [[ 0.99996482 0.00277961 -0.00791361 -0.87893595] [-0.00269966 0.9999454 0.01009477 -1.18383123] [ 0.00794123 -0.01007305 0.99991773 0.10785318] [ 0. 0. 0. 1. ]] SLAMing on 27.541652532 meters 0.26714952474862136 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 0.99995787 0.0028939 -0.00871155 -0.87718599] [-0.00280112 0.99993943 0.0106437 -1.18546287] [ 0.00874183 -0.01061885 0.99990541 0.10833714] [ 0. 0. 0. 1. ]] SLAMing on 27.601652532 meters 0.2675858687397303 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.19, Z:0.11 [[ 9.99955307e-01 -1.18282214e-03 -9.38006369e-03 -8.75646229e-01] [ 1.24924600e-03 9.99974165e-01 7.07869164e-03 -1.18786794e+00] [ 9.37144852e-03 -7.09009328e-03 9.99930951e-01 1.08592220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661652532 meters 0.2600841939259623 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99994703 -0.00409808 -0.00944118 -0.87267807] [ 0.00413284 0.99998475 0.00366461 -1.18303247] [ 0.00942601 -0.00370343 0.99994872 0.10545207] [ 0. 0. 0. 1. ]] SLAMing on 27.721652532 meters 0.25826611940444116 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.10 [[ 0.99993581 -0.00522531 -0.01005358 -0.87019485] [ 0.00524787 0.99998377 0.00221871 -1.17963729] [ 0.01004182 -0.00227133 0.999947 0.10436044] [ 0. 0. 0. 1. ]] SLAMing on 27.781652532 meters 0.25402095106583056 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99992783 -0.00537296 -0.01074514 -0.86937171] [ 0.00540056 0.99998219 0.0025411 -1.18048043] [ 0.0107313 -0.00259894 0.99993904 0.10588806] [ 0. 0. 0. 1. ]] SLAMing on 27.841652532 meters 0.2529517021044415 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99992559 -0.00519435 -0.0110381 -0.86947621] [ 0.00522784 0.99998181 0.00300744 -1.18159169] [ 0.01102227 -0.00306492 0.99993456 0.10716315] [ 0. 0. 0. 1. ]] SLAMing on 27.901652532 meters 0.25144080554117326 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99991562 -0.00545831 -0.01178826 -0.86807648] [ 0.00549337 0.99998058 0.00294363 -1.18135086] [ 0.01177197 -0.00300814 0.99992618 0.10807585] [ 0. 0. 0. 1. ]] SLAMing on 27.961652532 meters 0.2480827922014553 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99990662 -0.00567482 -0.01243144 -0.86635896] [ 0.00571046 0.99997968 0.00283319 -1.18109164] [ 0.01241511 -0.00290391 0.99991871 0.10804205] [ 0. 0. 0. 1. ]] SLAMing on 28.021652532 meters 0.25050857583426306 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99990737 -0.00602626 -0.01220388 -0.86635385] [ 0.00605343 0.99997928 0.00219032 -1.17924463] [ 0.01219043 -0.00226399 0.99992313 0.10725346] [ 0. 0. 0. 1. ]] SLAMing on 28.081652532 meters 0.24947817874986222 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99991509 -0.00583389 -0.01165215 -0.86818165] [ 0.00586175 0.99998004 0.00235883 -1.17963613] [ 0.01163816 -0.00242694 0.99992933 0.10784019] [ 0. 0. 0. 1. ]] SLAMing on 28.141652532000002 meters 0.25126616974679195 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99992451 -0.00178847 -0.01215599 -0.86665046] [ 0.00186493 0.99997853 0.00628192 -1.17852254] [ 0.01214449 -0.00630412 0.99990638 0.10753713] [ 0. 0. 0. 1. ]] SLAMing on 28.201652532 meters 0.2546842554329005 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99993031 -0.00205448 -0.01162538 -0.8668589 ] [ 0.00211988 0.99998198 0.00561588 -1.17692216] [ 0.01161363 -0.00564014 0.99991665 0.10592374] [ 0. 0. 0. 1. ]] SLAMing on 28.261652532 meters 0.258261935097111 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.11 [[ 0.99992479 0.00206452 -0.0120891 -0.86561049] [-0.00194753 0.99995124 0.00968132 -1.17611156] [ 0.0121085 -0.00965705 0.99988006 0.10597306] [ 0. 0. 0. 1. ]] SLAMing on 28.321652532 meters 0.260048735674581 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.10 [[ 0.99994241 0.0032891 -0.0102158 -0.86983227] [-0.00318778 0.99994572 0.00991902 -1.17597552] [ 0.01024787 -0.00988588 0.99989862 0.10495983] [ 0. 0. 0. 1. ]] SLAMing on 28.381652532 meters 0.258726790754254 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.10 [[ 0.99994592 0.00327555 -0.00987009 -0.8704556 ] [-0.00317906 0.99994717 0.00977547 -1.17566547] [ 0.00990159 -0.00974357 0.99990351 0.10460558] [ 0. 0. 0. 1. ]] SLAMing on 28.441652532 meters 0.2641131388099035 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.10 [[ 0.99992483 0.00782482 -0.00944013 -0.8716177 ] [-0.00768964 0.99986858 0.0142723 -1.17613152] [ 0.00955057 -0.01419863 0.99985358 0.10472048] [ 0. 0. 0. 1. ]] SLAMing on 28.501652532 meters 0.26034048810487687 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.10 [[ 0.99995491 0.00376673 -0.00871731 -0.87365857] [-0.00367734 0.99994074 0.01024703 -1.17701236] [ 0.00875539 -0.01021451 0.9999095 0.10491009] [ 0. 0. 0. 1. ]] SLAMing on 28.561652532 meters 0.2614882272651259 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.10 [[ 0.99995861 0.00351206 -0.00839274 -0.87373868] [-0.0034305 0.99994694 0.00971315 -1.17560985] [ 0.00842641 -0.00968396 0.9999176 0.10385985] [ 0. 0. 0. 1. ]] SLAMing on 28.621652532 meters 0.26309857412137766 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.18, Z:0.10 [[ 0.99996649 0.00399561 -0.00714461 -0.8769915 ] [-0.00392461 0.99994306 0.00992295 -1.17591237] [ 0.00718385 -0.00989458 0.99992524 0.10402522] [ 0. 0. 0. 1. ]] SLAMing on 28.681652532 meters 0.2661819418143393 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.18, Z:0.10 [[ 0.99997244 0.00453901 -0.00587491 -0.87977954] [-0.00447962 0.99993913 0.01008361 -1.17624627] [ 0.00592032 -0.01005702 0.9999319 0.10335246] [ 0. 0. 0. 1. ]] SLAMing on 28.741652532 meters 0.2717498234705852 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.18, Z:0.10 [[ 0.99997647 0.00553752 -0.00404925 -0.88348767] [-0.00549737 0.99993628 0.00986007 -1.17536034] [ 0.00410359 -0.00983758 0.99994319 0.1016557 ] [ 0. 0. 0. 1. ]] SLAMing on 28.801652532 meters 0.2823387749770069 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.18, Z:0.10 [[ 0.99987144 0.01595803 0.00156099 -0.89624929] [-0.01598037 0.99975171 0.01552858 -1.18082498] [-0.00131279 -0.01555153 0.99987821 0.09775515] [ 0. 0. 0. 1. ]] SLAMing on 28.861652532 meters 0.2951364031203012 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.19, Z:0.09 [[ 0.99960491 0.02704902 0.00763971 -0.91039239] [-0.02720373 0.99941075 0.02093085 -1.18578597] [-0.00706905 -0.02113041 0.99975174 0.09347159] [ 0. 0. 0. 1. ]] SLAMing on 28.921652532 meters 0.3148543045936788 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.20, Z:0.09 [[ 0.99890626 0.04449761 0.01436119 -0.92582016] [-0.04494599 0.99845815 0.03257577 -1.19635311] [-0.0128895 -0.03318562 0.99936609 0.0890709 ] [ 0. 0. 0. 1. ]] SLAMing on 28.981652532000002 meters 0.31685336674824155 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.20, Z:0.09 [[ 0.99886713 0.04517129 0.01496732 -0.92782556] [-0.0456524 0.99839436 0.03353449 -1.19916992] [-0.0134285 -0.03417979 0.99932548 0.08987679] [ 0. 0. 0. 1. ]] SLAMing on 29.041652532 meters 0.3185097535625018 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.20, Z:0.09 [[ 0.9990258 0.041474 0.01507862 -0.92835189] [-0.04191306 0.9986686 0.03007182 -1.20205981] [-0.01381134 -0.03067452 0.999434 0.08959444] [ 0. 0. 0. 1. ]] SLAMing on 29.101652532 meters 0.31002081028530937 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.20, Z:0.09 [[ 0.99930654 0.0336426 0.01595649 -0.93100423] [-0.0339914 0.99917738 0.02211679 -1.20403762] [-0.0151993 -0.02264383 0.99962805 0.08925261] [ 0. 0. 0. 1. ]] SLAMing on 29.161652532 meters 0.3056386488989153 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.20, Z:0.09 [[ 0.99946704 0.02909515 0.01480243 -0.92930565] [-0.02936203 0.99940416 0.0181438 -1.20491745] [-0.01426571 -0.01856876 0.99972581 0.09071288] [ 0. 0. 0. 1. ]] SLAMing on 29.221652532 meters 0.30225909794658995 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.09 [[ 0.99956677 0.0250681 0.01542299 -0.93118309] [-0.02528416 0.99958259 0.01397674 -1.20547118] [-0.01506618 -0.01436064 0.99978337 0.09076077] [ 0. 0. 0. 1. ]] SLAMing on 29.281652532 meters 0.2966710330591905 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.20, Z:0.09 [[ 0.99966805 0.02057735 0.01550357 -0.93145688] [-0.02072151 0.999743 0.0091956 -1.20408526] [-0.01531036 -0.00951381 0.99983753 0.09055962] [ 0. 0. 0. 1. ]] SLAMing on 29.341652532 meters 0.29421207655759063 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.21, Z:0.09 [[ 0.99973071 0.01714512 0.01563799 -0.93252795] [-0.01724319 0.99983236 0.00615822 -1.20791 ] [-0.01552978 -0.00642621 0.99985875 0.09135924] [ 0. 0. 0. 1. ]] SLAMing on 29.401652532 meters 0.30020040668428843 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.21, Z:0.09 [[ 0.99969345 0.01801061 0.01698913 -0.93599855] [-0.01812603 0.9998135 0.00666489 -1.20885101] [-0.01686592 -0.00697079 0.99983346 0.09153435] [ 0. 0. 0. 1. ]] SLAMing on 29.461652532 meters 0.31233286875848104 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.21, Z:0.09 [[ 0.9996486 0.01892142 0.0185649 -0.93982395] [-0.01905347 0.99979423 0.00696206 -1.20921404] [-0.01842935 -0.00731334 0.99980342 0.09128744] [ 0. 0. 0. 1. ]] SLAMing on 29.521652532 meters 0.30368171992844195 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.21, Z:0.09 [[ 0.99962762 0.01950918 0.01907908 -0.94223667] [-0.01966074 0.99977637 0.00778857 -1.21133365] [-0.01892286 -0.00816078 0.99978764 0.09303112] [ 0. 0. 0. 1. ]] SLAMing on 29.581652532 meters 0.3015345175621966 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.10 [[ 0.99963227 0.01912594 0.01922297 -0.94423339] [-0.01928949 0.99977899 0.00835927 -1.2197362 ] [-0.01905884 -0.008727 0.99978028 0.09523559] [ 0. 0. 0. 1. ]] SLAMing on 29.641652532000002 meters 0.30186315108295486 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.09 [[ 0.99968721 0.01538956 0.01971429 -0.94479849] [-0.01548164 0.9998699 0.0045269 -1.22121238] [-0.01964205 -0.00483069 0.99979541 0.09389215] [ 0. 0. 0. 1. ]] SLAMing on 29.701652532 meters 0.3038035636221604 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.22, Z:0.09 [[ 0.99969521 0.01487143 0.01970586 -0.94399227] [-0.01494598 0.99988167 0.00364126 -1.21866166] [-0.01964938 -0.00393467 0.99979919 0.09281792] [ 0. 0. 0. 1. ]] SLAMing on 29.761652532 meters 0.3025007775021443 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.23, Z:0.09 [[ 0.99978461 0.01853851 0.00933083 -0.94712688] [-0.01855987 0.99982531 0.00220716 -1.23021264] [-0.00928828 -0.00237987 0.99995403 0.0890531 ] [ 0. 0. 0. 1. ]] SLAMing on 29.821652532 meters 0.3111941141168093 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.23, Z:0.09 [[ 0.999688 0.02296011 0.00983587 -0.94839432] [-0.02302603 0.9997128 0.0066421 -1.23051976] [-0.00968054 -0.00686651 0.99992957 0.08940354] [ 0. 0. 0. 1. ]] SLAMing on 29.881652532 meters 0.31843128864889625 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.24, Z:0.09 [[ 0.99930315 0.03385317 0.01572192 -0.96222626] [-0.03406326 0.99933127 0.01329277 -1.23629357] [-0.0152614 -0.01381904 0.99978804 0.08654902] [ 0. 0. 0. 1. ]] SLAMing on 29.941652532 meters 0.3230802336757652 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.24, Z:0.09 [[ 0.99924497 0.03480088 0.0172739 -0.96557952] [-0.03503526 0.99929547 0.0134568 -1.23625016] [-0.01679343 -0.01405184 0.99976023 0.08563646] [ 0. 0. 0. 1. ]] SLAMing on 30.001652532 meters 0.3363924973451354 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.24, Z:0.09 [[ 0.99906804 0.03930903 0.01782844 -0.96654098] [-0.03962971 0.9990522 0.01800544 -1.23698897] [-0.01710377 -0.0186952 0.99967892 0.08549385] [ 0. 0. 0. 1. ]] SLAMing on 30.061652532 meters 0.3288942871027737 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.24, Z:0.09 [[ 0.99904358 0.03934931 0.01906693 -0.96934082] [-0.03968695 0.99905599 0.0176657 -1.23610407] [-0.0183538 -0.01840551 0.99966213 0.08506066] [ 0. 0. 0. 1. ]] SLAMing on 30.121652532 meters 0.33499661799100444 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.24, Z:0.08 [[ 0.9990377 0.03933901 0.01939362 -0.96949312] [-0.03967921 0.99905955 0.01748072 -1.23583816] [-0.0186877 -0.01823343 0.9996591 0.0840635 ] [ 0. 0. 0. 1. ]] SLAMing on 30.181652532 meters 0.3467793123597953 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.24, Z:0.08 [[ 0.99898349 0.04052399 0.01974296 -0.97007803] [-0.04090188 0.99898006 0.01912799 -1.24014537] [-0.01894768 -0.01991607 0.9996221 0.08380778] [ 0. 0. 0. 1. ]] SLAMing on 30.241652532 meters 0.3421713284158011 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.24, Z:0.08 [[ 0.99908186 0.03730948 0.02105797 -0.9729657 ] [-0.03764696 0.99916518 0.01586378 -1.24272971] [-0.02044852 -0.01664198 0.99965239 0.08309947] [ 0. 0. 0. 1. ]] SLAMing on 30.301652532 meters 0.33826087752925094 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 0.99943122 0.02734456 0.01973613 -0.97998758] [-0.02769846 0.99945628 0.0178871 -1.24896237] [-0.01923629 -0.01842359 0.99964521 0.07476228] [ 0. 0. 0. 1. ]] SLAMing on 30.361652532 meters 0.32810767078099834 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 0.99956431 0.02271157 0.01885128 -0.97744648] [-0.02296225 0.99964932 0.01318995 -1.24804577] [-0.01854511 -0.01361707 0.99973529 0.07393405] [ 0. 0. 0. 1. ]] SLAMing on 30.421652532 meters 0.322785688048857 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.9996503 0.01882585 0.01857078 -0.97780326] [-0.0190064 0.99977333 0.00959417 -1.25016824] [-0.01838595 -0.00994377 0.99978152 0.07514838] [ 0. 0. 0. 1. ]] SLAMing on 30.481652532000002 meters 0.3183025235035164 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99972498 0.01498834 0.0180362 -0.97756897] [-0.01510261 0.99986663 0.00621579 -1.25287585] [-0.01794063 -0.00648648 0.99981801 0.07645001] [ 0. 0. 0. 1. ]] SLAMing on 30.541652532 meters 0.3171978890646576 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99973918 0.01450099 0.01764377 -0.97618571] [-0.01459999 0.99987832 0.00549502 -1.25071592] [-0.01756194 -0.00575118 0.99982924 0.07595142] [ 0. 0. 0. 1. ]] SLAMing on 30.601652532 meters 0.31325670953125023 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.25, Z:0.08 [[ 0.99975827 0.01425813 0.01673669 -0.97463346] [-0.01435297 0.99988153 0.00556003 -1.25071375] [-0.01665543 -0.00579891 0.99984447 0.07715283] [ 0. 0. 0. 1. ]] SLAMing on 30.661652532 meters 0.31582801241672964 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99969318 0.01585432 0.01903101 -0.97942218] [-0.01597919 0.99985167 0.00642745 -1.25206949] [-0.01892629 -0.00672958 0.99979823 0.07609789] [ 0. 0. 0. 1. ]] SLAMing on 30.721652532 meters 0.3243215720859185 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99959545 0.02012762 0.02009525 -0.98153851] [-0.02033931 0.99973919 0.01038605 -1.25100005] [-0.01988096 -0.01079057 0.99974412 0.07557425] [ 0. 0. 0. 1. ]] SLAMing on 30.781652532 meters 0.3224233388960072 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99959763 0.02019981 0.01991366 -0.9811529 ] [-0.02041282 0.99973595 0.0105519 -1.2515261 ] [-0.01969525 -0.01095414 0.99974602 0.07568301] [ 0. 0. 0. 1. ]] SLAMing on 30.841652532 meters 0.3320837031810313 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99965389 0.0166449 0.02037279 -0.98264263] [-0.01679431 0.99983315 0.0071851 -1.25438367] [-0.02024979 -0.00752476 0.99976663 0.07587642] [ 0. 0. 0. 1. ]] SLAMing on 30.901652532 meters 0.32281167834564245 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 0.99971485 0.01246394 0.02036833 -0.98214647] [-0.0125262 0.99991725 0.00293179 -1.25484489] [-0.02033011 -0.0031861 0.99978825 0.07485378] [ 0. 0. 0. 1. ]] SLAMing on 30.961652532 meters 0.31360645276341226 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 9.99786436e-01 7.95357498e-03 1.90741360e-02 -9.79825151e-01] [-7.93791035e-03 9.99968092e-01 -8.96821908e-04 -1.25615012e+00] [-1.90806603e-02 7.45221598e-04 9.99817670e-01 7.62112190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021652532 meters 0.3141078399378901 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99982646 0.00339874 0.01831635 -0.97792308] [-0.0033005 0.99998002 -0.00539109 -1.25569628] [-0.01833431 0.0053297 0.99981771 0.07622939] [ 0. 0. 0. 1. ]] SLAMing on 31.081652532 meters 0.29861356743701417 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.25, Z:0.08 [[ 0.99985569 -0.00224308 0.01683971 -0.97447631] [ 0.00242244 0.99994048 -0.01063774 -1.25392154] [-0.01681485 0.010677 0.99980161 0.07663341] [ 0. 0. 0. 1. ]] SLAMing on 31.141652532000002 meters 0.3008349455628361 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.25, Z:0.08 [[ 0.99986398 -0.00232391 0.01632841 -0.97373341] [ 0.00249615 0.99994138 -0.01053614 -1.25404341] [-0.01630297 0.01057547 0.99981117 0.07748636] [ 0. 0. 0. 1. ]] SLAMing on 31.201652532 meters 0.29805044267245984 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99985651 0.00190967 0.01683207 -0.97536701] [-0.00180279 0.99997813 -0.00636245 -1.25343431] [-0.01684385 0.00633119 0.99983809 0.0780801 ] [ 0. 0. 0. 1. ]] SLAMing on 31.261652532 meters 0.3038782587203801 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99983652 0.00622337 0.01697658 -0.97553503] [-0.00619046 0.99997886 -0.0019906 -1.25359668] [-0.01698861 0.00188518 0.99985391 0.07780087] [ 0. 0. 0. 1. ]] SLAMing on 31.321652532 meters 0.3111060380805771 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 9.99799205e-01 8.08343689e-03 1.83359649e-02 -9.78088500e-01] [-8.07240979e-03 9.99967190e-01 -6.75326871e-04 -1.25588250e+00] [-1.83408222e-02 5.27175847e-04 9.99831654e-01 7.65745957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381652532 meters 0.3133980510103542 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99975932 0.01201773 0.01835422 -0.97757952] [-0.012077 0.9999222 0.00312202 -1.25427783] [-0.01831527 -0.00334294 0.99982667 0.07599144] [ 0. 0. 0. 1. ]] SLAMing on 31.441652532 meters 0.3167676877448502 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99972608 0.01281106 0.01958688 -0.98035974] [-0.01288292 0.99991072 0.00354672 -1.25525507] [-0.0195397 -0.00379809 0.99980187 0.07544814] [ 0. 0. 0. 1. ]] SLAMing on 31.501652532 meters 0.31788136338385453 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99973186 0.0128603 0.01925671 -0.97963357] [-0.0129345 0.99990938 0.00373365 -1.25581929] [-0.01920695 -0.00398172 0.9998076 0.07560954] [ 0. 0. 0. 1. ]] SLAMing on 31.561652532 meters 0.3172299757378961 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.08 [[ 0.99972517 0.01275225 0.01967153 -0.98032236] [-0.01282156 0.99991202 0.00340143 -1.25488041] [-0.01962642 -0.00365271 0.99980071 0.07510138] [ 0. 0. 0. 1. ]] SLAMing on 31.621652532 meters 0.32213748795204183 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 0.99970622 0.01275549 0.02060991 -0.98202018] [-0.01282001 0.99991332 0.0030014 -1.25383509] [-0.02056983 -0.00326474 0.99978309 0.07407452] [ 0. 0. 0. 1. ]] SLAMing on 31.681652532 meters 0.32494741986564646 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.25, Z:0.07 [[ 0.99968501 0.01305761 0.02143294 -0.98422137] [-0.01312995 0.99990856 0.00323794 -1.25447678] [-0.0213887 -0.00351833 0.99976504 0.07430246] [ 0. 0. 0. 1. ]] SLAMing on 31.741652532 meters 0.3294704454321975 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.07 [[ 0.99968741 0.0131372 0.02127208 -0.98344962] [-0.01321246 0.99990693 0.00340115 -1.25512034] [-0.02122541 -0.00368114 0.99976794 0.07370793] [ 0. 0. 0. 1. ]] SLAMing on 31.801652532 meters 0.3246900873549905 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.07 [[ 0.99968587 0.01337329 0.02119686 -0.98360662] [-0.01345761 0.99990207 0.00384011 -1.25644784] [-0.02114343 -0.00412416 0.99976795 0.07418773] [ 0. 0. 0. 1. ]] SLAMing on 31.861652532 meters 0.32564432800963516 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.07 [[ 0.99968441 0.01360283 0.02111966 -0.98348146] [-0.01369563 0.99989715 0.00425576 -1.25782454] [-0.0210596 -0.00454366 0.9997679 0.07425647] [ 0. 0. 0. 1. ]] SLAMing on 31.921652532 meters 0.32091330268093604 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.99971388 0.01291437 0.02013374 -0.98149489] [-0.01298981 0.99990907 0.00362053 -1.25609226] [-0.02008515 -0.00388103 0.99979074 0.07509405] [ 0. 0. 0. 1. ]] SLAMing on 31.981652532000002 meters 0.3268904506627743 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.26, Z:0.08 [[ 0.9997045 0.01352887 0.02019596 -0.98207378] [-0.01362494 0.99989647 0.00462666 -1.25912621] [-0.02013127 -0.00490046 0.99978534 0.07566074] [ 0. 0. 0. 1. ]] SLAMing on 32.041652532 meters 0.31795560633320546 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.07 [[ 0.99996334 0.0035797 0.00777783 -0.98143578] [-0.00360014 0.9999901 0.00261468 -1.26848693] [-0.00776839 -0.00264259 0.99996633 0.07326144] [ 0. 0. 0. 1. ]] SLAMing on 32.101652532 meters 0.2953616471057536 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.26, Z:0.07 [[ 0.99988684 -0.01490082 0.00206915 -0.96484831] [ 0.01492209 0.99983168 -0.0106744 -1.25625726] [-0.00190975 0.01070407 0.99994089 0.074821 ] [ 0. 0. 0. 1. ]] SLAMing on 32.161652532 meters 0.28656077241589223 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.08 [[ 0.99969295 -0.02460515 -0.00293209 -0.95383403] [ 0.02455542 0.99957149 -0.01593351 -1.25019762] [ 0.00332288 0.01585662 0.99986875 0.07962878] [ 0. 0. 0. 1. ]] SLAMing on 32.221652532 meters 0.2735212351795571 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.24, Z:0.09 [[ 0.99941676 -0.03289125 -0.00918173 -0.94101804] [ 0.03271592 0.99929098 -0.01863366 -1.24157717] [ 0.0097881 0.0183224 0.99978422 0.08681947] [ 0. 0. 0. 1. ]] SLAMing on 32.281652532 meters 0.2639923259525489 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.23, Z:0.09 [[ 0.99887231 -0.04510101 -0.01483291 -0.92711181] [ 0.04470408 0.99865969 -0.02608373 -1.23327306] [ 0.01598944 0.02539122 0.99954971 0.09101765] [ 0. 0. 0. 1. ]] SLAMing on 32.341652532 meters 0.25857932370954284 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.23, Z:0.10 [[ 0.99850587 -0.05079642 -0.02014339 -0.91514659] [ 0.05023529 0.99836018 -0.02744771 -1.22859334] [ 0.02150461 0.02639479 0.99942027 0.09544531] [ 0. 0. 0. 1. ]] SLAMing on 32.401652532 meters 0.2534041556756218 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.10 [[ 0.99848765 -0.05078375 -0.0210578 -0.91408995] [ 0.05021189 0.9983776 -0.02685027 -1.2301985 ] [ 0.0223872 0.02575231 0.99941765 0.09732349] [ 0. 0. 0. 1. ]] SLAMing on 32.461652532 meters 0.2517152058947089 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.10 [[ 0.9984678 -0.05098868 -0.02149908 -0.91311228] [ 0.05040209 0.99836406 -0.02699677 -1.22975932] [ 0.02284044 0.02587181 0.9994043 0.09767777] [ 0. 0. 0. 1. ]] SLAMing on 32.521652532 meters 0.24706058396413222 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.10 [[ 0.99821312 -0.05559782 -0.02189641 -0.91155827] [ 0.05489605 0.99799688 -0.03144296 -1.22941527] [ 0.02360071 0.03018475 0.99926567 0.09776603] [ 0. 0. 0. 1. ]] SLAMing on 32.581652532 meters 0.2459348519143149 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.10 [[ 0.99820169 -0.05557471 -0.02246842 -0.91071762] [ 0.05486029 0.99800483 -0.03125248 -1.22983357] [ 0.02416044 0.02996366 0.99925895 0.0986219 ] [ 0. 0. 0. 1. ]] SLAMing on 32.641652532 meters 0.24331099883777318 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.10 [[ 0.99815497 -0.05590425 -0.02369328 -0.9086873 ] [ 0.05516614 0.99800392 -0.03073888 -1.23134478] [ 0.02536443 0.0293751 0.99924659 0.10041866] [ 0. 0. 0. 1. ]] SLAMing on 32.701652532 meters 0.26057005125631266 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.10 [[ 0.99787856 -0.06051886 -0.02399676 -0.90724102] [ 0.05965581 0.99759878 -0.0351832 -1.23106929] [ 0.02606839 0.03367701 0.99909274 0.10049006] [ 0. 0. 0. 1. ]] SLAMing on 32.761652532 meters 0.23965070290187007 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.23, Z:0.10 [[ 0.99759759 -0.06331479 -0.02811199 -0.89907867] [ 0.06231084 0.99743384 -0.0352576 -1.23030588] [ 0.03027218 0.03342122 0.99898279 0.10433202] [ 0. 0. 0. 1. ]] SLAMing on 32.821652532 meters 0.24057053569485312 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.23, Z:0.11 [[ 0.99756269 -0.06330032 -0.02935568 -0.89655373] [ 0.06227512 0.99745862 -0.03461377 -1.2323214 ] [ 0.03147214 0.03270128 0.99896953 0.10534781] [ 0. 0. 0. 1. ]] SLAMing on 32.881652532 meters 0.24399749127022383 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.23, Z:0.11 [[ 0.99781421 -0.05915314 -0.02945673 -0.89680855] [ 0.05824368 0.99782619 -0.03083129 -1.23061927] [ 0.03121646 0.02904824 0.99909045 0.10515455] [ 0. 0. 0. 1. ]] SLAMing on 32.941652532 meters 0.2496534843936373 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.23, Z:0.11 [[ 0.99806333 -0.05456561 -0.0298693 -0.89647685] [ 0.05378835 0.99820765 -0.02623534 -1.23146989] [ 0.03124731 0.02457792 0.99920945 0.10526855] [ 0. 0. 0. 1. ]] SLAMing on 33.001652532 meters 0.24268644095186345 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.23, Z:0.10 [[ 0.99823272 -0.05093683 -0.03060832 -0.89474901] [ 0.05024354 0.99847194 -0.02300823 -1.22866561] [ 0.03173351 0.0214297 0.99926661 0.10470366] [ 0. 0. 0. 1. ]] SLAMing on 33.061652532000004 meters 0.24062685226125546 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.23, Z:0.10 [[ 0.99842013 -0.04713886 -0.03058062 -0.89477666] [ 0.04654704 0.99872015 -0.01978457 -1.22538655] [ 0.03147411 0.01832987 0.99933648 0.1039859 ] [ 0. 0. 0. 1. ]] SLAMing on 33.121652532 meters 0.24333976141650024 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.22, Z:0.11 [[ 0.99860724 -0.04291531 -0.03068971 -0.88774082] [ 0.04208742 0.99874547 -0.02713188 -1.22019598] [ 0.03181559 0.02580244 0.99916065 0.1140805 ] [ 0. 0. 0. 1. ]] SLAMing on 33.181652532 meters 0.23829844283643467 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.22, Z:0.12 [[ 0.99840095 -0.0467107 -0.03183781 -0.88682137] [ 0.04577547 0.99851617 -0.02949698 -1.2249798 ] [ 0.0331684 0.02799242 0.9990577 0.11744592] [ 0. 0. 0. 1. ]] SLAMing on 33.241652532 meters 0.25130203632328474 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.23, Z:0.12 [[ 0.9981577 -0.05114938 -0.0326336 -0.88481045] [ 0.05005954 0.99818818 -0.03338263 -1.22628413] [ 0.03428198 0.03168751 0.99890973 0.11826349] [ 0. 0. 0. 1. ]] SLAMing on 33.301652532 meters 0.24397046578099404 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.23, Z:0.12 [[ 0.99811434 -0.05157261 -0.03328696 -0.882812 ] [ 0.0504453 0.99815262 -0.03386176 -1.22511533] [ 0.0349718 0.03211874 0.99887204 0.11787364] [ 0. 0. 0. 1. ]] SLAMing on 33.361652532 meters 0.23960227232901252 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.22, Z:0.12 [[ 0.99847716 -0.04365982 -0.03372206 -0.8820459 ] [ 0.04276537 0.99872549 -0.02680509 -1.22080391] [ 0.03484939 0.02532213 0.99907172 0.11692981] [ 0. 0. 0. 1. ]] SLAMing on 33.421652532 meters 0.24249672260439112 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.22, Z:0.12 [[ 0.99863011 -0.03953785 -0.03427343 -0.88113616] [ 0.03876466 0.99898506 -0.02293808 -1.21939128] [ 0.03514557 0.02157806 0.99914923 0.11704609] [ 0. 0. 0. 1. ]] SLAMing on 33.481652532 meters 0.2424480784240687 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.22, Z:0.12 [[ 0.99884121 -0.0345576 -0.03349626 -0.88389571] [ 0.03396255 0.99925785 -0.01817391 -1.22035204] [ 0.03409945 0.01701524 0.99927359 0.11740919] [ 0. 0. 0. 1. ]] SLAMing on 33.541652532 meters 0.24128716888806323 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.22, Z:0.12 [[ 0.9989428 -0.03101893 -0.03392787 -0.88302997] [ 0.03051692 0.99941843 -0.0152155 -1.21658735] [ 0.0343801 0.01416404 0.99930846 0.11718055] [ 0. 0. 0. 1. ]] SLAMing on 33.601652532 meters 0.24422236576166131 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.12 [[ 0.99938218 -0.02975317 -0.01870872 -0.88863211] [ 0.02947393 0.99945257 -0.01502852 -1.21051165] [ 0.01914562 0.01446781 0.99971202 0.11508511] [ 0. 0. 0. 1. ]] SLAMing on 33.661652532 meters 0.24855970906042452 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 0.99970046 -0.02425132 -0.00329731 -0.8929818 ] [ 0.02421074 0.99963681 -0.01183608 -1.20451347] [ 0.00358315 0.0117527 0.99992451 0.11138314] [ 0. 0. 0. 1. ]] SLAMing on 33.721652532 meters 0.24979328965273434 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 0.99979097 -0.02017444 -0.00331692 -0.89359768] [ 0.02014749 0.99976528 -0.00796673 -1.20287348] [ 0.00347686 0.00789824 0.99996276 0.11200712] [ 0. 0. 0. 1. ]] SLAMing on 33.781652532 meters 0.2515036455275251 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 0.99987656 -0.01541116 -0.00306023 -0.89497364] [ 0.01540192 0.99987682 -0.00302057 -1.2046083 ] [ 0.00310641 0.00297306 0.99999076 0.11271337] [ 0. 0. 0. 1. ]] SLAMing on 33.841652532 meters 0.2538121157601761 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 0.99987035 -0.01580797 -0.00306303 -0.89335416] [ 0.01579614 0.99986783 -0.00384857 -1.20286722] [ 0.00312346 0.00379969 0.9999879 0.11043124] [ 0. 0. 0. 1. ]] SLAMing on 33.901652532 meters 0.25352236535646794 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 9.99919373e-01 -1.21463591e-02 -3.70317188e-03 -8.91906999e-01] [ 1.21449855e-02 9.99926170e-01 -3.93180961e-04 -1.20044619e+00] [ 3.70767419e-03 3.48174291e-04 9.99993066e-01 1.10459507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961652532 meters 0.2525640238861206 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 9.99916945e-01 -1.23839380e-02 -3.56936408e-03 -8.91678745e-01] [ 1.23809919e-02 9.99922994e-01 -8.46313300e-04 -1.19922446e+00] [ 3.57956991e-03 8.02050742e-04 9.99993272e-01 1.09702753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021652532 meters 0.2531066330321641 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 0.99991473 -0.01269658 -0.00305564 -0.89273203] [ 0.01269195 0.99991828 -0.00153125 -1.19706368] [ 0.00307483 0.00149234 0.99999416 0.10933736] [ 0. 0. 0. 1. ]] SLAMing on 34.081652532 meters 0.25251495249265604 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.19, Z:0.11 [[ 0.99994391 -0.00969871 -0.0042567 -0.89026164] [ 0.00970466 0.99995196 0.00137994 -1.19422834] [ 0.00424312 -0.00142117 0.99998999 0.10970285] [ 0. 0. 0. 1. ]] SLAMing on 34.141652532 meters 0.2643149023393535 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.20, Z:0.11 [[ 0.99997759 -0.00515767 -0.00426745 -0.89074485] [ 0.00518344 0.99996827 0.00604967 -1.19520176] [ 0.00423611 -0.00607166 0.99997259 0.11036008] [ 0. 0. 0. 1. ]] SLAMing on 34.201652532 meters 0.26140133444565505 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.18, Z:0.12 [[ 0.99997987 0.0046911 -0.00427271 -0.88409254] [-0.00467959 0.9999854 0.00270071 -1.18380609] [ 0.00428532 -0.00268066 0.99998722 0.11609963] [ 0. 0. 0. 1. ]] SLAMing on 34.261652532 meters 0.268175568957957 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.18, Z:0.12 [[ 0.99995269 0.00933614 -0.00273029 -0.88735841] [-0.00931796 0.99993482 0.00659824 -1.1824791 ] [ 0.00279172 -0.00657249 0.9999745 0.11531075] [ 0. 0. 0. 1. ]] SLAMing on 34.321652532 meters 0.27276105000712186 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.18, Z:0.11 [[ 0.9999036 0.01377603 -0.00173707 -0.88946605] [-0.01375708 0.99985036 0.01048779 -1.18108633] [ 0.00188129 -0.01046288 0.99994349 0.11478307] [ 0. 0. 0. 1. ]] SLAMing on 34.381652532 meters 0.27489360756704434 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.18, Z:0.12 [[ 0.999904 0.01379072 -0.00134536 -0.89067781] [-0.013776 0.999851 0.01040188 -1.18076529] [ 0.00148861 -0.01038235 0.99994499 0.11516655] [ 0. 0. 0. 1. ]] SLAMing on 34.441652532 meters 0.26376795487829124 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.18, Z:0.12 [[ 0.99998658 0.00435607 -0.00280562 -0.88729403] [-0.00435081 0.99998877 0.00187691 -1.18165098] [ 0.00281376 -0.00186468 0.9999943 0.11566307] [ 0. 0. 0. 1. ]] SLAMing on 34.501652532 meters 0.2592756367796732 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.18, Z:0.12 [[ 9.99994946e-01 -3.86303661e-05 -3.17902597e-03 -8.86112752e-01] [ 3.09764325e-05 9.99997101e-01 -2.40764885e-03 -1.18192712e+00] [ 3.17910977e-03 2.40753821e-03 9.99992048e-01 1.15331135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561652532000004 meters 0.26076025292315186 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.18, Z:0.11 [[ 9.99987300e-01 3.81964359e-03 -3.28799916e-03 -8.85232033e-01] [-3.81592078e-03 9.99992072e-01 1.13777305e-03 -1.17969369e+00] [ 3.29231898e-03 -1.12521185e-03 9.99993947e-01 1.14650269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621652532 meters 0.2658738739719455 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.18, Z:0.11 [[ 0.99996757 0.00754636 -0.00281389 -0.88526188] [-0.00753449 0.99996278 0.00420397 -1.17608925] [ 0.0028455 -0.00418264 0.9999872 0.11314662] [ 0. 0. 0. 1. ]] SLAMing on 34.681652532 meters 0.2830226380677366 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.18, Z:0.11 [[ 0.99980936 0.01924185 0.00331666 -0.89941076] [-0.01927463 0.99976268 0.01015268 -1.18200433] [-0.00312051 -0.01021467 0.99994296 0.10821227] [ 0. 0. 0. 1. ]] SLAMing on 34.741652532 meters 0.29583003502891586 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.18, Z:0.11 [[ 0.99969396 0.02410345 0.0055688 -0.90306809] [-0.02417563 0.99961951 0.01328059 -1.17898775] [-0.00524657 -0.01341115 0.9998963 0.10533246] [ 0. 0. 0. 1. ]] SLAMing on 34.801652532 meters 0.29620784803263694 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.18, Z:0.11 [[ 0.99956784 0.02876687 0.00605008 -0.90400114] [-0.02887206 0.99941951 0.0180847 -1.18054326] [-0.00552632 -0.01825156 0.99981815 0.10523286] [ 0. 0. 0. 1. ]] SLAMing on 34.861652532 meters 0.31017263793957794 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.19, Z:0.10 [[ 0.99893217 0.04472324 0.01159143 -0.91531438] [-0.04504897 0.99854748 0.02955551 -1.1930342 ] [-0.01025277 -0.03004613 0.99949593 0.10040538] [ 0. 0. 0. 1. ]] SLAMing on 34.921652532 meters 0.34511409073243265 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.20, Z:0.10 [[ 0.99854241 0.05146366 0.0162647 -0.92680861] [-0.05197927 0.99810109 0.03305114 -1.20112706] [-0.01453288 -0.03384839 0.99932131 0.09874333] [ 0. 0. 0. 1. ]] SLAMing on 34.981652532 meters 0.3327474898997279 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.21, Z:0.09 [[ 0.99786742 0.06120388 0.02268682 -0.94129935] [-0.06203464 0.99735308 0.03792803 -1.2142995 ] [-0.02030542 -0.03925452 0.99902291 0.09470505] [ 0. 0. 0. 1. ]] SLAMing on 35.041652532 meters 0.3584406526768354 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.23, Z:0.09 [[ 0.99683699 0.07397096 0.02905703 -0.95660009] [-0.07524709 0.99612173 0.04560021 -1.2261981 ] [-0.02557125 -0.04764243 0.99853709 0.09183958] [ 0. 0. 0. 1. ]] SLAMing on 35.101652532 meters 0.3418186080612139 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.23, Z:0.09 [[ 0.99682478 0.0734762 0.0306857 -0.96131152] [-0.07480112 0.99620386 0.04452704 -1.23168912] [-0.02729754 -0.04668098 0.99853679 0.09193553] [ 0. 0. 0. 1. ]] SLAMing on 35.161652532 meters 0.33512938791032093 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.23, Z:0.09 [[ 0.99734401 0.06580087 0.03122768 -0.96464973] [-0.06693446 0.99707995 0.03676069 -1.23412562] [-0.02871761 -0.03875326 0.99883606 0.09285239] [ 0. 0. 0. 1. ]] SLAMing on 35.221652532 meters 0.3270390182715375 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.25, Z:0.09 [[ 0.99815472 0.05431726 0.02714371 -0.97175849] [-0.05535565 0.99770113 0.0390924 -1.24613991] [-0.02495791 -0.04052282 0.99886686 0.08925372] [ 0. 0. 0. 1. ]] SLAMing on 35.281652532 meters 0.32055107401053834 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.25, Z:0.09 [[ 0.99854997 0.04660603 0.02694139 -0.97287537] [-0.0474518 0.99837181 0.03165541 -1.24976637] [-0.02542219 -0.03288793 0.99913567 0.09019067] [ 0. 0. 0. 1. ]] SLAMing on 35.341652532 meters 0.31750223350558865 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.25, Z:0.09 [[ 0.99872376 0.04283489 0.02675879 -0.97354034] [-0.0435858 0.99865333 0.02813908 -1.25220853] [-0.02551742 -0.02926947 0.9992458 0.09112866] [ 0. 0. 0. 1. ]] SLAMing on 35.401652532 meters 0.3081869987088376 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.25, Z:0.09 [[ 0.9990877 0.0344227 0.02527557 -0.97217663] [-0.03494639 0.9991773 0.0205784 -1.25488602] [-0.02454641 -0.02144292 0.9994687 0.09350888] [ 0. 0. 0. 1. ]] SLAMing on 35.461652532 meters 0.3014456439826689 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.26, Z:0.09 [[ 0.99928457 0.02777129 0.02567294 -0.97420014] [-0.02814587 0.99950087 0.0143462 -1.25979807] [-0.02526171 -0.01505852 0.99956745 0.09461309] [ 0. 0. 0. 1. ]] SLAMing on 35.521652532 meters 0.2943451065361055 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.10 [[ 0.99968167 0.02284134 0.01071582 -0.9717161 ] [-0.0229786 0.99965317 0.01286548 -1.26952158] [-0.01041824 -0.01310762 0.99985982 0.09734471] [ 0. 0. 0. 1. ]] SLAMing on 35.581652532 meters 0.29023594432494587 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.10 [[ 0.9997689 0.01880731 0.01041335 -0.9715588 ] [-0.01890233 0.99977989 0.00910307 -1.27129791] [-0.01023986 -0.0092978 0.99990434 0.09788788] [ 0. 0. 0. 1. ]] SLAMing on 35.641652532 meters 0.29030739602558464 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.10 [[ 0.99976234 0.01890044 0.0108649 -0.97273605] [-0.01899977 0.99977795 0.00911359 -1.27137132] [-0.01069024 -0.00931786 0.99989944 0.0979656 ] [ 0. 0. 0. 1. ]] SLAMing on 35.701652532 meters 0.294514356862385 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.10 [[ 0.99974265 0.01905742 0.01230647 -0.97588894] [-0.01916323 0.99977992 0.00853749 -1.26954302] [-0.01214106 -0.00877112 0.99988782 0.09734182] [ 0. 0. 0. 1. ]] SLAMing on 35.761652532 meters 0.29340598945138624 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.10 [[ 0.99980389 0.0154096 0.01243874 -0.97754756] [-0.01547577 0.99986651 0.0052411 -1.27232838] [-0.01235631 -0.00543257 0.9999089 0.09901253] [ 0. 0. 0. 1. ]] SLAMing on 35.821652532 meters 0.2909017919201142 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.10 [[ 0.99980404 0.0159106 0.01177856 -0.97662451] [-0.01598685 0.99985167 0.00640771 -1.27595386] [-0.01167486 -0.00659476 0.9999101 0.09998505] [ 0. 0. 0. 1. ]] SLAMing on 35.881652532 meters 0.29364028729315095 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.10 [[ 0.99980192 0.01594203 0.01191553 -0.97728583] [-0.01601943 0.99985101 0.00642886 -1.27594629] [-0.01181127 -0.00661847 0.99990834 0.10050592] [ 0. 0. 0. 1. ]] SLAMing on 35.941652532 meters 0.2881739657107596 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.10 [[ 0.99986793 0.01137201 0.01160998 -0.97603723] [-0.01139188 0.99993375 0.00164689 -1.27472877] [-0.01159048 -0.00177893 0.99993125 0.09961196] [ 0. 0. 0. 1. ]] SLAMing on 36.001652532 meters 0.2852787992190487 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.10 [[ 0.99990326 0.00739578 0.01178046 -0.97668586] [-0.00737047 0.99997044 -0.00219033 -1.27633656] [-0.01179631 0.00210329 0.99992821 0.09969639] [ 0. 0. 0. 1. ]] SLAMing on 36.061652532 meters 0.2827774931958146 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.10 [[ 0.99990704 0.00722793 0.01156152 -0.97657898] [-0.0072027 0.99997159 -0.00222171 -1.27616008] [-0.01157725 0.00213823 0.9999307 0.10045196] [ 0. 0. 0. 1. ]] SLAMing on 36.121652532 meters 0.27939913954746437 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.10 [[ 0.99993659 0.00506284 0.0100592 -0.97268561] [-0.00502514 0.99998027 -0.00376969 -1.27412894] [-0.01007808 0.0037189 0.9999423 0.1004117 ] [ 0. 0. 0. 1. ]] SLAMing on 36.181652532 meters 0.2763530319393462 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 9.99956573e-01 8.08240741e-04 9.28434420e-03 -9.71333082e-01] [-7.37065510e-04 9.99970336e-01 -7.66702126e-03 -1.27534292e+00] [-9.29026559e-03 7.65984513e-03 9.99927506e-01 1.01257244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241652532 meters 0.27109120771404294 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 9.99964748e-01 9.37915248e-04 8.34399652e-03 -9.69967748e-01] [-8.80716946e-04 9.99976109e-01 -6.85606006e-03 -1.27758715e+00] [-8.35022758e-03 6.84846967e-03 9.99941684e-01 1.02715881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301652532 meters 0.2690507071010357 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 9.99965329e-01 9.99707936e-04 8.26692636e-03 -9.70424357e-01] [-9.44582123e-04 9.99977313e-01 -6.66945365e-03 -1.27798464e+00] [-8.27340631e-03 6.66141362e-03 9.99943587e-01 1.03699012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361652532 meters 0.2678441014062759 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 9.99970857e-01 1.08737844e-03 7.55662254e-03 -9.69081069e-01] [-1.04054230e-03 9.99980243e-01 -6.19919548e-03 -1.27931997e+00] [-7.56321412e-03 6.19115183e-03 9.99952233e-01 1.04308351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421652532 meters 0.2674140040270131 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 9.99973383e-01 9.16167574e-04 7.23830582e-03 -9.68333148e-01] [-8.69848906e-04 9.99979144e-01 -6.39966224e-03 -1.27863508e+00] [-7.24401801e-03 6.39319567e-03 9.99953325e-01 1.04484741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481652532 meters 0.2775890261324877 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 9.99973471e-01 9.24702286e-04 7.22508925e-03 -9.68566398e-01] [-8.78878212e-04 9.99979497e-01 -6.34295710e-03 -1.27872975e+00] [-7.23080646e-03 6.33643886e-03 9.99953781e-01 1.04882813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541652532 meters 0.26846476726375673 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99996929 0.00440372 0.00648304 -0.96600794] [-0.00438488 0.99998613 -0.00291786 -1.27696524] [-0.0064958 0.00288934 0.99997473 0.10394028] [ 0. 0. 0. 1. ]] SLAMing on 36.601652532 meters 0.26891469163918835 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99996337 0.00454458 0.00725339 -0.96827447] [-0.00452299 0.9999853 -0.00298957 -1.27651579] [-0.00726687 0.00295665 0.99996922 0.1043789 ] [ 0. 0. 0. 1. ]] SLAMing on 36.661652532 meters 0.27257196684367657 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.10 [[ 0.99995837 0.00424189 0.00807926 -0.96966124] [-0.00421053 0.99998355 -0.00389396 -1.27375543] [-0.00809564 0.00385978 0.99995978 0.10337485] [ 0. 0. 0. 1. ]] SLAMing on 36.721652532 meters 0.2795878189410975 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.10 [[ 9.99930894e-01 8.63886739e-03 7.97349062e-03 -9.69379705e-01] [-8.64439935e-03 9.99962419e-01 6.59590704e-04 -1.27448755e+00] [-7.96749285e-03 -7.28471160e-04 9.99967994e-01 1.03463953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781652532 meters 0.2768283806001342 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99987989 0.01324126 0.00805469 -0.96977746] [-0.01328616 0.99989635 0.00554766 -1.27622117] [-0.00798039 -0.00565401 0.99995217 0.10384666] [ 0. 0. 0. 1. ]] SLAMing on 36.841652532 meters 0.28565410930613516 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99979182 0.01804584 0.00952227 -0.9721723 ] [-0.01813802 0.99978859 0.0096844 -1.27569752] [-0.0093455 -0.00985509 0.99990777 0.10215181] [ 0. 0. 0. 1. ]] SLAMing on 36.901652532 meters 0.2891564154766129 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.10 [[ 0.99983264 0.01459396 0.01103209 -0.97531919] [-0.01465408 0.9998781 0.00538839 -1.27534696] [-0.0109521 -0.00554915 0.99992463 0.10080828] [ 0. 0. 0. 1. ]] SLAMing on 36.961652532 meters 0.292241779224249 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.10 [[ 0.99983326 0.01432879 0.01131987 -0.97566423] [-0.01438436 0.99988481 0.00484291 -1.27372737] [-0.01124918 -0.00500493 0.9999242 0.10037012] [ 0. 0. 0. 1. ]] SLAMing on 37.021652532 meters 0.28404547637121424 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.10 [[ 9.99889765e-01 1.01039877e-02 1.08796474e-02 -9.75164950e-01] [-1.01153547e-02 9.99948348e-01 9.90274413e-04 -1.27512643e+00] [-1.08690797e-02 -1.10021674e-03 9.99940325e-01 1.01145058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081652532 meters 0.27264818562511406 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99995372 0.00179201 0.00945266 -0.97303976] [-0.0017328 0.99997885 -0.00626857 -1.27901473] [-0.0094637 0.0062519 0.99993567 0.10306983] [ 0. 0. 0. 1. ]] SLAMing on 37.141652532 meters 0.2727415001289699 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99996317 0.00178654 0.00839392 -0.97134453] [-0.00173917 0.99998254 -0.00564676 -1.2805886 ] [-0.00840386 0.00563196 0.99994883 0.10455702] [ 0. 0. 0. 1. ]] SLAMing on 37.201652532 meters 0.2677827431025704 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 0.99996374 0.00178296 0.00832684 -0.97148639] [-0.00173638 0.99998282 -0.00559796 -1.28065568] [-0.00833668 0.00558329 0.99994966 0.10504641] [ 0. 0. 0. 1. ]] SLAMing on 37.261652532 meters 0.2685481802043496 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99995307 0.00563195 0.00788256 -0.97012818] [-0.00561748 0.9999825 -0.00185657 -1.27902432] [-0.00789288 0.00181221 0.99996721 0.10480052] [ 0. 0. 0. 1. ]] SLAMing on 37.321652532 meters 0.27489906427683314 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99994374 0.00588496 0.00882563 -0.97206822] [-0.00586747 0.99998077 -0.00200681 -1.27850013] [-0.00883727 0.00195491 0.99995904 0.10408536] [ 0. 0. 0. 1. ]] SLAMing on 37.381652532 meters 0.27383218294955947 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99993697 0.00612211 0.00941119 -0.9738069 ] [-0.00610588 0.99997982 -0.00175267 -1.27921461] [-0.00942173 0.0016951 0.99995418 0.10446384] [ 0. 0. 0. 1. ]] SLAMing on 37.441652532 meters 0.27678248203837125 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.10 [[ 0.99989966 0.01009179 0.00994141 -0.97489061] [-0.01011084 0.99994714 0.00186771 -1.2769772 ] [-0.00992203 -0.00196804 0.99994884 0.10431606] [ 0. 0. 0. 1. ]] SLAMing on 37.501652532 meters 0.27972213465175183 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.10 [[ 0.99988845 0.01020027 0.01091074 -0.97677724] [-0.01021774 0.9999466 0.00154616 -1.27603416] [-0.01089439 -0.00165748 0.99993928 0.10345406] [ 0. 0. 0. 1. ]] SLAMing on 37.561652532 meters 0.28344077173641735 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.10 [[ 0.99991187 0.00630245 0.01168441 -0.97833482] [-0.00627193 0.99997683 -0.00264726 -1.27626899] [-0.01170083 0.00257374 0.99992823 0.10267701] [ 0. 0. 0. 1. ]] SLAMing on 37.621652532 meters 0.27715661291628757 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.10 [[ 0.99992042 0.00549763 0.01135483 -0.97775179] [-0.00545653 0.99997846 -0.00364667 -1.27375593] [-0.01137463 0.00358442 0.99992888 0.10314427] [ 0. 0. 0. 1. ]] SLAMing on 37.681652532 meters 0.27338161652428944 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.10 [[ 0.99993688 0.00148468 0.01113682 -0.97761443] [-0.00140262 0.99997184 -0.00737261 -1.2756182 ] [-0.01114745 0.00735652 0.9999108 0.1035977 ] [ 0. 0. 0. 1. ]] SLAMing on 37.741652532 meters 0.26651904211463223 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 9.99977031e-01 -1.10536774e-03 6.68694155e-03 -9.69697127e-01] [ 1.14651347e-03 9.99980416e-01 -6.15244542e-03 -1.27631684e+00] [-6.68000988e-03 6.15997078e-03 9.99958715e-01 1.09302708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801652532 meters 0.27251459391061056 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 9.99980618e-01 -8.01922597e-04 6.17420373e-03 -9.68882037e-01] [ 8.35257324e-04 9.99985080e-01 -5.39834837e-03 -1.27864510e+00] [-6.16978256e-03 5.40340079e-03 9.99966368e-01 1.09931885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861652532 meters 0.2626447113703981 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 0.99996617 -0.00536923 0.00623144 -0.9687972 ] [ 0.00543268 0.99993312 -0.01021027 -1.27719332] [-0.0061762 0.01024378 0.99992846 0.10976908] [ 0. 0. 0. 1. ]] SLAMing on 37.921652532 meters 0.26177001787480414 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 0.99998774 -0.00158659 0.00469121 -0.96586982] [ 0.00161257 0.99998336 -0.00553938 -1.27878103] [-0.00468235 0.00554688 0.99997365 0.11112527] [ 0. 0. 0. 1. ]] SLAMing on 37.981652532 meters 0.2656561389328926 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 0.99998367 0.00245049 0.00516313 -0.96677532] [-0.00244076 0.99999524 -0.00188909 -1.27654565] [-0.00516774 0.00187646 0.99998489 0.11076332] [ 0. 0. 0. 1. ]] SLAMing on 38.041652532 meters 0.2633813878502571 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 0.99998781 0.00226697 0.00438654 -0.9651316 ] [-0.00225901 0.9999958 -0.00181835 -1.27675659] [-0.00439064 0.00180842 0.99998873 0.11125559] [ 0. 0. 0. 1. ]] SLAMing on 38.101652532 meters 0.2603472072892349 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.28, Z:0.11 [[ 9.99995926e-01 1.27024485e-03 2.55614719e-03 -9.61305524e-01] [-1.26519994e-03 9.99997251e-01 -1.97429011e-03 -1.27701926e+00] [-2.55864799e-03 1.97104803e-03 9.99994784e-01 1.12411583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161652532 meters 0.25763272479914245 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 9.99997851e-01 1.70871973e-04 2.06615150e-03 -9.59025137e-01] [-1.63522447e-04 9.99993661e-01 -3.55675490e-03 -1.27304395e+00] [-2.06674615e-03 3.55640939e-03 9.99991540e-01 1.10826751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221652532 meters 0.263173692035394 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 9.99998394e-01 4.78144169e-05 1.79128861e-03 -9.58504937e-01] [-4.11777618e-05 9.99993136e-01 -3.70481504e-03 -1.27244350e+00] [-1.79145346e-03 3.70473533e-03 9.99991533e-01 1.11115969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281652532 meters 0.25662726978403744 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 9.99989061e-01 4.32812802e-03 1.77323783e-03 -9.59192851e-01] [-4.32938662e-03 9.99990379e-01 7.06549606e-04 -1.27266320e+00] [-1.77016273e-03 -7.14218910e-04 9.99998178e-01 1.12308188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341652532 meters 0.2641428599292166 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 0.99995905 0.0085651 0.00292345 -0.96085378] [-0.00857718 0.99995463 0.00414447 -1.27037425] [-0.00288782 -0.00416938 0.99998714 0.11055077] [ 0. 0. 0. 1. ]] SLAMing on 38.401652532 meters 0.272644310644562 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 0.99990802 0.01298071 0.00393053 -0.9632594 ] [-0.01301266 0.99988157 0.0082166 -1.26953092] [-0.00382341 -0.00826699 0.99995852 0.11058861] [ 0. 0. 0. 1. ]] SLAMing on 38.461652532 meters 0.2736031089350068 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 0.99995163 0.00879455 0.00440332 -0.96486238] [-0.00881211 0.99995324 0.00398312 -1.26982475] [-0.00436809 -0.00402173 0.99998237 0.11104517] [ 0. 0. 0. 1. ]] SLAMing on 38.521652532 meters 0.26673868625061703 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 0.99995159 0.00899382 0.00399019 -0.9630518 ] [-0.00901141 0.99994966 0.00441254 -1.27130634] [-0.0039503 -0.00444828 0.9999823 0.10990237] [ 0. 0. 0. 1. ]] SLAMing on 38.581652532 meters 0.26866843339225055 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 9.99982400e-01 4.66884195e-03 3.66078970e-03 -9.62119440e-01] [-4.66948309e-03 9.99989084e-01 1.66611045e-04 -1.27164659e+00] [-3.65997185e-03 -1.83702108e-04 9.99993285e-01 1.09644751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641652532 meters 0.2643057136691008 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 9.99983072e-01 4.85294492e-03 3.20997686e-03 -9.61798879e-01] [-4.85545734e-03 9.99987912e-01 7.75361655e-04 -1.27337574e+00] [-3.20617526e-03 -7.90934435e-04 9.99994547e-01 1.10847149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701652532 meters 0.2604173795638909 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 9.99984271e-01 4.85401609e-03 2.80986377e-03 -9.61259036e-01] [-4.85671053e-03 9.99987752e-01 9.52893057e-04 -1.27377496e+00] [-2.80520399e-03 -9.66524765e-04 9.99995598e-01 1.11603859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761652532 meters 0.2598472023143261 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 9.99987080e-01 4.31430905e-03 2.68839934e-03 -9.60182003e-01] [-4.31452516e-03 9.99990690e-01 7.45889239e-05 -1.27143483e+00] [-2.68805251e-03 -8.61871268e-05 9.99996383e-01 1.10621358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821652532 meters 0.2613818407597971 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 9.99984116e-01 4.54607343e-03 3.33166310e-03 -9.61816907e-01] [-4.54670754e-03 9.99989647e-01 1.82777463e-04 -1.27167611e+00] [-3.33079769e-03 -1.97922657e-04 9.99994433e-01 1.10589916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881652532 meters 0.2643693367522077 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.9999683 0.00648091 0.00462588 -0.96567336] [-0.00649069 0.99997673 0.00210197 -1.27459593] [-0.00461215 -0.00213193 0.99998709 0.1117581 ] [ 0. 0. 0. 1. ]] SLAMing on 38.941652532 meters 0.268905126450463 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.9999597 0.00703767 0.00557473 -0.96735495] [-0.00705026 0.99997263 0.00224165 -1.27471763] [-0.0055588 -0.00228086 0.99998195 0.1106286 ] [ 0. 0. 0. 1. ]] SLAMing on 39.001652532 meters 0.2710060905150577 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 0.99995525 0.00722415 0.00610747 -0.96872938] [-0.00723862 0.99997104 0.00234932 -1.27506575] [-0.00609032 -0.00239343 0.99997859 0.11065083] [ 0. 0. 0. 1. ]] SLAMing on 39.061652532 meters 0.27037284570319103 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.99995416 0.00705171 0.0064764 -0.96917336] [-0.00706415 0.99997324 0.00189966 -1.27379719] [-0.00646283 -0.00194532 0.99997722 0.1099742 ] [ 0. 0. 0. 1. ]] SLAMing on 39.121652532 meters 0.274947831919689 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.99995215 0.0070677 0.00676323 -0.96931725] [-0.00708011 0.99997329 0.00181235 -1.27375258] [-0.00675024 -0.00186014 0.99997549 0.1090865 ] [ 0. 0. 0. 1. ]] SLAMing on 39.181652532 meters 0.2761284938295086 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 9.99945288e-01 7.02926870e-03 7.74660045e-03 -9.70945124e-01] [-7.03892666e-03 9.99974482e-01 1.22017679e-03 -1.27207902e+00] [-7.73782582e-03 -1.27463778e-03 9.99969250e-01 1.07837929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241652532 meters 0.2771383906626248 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 9.99953093e-01 6.14986220e-03 7.48271938e-03 -9.70735646e-01] [-6.14999724e-03 9.99981089e-01 -4.96247171e-06 -1.26897841e+00] [-7.48260839e-03 -4.10564646e-05 9.99972004e-01 1.08438168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301652532 meters 0.2824138921918118 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 9.99950405e-01 6.47492424e-03 7.56724453e-03 -9.71167616e-01] [-6.47930035e-03 9.99978856e-01 5.53923518e-04 -1.27073158e+00] [-7.56349791e-03 -6.02926496e-04 9.99971215e-01 1.08692441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361652532 meters 0.27615622891733865 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 9.99957319e-01 5.88513022e-03 7.12224053e-03 -9.69059079e-01] [-5.88383364e-03 9.99982669e-01 -2.02987231e-04 -1.26908197e+00] [-7.12331170e-03 1.61072489e-04 9.99974616e-01 1.07415104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421652532 meters 0.2733703625711324 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 9.99964407e-01 5.68704379e-03 6.23239763e-03 -9.67190871e-01] [-5.68653191e-03 9.99983827e-01 -9.98483691e-05 -1.26935410e+00] [-6.23286468e-03 6.44040871e-05 9.99980573e-01 1.08054007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481652532 meters 0.3012000262330384 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.99991376 0.01055811 0.00780959 -0.97142342] [-0.01059092 0.99993521 0.00417186 -1.2686633 ] [-0.00776504 -0.00425422 0.9999608 0.10856212] [ 0. 0. 0. 1. ]] SLAMing on 39.541652532 meters 0.30692176374888364 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.11 [[ 0.99988781 0.01149216 0.00960687 -0.97542966] [-0.01153343 0.99992445 0.00425091 -1.26798645] [-0.0095573 -0.00436123 0.99994482 0.10780548] [ 0. 0. 0. 1. ]] SLAMing on 39.601652532 meters 0.31164575310721004 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.11 [[ 0.99987846 0.01220806 0.00969729 -0.97636708] [-0.01226169 0.99990975 0.00548993 -1.2716156 ] [-0.00962939 -0.00560817 0.99993791 0.10886163] [ 0. 0. 0. 1. ]] SLAMing on 39.661652532 meters 0.29677418132430333 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.99992451 0.00835933 0.00900504 -0.97479104] [-0.00837824 0.99996277 0.00206532 -1.27443736] [-0.00898744 -0.00214061 0.99995732 0.10888293] [ 0. 0. 0. 1. ]] SLAMing on 39.721652532 meters 0.2953303099968643 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 9.99939177e-01 7.46926180e-03 8.11499463e-03 -9.72488496e-01] [-7.47966978e-03 9.99971242e-01 1.25296972e-03 -1.27270978e+00] [-8.10540250e-03 -1.31359099e-03 9.99966288e-01 1.08860672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781652532 meters 0.3001792447731341 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.99997399 0.00250035 0.00676512 -0.9699382 ] [-0.00248032 0.99999252 -0.00296754 -1.27323339] [-0.00677249 0.00295068 0.99997271 0.11012595] [ 0. 0. 0. 1. ]] SLAMing on 39.841652532 meters 0.2718150739821723 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.12 [[ 9.99996272e-01 -2.44546321e-03 1.21456278e-03 -9.58689558e-01] [ 2.44948066e-03 9.99991498e-01 -3.31733480e-03 -1.27041956e+00] [-1.20644004e-03 3.32029748e-03 9.99993760e-01 1.15435530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901652532 meters 0.27122061608085185 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.12 [[ 9.99994732e-01 -3.18083215e-03 -6.47318391e-04 -9.55105386e-01] [ 3.17884456e-03 9.99990300e-01 -3.04871018e-03 -1.27173182e+00] [ 6.57009548e-04 3.04663640e-03 9.99995143e-01 1.17046221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961652532 meters 0.2632847152773789 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 0.99998872 -0.00456458 -0.00131059 -0.95213695] [ 0.00455816 0.99997783 -0.00485516 -1.26794604] [ 0.00133273 0.00484913 0.99998735 0.11513554] [ 0. 0. 0. 1. ]] SLAMing on 40.021652532 meters 0.2760264294086118 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 9.99990760e-01 -4.19811282e-03 -9.24757360e-04 -9.53543461e-01] [ 4.19410500e-03 9.99981985e-01 -4.29404197e-03 -1.26956347e+00] [ 9.42767573e-04 4.29012377e-03 9.99990353e-01 1.15718773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081652532 meters 0.2647795993978574 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 9.99998569e-01 1.26718827e-04 -1.68680411e-03 -9.52217366e-01] [-1.26059493e-04 9.99999916e-01 3.90978113e-04 -1.27060270e+00] [ 1.68685351e-03 -3.90764916e-04 9.99998501e-01 1.16619551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141652532 meters 0.26313093629171125 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 0.99998765 0.00475623 -0.00144256 -0.95246549] [-0.00474889 0.99997598 0.00504892 -1.27167675] [ 0.00146654 -0.005042 0.99998621 0.11611068] [ 0. 0. 0. 1. ]] SLAMing on 40.201652532 meters 0.2660990890806141 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 9.99962118e-01 8.64177895e-03 -1.04017753e-03 -9.52823473e-01] [-8.63266598e-03 9.99926883e-01 8.46791155e-03 -1.26899167e+00] [ 1.11327930e-03 -8.45861127e-03 9.99963606e-01 1.15380258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261652532 meters 0.26880197692107893 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.11 [[ 9.99960407e-01 8.89854343e-03 2.66196670e-05 -9.54652734e-01] [-8.89846478e-03 9.99927186e-01 8.15111672e-03 -1.26815929e+00] [ 4.59153374e-05 -8.15103087e-03 9.99966779e-01 1.14074009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321652532 meters 0.2701834789747409 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 9.99961739e-01 8.71618723e-03 7.40344227e-04 -9.55882419e-01] [-8.72152002e-03 9.99933582e-01 7.53434465e-03 -1.26639295e+00] [-6.74624297e-04 -7.54051331e-03 9.99971342e-01 1.13276912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.381652532 meters 0.2741105869069826 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.26, Z:0.11 [[ 0.99995945 0.00876066 0.0020868 -0.95853715] [-0.00877427 0.9999397 0.0066043 -1.26360286] [-0.00202881 -0.00662235 0.99997601 0.11216345] [ 0. 0. 0. 1. ]] SLAMing on 40.441652532 meters 0.2733267834899308 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.26, Z:0.11 [[ 0.99995839 0.00872235 0.00267155 -0.95974207] [-0.00873902 0.999942 0.00629527 -1.26273778] [-0.00261649 -0.00631836 0.99997662 0.1118087 ] [ 0. 0. 0. 1. ]] SLAMing on 40.501652532 meters 0.2739407020838168 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.26, Z:0.11 [[ 0.99995467 0.00903611 0.00300219 -0.96113775] [-0.00905629 0.99993602 0.00677783 -1.26412031] [-0.00294075 -0.00680471 0.99997252 0.11264499] [ 0. 0. 0. 1. ]] SLAMing on 40.561652532 meters 0.27904331008943334 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 0.9999277 0.01112329 0.00456901 -0.96395712] [-0.01116029 0.99990447 0.00815466 -1.26638277] [-0.00447786 -0.00820506 0.99995631 0.11109174] [ 0. 0. 0. 1. ]] SLAMing on 40.621652532 meters 0.2875925745207555 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.99985793 0.01583595 0.00577385 -0.96668071] [-0.01590522 0.99979963 0.01215404 -1.26519609] [-0.00558022 -0.01224415 0.99990947 0.11068171] [ 0. 0. 0. 1. ]] SLAMing on 40.681652532 meters 0.30044101660298 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.26, Z:0.11 [[ 0.999778 0.01997925 0.00669121 -0.96829387] [-0.02008341 0.99967218 0.01588026 -1.26350082] [-0.00637174 -0.01601112 0.99985151 0.11000561] [ 0. 0. 0. 1. ]] SLAMing on 40.741652532 meters 0.2908895935056253 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.9997698 0.02034839 0.00680366 -0.96897443] [-0.02045855 0.99965398 0.01653387 -1.26551112] [-0.00646486 -0.01666926 0.99984016 0.11053059] [ 0. 0. 0. 1. ]] SLAMing on 40.801652532 meters 0.30192331984227627 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.9997604 0.02080479 0.00680504 -0.96934881] [-0.02092032 0.99963023 0.01737099 -1.26820563] [-0.00644113 -0.0175092 0.99982595 0.1110094 ] [ 0. 0. 0. 1. ]] SLAMing on 40.861652532 meters 0.2946525879752291 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.9998215 0.01749085 0.00714453 -0.96970118] [-0.01759225 0.99974175 0.01438544 -1.27173339] [-0.00689107 -0.01450856 0.999871 0.11019267] [ 0. 0. 0. 1. ]] SLAMing on 40.921652532 meters 0.29503943403503924 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 0.99992141 0.01013996 0.00737249 -0.96939835] [-0.01019414 0.99992104 0.00734857 -1.27568461] [-0.00729739 -0.00742315 0.99994582 0.10879236] [ 0. 0. 0. 1. ]] SLAMing on 40.981652532 meters 0.2939494572453376 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 0.9999463 0.0063034 0.00822624 -0.97205344] [-0.00633249 0.99997377 0.00351554 -1.27687675] [-0.00820387 -0.00356744 0.99995998 0.10943972] [ 0. 0. 0. 1. ]] SLAMing on 41.041652532 meters 0.3040085424190522 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.99995134 0.00569273 0.00805653 -0.97134444] [-0.00571387 0.99998029 0.00260328 -1.27425475] [-0.00804156 -0.00264919 0.99996416 0.10918883] [ 0. 0. 0. 1. ]] SLAMing on 41.101652532 meters 0.2846044399128065 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.99995397 0.00528893 0.00800542 -0.97099469] [-0.00530456 0.99998406 0.00193326 -1.27217742] [-0.00799506 -0.00197563 0.99996609 0.10894514] [ 0. 0. 0. 1. ]] SLAMing on 41.161652532 meters 0.2827723100822561 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 9.99961172e-01 4.46795319e-03 7.59551798e-03 -9.70696245e-01] [-4.47643715e-03 9.99989375e-01 1.10033523e-03 -1.27008405e+00] [-7.59052104e-03 -1.13429336e-03 9.99970548e-01 1.10137260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221652532 meters 0.2826544070097631 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.28, Z:0.11 [[ 0.99992563 0.00968581 0.00741048 -0.97144646] [-0.00973904 0.99992679 0.00718077 -1.27514335] [-0.00734039 -0.0072524 0.99994676 0.11199469] [ 0. 0. 0. 1. ]] SLAMing on 41.281652532 meters 0.28325139614547423 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.27, Z:0.11 [[ 0.9999022 0.0105941 0.00912949 -0.97587422] [-0.01065996 0.99991729 0.00719512 -1.27425478] [-0.00905251 -0.00729174 0.99993244 0.11215032] [ 0. 0. 0. 1. ]] SLAMing on 41.341652532 meters 0.28928952684782633 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99984809 0.01346201 0.01107118 -0.97993741] [-0.01356388 0.99986588 0.00917871 -1.2768274 ] [-0.01094613 -0.00932748 0.99989658 0.11096202] [ 0. 0. 0. 1. ]] SLAMing on 41.401652532 meters 0.3146520990543356 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99981472 0.01499033 0.01207571 -0.9811768 ] [-0.01511656 0.99983133 0.01043062 -1.27929423] [-0.01191731 -0.01061123 0.99987268 0.10928951] [ 0. 0. 0. 1. ]] SLAMing on 41.461652532 meters 0.2971544524682104 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99980768 0.01543444 0.01209922 -0.9815096 ] [-0.01557042 0.99981575 0.0112262 -1.28185947] [-0.01192372 -0.01141243 0.99986378 0.10971659] [ 0. 0. 0. 1. ]] SLAMing on 41.521652532 meters 0.29253705399467655 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99987404 0.0105706 0.01183899 -0.98052665] [-0.01064222 0.99992535 0.00600292 -1.27949849] [-0.01177465 -0.00612815 0.9999119 0.10916383] [ 0. 0. 0. 1. ]] SLAMing on 41.581652532 meters 0.29857367265360607 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99987666 0.01029335 0.01186254 -0.98045319] [-0.01035932 0.99993114 0.00551319 -1.27805609] [-0.01180497 -0.0056354 0.99991444 0.10911065] [ 0. 0. 0. 1. ]] SLAMing on 41.641652532 meters 0.29050927103876384 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99986926 0.01065129 0.01216624 -0.9814966 ] [-0.01072597 0.99992393 0.00608927 -1.27978236] [-0.01210045 -0.00621896 0.99990745 0.10954439] [ 0. 0. 0. 1. ]] SLAMing on 41.701652532 meters 0.2884544929143847 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99988198 0.01013381 0.01154672 -0.97979942] [-0.01020172 0.99993092 0.00583766 -1.27939111] [-0.01148676 -0.00595477 0.99991629 0.1095332 ] [ 0. 0. 0. 1. ]] SLAMing on 41.761652532 meters 0.2804663046116246 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.999924 0.00584242 0.01085669 -0.97808165] [-0.00586136 0.99998135 0.00171302 -1.28005002] [-0.01084648 -0.00177653 0.9999396 0.10940265] [ 0. 0. 0. 1. ]] SLAMing on 41.821652532 meters 0.28864680824035144 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99992341 0.00586997 0.01089618 -0.97851877] [-0.00588957 0.99998109 0.00176789 -1.28010121] [-0.0108856 -0.00183192 0.99993907 0.10994591] [ 0. 0. 0. 1. ]] SLAMing on 41.881652532 meters 0.28341913966391385 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 9.99926049e-01 5.49695650e-03 1.08480848e-02 -9.78087713e-01] [-5.51004551e-03 9.99984127e-01 1.17705457e-03 -1.27837843e+00] [-1.08414424e-02 -1.23674097e-03 9.99940465e-01 1.09521180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941652532 meters 0.28245505859826975 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99992705 0.00572747 0.01063487 -0.97785038] [-0.00574562 0.99998209 0.00167655 -1.27992665] [-0.01062507 -0.00173753 0.99994204 0.10994696] [ 0. 0. 0. 1. ]] SLAMing on 42.001652532 meters 0.2826665001506143 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99993118 0.0058516 0.01016833 -0.9772722 ] [-0.00587344 0.99998051 0.00211939 -1.28119897] [-0.01015573 -0.00217897 0.99994606 0.11082563] [ 0. 0. 0. 1. ]] SLAMing on 42.061652532 meters 0.28601901384074074 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99993111 0.00553637 0.01034961 -0.97735268] [-0.00555201 0.99998349 0.00148247 -1.27926827] [-0.01034123 -0.00153982 0.99994534 0.11033811] [ 0. 0. 0. 1. ]] SLAMing on 42.121652532 meters 0.2734260458820226 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 9.99957765e-01 -9.35697535e-04 9.14289006e-03 -9.75111180e-01] [ 9.78933537e-04 9.99988355e-01 -4.72559036e-03 -1.27601363e+00] [-9.13836187e-03 4.73434106e-03 9.99947037e-01 1.11262940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181652532 meters 0.26780544359146596 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.11 [[ 0.99996912 -0.00681656 0.00391168 -0.96223748] [ 0.00683964 0.99995909 -0.0059193 -1.27292074] [-0.00387117 0.00594588 0.99997483 0.11407294] [ 0. 0. 0. 1. ]] SLAMing on 42.241652531999996 meters 0.26282959200929534 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.12 [[ 0.99995827 -0.00881319 0.0024036 -0.95920892] [ 0.00883067 0.99993392 -0.0073598 -1.27122213] [-0.00233857 0.00738072 0.99997003 0.11502817] [ 0. 0. 0. 1. ]] SLAMing on 42.301652532 meters 0.26068614580534866 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.12 [[ 0.99995817 -0.00894641 0.00190414 -0.95813225] [ 0.00896019 0.99993278 -0.0073582 -1.27120909] [-0.00183819 0.00737495 0.99997112 0.115372 ] [ 0. 0. 0. 1. ]] SLAMing on 42.361652532 meters 0.2609670176289555 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.27, Z:0.12 [[ 9.99957401e-01 -9.14917953e-03 1.22029953e-03 -9.56606919e-01] [ 9.15799407e-03 9.99930501e-01 -7.42463743e-03 -1.27102304e+00] [-1.15228538e-03 7.43549664e-03 9.99971692e-01 1.15755757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421652532 meters 0.2568953228410307 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 9.99980089e-01 -6.31006555e-03 -7.19580097e-05 -9.54223438e-01] [ 6.30970794e-03 9.99971284e-01 -4.19751130e-03 -1.26936503e+00] [ 9.84425148e-05 4.19697369e-03 9.99991188e-01 1.16691481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481652532 meters 0.26009080787963584 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 9.99996103e-01 -2.68752824e-03 -7.55407050e-04 -9.52575594e-01] [ 2.68711323e-03 9.99996239e-01 -5.49853651e-04 -1.26791386e+00] [ 7.56881956e-04 5.47821644e-04 9.99999564e-01 1.16720788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541652532 meters 0.25386457232914317 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 9.99996324e-01 -2.52816968e-03 -9.79856514e-04 -9.52634603e-01] [ 2.52805205e-03 9.99996797e-01 -1.21274041e-04 -1.26913996e+00] [ 9.80159977e-04 1.18796467e-04 9.99999513e-01 1.17663884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601652532 meters 0.2496111148874056 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 0.9999863 -0.00463983 -0.00242156 -0.949166 ] [ 0.00463496 0.99998723 -0.00201358 -1.26645624] [ 0.00243087 0.00200233 0.99999504 0.1175057 ] [ 0. 0. 0. 1. ]] SLAMing on 42.661652532 meters 0.2446764262708621 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 0.99995357 -0.00919635 -0.00287946 -0.9483819 ] [ 0.00917756 0.99993693 -0.00647423 -1.26601244] [ 0.00293881 0.00644751 0.9999749 0.11827294] [ 0. 0. 0. 1. ]] SLAMing on 42.721652532 meters 0.2396542105475058 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 0.99987833 -0.01499453 -0.00429937 -0.94555092] [ 0.01494368 0.99982077 -0.01162418 -1.2654113 ] [ 0.0044729 0.01155852 0.99992319 0.11938236] [ 0. 0. 0. 1. ]] SLAMing on 42.781652532 meters 0.2409387576272677 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.9999606 -0.00668941 -0.00583457 -0.94228629] [ 0.00667482 0.99997456 -0.00251613 -1.26757599] [ 0.00585125 0.00247708 0.99997981 0.11993406] [ 0. 0. 0. 1. ]] SLAMing on 42.841652532 meters 0.23628962927021918 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.99995499 -0.00693076 -0.00647989 -0.94104723] [ 0.00691436 0.99997284 -0.00255051 -1.26753753] [ 0.00649739 0.00250559 0.99997575 0.1205392 ] [ 0. 0. 0. 1. ]] SLAMing on 42.901652532 meters 0.23690852944834678 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.9999508 -0.00698577 -0.00704246 -0.93937834] [ 0.00696856 0.99997268 -0.00246535 -1.26786857] [ 0.00705949 0.00241615 0.99997216 0.12015246] [ 0. 0. 0. 1. ]] SLAMing on 42.961652532 meters 0.23648415678741502 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.99994998 -0.00686655 -0.00727243 -0.93903974] [ 0.00685088 0.99997416 -0.00217705 -1.26870228] [ 0.00728719 0.00212712 0.99997119 0.1204765 ] [ 0. 0. 0. 1. ]] SLAMing on 43.021652532 meters 0.26828144411953914 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.99994467 -0.00704521 -0.00781105 -0.93749495] [ 0.00702753 0.99997269 -0.00228884 -1.26845497] [ 0.00782696 0.00223382 0.99996687 0.12026262] [ 0. 0. 0. 1. ]] SLAMing on 43.081652532 meters 0.2446614981560155 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.99994901 -0.0070419 -0.00723834 -0.93911169] [ 0.00702399 0.99997221 -0.00249758 -1.26767325] [ 0.00725573 0.00244661 0.99997068 0.12046142] [ 0. 0. 0. 1. ]] SLAMing on 43.141652532 meters 0.24577398656271632 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.99994958 -0.00711756 -0.00708378 -0.93886477] [ 0.00709844 0.99997111 -0.00271978 -1.26716191] [ 0.00710293 0.00266936 0.99997121 0.11954163] [ 0. 0. 0. 1. ]] SLAMing on 43.201652532 meters 0.25247288207518415 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.99994846 -0.00687092 -0.00747457 -0.93807957] [ 0.00685495 0.99997417 -0.00216122 -1.26888613] [ 0.00748923 0.00210987 0.99996973 0.11977193] [ 0. 0. 0. 1. ]] SLAMing on 43.261652532 meters 0.2530383473989617 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.99997481 -0.00260414 -0.00660248 -0.93910862] [ 0.00261375 0.99999554 0.00144699 -1.26706998] [ 0.00659868 -0.00146421 0.99997716 0.11795947] [ 0. 0. 0. 1. ]] SLAMing on 43.321652532 meters 0.2540238177652366 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 0.99998579 0.0040425 -0.00347544 -0.94532406] [-0.00402215 0.99997485 0.00584213 -1.26632055] [ 0.00349897 -0.00582807 0.9999769 0.11521995] [ 0. 0. 0. 1. ]] SLAMing on 43.381652532 meters 0.2515906041105863 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 0.99998772 0.00416142 -0.00269125 -0.94732937] [-0.00414587 0.99997482 0.00576017 -1.26605337] [ 0.00271516 -0.00574894 0.99997979 0.11526565] [ 0. 0. 0. 1. ]] SLAMing on 43.441652532 meters 0.24955798127138148 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.26, Z:0.11 [[ 0.99998853 0.00383255 -0.00287353 -0.94643147] [-0.0038173 0.99997871 0.00529253 -1.26479628] [ 0.00289375 -0.0052815 0.99998187 0.11476314] [ 0. 0. 0. 1. ]] SLAMing on 43.501652532 meters 0.24738178176683961 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.26, Z:0.12 [[ 0.99998788 0.00343825 -0.00352365 -0.94490219] [-0.00342047 0.99998145 0.00503983 -1.26417199] [ 0.00354091 -0.00502772 0.99998109 0.11508582] [ 0. 0. 0. 1. ]] SLAMing on 43.561652532 meters 0.26006254403190493 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.26, Z:0.12 [[ 0.99998823 0.00359601 -0.00325694 -0.94611235] [-0.00357874 0.99997959 0.00529246 -1.26482821] [ 0.0032759 -0.00528075 0.99998069 0.1158756 ] [ 0. 0. 0. 1. ]] SLAMing on 43.621652532 meters 0.2510863055566831 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.26, Z:0.11 [[ 0.99998766 0.00476987 -0.00138588 -0.95023375] [-0.00476299 0.9999765 0.00493025 -1.26225192] [ 0.00140936 -0.00492359 0.99998689 0.11471789] [ 0. 0. 0. 1. ]] SLAMing on 43.681652532 meters 0.2568126993472775 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.26, Z:0.11 [[ 9.99950714e-01 9.92791823e-03 -7.74474811e-05 -9.53484054e-01] [-9.92669469e-03 9.99903385e-01 9.73047453e-03 -1.26323113e+00] [ 1.74043354e-04 -9.72922615e-03 9.99952655e-01 1.14856585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741652531999996 meters 0.2628468067653251 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.26, Z:0.11 [[ 9.99888438e-01 1.48813870e-02 1.28662123e-03 -9.56752437e-01] [-1.48981864e-02 9.99787921e-01 1.42181975e-02 -1.26329321e+00] [-1.07476186e-03 -1.42357796e-02 9.99898089e-01 1.14872818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801652532 meters 0.27725901504448563 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.27, Z:0.11 [[ 0.99952274 0.03001919 0.00729003 -0.97087019] [-0.03018728 0.9992522 0.02416136 -1.26928939] [-0.00655927 -0.0243699 0.99968149 0.11149163] [ 0. 0. 0. 1. ]] SLAMing on 43.861652532 meters 0.28791895371815157 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.11 [[ 0.99922419 0.03714575 0.01308511 -0.98349271] [-0.03747955 0.99895224 0.02626207 -1.2766779 ] [-0.01209588 -0.02673212 0.99956945 0.10669388] [ 0. 0. 0. 1. ]] SLAMing on 43.921652532 meters 0.29116181242207034 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.27, Z:0.10 [[ 0.99919429 0.03726911 0.01489256 -0.98623157] [-0.03762888 0.99898757 0.02465577 -1.27249015] [-0.01395859 -0.0251963 0.99958507 0.10386688] [ 0. 0. 0. 1. ]] SLAMing on 43.981652532 meters 0.2963059166056103 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.27, Z:0.10 [[ 0.99916771 0.03750692 0.01603488 -0.98843834] [-0.03789104 0.99898484 0.02436303 -1.27170652] [-0.01510482 -0.02495033 0.99957457 0.10283894] [ 0. 0. 0. 1. ]] SLAMing on 44.041652532 meters 0.29920867327439027 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.27, Z:0.10 [[ 0.99898831 0.04185379 0.01645032 -0.98892775] [-0.04231533 0.99868945 0.02878872 -1.27212499] [-0.01522385 -0.02945569 0.99945015 0.10256653] [ 0. 0. 0. 1. ]] SLAMing on 44.101652532 meters 0.2986925455796379 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.27, Z:0.10 [[ 0.9989743 0.04200662 0.01690568 -0.99030526] [-0.04248423 0.9986773 0.02896092 -1.27275539] [-0.01566677 -0.02964944 0.99943757 0.10287992] [ 0. 0. 0. 1. ]] SLAMing on 44.161652532 meters 0.3028513498762614 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.27, Z:0.10 [[ 0.99892136 0.0429803 0.01757324 -0.99073784] [-0.04349398 0.9986039 0.02997527 -1.27488525] [-0.01626036 -0.03070727 0.99939615 0.10127375] [ 0. 0. 0. 1. ]] SLAMing on 44.221652532 meters 0.2993155273927382 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.28, Z:0.10 [[ 0.99921698 0.03520626 0.01805418 -0.99302145] [-0.03560435 0.99911883 0.02222368 -1.27720938] [-0.01725586 -0.02284909 0.99958999 0.10181534] [ 0. 0. 0. 1. ]] SLAMing on 44.281652532 meters 0.2974734169044928 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.10 [[ 0.99931226 0.03166389 0.01929771 -0.99580706] [-0.03201857 0.9993187 0.01835625 -1.27842465] [-0.01870333 -0.01896152 0.99964526 0.10096995] [ 0. 0. 0. 1. ]] SLAMing on 44.341652532 meters 0.3845430382997249 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.10 [[ 0.99925274 0.03286743 0.02033922 -0.99864318] [-0.03326519 0.99925559 0.01953712 -1.28094197] [-0.01968194 -0.02019911 0.99960223 0.10162989] [ 0. 0. 0. 1. ]] SLAMing on 44.401652532 meters 0.32487685326714444 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.28, Z:0.10 [[ 0.99887781 0.0419562 0.02197268 -1.00248751] [-0.04257786 0.99868277 0.02863293 -1.28205117] [-0.02074241 -0.02953634 0.99934847 0.10255085] [ 0. 0. 0. 1. ]] SLAMing on 44.461652532 meters 0.3649506263923613 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.28, Z:0.10 [[ 0.99874545 0.04384044 0.02419784 -1.00738071] [-0.04454375 0.99857666 0.02933428 -1.28262651] [-0.02287737 -0.03037534 0.99927672 0.10158821] [ 0. 0. 0. 1. ]] SLAMing on 44.521652532 meters 0.3453548202375203 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.28, Z:0.10 [[ 0.99866692 0.04496641 0.0253458 -1.01004051] [-0.04572552 0.99849709 0.03021144 -1.28460272] [-0.02394921 -0.03133012 0.99922213 0.10131497] [ 0. 0. 0. 1. ]] SLAMing on 44.581652532 meters 0.3467423587211977 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.10 [[ 0.99881427 0.04153791 0.02539021 -1.0111343 ] [-0.0422265 0.99873736 0.02721424 -1.28866237] [-0.02422773 -0.02825411 0.99930712 0.10219105] [ 0. 0. 0. 1. ]] SLAMing on 44.641652532 meters 0.3626692965513853 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.29, Z:0.10 [[ 0.99924475 0.03120663 0.02315329 -1.00720065] [-0.0316218 0.99934162 0.01778712 -1.28766743] [-0.02258298 -0.01850584 0.99957368 0.10356763] [ 0. 0. 0. 1. ]] SLAMing on 44.701652532 meters 0.3305338815028212 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.29, Z:0.10 [[ 0.99954213 0.02202859 0.02074279 -1.00199647] [-0.02223569 0.99970466 0.00980689 -1.29023889] [-0.02052063 -0.01026363 0.99973675 0.10399918] [ 0. 0. 0. 1. ]] SLAMing on 44.761652532 meters 0.3318387886445537 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.29, Z:0.11 [[ 9.99893187e-01 5.82394022e-03 1.34050969e-02 -9.85769277e-01] [-5.83370529e-03 9.99982746e-01 6.89471608e-04 -1.28663835e+00] [-1.34008502e-02 -7.67599348e-04 9.99909910e-01 1.10251516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821652532 meters 0.3210971013686679 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.29, Z:0.12 [[ 0.99994714 -0.00707633 0.00745906 -0.9726962 ] [ 0.00712685 0.9999517 -0.00676842 -1.28570475] [-0.00741081 0.00682122 0.99994927 0.11531505] [ 0. 0. 0. 1. ]] SLAMing on 44.881652532 meters 0.31150925624409287 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.29, Z:0.12 [[ 0.99994595 -0.00890726 0.00536344 -0.96753356] [ 0.00894785 0.99993114 -0.00759269 -1.28559911] [-0.00529544 0.00764027 0.99995679 0.11554701] [ 0. 0. 0. 1. ]] SLAMing on 44.941652532 meters 0.29684073891783636 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.28, Z:0.12 [[ 9.99838618e-01 -1.79605649e-02 3.94361770e-04 -9.57300262e-01] [ 1.79641578e-02 9.99755443e-01 -1.28974305e-02 -1.28039171e+00] [-1.62620188e-04 1.29024335e-02 9.99916747e-01 1.20186338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001652532 meters 0.28304203059516575 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.28, Z:0.12 [[ 0.9998017 -0.01986395 -0.00140518 -0.95333714] [ 0.01984264 0.99970747 -0.01382916 -1.27941869] [ 0.00167947 0.01379854 0.99990339 0.12117106] [ 0. 0. 0. 1. ]] SLAMing on 45.061652532 meters 0.30911764899596683 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.13 [[ 0.99964204 -0.02575476 -0.00724521 -0.94013767] [ 0.02564704 0.99956462 -0.01458764 -1.27635295] [ 0.00761776 0.0143966 0.99986734 0.12575885] [ 0. 0. 0. 1. ]] SLAMing on 45.121652532 meters 0.29739582964199174 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.13 [[ 0.9996365 -0.02585879 -0.00762867 -0.93909173] [ 0.025745 0.99956112 -0.01465458 -1.27615942] [ 0.00800427 0.01445285 0.99986351 0.12573655] [ 0. 0. 0. 1. ]] SLAMing on 45.181652532 meters 0.2949514931171561 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.13 [[ 0.99981223 -0.01763099 -0.0080404 -0.93849785] [ 0.01757686 0.9998227 -0.00675405 -1.27394396] [ 0.00815805 0.00661146 0.99994487 0.12567325] [ 0. 0. 0. 1. ]] SLAMing on 45.241652531999996 meters 0.28652134354211045 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.13 [[ 0.99988188 -0.01325897 -0.00777362 -0.93952543] [ 0.01323966 0.99990915 -0.0025304 -1.27354935] [ 0.00780646 0.00242719 0.99996658 0.12590715] [ 0. 0. 0. 1. ]] SLAMing on 45.301652532 meters 0.2702193164883602 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.13 [[ 9.99930269e-01 -9.17633517e-03 -7.43310537e-03 -9.40048999e-01] [ 9.18572552e-03 9.99957054e-01 1.23016102e-03 -1.27189763e+00] [ 7.42149778e-03 -1.29835371e-03 9.99971617e-01 1.25299753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361652532 meters 0.2618946859501913 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.99995692 -0.00627557 -0.00683989 -0.94076905] [ 0.00629573 0.99997589 0.00293041 -1.26517067] [ 0.00682133 -0.00297335 0.99997231 0.12373877] [ 0. 0. 0. 1. ]] SLAMing on 45.421652532 meters 0.2576110965269457 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.26, Z:0.12 [[ 0.99995522 -0.00649975 -0.00687834 -0.94011516] [ 0.00651729 0.99997556 0.00253053 -1.26407218] [ 0.00686172 -0.00257524 0.99997314 0.12299188] [ 0. 0. 0. 1. ]] SLAMing on 45.481652532 meters 0.2659409268751107 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.12 [[ 0.9999513 -0.00603598 -0.00780798 -0.93846981] [ 0.00606488 0.99997483 0.00368258 -1.26751723] [ 0.00778556 -0.00372975 0.99996274 0.12400091] [ 0. 0. 0. 1. ]] SLAMing on 45.541652532 meters 0.26106332769379254 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.13 [[ 0.99995182 -0.00547905 -0.00814537 -0.93865943] [ 0.00551795 0.99997344 0.0047607 -1.27053153] [ 0.00811907 -0.00480541 0.99995549 0.12546189] [ 0. 0. 0. 1. ]] SLAMing on 45.601652532 meters 0.2588575912333596 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.26, Z:0.13 [[ 9.99952057e-01 -6.68989711e-04 -9.76914760e-03 -9.28958375e-01] [ 6.47148210e-04 9.99997285e-01 -2.23875326e-03 -1.26210800e+00] [ 9.77061877e-03 2.23232384e-03 9.99949775e-01 1.32918520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661652532 meters 0.2531321597604013 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.26, Z:0.13 [[ 9.99943989e-01 -1.24458013e-03 -1.05104632e-02 -9.26485466e-01] [ 1.21630052e-03 9.99995625e-01 -2.69657885e-03 -1.26135389e+00] [ 1.05137734e-02 2.68364393e-03 9.99941128e-01 1.32108936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721652532 meters 0.24886216468426423 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.26, Z:0.13 [[ 0.99994137 -0.001313 -0.0107487 -0.92595249] [ 0.00128411 0.99999555 -0.00269457 -1.26137304] [ 0.01075219 0.00268061 0.9999386 0.13222268] [ 0. 0. 0. 1. ]] SLAMing on 45.781652532 meters 0.24783992544711997 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.26, Z:0.13 [[ 9.99939501e-01 2.24516086e-03 -1.07682162e-02 -9.25705933e-01] [-2.24141840e-03 9.99997423e-01 3.59602206e-04 -1.25788293e+00] [ 1.07689958e-02 -3.35444373e-04 9.99941956e-01 1.32011224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841652532 meters 0.2509632018433378 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.25, Z:0.13 [[ 9.99977617e-01 5.40345178e-03 3.94577379e-03 -9.29276040e-01] [-5.40692724e-03 9.99985003e-01 8.70669580e-04 -1.24985165e+00] [-3.94101000e-03 -8.91984603e-04 9.99991836e-01 1.31011533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901652532 meters 0.2527838803688997 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.25, Z:0.13 [[ 9.99975502e-01 5.13015489e-03 4.76206848e-03 -9.30527778e-01] [-5.12988562e-03 9.99986840e-01 -6.87575507e-05 -1.24713541e+00] [-4.76235855e-03 4.43269996e-05 9.99988659e-01 1.29840794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961652532 meters 0.25555473597313755 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.24, Z:0.13 [[ 0.99997599 0.00449525 0.0052728 -0.93030755] [-0.00448796 0.99998896 -0.00139397 -1.24363659] [-0.00527901 0.00137028 0.99998513 0.12775119] [ 0. 0. 0. 1. ]] SLAMing on 46.021652532 meters 0.25492396771095943 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.24, Z:0.13 [[ 9.99976124e-01 4.57345297e-03 5.18032655e-03 -9.30340731e-01] [-4.56717027e-03 9.99988821e-01 -1.22398076e-03 -1.24409329e+00] [-5.18586646e-03 1.20029211e-03 9.99985833e-01 1.28135283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081652532 meters 0.26080558881418814 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.25, Z:0.13 [[ 0.99994263 0.00936702 0.00519478 -0.93133343] [-0.00938793 0.99994787 0.00401573 -1.24660655] [-0.00515689 -0.00406427 0.99997844 0.12963363] [ 0. 0. 0. 1. ]] SLAMing on 46.141652532 meters 0.2615229514798647 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.25, Z:0.13 [[ 0.99991228 0.01134059 0.00684311 -0.93513548] [-0.01137905 0.99991953 0.00560817 -1.24936581] [-0.00677896 -0.00568554 0.99996086 0.1294656 ] [ 0. 0. 0. 1. ]] SLAMing on 46.201652532 meters 0.2682935605528854 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.25, Z:0.13 [[ 0.99981317 0.01712046 0.00897302 -0.93972391] [-0.01721323 0.99979812 0.01036487 -1.24925293] [-0.00879376 -0.01051739 0.99990602 0.12858279] [ 0. 0. 0. 1. ]] SLAMing on 46.261652532 meters 0.27928388053644637 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.25, Z:0.13 [[ 0.99979362 0.01764468 0.01006926 -0.94145203] [-0.01775245 0.99978499 0.01071572 -1.25030661] [-0.00987802 -0.01089226 0.99989189 0.12714857] [ 0. 0. 0. 1. ]] SLAMing on 46.321652532 meters 0.2723888952544416 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.25, Z:0.12 [[ 0.99985276 0.01315041 0.01102363 -0.94230751] [-0.01320984 0.99989851 0.00533519 -1.24753831] [-0.01095236 -0.00548002 0.999925 0.12465806] [ 0. 0. 0. 1. ]] SLAMing on 46.381652532 meters 0.27987079084156824 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.25, Z:0.12 [[ 0.99984778 0.01349823 0.01105478 -0.94256411] [-0.01356451 0.99989034 0.00594306 -1.24951627] [-0.01097334 -0.00609211 0.99992123 0.12488639] [ 0. 0. 0. 1. ]] SLAMing on 46.441652532 meters 0.2659883767097226 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.25, Z:0.13 [[ 0.99990571 0.00940889 0.01000172 -0.94096049] [-0.00943437 0.99995236 0.0025031 -1.25203549] [-0.00997769 -0.00259723 0.99994685 0.12623682] [ 0. 0. 0. 1. ]] SLAMing on 46.501652532 meters 0.2733837841570023 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.25, Z:0.13 [[ 0.99987467 0.01058809 0.01176974 -0.94474329] [-0.01062138 0.99993976 0.00276963 -1.25170881] [-0.01173971 -0.00289429 0.9999269 0.12523295] [ 0. 0. 0. 1. ]] SLAMing on 46.561652532 meters 0.2667408932328032 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.25, Z:0.13 [[ 0.99992019 0.00584649 0.01119925 -0.9432263 ] [-0.00582273 0.99998073 -0.00215238 -1.24993031] [-0.01121162 0.002087 0.99993497 0.12501466] [ 0. 0. 0. 1. ]] SLAMing on 46.621652532 meters 0.2693053234047585 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.25, Z:0.13 [[ 0.99992202 0.00618805 0.01084691 -0.94316444] [-0.00617335 0.99997998 -0.0013877 -1.25210074] [-0.01085528 0.00132063 0.99994021 0.1261565 ] [ 0. 0. 0. 1. ]] SLAMing on 46.681652532 meters 0.27572764675527706 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.12 [[ 0.99985732 0.01100852 0.01281228 -0.94714954] [-0.01104036 0.99993613 0.00241689 -1.25022915] [-0.01278486 -0.002558 0.999915 0.1249696 ] [ 0. 0. 0. 1. ]] SLAMing on 46.741652531999996 meters 0.2731692465879807 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.12 [[ 0.99984745 0.01097032 0.01359157 -0.94885218] [-0.01099899 0.99993744 0.00203657 -1.24912988] [-0.01356838 -0.00218575 0.99990556 0.12461011] [ 0. 0. 0. 1. ]] SLAMing on 46.801652532 meters 0.2756373825146985 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.12 [[ 0.99982943 0.01150787 0.01444599 -0.95120321] [-0.01154345 0.99993053 0.00238247 -1.24981473] [-0.01441757 -0.00254882 0.99989281 0.12497671] [ 0. 0. 0. 1. ]] SLAMing on 46.861652532 meters 0.27514291528283286 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.13 [[ 0.99983379 0.01168148 0.01399754 -0.95026147] [-0.01172242 0.99992724 0.00284638 -1.2512676 ] [-0.01396327 -0.00300999 0.99989798 0.1252251 ] [ 0. 0. 0. 1. ]] SLAMing on 46.921652532 meters 0.27450540178918365 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.13 [[ 0.99983225 0.01209075 0.01375806 -0.94993416] [-0.01214222 0.99991957 0.00366343 -1.25387492] [-0.01371266 -0.00382987 0.99989864 0.12559033] [ 0. 0. 0. 1. ]] SLAMing on 46.981652532 meters 0.27952890293981264 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.12 [[ 0.99983412 0.01171284 0.01394802 -0.94926118] [-0.01175446 0.99992669 0.00290555 -1.25192372] [-0.01391296 -0.00306902 0.9998985 0.12399606] [ 0. 0. 0. 1. ]] SLAMing on 47.041652532 meters 0.27954697898996583 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.12 [[ 0.99981789 0.01193837 0.01488827 -0.95045341] [-0.01197778 0.99992498 0.00256095 -1.2510795 ] [-0.01485658 -0.00273881 0.99988588 0.12220915] [ 0. 0. 0. 1. ]] SLAMing on 47.101652532 meters 0.28227068729306154 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.12 [[ 0.99979734 0.0125741 0.01572184 -0.95251828] [-0.01262761 0.99991479 0.00330879 -1.25325675] [-0.0156789 -0.00350665 0.99987093 0.12223663] [ 0. 0. 0. 1. ]] SLAMing on 47.161652532 meters 0.28666626762936853 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.26, Z:0.12 [[ 0.99976903 0.01459591 0.01577503 -0.9517809 ] [-0.0146996 0.99987098 0.00647723 -1.26097111] [-0.01567845 -0.00670762 0.99985459 0.12177135] [ 0. 0. 0. 1. ]] SLAMing on 47.221652532 meters 0.2834316753700968 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.26, Z:0.12 [[ 0.99982278 0.01056473 0.01558193 -0.95169896] [-0.0106068 0.99994032 0.00261953 -1.26248461] [-0.01555332 -0.00278434 0.99987516 0.12211205] [ 0. 0. 0. 1. ]] SLAMing on 47.281652532 meters 0.2786745472688781 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.26, Z:0.12 [[ 0.99987123 0.00589775 0.01492478 -0.95015583] [-0.00586559 0.99998038 -0.0021977 -1.26099462] [-0.01493745 0.00210988 0.9998862 0.12220649] [ 0. 0. 0. 1. ]] SLAMing on 47.341652532 meters 0.28453087173271996 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.26, Z:0.12 [[ 0.99986485 0.00629561 0.01518684 -0.95085599] [-0.00627199 0.99997905 -0.001602 -1.26285287] [-0.01519661 0.00150653 0.99988339 0.12216272] [ 0. 0. 0. 1. ]] SLAMing on 47.401652532 meters 0.2873514424044008 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 9.99861317e-01 6.71100954e-03 1.52417049e-02 -9.51423617e-01] [-6.69836276e-03 9.99977178e-01 -8.80647798e-04 -1.26503299e+00] [-1.52472671e-02 7.78431198e-04 9.99883451e-01 1.22699635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461652532 meters 0.28796891833444876 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.12 [[ 9.99887259e-01 6.15932501e-03 1.36942544e-02 -9.48006092e-01] [-6.14933436e-03 9.99980795e-01 -7.71538576e-04 -1.26586536e+00] [-1.36987436e-02 6.87241042e-04 9.99905932e-01 1.23377050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.521652532 meters 0.2712670065452263 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.13 [[ 0.99992189 0.00164757 0.01238966 -0.94602154] [-0.001592 0.99998863 -0.00449409 -1.26751978] [-0.01239693 0.00447402 0.99991315 0.12530067] [ 0. 0. 0. 1. ]] SLAMing on 47.581652532 meters 0.2784400712333862 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.26, Z:0.13 [[ 9.99940486e-01 -4.64994024e-04 1.08999057e-02 -9.42378037e-01] [ 5.31967197e-04 9.99980994e-01 -6.14228720e-03 -1.26480469e+00] [-1.08968424e-02 6.14772004e-03 9.99921729e-01 1.25427982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641652532 meters 0.27658594455030827 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.26, Z:0.13 [[ 0.9998601 -0.01581435 0.00544909 -0.92844813] [ 0.01590481 0.99972938 -0.01697649 -1.25942623] [-0.00517914 0.01706078 0.99984104 0.12796066] [ 0. 0. 0. 1. ]] SLAMing on 47.701652532 meters 0.287889964266155 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.26, Z:0.13 [[ 9.99639159e-01 -2.68514772e-02 -7.41379166e-04 -9.14292254e-01] [ 2.68284826e-02 9.99394645e-01 -2.21489379e-02 -1.25506938e+00] [ 1.33566207e-03 2.21210556e-02 9.99754407e-01 1.33668332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761652532 meters 0.2667448940615345 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.25, Z:0.14 [[ 0.99942419 -0.03330391 -0.00649142 -0.90128933] [ 0.03314575 0.9991832 -0.02311459 -1.25119719] [ 0.00725593 0.02288612 0.99971175 0.13893622] [ 0. 0. 0. 1. ]] SLAMing on 47.821652532 meters 0.27189929959550097 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.25, Z:0.14 [[ 0.99902035 -0.04267123 -0.01172638 -0.88948412] [ 0.04233107 0.9987149 -0.02786807 -1.24770396] [ 0.01290047 0.02734438 0.99954283 0.14374764] [ 0. 0. 0. 1. ]] SLAMing on 47.881652532 meters 0.25038099015928317 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.24, Z:0.14 [[ 0.99910305 -0.04025112 -0.01315046 -0.88628485] [ 0.03990898 0.99888248 -0.02531913 -1.24496112] [ 0.01415489 0.0247716 0.99959292 0.14362865] [ 0. 0. 0. 1. ]] SLAMing on 47.941652532 meters 0.24205768034183037 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.25, Z:0.15 [[ 0.99924297 -0.03610545 -0.0144877 -0.88430673] [ 0.03580456 0.99914819 -0.02051654 -1.24657667] [ 0.01521612 0.01998229 0.99968454 0.14519177] [ 0. 0. 0. 1. ]] SLAMing on 48.001652532 meters 0.2373325316933536 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.25, Z:0.15 [[ 0.99936783 -0.03201181 -0.01546535 -0.88221739] [ 0.03176079 0.99936399 -0.0162129 -1.24676431] [ 0.01597452 0.01571146 0.99974895 0.14533934] [ 0. 0. 0. 1. ]] SLAMing on 48.061652532 meters 0.24408015563962554 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.25, Z:0.15 [[ 0.99917314 -0.03699175 -0.01687144 -0.87843897] [ 0.03664491 0.99911962 -0.02042387 -1.24754842] [ 0.0176121 0.01978873 0.99964905 0.14577194] [ 0. 0. 0. 1. ]] SLAMing on 48.121652532 meters 0.23662889083081093 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.25, Z:0.15 [[ 0.99895722 -0.04184578 -0.01825932 -0.87516832] [ 0.04139765 0.99884802 -0.02426645 -1.24927216] [ 0.01925373 0.02348525 0.99953876 0.14701685] [ 0. 0. 0. 1. ]] SLAMing on 48.181652532 meters 0.24487858932618659 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.25, Z:0.15 [[ 0.9984087 -0.05121392 -0.02360527 -0.86323931] [ 0.05053289 0.9983129 -0.02859684 -1.2467523 ] [ 0.02503 0.02735849 0.99931227 0.15239412] [ 0. 0. 0. 1. ]] SLAMing on 48.241652531999996 meters 0.26338188627885334 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.25, Z:0.15 [[ 0.99838299 -0.05126308 -0.02456619 -0.86126067] [ 0.05056514 0.99832153 -0.02823637 -1.24785799] [ 0.02597244 0.02694852 0.99929936 0.15311691] [ 0. 0. 0. 1. ]] SLAMing on 48.301652532 meters 0.2548676138014691 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.24, Z:0.16 [[ 0.99785514 -0.05827425 -0.02981986 -0.84899946] [ 0.05736416 0.99788683 -0.03051586 -1.24168907] [ 0.03153514 0.02873982 0.99908936 0.15777265] [ 0. 0. 0. 1. ]] SLAMing on 48.361652532 meters 0.24663698306107118 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.25, Z:0.16 [[ 0.99756253 -0.06248747 -0.03105356 -0.84645703] [ 0.06145142 0.99755549 -0.03326815 -1.24616174] [ 0.03305649 0.03127878 0.99896392 0.15979963] [ 0. 0. 0. 1. ]] SLAMing on 48.421652532 meters 0.2418090973225353 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.25, Z:0.16 [[ 0.99758257 -0.06209933 -0.03118811 -0.84702507] [ 0.06108335 0.99760224 -0.03253621 -1.24810368] [ 0.03313381 0.03055248 0.99898383 0.1609781 ] [ 0. 0. 0. 1. ]] SLAMing on 48.481652532 meters 0.23871154183258333 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.25, Z:0.16 [[ 0.99780342 -0.05803311 -0.03194528 -0.84545619] [ 0.05712169 0.99795345 -0.0287406 -1.24688505] [ 0.03354781 0.0268527 0.99907631 0.16058607] [ 0. 0. 0. 1. ]] SLAMing on 48.541652532 meters 0.2371932442006636 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.25, Z:0.16 [[ 0.99857163 -0.04591826 -0.02731688 -0.85952903] [ 0.04530991 0.99871984 -0.02248744 -1.25334137] [ 0.02831449 0.02121759 0.99937386 0.15732124] [ 0. 0. 0. 1. ]] SLAMing on 48.601652532 meters 0.25457616874058625 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.25, Z:0.15 [[ 0.99906776 -0.03705022 -0.02215588 -0.8722598 ] [ 0.03662008 0.9991387 -0.01951473 -1.25397331] [ 0.02285982 0.01868519 0.99956405 0.15217314] [ 0. 0. 0. 1. ]] SLAMing on 48.661652532 meters 0.2507363188333118 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.24, Z:0.15 [[ 0.99961654 -0.02212755 -0.01664754 -0.87212757] [ 0.02171249 0.99945878 -0.02471257 -1.23808015] [ 0.01718536 0.02434164 0.99955598 0.14880799] [ 0. 0. 0. 1. ]] SLAMing on 48.721652532 meters 0.24010646176028502 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.24, Z:0.14 [[ 0.99993499 -0.00303022 -0.01099204 -0.88617014] [ 0.00289149 0.99991624 -0.01261549 -1.24065837] [ 0.01102935 0.01258289 0.99986 0.14301475] [ 0. 0. 0. 1. ]] SLAMing on 48.781652532 meters 0.2553360149773281 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.25, Z:0.14 [[ 9.99692432e-01 2.47753433e-02 -1.10612101e-03 -9.10511865e-01] [-2.47699032e-02 9.99682190e-01 4.68728924e-03 -1.24554727e+00] [ 1.22189868e-03 -4.65844907e-03 9.99988403e-01 1.35911530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841652532 meters 0.2717006856750041 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.25, Z:0.13 [[ 0.99903469 0.04354388 0.00579879 -0.92704219] [-0.04363191 0.99891898 0.01603521 -1.24561933] [-0.00509428 -0.01627275 0.99985461 0.1311675 ] [ 0. 0. 0. 1. ]] SLAMing on 48.901652532 meters 0.30735042954181657 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.25, Z:0.12 [[ 0.99770694 0.06565696 0.01643244 -0.94700198] [-0.06610412 0.99741035 0.02833454 -1.25253805] [-0.01452953 -0.02935582 0.99946342 0.11989691] [ 0. 0. 0. 1. ]] SLAMing on 48.961652532 meters 0.32425819874902595 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.28, Z:0.12 [[ 0.99466289 0.10094566 0.02134745 -0.97579582] [-0.10175114 0.99397321 0.04079166 -1.28224184] [-0.01710105 -0.04274607 0.9989396 0.1220819 ] [ 0. 0. 0. 1. ]] SLAMing on 49.021652532 meters 0.33830684281419604 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.30, Z:0.12 [[ 0.99293627 0.11529435 0.02801377 -0.99280469] [-0.11658537 0.99192531 0.04992028 -1.29690735] [-0.02203204 -0.05283365 0.99836025 0.12079945] [ 0. 0. 0. 1. ]] SLAMing on 49.081652532 meters 0.34543605086139284 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.31, Z:0.12 [[ 0.99184257 0.12286389 0.03395264 -1.01083887] [-0.12452683 0.99084226 0.0521986 -1.31337641] [-0.02722839 -0.0560008 0.99805938 0.12065967] [ 0. 0. 0. 1. ]] SLAMing on 49.141652532 meters 0.3686759737553885 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.33, Z:0.12 [[ 0.99080152 0.12945904 0.03940432 -1.02851616] [-0.13148375 0.98984326 0.05405869 -1.32839489] [-0.03200571 -0.05874246 0.99775997 0.12165972] [ 0. 0. 0. 1. ]] SLAMing on 49.201652532 meters 0.36738032028556933 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.34, Z:0.12 [[ 0.98959334 0.13683831 0.04450064 -1.04348691] [-0.13927919 0.98859024 0.05736419 -1.33868559] [-0.03614328 -0.06296523 0.99736104 0.12198077] [ 0. 0. 0. 1. ]] SLAMing on 49.261652532 meters 0.3884214847580317 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.34, Z:0.12 [[ 0.99007713 0.13321104 0.04474481 -1.04568587] [-0.1355289 0.98932671 0.05352181 -1.34024493] [-0.03713754 -0.05905493 0.99756369 0.12220307] [ 0. 0. 0. 1. ]] SLAMing on 49.321652532 meters 0.3620221329321794 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.35, Z:0.12 [[ 0.99047485 0.13004671 0.04524853 -1.04995744] [-0.13232359 0.98986258 0.05159976 -1.34827321] [-0.03807945 -0.05709571 0.99764224 0.12499855] [ 0. 0. 0. 1. ]] SLAMing on 49.381652532 meters 0.3660384048180645 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.36, Z:0.12 [[ 0.99135684 0.12222717 0.04766691 -1.06140949] [-0.12479331 0.99064655 0.0551909 -1.3614141 ] [-0.04047523 -0.06066239 0.99733737 0.1188785 ] [ 0. 0. 0. 1. ]] SLAMing on 49.441652532 meters 0.3542158644434345 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.37, Z:0.12 [[ 0.99187318 0.11817107 0.04715076 -1.06420804] [-0.12059346 0.99132113 0.05234143 -1.37105271] [-0.0405563 -0.05760213 0.9975155 0.12244859] [ 0. 0. 0. 1. ]] SLAMing on 49.501652532 meters 0.35570736824582794 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.38, Z:0.12 [[ 0.99280868 0.11061772 0.04576736 -1.06368787] [-0.11267557 0.99260648 0.04512858 -1.37549415] [-0.04043696 -0.04996091 0.99793224 0.12306607] [ 0. 0. 0. 1. ]] SLAMing on 49.561652532 meters 0.3371209432023662 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.39, Z:0.12 [[ 0.9946853 0.09145721 0.04729412 -1.06680257] [-0.09366231 0.99450712 0.04672206 -1.38745464] [-0.04276127 -0.05090343 0.99778771 0.12352739] [ 0. 0. 0. 1. ]] SLAMing on 49.621652532 meters 0.3342787760816982 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.40, Z:0.12 [[ 0.99579487 0.079235 0.04598257 -1.07725988] [-0.08151827 0.99541151 0.05010685 -1.40370278] [-0.04180136 -0.05364457 0.99768477 0.12275961] [ 0. 0. 0. 1. ]] SLAMing on 49.681652532 meters 0.3149896477380009 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.41, Z:0.13 [[ 0.99684204 0.06592065 0.04427655 -1.07851406] [-0.06761422 0.99699116 0.03790712 -1.41231821] [-0.04164447 -0.04078114 0.99829987 0.12710096] [ 0. 0. 0. 1. ]] SLAMing on 49.741652531999996 meters 0.3105411350783997 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.42, Z:0.13 [[ 0.99735017 0.05843394 0.04333721 -1.07896103] [-0.05982502 0.99771087 0.03152743 -1.41837124] [-0.04139573 -0.03403654 0.99856292 0.12978688] [ 0. 0. 0. 1. ]] SLAMing on 49.801652532 meters 0.3004890235312875 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.43, Z:0.13 [[ 0.99848507 0.04143695 0.03620148 -1.08245806] [-0.04260161 0.99857905 0.03201523 -1.43299402] [-0.03482343 -0.03350897 0.99883156 0.13262487] [ 0. 0. 0. 1. ]] SLAMing on 49.861652532 meters 0.29170786954399164 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.43, Z:0.13 [[ 0.99865105 0.03734922 0.03607105 -1.0826756 ] [-0.03836473 0.99887469 0.02788353 -1.43364969] [-0.03498903 -0.02922978 0.99896015 0.13282061] [ 0. 0. 0. 1. ]] SLAMing on 49.921652532 meters 0.28627196365077034 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.43, Z:0.13 [[ 0.99880871 0.03322961 0.0357346 -1.08313133] [-0.03409873 0.99913042 0.02399339 -1.43481199] [-0.03490623 -0.02518331 0.99907325 0.13436413] [ 0. 0. 0. 1. ]] SLAMing on 49.981652532 meters 0.2854494944057983 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.44, Z:0.13 [[ 0.99892247 0.02964384 0.035709 -1.08287346] [-0.03039038 0.99932688 0.02054796 -1.43719581] [-0.03507584 -0.02161103 0.99915096 0.13362271] [ 0. 0. 0. 1. ]] SLAMing on 50.041652532 meters 0.28693797965208284 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.44, Z:0.13 [[ 0.99892681 0.02967064 0.0355651 -1.08312928] [-0.03042046 0.99932219 0.02073063 -1.4376007 ] [-0.0349259 -0.02179029 0.99915232 0.13465082] [ 0. 0. 0. 1. ]] SLAMing on 50.101652532 meters 0.28276278406377375 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.45, Z:0.14 [[ 0.99934299 0.02890013 0.02187162 -1.08338778] [-0.02936916 0.99933875 0.02143621 -1.45350558] [-0.02123765 -0.02206448 0.99953095 0.13733847] [ 0. 0. 0. 1. ]] SLAMing on 50.161652532 meters 0.2713841350607012 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.46, Z:0.14 [[ 0.99960697 0.01999129 0.01965355 -1.07934498] [-0.02026932 0.99969582 0.01405052 -1.45743185] [-0.01936669 -0.01444336 0.99970812 0.13899956] [ 0. 0. 0. 1. ]] SLAMing on 50.221652532 meters 0.2707929632656483 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.46, Z:0.14 [[ 0.99967208 0.01624435 0.01979539 -1.08016987] [-0.01645572 0.9998088 0.01056234 -1.4599182 ] [-0.01962002 -0.01088462 0.99974826 0.13939694] [ 0. 0. 0. 1. ]] SLAMing on 50.281652532 meters 0.2711896605812201 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.46, Z:0.14 [[ 0.99967811 0.01569062 0.01993682 -1.07973113] [-0.01588292 0.9998285 0.00952374 -1.45679271] [-0.01978396 -0.00983732 0.99975588 0.13837348] [ 0. 0. 0. 1. ]] SLAMing on 50.341652532 meters 0.27363946511079684 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.46, Z:0.14 [[ 0.99972091 0.01159585 0.02058266 -1.0821093 ] [-0.01170478 0.99991808 0.00517977 -1.45640801] [-0.02052091 -0.00541924 0.99977474 0.13933783] [ 0. 0. 0. 1. ]] SLAMing on 50.401652532 meters 0.2682571029839207 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.46, Z:0.14 [[ 0.99968534 0.01285194 0.02154161 -1.08389801] [-0.01299675 0.99989378 0.00659571 -1.45971704] [-0.02145455 -0.00687361 0.9997462 0.13882071] [ 0. 0. 0. 1. ]] SLAMing on 50.461652532 meters 0.2728439495450574 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.46, Z:0.14 [[ 0.99959511 0.01711282 0.02273244 -1.08599498] [-0.01734807 0.99979756 0.01019218 -1.45749806] [-0.02255342 -0.01058241 0.99968963 0.13773003] [ 0. 0. 0. 1. ]] SLAMing on 50.521652532 meters 0.28174971119894204 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.46, Z:0.13 [[ 0.99966459 0.02188414 0.01384918 -1.0912323 ] [-0.02198945 0.99973009 0.00749791 -1.46294807] [-0.01368136 -0.00779993 0.99987598 0.13267645] [ 0. 0. 0. 1. ]] SLAMing on 50.581652532 meters 0.28201326599800464 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.46, Z:0.13 [[ 0.99965093 0.02212309 0.01444274 -1.09248484] [-0.0222363 0.99972289 0.00772554 -1.46385418] [-0.01426782 -0.008044 0.99986585 0.13226612] [ 0. 0. 0. 1. ]] SLAMing on 50.641652532 meters 0.2830994352074399 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.46, Z:0.13 [[ 0.99962136 0.02273838 0.01549533 -1.09483672] [-0.02286531 0.99970603 0.0080643 -1.46480521] [-0.01530741 -0.00841555 0.99984742 0.13178782] [ 0. 0. 0. 1. ]] SLAMing on 50.701652532 meters 0.29208107313484244 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.46, Z:0.13 [[ 0.99945263 0.02792156 0.01774355 -1.09894345] [-0.02813163 0.99953573 0.01170183 -1.46252305] [-0.01740858 -0.01219458 0.99977409 0.12973036] [ 0. 0. 0. 1. ]] SLAMing on 50.761652532 meters 0.2988272627137013 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.46, Z:0.13 [[ 0.99928916 0.0325174 0.01907328 -1.10164572] [-0.03281871 0.99933796 0.01570279 -1.46157149] [-0.01855004 -0.01631759 0.99969477 0.12913034] [ 0. 0. 0. 1. ]] SLAMing on 50.821652532 meters 0.31166342978664735 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.46, Z:0.13 [[ 0.9990655 0.0378344 0.02089677 -1.10492111] [-0.03825858 0.99906194 0.02028609 -1.46168745] [-0.02010965 -0.02106661 0.99957581 0.12782301] [ 0. 0. 0. 1. ]] SLAMing on 50.881652532 meters 0.32242532052422035 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.46, Z:0.13 [[ 0.99886749 0.0424204 0.02154651 -1.10585291] [-0.04295629 0.99876288 0.02504934 -1.46332967] [-0.02045725 -0.02594653 0.99945399 0.12731195] [ 0. 0. 0. 1. ]] SLAMing on 50.941652532 meters 0.3271236873123546 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.47, Z:0.13 [[ 0.99861695 0.04739913 0.02274897 -1.10858188] [-0.04807689 0.99838598 0.03023315 -1.46575775] [-0.02127923 -0.03128503 0.99928396 0.12766669] [ 0. 0. 0. 1. ]] SLAMing on 51.001652532 meters 0.3220892806279692 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.47, Z:0.13 [[ 0.99859655 0.04769658 0.02302079 -1.1093195 ] [-0.0483917 0.99835816 0.03064679 -1.46723144] [-0.02152125 -0.0317178 0.99926514 0.1276126 ] [ 0. 0. 0. 1. ]] SLAMing on 51.061652532 meters 0.3245711443435097 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.48, Z:0.13 [[ 0.99880481 0.04332917 0.0226171 -1.11176478] [-0.04394875 0.99865091 0.02765624 -1.47674664] [-0.02138827 -0.02861718 0.9993616 0.13167416] [ 0. 0. 0. 1. ]] SLAMing on 51.121652532 meters 0.3203807520024866 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.48, Z:0.13 [[ 0.99894729 0.0394775 0.02336312 -1.11402746] [-0.0400286 0.99891954 0.02361081 -1.47774728] [-0.02240578 -0.02452114 0.99944819 0.13161015] [ 0. 0. 0. 1. ]] SLAMing on 51.181652532 meters 0.3112484714170701 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.48, Z:0.13 [[ 0.99941907 0.0320488 0.01159276 -1.11575073] [-0.03232155 0.99918548 0.02415957 -1.4840179 ] [-0.01080903 -0.02452023 0.9996409 0.12957485] [ 0. 0. 0. 1. ]] SLAMing on 51.241652531999996 meters 0.3077309000848248 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.49, Z:0.13 [[ 0.99952194 0.02832756 0.01238713 -1.11847059] [-0.02857699 0.99938248 0.02044545 -1.48553302] [-0.01180032 -0.02078966 0.99971423 0.1303142 ] [ 0. 0. 0. 1. ]] SLAMing on 51.301652532 meters 0.3172645381170508 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.49, Z:0.13 [[ 0.99946891 0.02992367 0.01290225 -1.11889109] [-0.03020707 0.99929353 0.02236024 -1.48981074] [-0.01222404 -0.0227381 0.99966672 0.12929524] [ 0. 0. 0. 1. ]] SLAMing on 51.361652532 meters 0.317923230961932 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.49, Z:0.13 [[ 0.99966209 0.02230272 0.01335269 -1.12107611] [-0.02250174 0.99963509 0.01494501 -1.49312795] [-0.01301451 -0.01524042 0.99979916 0.13015039] [ 0. 0. 0. 1. ]] SLAMing on 51.421652531999996 meters 0.3137925827377433 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.50, Z:0.13 [[ 0.99965494 0.02289434 0.01287836 -1.12009469] [-0.02310032 0.99960383 0.01607994 -1.49678826] [-0.01250512 -0.01637188 0.99978777 0.13033752] [ 0. 0. 0. 1. ]] SLAMing on 51.481652532 meters 0.32707599899209266 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.50, Z:0.13 [[ 0.99981898 0.01403477 0.01284673 -1.12018987] [-0.01412384 0.99987666 0.00686917 -1.49512718] [-0.01274874 -0.00704938 0.99989388 0.13013688] [ 0. 0. 0. 1. ]] SLAMing on 51.541652532 meters 0.32739043390852224 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.50, Z:0.13 [[ 0.99981856 0.01427321 0.01261456 -1.11856106] [-0.01436583 0.99987029 0.0072824 -1.49647045] [-0.01250898 -0.00746229 0.99989391 0.12856131] [ 0. 0. 0. 1. ]] SLAMing on 51.601652532 meters 0.309237025490793 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.50, Z:0.14 [[ 9.99964944e-01 3.03129501e-03 7.80523936e-03 -1.11052694e+00] [-3.03268025e-03 9.99995388e-01 1.65646367e-04 -1.49632308e+00] [-7.80470124e-03 -1.89311355e-04 9.99969525e-01 1.35064283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.661652532 meters 0.2780853201482697 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.49, Z:0.14 [[ 9.99964476e-01 -8.31936971e-03 1.35420830e-03 -1.09639131e+00] [ 8.32587648e-03 9.99953469e-01 -4.87230157e-03 -1.49180899e+00] [-1.31361081e-03 4.88340346e-03 9.99987213e-01 1.41231756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721652532 meters 0.2707377078020233 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.49, Z:0.15 [[ 0.99982282 -0.0183302 -0.00428142 -1.08412476] [ 0.01828505 0.99977917 -0.01035665 -1.48681505] [ 0.00447031 0.01027653 0.9999372 0.14588904] [ 0. 0. 0. 1. ]] SLAMing on 51.781652532 meters 0.26704590689766655 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.49, Z:0.15 [[ 0.99981754 -0.01844779 -0.0049565 -1.08304929] [ 0.01839728 0.99978025 -0.010049 -1.48776425] [ 0.00514079 0.00995598 0.99993722 0.14695872] [ 0. 0. 0. 1. ]] SLAMing on 51.841652532 meters 0.26722292630291367 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.49, Z:0.15 [[ 0.99988119 -0.01416732 -0.00607446 -1.08205407] [ 0.01413726 0.99988774 -0.00496424 -1.48989907] [ 0.00614411 0.00487777 0.99996923 0.14939662] [ 0. 0. 0. 1. ]] SLAMing on 51.901652532 meters 0.26139988904227796 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.49, Z:0.15 [[ 0.99986861 -0.01495075 -0.00626416 -1.08087407] [ 0.01491224 0.99986989 -0.00615043 -1.48674179] [ 0.0063553 0.00605621 0.99996147 0.14834742] [ 0. 0. 0. 1. ]] SLAMing on 51.961652532 meters 0.2595037694639182 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.49, Z:0.15 [[ 0.99986478 -0.01507007 -0.00658079 -1.08000831] [ 0.0150292 0.99986772 -0.00621752 -1.48655232] [ 0.00667362 0.00611777 0.99995902 0.14833899] [ 0. 0. 0. 1. ]] SLAMing on 52.021652532 meters 0.25946300826766006 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.49, Z:0.15 [[ 9.99900849e-01 -1.12891423e-02 -8.41703467e-03 -1.07673315e+00] [ 1.12768996e-02 9.99935288e-01 -1.50055733e-03 -1.48830161e+00] [ 8.43342999e-03 1.40549050e-03 9.99963450e-01 1.50120315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081652532 meters 0.2634779275143842 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.49, Z:0.15 [[ 0.99993249 -0.00719218 -0.00912596 -1.0751042 ] [ 0.00721821 0.99996996 0.00282333 -1.48852598] [ 0.00910538 -0.00288901 0.99995437 0.15032861] [ 0. 0. 0. 1. ]] SLAMing on 52.141652532 meters 0.2604640387809587 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.49, Z:0.15 [[ 0.9999373 -0.00750877 -0.00830743 -1.07691596] [ 0.0075257 0.99996967 0.00200817 -1.48584373] [ 0.0082921 -0.00207056 0.99996348 0.15001505] [ 0. 0. 0. 1. ]] SLAMing on 52.201652532 meters 0.26844069873186205 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.48, Z:0.15 [[ 0.99995672 -0.00370903 -0.008532 -1.07603127] [ 0.00375586 0.99997794 0.00547872 -1.4833665 ] [ 0.00851149 -0.00551053 0.99994859 0.14964643] [ 0. 0. 0. 1. ]] SLAMing on 52.261652532 meters 0.26094967644821504 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.48, Z:0.15 [[ 0.99995835 -0.00374051 -0.00832496 -1.07632471] [ 0.00378504 0.99997858 0.00534039 -1.48299559] [ 0.00830481 -0.00537168 0.99995109 0.14934908] [ 0. 0. 0. 1. ]] SLAMing on 52.321652532 meters 0.268080423034838 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.48, Z:0.15 [[ 0.999959 -0.00363614 -0.00829346 -1.07638944] [ 0.00368205 0.99997795 0.00552679 -1.48366023] [ 0.00827318 -0.0055571 0.99995034 0.14934471] [ 0. 0. 0. 1. ]] SLAMing on 52.381652532 meters 0.2644729907852194 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.48, Z:0.15 [[ 0.99996383 -0.00375463 -0.00763114 -1.07777447] [ 0.00379331 0.99998 0.00506088 -1.48219321] [ 0.00761198 -0.00508965 0.99995808 0.14893385] [ 0. 0. 0. 1. ]] SLAMing on 52.441652532 meters 0.264576328970169 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.48, Z:0.15 [[ 9.99968069e-01 7.22708851e-05 -7.99099523e-03 -1.07622830e+00] [-3.21949608e-06 9.99962667e-01 8.64082529e-03 -1.48017957e+00] [ 7.99132139e-03 -8.64052366e-03 9.99930738e-01 1.48097216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501652532 meters 0.2659563496810053 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.48, Z:0.15 [[ 9.99978931e-01 2.63343057e-04 -6.48600468e-03 -1.07904146e+00] [-2.11268216e-04 9.99967751e-01 8.02817800e-03 -1.47820030e+00] [ 6.48790968e-03 -8.02663857e-03 9.99946739e-01 1.46607319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.561652532 meters 0.2687224321045345 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.48, Z:0.15 [[ 0.99996912 0.00430441 -0.0065747 -1.07851436] [-0.00422653 0.99992129 0.01181293 -1.47655879] [ 0.00662503 -0.01178478 0.99990861 0.14631945] [ 0. 0. 0. 1. ]] SLAMing on 52.621652532 meters 0.2806369365180769 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.48, Z:0.14 [[ 0.99992909 0.01122969 -0.00396282 -1.08341419] [-0.01115905 0.999786 0.01741941 -1.47871293] [ 0.00415759 -0.01737396 0.99984042 0.14414869] [ 0. 0. 0. 1. ]] SLAMing on 52.681652532 meters 0.30171103413676564 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.48, Z:0.14 [[ 0.99984207 0.01770678 -0.00152077 -1.08947756] [-0.01766831 0.99959308 0.02239445 -1.4775012 ] [ 0.00191668 -0.02236405 0.99974806 0.14385174] [ 0. 0. 0. 1. ]] SLAMing on 52.741652531999996 meters 0.2898149014348719 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.48, Z:0.14 [[ 9.99842406e-01 1.77327366e-02 -8.44600111e-04 -1.09088366e+00] [-1.77096285e-02 9.99596736e-01 2.21976201e-02 -1.47702433e+00] [ 1.23788407e-03 -2.21791643e-02 9.99753246e-01 1.43424265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801652532 meters 0.2906800822975309 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.48, Z:0.14 [[ 9.99892725e-01 1.46446406e-02 -2.69453191e-04 -1.09157686e+00] [-1.46368219e-02 9.99710373e-01 1.91032279e-02 -1.47973582e+00] [ 5.49135058e-04 -1.90972347e-02 9.99817480e-01 1.42288860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861652532 meters 0.2954129443619245 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.48, Z:0.14 [[ 9.99883929e-01 1.52179187e-02 7.37877329e-04 -1.09393554e+00] [-1.52294598e-02 9.99691921e-01 1.95991638e-02 -1.48094101e+00] [-4.39391523e-04 -1.96081264e-02 9.99807646e-01 1.42091902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.921652531999996 meters 0.29400261536392047 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.48, Z:0.14 [[ 9.99940561e-01 1.08720986e-02 8.20170389e-04 -1.09436604e+00] [-1.08833349e-02 9.99824710e-01 1.52349158e-02 -1.48087986e+00] [-6.54391114e-04 -1.52429365e-02 9.99883606e-01 1.42257704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981652532 meters 0.28942197690745697 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.48, Z:0.14 [[ 9.99970200e-01 7.59076352e-03 1.40701834e-03 -1.09654879e+00] [-7.60733376e-03 9.99896986e-01 1.21714782e-02 -1.48339653e+00] [-1.31448258e-03 -1.21818192e-02 9.99924935e-01 1.43310888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041652532 meters 0.28843076183416766 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.48, Z:0.14 [[ 0.99997019 0.00746944 0.00195529 -1.09766868] [-0.00749193 0.99990278 0.01176027 -1.48212417] [-0.00186726 -0.01177457 0.99992893 0.14293664] [ 0. 0. 0. 1. ]] SLAMing on 53.101652532 meters 0.2854509241418497 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.48, Z:0.14 [[ 0.99999331 0.00295322 0.00215872 -1.09774118] [-0.00296817 0.99997142 0.00695382 -1.48071296] [-0.00213812 -0.00696018 0.99997349 0.14226963] [ 0. 0. 0. 1. ]] SLAMing on 53.161652532 meters 0.2900866752272411 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.48, Z:0.14 [[ 0.99999237 0.00295714 0.00255202 -1.09812552] [-0.00297437 0.99997264 0.00677224 -1.48029043] [-0.00253193 -0.00677978 0.99997381 0.14134529] [ 0. 0. 0. 1. ]] SLAMing on 53.221652532 meters 0.3024300930837241 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.48, Z:0.14 [[ 0.99992163 0.01193126 0.00379325 -1.10014265] [-0.01198691 0.9998156 0.01500295 -1.4789184 ] [-0.00361354 -0.01504724 0.99988025 0.13983068] [ 0. 0. 0. 1. ]] SLAMing on 53.281652532 meters 0.30479589536884477 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.48, Z:0.14 [[ 0.99991498 0.01196625 0.00518001 -1.10278336] [-0.01203888 0.99982634 0.01422511 -1.4767378 ] [-0.00500889 -0.01428626 0.9998854 0.13857907] [ 0. 0. 0. 1. ]] SLAMing on 53.341652532 meters 0.3088013189784787 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.48, Z:0.14 [[ 0.99984745 0.01648877 0.0057624 -1.10396033] [-0.01659381 0.99968776 0.0186822 -1.47722026] [-0.00545256 -0.01877497 0.99980887 0.13831709] [ 0. 0. 0. 1. ]] SLAMing on 53.401652532 meters 0.3167666660174341 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.48, Z:0.14 [[ 0.99975602 0.02112451 0.00645478 -1.10513959] [-0.02126932 0.99950323 0.02325753 -1.47806526] [-0.00596027 -0.02338914 0.99970867 0.13765114] [ 0. 0. 0. 1. ]] SLAMing on 53.461652532 meters 0.32026255073601045 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.48, Z:0.14 [[ 0.99934546 0.03404221 0.0122385 -1.11231522] [-0.03425626 0.99925585 0.0177273 -1.47882875] [-0.01162592 -0.01813494 0.99976795 0.14066642] [ 0. 0. 0. 1. ]] SLAMing on 53.521652532 meters 0.33403238213732683 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.49, Z:0.14 [[ 0.99897025 0.04192704 0.01733658 -1.12394477] [-0.04229577 0.99887421 0.02147969 -1.49009402] [-0.01641648 -0.02219084 0.99961896 0.1372813 ] [ 0. 0. 0. 1. ]] SLAMing on 53.581652532 meters 0.3446553700521916 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.50, Z:0.13 [[ 0.99828314 0.05370626 0.02337539 -1.13685391] [-0.05436446 0.99811443 0.02849706 -1.50023105] [-0.02180084 -0.02971893 0.99932052 0.13299483] [ 0. 0. 0. 1. ]] SLAMing on 53.641652532 meters 0.3606901686766945 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.51, Z:0.13 [[ 0.99734011 0.06651346 0.02981039 -1.15000443] [-0.06757716 0.99705638 0.03622033 -1.51305015] [-0.0273135 -0.03813848 0.99889911 0.12793914] [ 0. 0. 0. 1. ]] SLAMing on 53.701652532 meters 0.3706149492683448 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.53, Z:0.13 [[ 0.99663873 0.07420049 0.03472085 -1.16235214] [-0.07559397 0.99630744 0.04070671 -1.52544941] [-0.03157219 -0.04319457 0.99856769 0.12676722] [ 0. 0. 0. 1. ]] SLAMing on 53.761652532 meters 0.3771687564232466 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.53, Z:0.13 [[ 0.99640307 0.0765304 0.03638709 -1.16565012] [-0.07805301 0.99604517 0.042447 -1.52880655] [-0.0329947 -0.04513444 0.99843589 0.12570144] [ 0. 0. 0. 1. ]] SLAMing on 53.821652532 meters 0.3772774116389134 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.54, Z:0.12 [[ 0.99669586 0.07176449 0.03804244 -1.17439043] [-0.07359577 0.9960764 0.04914739 -1.53788777] [-0.03436614 -0.05178476 0.99806678 0.11616277] [ 0. 0. 0. 1. ]] SLAMing on 53.881652532 meters 0.3659336061876697 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.54, Z:0.12 [[ 0.99745697 0.06060389 0.0375068 -1.17580571] [-0.06203978 0.99733537 0.03838257 -1.54328457] [-0.03508072 -0.04061188 0.99855897 0.1177038 ] [ 0. 0. 0. 1. ]] SLAMing on 53.941652532 meters 0.3507023658676251 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.54, Z:0.12 [[ 0.99853019 0.04454211 0.03087814 -1.1646303 ] [-0.0454159 0.99857009 0.02819871 -1.54359751] [-0.02957795 -0.02955962 0.9991253 0.12495245] [ 0. 0. 0. 1. ]] SLAMing on 54.001652532 meters 0.33820118181990083 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.54, Z:0.13 [[ 0.99897165 0.03506744 0.02873881 -1.16066094] [-0.03564042 0.99917101 0.01967378 -1.54468458] [-0.02802508 -0.02067781 0.99939333 0.12602911] [ 0. 0. 0. 1. ]] SLAMing on 54.061652532 meters 0.3224312919591178 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.55, Z:0.12 [[ 0.99967663 0.01146782 0.02269636 -1.15458501] [-0.01182399 0.99980806 0.01562173 -1.54892994] [-0.02251286 -0.01588504 0.99962035 0.12497306] [ 0. 0. 0. 1. ]] SLAMing on 54.121652532 meters 0.30817766579275696 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.56, Z:0.13 [[ 0.99987705 -0.00617842 0.01441224 -1.15077062] [ 0.00593859 0.99984416 0.01662481 -1.55712632] [-0.01451271 -0.01653718 0.99975792 0.12594244] [ 0. 0. 0. 1. ]] SLAMing on 54.181652532 meters 0.2935287813442512 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.55, Z:0.13 [[ 0.99972166 -0.02210674 0.00824024 -1.13687036] [ 0.02205295 0.99973526 0.00656273 -1.54920665] [-0.00838314 -0.00637918 0.99994451 0.13171224] [ 0. 0. 0. 1. ]] SLAMing on 54.241652531999996 meters 0.27791925843400966 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.55, Z:0.14 [[ 0.99960127 -0.0276853 0.00555233 -1.12681284] [ 0.02774086 0.99956319 -0.01019162 -1.54723574] [-0.00526775 0.01034158 0.99993265 0.14350648] [ 0. 0. 0. 1. ]] SLAMing on 54.301652532 meters 0.2783036567124961 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.54, Z:0.15 [[ 9.99554667e-01 -2.98407044e-02 -1.50971006e-05 -1.11585096e+00] [ 2.98396729e-02 9.99524073e-01 -7.82439314e-03 -1.54112849e+00] [ 2.48575318e-04 7.82045818e-03 9.99969389e-01 1.49247871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361652532 meters 0.27864371339662136 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.54, Z:0.15 [[ 9.99543095e-01 -3.02018181e-02 -1.20489763e-03 -1.11344307e+00] [ 3.01914037e-02 9.99513028e-01 -7.88578771e-03 -1.54127347e+00] [ 1.44247600e-03 7.84580710e-03 9.99968181e-01 1.50088624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.421652531999996 meters 0.2712951096359259 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.53, Z:0.16 [[ 0.99967241 -0.02535451 -0.00349626 -1.1040237 ] [ 0.02530402 0.99958456 -0.01379925 -1.53482083] [ 0.00384468 0.01370626 0.99989867 0.15803628] [ 0. 0. 0. 1. ]] SLAMing on 54.481652532 meters 0.27188507164574993 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.54, Z:0.16 [[ 0.9996529 -0.02587691 -0.004946 -1.10115533] [ 0.02580636 0.99957125 -0.01383268 -1.53517525] [ 0.00530182 0.01370024 0.99989209 0.1592122 ] [ 0. 0. 0. 1. ]] SLAMing on 54.541652532 meters 0.2686462991495782 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.53, Z:0.16 [[ 0.99964337 -0.02624007 -0.00495938 -1.10017569] [ 0.0261657 0.99955233 -0.01450813 -1.53329848] [ 0.00533786 0.01437319 0.99988245 0.15790067] [ 0. 0. 0. 1. ]] SLAMing on 54.601652532 meters 0.2715723338446073 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.53, Z:0.16 [[ 0.99975227 -0.0216996 -0.00495297 -1.10051999] [ 0.02164982 0.99971668 -0.00989167 -1.53416093] [ 0.00516621 0.00978199 0.99993881 0.15789274] [ 0. 0. 0. 1. ]] SLAMing on 54.661652532 meters 0.28030012258934 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.53, Z:0.16 [[ 0.99989862 -0.01349517 -0.00454309 -1.10133764] [ 0.01348494 0.99990648 -0.00227597 -1.53093493] [ 0.00457338 0.00221448 0.99998709 0.15703494] [ 0. 0. 0. 1. ]] SLAMing on 54.721652532 meters 0.2867256065353052 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.53, Z:0.16 [[ 9.99945907e-01 -9.51112387e-03 -4.20966874e-03 -1.10149645e+00] [ 9.51677910e-03 9.99953836e-01 1.32540536e-03 -1.52885978e+00] [ 4.19686831e-03 -1.36539616e-03 9.99990261e-01 1.55944011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781652532 meters 0.2903586957902093 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.53, Z:0.16 [[ 0.99994619 -0.00936506 -0.00446182 -1.10061664] [ 0.00937246 0.99995473 0.00164138 -1.52996559] [ 0.00444624 -0.00168311 0.9999887 0.15557716] [ 0. 0. 0. 1. ]] SLAMing on 54.841652532 meters 0.29651599861624955 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.53, Z:0.16 [[ 0.99997227 -0.00531378 -0.00521816 -1.09850041] [ 0.00534423 0.99996868 0.00583828 -1.52980682] [ 0.00518697 -0.00586601 0.99996934 0.15531266] [ 0. 0. 0. 1. ]] SLAMing on 54.901652532 meters 0.27849415468178734 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.53, Z:0.16 [[ 0.99992665 -0.01015901 -0.00659425 -1.09548296] [ 0.01017142 0.99994656 0.00185013 -1.53106773] [ 0.0065751 -0.00191707 0.99997655 0.15636638] [ 0. 0. 0. 1. ]] SLAMing on 54.961652532 meters 0.2720739813604418 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.53, Z:0.16 [[ 9.99904734e-01 -1.13796398e-02 -7.81193103e-03 -1.09224496e+00] [ 1.13860946e-02 9.99934870e-01 7.82304916e-04 -1.52938407e+00] [ 7.80251990e-03 -8.71177775e-04 9.99969180e-01 1.56040782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021652532 meters 0.2696913258087957 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.53, Z:0.16 [[ 0.99989392 -0.01146074 -0.00898878 -1.09089255] [ 0.01147589 0.99993281 0.00163618 -1.53152139] [ 0.00896942 -0.00173916 0.99995826 0.15852337] [ 0. 0. 0. 1. ]] SLAMing on 55.081652532 meters 0.268582302507058 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.53, Z:0.16 [[ 9.99893279e-01 -1.15939427e-02 -8.88880127e-03 -1.09097354e+00] [ 1.16069640e-02 9.99931636e-01 1.41472976e-03 -1.53090097e+00] [ 8.87179130e-03 -1.51775077e-03 9.99959493e-01 1.58327433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141652532 meters 0.26967875484127174 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.53, Z:0.16 [[ 0.99992981 -0.00821615 -0.00853641 -1.09100773] [ 0.00825099 0.99995774 0.00405409 -1.52616529] [ 0.00850274 -0.00412424 0.99995535 0.15702967] [ 0. 0. 0. 1. ]] SLAMing on 55.201652532 meters 0.2699449049092358 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.52, Z:0.17 [[ 0.99994443 -0.00289148 -0.01013806 -1.08489907] [ 0.0028747 0.99999447 -0.00166935 -1.51844515] [ 0.01014284 0.00164011 0.99994722 0.16707882] [ 0. 0. 0. 1. ]] SLAMing on 55.261652532 meters 0.2761993179455809 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.52, Z:0.17 [[ 9.99944489e-01 9.10857478e-04 -1.04971472e-02 -1.08324921e+00] [-8.91189371e-04 9.99997839e-01 1.87818739e-03 -1.51649282e+00] [ 1.04988353e-02 -1.86872819e-03 9.99943140e-01 1.66144477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321652532 meters 0.27101006445731485 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.52, Z:0.17 [[ 9.99938998e-01 9.70800712e-04 -1.10025887e-02 -1.08201187e+00] [-9.46897846e-04 9.99997181e-01 2.17747761e-03 -1.51754016e+00] [ 1.10046716e-02 -2.16692645e-03 9.99937099e-01 1.66287411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381652532 meters 0.26911388763405303 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.52, Z:0.17 [[ 0.99975985 -0.01336882 -0.01736445 -1.06827002] [ 0.01327499 0.99989671 -0.00550798 -1.5163139 ] [ 0.01743629 0.00527615 0.99983406 0.1732642 ] [ 0. 0. 0. 1. ]] SLAMing on 55.441652532 meters 0.25914052053805237 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.52, Z:0.18 [[ 0.99968485 -0.01536117 -0.01985558 -1.06298669] [ 0.01525053 0.99986739 -0.00571177 -1.51746887] [ 0.01994069 0.00540717 0.99978654 0.17520963] [ 0. 0. 0. 1. ]] SLAMing on 55.501652532 meters 0.25270563097750287 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.52, Z:0.18 [[ 0.99954578 -0.02095524 -0.02165878 -1.05872109] [ 0.0207353 0.99973163 -0.0103299 -1.51778099] [ 0.02186944 0.00987611 0.99971205 0.17608396] [ 0. 0. 0. 1. ]] SLAMing on 55.561652532 meters 0.24666751862850417 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.52, Z:0.18 [[ 0.99938862 -0.02584748 -0.02354364 -1.05461034] [ 0.02552905 0.99957983 -0.01372673 -1.52108497] [ 0.02388855 0.01311729 0.99962857 0.17757333] [ 0. 0. 0. 1. ]] SLAMing on 55.621652532 meters 0.24553519797279016 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.52, Z:0.18 [[ 0.99922263 -0.03046871 -0.02501591 -1.0520486 ] [ 0.0300524 0.99940624 -0.01685276 -1.52450035] [ 0.02551453 0.01608787 0.99954499 0.17995902] [ 0. 0. 0. 1. ]] SLAMing on 55.681652532 meters 0.26363857219756565 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.53, Z:0.18 [[ 0.99904873 -0.03486122 -0.02619776 -1.04990739] [ 0.0343446 0.99921155 -0.01991807 -1.52808249] [ 0.02687147 0.01899937 0.99945833 0.18186769] [ 0. 0. 0. 1. ]] SLAMing on 55.741652531999996 meters 0.24426771423386306 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.53, Z:0.18 [[ 0.99899024 -0.03550931 -0.02752433 -1.0474063 ] [ 0.03496852 0.99919054 -0.01988619 -1.52872088] [ 0.0282082 0.01890362 0.99942331 0.18323189] [ 0. 0. 0. 1. ]] SLAMing on 55.801652532 meters 0.24811237752212278 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.53, Z:0.18 [[ 0.9987961 -0.04016763 -0.02815877 -1.04545698] [ 0.03948977 0.99892617 -0.02422932 -1.52874251] [ 0.02910177 0.02308817 0.99930977 0.18346158] [ 0. 0. 0. 1. ]] SLAMing on 55.861652532 meters 0.22796932392453637 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.53, Z:0.18 [[ 0.99858165 -0.04474495 -0.02885434 -1.04370611] [ 0.04392977 0.99863393 -0.02829229 -1.52965659] [ 0.03008086 0.0269846 0.99918315 0.18423913] [ 0. 0. 0. 1. ]] SLAMing on 55.921652531999996 meters 0.22570108470585631 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.53, Z:0.19 [[ 0.99875039 -0.04037147 -0.02945833 -1.04318031] [ 0.03968039 0.99893182 -0.0236787 -1.53042596] [ 0.03038281 0.0224802 0.99928551 0.18508191] [ 0. 0. 0. 1. ]] SLAMing on 55.981652532 meters 0.23719205628703507 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.52, Z:0.19 [[ 0.9980016 -0.0529126 -0.03454086 -1.03003138] [ 0.05180671 0.99813906 -0.03216337 -1.52204134] [ 0.03617842 0.03030965 0.9988856 0.188459 ] [ 0. 0. 0. 1. ]] SLAMing on 56.041652532 meters 0.22811373494310866 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.52, Z:0.19 [[ 0.99792423 -0.0537033 -0.03554144 -1.02730129] [ 0.05254054 0.99807737 -0.03287925 -1.52084766] [ 0.03723884 0.03094364 0.99882719 0.18818253] [ 0. 0. 0. 1. ]] SLAMing on 56.101652532 meters 0.2236473910125693 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.52, Z:0.19 [[ 0.99835145 -0.04446315 -0.03629617 -1.02725083] [ 0.04362276 0.99876866 -0.02362648 -1.52254673] [ 0.03730198 0.02200419 0.99906175 0.18922467] [ 0. 0. 0. 1. ]] SLAMing on 56.161652532 meters 0.22359814918098658 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.53, Z:0.19 [[ 0.99807327 -0.04924587 -0.03774388 -1.02414722] [ 0.04825474 0.99847718 -0.02673574 -1.52650947] [ 0.03900303 0.0248629 0.99892973 0.19127322] [ 0. 0. 0. 1. ]] SLAMing on 56.221652532 meters 0.23545663524548588 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.53, Z:0.19 [[ 0.99801876 -0.04935959 -0.03901519 -1.02106438] [ 0.04835699 0.99848546 -0.02623724 -1.52874161] [ 0.04025116 0.0242986 0.9988941 0.19158197] [ 0. 0. 0. 1. ]] SLAMing on 56.281652532 meters 0.23691136365033302 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.53, Z:0.19 [[ 0.99820978 -0.04486573 -0.03955131 -1.02040113] [ 0.04402701 0.99879185 -0.02182811 -1.52894321] [ 0.04048286 0.02004771 0.99897909 0.19186364] [ 0. 0. 0. 1. ]] SLAMing on 56.341652532 meters 0.21845823998793507 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.52, Z:0.19 [[ 0.99906462 -0.03599234 -0.02396746 -1.02695413] [ 0.03564227 0.99925388 -0.01487657 -1.52109688] [ 0.02448502 0.0140084 0.99960205 0.18793189] [ 0. 0. 0. 1. ]] SLAMing on 56.401652532 meters 0.22920994056518051 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.52, Z:0.19 [[ 0.99953243 -0.02400511 -0.01893875 -1.03192435] [ 0.02358848 0.99948133 -0.02192376 -1.51781575] [ 0.01945521 0.02146678 0.99958025 0.18946822] [ 0. 0. 0. 1. ]] SLAMing on 56.461652532 meters 0.25536444836521904 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.53, Z:0.18 [[ 0.9999161 -0.00436227 -0.01219709 -1.05121592] [ 0.00423702 0.99993823 -0.01027553 -1.52549886] [ 0.01224117 0.01022299 0.99987281 0.1846923 ] [ 0. 0. 0. 1. ]] SLAMing on 56.521652532 meters 0.25263274612931325 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.52, Z:0.18 [[ 0.99993375 0.00404554 -0.01077658 -1.05377602] [-0.00408324 0.99998561 -0.00347886 -1.52035199] [ 0.01076235 0.00352263 0.99993588 0.18293386] [ 0. 0. 0. 1. ]] SLAMing on 56.581652532 meters 0.2732999737764316 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.53, Z:0.18 [[ 0.99948783 0.03184574 -0.00315018 -1.07542833] [-0.03179271 0.9993719 0.01565343 -1.52664418] [ 0.0036467 -0.01554526 0.99987252 0.17965988] [ 0. 0. 0. 1. ]] SLAMing on 56.641652532 meters 0.275852063080807 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.53, Z:0.17 [[ 0.99878138 0.04913704 0.00461526 -1.09388312] [-0.04923783 0.99847127 0.02511499 -1.53168846] [-0.00337413 -0.02531163 0.99967392 0.17407062] [ 0. 0. 0. 1. ]] SLAMing on 56.701652532 meters 0.30623040225000625 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.54, Z:0.17 [[ 0.99658433 0.08080277 0.01704639 -1.12293721] [-0.08148807 0.99568888 0.04430961 -1.54448358] [-0.01339256 -0.04554734 0.9988724 0.16617812] [ 0. 0. 0. 1. ]] SLAMing on 56.761652532 meters 0.3325371360626764 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.56, Z:0.16 [[ 0.99387525 0.10651078 0.02945234 -1.15139193] [-0.1080804 0.99243947 0.05815942 -1.56392588] [-0.02303506 -0.06098643 0.99787276 0.159069 ] [ 0. 0. 0. 1. ]] SLAMing on 56.821652532 meters 0.350936628462213 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.58, Z:0.16 [[ 0.99204247 0.1205905 0.03618927 -1.16800752] [-0.12280006 0.99018304 0.06676592 -1.57786283] [-0.02778267 -0.07067868 0.99711215 0.15719516] [ 0. 0. 0. 1. ]] SLAMing on 56.881652532 meters 0.3796398374949278 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.61, Z:0.16 [[ 0.98846496 0.1466124 0.03797145 -1.19299129] [-0.14897168 0.98640529 0.0693689 -1.60642506] [-0.0272849 -0.0742254 0.99686816 0.1604776 ] [ 0. 0. 0. 1. ]] SLAMing on 56.941652532 meters 0.3838399956996187 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.62, Z:0.16 [[ 0.98734212 0.1526509 0.04304919 -1.20893944] [-0.15541762 0.98532126 0.07062133 -1.62193375] [-0.03163687 -0.07641802 0.99657383 0.16026081] [ 0. 0. 0. 1. ]] SLAMing on 57.001652532 meters 0.3819857420907689 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.63, Z:0.16 [[ 0.98784909 0.14926107 0.04330478 -1.21318876] [-0.15197081 0.98603958 0.06805018 -1.6315226 ] [-0.03254298 -0.07380437 0.99674163 0.1625947 ] [ 0. 0. 0. 1. ]] SLAMing on 57.061652532 meters 0.3789817147253325 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.66, Z:0.17 [[ 0.98803687 0.14594063 0.04984443 -1.23512898] [-0.1491625 0.9864329 0.06856158 -1.6623464 ] [-0.03916227 -0.07517629 0.99640094 0.16915991] [ 0. 0. 0. 1. ]] SLAMing on 57.121652532 meters 0.37301404710386316 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.67, Z:0.17 [[ 0.98891844 0.13967359 0.05031515 -1.24114621] [-0.14272904 0.98773267 0.06334496 -1.67073791] [-0.04085029 -0.06982443 0.99672253 0.17268018] [ 0. 0. 0. 1. ]] SLAMing on 57.181652532 meters 0.36622765633420407 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.69, Z:0.18 [[ 0.98972018 0.13356174 0.0511392 -1.25054097] [-0.13650537 0.98886938 0.05919151 -1.6865013 ] [-0.04266427 -0.0655638 0.99693588 0.18001109] [ 0. 0. 0. 1. ]] SLAMing on 57.241652531999996 meters 0.3642060999413068 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.69, Z:0.18 [[ 0.99084239 0.12526183 0.05040662 -1.25434757] [-0.1278381 0.99045111 0.05161409 -1.69437426] [-0.04346002 -0.05758532 0.99739418 0.18365523] [ 0. 0. 0. 1. ]] SLAMing on 57.301652532 meters 0.36228459216453857 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.70, Z:0.18 [[ 0.99134543 0.12166355 0.04931746 -1.25380303] [-0.12405324 0.99108025 0.04869009 -1.69859733] [-0.04295375 -0.05438669 0.99759564 0.18487017] [ 0. 0. 0. 1. ]] SLAMing on 57.361652532 meters 0.3607260447202837 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.72, Z:0.18 [[ 0.9924845 0.11134636 0.05075923 -1.26753523] [-0.11400897 0.99206611 0.05297921 -1.71599892] [-0.04445747 -0.05836805 0.99730472 0.18347139] [ 0. 0. 0. 1. ]] SLAMing on 57.421652531999996 meters 0.34323359778935025 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.73, Z:0.18 [[ 0.99340908 0.10204992 0.05219402 -1.27927105] [-0.10497824 0.99284945 0.05682898 -1.73098879] [-0.04602141 -0.06193366 0.99701868 0.17901447] [ 0. 0. 0. 1. ]] SLAMing on 57.481652532 meters 0.3358623785999777 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.74, Z:0.18 [[ 0.99421148 0.0945139 0.05109449 -1.29036427] [-0.09768431 0.9931837 0.06359183 -1.74386824] [-0.0447359 -0.06821485 0.99666716 0.17715075] [ 0. 0. 0. 1. ]] SLAMing on 57.541652532 meters 0.32771482704365723 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.75, Z:0.18 [[ 0.99502995 0.08601291 0.05017146 -1.29300405] [-0.08879176 0.99447078 0.0560704 -1.7522906 ] [-0.04507127 -0.06024654 0.99716545 0.18132593] [ 0. 0. 0. 1. ]] SLAMing on 57.601652531999996 meters 0.3382841743604109 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.19 [[ 0.99564069 0.0788498 0.04982295 -1.29612968] [-0.08132769 0.99544083 0.04983336 -1.75862511] [-0.04566644 -0.05366811 0.99751407 0.1851008 ] [ 0. 0. 0. 1. ]] SLAMing on 57.661652532 meters 0.3291639562120297 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.19 [[ 0.99617647 0.07193516 0.04957596 -1.29741084] [-0.07410322 0.99630681 0.04337578 -1.76445739] [-0.04627262 -0.04688367 0.99782802 0.18609726] [ 0. 0. 0. 1. ]] SLAMing on 57.721652532 meters 0.3123390300916462 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.78, Z:0.19 [[ 0.99752946 0.05888279 0.03831172 -1.30022737] [-0.06045781 0.99731433 0.04133981 -1.77848785] [-0.03577462 -0.04355393 0.99841035 0.185637 ] [ 0. 0. 0. 1. ]] SLAMing on 57.781652532 meters 0.3030972793849434 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.78, Z:0.19 [[ 0.99798649 0.05104537 0.03764766 -1.30049965] [-0.05232746 0.99805463 0.03389393 -1.78224774] [-0.03584429 -0.03579569 0.9987161 0.1868203 ] [ 0. 0. 0. 1. ]] SLAMing on 57.841652532 meters 0.28840871165906706 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.79, Z:0.19 [[ 0.99902178 0.03896032 0.02091854 -1.29393801] [-0.03945202 0.99894201 0.02363066 -1.79251817] [-0.01997575 -0.02443282 0.99950188 0.19078301] [ 0. 0. 0. 1. ]] SLAMing on 57.901652532 meters 0.2842927052508463 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.80, Z:0.19 [[ 0.99932026 0.03082568 0.02021881 -1.29337159] [-0.03114864 0.99938897 0.01585718 -1.79524646] [-0.01971764 -0.01647619 0.99966982 0.19143703] [ 0. 0. 0. 1. ]] SLAMing on 57.961652532 meters 0.270783648911794 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.80, Z:0.19 [[ 0.99959622 0.02189479 0.01811093 -1.29042053] [-0.02205147 0.99972073 0.0084973 -1.79878208] [-0.01791983 -0.00889324 0.99979988 0.19429227] [ 0. 0. 0. 1. ]] SLAMing on 58.021652532 meters 0.2681584061588968 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.79, Z:0.20 [[ 0.99982464 0.01308013 0.01340117 -1.27992195] [-0.01313111 0.99990685 0.00372313 -1.7949876 ] [-0.01335122 -0.00389845 0.99990327 0.19781278] [ 0. 0. 0. 1. ]] SLAMing on 58.081652532 meters 0.25801677675881 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.79, Z:0.20 [[ 9.99966821e-01 3.42791702e-03 7.38959950e-03 -1.26703200e+00] [-3.42611012e-03 9.99994098e-01 -2.57165285e-04 -1.79330575e+00] [-7.39043743e-03 2.31839171e-04 9.99972663e-01 2.03488132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141652532 meters 0.25936015915268423 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.79, Z:0.21 [[ 9.99961154e-01 -8.63047230e-03 1.79024667e-03 -1.25154949e+00] [ 8.64307210e-03 9.99937057e-01 -7.15391768e-03 -1.78714359e+00] [-1.72839230e-03 7.16911301e-03 9.99972808e-01 2.05583353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.201652532 meters 0.2486484954255282 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.79, Z:0.21 [[ 9.99958727e-01 -9.07475819e-03 4.38645009e-04 -1.24858837e+00] [ 9.07763171e-03 9.99933835e-01 -7.06560737e-03 -1.78790637e+00] [-3.74497307e-04 7.06929762e-03 9.99974942e-01 2.06275925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261652532 meters 0.24583148679345926 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.79, Z:0.21 [[ 9.99957214e-01 -9.20408114e-03 -9.24197313e-04 -1.24657828e+00] [ 9.19831053e-03 9.99939300e-01 -6.06524372e-03 -1.79067052e+00] [ 9.79966209e-04 6.05648316e-03 9.99981179e-01 2.08549741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321652532 meters 0.23334197059339323 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.79, Z:0.22 [[ 0.9998161 -0.01788208 -0.00692829 -1.23542068] [ 0.01782258 0.99980455 -0.00855628 -1.79042185] [ 0.00707994 0.00843122 0.99993939 0.21720266] [ 0. 0. 0. 1. ]] SLAMing on 58.381652532 meters 0.23082232201328806 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.79, Z:0.22 [[ 0.99964243 -0.02413721 -0.01150706 -1.22741528] [ 0.02401651 0.99965627 -0.01051413 -1.79301828] [ 0.01175688 0.01023401 0.99987851 0.22391434] [ 0. 0. 0. 1. ]] SLAMing on 58.441652532 meters 0.2730837046375849 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.79, Z:0.23 [[ 0.99881142 -0.04514921 -0.01836545 -1.20937411] [ 0.04471058 0.99872045 -0.02363123 -1.79040277] [ 0.01940888 0.02278202 0.99955204 0.23014277] [ 0. 0. 0. 1. ]] SLAMing on 58.501652532 meters 0.28805840940181765 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.80, Z:0.24 [[ 0.99707727 -0.07225101 -0.02483353 -1.1909188 ] [ 0.07119282 0.99661387 -0.0411385 -1.7973994 ] [ 0.02772174 0.03925029 0.99884479 0.23763719] [ 0. 0. 0. 1. ]] SLAMing on 58.561652532 meters 0.233359991799868 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.80, Z:0.24 [[ 0.99526022 -0.09222275 -0.03085559 -1.17307979] [ 0.09052034 0.99450212 -0.05264596 -1.79871312] [ 0.03554111 0.04960337 0.99813643 0.24412872] [ 0. 0. 0. 1. ]] SLAMing on 58.621652532 meters 0.2656876007316326 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.81, Z:0.25 [[ 0.98784915 -0.14980847 -0.04136995 -1.1375739 ] [ 0.14717456 0.98724573 -0.06070842 -1.80705904] [ 0.04993694 0.05388216 0.99729786 0.24562101] [ 0. 0. 0. 1. ]] SLAMing on 58.681652532 meters 0.28132151891599155 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.83, Z:0.25 [[ 0.98108902 -0.18660426 -0.05141195 -1.11729431] [ 0.18296167 0.98074684 -0.06826911 -1.82649773] [ 0.06316141 0.05757166 0.99634138 0.25317895] [ 0. 0. 0. 1. ]] SLAMing on 58.741652531999996 meters 0.350511599860206 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.85, Z:0.26 [[ 0.96711931 -0.24788673 -0.05685431 -1.08711402] [ 0.24425689 0.96760526 -0.06386415 -1.8539279 ] [ 0.07084361 0.04787719 0.99633777 0.25663725] [ 0. 0. 0. 1. ]] SLAMing on 58.801652532 meters 0.35330431654818256 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.90, Z:0.26 [[ 0.94887257 -0.30888277 -0.06505605 -1.06154328] [ 0.30455771 0.95002396 -0.0685498 -1.89823854] [ 0.08297866 0.04523171 0.9955243 0.2598308 ] [ 0. 0. 0. 1. ]] SLAMing on 58.861652532 meters 0.3438828564125785 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.96, Z:0.26 [[ 0.93324368 -0.3517632 -0.07293066 -1.06298429] [ 0.34737204 0.9353702 -0.0664473 -1.96067338] [ 0.09159088 0.03667746 0.99512104 0.263211 ] [ 0. 0. 0. 1. ]] SLAMing on 58.921652531999996 meters 0.32785952392877404 Centerline is valid? [False, False] Translation: X:-1.06, Y:-2.05, Z:0.27 [[ 0.90673316 -0.41391652 -0.0806727 -1.0627955 ] [ 0.41055325 0.91015471 -0.05535731 -2.04776812] [ 0.09633795 0.01707387 0.99520223 0.26682274] [ 0. 0. 0. 1. ]] SLAMing on 58.981652532 meters 0.3195980500760552 Centerline is valid? [False, False] Translation: X:-1.09, Y:-2.14, Z:0.27 [[ 8.87153928e-01 -4.52348913e-01 -9.13146748e-02 -1.08560904e+00] [ 4.49758011e-01 8.91839129e-01 -4.83807737e-02 -2.13755358e+00] [ 1.03322990e-01 1.85168686e-03 9.94646134e-01 2.69872269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041652532 meters 0.2680561346662666 Centerline is valid? [False, False] Translation: X:-1.12, Y:-2.26, Z:0.27 [[ 0.85899397 -0.5022877 -0.09917882 -1.11911253] [ 0.50194034 0.86437306 -0.03025066 -2.25731822] [ 0.10092203 -0.02379671 0.9946097 0.27181053] [ 0. 0. 0. 1. ]] SLAMing on 59.101652531999996 meters 0.22769387106685507 Centerline is valid? [False, False] Translation: X:-1.18, Y:-2.37, Z:0.27 [[ 0.84494588 -0.52629635 -0.09528176 -1.17716618] [ 0.52680299 0.84970759 -0.02180894 -2.37379414] [ 0.0924396 -0.03176734 0.99521141 0.26898382] [ 0. 0. 0. 1. ]] SLAMing on 59.161652532 meters 0.21441647704168518 Centerline is valid? [False, False] Translation: X:-1.22, Y:-2.48, Z:0.27 [[ 0.82394747 -0.55847303 -0.0960127 -1.21676328] [ 0.55953622 0.82861044 -0.01799891 -2.47829522] [ 0.08960904 -0.03889243 0.99521736 0.26667539] [ 0. 0. 0. 1. ]] SLAMing on 59.221652532 meters 0.2137477499253809 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.58, Z:0.27 [[ 0.81810111 -0.5666541 -0.09804951 -1.27698849] [ 0.5668224 0.82333494 -0.02884349 -2.58045437] [ 0.09707187 -0.03197977 0.99476346 0.267987 ] [ 0. 0. 0. 1. ]] SLAMing on 59.281652532 meters 0.19739742513641562 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.68, Z:0.27 [[ 0.8095936 -0.57847847 -0.09960352 -1.33111315] [ 0.57749706 0.81534375 -0.04137285 -2.68232844] [ 0.10514441 -0.02402555 0.9941667 0.26773542] [ 0. 0. 0. 1. ]] SLAMing on 59.341652532 meters 0.1787355483467521 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.78, Z:0.27 [[ 0.80555602 -0.58366481 -0.10205334 -1.39615694] [ 0.58183861 0.81176903 -0.04994868 -2.78314139] [ 0.11199703 -0.01914211 0.99352415 0.26594212] [ 0. 0. 0. 1. ]] SLAMing on 59.401652532 meters 0.17903255779979316 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.88, Z:0.26 [[ 0.80414039 -0.58565399 -0.10182162 -1.47425606] [ 0.58329281 0.81041536 -0.05473974 -2.88322476] [ 0.11457636 -0.01537338 0.99329548 0.26311285] [ 0. 0. 0. 1. ]] SLAMing on 59.461652532 meters 0.18456507477918568 Centerline is valid? [False, False] Translation: X:-1.57, Y:-3.00, Z:0.26 [[ 0.80359252 -0.5877523 -0.09373525 -1.56756263] [ 0.58529586 0.80896813 -0.05476602 -3.00377866] [ 0.10801768 -0.01085329 0.99408973 0.25739845] [ 0. 0. 0. 1. ]] SLAMing on 59.521652532 meters 0.17742070311248842 Centerline is valid? [False, False] Translation: X:-1.66, Y:-3.11, Z:0.26 [[ 0.80525408 -0.58590079 -0.09102817 -1.65919059] [ 0.58314911 0.81035205 -0.05715488 -3.11045124] [ 0.10725196 -0.0070588 0.99420682 0.25524363] [ 0. 0. 0. 1. ]] SLAMing on 59.581652532 meters 0.16951827732480682 Centerline is valid? [False, False] Translation: X:-1.75, Y:-3.21, Z:0.25 [[ 0.80665935 -0.58398016 -0.09092788 -1.74564921] [ 0.58126467 0.81173674 -0.05669957 -3.21110535] [ 0.10692092 -0.00711593 0.99424206 0.25356668] [ 0. 0. 0. 1. ]] SLAMing on 59.641652532 meters 0.1486529461103946 Centerline is valid? [False, False] Translation: X:-1.84, Y:-3.31, Z:0.25 [[ 0.80775531 -0.58273063 -0.0891985 -1.83511878] [ 0.58002243 0.81264219 -0.05645052 -3.31176376] [ 0.10538191 -0.00613893 0.99441287 0.25196808] [ 0. 0. 0. 1. ]] SLAMing on 59.701652532 meters 0.15095609170906277 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.40, Z:0.25 [[ 8.14194724e-01 -5.72927562e-01 -9.40263859e-02 -1.92184131e+00] [ 5.69539304e-01 8.19601081e-01 -6.22820139e-02 -3.40013281e+00] [ 1.12747210e-01 -2.84203529e-03 9.93619640e-01 2.54880957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761652532 meters 0.1485867686597698 Centerline is valid? [False, False] Translation: X:-2.03, Y:-3.50, Z:0.25 [[ 0.82078646 -0.56355826 -0.09333639 -2.02713693] [ 0.56055344 0.8260642 -0.05829054 -3.49848231] [ 0.10995196 -0.00447595 0.99392682 0.25146772] [ 0. 0. 0. 1. ]] SLAMing on 59.821652532 meters 0.15191895423270468 Centerline is valid? [False, False] Translation: X:-2.13, Y:-3.58, Z:0.25 [[ 8.31604039e-01 -5.47727805e-01 -9.18094434e-02 -2.12771124e+00] [ 5.44822725e-01 8.36650854e-01 -5.64229203e-02 -3.58498949e+00] [ 1.07716852e-01 -3.09834274e-03 9.94176785e-01 2.53018801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.881652532 meters 0.16752329129577115 Centerline is valid? [False, False] Translation: X:-2.23, Y:-3.67, Z:0.26 [[ 8.42623117e-01 -5.30691631e-01 -9.13929718e-02 -2.23043330e+00] [ 5.28051258e-01 8.47557310e-01 -5.29950427e-02 -3.66902765e+00] [ 1.05584807e-01 -3.60532561e-03 9.94403766e-01 2.56173088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941652532 meters 0.15730518230811 Centerline is valid? [False, False] Translation: X:-2.33, Y:-3.75, Z:0.26 [[ 0.85179782 -0.51661712 -0.08687481 -2.32667056] [ 0.51440875 0.85620761 -0.04787649 -3.75082553] [ 0.09911669 -0.00390808 0.99506814 0.25743628] [ 0. 0. 0. 1. ]] SLAMing on 60.001652532 meters 0.17312480579656914 Centerline is valid? [False, False] Translation: X:-2.43, Y:-3.83, Z:0.26 [[ 0.86338555 -0.49789921 -0.0816196 -2.43210317] [ 0.4962419 0.86721947 -0.04091913 -3.83300927] [ 0.09115571 -0.00517408 0.99582321 0.25971924] [ 0. 0. 0. 1. ]] SLAMing on 60.061652532 meters 0.17254350833045493 Centerline is valid? [False, False] Translation: X:-2.52, Y:-3.91, Z:0.26 [[ 0.86993955 -0.48673188 -0.07935522 -2.51947469] [ 0.48527433 0.87353456 -0.0380288 -3.9071238 ] [ 0.08782935 -0.00542629 0.99612076 0.26224609] [ 0. 0. 0. 1. ]] SLAMing on 60.121652532 meters 0.17679483948344862 Centerline is valid? [False, False] Translation: X:-2.60, Y:-3.97, Z:0.27 [[ 8.78216674e-01 -4.71601803e-01 -7.95437803e-02 -2.59983977e+00] [ 4.69677211e-01 8.81811624e-01 -4.25626408e-02 -3.96919279e+00] [ 9.02152482e-02 1.93199883e-05 9.95922290e-01 2.69818613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181652532 meters 0.18923755674929957 Centerline is valid? [False, False] Translation: X:-2.69, Y:-4.04, Z:0.27 [[ 8.85310377e-01 -4.58604059e-01 -7.68625651e-02 -2.68826395e+00] [ 4.57197389e-01 8.88634818e-01 -3.60375952e-02 -4.03933148e+00] [ 8.48297390e-02 -3.23690711e-03 9.96390204e-01 2.72035013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.241652531999996 meters 0.18369168318908793 Centerline is valid? [False, False] Translation: X:-2.78, Y:-4.11, Z:0.28 [[ 0.88991092 -0.4509098 -0.06883971 -2.77790217] [ 0.44992121 0.89255983 -0.03013058 -4.11224246] [ 0.07502974 -0.00415891 0.99717262 0.27640663] [ 0. 0. 0. 1. ]] SLAMing on 60.301652532 meters 0.1732304806826309 Centerline is valid? [False, False] Translation: X:-2.85, Y:-4.18, Z:0.28 [[ 0.89192908 -0.44728729 -0.06630682 -2.85371825] [ 0.44644749 0.89437748 -0.02781276 -4.17569827] [ 0.07174362 -0.0047955 0.99741158 0.28102345] [ 0. 0. 0. 1. ]] SLAMing on 60.361652532 meters 0.17633669514656303 Centerline is valid? [False, False] Translation: X:-2.93, Y:-4.23, Z:0.29 [[ 0.90025059 -0.42986252 -0.06904409 -2.92553113] [ 0.42897011 0.90288371 -0.02802952 -4.23265034] [ 0.07438763 -0.00438426 0.99721976 0.28836219] [ 0. 0. 0. 1. ]] SLAMing on 60.421652531999996 meters 0.17926821082834743 Centerline is valid? [False, False] Translation: X:-2.99, Y:-4.29, Z:0.30 [[ 9.07816721e-01 -4.12762475e-01 -7.41346100e-02 -2.99450190e+00] [ 4.11693368e-01 9.10832381e-01 -2.98821862e-02 -4.28970121e+00] [ 7.98584485e-02 -3.39317905e-03 9.96800439e-01 2.95531083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481652532 meters 0.18201132642532006 Centerline is valid? [False, False] Translation: X:-3.07, Y:-4.36, Z:0.30 [[ 9.10149344e-01 -4.10483317e-01 -5.59608561e-02 -3.07144352e+00] [ 4.09466553e-01 9.11861139e-01 -2.90930359e-02 -4.35938871e+00] [ 6.29707359e-02 3.56490868e-03 9.98009007e-01 2.97679779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541652532 meters 0.18088955819188612 Centerline is valid? [False, False] Translation: X:-3.15, Y:-4.43, Z:0.30 [[ 9.11194957e-01 -4.09213870e-01 -4.76209866e-02 -3.15109449e+00] [ 4.08803381e-01 9.12434783e-01 -1.85084245e-02 -4.42581351e+00] [ 5.10249486e-02 -2.60283725e-03 9.98693987e-01 2.98312822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.601652531999996 meters 0.16737357676836695 Centerline is valid? [False, False] Translation: X:-3.22, Y:-4.49, Z:0.30 [[ 0.91212935 -0.40712138 -0.04766797 -3.21921661] [ 0.40684519 0.91336048 -0.01579969 -4.48508157] [ 0.04997043 -0.00498212 0.99873827 0.30353311] [ 0. 0. 0. 1. ]] SLAMing on 60.661652532 meters 0.15734254970432032 Centerline is valid? [False, False] Translation: X:-3.28, Y:-4.54, Z:0.31 [[ 9.15930857e-01 -3.99224822e-01 -4.11121103e-02 -3.28316835e+00] [ 3.98870092e-01 9.16852560e-01 -1.68532962e-02 -4.53941490e+00] [ 4.44219977e-02 -9.61937192e-04 9.99012393e-01 3.09426524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721652532 meters 0.16492018721460136 Centerline is valid? [False, False] Translation: X:-3.36, Y:-4.60, Z:0.32 [[ 0.91797104 -0.39450844 -0.04113718 -3.35567866] [ 0.39435351 0.91887838 -0.01215867 -4.59566181] [ 0.04259677 -0.00506128 0.99907953 0.31532959] [ 0. 0. 0. 1. ]] SLAMing on 60.781652532 meters 0.16276135807813016 Centerline is valid? [False, False] Translation: X:-3.43, Y:-4.65, Z:0.32 [[ 0.91866068 -0.3928934 -0.04119867 -3.42544586] [ 0.39281777 0.91955915 -0.01025481 -4.65204736] [ 0.04191366 -0.00676288 0.99909835 0.32145385] [ 0. 0. 0. 1. ]] SLAMing on 60.841652532 meters 0.1729861908463486 Centerline is valid? [False, False] Translation: X:-3.48, Y:-4.70, Z:0.33 [[ 9.21144614e-01 -3.86086829e-01 -4.92905676e-02 -3.48108753e+00] [ 3.85708740e-01 9.22457465e-01 -1.73491460e-02 -4.69791984e+00] [ 5.21667288e-02 -3.03073031e-03 9.98633790e-01 3.31096060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901652532 meters 0.17506025686864157 Centerline is valid? [False, False] Translation: X:-3.54, Y:-4.74, Z:0.34 [[ 9.26394504e-01 -3.71911380e-01 -5.89503925e-02 -3.54212973e+00] [ 3.71448284e-01 9.28258459e-01 -1.90369497e-02 -4.74370982e+00] [ 6.18012587e-02 -4.26129653e-03 9.98079378e-01 3.39152020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961652532 meters 0.1580183650703476 Centerline is valid? [False, False] Translation: X:-3.60, Y:-4.79, Z:0.35 [[ 9.29631440e-01 -3.62749988e-01 -6.47906737e-02 -3.59823408e+00] [ 3.62141433e-01 9.31879366e-01 -2.13173772e-02 -4.78616877e+00] [ 6.81099702e-02 -3.64608339e-03 9.97671157e-01 3.47655745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.021652532 meters 0.1625104816800044 Centerline is valid? [False, False] Translation: X:-3.66, Y:-4.83, Z:0.35 [[ 9.32081436e-01 -3.56667119e-01 -6.33463771e-02 -3.65525814e+00] [ 3.55926615e-01 9.34230878e-01 -2.29980878e-02 -4.82893441e+00] [ 6.73828032e-02 -1.11057091e-03 9.97726578e-01 3.53405329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081652532 meters 0.16117586984764457 Centerline is valid? [False, False] Translation: X:-3.71, Y:-4.87, Z:0.36 [[ 9.35440870e-01 -3.46542627e-01 -6.97035629e-02 -3.70761529e+00] [ 3.45755364e-01 9.38031720e-01 -2.34461146e-02 -4.86697900e+00] [ 7.35092312e-02 -2.16792693e-03 9.97292180e-01 3.59090922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141652532 meters 0.15747269839539607 Centerline is valid? [False, False] Translation: X:-3.75, Y:-4.89, Z:0.37 [[ 9.37727760e-01 -3.38453185e-01 -7.82054365e-02 -3.74528612e+00] [ 3.36872387e-01 9.40972012e-01 -3.29949618e-02 -4.89480436e+00] [ 8.47563769e-02 4.59503944e-03 9.96391109e-01 3.65905333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201652532 meters 0.1577509337537835 Centerline is valid? [False, False] Translation: X:-3.79, Y:-4.93, Z:0.37 [[ 0.93951535 -0.33343837 -0.07829286 -3.79454967] [ 0.3318366 0.94275835 -0.0330327 -4.93052976] [ 0.08482562 0.00505429 0.99638299 0.36874102] [ 0. 0. 0. 1. ]] SLAMing on 61.261652532 meters 0.15328327910459819 Centerline is valid? [False, False] Translation: X:-3.84, Y:-4.96, Z:0.37 [[ 9.41667209e-01 -3.27266578e-01 -7.84821965e-02 -3.84132798e+00] [ 3.25777245e-01 9.44923393e-01 -3.14478547e-02 -4.96350032e+00] [ 8.44514952e-02 4.04569982e-03 9.96419378e-01 3.69017957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321652532 meters 0.149371757817457 Centerline is valid? [False, False] Translation: X:-3.89, Y:-4.99, Z:0.37 [[ 9.44040191e-01 -3.20061925e-01 -7.96773625e-02 -3.88879616e+00] [ 3.18771394e-01 9.47394993e-01 -2.87667449e-02 -4.99352064e+00] [ 8.46930741e-02 1.75809951e-03 9.96405536e-01 3.70949593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.381652532 meters 0.1464437902459848 Centerline is valid? [False, False] Translation: X:-3.92, Y:-5.02, Z:0.38 [[ 0.94656677 -0.31075077 -0.08628618 -3.92125463] [ 0.30879608 0.95046606 -0.03548594 -5.01520686] [ 0.09303937 0.00694498 0.99563821 0.37683382] [ 0. 0. 0. 1. ]] SLAMing on 61.441652532 meters 0.14691148905440668 Centerline is valid? [False, False] Translation: X:-3.95, Y:-5.03, Z:0.38 [[ 0.94939107 -0.30047472 -0.09149613 -3.95118536] [ 0.2980319 0.95373378 -0.03960898 -5.03437129] [ 0.09916445 0.01033565 0.99501738 0.38266673] [ 0. 0. 0. 1. ]] SLAMing on 61.501652532 meters 0.1443482191575908 Centerline is valid? [False, False] Translation: X:-3.98, Y:-5.05, Z:0.39 [[ 0.95258292 -0.28789408 -0.09850271 -3.98213304] [ 0.28508985 0.95759087 -0.04175536 -5.05332787] [ 0.10634641 0.01169332 0.99426038 0.38900634] [ 0. 0. 0. 1. ]] SLAMing on 61.561652532 meters 0.14409981212087783 Centerline is valid? [False, False] Translation: X:-4.02, Y:-5.07, Z:0.39 [[ 0.95645284 -0.27540775 -0.0966878 -4.01579897] [ 0.27266724 0.96124466 -0.04075877 -5.0747899 ] [ 0.10416591 0.01262025 0.99447986 0.39364205] [ 0. 0. 0. 1. ]] SLAMing on 61.621652532 meters 0.1427677619891202 Centerline is valid? [False, False] Translation: X:-4.05, Y:-5.10, Z:0.39 [[ 0.96027707 -0.26584933 -0.08480614 -4.0545061 ] [ 0.26353876 0.9639168 -0.03757283 -5.09606131] [ 0.09173477 0.01373063 0.99568881 0.39268869] [ 0. 0. 0. 1. ]] SLAMing on 61.681652532 meters 0.15342141467448045 Centerline is valid? [False, False] Translation: X:-4.10, Y:-5.12, Z:0.39 [[ 0.96108516 -0.26336842 -0.08338096 -4.09516919] [ 0.26151176 0.96464778 -0.03265364 -5.11782187] [ 0.0890332 0.00957783 0.99598261 0.39475662] [ 0. 0. 0. 1. ]] SLAMing on 61.741652531999996 meters 0.1365925714380325 Centerline is valid? [False, False] Translation: X:-4.12, Y:-5.14, Z:0.40 [[ 0.96381293 -0.25511579 -0.07733409 -4.12320798] [ 0.25347753 0.96686117 -0.03047337 -5.13787797] [ 0.08254556 0.00976817 0.99653942 0.39802031] [ 0. 0. 0. 1. ]] SLAMing on 61.801652532 meters 0.15121743622911715 Centerline is valid? [False, False] Translation: X:-4.16, Y:-5.16, Z:0.39 [[ 0.96596529 -0.25132252 -0.06122128 -4.15959671] [ 0.25040481 0.96788314 -0.02235294 -5.1579104 ] [ 0.06487284 0.00626206 0.99787389 0.39232446] [ 0. 0. 0. 1. ]] SLAMing on 61.861652532 meters 0.1453245022496694 Centerline is valid? [False, False] Translation: X:-4.18, Y:-5.17, Z:0.40 [[ 0.96687883 -0.24509324 -0.0712364 -4.18037274] [ 0.24381126 0.96946599 -0.02630145 -5.17349011] [ 0.07550757 0.00806208 0.99711264 0.40020634] [ 0. 0. 0. 1. ]] SLAMing on 61.921652531999996 meters 0.1421445398270665 Centerline is valid? [False, False] Translation: X:-4.20, Y:-5.19, Z:0.41 [[ 0.96907011 -0.23390197 -0.0786956 -4.20450089] [ 0.23243714 0.97222497 -0.02741514 -5.18706411] [ 0.08292228 0.00827542 0.99652166 0.40610918] [ 0. 0. 0. 1. ]] SLAMing on 61.981652532 meters 0.14356999188853492 Centerline is valid? [False, False] Translation: X:-4.23, Y:-5.20, Z:0.41 [[ 0.97220169 -0.22203073 -0.07433857 -4.23159445] [ 0.2208807 0.97501878 -0.02345409 -5.19999345] [ 0.07768903 0.00638215 0.99695721 0.40746599] [ 0. 0. 0. 1. ]] SLAMing on 62.041652532 meters 0.14189847424153887 Centerline is valid? [False, False] Translation: X:-4.25, Y:-5.21, Z:0.41 [[ 0.97383209 -0.21643544 -0.06933075 -4.2547787 ] [ 0.2152971 0.97626385 -0.02358073 -5.21186265] [ 0.07278881 0.00803696 0.99731499 0.40961635] [ 0. 0. 0. 1. ]] SLAMing on 62.101652531999996 meters 0.14554961153344845 Centerline is valid? [False, False] Translation: X:-4.28, Y:-5.23, Z:0.41 [[ 0.97592865 -0.20777318 -0.06628409 -4.28360786] [ 0.20658651 0.97812512 -0.02435687 -5.22644967] [ 0.06989484 0.01007716 0.99750346 0.41359434] [ 0. 0. 0. 1. ]] SLAMing on 62.161652532 meters 0.14558686181964392 Centerline is valid? [False, False] Translation: X:-4.31, Y:-5.23, Z:0.42 [[ 0.97828595 -0.19773783 -0.06209957 -4.30740158] [ 0.19678676 0.98021846 -0.02113615 -5.23485276] [ 0.06505056 0.00845682 0.99784613 0.41521476] [ 0. 0. 0. 1. ]] SLAMing on 62.221652532 meters 0.154782392181682 Centerline is valid? [False, False] Translation: X:-4.34, Y:-5.24, Z:0.42 [[ 0.98097679 -0.18198783 -0.06756458 -4.33880468] [ 0.18104433 0.98327387 -0.01988597 -5.24355156] [ 0.07005349 0.00727549 0.9975167 0.42064702] [ 0. 0. 0. 1. ]] SLAMing on 62.281652532 meters 0.14841024486216212 Centerline is valid? [False, False] Translation: X:-4.36, Y:-5.25, Z:0.42 [[ 0.9825215 -0.17545023 -0.06219896 -4.36450167] [ 0.17451086 0.98444661 -0.02026899 -5.25400139] [ 0.06478776 0.00906033 0.99785793 0.42287977] [ 0. 0. 0. 1. ]] SLAMing on 62.341652532 meters 0.1470696370336464 Centerline is valid? [False, False] Translation: X:-4.38, Y:-5.26, Z:0.43 [[ 0.9835294 -0.17129006 -0.05770292 -4.38487457] [ 0.17035201 0.98516292 -0.02083785 -5.26307032] [ 0.06041609 0.01066482 0.9981163 0.42551921] [ 0. 0. 0. 1. ]] SLAMing on 62.401652532 meters 0.1469694956439175 Centerline is valid? [False, False] Translation: X:-4.39, Y:-5.27, Z:0.43 [[ 0.98437152 -0.16708175 -0.05564538 -4.39499482] [ 0.16631753 0.98590565 -0.0181255 -5.26972865] [ 0.05788954 0.00858742 0.99828606 0.42781774] [ 0. 0. 0. 1. ]] SLAMing on 62.461652532 meters 0.14700933607370917 Centerline is valid? [False, False] Translation: X:-4.41, Y:-5.28, Z:0.43 [[ 0.9845451 -0.16701636 -0.05269228 -4.4059817 ] [ 0.16618848 0.98589618 -0.01975126 -5.27625449] [ 0.0552479 0.01068915 0.99841545 0.42973596] [ 0. 0. 0. 1. ]] SLAMing on 62.521652532 meters 0.143019861375194 Centerline is valid? [False, False] Translation: X:-4.42, Y:-5.28, Z:0.43 [[ 0.98525086 -0.16404903 -0.04866889 -4.42372521] [ 0.16319507 0.98636909 -0.02105667 -5.28373996] [ 0.05145981 0.01280358 0.99859299 0.43149874] [ 0. 0. 0. 1. ]] SLAMing on 62.581652532 meters 0.14219961598454692 Centerline is valid? [False, False] Translation: X:-4.43, Y:-5.29, Z:0.43 [[ 0.98613113 -0.15936602 -0.04634503 -4.434718 ] [ 0.1586718 0.9871615 -0.0183148 -5.2910124 ] [ 0.04866879 0.01070715 0.99875758 0.43344994] [ 0. 0. 0. 1. ]] SLAMing on 62.641652532 meters 0.13874640568294527 Centerline is valid? [False, False] Translation: X:-4.44, Y:-5.30, Z:0.43 [[ 0.98656137 -0.1570397 -0.04511312 -4.43998177] [ 0.15643722 0.98754822 -0.01661053 -5.29582151] [ 0.04715989 0.00932993 0.99884378 0.43450877] [ 0. 0. 0. 1. ]] SLAMing on 62.701652532 meters 0.15224033464139536 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.30, Z:0.43 [[ 0.98765235 -0.15132294 -0.04054875 -4.46367393] [ 0.15065232 0.98840169 -0.01913079 -5.30400372] [ 0.04297338 0.01278581 0.9989944 0.43400556] [ 0. 0. 0. 1. ]] SLAMing on 62.761652532 meters 0.14568677890127923 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.31, Z:0.43 [[ 0.9885415 -0.14629429 -0.03719783 -4.47682112] [ 0.14572783 0.98916951 -0.0175239 -5.30934831] [ 0.03935861 0.01190235 0.99915426 0.43352151] [ 0. 0. 0. 1. ]] SLAMing on 62.821652532 meters 0.1494959050817832 Centerline is valid? [False, False] Translation: X:-4.50, Y:-5.31, Z:0.43 [[ 0.98985289 -0.13739056 -0.03626425 -4.49798873] [ 0.1367559 0.99041384 -0.01944853 -5.31423912] [ 0.03858866 0.01429183 0.99915297 0.43218662] [ 0. 0. 0. 1. ]] SLAMing on 62.881652532 meters 0.14877894384777096 Centerline is valid? [False, False] Translation: X:-4.51, Y:-5.32, Z:0.43 [[ 0.99168874 -0.12245734 -0.03946703 -4.5086008 ] [ 0.12138442 0.99219544 -0.02853134 -5.31635491] [ 0.04265288 0.02350352 0.99881345 0.43355493] [ 0. 0. 0. 1. ]] SLAMing on 62.941652532 meters 0.16046339509470714 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.32, Z:0.44 [[ 0.99276843 -0.11475336 -0.03524921 -4.52824216] [ 0.11387321 0.99315388 -0.02604358 -5.31956401] [ 0.03799648 0.0218413 0.99903915 0.43591286] [ 0. 0. 0. 1. ]] SLAMing on 63.001652532 meters 0.1546500653179106 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.32, Z:0.44 [[ 0.99395504 -0.10558974 -0.03006965 -4.52933923] [ 0.1046004 0.99397428 -0.03277026 -5.31947612] [ 0.03334867 0.02942687 0.99901047 0.4377599 ] [ 0. 0. 0. 1. ]] SLAMing on 63.061652532 meters 0.15072185981980446 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.33, Z:0.44 [[ 0.99462848 -0.10005186 -0.0265295 -4.5436982 ] [ 0.0992499 0.99461026 -0.02999813 -5.32746395] [ 0.02938788 0.02720395 0.99919783 0.43956268] [ 0. 0. 0. 1. ]] SLAMing on 63.121652532 meters 0.15736665886374582 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.33, Z:0.45 [[ 0.99517994 -0.09291451 -0.03136535 -4.53564215] [ 0.09178012 0.99513357 -0.03585513 -5.32967379] [ 0.03454418 0.03280359 0.99886467 0.44680346] [ 0. 0. 0. 1. ]] SLAMing on 63.181652532 meters 0.14363624562409402 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.34, Z:0.44 [[ 0.99565018 -0.09135918 -0.01828183 -4.56365077] [ 0.09085347 0.99550338 -0.02680801 -5.33882524] [ 0.02064878 0.02503043 0.99947341 0.44324435] [ 0. 0. 0. 1. ]] SLAMing on 63.241652531999996 meters 0.14982170351595048 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.34, Z:0.45 [[ 0.99584644 -0.08722235 -0.02611757 -4.54989638] [ 0.08636057 0.99573421 -0.03248454 -5.34130591] [ 0.02883953 0.03009409 0.99913094 0.44890651] [ 0. 0. 0. 1. ]] SLAMing on 63.301652532 meters 0.1455803038580292 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.35, Z:0.45 [[ 0.99614566 -0.0831018 -0.02806987 -4.54620857] [ 0.08236753 0.99625295 -0.02637523 -5.34790204] [ 0.03015652 0.02396153 0.99925794 0.45032768] [ 0. 0. 0. 1. ]] SLAMing on 63.361652532 meters 0.1469400372376951 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.45 [[ 0.99648022 -0.07865554 -0.02899089 -4.54488316] [ 0.0780523 0.99671988 -0.02138505 -5.35051759] [ 0.03057785 0.01904698 0.99935089 0.45063986] [ 0. 0. 0. 1. ]] SLAMing on 63.421652531999996 meters 0.14817298689070166 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.45 [[ 0.99724047 -0.06739128 -0.03114262 -4.53781479] [ 0.06662381 0.99746346 -0.02505827 -5.35196897] [ 0.03275234 0.02291428 0.99920079 0.45473035] [ 0. 0. 0. 1. ]] SLAMing on 63.481652532 meters 0.14371571140585826 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.35, Z:0.45 [[ 0.99768104 -0.06679686 -0.01306602 -4.54635994] [ 0.06645187 0.99746978 -0.0252623 -5.35366254] [ 0.0147204 0.02433546 0.99959547 0.452012 ] [ 0. 0. 0. 1. ]] SLAMing on 63.541652532 meters 0.1427047185027755 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.35, Z:0.46 [[ 0.99812367 -0.05754136 -0.0209315 -4.53414382] [ 0.05697502 0.99801809 -0.02671587 -5.35471238] [ 0.02242728 0.02547317 0.9994239 0.45911203] [ 0. 0. 0. 1. ]] SLAMing on 63.601652531999996 meters 0.1456428714863508 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.36, Z:0.46 [[ 0.99852305 -0.04553088 -0.02964203 -4.51912147] [ 0.04478098 0.9986716 -0.02548918 -5.35599344] [ 0.0307632 0.02412414 0.99923553 0.46385175] [ 0. 0. 0. 1. ]] SLAMing on 63.661652532 meters 0.14362307423122178 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.46 [[ 0.99892811 -0.04555091 -0.00823131 -4.53441904] [ 0.0453953 0.9988034 -0.01819446 -5.35780693] [ 0.00905023 0.01780129 0.99980058 0.4578985 ] [ 0. 0. 0. 1. ]] SLAMing on 63.721652532 meters 0.1472581256336327 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.36, Z:0.46 [[ 0.99912476 -0.03916677 -0.01468566 -4.52439374] [ 0.03880985 0.99896198 -0.02384855 -5.35843692] [ 0.01560449 0.02325773 0.99960771 0.46467916] [ 0. 0. 0. 1. ]] SLAMing on 63.781652532 meters 0.14831221842161346 Centerline is valid? [False, False] Translation: X:-4.51, Y:-5.36, Z:0.47 [[ 0.99939096 -0.02789335 -0.02096838 -4.51482745] [ 0.02735844 0.99930348 -0.02537874 -5.35641414] [ 0.02166167 0.02478963 0.99945798 0.47130204] [ 0. 0. 0. 1. ]] SLAMing on 63.841652532 meters 0.15174965609711136 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.47 [[ 9.99707491e-01 -2.41817355e-02 -4.19001252e-04 -4.52962025e+00] [ 2.41736324e-02 9.99612119e-01 -1.38292360e-02 -5.35581711e+00] [ 7.53253657e-04 1.38150620e-02 9.99904284e-01 4.65849686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901652532 meters 0.15643117011992674 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.47 [[ 9.99882297e-01 -1.52830121e-02 -1.34975868e-03 -4.52862792e+00] [ 1.52773983e-02 9.99874986e-01 -4.07590295e-03 -5.35975721e+00] [ 1.41188202e-03 4.05480241e-03 9.99990783e-01 4.67394090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961652532 meters 0.15419026559878474 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.47 [[ 9.99945468e-01 -1.03473803e-02 -1.41194965e-03 -4.53007525e+00] [ 1.03490705e-02 9.99945733e-01 1.19503548e-03 -5.36106945e+00] [ 1.39950754e-03 -1.20958268e-03 9.99998289e-01 4.69836664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02165253199999 meters 0.15497765788511003 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.36, Z:0.48 [[ 9.99983221e-01 -1.21976265e-03 -5.66294924e-03 -4.52449181e+00] [ 1.20181488e-03 9.99994248e-01 -3.17165511e-03 -5.36170516e+00] [ 5.66678533e-03 3.16479608e-03 9.99978936e-01 4.79033839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08165253199999 meters 0.1606765286846327 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.36, Z:0.48 [[ 9.99980534e-01 -1.30798493e-03 -6.10095594e-03 -4.52318810e+00] [ 1.29206742e-03 9.99995753e-01 -2.61223161e-03 -5.36446936e+00] [ 6.10434679e-03 2.60429791e-03 9.99977977e-01 4.78923351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141652532 meters 0.1574900105222814 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.37, Z:0.48 [[ 9.99978162e-01 -1.34822690e-03 -6.46969688e-03 -4.52182581e+00] [ 1.33476717e-03 9.99996937e-01 -2.08429329e-03 -5.36761238e+00] [ 6.47248716e-03 2.07561224e-03 9.99976899e-01 4.78367370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201652532 meters 0.15422259581985895 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.37, Z:0.48 [[ 9.99976777e-01 -1.26533001e-03 -6.69652368e-03 -4.52097943e+00] [ 1.25443786e-03 9.99997884e-01 -1.63048772e-03 -5.37004172e+00] [ 6.69857262e-03 1.62204948e-03 9.99976249e-01 4.78041862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26165253199999 meters 0.1571271528101582 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.37, Z:0.48 [[ 9.99977916e-01 -1.02541423e-03 -6.56630020e-03 -4.52170615e+00] [ 1.01679125e-03 9.99998617e-01 -1.31642070e-03 -5.37052226e+00] [ 6.56764100e-03 1.30971507e-03 9.99977575e-01 4.78703173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32165253199999 meters 0.15916990161211111 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.37, Z:0.48 [[ 9.99982737e-01 -6.84402468e-04 -5.83589838e-03 -4.52399421e+00] [ 6.74914647e-04 9.99998448e-01 -1.62758318e-03 -5.36764279e+00] [ 5.83700325e-03 1.62361635e-03 9.99981646e-01 4.79347802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38165253199999 meters 0.15919421900539077 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.48 [[ 9.99986313e-01 -4.10710736e-04 -5.21587638e-03 -4.52613291e+00] [ 4.00771355e-04 9.99998102e-01 -1.90650365e-03 -5.36486379e+00] [ 5.21664951e-03 1.90438718e-03 9.99984580e-01 4.80175042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44165253199999 meters 0.16409035163478838 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.48 [[ 9.99988156e-01 -3.60636947e-04 -4.85360319e-03 -4.52727430e+00] [ 3.49764601e-04 9.99997428e-01 -2.24071896e-03 -5.36287846e+00] [ 4.85439879e-03 2.23899480e-03 9.99985711e-01 4.80470849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501652532 meters 0.16430339115719314 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.48 [[ 9.99990336e-01 -1.42764854e-04 -4.39407754e-03 -4.52885500e+00] [ 1.32327891e-04 9.99997170e-01 -2.37543314e-03 -5.36129936e+00] [ 4.39440423e-03 2.37482873e-03 9.99987525e-01 4.81080645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561652532 meters 0.1689996988408097 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.48 [[ 9.99992458e-01 1.76407166e-05 -3.88371563e-03 -4.53054959e+00] [-2.80539031e-05 9.99996405e-01 -2.68120516e-03 -5.35896369e+00] [ 3.88365437e-03 2.68129389e-03 9.99988864e-01 4.81681463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621652532 meters 0.16183924458124718 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.48 [[ 9.99994780e-01 2.54956988e-04 -3.22109181e-03 -4.53277716e+00] [-2.64708754e-04 9.99995382e-01 -3.02740854e-03 -5.35576458e+00] [ 3.22030507e-03 3.02824539e-03 9.99990230e-01 4.82512785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68165253199999 meters 0.1603350585871517 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.35, Z:0.48 [[ 9.99995784e-01 4.14700248e-04 -2.87390487e-03 -4.53414636e+00] [-4.23673755e-04 9.99995035e-01 -3.12250404e-03 -5.35425733e+00] [ 2.87259570e-03 3.12370847e-03 9.99990995e-01 4.83236804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74165253199999 meters 0.1650483619874418 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99997178e-01 1.05499475e-03 -2.12855373e-03 -4.53714800e+00] [-1.06099282e-03 9.99995464e-01 -2.81875299e-03 -5.35264348e+00] [ 2.12557031e-03 2.82100342e-03 9.99993762e-01 4.85173758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80165253199999 meters 0.1784911151167149 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.48 [[ 9.99997616e-01 7.93567509e-04 -2.03412347e-03 -4.53711398e+00] [-8.00491480e-04 9.99993881e-01 -3.40535775e-03 -5.35088818e+00] [ 2.03140864e-03 3.40697793e-03 9.99992133e-01 4.84636740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861652532 meters 0.1723983540629724 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99997873e-01 1.17914707e-03 -1.69239928e-03 -4.53881338e+00] [-1.18440291e-03 9.99994469e-01 -3.10792123e-03 -5.35031105e+00] [ 1.68872523e-03 3.10991910e-03 9.99993738e-01 4.86003755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921652532 meters 0.1823529195568317 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99997130e-01 1.54608979e-03 -1.83028631e-03 -4.53897764e+00] [-1.55045623e-03 9.99995950e-01 -2.38664928e-03 -5.35254784e+00] [ 1.82658892e-03 2.38948021e-03 9.99995477e-01 4.86965445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981652532 meters 0.18390697826943483 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99996650e-01 1.41824122e-03 -2.16514338e-03 -4.53821029e+00] [-1.42316757e-03 9.99996398e-01 -2.27545684e-03 -5.35289854e+00] [ 2.16190844e-03 2.27853058e-03 9.99995067e-01 4.87020486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04165253199999 meters 0.1684854329743974 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99997574e-01 1.61023583e-03 -1.50288839e-03 -4.53995139e+00] [-1.61401986e-03 9.99995522e-01 -2.52003242e-03 -5.35067636e+00] [ 1.49882381e-03 2.52245200e-03 9.99995695e-01 4.87078593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10165253199999 meters 0.18473323035592965 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99996609e-01 1.83215690e-03 -1.85058989e-03 -4.53935457e+00] [-1.83553406e-03 9.99996650e-01 -1.82486427e-03 -5.35307893e+00] [ 1.84724025e-03 1.82825490e-03 9.99996623e-01 4.87562766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16165253199999 meters 0.18143778839765676 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99997053e-01 1.74767955e-03 -1.68488915e-03 -4.53969037e+00] [-1.75124015e-03 9.99996232e-01 -2.11410287e-03 -5.35187440e+00] [ 1.68118803e-03 2.11704729e-03 9.99996346e-01 4.87358411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221652532 meters 0.1775199099124108 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99996278e-01 2.00032764e-03 -1.85534751e-03 -4.53941965e+00] [-2.00306183e-03 9.99996909e-01 -1.47299773e-03 -5.35418957e+00] [ 1.85239530e-03 1.47670862e-03 9.99997194e-01 4.87723490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281652532 meters 0.17179244259842905 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99994860e-01 1.94343139e-03 -2.55013725e-03 -4.53738899e+00] [-1.94562701e-03 9.99997739e-01 -8.58781103e-04 -5.35834610e+00] [ 2.54846250e-03 8.63738304e-04 9.99996380e-01 4.87303447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341652532 meters 0.16752364055267704 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99994681e-01 1.71899740e-03 -2.77185590e-03 -4.53616130e+00] [-1.72149921e-03 9.99998113e-01 -9.00441718e-04 -5.35945618e+00] [ 2.77030281e-03 9.05208677e-04 9.99995753e-01 4.86243667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40165253199999 meters 0.19938309537227955 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.36, Z:0.49 [[ 9.99993248e-01 1.78699958e-03 -3.21097667e-03 -4.53491082e+00] [-1.78776645e-03 9.99998374e-01 -2.35974373e-04 -5.36294100e+00] [ 3.21054976e-03 2.41713256e-04 9.99994817e-01 4.86178984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46165253199999 meters 0.16034209018129547 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99992704e-01 2.18981053e-03 -3.13002647e-03 -4.53543412e+00] [-2.18809898e-03 9.99997455e-01 5.50135996e-04 -5.36537828e+00] [ 3.13122320e-03 -5.43283174e-04 9.99994950e-01 4.86886384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52165253199999 meters 0.19168709706455414 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.37, Z:0.49 [[ 9.99991173e-01 2.18256968e-03 -3.59033974e-03 -4.53400500e+00] [-2.17848505e-03 9.99996976e-01 1.14118939e-03 -5.36859631e+00] [ 3.59281961e-03 -1.13335782e-03 9.99992904e-01 4.86627392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58165253199999 meters 0.1485529886793826 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.37, Z:0.48 [[ 9.99992782e-01 -8.82127713e-05 -3.79841478e-03 -4.53126425e+00] [ 8.56194815e-05 9.99999763e-01 -6.82886695e-04 -5.37224648e+00] [ 3.79847412e-03 6.82556547e-04 9.99992553e-01 4.83881648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641652532 meters 0.1774865696896373 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.38, Z:0.48 [[ 9.99991169e-01 6.03416073e-05 -4.20221837e-03 -4.53050397e+00] [-5.97602765e-05 9.99999989e-01 1.38464462e-04 -5.37516692e+00] [ 4.20222668e-03 -1.38212114e-04 9.99991161e-01 4.84449233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701652532 meters 0.14381526540139417 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.37, Z:0.48 [[ 9.99993477e-01 7.14937516e-05 -3.61116553e-03 -4.53191580e+00] [-7.28047244e-05 9.99999932e-01 -3.62903011e-04 -5.37281019e+00] [ 3.61113934e-03 3.63163554e-04 9.99993414e-01 4.84262044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76165253199999 meters 0.17461502434657059 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.37, Z:0.49 [[ 9.99993436e-01 5.10877324e-04 -3.58713143e-03 -4.53267134e+00] [-5.09421748e-04 9.99999788e-01 4.06679158e-04 -5.37453891e+00] [ 3.58733843e-03 -4.04849126e-04 9.99993484e-01 4.85494782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82165253199999 meters 0.17303490725647505 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.38, Z:0.49 [[ 9.99993871e-01 6.33150102e-04 -3.44346669e-03 -4.53308508e+00] [-6.31187554e-04 9.99999638e-01 5.70990485e-04 -5.37506742e+00] [ 3.44382696e-03 -5.68813512e-04 9.99993908e-01 4.85638078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88165253199999 meters 0.1719363503372189 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.37, Z:0.48 [[ 9.99994215e-01 3.64598523e-04 -3.38182605e-03 -4.53263106e+00] [-3.64524019e-04 9.99999933e-01 2.26470554e-05 -5.37398152e+00] [ 3.38183409e-03 -2.14141675e-05 9.99994281e-01 4.84497323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94165253199999 meters 0.16977114724846737 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.37, Z:0.48 [[ 9.99994995e-01 5.33236785e-04 -3.11866426e-03 -4.53360823e+00] [-5.33127534e-04 9.99999857e-01 3.58623670e-05 -5.37326688e+00] [ 3.11868293e-03 -3.41995417e-05 9.99995136e-01 4.84944400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001652532 meters 0.16867355630514294 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99997103e-01 8.03568048e-04 -2.26898632e-03 -4.53634441e+00] [-8.04779520e-04 9.99999534e-01 -5.33063843e-04 -5.36889519e+00] [ 2.26855691e-03 5.34888332e-04 9.99997284e-01 4.85887032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061652532 meters 0.17046155619072706 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998273e-01 8.82810723e-04 -1.63541084e-03 -4.53839120e+00] [-8.84604750e-04 9.99999007e-01 -1.09659065e-03 -5.36489509e+00] [ 1.63444113e-03 1.09803545e-03 9.99998061e-01 4.86482898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.121652532 meters 0.1696668157200942 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998933e-01 1.34360216e-03 -5.73928080e-04 -4.54174588e+00] [-1.34457203e-03 9.99997663e-01 -1.69285356e-03 -5.36011326e+00] [ 5.71652217e-04 1.69362344e-03 9.99998402e-01 4.87634939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18165253199999 meters 0.17000337913672814 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999104e-01 1.33686466e-03 -7.39395364e-05 -4.54307883e+00] [-1.33703101e-03 9.99996467e-01 -2.29743056e-03 -5.35731341e+00] [ 7.08679215e-05 2.29752736e-03 9.99997358e-01 4.87707337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24165253199999 meters 0.16723406114811962 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99999122e-01 1.24473873e-03 4.54027277e-04 -4.54435638e+00] [-1.24335959e-03 9.99994651e-01 -3.02529482e-03 -5.35447495e+00] [-4.57790550e-04 3.02472765e-03 9.99995321e-01 4.87651639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30165253199999 meters 0.17186668909589278 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99998920e-01 1.36032561e-03 5.56609971e-04 -4.54482724e+00] [-1.35870447e-03 9.99994864e-01 -2.90261144e-03 -5.35446758e+00] [-5.60555610e-04 2.90185203e-03 9.99995633e-01 4.87981804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361652532 meters 0.17029366959227482 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998720e-01 1.52339152e-03 4.89157771e-04 -4.54492940e+00] [-1.52219265e-03 9.99995860e-01 -2.44197189e-03 -5.35556716e+00] [-4.92875825e-04 2.44122417e-03 9.99996899e-01 4.88498982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421652532 meters 0.16140166651637586 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.35, Z:0.49 [[ 9.99998834e-01 1.39639377e-03 6.18486487e-04 -4.54517331e+00] [-1.39467988e-03 9.99995211e-01 -2.76291949e-03 -5.35439832e+00] [-6.22341649e-04 2.76205367e-03 9.99995992e-01 4.88336931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481652532 meters 0.17245266423917757 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99998932e-01 1.38888582e-03 4.54527663e-04 -4.54490510e+00] [-1.38767665e-03 9.99995526e-01 -2.64985558e-03 -5.35491269e+00] [-4.58205976e-04 2.64922202e-03 9.99996386e-01 4.88646929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54165253199999 meters 0.19243629399103515 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99999120e-01 1.20289747e-03 5.58826264e-04 -4.54479234e+00] [-1.20117388e-03 9.99994552e-01 -3.07447334e-03 -5.35380266e+00] [-5.62521496e-04 3.07379939e-03 9.99995118e-01 4.87977617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60165253199999 meters 0.16150523297639274 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999633e-01 8.01227588e-04 -3.02521350e-04 -4.54221269e+00] [-8.02029513e-04 9.99996140e-01 -2.66005323e-03 -5.35725885e+00] [ 3.00388874e-04 2.66029489e-03 9.99996416e-01 4.87276856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66165253199999 meters 0.17823554957879742 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999259e-01 1.17550902e-03 3.15029608e-04 -4.54400098e+00] [-1.17467089e-03 9.99995805e-01 -2.64758824e-03 -5.35582811e+00] [-3.18140550e-04 2.64721622e-03 9.99996446e-01 4.87537308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721652532 meters 0.16094273856441838 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.35, Z:0.49 [[ 9.99999793e-01 6.05376704e-04 2.17223905e-04 -4.54296925e+00] [-6.04613159e-04 9.99993699e-01 -3.49802921e-03 -5.35388665e+00] [-2.19340162e-04 3.49789715e-03 9.99993858e-01 4.86154505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781652532 meters 0.17403548892885484 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999421e-01 1.05523679e-03 2.12835168e-04 -4.54358397e+00] [-1.05466961e-03 9.99995939e-01 -2.64761358e-03 -5.35595520e+00] [-2.15628163e-04 2.64738757e-03 9.99996472e-01 4.87273109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841652532 meters 0.1697643856876729 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998936e-01 1.44437424e-03 2.02551724e-04 -4.54389687e+00] [-1.44399170e-03 9.99997197e-01 -1.87618227e-03 -5.35820207e+00] [-2.05261066e-04 1.87588779e-03 9.99998219e-01 4.87879439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90165253199999 meters 0.16564994835862812 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999421e-01 1.02854639e-03 -3.16737361e-04 -4.54195174e+00] [-1.02913323e-03 9.99997744e-01 -1.85821994e-03 -5.35970458e+00] [ 3.14825381e-04 1.85854483e-03 9.99998223e-01 4.86685975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96165253199999 meters 0.16136997596495806 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999224e-01 1.21775982e-03 -2.61281748e-04 -4.54213320e+00] [-1.21814032e-03 9.99998191e-01 -1.46106806e-03 -5.36106189e+00] [ 2.59502045e-04 1.46138521e-03 9.99998899e-01 4.86812759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02165253199999 meters 0.15696309632699693 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999528e-01 9.36625231e-04 -2.57884687e-04 -4.54159994e+00] [-9.37110585e-04 9.99997778e-01 -1.88841448e-03 -5.36024943e+00] [ 2.56115378e-04 1.88865526e-03 9.99998184e-01 4.85846622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08165253199999 meters 0.16700720505096886 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999206e-01 1.20594173e-03 -3.65908861e-04 -4.54180166e+00] [-1.20640576e-03 9.99998465e-01 -1.27059921e-03 -5.36191559e+00] [ 3.64376030e-04 1.27103964e-03 9.99999126e-01 4.86713315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141652532 meters 0.16688028777295047 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998725e-01 1.50382807e-03 -5.36443446e-04 -4.54198440e+00] [-1.50415808e-03 9.99998679e-01 -6.15313196e-04 -5.36397582e+00] [ 5.35517412e-04 6.16119308e-04 9.99999667e-01 4.87824855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201652532 meters 0.1585686430075842 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998690e-01 1.61471464e-03 -1.08461804e-04 -4.54339630e+00] [-1.61480228e-03 9.99998366e-01 -8.12908131e-04 -5.36207318e+00] [ 1.07149012e-04 8.13082211e-04 9.99999664e-01 4.88340839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26165253199999 meters 0.1668463237815202 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999196e-01 1.25791509e-03 -1.57537083e-04 -4.54266700e+00] [-1.25812859e-03 9.99998280e-01 -1.36254950e-03 -5.36118551e+00] [ 1.55822841e-04 1.36274660e-03 9.99999059e-01 4.87266676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32165253199999 meters 0.15869535542662552 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998806e-01 1.52550761e-03 -2.48338830e-04 -4.54284857e+00] [-1.52568578e-03 9.99998578e-01 -7.18851524e-04 -5.36292476e+00] [ 2.47241864e-04 7.19229552e-04 9.99999711e-01 4.88009069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38165253199999 meters 0.1646007890450116 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998201e-01 1.86539497e-03 3.44864284e-04 -4.54503029e+00] [-1.86513462e-03 9.99997977e-01 -7.53725044e-04 -5.36084057e+00] [-3.46269581e-04 7.53080470e-04 9.99999656e-01 4.89148926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44165253199999 meters 0.1654874975068815 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998186e-01 1.84880106e-03 4.57945088e-04 -4.54552657e+00] [-1.84838281e-03 9.99997876e-01 -9.12052146e-04 -5.35988804e+00] [-4.59630318e-04 9.11204033e-04 9.99999479e-01 4.89505078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501652532 meters 0.15909142370391186 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998451e-01 1.72747940e-03 3.37610474e-04 -4.54504224e+00] [-1.72713566e-03 9.99997993e-01 -1.01582137e-03 -5.36014957e+00] [-3.39364607e-04 1.01523669e-03 9.99999427e-01 4.89242036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561652532 meters 0.1589411584829151 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998867e-01 1.38749940e-03 5.83719125e-04 -4.54513966e+00] [-1.38642991e-03 9.99997367e-01 -1.82863793e-03 -5.35768449e+00] [-5.86254822e-04 1.82782657e-03 9.99998158e-01 4.88295151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.621652532 meters 0.16440638102290264 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998161e-01 1.80760649e-03 6.40524669e-04 -4.54587002e+00] [-1.80693584e-03 9.99997820e-01 -1.04606925e-03 -5.35953073e+00] [-6.42414155e-04 1.04490994e-03 9.99999248e-01 4.89404521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68165253199999 meters 0.15564966353310117 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998288e-01 1.76776402e-03 5.47217066e-04 -4.54562745e+00] [-1.76719293e-03 9.99997895e-01 -1.04234941e-03 -5.35967115e+00] [-5.49058542e-04 1.04138059e-03 9.99999307e-01 4.89428494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74165253199999 meters 0.1632314498249518 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998534e-01 1.54204244e-03 7.44638756e-04 -4.54578816e+00] [-1.54080455e-03 9.99997435e-01 -1.66012092e-03 -5.35764070e+00] [-7.47196823e-04 1.65897114e-03 9.99998345e-01 4.88793863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80165253199999 meters 0.16042145977388175 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998041e-01 1.66721670e-03 1.06677335e-03 -4.54682730e+00] [-1.66530737e-03 9.99997015e-01 -1.78820998e-03 -5.35641759e+00] [-1.06975150e-03 1.78642997e-03 9.99997832e-01 4.89204944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861652532 meters 0.15607134965393524 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99997738e-01 1.81485520e-03 1.10952066e-03 -4.54717684e+00] [-1.81312707e-03 9.99997145e-01 -1.55657044e-03 -5.35699301e+00] [-1.11234244e-03 1.55455521e-03 9.99998173e-01 4.89720487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921652532 meters 0.16920853268376487 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998121e-01 1.72077333e-03 8.92174249e-04 -4.54652813e+00] [-1.71949135e-03 9.99997491e-01 -1.43570184e-03 -5.35784385e+00] [-8.94642528e-04 1.43416505e-03 9.99998571e-01 4.89663211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981652532 meters 0.16416844898985497 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.36, Z:0.49 [[ 9.99998192e-01 1.75234104e-03 7.38362917e-04 -4.54606551e+00] [-1.75155225e-03 9.99997896e-01 -1.06759078e-03 -5.35932013e+00] [-7.40232147e-04 1.06629557e-03 9.99999158e-01 4.89629125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04165253199999 meters 0.15840400415771297 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999063e-01 1.35059682e-03 -2.24402926e-04 -4.54290015e+00] [-1.35075051e-03 9.99998852e-01 -6.86179565e-04 -5.36311455e+00] [ 2.23475917e-04 6.86482035e-04 9.99999739e-01 4.88450370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10165253199999 meters 0.1590175686525041 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99998673e-01 1.26188246e-03 -1.03029083e-03 -4.54076433e+00] [-1.26179776e-03 9.99999200e-01 8.28600179e-05 -5.36736472e+00] [ 1.03039457e-03 -8.15598893e-05 9.99999466e-01 4.88423715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16165253199999 meters 0.1523815352222716 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99998328e-01 1.37721648e-03 -1.20330587e-03 -4.54053898e+00] [-1.37651696e-03 9.99998883e-01 5.81964248e-04 -5.36891150e+00] [ 1.20410601e-03 -5.80306904e-04 9.99999107e-01 4.88911096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221652532 meters 0.15538281487082203 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99998702e-01 6.89962450e-04 -1.45567727e-03 -4.53861099e+00] [-6.90498360e-04 9.99999694e-01 -3.67681292e-04 -5.36769031e+00] [ 1.45542314e-03 3.68685958e-04 9.99998873e-01 4.86736701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281652532 meters 0.16311207848895332 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99998505e-01 3.96318285e-04 -1.68294879e-03 -4.53734465e+00] [-3.97457186e-04 9.99999692e-01 -6.76448850e-04 -5.36792847e+00] [ 1.68268019e-03 6.77116739e-04 9.99998355e-01 4.85608926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.341652532 meters 0.15867554498153522 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99998526e-01 4.60734736e-04 -1.65421040e-03 -4.53740022e+00] [-4.61961633e-04 9.99999618e-01 -7.41375925e-04 -5.36796013e+00] [ 1.65386819e-03 7.42139014e-04 9.99998357e-01 4.85549782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40165253199999 meters 0.15984014236469107 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99998790e-01 5.56579716e-04 -1.45232863e-03 -4.53832583e+00] [-5.57806021e-04 9.99999488e-01 -8.44103183e-04 -5.36667005e+00] [ 1.45185808e-03 8.44912280e-04 9.99998589e-01 4.86156824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46165253199999 meters 0.16116976664078692 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998965e-01 3.88218485e-04 -1.38503927e-03 -4.53829521e+00] [-3.90124645e-04 9.99998977e-01 -1.37624538e-03 -5.36498313e+00] [ 1.38450357e-03 1.37678430e-03 9.99998094e-01 4.85674303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52165253199999 meters 0.18799581717443087 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999549e-01 8.10125924e-04 -4.95736512e-04 -4.54094440e+00] [-8.10985557e-04 9.99998164e-01 -1.73631489e-03 -5.36191507e+00] [ 4.94328968e-04 1.73671615e-03 9.99998370e-01 4.86257865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58165253199999 meters 0.16667048506222165 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999163e-01 1.29418277e-03 9.56291706e-08 -4.54361311e+00] [-1.29418106e-03 9.99997953e-01 -1.55543806e-03 -5.36001302e+00] [-2.10865012e-06 1.55543664e-03 9.99998790e-01 4.88477078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641652532 meters 0.18221576103325388 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998884e-01 1.46335539e-03 3.02183348e-04 -4.54486135e+00] [-1.46286684e-03 9.99997633e-01 -1.61067973e-03 -5.35883343e+00] [-3.04539629e-04 1.61023588e-03 9.99998657e-01 4.89304488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701652532 meters 0.1568951176807211 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998987e-01 1.37370002e-03 3.73786403e-04 -4.54491340e+00] [-1.37301521e-03 9.99997390e-01 -1.82620658e-03 -5.35799403e+00] [-3.76294088e-04 1.82569151e-03 9.99998263e-01 4.89009890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76165253199999 meters 0.16455108984587816 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999099e-01 1.32997388e-03 1.81054029e-04 -4.54402060e+00] [-1.32966325e-03 9.99997662e-01 -1.70511846e-03 -5.35922357e+00] [-1.83321369e-04 1.70487618e-03 9.99998530e-01 4.88379721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82165253199999 meters 0.1614192145989944 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998838e-01 1.51776075e-03 1.44789702e-04 -4.54422250e+00] [-1.51756936e-03 9.99997987e-01 -1.31289777e-03 -5.36005092e+00] [-1.46782076e-04 1.31267651e-03 9.99999128e-01 4.88798843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88165253199999 meters 0.16547206889254684 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998544e-01 1.69074608e-03 2.32177241e-04 -4.54485107e+00] [-1.69051531e-03 9.99998080e-01 -9.90539601e-04 -5.36042668e+00] [-2.33851546e-04 9.90145660e-04 9.99999482e-01 4.89475424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94165253199999 meters 0.16603958739582642 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99998989e-01 1.41455036e-03 -1.47277637e-04 -4.54297606e+00] [-1.41468455e-03 9.99998581e-01 -9.15043489e-04 -5.36241636e+00] [ 1.45983053e-04 9.15250915e-04 9.99999571e-01 4.88099818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001652532 meters 0.1625193355724787 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.36, Z:0.49 [[ 9.99999320e-01 1.08250382e-03 -4.33666416e-04 -4.54118296e+00] [-1.08296756e-03 9.99998841e-01 -1.07054686e-03 -5.36382904e+00] [ 4.32507042e-04 1.07101578e-03 9.99999333e-01 4.86439034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061652532 meters 0.15761464319021948 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99998922e-01 1.00254210e-03 -1.07307703e-03 -4.53907804e+00] [-1.00282602e-03 9.99999462e-01 -2.64083865e-04 -5.36847920e+00] [ 1.07281170e-03 2.65159690e-04 9.99999389e-01 4.85868947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.121652532 meters 0.1542342229042935 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.37, Z:0.49 [[ 9.99998189e-01 1.09763234e-03 -1.55461509e-03 -4.53751794e+00] [-1.09675761e-03 9.99999240e-01 5.63404359e-04 -5.37259528e+00] [ 1.55523232e-03 -5.61698303e-04 9.99998633e-01 4.85376313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18165253199999 meters 0.1515551837932184 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.38, Z:0.48 [[ 9.99990803e-01 -3.69149652e-03 -2.18316131e-03 -4.53398229e+00] [ 3.68397732e-03 9.99987303e-01 -3.43822844e-03 -5.37695152e+00] [ 2.19582580e-03 3.43015411e-03 9.99991706e-01 4.82302392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24165253199999 meters 0.15186359405543076 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.38, Z:0.48 [[ 9.99996148e-01 4.35264187e-04 -2.74116118e-03 -4.53198967e+00] [-4.31772527e-04 9.99999095e-01 1.27425162e-03 -5.37998640e+00] [ 2.74171334e-03 -1.27306316e-03 9.99995431e-01 4.81339134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30165253199999 meters 0.14646923101546136 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.48 [[ 9.99993422e-01 5.17862392e-04 -3.58994730e-03 -4.52959903e+00] [-5.08913442e-04 9.99996762e-01 2.49324590e-03 -5.38668594e+00] [ 3.59122684e-03 -2.49140253e-03 9.99990448e-01 4.81201037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361652532 meters 0.15489476306083966 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.48 [[ 9.99991108e-01 4.20069042e-04 -4.19600925e-03 -4.52757130e+00] [-4.06702902e-04 9.99994843e-01 3.18578649e-03 -5.39093303e+00] [ 4.19732586e-03 -3.18405164e-03 9.99986122e-01 4.80574321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421652532 meters 0.14072480524894868 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.48 [[ 9.99989668e-01 2.54801836e-04 -4.53857243e-03 -4.52589484e+00] [-2.39262701e-04 9.99994109e-01 3.42400744e-03 -5.39354422e+00] [ 4.53941814e-03 -3.42288615e-03 9.99983839e-01 4.79375517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.481652532 meters 0.14688043518274477 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.40, Z:0.48 [[ 9.99986608e-01 -2.36383110e-05 -5.17528471e-03 -4.52324522e+00] [ 4.41537440e-05 9.99992142e-01 3.96403841e-03 -5.39824922e+00] [ 5.17515034e-03 -3.96421383e-03 9.99978751e-01 4.77780579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54165253199999 meters 0.13867119157716493 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.40, Z:0.48 [[ 9.99985139e-01 -3.99933251e-04 -5.43709466e-03 -4.52187986e+00] [ 4.20298084e-04 9.99992899e-01 3.74490923e-03 -5.39866346e+00] [ 5.43555834e-03 -3.74713878e-03 9.99978207e-01 4.76650678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60165253199999 meters 0.14157571193935775 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.40, Z:0.48 [[ 9.99984925e-01 -3.90868804e-04 -5.47694180e-03 -4.52163696e+00] [ 4.12016328e-04 9.99992463e-01 3.86059574e-03 -5.39937242e+00] [ 5.47539154e-03 -3.86279413e-03 9.99977549e-01 4.76466812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66165253199999 meters 0.13772454028190972 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.40, Z:0.48 [[ 9.99983479e-01 -1.62118393e-04 -5.74596269e-03 -4.52057032e+00] [ 1.89053182e-04 9.99988996e-01 4.68736932e-03 -5.40394418e+00] [ 5.74513955e-03 -4.68837817e-03 9.99972506e-01 4.76045130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721652532 meters 0.13351661158446737 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.41, Z:0.48 [[ 9.99979694e-01 -3.57813144e-04 -6.36262753e-03 -4.51832309e+00] [ 3.92249136e-04 9.99985279e-01 5.41180414e-03 -5.40871085e+00] [ 6.36059745e-03 -5.41418998e-03 9.99965114e-01 4.75124483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781652532 meters 0.14219640764223396 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.41, Z:0.47 [[ 9.99977713e-01 -8.07870428e-04 -6.62729870e-03 -4.51646472e+00] [ 8.41880012e-04 9.99986484e-01 5.13055790e-03 -5.40973928e+00] [ 6.62306430e-03 -5.13602294e-03 9.99964878e-01 4.73144491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841652532 meters 0.1331073810079067 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.41, Z:0.47 [[ 9.99964307e-01 -5.29466491e-03 -6.58409203e-03 -4.51557426e+00] [ 5.30052404e-03 9.99985571e-01 8.72760892e-04 -5.41148384e+00] [ 6.57937605e-03 -9.07628879e-04 9.99977944e-01 4.71672246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90165253199999 meters 0.13362741905188338 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.42, Z:0.47 [[ 9.99967080e-01 -4.70779064e-03 -6.60872743e-03 -4.51615280e+00] [ 4.72185969e-03 9.99986616e-01 2.11487233e-03 -5.41508756e+00] [ 6.59868260e-03 -2.14600819e-03 9.99975926e-01 4.72981557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96165253199999 meters 0.12388865007896017 Centerline is valid? [False, False] Translation: X:-4.51, Y:-5.42, Z:0.47 [[ 9.99962694e-01 -4.44040279e-03 -7.40906270e-03 -4.51438445e+00] [ 4.46916496e-03 9.99982525e-01 3.86999593e-03 -5.42249222e+00] [ 7.39174888e-03 -3.90296388e-03 9.99965064e-01 4.73917044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02165253199999 meters 0.12664109492758868 Centerline is valid? [False, False] Translation: X:-4.51, Y:-5.42, Z:0.47 [[ 9.99962488e-01 -4.38927286e-03 -7.46711859e-03 -4.51402674e+00] [ 4.42027364e-03 9.99981660e-01 4.14021381e-03 -5.42381450e+00] [ 7.44880911e-03 -4.17306520e-03 9.99963550e-01 4.73591783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08165253199999 meters 0.1220562897336588 Centerline is valid? [False, False] Translation: X:-4.51, Y:-5.42, Z:0.47 [[ 9.99965405e-01 -4.34503055e-03 -7.09288832e-03 -4.51449436e+00] [ 4.37265328e-03 9.99982899e-01 3.88357503e-03 -5.42351469e+00] [ 7.07589277e-03 -3.91445542e-03 9.99967304e-01 4.72669672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141652532 meters 0.13242874686448294 Centerline is valid? [False, False] Translation: X:-4.51, Y:-5.42, Z:0.47 [[ 9.99966525e-01 -4.24191518e-03 -6.99682354e-03 -4.51476972e+00] [ 4.26954225e-03 9.99983130e-01 3.93831548e-03 -5.42377139e+00] [ 6.97999950e-03 -3.96805688e-03 9.99967767e-01 4.72693587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201652532 meters 0.1323988145246131 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.42, Z:0.47 [[ 9.99970416e-01 -4.26093858e-03 -6.40402695e-03 -4.51615998e+00] [ 4.28166240e-03 9.99985631e-01 3.22584300e-03 -5.42095059e+00] [ 6.39018981e-03 -3.25316745e-03 9.99974291e-01 4.72282134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26165253199999 meters 0.13675903710724924 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.42, Z:0.47 [[ 9.99980315e-01 -2.17738160e-04 -6.27081737e-03 -4.51646989e+00] [ 2.59139819e-04 9.99978172e-01 6.60221924e-03 -5.41764396e+00] [ 6.26924293e-03 -6.60371429e-03 9.99958543e-01 4.71995229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32165253199999 meters 0.14582447011201116 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.41, Z:0.47 [[ 9.99984194e-01 -1.71489716e-04 -5.61974850e-03 -4.51826905e+00] [ 2.04099872e-04 9.99983143e-01 5.80271885e-03 -5.41403664e+00] [ 5.61865866e-03 -5.80377412e-03 9.99967373e-01 4.72104237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38165253199999 meters 0.14908150540429052 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.41, Z:0.47 [[ 9.99988386e-01 -2.56391094e-04 -4.81263416e-03 -4.52005659e+00] [ 2.77907427e-04 9.99989968e-01 4.47066567e-03 -5.40914755e+00] [ 4.81143964e-03 -4.47195122e-03 9.99978426e-01 4.71363289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44165253199999 meters 0.14402274025720863 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.40, Z:0.47 [[ 9.99992818e-01 -5.68530436e-05 -3.78951976e-03 -4.52278152e+00] [ 6.93592573e-05 9.99994552e-01 3.30016098e-03 -5.40398495e+00] [ 3.78931149e-03 -3.30040012e-03 9.99987374e-01 4.71662518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501652532 meters 0.14457589736148896 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.40, Z:0.47 [[ 9.99995822e-01 6.05399726e-05 -2.89005815e-03 -4.52516636e+00] [-5.39614367e-05 9.99997408e-01 2.27628792e-03 -5.39912064e+00] [ 2.89018847e-03 -2.27612246e-03 9.99993233e-01 4.71763187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561652532 meters 0.14014957072975562 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.40, Z:0.47 [[ 9.99997130e-01 -1.46762094e-04 -2.39145695e-03 -4.52601900e+00] [ 1.49785364e-04 9.99999190e-01 1.26406563e-03 -5.39572515e+00] [ 2.39126949e-03 -1.26442021e-03 9.99996342e-01 4.70838996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62165253199998 meters 0.14958563590258414 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.47 [[ 9.99999047e-01 -2.58771808e-04 -1.35609372e-03 -4.52818707e+00] [ 2.57972506e-04 9.99999793e-01 -5.89557080e-04 -5.38910392e+00] [ 1.35624600e-03 5.89206683e-04 9.99998907e-01 4.69536003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68165253199999 meters 0.15705891572618294 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.47 [[ 9.99999786e-01 4.35421286e-04 -4.87769572e-04 -4.53165820e+00] [-4.35625269e-04 9.99999818e-01 -4.18166929e-04 -5.38679047e+00] [ 4.87587404e-04 4.18379325e-04 9.99999794e-01 4.71910387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74165253199999 meters 0.15414339253172457 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.47 [[ 9.99999717e-01 7.31006947e-04 -1.76885435e-04 -4.53299922e+00] [-7.31045382e-04 9.99999709e-01 -2.17323106e-04 -5.38632711e+00] [ 1.76726519e-04 2.17452356e-04 9.99999961e-01 4.72788463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80165253199999 meters 0.14962281609364933 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.47 [[ 9.99999769e-01 4.59573390e-04 -5.01175043e-04 -4.53156810e+00] [-4.59684125e-04 9.99999870e-01 -2.20857904e-04 -5.38764569e+00] [ 5.01073477e-04 2.21088235e-04 9.99999850e-01 4.71728388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861652532 meters 0.14223532594999555 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.47 [[ 9.99999473e-01 6.89099417e-04 -7.60651980e-04 -4.53117564e+00] [-6.88668954e-04 9.99999603e-01 5.66029924e-04 -5.39037885e+00] [ 7.61041729e-04 -5.65505788e-04 9.99999551e-01 4.72330175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921652532 meters 0.1551425427238204 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.47 [[ 9.99999304e-01 1.03164266e-03 -5.73177359e-04 -4.53210801e+00] [-1.03098471e-03 9.99998811e-01 1.14701653e-03 -5.39147947e+00] [ 5.74359988e-04 -1.14642479e-03 9.99999178e-01 4.73215456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981652532 meters 0.15147053693099496 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.39, Z:0.47 [[ 9.99999250e-01 8.41009979e-04 -8.90402266e-04 -4.53079597e+00] [-8.39860623e-04 9.99998815e-01 1.29041558e-03 -5.39321701e+00] [ 8.91486463e-04 -1.28966680e-03 9.99998771e-01 4.72481137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04165253199999 meters 0.16047161486204065 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.40, Z:0.47 [[ 9.99998794e-01 8.10769765e-04 -1.32473151e-03 -4.52919131e+00] [-8.08120185e-04 9.99997675e-01 1.99940080e-03 -5.39725007e+00] [ 1.32634948e-03 -1.99832785e-03 9.99997124e-01 4.71707815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10165253199999 meters 0.14658577647681478 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.40, Z:0.47 [[ 9.99997477e-01 4.75882102e-04 -2.19513685e-03 -4.52668500e+00] [-4.69980323e-04 9.99996276e-01 2.68830250e-03 -5.40149241e+00] [ 2.19640799e-03 -2.68726404e-03 9.99993977e-01 4.71420453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16165253199999 meters 0.14030654094980968 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99991564e-01 -3.43582425e-03 -2.25113366e-03 -4.52677833e+00] [ 3.43482843e-03 9.99994001e-01 -4.46080694e-04 -5.40543493e+00] [ 2.25265281e-03 4.38344673e-04 9.99997367e-01 4.72186022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221652532 meters 0.14070168037158895 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99993255e-01 -3.04913178e-03 -2.04742783e-03 -4.52739288e+00] [ 3.04961793e-03 9.99995322e-01 2.34366218e-04 -5.40770882e+00] [ 2.04670364e-03 -2.40608510e-04 9.99997877e-01 4.72429991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281652532 meters 0.13801280042089314 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99971839e-01 -7.13035046e-03 -2.34082490e-03 -4.52607770e+00] [ 7.12362193e-03 9.99970507e-01 -2.87028814e-03 -5.41334098e+00] [ 2.36122202e-03 2.85353216e-03 9.99993141e-01 4.71868672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341652532 meters 0.13799304756420006 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.42, Z:0.47 [[ 9.99970235e-01 -6.95946839e-03 -3.33096351e-03 -4.52388193e+00] [ 6.95657945e-03 9.99975417e-01 -8.78100253e-04 -5.42149738e+00] [ 3.33699273e-03 8.54902004e-04 9.99994067e-01 4.72771138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40165253199999 meters 0.12822164819282864 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.43, Z:0.48 [[ 9.99963581e-01 -7.09454484e-03 -4.74381374e-03 -4.52098414e+00] [ 7.10463937e-03 9.99972526e-01 2.11447998e-03 -5.43092714e+00] [ 4.72868213e-03 -2.14810606e-03 9.99986513e-01 4.75583338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46165253199999 meters 0.12885129143843346 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.43, Z:0.48 [[ 9.99964434e-01 -6.75968602e-03 -5.04361520e-03 -4.52054777e+00] [ 6.77645109e-03 9.99971547e-01 3.31436711e-03 -5.43492592e+00] [ 5.02106761e-03 -3.34842704e-03 9.99981788e-01 4.76382214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52165253199999 meters 0.1243890155786576 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.44, Z:0.48 [[ 9.99960248e-01 -6.91315368e-03 -5.63125568e-03 -4.51897436e+00] [ 6.93583190e-03 9.99967876e-01 4.01768185e-03 -5.43820226e+00] [ 5.60329993e-03 -4.05657958e-03 9.99976073e-01 4.76414476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58165253199999 meters 0.12689402430937657 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.44, Z:0.48 [[ 9.99962823e-01 -6.84821713e-03 -5.23968930e-03 -4.51972640e+00] [ 6.86791743e-03 9.99969380e-01 3.75111440e-03 -5.43742811e+00] [ 5.21384042e-03 -3.78696070e-03 9.99979237e-01 4.75828381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641652532 meters 0.12323119912873949 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.44, Z:0.48 [[ 9.99962662e-01 -6.77155673e-03 -5.36850159e-03 -4.51950848e+00] [ 6.79360160e-03 9.99968523e-01 4.09878963e-03 -5.43879805e+00] [ 5.34057741e-03 -4.13510805e-03 9.99977189e-01 4.76097988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701652532 meters 0.1228921774863944 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.44, Z:0.48 [[ 9.99968153e-01 -6.25373102e-03 -4.95816562e-03 -4.52134946e+00] [ 6.27644721e-03 9.99969818e-01 4.57932695e-03 -5.43913714e+00] [ 4.92937809e-03 -4.61030078e-03 9.99977223e-01 4.77379712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76165253199999 meters 0.12385169564395541 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.44, Z:0.48 [[ 9.99972492e-01 -5.79991286e-03 -4.62352343e-03 -4.52293507e+00] [ 5.82341404e-03 9.99970111e-01 5.08580606e-03 -5.43975175e+00] [ 4.59388801e-03 -5.11259085e-03 9.99976379e-01 4.78600968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82165253199999 meters 0.12207338250942487 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.44, Z:0.48 [[ 9.99970905e-01 -5.81130393e-03 -4.94153278e-03 -4.52223660e+00] [ 5.83864634e-03 9.99967626e-01 5.53687896e-03 -5.44166197e+00] [ 4.90919631e-03 -5.56556973e-03 9.99972462e-01 4.78971647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88165253199999 meters 0.119127567337746 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.44, Z:0.48 [[ 9.99966917e-01 -6.59657616e-03 -4.75922363e-03 -4.52139612e+00] [ 6.61526781e-03 9.99970426e-01 3.92246285e-03 -5.43751079e+00] [ 4.73320805e-03 -3.95381662e-03 9.99980982e-01 4.76499699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94165253199999 meters 0.12806679726218503 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.43, Z:0.48 [[ 9.99971253e-01 -6.38694215e-03 -4.08663499e-03 -4.52332561e+00] [ 6.40051476e-03 9.99974016e-01 3.31680351e-03 -5.43456613e+00] [ 4.06534457e-03 -3.34286473e-03 9.99986149e-01 4.76621800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001652532 meters 0.126754229334812 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.43, Z:0.48 [[ 9.99977549e-01 -5.94327542e-03 -3.09508656e-03 -4.52635735e+00] [ 5.95204339e-03 9.99978278e-01 2.83140486e-03 -5.43079837e+00] [ 3.07819151e-03 -2.84976338e-03 9.99991202e-01 4.77353489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061652532 meters 0.1301289775237982 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.43, Z:0.48 [[ 9.99979852e-01 -5.87684583e-03 -2.39974419e-03 -4.52832842e+00] [ 5.88171944e-03 9.99980644e-01 2.02890712e-03 -5.42684397e+00] [ 2.38777417e-03 -2.04298086e-03 9.99995062e-01 4.77472005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12165253199998 meters 0.13291528614065123 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99981470e-01 -5.77435602e-03 -1.92804473e-03 -4.52972953e+00] [ 5.77760387e-03 9.99981893e-01 1.68322879e-03 -5.42489987e+00] [ 1.91829026e-03 -1.69433708e-03 9.99996725e-01 4.77679049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18165253199999 meters 0.13662767561942463 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99983530e-01 -5.65461183e-03 -9.82119852e-04 -4.53218671e+00] [ 5.65535292e-03 9.99983725e-01 7.53449446e-04 -5.42030328e+00] [ 9.77843404e-04 -7.58991271e-04 9.99999234e-01 4.77615633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24165253199999 meters 0.13602646500158866 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99997707e-01 -1.58257047e-03 -1.44298678e-03 -4.53098816e+00] [ 1.58975062e-03 9.99986294e-01 4.98839796e-03 -5.42067036e+00] [ 1.43507251e-03 -4.99068051e-03 9.99986517e-01 4.77572076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30165253199999 meters 0.13558154567155295 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99998682e-01 -1.31675123e-03 -9.49880705e-04 -4.53270671e+00] [ 1.32130616e-03 9.99987556e-01 4.81068017e-03 -5.41921711e+00] [ 9.43534415e-04 -4.81192891e-03 9.99987977e-01 4.78386068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361652532 meters 0.13590824985806005 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99997520e-01 -1.98180204e-03 -1.01594001e-03 -4.53199161e+00] [ 1.98543764e-03 9.99991584e-01 3.59013238e-03 -5.41573424e+00] [ 1.00881653e-03 -3.59214057e-03 9.99993039e-01 4.77309831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421652532 meters 0.14630713830312692 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99996058e-01 -2.61004088e-03 -1.03514347e-03 -4.53111429e+00] [ 2.61246123e-03 9.99993841e-01 2.34375971e-03 -5.41255732e+00] [ 1.02901979e-03 -2.34645474e-03 9.99996718e-01 4.75680045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.481652532 meters 0.14053539510723495 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99998626e-01 1.65785684e-03 -9.67453057e-06 -4.53356128e+00] [-1.65778800e-03 9.99986196e-01 4.98591802e-03 -5.40576533e+00] [ 1.79403353e-05 -4.98589513e-03 9.99987570e-01 4.75181176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54165253199999 meters 0.13993721978823676 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.40, Z:0.48 [[ 9.99998495e-01 1.73174002e-03 1.07278252e-04 -4.53435175e+00] [-1.73224467e-03 9.99986506e-01 4.89769016e-03 -5.40472298e+00] [-9.87952784e-05 -4.89786862e-03 9.99988000e-01 4.76050793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60165253199999 meters 0.1523350031263333 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99998185e-01 1.85555274e-03 4.32426037e-04 -4.53546286e+00] [-1.85755942e-03 9.99987289e-01 4.68725789e-03 -5.40351151e+00] [-4.23723086e-04 -4.68805264e-03 9.99988921e-01 4.76583937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66165253199999 meters 0.14035752587006672 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99996793e-01 -2.35793634e-03 9.23926543e-04 -4.53654647e+00] [ 2.35789139e-03 9.99997219e-01 4.97302600e-05 -5.40206591e+00] [-9.24041235e-04 -4.75515821e-05 9.99999572e-01 4.76200827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721652532 meters 0.1502025799100187 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99996495e-01 -2.47677688e-03 9.36102424e-04 -4.53647481e+00] [ 2.47688245e-03 9.99996926e-01 -1.11634487e-04 -5.40147051e+00] [-9.35823053e-04 1.13952711e-04 9.99999556e-01 4.75976491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781652532 meters 0.14805711448203424 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99997102e-01 -2.31422298e-03 6.63526700e-04 -4.53603270e+00] [ 2.31383186e-03 9.99997149e-01 5.89622837e-04 -5.40369524e+00] [-6.64889328e-04 -5.88085839e-04 9.99999606e-01 4.76525957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.841652532 meters 0.13976519163123824 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997267e-01 -2.32798388e-03 2.14378358e-04 -4.53476895e+00] [ 2.32773143e-03 9.99996606e-01 1.17044042e-03 -5.40654814e+00] [-2.17102397e-04 -1.16993821e-03 9.99999292e-01 4.76470686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90165253199999 meters 0.1387936513948423 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997618e-01 -2.18268590e-03 -2.22263162e-05 -4.53442653e+00] [ 2.18272161e-03 9.99996071e-01 1.75867925e-03 -5.40858680e+00] [ 1.83875845e-05 -1.75872357e-03 9.99998453e-01 4.77070994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96165253199999 meters 0.13837734792709333 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997361e-01 -2.28634012e-03 -2.26485092e-04 -4.53364938e+00] [ 2.28675006e-03 9.99995717e-01 1.82659726e-03 -5.40949816e+00] [ 2.22307900e-04 -1.82711035e-03 9.99998306e-01 4.76680333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02165253199999 meters 0.15140938884846625 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997221e-01 -2.34912493e-03 -1.96522899e-04 -4.53338211e+00] [ 2.34945902e-03 9.99995765e-01 1.71738937e-03 -5.40983069e+00] [ 1.92487704e-04 -1.71784632e-03 9.99998506e-01 4.76097272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08165253199999 meters 0.1483209295881081 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997472e-01 -2.23186679e-03 -2.73420013e-04 -4.53337507e+00] [ 2.23242379e-03 9.99995399e-01 2.05408152e-03 -5.41101010e+00] [ 2.68834318e-04 -2.05468672e-03 9.99997853e-01 4.76531816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141652532 meters 0.1390342729568157 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997805e-01 -2.09499824e-03 3.05092967e-05 -4.53418077e+00] [ 2.09493274e-03 9.99995789e-01 2.00842992e-03 -5.41077873e+00] [-3.47168253e-05 -2.00836159e-03 9.99997983e-01 4.76517057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201652532 meters 0.1447960113937969 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997432e-01 -2.25401697e-03 -2.36610686e-04 -4.53306653e+00] [ 2.25449113e-03 9.99995412e-01 2.02318641e-03 -5.41184836e+00] [ 2.32049304e-04 -2.02371465e-03 9.99997925e-01 4.75837936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26165253199999 meters 0.14707844046533236 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99996657e-01 -2.47874996e-03 -7.35876954e-04 -4.53125453e+00] [ 2.48045395e-03 9.99994224e-01 2.32378854e-03 -5.41441097e+00] [ 7.30112613e-04 -2.32560608e-03 9.99997029e-01 4.75025002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32165253199999 meters 0.14379694528215034 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.47 [[ 9.99995955e-01 -2.63812720e-03 -1.06281626e-03 -4.53021229e+00] [ 2.64077174e-03 9.99993402e-01 2.49456483e-03 -5.41568074e+00] [ 1.05622827e-03 -2.49736140e-03 9.99996324e-01 4.74816976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38165253199999 meters 0.14026285607014546 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.47 [[ 9.99994353e-01 -3.01829196e-03 -1.47755681e-03 -4.52856385e+00] [ 3.02165613e-03 9.99992836e-01 2.27993522e-03 -5.41637354e+00] [ 1.47066471e-03 -2.28438702e-03 9.99996309e-01 4.73847327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44165253199999 meters 0.1414048467808841 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99994684e-01 -3.05248396e-03 -1.14636291e-03 -4.52925791e+00] [ 3.05458758e-03 9.99993646e-01 1.83779037e-03 -5.41476101e+00] [ 1.14074580e-03 -1.84128227e-03 9.99997654e-01 4.73444345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501652532 meters 0.13911020577185315 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99994583e-01 -3.19631445e-03 -7.85573962e-04 -4.53002669e+00] [ 3.19721416e-03 9.99994231e-01 1.14671074e-03 -5.41218804e+00] [ 7.81904182e-04 -1.14921617e-03 9.99999034e-01 4.73072755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561652532 meters 0.14298448573447362 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99996143e-01 -2.71480445e-03 -5.87039722e-04 -4.53162657e+00] [ 2.71584097e-03 9.99994742e-01 1.77215884e-03 -5.41255774e+00] [ 5.82225571e-04 -1.77374631e-03 9.99998257e-01 4.74925216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62165253199998 meters 0.13825574369549645 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99996172e-01 -2.72910614e-03 -4.55881479e-04 -4.53206461e+00] [ 2.72980658e-03 9.99995084e-01 1.54294236e-03 -5.41145535e+00] [ 4.51668384e-04 -1.54418092e-03 9.99998706e-01 4.75058762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68165253199999 meters 0.15455279951510234 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99996858e-01 -2.50633703e-03 3.73581879e-05 -4.53390806e+00] [ 2.50628403e-03 9.99995939e-01 1.35679296e-03 -5.40918720e+00] [-4.07586166e-05 -1.35669506e-03 9.99999079e-01 4.75959481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74165253199999 meters 0.15000663783459672 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997395e-01 -2.27749382e-03 -1.51864157e-04 -4.53381976e+00] [ 2.27778279e-03 9.99995542e-01 1.93062429e-03 -5.41117454e+00] [ 1.47466495e-04 -1.93096517e-03 9.99998125e-01 4.76705394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80165253199999 meters 0.14582993035397093 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99997046e-01 -2.36065228e-03 5.79699467e-04 -4.53526967e+00] [ 2.36005167e-03 9.99996680e-01 1.03457356e-03 -5.40719357e+00] [-5.82139811e-04 -1.03320238e-03 9.99999297e-01 4.75960063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861652532 meters 0.14675085414127553 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997789e-01 -2.06806829e-03 3.79908389e-04 -4.53499751e+00] [ 2.06735794e-03 9.99996132e-01 1.86074455e-03 -5.41043370e+00] [-3.83755066e-04 -1.85995503e-03 9.99998197e-01 4.76456628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921652532 meters 0.14884317929255886 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99998200e-01 -1.86446879e-03 3.51130469e-04 -4.53510778e+00] [ 1.86368728e-03 9.99995815e-01 2.21303082e-03 -5.41178292e+00] [-3.55255126e-04 -2.21237244e-03 9.99997490e-01 4.76822370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.981652532 meters 0.15125369803283364 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99998632e-01 -1.64590019e-03 1.66578362e-04 -4.53486209e+00] [ 1.64541187e-03 9.99994469e-01 2.89029509e-03 -5.41439595e+00] [-1.71334578e-04 -2.89001704e-03 9.99995809e-01 4.77343432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04165253199999 meters 0.14942787472440344 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99998546e-01 -1.69824523e-03 1.53033617e-04 -4.53464794e+00] [ 1.69779645e-03 9.99994393e-01 2.88643289e-03 -5.41477677e+00] [-1.57934630e-04 -2.88616887e-03 9.99995823e-01 4.77099523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10165253199999 meters 0.14596700723685946 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99998114e-01 -1.93169411e-03 -1.99956450e-04 -4.53302567e+00] [ 1.93226704e-03 9.99993911e-01 2.90591303e-03 -5.41659446e+00] [ 1.94341897e-04 -2.90629392e-03 9.99995758e-01 4.75972303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16165253199999 meters 0.1524894308030503 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99998022e-01 -1.90588091e-03 -5.68782356e-04 -4.53219991e+00] [ 1.90775691e-03 9.99992682e-01 3.31617224e-03 -5.41865983e+00] [ 5.62457965e-04 -3.31725078e-03 9.99994340e-01 4.76242702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221652532 meters 0.1385225883059514 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99997685e-01 -2.06460820e-03 -6.05532852e-04 -4.53192950e+00] [ 2.06648840e-03 9.99992994e-01 3.12102215e-03 -5.41833496e+00] [ 5.99084921e-04 -3.12226625e-03 9.99994946e-01 4.75985169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281652532 meters 0.14169915668575803 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.47 [[ 9.99997054e-01 -2.33926644e-03 -6.48233305e-04 -4.53118725e+00] [ 2.34100992e-03 9.99993609e-01 2.70200343e-03 -5.41790053e+00] [ 6.41908456e-04 -2.70351299e-03 9.99996139e-01 4.74890338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341652532 meters 0.1443823085426971 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99997357e-01 -2.26127671e-03 -4.14411033e-04 -4.53193760e+00] [ 2.26232885e-03 9.99994174e-01 2.55623421e-03 -5.41688620e+00] [ 4.08628265e-04 -2.55716499e-03 9.99996647e-01 4.75041643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40165253199999 meters 0.14506436851201898 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.48 [[ 9.99997924e-01 -2.00302435e-03 -3.75025533e-04 -4.53219089e+00] [ 2.00410605e-03 9.99993768e-01 2.90653290e-03 -5.41842999e+00] [ 3.69201340e-04 -2.90727845e-03 9.99995706e-01 4.75250661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46165253199999 meters 0.14721718384433746 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.42, Z:0.47 [[ 9.99997671e-01 -2.15540467e-03 -1.08345115e-04 -4.53267905e+00] [ 2.15563747e-03 9.99995264e-01 2.19658685e-03 -5.41605355e+00] [ 1.03610068e-04 -2.19681528e-03 9.99997582e-01 4.74782477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52165253199999 meters 0.1532262457891736 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99997464e-01 -2.19618126e-03 4.98559108e-04 -4.53405762e+00] [ 2.19557402e-03 9.99996851e-01 1.21529366e-03 -5.41233541e+00] [-5.01226543e-04 -1.21419596e-03 9.99999137e-01 4.74267012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58165253199999 meters 0.15123440474116032 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99998816e-01 -1.40879313e-03 6.18924528e-04 -4.53569266e+00] [ 1.40726280e-03 9.99995969e-01 2.46608399e-03 -5.41490486e+00] [-6.22396235e-04 -2.46521008e-03 9.99996768e-01 4.76520399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641652532 meters 0.1561293254778673 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99998657e-01 -1.49857286e-03 6.63537906e-04 -4.53577960e+00] [ 1.49708765e-03 9.99996386e-01 2.23318950e-03 -5.41402907e+00] [-6.66882105e-04 -2.23219313e-03 9.99997286e-01 4.76441159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701652532 meters 0.14502083847869632 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99997664e-01 -1.80698578e-03 1.18587768e-03 -4.53625600e+00] [ 1.80568130e-03 9.99997765e-01 1.10016298e-03 -5.41076788e+00] [-1.18786301e-03 -1.09801909e-03 9.99998692e-01 4.74801509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76165253199999 meters 0.15039687196783041 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99997760e-01 -1.96427192e-03 7.88251925e-04 -4.53513748e+00] [ 1.96326276e-03 9.99997255e-01 1.27899016e-03 -5.41194011e+00] [-7.90762046e-04 -1.27743975e-03 9.99998871e-01 4.74716729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82165253199999 meters 0.14657040694132395 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99998453e-01 -1.50465768e-03 9.11519994e-04 -4.53635855e+00] [ 1.50279896e-03 9.99996797e-01 2.03640461e-03 -5.41308516e+00] [-9.14581166e-04 -2.03503163e-03 9.99997511e-01 4.76292075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88165253199999 meters 0.14799175773031698 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.48 [[ 9.99997635e-01 -2.08781678e-03 6.09719605e-04 -4.53478319e+00] [ 2.08698893e-03 9.99996904e-01 1.35525712e-03 -5.41169935e+00] [-6.12547246e-04 -1.35398143e-03 9.99998896e-01 4.75039633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94165253199999 meters 0.14497408595536848 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99997370e-01 -2.15676309e-03 7.80229731e-04 -4.53508623e+00] [ 2.15592773e-03 9.99997104e-01 1.06992576e-03 -5.41073128e+00] [-7.82535047e-04 -1.06824083e-03 9.99999123e-01 4.74798488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001652532 meters 0.1447415018119097 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99996972e-01 -2.20640886e-03 1.08955753e-03 -4.53584494e+00] [ 2.20575149e-03 9.99997385e-01 6.04172774e-04 -5.40874145e+00] [-1.09088773e-03 -6.01767652e-04 9.99999224e-01 4.74677504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061652532 meters 0.16260894604061948 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99995696e-01 -2.54281360e-03 1.46379500e-03 -4.53603575e+00] [ 2.54328832e-03 9.99996714e-01 -3.22534180e-04 -5.40620091e+00] [-1.46297004e-03 3.26255644e-04 9.99998877e-01 4.73285484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12165253199998 meters 0.14378765698046422 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99995141e-01 -2.97931839e-03 9.17451193e-04 -4.53381827e+00] [ 2.97956269e-03 9.99995526e-01 -2.65025306e-04 -5.40787796e+00] [-9.16657493e-04 2.67757621e-04 9.99999544e-01 4.71973757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18165253199999 meters 0.14205895884657346 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99995118e-01 -2.90594248e-03 1.14892115e-03 -4.53441960e+00] [ 2.90625145e-03 9.99995741e-01 -2.67343447e-04 -5.40748275e+00] [-1.14813937e-03 2.70681196e-04 9.99999304e-01 4.71880823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24165253199999 meters 0.14358663162635527 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99995293e-01 -2.86436606e-03 1.09954947e-03 -4.53432938e+00] [ 2.86434677e-03 9.99995898e-01 1.91215204e-05 -5.40826315e+00] [-1.09959973e-03 -1.59719395e-05 9.99999395e-01 4.71978245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30165253199999 meters 0.15470130765238746 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.41, Z:0.47 [[ 9.99995249e-01 -2.80882808e-03 1.27009839e-03 -4.53479431e+00] [ 2.80887583e-03 9.99996054e-01 -3.58136906e-05 -5.40791043e+00] [-1.26999279e-03 3.93810691e-05 9.99999193e-01 4.71945918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361652532 meters 0.146763291410786 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99996258e-01 -2.39119031e-03 1.32890146e-03 -4.53533911e+00] [ 2.39016059e-03 9.99996843e-01 7.75918349e-04 -5.41023659e+00] [-1.33075263e-03 -7.72739157e-04 9.99998816e-01 4.72707444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421652532 meters 0.14761706050777276 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99995712e-01 -2.14863115e-03 1.98997570e-03 -4.53712445e+00] [ 2.14755130e-03 9.99997546e-01 5.44625130e-04 -5.40851367e+00] [-1.99114101e-03 -5.40349219e-04 9.99997872e-01 4.72798499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.481652532 meters 0.14514965974710722 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99996374e-01 -1.66992865e-03 2.11263213e-03 -4.53822099e+00] [ 1.66693067e-03 9.99997602e-01 1.42004221e-03 -5.41037091e+00] [-2.11499843e-03 -1.41651545e-03 9.99996760e-01 4.74291006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54165253199999 meters 0.15306296862412835 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99996749e-01 -1.54503504e-03 2.02868782e-03 -4.53799129e+00] [ 1.54123645e-03 9.99997059e-01 1.87266297e-03 -5.41199474e+00] [-2.03157518e-03 -1.86953019e-03 9.99996189e-01 4.74367523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60165253199999 meters 0.1467249202230133 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99996744e-01 -1.72830047e-03 1.87762706e-03 -4.53711248e+00] [ 1.72488979e-03 9.99996862e-01 1.81658787e-03 -5.41272620e+00] [-1.88076078e-03 -1.81334325e-03 9.99996587e-01 4.73597237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66165253199999 meters 0.1382171352955944 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99996640e-01 -1.51848122e-03 2.10103489e-03 -4.53794520e+00] [ 1.51424315e-03 9.99996819e-01 2.01725708e-03 -5.41280734e+00] [-2.10409137e-03 -2.01406883e-03 9.99995758e-01 4.74026237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721652532 meters 0.1436534921102821 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99996637e-01 -1.34242311e-03 2.21885211e-03 -4.53847386e+00] [ 1.33742985e-03 9.99996574e-01 2.25033465e-03 -5.41333633e+00] [-2.22186541e-03 -2.24735953e-03 9.99995006e-01 4.74461331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781652532 meters 0.1533784359282948 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99982273e-01 -5.22416120e-03 2.85674716e-03 -4.54029958e+00] [ 5.22943421e-03 9.99984631e-01 -1.84146522e-03 -5.41335492e+00] [-2.84708315e-03 1.85637175e-03 9.99994224e-01 4.74798108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.841652532 meters 0.15521877612650775 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99983786e-01 -4.93682268e-03 2.83827130e-03 -4.54053761e+00] [ 4.94023121e-03 9.99987083e-01 -1.19516413e-03 -5.41517205e+00] [-2.83233432e-03 1.20916647e-03 9.99995258e-01 4.75359120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90165253199999 meters 0.13136024148958553 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99986918e-01 -4.48379464e-03 2.46166046e-03 -4.54035795e+00] [ 4.48326892e-03 9.99989926e-01 2.19037110e-04 -5.41926695e+00] [-2.46261778e-03 -2.07997959e-04 9.99996946e-01 4.76969405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96165253199999 meters 0.13850722386682382 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99986635e-01 -4.60986847e-03 2.34091208e-03 -4.53979209e+00] [ 4.60940022e-03 9.99989356e-01 2.05383815e-04 -5.41968231e+00] [-2.34183395e-03 -1.94590869e-04 9.99997239e-01 4.76566477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02165253199999 meters 0.1495376722080769 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99997451e-01 -3.89876796e-04 2.22414086e-03 -4.53947518e+00] [ 3.80029724e-04 9.99990133e-01 4.42606552e-03 -5.41955188e+00] [-2.22584454e-03 -4.42520900e-03 9.99987731e-01 4.76526629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08165253199999 meters 0.1469025991442549 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99994946e-01 -1.63428439e-04 3.17522470e-03 -4.54183012e+00] [ 1.52089138e-04 9.99993612e-01 3.57109389e-03 -5.41588563e+00] [-3.17578803e-03 -3.57059292e-03 9.99988583e-01 4.76398981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141652532 meters 0.14684408638657992 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99994978e-01 -1.74428437e-04 3.16448814e-03 -4.54167510e+00] [ 1.63055352e-04 9.99993529e-01 3.59387521e-03 -5.41637120e+00] [-3.16509454e-03 -3.59334117e-03 9.99988535e-01 4.76239413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201652532 meters 0.14561986612104225 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99994919e-01 -2.06904777e-04 3.18092669e-03 -4.54153909e+00] [ 1.95632974e-04 9.99993703e-01 3.54346219e-03 -5.41645549e+00] [-3.18163982e-03 -3.54282189e-03 9.99988663e-01 4.75919208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26165253199999 meters 0.1411430434950959 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99996098e-01 -4.61176668e-04 2.75511533e-03 -4.54017236e+00] [ 4.51076083e-04 9.99993180e-01 3.66561764e-03 -5.41779083e+00] [-2.75678704e-03 -3.66436057e-03 9.99989486e-01 4.75509848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32165253199999 meters 0.14096100665467923 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99995760e-01 -3.01966975e-04 2.89634340e-03 -4.54088263e+00] [ 2.90897296e-04 9.99992655e-01 3.82160995e-03 -5.41777354e+00] [-2.89747613e-03 -3.82075121e-03 9.99988503e-01 4.76135765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38165253199999 meters 0.15268942109250472 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99996170e-01 -2.40947607e-04 2.75718125e-03 -4.54052460e+00] [ 2.29542678e-04 9.99991420e-01 4.13601393e-03 -5.41920145e+00] [-2.75815416e-03 -4.13536520e-03 9.99987646e-01 4.76214290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44165253199999 meters 0.15010323208707985 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99996855e-01 -7.35749435e-04 2.39783671e-03 -4.53875059e+00] [ 7.26703668e-04 9.99992625e-01 3.77116049e-03 -5.41948840e+00] [-2.40059366e-03 -3.76940611e-03 9.99990014e-01 4.74685796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501652532 meters 0.13067129609053332 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99997969e-01 -9.65074083e-04 1.76922029e-03 -4.53705057e+00] [ 9.57484047e-04 9.99990357e-01 4.28588475e-03 -5.42214338e+00] [-1.77333943e-03 -4.28418205e-03 9.99989250e-01 4.74759541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561652532 meters 0.13901571358648068 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99998601e-01 -1.11168805e-03 1.24999295e-03 -4.53573798e+00] [ 1.10583874e-03 9.99988482e-01 4.67047563e-03 -5.42413932e+00] [-1.25517066e-03 -4.66908681e-03 9.99988312e-01 4.74906131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62165253199998 meters 0.13784124626922037 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99998482e-01 -1.20514056e-03 1.25812992e-03 -4.53559724e+00] [ 1.19942240e-03 9.99988994e-01 4.53587419e-03 -5.42393997e+00] [-1.26358244e-03 -4.53435828e-03 9.99988921e-01 4.74651900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68165253199999 meters 0.13720142916522396 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99997458e-01 -1.52662406e-03 1.65911699e-03 -4.53625245e+00] [ 1.52085938e-03 9.99992822e-01 3.47027252e-03 -5.42017790e+00] [-1.66440288e-03 -3.46774041e-03 9.99992602e-01 4.73914133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74165253199999 meters 0.1370378814874228 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99997367e-01 -1.22018571e-03 1.94333230e-03 -4.53756507e+00] [ 1.21323748e-03 9.99992882e-01 3.57259532e-03 -5.41962399e+00] [-1.94767770e-03 -3.57022819e-03 9.99991730e-01 4.74919739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80165253199999 meters 0.1459382069123685 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99992811e-01 2.88746103e-03 2.45786463e-03 -4.53899597e+00] [-2.90353583e-03 9.99974255e-01 6.56190107e-03 -5.41433887e+00] [-2.43885412e-03 -6.56899039e-03 9.99975450e-01 4.74891578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861652532 meters 0.1490439565367253 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99992877e-01 2.42178253e-03 2.89499860e-03 -4.53961157e+00] [-2.43600365e-03 9.99984935e-01 4.91891727e-03 -5.40904364e+00] [-2.88304244e-03 -4.92593446e-03 9.99983711e-01 4.73738899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921652532 meters 0.14779744848028456 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.47 [[ 9.99989820e-01 2.41769848e-03 3.80990548e-03 -4.54160462e+00] [-2.43139568e-03 9.99990583e-01 3.59463515e-03 -5.40428444e+00] [-3.80117886e-03 -3.60386194e-03 9.99986282e-01 4.73018725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.981652532 meters 0.15369020553731672 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.47 [[ 9.99985292e-01 2.47484939e-03 4.82600239e-03 -4.54419501e+00] [-2.48557635e-03 9.99994451e-01 2.21801361e-03 -5.39786395e+00] [-4.82048636e-03 -2.22997638e-03 9.99985895e-01 4.73111031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04165253199999 meters 0.15261816496013028 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.47 [[ 9.99983225e-01 2.80490699e-03 5.06774211e-03 -4.54550754e+00] [-2.81759881e-03 9.99992908e-01 2.49903099e-03 -5.39771447e+00] [-5.06069662e-03 -2.51326794e-03 9.99984036e-01 4.74317565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10165253199999 meters 0.1426262499254896 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.47 [[ 9.99987535e-01 -1.52279487e-03 4.75515150e-03 -4.54488567e+00] [ 1.52948182e-03 9.99997846e-01 -1.40293555e-03 -5.39903054e+00] [-4.75300488e-03 1.41019098e-03 9.99987710e-01 4.74656454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16165253199999 meters 0.13920269751583825 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99992984e-01 -1.87371497e-03 3.24361702e-03 -4.54169802e+00] [ 1.87300093e-03 9.99998221e-01 2.23160711e-04 -5.40452181e+00] [-3.24402938e-03 -2.17083848e-04 9.99994715e-01 4.76384255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221652532 meters 0.13627958737591706 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99995130e-01 -2.11989975e-03 2.29058292e-03 -4.53944234e+00] [ 2.11744915e-03 9.99997184e-01 1.07175642e-03 -5.40848896e+00] [-2.29284849e-03 -1.06690101e-03 9.99996802e-01 4.76603906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281652532 meters 0.13438792349527712 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99995217e-01 -2.17103884e-03 2.20288920e-03 -4.53925739e+00] [ 2.16863946e-03 9.99997053e-01 1.09100286e-03 -5.40827381e+00] [-2.20525132e-03 -1.08622037e-03 9.99996978e-01 4.76687435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.341652532 meters 0.1427298922488892 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99993409e-01 2.13713850e-03 2.93506625e-03 -4.54060683e+00] [-2.14950146e-03 9.99988805e-01 4.21548364e-03 -5.40420021e+00] [-2.92602432e-03 -4.22176478e-03 9.99986807e-01 4.75685355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40165253199999 meters 0.14690168994442684 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99991544e-01 -1.41964220e-03 3.85970771e-03 -4.54349966e+00] [ 1.41907717e-03 9.99998982e-01 1.49124106e-04 -5.40370424e+00] [-3.85991548e-03 -1.43645622e-04 9.99992540e-01 4.76802384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46165253199999 meters 0.14504852064065216 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99991841e-01 -9.02052880e-04 3.93758120e-03 -4.54444560e+00] [ 8.98806110e-04 9.99999255e-01 8.26251363e-04 -5.40526536e+00] [-3.93832359e-03 -8.22705499e-04 9.99991906e-01 4.77972949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52165253199999 meters 0.1512713028255816 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99991683e-01 -1.43181024e-03 3.81889461e-03 -4.54338847e+00] [ 1.43137036e-03 9.99998969e-01 1.17917740e-04 -5.40369559e+00] [-3.81905951e-03 -1.12450506e-04 9.99992701e-01 4.76772282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58165253199999 meters 0.15009184411333884 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99992970e-01 -1.24355468e-03 3.53736167e-03 -4.54293895e+00] [ 1.24095418e-03 9.99998958e-01 7.37251870e-04 -5.40622951e+00] [-3.53827479e-03 -7.32856984e-04 9.99993472e-01 4.77255174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641652532 meters 0.1410544499863277 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99992640e-01 -9.37701150e-04 3.72035332e-03 -4.54398720e+00] [ 9.33659765e-04 9.99998972e-01 1.08787871e-03 -5.40641338e+00] [-3.72136961e-03 -1.08439716e-03 9.99992488e-01 4.78179243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701652532 meters 0.14617994796945663 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99991573e-01 -1.23096702e-03 3.91641002e-03 -4.54408412e+00] [ 1.22939891e-03 9.99999163e-01 4.02778661e-04 -5.40420486e+00] [-3.91690255e-03 -3.97960437e-04 9.99992250e-01 4.77530665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76165253199999 meters 0.15390316979110785 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.48 [[ 9.99992251e-01 -1.11834854e-03 3.77460554e-03 -4.54372240e+00] [ 1.11552890e-03 9.99999097e-01 7.49027285e-04 -5.40599160e+00] [-3.77543980e-03 -7.44810799e-04 9.99992596e-01 4.77566727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82165253199999 meters 0.15179157846020364 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99991760e-01 -1.18957364e-03 3.88142153e-03 -4.54413349e+00] [ 1.18755113e-03 9.99999158e-01 5.23338156e-04 -5.40463849e+00] [-3.88204081e-03 -5.18724457e-04 9.99992330e-01 4.77750504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88165253199999 meters 0.14967735989862688 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.40, Z:0.48 [[ 9.99990472e-01 -1.29106140e-03 4.16995616e-03 -4.54494110e+00] [ 1.29109457e-03 9.99999167e-01 -5.26250485e-06 -5.40200934e+00] [-4.16994589e-03 1.06462625e-05 9.99991306e-01 4.77840704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94165253199999 meters 0.15538532214014436 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99980777e-01 3.53194085e-03 5.09622932e-03 -4.54788993e+00] [-3.55171737e-03 9.99986178e-01 3.87679972e-03 -5.39856398e+00] [-5.08246625e-03 -3.89482556e-03 9.99979499e-01 4.78998911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001652532 meters 0.15872914054683043 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99979545e-01 3.53354924e-03 5.33141968e-03 -4.54864991e+00] [-3.55231795e-03 9.99987513e-01 3.51504315e-03 -5.39696966e+00] [-5.31893253e-03 -3.53391015e-03 9.99979610e-01 4.79268815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061652532 meters 0.15098737424464306 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.48 [[ 9.99982620e-01 -6.11805162e-04 5.86387030e-03 -4.55004630e+00] [ 6.18779560e-04 9.99999103e-01 -1.18764434e-03 -5.39480003e+00] [-5.86313843e-03 1.19125214e-03 9.99982102e-01 4.79326324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12165253199998 meters 0.14968717432743145 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.48 [[ 9.99981012e-01 -9.59764777e-04 6.08722530e-03 -4.55004548e+00] [ 9.71942238e-04 9.99997532e-01 -1.99785185e-03 -5.39221684e+00] [-6.08529281e-03 2.00373035e-03 9.99979477e-01 4.78264744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18165253199999 meters 0.15903496907176126 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.48 [[ 9.99978856e-01 -6.86642170e-04 6.46656815e-03 -4.55180546e+00] [ 6.98762174e-04 9.99998003e-01 -1.87218329e-03 -5.39071367e+00] [-6.46526972e-03 1.87666230e-03 9.99977339e-01 4.79551271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24165253199999 meters 0.1556195970697521 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.48 [[ 9.99979222e-01 -8.04833911e-05 6.44585657e-03 -4.55309827e+00] [ 8.54393718e-05 9.99999701e-01 -7.68591341e-04 -5.39267611e+00] [-6.44579278e-03 7.69126101e-04 9.99978930e-01 4.81945470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30165253199999 meters 0.15777460481183392 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99973798e-01 4.43065563e-04 7.22550387e-03 -4.55599402e+00] [-4.37570856e-04 9.99999614e-01 -7.62023263e-04 -5.38993269e+00] [-7.22583871e-03 7.58841627e-04 9.99973605e-01 4.83823745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361652532 meters 0.15984299205872377 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99974341e-01 7.30673867e-04 7.12623138e-03 -4.55614823e+00] [-7.29847425e-04 9.99999727e-01 -1.18571595e-04 -5.39238241e+00] [-7.12631607e-03 1.13367491e-04 9.99974601e-01 4.84537549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421652532 meters 0.15638914552069605 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.49 [[ 9.99977651e-01 7.21522378e-04 6.64651202e-03 -4.55517822e+00] [-7.24069963e-04 9.99999665e-01 3.80898173e-04 -5.39492011e+00] [-6.64623497e-03 -3.85702200e-04 9.99977839e-01 4.85006256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.481652532 meters 0.15664074084673377 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99976595e-01 4.19557997e-04 6.82889775e-03 -4.55521285e+00] [-4.18284471e-04 9.99999895e-01 -1.87917952e-04 -5.39313282e+00] [-6.82897588e-03 1.85057132e-04 9.99976665e-01 4.84318736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54165253199999 meters 0.1582968167670373 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.48 [[ 9.99969508e-01 4.16300649e-03 6.60694441e-03 -4.55375160e+00] [-4.18556518e-03 9.99985446e-01 3.40424444e-03 -5.39215758e+00] [-6.59267637e-03 -3.43179444e-03 9.99972379e-01 4.82896570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60165253199999 meters 0.15758400993247654 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.48 [[ 9.99976365e-01 8.90161540e-05 6.87476688e-03 -4.55472524e+00] [-8.34308060e-05 9.99999666e-01 -8.12724326e-04 -5.39178839e+00] [-6.87483693e-03 8.12131549e-04 9.99976038e-01 4.83340932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66165253199999 meters 0.16736103119947934 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99970575e-01 3.56993537e-04 7.66306545e-03 -4.55679719e+00] [-3.45928527e-04 9.99998896e-01 -1.44521731e-03 -5.38803638e+00] [-7.66357292e-03 1.44252391e-03 9.99969594e-01 4.83398713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721652532 meters 0.17116115352336464 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99965367e-01 6.23363287e-04 8.29916526e-03 -4.55891977e+00] [-6.09279884e-04 9.99998370e-01 -1.69938633e-03 -5.38525355e+00] [-8.30021107e-03 1.69427096e-03 9.99964117e-01 4.84285046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781652532 meters 0.18310675534676862 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.49 [[ 9.99963746e-01 1.26867477e-03 8.42007090e-03 -4.56034622e+00] [-1.26237711e-03 9.99998920e-01 -7.53206236e-04 -5.38698631e+00] [-8.42101738e-03 7.42549625e-04 9.99964267e-01 4.86232967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.841652532 meters 0.1642540361567119 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.49 [[ 9.99963099e-01 -2.97905024e-03 8.05765422e-03 -4.55924335e+00] [ 3.01389015e-03 9.99986148e-01 -4.31514683e-03 -5.39016014e+00] [-8.04468757e-03 4.33927248e-03 9.99958226e-01 4.85926228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90165253199999 meters 0.17702317083635907 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.49 [[ 9.99957900e-01 -2.42910776e-03 8.84854752e-03 -4.56126762e+00] [ 2.46500170e-03 9.99988769e-01 -4.04783256e-03 -5.38954951e+00] [-8.83861552e-03 4.06947383e-03 9.99952658e-01 4.86166539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96165253199999 meters 0.16504329507988533 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 0.99994413 -0.00644966 0.00837447 -4.55962724] [ 0.00651031 0.99995263 -0.0072357 -5.39549458] [-0.0083274 0.00728982 0.99993875 0.48550221] [ 0. 0. 0. 1. ]] SLAMing on 79.02165253199999 meters 0.16987343677861538 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.48 [[ 0.99994814 -0.00690901 0.00748261 -4.55694199] [ 0.00695793 0.99995446 -0.00653169 -5.39964249] [-0.00743714 0.00658342 0.99995067 0.48454432] [ 0. 0. 0. 1. ]] SLAMing on 79.08165253199999 meters 0.16987343677861538 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99971519e-01 -3.35980770e-03 6.75819688e-03 -4.55431022e+00] [ 3.37683091e-03 9.99991151e-01 -2.50906561e-03 -5.40185247e+00] [-6.74970710e-03 2.53181543e-03 9.99974015e-01 4.83122126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141652532 meters 0.16987343677861538 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99971519e-01 -3.35980770e-03 6.75819688e-03 -4.55431022e+00] [ 3.37683091e-03 9.99991151e-01 -2.50906561e-03 -5.40185247e+00] [-6.74970710e-03 2.53181543e-03 9.99974015e-01 4.83122126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201652532 meters 0.16315550226689984 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99978918e-01 3.99688830e-04 6.48102452e-03 -4.55294638e+00] [-4.07482119e-04 9.99999196e-01 1.20120207e-03 -5.40078217e+00] [-6.48053920e-03 -1.20381765e-03 9.99978276e-01 4.81943145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26165253199999 meters 0.16220286492642852 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.48 [[ 9.99970962e-01 8.06574391e-04 7.57792109e-03 -4.55579903e+00] [-8.11051339e-04 9.99999498e-01 5.87733901e-04 -5.39672303e+00] [-7.57744324e-03 -5.93862918e-04 9.99971114e-01 4.82488244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32165253199999 meters 0.168585567619006 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.48 [[ 9.99970521e-01 1.23431091e-03 7.57852372e-03 -4.55651083e+00] [-1.24471253e-03 9.99998290e-01 1.36794950e-03 -5.39872490e+00] [-7.57682228e-03 -1.37734226e-03 9.99970347e-01 4.83798982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38165253199999 meters 0.16797929501690553 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.48 [[ 9.99969863e-01 1.27609039e-03 7.65803933e-03 -4.55645893e+00] [-1.28661051e-03 9.99998235e-01 1.36896613e-03 -5.39935845e+00] [-7.65627890e-03 -1.37877778e-03 9.99969740e-01 4.83429307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44165253199999 meters 0.17411996097526067 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.48 [[ 9.99969998e-01 8.37692384e-04 7.70069373e-03 -4.55570192e+00] [-8.42527504e-04 9.99999450e-01 6.24658387e-04 -5.39789124e+00] [-7.70016622e-03 -6.31127693e-04 9.99970154e-01 4.81972472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501652532 meters 0.16944443945504842 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99971093e-01 3.53725713e-04 7.59522569e-03 -4.55476958e+00] [-3.53304741e-04 9.99999936e-01 -5.67675240e-05 -5.39647487e+00] [-7.59524528e-03 5.40824538e-05 9.99971154e-01 4.80881697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561652532 meters 0.1634136166402788 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99973252e-01 5.93189474e-04 7.28994134e-03 -4.55455579e+00] [-5.99962498e-04 9.99999390e-01 9.26940026e-04 -5.39963287e+00] [-7.28938705e-03 -9.31288924e-04 9.99972998e-01 4.82094772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62165253199998 meters 0.17554604597614518 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99978904e-01 4.92834618e-04 6.47671252e-03 -4.55257191e+00] [-5.04257578e-04 9.99998320e-01 1.76218263e-03 -5.40374732e+00] [-6.47583317e-03 -1.76541138e-03 9.99977473e-01 4.82227940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68165253199999 meters 0.15370285659132524 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.48 [[ 9.99972066e-01 -3.96099362e-03 6.33852168e-03 -4.55152409e+00] [ 3.97641032e-03 9.99989162e-01 -2.42147130e-03 -5.40546251e+00] [-6.32886155e-03 2.44660822e-03 9.99976980e-01 4.81182832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74165253199999 meters 0.15356993333491215 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.48 [[ 9.99974280e-01 -3.84295275e-03 6.05559138e-03 -4.55095484e+00] [ 3.85349873e-03 9.99991077e-01 -1.73082348e-03 -5.40797994e+00] [-6.04888587e-03 1.75411417e-03 9.99980167e-01 4.81515797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80165253199999 meters 0.15402119858053637 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.48 [[ 9.99977038e-01 -3.79448872e-03 5.61474991e-03 -4.54983176e+00] [ 3.79981740e-03 9.99992340e-01 -9.38686297e-04 -5.41160330e+00] [-5.61114506e-03 9.59999768e-04 9.99983797e-01 4.81675175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861652532 meters 0.1445549318585445 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.42, Z:0.48 [[ 9.99980734e-01 -3.81894233e-03 4.89356589e-03 -4.54796142e+00] [ 3.81883511e-03 9.99992708e-01 3.12547064e-05 -5.41641965e+00] [-4.89364957e-03 -1.25663830e-05 9.99988026e-01 4.81741195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921652532 meters 0.1481070287285252 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.42, Z:0.48 [[ 9.99984216e-01 -4.03694495e-03 3.90787053e-03 -4.54527493e+00] [ 4.03297377e-03 9.99991344e-01 1.02354962e-03 -5.42217041e+00] [-3.91196872e-03 -1.00777313e-03 9.99991840e-01 4.81401114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.981652532 meters 0.14644805742309217 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99984362e-01 -4.07409665e-03 3.83124310e-03 -4.54470982e+00] [ 4.07004048e-03 9.99991149e-01 1.06590818e-03 -5.42299799e+00] [-3.83555180e-03 -1.05029820e-03 9.99992093e-01 4.80781107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04165253199999 meters 0.1412032281808908 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99960438e-01 -8.26541030e-03 3.28708281e-03 -4.54323206e+00] [ 8.27259908e-03 9.99963406e-01 -2.17942975e-03 -5.42766196e+00] [-3.26894864e-03 2.20653624e-03 9.99992223e-01 4.81031995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10165253199999 meters 0.14335713561400318 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99964112e-01 -8.02353630e-03 2.71976585e-03 -4.54213272e+00] [ 8.02620366e-03 9.99967318e-01 -9.71239266e-04 -5.43231307e+00] [-2.71188419e-03 9.93033804e-04 9.99995830e-01 4.81655564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16165253199999 meters 0.1564174951420892 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99990085e-01 -3.94187867e-03 2.07145280e-03 -4.54013843e+00] [ 3.93436926e-03 9.99985719e-01 3.61684458e-03 -5.43474938e+00] [-2.08568038e-03 -3.60865886e-03 9.99991314e-01 4.80981473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221652532 meters 0.15062529700264438 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.44, Z:0.48 [[ 9.99991844e-01 -3.84613432e-03 1.23216467e-03 -4.53844917e+00] [ 3.84031755e-03 9.99981633e-01 4.68886284e-03 -5.43937895e+00] [-1.25017604e-03 -4.68409270e-03 9.99988248e-01 4.81844008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281652532 meters 0.14842368648353543 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.44, Z:0.48 [[ 9.99992510e-01 -3.68098427e-03 1.19607113e-03 -4.53884581e+00] [ 3.67499688e-03 9.99980896e-01 4.97009725e-03 -5.43972051e+00] [-1.21434313e-03 -4.96566447e-03 9.99986934e-01 4.82695726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.341652532 meters 0.14545206465041088 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.44, Z:0.48 [[ 9.99992407e-01 -3.75051115e-03 1.05819945e-03 -4.53834629e+00] [ 3.74523252e-03 9.99980750e-01 4.94696187e-03 -5.44025146e+00] [-1.07673272e-03 -4.94296110e-03 9.99987204e-01 4.82464516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40165253199999 meters 0.14790242272069687 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.44, Z:0.48 [[ 9.99990492e-01 -4.07039991e-03 1.56438803e-03 -4.53880450e+00] [ 4.06484905e-03 9.99985490e-01 3.53521150e-03 -5.43629311e+00] [-1.57875506e-03 -3.52881888e-03 9.99992527e-01 4.80663036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46165253199999 meters 0.1466437311486768 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99989897e-01 -4.15552467e-03 1.71399228e-03 -4.53934530e+00] [ 4.15017792e-03 9.99986548e-01 3.11132190e-03 -5.43437795e+00] [-1.72689839e-03 -3.10417709e-03 9.99993691e-01 4.80824795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52165253199999 meters 0.14439871974032206 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99989578e-01 -4.19260684e-03 1.80701480e-03 -4.53983274e+00] [ 4.18738832e-03 9.99987080e-01 2.88209280e-03 -5.43314342e+00] [-1.81907493e-03 -2.87449609e-03 9.99994214e-01 4.81212731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58165253199999 meters 0.14914411622593887 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99989170e-01 -3.95584883e-03 2.45173343e-03 -4.54182566e+00] [ 3.94990413e-03 9.99989259e-01 2.42480949e-03 -5.43017213e+00] [-2.46129928e-03 -2.41509912e-03 9.99994055e-01 4.81559776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641652532 meters 0.14255045764211205 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99986202e-01 -4.77666406e-03 2.18603711e-03 -4.53960821e+00] [ 4.77377943e-03 9.99987730e-01 1.32289131e-03 -5.42853943e+00] [-2.19232930e-03 -1.31243740e-03 9.99996736e-01 4.78971232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701652532 meters 0.1418203559526992 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99985171e-01 -4.89343056e-03 2.39003355e-03 -4.54020617e+00] [ 4.89153167e-03 9.99987717e-01 7.99702638e-04 -5.42626639e+00] [-2.39391748e-03 -7.87999854e-04 9.99996824e-01 4.78985226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76165253199999 meters 0.14735468565732024 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99997735e-01 -6.64482917e-04 2.02207654e-03 -4.53964123e+00] [ 6.54067885e-04 9.99986540e-01 5.14697122e-03 -5.42624195e+00] [-2.02546940e-03 -5.14563698e-03 9.99984710e-01 4.79541706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82165253199999 meters 0.1402170196934757 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.43, Z:0.48 [[ 9.99997856e-01 -9.43319261e-04 1.84328060e-03 -4.53885319e+00] [ 9.34459368e-04 9.99988036e-01 4.80155351e-03 -5.42564869e+00] [-1.84778795e-03 -4.79982074e-03 9.99986774e-01 4.78956655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88165253199999 meters 0.14296437128653597 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99997356e-01 -1.53148430e-03 1.71547597e-03 -4.53723451e+00] [ 1.52458746e-03 9.99990780e-01 4.01448599e-03 -5.42478416e+00] [-1.72160827e-03 -4.01185998e-03 9.99990470e-01 4.76801666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94165253199999 meters 0.1388329811917252 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99995627e-01 -2.22572210e-03 1.94754989e-03 -4.53660597e+00] [ 2.22035547e-03 9.99993744e-01 2.75342168e-03 -5.42096978e+00] [-1.95366606e-03 -2.74908538e-03 9.99994313e-01 4.74685431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001652532 meters 0.13510295950144996 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99995899e-01 -1.40175543e-03 2.49723641e-03 -4.53950852e+00] [ 1.39246324e-03 9.99992116e-01 3.71885266e-03 -5.42189899e+00] [-2.50242965e-03 -3.71536010e-03 9.99989967e-01 4.77064830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061652532 meters 0.1350337829178867 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99996069e-01 -1.43180322e-03 2.41077366e-03 -4.53909000e+00] [ 1.42253487e-03 9.99991608e-01 3.84188776e-03 -5.42278202e+00] [-2.41625425e-03 -3.83844325e-03 9.99989714e-01 4.76769754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12165253199998 meters 0.14310845975473266 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99995220e-01 -1.57282343e-03 2.66183749e-03 -4.53879378e+00] [ 1.56337126e-03 9.99992479e-01 3.54935906e-03 -5.42294439e+00] [-2.66739999e-03 -3.54518066e-03 9.99990158e-01 4.75138453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18165253199999 meters 0.12862002659434388 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99995061e-01 -1.75391988e-03 2.60789614e-03 -4.53807220e+00] [ 1.74483640e-03 9.99992418e-01 3.48127211e-03 -5.42342188e+00] [-2.61398224e-03 -3.47670457e-03 9.99990540e-01 4.74140769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24165253199999 meters 0.1475883745241008 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99994539e-01 -1.44563227e-03 2.97195474e-03 -4.53954162e+00] [ 1.43431709e-03 9.99991729e-01 3.80593160e-03 -5.42332144e+00] [-2.97743214e-03 -3.80164809e-03 9.99988341e-01 4.75008799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30165253199999 meters 0.14477046429742993 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99994043e-01 -1.54313573e-03 3.08759424e-03 -4.53956941e+00] [ 1.53223418e-03 9.99992596e-01 3.53001335e-03 -5.42282319e+00] [-3.09301866e-03 -3.52526140e-03 9.99989003e-01 4.74511395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361652532 meters 0.13715721337538067 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99992218e-01 -1.41305516e-03 3.68341797e-03 -4.54113464e+00] [ 1.40144937e-03 9.99994052e-01 3.15149828e-03 -5.42084763e+00] [-3.68784930e-03 -3.14631163e-03 9.99988250e-01 4.74548920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421652532 meters 0.13897001230623107 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99990264e-01 -1.67022962e-03 4.08443945e-03 -4.54162470e+00] [ 1.66097704e-03 9.99996049e-01 2.26766851e-03 -5.41823052e+00] [-4.08821084e-03 -2.26086227e-03 9.99989087e-01 4.73527638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.481652532 meters 0.1481259268688804 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99988926e-01 -1.35820983e-03 4.50581430e-03 -4.54306137e+00] [ 1.34716287e-03 9.99996082e-01 2.45384272e-03 -5.41792220e+00] [-4.50912948e-03 -2.44774548e-03 9.99986838e-01 4.74082649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54165253199999 meters 0.13767241791842955 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99988083e-01 -1.38497751e-03 4.68133793e-03 -4.54341300e+00] [ 1.37440384e-03 9.99996499e-01 2.26114717e-03 -5.41730095e+00] [-4.68445317e-03 -2.25468617e-03 9.99986486e-01 4.73907315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60165253199999 meters 0.14768045448467465 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.48 [[ 9.99987401e-01 -9.58797715e-04 4.92731453e-03 -4.54476821e+00] [ 9.45351993e-04 9.99995826e-01 2.73041838e-03 -5.41778020e+00] [-4.92991188e-03 -2.72572593e-03 9.99984133e-01 4.75108917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66165253199999 meters 0.1464937515311554 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99986968e-01 -1.00854264e-03 5.00457365e-03 -4.54481618e+00] [ 9.95777572e-04 9.99996247e-01 2.55251727e-03 -5.41745275e+00] [-5.00712919e-03 -2.54750056e-03 9.99984219e-01 4.74860255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721652532 meters 0.14311768536062783 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99987827e-01 -1.22416634e-03 4.77995573e-03 -4.54396311e+00] [ 1.21245723e-03 9.99996259e-01 2.45175632e-03 -5.41779825e+00] [-4.78293921e-03 -2.44593099e-03 9.99985570e-01 4.74440123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781652532 meters 0.14650248305495295 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99986770e-01 -1.19337193e-03 5.00365532e-03 -4.54452268e+00] [ 1.18192094e-03 9.99996678e-01 2.29085785e-03 -5.41697293e+00] [-5.00637254e-03 -2.28491362e-03 9.99984858e-01 4.74420486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.841652532 meters 0.15009793812267785 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.42, Z:0.47 [[ 9.99986472e-01 -1.47639915e-03 4.98752835e-03 -4.54410266e+00] [ 1.46732591e-03 9.99997263e-01 1.82235481e-03 -5.41571188e+00] [-4.99020522e-03 -1.81501183e-03 9.99985902e-01 4.73759687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90165253199999 meters 0.15873217155419314 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99984238e-01 -1.77820959e-03 5.32561787e-03 -4.54439475e+00] [ 1.77287695e-03 9.99997923e-01 1.00587234e-03 -5.41323310e+00] [-5.32739546e-03 -9.96414816e-04 9.99985313e-01 4.72762356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96165253199999 meters 0.15082466687745602 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99984073e-01 -1.81882413e-03 5.34284866e-03 -4.54436916e+00] [ 1.81415402e-03 9.99997968e-01 8.78800782e-04 -5.41302097e+00] [-5.34443619e-03 -8.69094035e-04 9.99985341e-01 4.72652916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02165253199999 meters 0.14357854799847167 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99984811e-01 -1.66666763e-03 5.25352993e-03 -4.54433976e+00] [ 1.66012554e-03 9.99997842e-01 1.24938980e-03 -5.41421116e+00] [-5.25560091e-03 -1.24064930e-03 9.99985420e-01 4.73019486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08165253199999 meters 0.15061435412449398 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99984537e-01 -1.94641021e-03 5.20928312e-03 -4.54405687e+00] [ 1.94233689e-03 9.99997804e-01 7.86879471e-04 -5.41239664e+00] [-5.21080327e-03 -7.76749120e-04 9.99986122e-01 4.72613577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141652532 meters 0.1540988791389388 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.47 [[ 9.99979397e-01 -2.09268672e-03 6.06838281e-03 -4.54548284e+00] [ 2.09621882e-03 9.99997637e-01 -5.75747907e-04 -5.40762299e+00] [-6.06716361e-03 5.88456703e-04 9.99981421e-01 4.71160991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201652532 meters 0.15660512290060694 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.47 [[ 9.99978346e-01 -1.80086275e-03 6.32967962e-03 -4.54658342e+00] [ 1.80310432e-03 9.99998314e-01 -3.48448076e-04 -5.40782480e+00] [-6.32904144e-03 3.59853603e-04 9.99979907e-01 4.71992244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26165253199999 meters 0.15292406820580892 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.47 [[ 9.99976387e-01 -1.44892650e-03 6.71765770e-03 -4.54811137e+00] [ 1.44974372e-03 9.99998942e-01 -1.16785263e-04 -5.40740023e+00] [-6.71748138e-03 1.26521387e-04 9.99977429e-01 4.72893506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32165253199999 meters 0.164612032815675 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.47 [[ 9.99981598e-01 -1.99331914e-03 5.72979813e-03 -4.54531002e+00] [ 1.99257137e-03 9.99998006e-01 1.36210459e-04 -5.41024652e+00] [-5.73005821e-03 -1.24790920e-04 9.99983575e-01 4.72238614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38165253199999 meters 0.15240164055669173 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99980972e-01 -2.38213622e-03 5.69050867e-03 -4.54484502e+00] [ 2.38486928e-03 9.99997044e-01 -4.73546178e-04 -5.40847355e+00] [-5.68936379e-03 4.87108287e-04 9.99983697e-01 4.71567019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44165253199999 meters 0.15058729765355933 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.47 [[ 9.99981343e-01 -2.20235944e-03 5.69758669e-03 -4.54516801e+00] [ 2.20367300e-03 9.99997547e-01 -2.24278196e-04 -5.40888276e+00] [-5.69707877e-03 2.36829630e-04 9.99983743e-01 4.72088690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501652532 meters 0.14686705910716455 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.41, Z:0.47 [[ 9.99981187e-01 -2.44638263e-03 5.62498603e-03 -4.54475098e+00] [ 2.45002709e-03 9.99996793e-01 -6.41106173e-04 -5.40788841e+00] [-5.62339960e-03 6.54875481e-04 9.99983974e-01 4.71682583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561652532 meters 0.15415353064984902 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.47 [[ 9.99980533e-01 -1.96549514e-03 5.92197926e-03 -4.54649208e+00] [ 1.96694953e-03 9.99998037e-01 -2.39776670e-04 -5.40748762e+00] [-5.92149636e-03 2.51420236e-04 9.99982436e-01 4.73311083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62165253199998 meters 0.15413190067221347 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.47 [[ 9.99978749e-01 -2.04098264e-03 6.19160647e-03 -4.54729520e+00] [ 2.04499656e-03 9.99997703e-01 -6.42021647e-04 -5.40526953e+00] [-6.19028189e-03 6.54669817e-04 9.99980626e-01 4.73425462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68165253199999 meters 0.15637757352768691 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.47 [[ 9.99977592e-01 -2.03979824e-03 6.37614570e-03 -4.54770375e+00] [ 2.04529862e-03 9.99997542e-01 -8.56248173e-04 -5.40442189e+00] [-6.37438345e-03 8.69270108e-04 9.99979306e-01 4.73314483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74165253199999 meters 0.14758116280560601 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.47 [[ 9.99977218e-01 -2.03627415e-03 6.43567653e-03 -4.54816690e+00] [ 2.04246814e-03 9.99997457e-01 -9.56020031e-04 -5.40341801e+00] [-6.43371344e-03 9.69142915e-04 9.99978834e-01 4.73786849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80165253199999 meters 0.14800753619574403 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.47 [[ 9.99976859e-01 -2.13587894e-03 6.45911632e-03 -4.54850227e+00] [ 2.14348871e-03 9.99997017e-01 -1.17145221e-03 -5.40194446e+00] [-6.45659497e-03 1.18527014e-03 9.99978454e-01 4.74142926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861652532 meters 0.15370342708156223 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99972040e-01 -1.75823523e-03 7.26828812e-03 -4.55105657e+00] [ 1.76949258e-03 9.99997244e-01 -1.54269008e-03 -5.39825816e+00] [-7.26555568e-03 1.55550812e-03 9.99972396e-01 4.75043955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921652532 meters 0.15398455985571538 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99972918e-01 -1.53377181e-03 7.19792168e-03 -4.55119662e+00] [ 1.54133933e-03 9.99998265e-01 -1.04591824e-03 -5.39971856e+00] [-7.19630500e-03 1.05698435e-03 9.99973548e-01 4.75671403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981652532 meters 0.15596663439433683 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99970906e-01 -1.71613130e-03 7.43245319e-03 -4.55166268e+00] [ 1.72837055e-03 9.99997161e-01 -1.64062060e-03 -5.39752448e+00] [-7.42961657e-03 1.65341890e-03 9.99971033e-01 4.75384696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04165253199999 meters 0.16016748411165407 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99969812e-01 -1.76031846e-03 7.56813466e-03 -4.55233951e+00] [ 1.77459481e-03 9.99996658e-01 -1.88007488e-03 -5.39578889e+00] [-7.56479984e-03 1.89344850e-03 9.99969594e-01 4.75833457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10165253199999 meters 0.15451510376652114 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.48 [[ 9.99968586e-01 -1.54823920e-03 7.77365338e-03 -4.55325134e+00] [ 1.56192981e-03 9.99997239e-01 -1.75539416e-03 -5.39537705e+00] [-7.77091415e-03 1.76748091e-03 9.99968244e-01 4.76444435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16165253199999 meters 0.1591569679833176 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99963901e-01 -1.23717646e-03 8.40626990e-03 -4.55551681e+00] [ 1.25338637e-03 9.99997365e-01 -1.92331727e-03 -5.39268232e+00] [-8.40386826e-03 1.93378414e-03 9.99962817e-01 4.77539185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221652532 meters 0.15562300284885655 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99959453e-01 3.06218047e-03 8.46852124e-03 -4.55630283e+00] [-3.08050480e-03 9.99992940e-01 2.15161997e-03 -5.39074698e+00] [-8.46187281e-03 -2.17762005e-03 9.99961827e-01 4.78536969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281652532 meters 0.168004338401499 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99956404e-01 3.13908648e-03 8.79411407e-03 -4.55735247e+00] [-3.15577074e-03 9.99993246e-01 1.88397450e-03 -5.38932037e+00] [-8.78814072e-03 -1.91164458e-03 9.99959556e-01 4.78913645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341652532 meters 0.15240027596608643 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99955394e-01 2.81713621e-03 9.01516397e-03 -4.55749473e+00] [-2.82693240e-03 9.99995427e-01 1.07407687e-03 -5.38681577e+00] [-9.01209693e-03 -1.09951422e-03 9.99958786e-01 4.78128866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40165253199999 meters 0.1635477757966218 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99957422e-01 2.57970884e-03 8.86003749e-03 -4.55689332e+00] [-2.58710024e-03 9.99996315e-01 8.22880440e-04 -5.38634630e+00] [-8.85788205e-03 -8.45767208e-04 9.99960411e-01 4.77756369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46165253199999 meters 0.15417739865922442 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99962658e-01 2.48750876e-03 8.27614722e-03 -4.55523142e+00] [-2.49804133e-03 9.99996083e-01 1.26254797e-03 -5.38963508e+00] [-8.27297420e-03 -1.28317498e-03 9.99964955e-01 4.77604802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52165253199999 meters 0.15293682424407185 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99959096e-01 2.13471358e-03 8.78917560e-03 -4.55597944e+00] [-2.13645356e-03 9.99997700e-01 1.88583485e-04 -5.38551692e+00] [-8.78875281e-03 -2.07353436e-04 9.99961357e-01 4.76591012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58165253199999 meters 0.1725892454991516 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.48 [[ 9.99964470e-01 2.00926294e-03 8.18662040e-03 -4.55456347e+00] [-2.01451475e-03 9.99997770e-01 6.33315800e-04 -5.38753371e+00] [-8.18532965e-03 -6.49785366e-04 9.99966289e-01 4.76799755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641652532 meters 0.15928306382003118 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99962330e-01 2.21677768e-03 8.39188155e-03 -4.55518058e+00] [-2.22391979e-03 9.99997173e-01 8.41836875e-04 -5.38794380e+00] [-8.38999166e-03 -8.60468035e-04 9.99964433e-01 4.76999576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701652532 meters 0.1589549132640324 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.48 [[ 9.99963989e-01 1.98469681e-03 8.25111742e-03 -4.55467243e+00] [-1.98991394e-03 9.99997825e-01 6.24132187e-04 -5.38745873e+00] [-8.24986077e-03 -6.40528725e-04 9.99965764e-01 4.76711225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76165253199999 meters 0.1577306999466346 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.48 [[ 9.99961030e-01 1.60363593e-03 8.68144907e-03 -4.55520300e+00] [-1.59983155e-03 9.99998621e-01 -4.45146141e-04 -5.38378594e+00] [-8.68215096e-03 4.31239937e-04 9.99962216e-01 4.75647244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82165253199999 meters 0.15559273532635076 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.47 [[ 9.99960072e-01 1.48393002e-03 8.81208801e-03 -4.55508847e+00] [-1.47692251e-03 9.99998588e-01 -8.01669691e-04 -5.38332541e+00] [-8.81326519e-03 7.88622911e-04 9.99960851e-01 4.74877789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88165253199999 meters 0.18412570280866836 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.47 [[ 9.99951083e-01 1.57601170e-03 9.76463198e-03 -4.55740910e+00] [-1.55885964e-03 9.99997229e-01 -1.76391228e-03 -5.37820651e+00] [-9.76738487e-03 1.74860430e-03 9.99950769e-01 4.74866412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94165253199999 meters 0.1603844352496784 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.48 [[ 9.99949836e-01 1.64912226e-03 9.87956700e-03 -4.55793858e+00] [-1.63158676e-03 9.99997080e-01 -1.78272360e-03 -5.37756731e+00] [-9.88247808e-03 1.76651480e-03 9.99949607e-01 4.75192745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001652532 meters 0.18274301873537033 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.37, Z:0.48 [[ 9.99940443e-01 2.06855373e-03 1.07159778e-02 -4.56035090e+00] [-2.04696399e-03 9.99995854e-01 -2.02530120e-03 -5.37458532e+00] [-1.07201228e-02 2.00324536e-03 9.99940531e-01 4.75787266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061652532 meters 0.18781246598040557 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.47 [[ 9.99946611e-01 1.75905281e-03 1.01824150e-02 -4.55855137e+00] [-1.73858032e-03 9.99996450e-01 -2.01907615e-03 -5.37599959e+00] [-1.01859305e-02 2.00126540e-03 9.99946119e-01 4.74984892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12165253199998 meters 0.19094212576452899 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.37, Z:0.47 [[ 9.99940818e-01 1.75374438e-03 1.07371155e-02 -4.55961798e+00] [-1.72685814e-03 9.99995352e-01 -2.51280663e-03 -5.37387404e+00] [-1.07414724e-02 2.49411644e-03 9.99939198e-01 4.74412640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18165253199999 meters 0.1672487627836191 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.47 [[ 9.99946505e-01 1.38028331e-03 1.02509647e-02 -4.55774050e+00] [-1.35405190e-03 9.99995793e-01 -2.56542061e-03 -5.37527243e+00] [-1.02544626e-02 2.55140303e-03 9.99944167e-01 4.73358661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24165253199999 meters 0.17043807000944453 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.47 [[ 9.99948893e-01 1.53790169e-03 9.99232329e-03 -4.55736713e+00] [-1.51794589e-03 9.99996839e-01 -2.00439021e-03 -5.37754316e+00] [-9.99537426e-03 1.98911996e-03 9.99948067e-01 4.73959047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30165253199999 meters 0.1702918596417684 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.47 [[ 9.99946289e-01 1.58401498e-03 1.02425317e-02 -4.55806815e+00] [-1.56273035e-03 9.99996604e-01 -2.08573294e-03 -5.37684013e+00] [-1.02458008e-02 2.06961460e-03 9.99945369e-01 4.74068651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361652532 meters 0.17350381330680406 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.47 [[ 9.99945118e-01 1.66044861e-03 1.03442387e-02 -4.55825806e+00] [-1.63943208e-03 9.99996576e-01 -2.03986193e-03 -5.37687293e+00] [-1.03475903e-02 2.02279130e-03 9.99944416e-01 4.73912386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421652532 meters 0.1735908803375113 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.37, Z:0.47 [[ 9.99932239e-01 1.88472693e-03 1.14876064e-02 -4.56046410e+00] [-1.85152323e-03 9.99994080e-01 -2.90034296e-03 -5.37315216e+00] [-1.14930048e-02 2.87887686e-03 9.99929809e-01 4.72914046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48165253199998 meters 0.20284178362513744 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.38, Z:0.47 [[ 9.99941062e-01 1.92631793e-03 1.06846792e-02 -4.55816622e+00] [-1.90539371e-03 9.99996248e-01 -1.96817234e-03 -5.37887979e+00] [-1.06884304e-02 1.94769782e-03 9.99940980e-01 4.72649407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54165253199999 meters 0.1896864340872094 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.38, Z:0.47 [[ 9.99953988e-01 1.39952074e-03 9.49014393e-03 -4.55470819e+00] [-1.38964686e-03 9.99998486e-01 -1.04694965e-03 -5.38440326e+00] [-9.49159480e-03 1.03371353e-03 9.99954419e-01 4.71941082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60165253199999 meters 0.18596801331756707 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.47 [[ 9.99955188e-01 1.31155704e-03 9.37564379e-03 -4.55417123e+00] [-1.30319734e-03 9.99998748e-01 -8.97693869e-04 -5.38532663e+00] [-9.37680943e-03 8.85435327e-04 9.99955645e-01 4.71617136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66165253199999 meters 0.17714470385247727 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.47 [[ 9.99952626e-01 -2.74182110e-03 9.33956387e-03 -4.55400973e+00] [ 2.78408867e-03 9.99985929e-01 -4.51565650e-03 -5.38806543e+00] [-9.32705133e-03 4.54144475e-03 9.99946189e-01 4.71666817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721652532 meters 0.1769086507998644 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.47 [[ 9.99949861e-01 -2.67507465e-03 9.64985075e-03 -4.55471432e+00] [ 2.72022363e-03 9.99985402e-01 -4.66863644e-03 -5.38741794e+00] [-9.63722093e-03 4.69465211e-03 9.99942540e-01 4.71533273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781652532 meters 0.175280289323554 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.47 [[ 9.99949401e-01 -2.24055007e-03 9.80690598e-03 -4.55564197e+00] [ 2.27927935e-03 9.99989641e-01 -3.93979167e-03 -5.38909262e+00] [-9.79797709e-03 3.96194500e-03 9.99944150e-01 4.72478826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.841652532 meters 0.1742286249938023 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.47 [[ 9.99950556e-01 -1.91253228e-03 9.75848239e-03 -4.55585813e+00] [ 1.94437158e-03 9.99992814e-01 -3.25428749e-03 -5.39106418e+00] [-9.75218835e-03 3.27310070e-03 9.99947089e-01 4.73103206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90165253199999 meters 0.17019001902689995 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.39, Z:0.47 [[ 9.99954236e-01 -2.00762902e-03 9.35394443e-03 -4.55477081e+00] [ 2.03442409e-03 9.99993852e-01 -2.85594016e-03 -5.39300252e+00] [-9.34815326e-03 2.87483935e-03 9.99952173e-01 4.73101269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96165253199999 meters 0.1680478513455522 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.47 [[ 9.99950458e-01 -2.08671725e-03 9.73275238e-03 -4.55525434e+00] [ 2.11913695e-03 9.99992237e-01 -3.32186756e-03 -5.39158122e+00] [-9.72574503e-03 3.34232802e-03 9.99947118e-01 4.72247280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02165253199999 meters 0.16621140611495433 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.47 [[ 9.99949126e-01 -2.21729879e-03 9.84013307e-03 -4.55533865e+00] [ 2.25261881e-03 9.99991055e-01 -3.57975390e-03 -5.39081848e+00] [-9.83210767e-03 3.60173785e-03 9.99945177e-01 4.71952408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08165253199999 meters 0.1710603606602042 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.47 [[ 9.99946744e-01 -1.93818732e-03 1.01366823e-02 -4.55634933e+00] [ 1.97198612e-03 9.99992527e-01 -3.32537405e-03 -5.39124941e+00] [-1.01301613e-02 3.34518635e-03 9.99943093e-01 4.72425050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141652532 meters 0.1637699102646082 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.47 [[ 9.99948486e-01 -1.47308349e-03 1.00426894e-02 -4.55653070e+00] [ 1.49686444e-03 9.99996093e-01 -2.36088124e-03 -5.39424885e+00] [-1.00391723e-02 2.37579217e-03 9.99946784e-01 4.73186209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201652532 meters 0.19420703631764652 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.47 [[ 9.99945695e-01 -1.32242658e-03 1.03372490e-02 -4.55757033e+00] [ 1.34653653e-03 9.99996389e-01 -2.32572526e-03 -5.39353606e+00] [-1.03341361e-02 2.33951845e-03 9.99943865e-01 4.73673336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26165253199999 meters 0.19098823796328315 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.47 [[ 9.99946703e-01 -1.24285850e-03 1.02492320e-02 -4.55757828e+00] [ 1.26383686e-03 9.99997119e-01 -2.04059983e-03 -5.39415937e+00] [-1.02466663e-02 2.05344443e-03 9.99945393e-01 4.74098118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32165253199999 meters 0.19058199129162073 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.47 [[ 9.99942540e-01 -9.32257066e-04 1.06792798e-02 -4.55903190e+00] [ 9.53926066e-04 9.99997496e-01 -2.02415537e-03 -5.39322210e+00] [-1.06773660e-02 2.03422630e-03 9.99940926e-01 4.74664653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38165253199999 meters 0.1815416114104748 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99938022e-01 -6.23176421e-04 1.11158854e-02 -4.56064821e+00] [ 6.45368569e-04 9.99997806e-01 -1.99296019e-03 -5.39214368e+00] [-1.11146190e-02 2.00001052e-03 9.99936231e-01 4.75506398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44165253199999 meters 0.18522899587194755 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.48 [[ 9.99939074e-01 -1.03773042e-04 1.10380431e-02 -4.56124625e+00] [ 1.14596408e-04 9.99999513e-01 -9.79923191e-04 -5.39485523e+00] [-1.10379360e-02 9.81128408e-04 9.99938599e-01 4.76936129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501652532 meters 0.1789999126189592 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.48 [[ 9.99944621e-01 1.59570095e-05 1.05240453e-02 -4.56023694e+00] [-1.49328514e-05 9.99999995e-01 -9.73945831e-05 -5.39824376e+00] [-1.05240468e-02 9.72320354e-05 9.99944616e-01 4.77529926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561652532 meters 0.17288433533746153 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.48 [[ 9.99947475e-01 3.94861091e-05 1.02491595e-02 -4.55956038e+00] [-4.25053415e-05 9.99999956e-01 2.94365757e-04 -5.40000002e+00] [-1.02491474e-02 -2.94785940e-04 9.99947433e-01 4.77632654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62165253199998 meters 0.16886973711965347 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.48 [[ 9.99942218e-01 -3.96592118e-03 9.99161184e-03 -4.55908783e+00] [ 3.99509199e-03 9.99987811e-01 -2.90126446e-03 -5.40406593e+00] [-9.97998387e-03 2.94101422e-03 9.99945874e-01 4.78161232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68165253199999 meters 0.16227948378860435 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.48 [[ 9.99947201e-01 -3.90691167e-03 9.50427751e-03 -4.55801261e+00] [ 3.92703210e-03 9.99990086e-01 -2.09924684e-03 -5.40715110e+00] [-9.49598171e-03 2.13645961e-03 9.99952630e-01 4.78434251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74165253199999 meters 0.17055938398787587 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.48 [[ 9.99950909e-01 -3.91693210e-03 9.10147318e-03 -4.55683987e+00] [ 3.93130330e-03 9.99991053e-01 -1.56164287e-03 -5.40972862e+00] [-9.09527490e-03 1.59734686e-03 9.99957361e-01 4.78122093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80165253199999 meters 0.1686481343368628 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.48 [[ 9.99952700e-01 -3.86484043e-03 8.92534003e-03 -4.55660823e+00] [ 3.87610678e-03 9.99991712e-01 -1.24533532e-03 -5.41081527e+00] [-8.92045304e-03 1.27987199e-03 9.99959393e-01 4.78540394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861652532 meters 0.16241709685942304 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.48 [[ 9.99958626e-01 -3.82038257e-03 8.25530103e-03 -4.55525005e+00] [ 3.82375297e-03 9.99992612e-01 -3.92525593e-04 -5.41442646e+00] [-8.25374044e-03 4.24075584e-04 9.99965847e-01 4.79131022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921652532 meters 0.1550562192928514 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.48 [[ 9.99958751e-01 -3.97483865e-03 8.16676312e-03 -4.55484253e+00] [ 3.97915724e-03 9.99991952e-01 -5.12619368e-04 -5.41436221e+00] [-8.16465981e-03 5.45095058e-04 9.99966520e-01 4.78826891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98165253199998 meters 0.15017964782392787 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.48 [[ 9.99958829e-01 -3.97720077e-03 8.15609114e-03 -4.55488270e+00] [ 3.98136124e-03 9.99991952e-01 -4.93932983e-04 -5.41440920e+00] [-8.15406103e-03 5.26384993e-04 9.99966617e-01 4.78960321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04165253199999 meters 0.1673025943956022 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.48 [[ 9.99956383e-01 -3.97524086e-03 8.45163075e-03 -4.55557738e+00] [ 3.98232739e-03 9.99991733e-01 -8.21817631e-04 -5.41303292e+00] [-8.44829396e-03 8.55438947e-04 9.99963947e-01 4.78946073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10165253199999 meters 0.15986550866025298 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.48 [[ 9.99960613e-01 -3.66026038e-03 8.08547058e-03 -4.55526891e+00] [ 3.65863512e-03 9.99993284e-01 2.15792213e-04 -5.41635936e+00] [-8.08620613e-03 -1.86201927e-04 9.99967289e-01 4.80202566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16165253199999 meters 0.15521828786383265 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.42, Z:0.48 [[ 9.99966877e-01 -3.64223298e-03 7.27872115e-03 -4.55323097e+00] [ 3.63299762e-03 9.99992579e-01 1.28163560e-03 -5.42156403e+00] [-7.28333515e-03 -1.25514957e-03 9.99972688e-01 4.80361128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221652532 meters 0.15741759233580202 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.42, Z:0.48 [[ 9.99965736e-01 -3.57464565e-03 7.46644796e-03 -4.55374718e+00] [ 3.56480335e-03 9.99992760e-01 1.33109588e-03 -5.42137123e+00] [-7.47115210e-03 -1.30443385e-03 9.99971240e-01 4.80427475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281652532 meters 0.14877354213148555 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.43, Z:0.48 [[ 9.99970942e-01 -3.61191144e-03 6.71333849e-03 -4.55161428e+00] [ 3.59624287e-03 9.99990785e-01 2.34455480e-03 -5.42664157e+00] [-6.72174495e-03 -2.32034388e-03 9.99974717e-01 4.80221493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341652532 meters 0.1478222801841361 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.43, Z:0.48 [[ 9.99972753e-01 -3.46963283e-03 6.51567686e-03 -4.55111711e+00] [ 3.45045908e-03 9.99989691e-01 2.95164946e-03 -5.42913457e+00] [-6.52585083e-03 -2.92908696e-03 9.99974417e-01 4.80382614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40165253199999 meters 0.1506291080802393 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.43, Z:0.48 [[ 9.99951805e-01 -7.48711267e-03 6.35061771e-03 -4.55078707e+00] [ 7.48943529e-03 9.99971895e-01 -3.42027088e-04 -5.43284301e+00] [-6.34787843e-03 3.89573145e-04 9.99979776e-01 4.80898466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46165253199999 meters 0.14807997099635756 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.48 [[ 9.99955805e-01 -7.41973819e-03 5.77370210e-03 -4.54909864e+00] [ 7.41488383e-03 9.99972138e-01 8.61723818e-04 -5.43846022e+00] [-5.77993500e-03 -8.18874404e-04 9.99982961e-01 4.80872390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52165253199999 meters 0.14857591658429628 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.48 [[ 9.99959606e-01 -7.27664524e-03 5.27600820e-03 -4.54776497e+00] [ 7.26551581e-03 9.99971347e-01 2.12554842e-03 -5.44348890e+00] [-5.29132388e-03 -2.08712964e-03 9.99983823e-01 4.81070148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58165253199999 meters 0.13182357808054246 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.48 [[ 9.99962749e-01 -7.13758564e-03 4.85336653e-03 -4.54676535e+00] [ 7.12298182e-03 9.99970072e-01 3.01966484e-03 -5.44746946e+00] [-4.87477439e-03 -2.98498192e-03 9.99983663e-01 4.81442002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641652532 meters 0.1387543855317804 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.48 [[ 9.99965122e-01 -6.96543625e-03 4.60838840e-03 -4.54632136e+00] [ 6.94672127e-03 9.99967610e-01 4.06468829e-03 -5.45112632e+00] [-4.63655146e-03 -4.03253333e-03 9.99981120e-01 4.82075257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701652532 meters 0.1435476336746497 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.48 [[ 9.99968353e-01 -6.59924944e-03 4.44326372e-03 -4.54627751e+00] [ 6.57667921e-03 9.99965494e-01 5.07524409e-03 -5.45436819e+00] [-4.47660321e-03 -5.04586156e-03 9.99977249e-01 4.82893222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76165253199999 meters 0.1375187119092513 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.48 [[ 9.99969005e-01 -6.49922022e-03 4.44410335e-03 -4.54608700e+00] [ 6.47533302e-03 9.99964624e-01 5.36845960e-03 -5.45582594e+00] [-4.47883694e-03 -5.33951616e-03 9.99975714e-01 4.82615294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82165253199999 meters 0.13851496678042746 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.48 [[ 9.99968780e-01 -6.37093789e-03 4.67449242e-03 -4.54704732e+00] [ 6.34592148e-03 9.99965568e-01 5.34714195e-03 -5.45491423e+00] [-4.70839777e-03 -5.31731105e-03 9.99974778e-01 4.83240051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88165253199999 meters 0.13762388919823942 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.49 [[ 9.99968390e-01 -5.66037274e-03 5.58375856e-03 -4.55043499e+00] [ 5.63019555e-03 9.99969541e-01 5.40545233e-03 -5.45201980e+00] [-5.61418536e-03 -5.37384381e-03 9.99969801e-01 4.85241127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94165253199999 meters 0.13918954054433624 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.49 [[ 9.99965407e-01 -5.83478140e-03 5.92782737e-03 -4.55118632e+00] [ 5.80687907e-03 9.99972032e-01 4.71336603e-03 -5.44931888e+00] [-5.95516304e-03 -4.67878081e-03 9.99971322e-01 4.85031183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001652532 meters 0.1452614814342768 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.48 [[ 9.99961351e-01 -5.84779951e-03 6.56510778e-03 -4.55268705e+00] [ 5.82278475e-03 9.99975740e-01 3.82292766e-03 -5.44547852e+00] [-6.58730422e-03 -3.78455269e-03 9.99971142e-01 4.84822242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061652532 meters 0.14770478685862268 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.49 [[ 9.99958617e-01 -5.34994075e-03 7.35810989e-03 -4.55551954e+00] [ 5.32283190e-03 9.99978993e-01 3.69887584e-03 -5.44244104e+00] [-7.37774408e-03 -3.65955679e-03 9.99966088e-01 4.86216806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12165253199998 meters 0.1492267071609646 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.49 [[ 9.99966727e-01 -1.13904633e-03 8.07761632e-03 -4.55763915e+00] [ 1.08456364e-03 9.99976657e-01 6.74607283e-03 -5.43636401e+00] [-8.08511185e-03 -6.73708768e-03 9.99944620e-01 4.86681705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18165253199999 meters 0.14806456983802627 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.43, Z:0.49 [[ 9.99962516e-01 -1.22269884e-03 8.57159723e-03 -4.55894299e+00] [ 1.17274148e-03 9.99982313e-01 5.83084887e-03 -5.43243108e+00] [-8.57857499e-03 -5.82057803e-03 9.99946263e-01 4.86809172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24165253199999 meters 0.15719027498207425 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.43, Z:0.49 [[ 9.99952428e-01 -8.15230335e-04 9.71990388e-03 -4.56207921e+00] [ 7.68771025e-04 9.99988268e-01 4.78259027e-03 -5.42722329e+00] [-9.72368876e-03 -4.77489038e-03 9.99941323e-01 4.87440281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30165253199999 meters 0.15690855664149625 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.49 [[ 9.99949336e-01 -9.78774299e-04 1.00183764e-02 -4.56311775e+00] [ 9.37317303e-04 9.99990983e-01 4.14195444e-03 -5.42379594e+00] [-1.00223401e-02 -4.13235419e-03 9.99941236e-01 4.87982506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361652532 meters 0.15839776591017443 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.49 [[ 9.99949521e-01 -1.26242918e-03 9.96808506e-03 -4.56277277e+00] [ 1.22592344e-03 9.99992523e-01 3.66752339e-03 -5.42255416e+00] [-9.97264051e-03 -3.65511814e-03 9.99943592e-01 4.87577212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421652532 meters 0.163500878996613 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.49 [[ 9.99941367e-01 -1.25184914e-03 1.07561614e-02 -4.56463391e+00] [ 1.22366027e-03 9.99995801e-01 2.62690001e-03 -5.41760255e+00] [-1.07594047e-02 -2.61358410e-03 9.99938700e-01 4.87519582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48165253199998 meters 0.18109025026176032 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.41, Z:0.49 [[ 9.99928091e-01 -9.05126358e-04 1.19579635e-02 -4.56750351e+00] [ 8.83067353e-04 9.99997899e-01 1.84986379e-03 -5.41276603e+00] [-1.19596127e-02 -1.83917109e-03 9.99926790e-01 4.87835786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54165253199999 meters 0.17029419472815746 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.42, Z:0.49 [[ 9.99931355e-01 -4.69181482e-04 1.17074433e-02 -4.56738892e+00] [ 4.37339829e-04 9.99996199e-01 2.72219051e-03 -5.41637037e+00] [-1.17086761e-02 -2.71688351e-03 9.99927760e-01 4.88754967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60165253199999 meters 0.17165485077652035 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.42, Z:0.49 [[ 9.99939287e-01 -6.12708086e-04 1.10021729e-02 -4.56556798e+00] [ 5.77533148e-04 9.99994713e-01 3.19998267e-03 -5.41965021e+00] [-1.10040754e-02 -3.19343427e-03 9.99934354e-01 4.88724104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66165253199999 meters 0.16565921652457571 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.42, Z:0.49 [[ 9.99937576e-01 -1.05827086e-03 1.11231175e-02 -4.56527121e+00] [ 1.03068689e-03 9.99996380e-01 2.48531694e-03 -5.41734037e+00] [-1.11257074e-02 -2.47369734e-03 9.99935048e-01 4.87692991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721652532 meters 0.16671599220795297 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.49 [[ 9.99926582e-01 -5.18931228e-03 1.09499843e-02 -4.56464939e+00] [ 5.20299133e-03 9.99985719e-01 -1.22111202e-03 -5.42021435e+00] [-1.09434912e-02 1.27799504e-03 9.99939302e-01 4.87599365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781652532 meters 0.15810776347135982 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.49 [[ 9.99933987e-01 -5.03950210e-03 1.03259789e-02 -4.56344947e+00] [ 5.04142000e-03 9.99987279e-01 -1.59713611e-04 -5.42428793e+00] [-1.03250427e-02 2.11760664e-04 9.99946673e-01 4.88555193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.841652532 meters 0.15418908397675984 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.43, Z:0.49 [[ 9.99950439e-01 -5.72552946e-03 8.14478308e-03 -4.55902167e+00] [ 5.70708872e-03 9.99981102e-01 2.28556028e-03 -5.43167520e+00] [-8.15771521e-03 -2.23896400e-03 9.99964219e-01 4.92170397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90165253199999 meters 0.15075077885707155 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.43, Z:0.49 [[ 9.99952043e-01 -5.72646313e-03 7.94471844e-03 -4.55867666e+00] [ 5.70671667e-03 9.99980577e-01 2.50593045e-03 -5.43206703e+00] [-7.95891425e-03 -2.46047202e-03 9.99965300e-01 4.92391286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96165253199999 meters 0.1703883013804077 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.43, Z:0.49 [[ 9.99964648e-01 -1.74104473e-03 8.22623181e-03 -4.55910558e+00] [ 1.69285370e-03 9.99981388e-01 5.86154938e-03 -5.42878811e+00] [-8.23628392e-03 -5.84741636e-03 9.99948984e-01 4.91773708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02165253199999 meters 0.16360189690053606 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.43, Z:0.49 [[ 9.99963119e-01 -1.51867317e-03 8.45300645e-03 -4.56024437e+00] [ 1.46976366e-03 9.99982162e-01 5.78925696e-03 -5.42775963e+00] [-8.46164765e-03 -5.77661953e-03 9.99947514e-01 4.92772926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08165253199999 meters 0.17205066475136596 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.43, Z:0.49 [[ 9.99965983e-01 -1.59502221e-03 8.09256679e-03 -4.55927814e+00] [ 1.54703580e-03 9.99981206e-01 5.93248915e-03 -5.42923347e+00] [-8.10187715e-03 -5.91976785e-03 9.99949657e-01 4.92727673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141652532 meters 0.16461610962288983 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.43, Z:0.49 [[ 9.99960662e-01 -1.89898546e-03 8.66418941e-03 -4.56016892e+00] [ 1.85778004e-03 9.99986939e-01 4.76140224e-03 -5.42501171e+00] [-8.67311808e-03 -4.74511878e-03 9.99951129e-01 4.91707043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201652532 meters 0.16703965668602563 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.49 [[ 9.99959847e-01 -2.14597675e-03 8.70056588e-03 -4.56033631e+00] [ 2.10869369e-03 9.99988566e-01 4.29204246e-03 -5.42308174e+00] [-8.70967702e-03 -4.27352329e-03 9.99952938e-01 4.91819592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26165253199999 meters 0.16565635553088132 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.49 [[ 9.99959945e-01 -2.19087061e-03 8.67802609e-03 -4.56010929e+00] [ 2.15392270e-03 9.99988586e-01 4.26469950e-03 -5.42351986e+00] [-8.68727045e-03 -4.24583688e-03 9.99953251e-01 4.91592551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32165253199999 meters 0.16348039714745236 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.49 [[ 9.99964358e-01 -2.63825539e-03 8.02016432e-03 -4.55855943e+00] [ 2.60546409e-03 9.99988216e-01 4.09630872e-03 -5.42332733e+00] [-8.03087692e-03 -4.07526646e-03 9.99959448e-01 4.91701266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38165253199999 meters 0.16327040058187667 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.49 [[ 9.99956820e-01 -2.78893699e-03 8.86453594e-03 -4.56038400e+00] [ 2.76443072e-03 9.99992327e-01 2.77558223e-03 -5.41740957e+00] [-8.87220884e-03 -2.75095699e-03 9.99956857e-01 4.91057093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44165253199999 meters 0.16519158679880094 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99957022e-01 1.26777795e-03 9.18401555e-03 -4.56123724e+00] [-1.32470347e-03 9.99979934e-01 6.19489581e-03 -5.41383061e+00] [-9.17597751e-03 -6.20679566e-03 9.99938637e-01 4.91049939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501652532 meters 0.1614025688901765 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99956499e-01 1.11794290e-03 9.26017907e-03 -4.56122031e+00] [-1.17111508e-03 9.99982848e-01 5.73859454e-03 -5.41257968e+00] [-9.25360483e-03 -5.74918964e-03 9.99940657e-01 4.90684276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561652532 meters 0.16632437198102043 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99954187e-01 6.15400824e-04 9.55218742e-03 -4.56197256e+00] [-6.57785026e-04 9.99989951e-01 4.43461269e-03 -5.40732922e+00] [-9.54936237e-03 -4.44069282e-03 9.99944543e-01 4.90484618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62165253199998 meters 0.17168391089129267 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99949183e-01 5.40232266e-04 1.00667477e-02 -4.56353084e+00] [-5.77805593e-04 9.99992877e-01 3.72988514e-03 -5.40356038e+00] [-1.00646610e-02 -3.73551222e-03 9.99942373e-01 4.90908154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68165253199999 meters 0.17864526168603484 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.40, Z:0.49 [[ 9.99942231e-01 4.24964004e-04 1.07402770e-02 -4.56509828e+00] [-4.53249643e-04 9.99996435e-01 2.63130742e-03 -5.39906693e+00] [-1.07391205e-02 -2.63602344e-03 9.99938859e-01 4.90637354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74165253199999 meters 0.18253316901087255 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.39, Z:0.49 [[ 9.99935102e-01 1.02622007e-04 1.13921766e-02 -4.56617267e+00] [-1.16676872e-04 9.99999233e-01 1.23307185e-03 -5.39425378e+00] [-1.13920413e-02 -1.23432103e-03 9.99934347e-01 4.89604072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80165253199999 meters 0.17366444721343893 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.39, Z:0.49 [[ 9.99936101e-01 1.35514179e-04 1.13037889e-02 -4.56652487e+00] [-1.49812461e-04 9.99999190e-01 1.26407344e-03 -5.39374480e+00] [-1.13036084e-02 -1.26568612e-03 9.99935311e-01 4.90493807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861652532 meters 0.17913379009600938 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.39, Z:0.49 [[ 9.99933500e-01 -5.84866025e-06 1.15323284e-02 -4.56713698e+00] [-3.14783879e-06 9.99999696e-01 7.80092937e-04 -5.39170764e+00] [-1.15323294e-02 -7.80077363e-04 9.99933196e-01 4.90527219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921652532 meters 0.1720278069540921 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.39, Z:0.49 [[ 9.99929347e-01 -1.80257229e-04 1.18856394e-02 -4.56839682e+00] [ 1.78021614e-04 9.99999966e-01 1.89151562e-04 -5.38782293e+00] [-1.18856731e-02 -1.87022298e-04 9.99929345e-01 4.90945836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98165253199998 meters 0.17306099127525557 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.39, Z:0.49 [[ 9.99922579e-01 6.11579145e-05 1.24431664e-02 -4.57027484e+00] [-6.01054219e-05 9.99999995e-01 -8.49579396e-05 -5.38560696e+00] [-1.24431715e-02 8.42034603e-05 9.99922577e-01 4.91726256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04165253199999 meters 0.18887331915172934 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.39, Z:0.49 [[ 9.99923408e-01 3.20770051e-05 1.23765062e-02 -4.57020041e+00] [-3.03905717e-05 9.99999990e-01 -1.36448914e-04 -5.38533954e+00] [-1.23765105e-02 1.36062334e-04 9.99923399e-01 4.91851811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10165253199999 meters 0.178893295913225 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.38, Z:0.49 [[ 9.99908901e-01 2.79215295e-04 1.34948823e-02 -4.57286580e+00] [-2.68700408e-04 9.99999659e-01 -7.80982745e-04 -5.38140710e+00] [-1.34950958e-02 7.77285517e-04 9.99908635e-01 4.91838493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16165253199999 meters 0.1799302708449537 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.38, Z:0.49 [[ 9.99914748e-01 1.50568715e-04 1.30566058e-02 -4.57140776e+00] [-1.45231587e-04 9.99999906e-01 -4.09715602e-04 -5.38388385e+00] [-1.30566663e-02 4.07784441e-04 9.99914675e-01 4.91355281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221652532 meters 0.18070047567957193 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.39, Z:0.49 [[ 9.99942161e-01 -9.48502591e-03 5.07040433e-03 -4.57779402e+00] [ 9.47049156e-03 9.99950998e-01 2.88287455e-03 -5.39108537e+00] [-5.09750001e-03 -2.83468858e-03 9.99982990e-01 4.94391352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281652532 meters 0.1647785847119087 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.39, Z:0.49 [[ 9.99972311e-01 -5.95846368e-03 4.45812857e-03 -4.57533837e+00] [ 5.92973598e-03 9.99961749e-01 6.42959806e-03 -5.39037847e+00] [-4.49626857e-03 -6.40298450e-03 9.99969392e-01 4.92698113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.341652532 meters 0.17644529337450296 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.39, Z:0.49 [[ 9.99969016e-01 -6.21942537e-03 4.82546229e-03 -4.57583853e+00] [ 6.19228850e-03 9.99965044e-01 5.61838794e-03 -5.38767121e+00] [-4.86023675e-03 -5.58833320e-03 9.99972574e-01 4.91950459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40165253199999 meters 0.1751405898539424 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.50 [[ 9.99995036e-01 -1.26829057e-03 -2.88439594e-03 -4.56484542e+00] [ 1.27128193e-03 9.99998656e-01 1.03548856e-03 -5.38759043e+00] [ 2.88307876e-03 -1.03915030e-03 9.99995304e-01 4.98860282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46165253199999 meters 0.17497618496406692 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.50 [[ 9.99994202e-01 -1.18362255e-03 -3.19287082e-03 -4.56393050e+00] [ 1.18841318e-03 9.99998170e-01 1.49893588e-03 -5.39010443e+00] [ 3.19109080e-03 -1.50272164e-03 9.99993779e-01 4.98765279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52165253199999 meters 0.16508818271422007 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.39, Z:0.50 [[ 9.99991156e-01 -1.51870816e-03 -3.92195517e-03 -4.56133630e+00] [ 1.52566540e-03 9.99997267e-01 1.77153916e-03 -5.39346305e+00] [ 3.91925400e-03 -1.77750709e-03 9.99990740e-01 4.97625374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58165253199999 meters 0.17959163813780682 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.50 [[ 9.99987397e-01 -1.69211498e-03 -4.72674546e-03 -4.55893497e+00] [ 1.70314729e-03 9.99995833e-01 2.33096880e-03 -5.39762854e+00] [ 4.72278150e-03 -2.33898976e-03 9.99986112e-01 4.97076225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641652532 meters 0.17226139241127833 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.50 [[ 9.99986205e-01 -1.94804491e-03 -4.87806658e-03 -4.55797815e+00] [ 1.95783323e-03 9.99996078e-01 2.00262763e-03 -5.39740624e+00] [ 4.87414624e-03 -2.01215045e-03 9.99986097e-01 4.96118530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701652532 meters 0.16473685624862838 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.50 [[ 9.99983605e-01 -2.12713138e-03 -5.31657642e-03 -4.55650101e+00] [ 2.13863234e-03 9.99995384e-01 2.15847861e-03 -5.39918734e+00] [ 5.31196051e-03 -2.16981342e-03 9.99983537e-01 4.95541927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76165253199999 meters 0.16542840966210318 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.50 [[ 9.99983932e-01 -1.88408546e-03 -5.34657165e-03 -4.55636905e+00] [ 1.89783071e-03 9.99994904e-01 2.56694618e-03 -5.40109023e+00] [ 5.34170806e-03 -2.57705182e-03 9.99982412e-01 4.95412324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82165253199999 meters 0.17360952465254048 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.49 [[ 9.99980872e-01 -2.17582996e-03 -5.78972793e-03 -4.55466283e+00] [ 2.19108818e-03 9.99994140e-01 2.63035786e-03 -5.40284005e+00] [ 5.78397079e-03 -2.64299335e-03 9.99979780e-01 4.94488246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88165253199999 meters 0.17804884885140437 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.49 [[ 9.99973643e-01 -2.53529360e-03 -6.80336795e-03 -4.55168182e+00] [ 2.55586121e-03 9.99992185e-01 3.01616164e-03 -5.40761825e+00] [ 6.79566793e-03 -3.03347061e-03 9.99972308e-01 4.93687130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94165253199999 meters 0.16815516461613936 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.49 [[ 9.99973984e-01 -2.41409759e-03 -6.79736201e-03 -4.55180744e+00] [ 2.43644900e-03 9.99991646e-01 3.28188887e-03 -5.40841147e+00] [ 6.78938243e-03 -3.29836491e-03 9.99971512e-01 4.93849728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001652532 meters 0.16584822497107587 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.49 [[ 9.99977401e-01 -2.26415703e-03 -6.33012131e-03 -4.55294526e+00] [ 2.28332133e-03 9.99992827e-01 3.02189152e-03 -5.40706831e+00] [ 6.32323387e-03 -3.03627693e-03 9.99975399e-01 4.93677551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061652532 meters 0.16976427946997869 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99984254e-01 -1.88781438e-03 -5.28463816e-03 -4.55547716e+00] [ 1.90114261e-03 9.99995022e-01 2.51818409e-03 -5.40417097e+00] [ 5.27985799e-03 -2.52819129e-03 9.99982866e-01 4.93637102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12165253199998 meters 0.1750885764886392 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99987779e-01 -1.56359657e-03 -4.69000803e-03 -4.55727069e+00] [ 1.57476225e-03 9.99995933e-01 2.37799234e-03 -5.40285267e+00] [ 4.68627073e-03 -2.38534892e-03 9.99986174e-01 4.94190343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18165253199999 meters 0.17687124693812095 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99989231e-01 -1.55182829e-03 -4.37373162e-03 -4.55791607e+00] [ 1.56095822e-03 9.99996608e-01 2.08480658e-03 -5.40172344e+00] [ 4.37048152e-03 -2.09161134e-03 9.99988262e-01 4.93858464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24165253199999 meters 0.1686557551897302 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99986376e-01 -1.88056003e-03 -4.86936139e-03 -4.55621564e+00] [ 1.89132835e-03 9.99995774e-01 2.20778365e-03 -5.40374029e+00] [ 4.86518894e-03 -2.21696313e-03 9.99985707e-01 4.93139949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30165253199999 meters 0.17999793308522216 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99985342e-01 -2.35838575e-03 -4.87377394e-03 -4.55529224e+00] [ 2.36594415e-03 9.99996007e-01 1.54564712e-03 -5.40242292e+00] [ 4.87010925e-03 -1.55715555e-03 9.99986929e-01 4.91587612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361652532 meters 0.18805907885337883 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.40, Z:0.49 [[ 9.99984957e-01 -2.75351666e-03 -4.74391824e-03 -4.55485931e+00] [ 2.75741689e-03 9.99995866e-01 8.15808036e-04 -5.40071798e+00] [ 4.74165229e-03 -8.28876724e-04 9.99988415e-01 4.90285395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421652532 meters 0.16098758407364924 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99985515e-01 -2.22546467e-03 -4.90075250e-03 -4.55540535e+00] [ 2.23478282e-03 9.99995704e-01 1.89671637e-03 -5.40363109e+00] [ 4.89651037e-03 -1.90764101e-03 9.99986192e-01 4.91912197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48165253199998 meters 0.16755897773522002 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99986670e-01 -2.06912252e-03 -4.73052479e-03 -4.55609218e+00] [ 2.07864671e-03 9.99995821e-01 2.00931784e-03 -5.40352579e+00] [ 4.72634750e-03 -2.01912414e-03 9.99986792e-01 4.92305525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54165253199999 meters 0.17169752747123931 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99988131e-01 -2.00873580e-03 -4.43881712e-03 -4.55677514e+00] [ 2.01710583e-03 9.99996195e-01 1.88197167e-03 -5.40291012e+00] [ 4.43501984e-03 -1.89090290e-03 9.99988377e-01 4.92182316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60165253199999 meters 0.1614261675452164 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99988678e-01 -2.02523971e-03 -4.30609114e-03 -4.55674697e+00] [ 2.03307829e-03 9.99996283e-01 1.81674838e-03 -5.40304593e+00] [ 4.30239578e-03 -1.82548243e-03 9.99989078e-01 4.91551855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66165253199999 meters 0.1734889500713057 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99991724e-01 -1.84578179e-03 -3.62550096e-03 -4.55851032e+00] [ 1.85126596e-03 9.99997147e-01 1.50989176e-03 -5.40109365e+00] [ 3.62270368e-03 -1.51659103e-03 9.99992288e-01 4.91642307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721652532 meters 0.1717612607481507 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99991776e-01 -2.02341676e-03 -3.51473210e-03 -4.55847108e+00] [ 2.02745890e-03 9.99997287e-01 1.14687455e-03 -5.40008979e+00] [ 3.51240196e-03 -1.15399110e-03 9.99993166e-01 4.91051113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781652532 meters 0.16166140886024802 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99992529e-01 -1.43431004e-03 -3.58945067e-03 -4.55908770e+00] [ 1.44250035e-03 9.99996360e-01 2.28022537e-03 -5.40343697e+00] [ 3.58616706e-03 -2.28538612e-03 9.99990958e-01 4.92485319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841652532 meters 0.16241051529278638 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99990931e-01 -1.48209766e-03 -3.99264964e-03 -4.55819973e+00] [ 1.49275281e-03 9.99995329e-01 2.66703418e-03 -5.40541171e+00] [ 3.98867818e-03 -2.67297003e-03 9.99988473e-01 4.92738144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90165253199999 meters 0.16602738871190412 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.49 [[ 9.99991911e-01 -1.67477569e-03 -3.65684411e-03 -4.55854031e+00] [ 1.68252929e-03 9.99996341e-01 2.11825344e-03 -5.40374941e+00] [ 3.65328313e-03 -2.12438905e-03 9.99991070e-01 4.91857029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96165253199999 meters 0.1611410662911015 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99988621e-01 -2.21195046e-03 -4.22675756e-03 -4.55615991e+00] [ 2.22019676e-03 9.99995639e-01 1.94728043e-03 -5.40559031e+00] [ 4.22243185e-03 -1.95664250e-03 9.99989171e-01 4.90271317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02165253199999 meters 0.1608350978198224 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99989679e-01 -2.03952089e-03 -4.05993365e-03 -4.55665101e+00] [ 2.04824113e-03 9.99995602e-01 2.14487959e-03 -5.40601546e+00] [ 4.05554127e-03 -2.15317317e-03 9.99989458e-01 4.90415916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08165253199999 meters 0.15635545847682494 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99988212e-01 -1.98675602e-03 -4.43051470e-03 -4.55604759e+00] [ 1.99865650e-03 9.99994403e-01 2.68321726e-03 -5.40800126e+00] [ 4.42515900e-03 -2.69204071e-03 9.99986585e-01 4.90995968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141652532 meters 0.17392904051704952 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99990239e-01 -1.74632246e-03 -4.05854393e-03 -4.55732272e+00] [ 1.75750543e-03 9.99994665e-01 2.75348286e-03 -5.40747405e+00] [ 4.05371381e-03 -2.76058890e-03 9.99987973e-01 4.91691060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201652532 meters 0.1692418265821236 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99990600e-01 -1.89341021e-03 -3.90058788e-03 -4.55717958e+00] [ 1.90266380e-03 9.99995381e-01 2.37001581e-03 -5.40682359e+00] [ 3.89608246e-03 -2.37741504e-03 9.99989584e-01 4.90771080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26165253199999 meters 0.16859350378751597 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99991439e-01 -2.04890431e-03 -3.59498011e-03 -4.55761396e+00] [ 2.05554328e-03 9.99996187e-01 1.84401093e-03 -5.40508500e+00] [ 3.59118820e-03 -1.85138478e-03 9.99991838e-01 4.90156609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32165253199999 meters 0.1626084112518998 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99988513e-01 -2.32725997e-03 -4.19017626e-03 -4.55542304e+00] [ 2.33622037e-03 9.99994992e-01 2.13480854e-03 -5.40859719e+00] [ 4.18518702e-03 -2.14457319e-03 9.99988942e-01 4.89050448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38165253199999 meters 0.1592849115854504 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99989619e-01 -1.92190340e-03 -4.13140989e-03 -4.55625271e+00] [ 1.93358222e-03 9.99994141e-01 2.82470206e-03 -5.41006648e+00] [ 4.12595688e-03 -2.83266115e-03 9.99987476e-01 4.90280390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44165253199999 meters 0.1699148369617952 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.49 [[ 9.99988952e-01 -2.15663029e-03 -4.17661948e-03 -4.55562633e+00] [ 2.16735428e-03 9.99994362e-01 2.56480137e-03 -5.41004054e+00] [ 4.17106461e-03 -2.57382525e-03 9.99987989e-01 4.89475698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501652532 meters 0.1697759942826741 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.41, Z:0.49 [[ 9.99987889e-01 -2.29433211e-03 -4.35404148e-03 -4.55442364e+00] [ 2.30558016e-03 9.99994014e-01 2.58009960e-03 -5.41174881e+00] [ 4.34809581e-03 -2.59010695e-03 9.99987193e-01 4.88359242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561652532 meters 0.16563950757628715 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.42, Z:0.49 [[ 9.99985785e-01 -2.26181427e-03 -4.82847386e-03 -4.55291847e+00] [ 2.27755599e-03 9.99992102e-01 3.25717951e-03 -5.41586706e+00] [ 4.82106858e-03 -3.26813033e-03 9.99983038e-01 4.88042128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62165253199998 meters 0.16071747906397943 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.42, Z:0.49 [[ 9.99967085e-01 -6.36489894e-03 -5.03156006e-03 -4.55223179e+00] [ 6.36465278e-03 9.99979743e-01 -6.49326082e-05 -5.41997740e+00] [ 5.03187143e-03 3.29063383e-05 9.99987340e-01 4.88046043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68165253199999 meters 0.1558542583901496 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.43, Z:0.49 [[ 9.99965106e-01 -6.12584387e-03 -5.67994648e-03 -4.55085935e+00] [ 6.13348337e-03 9.99980307e-01 1.32855252e-03 -5.42573348e+00] [ 5.67169612e-03 -1.36334402e-03 9.99982986e-01 4.88540978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74165253199999 meters 0.15458129653669098 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.43, Z:0.49 [[ 9.99963876e-01 -6.33964231e-03 -5.66179332e-03 -4.55013253e+00] [ 6.34589634e-03 9.99979273e-01 1.08732114e-03 -5.42605370e+00] [ 5.65478275e-03 -1.12321101e-03 9.99983381e-01 4.87284573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80165253199999 meters 0.15672666297721402 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.43, Z:0.49 [[ 9.99965262e-01 -5.87959217e-03 -5.90808032e-03 -4.54999111e+00] [ 5.89249363e-03 9.99980288e-01 2.16866860e-03 -5.42994730e+00] [ 5.89521297e-03 -2.20340659e-03 9.99980196e-01 4.88208257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861652532 meters 0.14798812675246567 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.43, Z:0.49 [[ 9.99968649e-01 -5.25295028e-03 -5.92513652e-03 -4.55047559e+00] [ 5.27238334e-03 9.99980758e-01 3.26892688e-03 -5.43358001e+00] [ 5.90785100e-03 -3.30006399e-03 9.99977103e-01 4.89204599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921652532 meters 0.15185679351121453 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.49 [[ 9.99966520e-01 -5.20065604e-03 -6.31761741e-03 -4.54928274e+00] [ 5.22488246e-03 9.99979037e-01 3.82430687e-03 -5.43679043e+00] [ 6.29759607e-03 -3.85718764e-03 9.99972731e-01 4.88939788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98165253199998 meters 0.14136370785869531 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.49 [[ 9.99965975e-01 -5.26391152e-03 -6.35146045e-03 -4.54877036e+00] [ 5.28858941e-03 9.99978508e-01 3.87486902e-03 -5.43775318e+00] [ 6.33092697e-03 -3.90832744e-03 9.99972322e-01 4.88303764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04165253199999 meters 0.14671805108491318 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.49 [[ 9.99959454e-01 -5.54361094e-03 -7.09640810e-03 -4.54613755e+00] [ 5.57391569e-03 9.99975401e-01 4.25780348e-03 -5.44170854e+00] [ 7.07262993e-03 -4.29718562e-03 9.99965755e-01 4.87005338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10165253199999 meters 0.15179024495713184 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.49 [[ 9.99961919e-01 -5.02992218e-03 -7.13165853e-03 -4.54665990e+00] [ 5.06743866e-03 9.99973367e-01 5.25228015e-03 -5.44463560e+00] [ 7.10505003e-03 -5.28821938e-03 9.99960776e-01 4.88149755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16165253199999 meters 0.16067714033332262 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.49 [[ 9.99961860e-01 -5.05317753e-03 -7.12353486e-03 -4.54641273e+00] [ 5.09097410e-03 9.99973007e-01 5.29776290e-03 -5.44524820e+00] [ 7.09657204e-03 -5.33382657e-03 9.99960594e-01 4.87721260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221652532 meters 0.17220975260597443 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.45, Z:0.49 [[ 9.99955904e-01 -5.13208806e-03 -7.86459780e-03 -4.54439366e+00] [ 5.17895790e-03 9.99968882e-01 5.95086678e-03 -5.44958338e+00] [ 7.83381269e-03 -5.99133480e-03 9.99951366e-01 4.87501174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281652532 meters 0.1449799007365842 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.45, Z:0.49 [[ 9.99957551e-01 -5.00894231e-03 -7.73351810e-03 -4.54482408e+00] [ 5.05540561e-03 9.99969220e-01 6.00022864e-03 -5.44961899e+00] [ 7.70322526e-03 -6.03907001e-03 9.99952094e-01 4.87657428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.341652532 meters 0.1449639700190663 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.49 [[ 9.99958008e-01 -5.40874408e-03 -7.39776739e-03 -4.54506880e+00] [ 5.44534005e-03 9.99972993e-01 4.93573100e-03 -5.44614577e+00] [ 7.37087149e-03 -4.97580710e-03 9.99960455e-01 4.86488022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40165253199999 meters 0.1689266278184626 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.49 [[ 9.99960116e-01 -5.03973040e-03 -7.37346308e-03 -4.54561151e+00] [ 5.08061335e-03 9.99971767e-01 5.53642094e-03 -5.44779434e+00] [ 7.34535284e-03 -5.57366184e-03 9.99957489e-01 4.87320244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46165253199999 meters 0.16919051176678315 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.49 [[ 9.99960355e-01 -4.94601472e-03 -7.40441553e-03 -4.54553359e+00] [ 4.98851083e-03 9.99971130e-01 5.73186720e-03 -5.44867574e+00] [ 7.37585187e-03 -5.76857696e-03 9.99956159e-01 4.87360630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52165253199999 meters 0.16454335797974795 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.49 [[ 9.99960629e-01 -5.27233895e-03 -7.13740447e-03 -4.54582459e+00] [ 5.30738195e-03 9.99973912e-01 4.89976248e-03 -5.44578889e+00] [ 7.11138506e-03 -4.93745050e-03 9.99962524e-01 4.86562360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58165253199999 meters 0.1593087533419055 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.49 [[ 9.99961049e-01 -5.29046299e-03 -7.06476341e-03 -4.54573648e+00] [ 5.32481587e-03 9.99974049e-01 4.85264217e-03 -5.44603601e+00] [ 7.03890734e-03 -4.89007172e-03 9.99963270e-01 4.86078728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641652532 meters 0.15939675575228127 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.49 [[ 9.99962987e-01 -5.45646352e-03 -6.65214814e-03 -4.54647474e+00] [ 5.48395455e-03 9.99976470e-01 4.12144305e-03 -5.44335748e+00] [ 6.62950311e-03 -4.15777059e-03 9.99969381e-01 4.85392389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701652532 meters 0.15567064147266813 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.49 [[ 9.99968729e-01 -5.09239964e-03 -6.05043048e-03 -4.54871021e+00] [ 5.11770641e-03 9.99978191e-01 4.17454620e-03 -5.44172285e+00] [ 6.02904007e-03 -4.20537999e-03 9.99972982e-01 4.86487011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76165253199999 meters 0.15321375398486103 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.49 [[ 9.99970191e-01 -5.11721582e-03 -5.78195429e-03 -4.54948664e+00] [ 5.13983392e-03 9.99979171e-01 3.90377885e-03 -5.44014919e+00] [ 5.76185738e-03 -3.93338077e-03 9.99975664e-01 4.86530868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82165253199999 meters 0.1675269781779446 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.44, Z:0.49 [[ 9.99983252e-01 -1.33904164e-03 -5.63057704e-03 -4.54932532e+00] [ 1.37812788e-03 9.99974943e-01 6.94364274e-03 -5.43608078e+00] [ 5.62113812e-03 -6.95128610e-03 9.99960040e-01 4.85370040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88165253199999 meters 0.16809571123271752 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.43, Z:0.49 [[ 9.99987533e-01 -1.19676261e-03 -4.84776936e-03 -4.55149118e+00] [ 1.22718291e-03 9.99979546e-01 6.27700675e-03 -5.43232716e+00] [ 4.84015812e-03 -6.28287759e-03 9.99968549e-01 4.85694226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94165253199999 meters 0.15763583701991934 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.43, Z:0.49 [[ 9.99992988e-01 -9.01140006e-04 -3.63480483e-03 -4.55487306e+00] [ 9.19678388e-04 9.99986563e-01 5.10179868e-03 -5.42578774e+00] [ 3.63015855e-03 -5.10510576e-03 9.99980380e-01 4.86393947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001652532 meters 0.1712787752177716 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.42, Z:0.48 [[ 9.99997390e-01 -7.25204127e-04 -2.16637697e-03 -4.55803499e+00] [ 7.31737131e-04 9.99995183e-01 3.01636706e-03 -5.41865186e+00] [ 2.16417905e-03 -3.01794441e-03 9.99993104e-01 4.84675173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061652532 meters 0.15835058227027515 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.41, Z:0.48 [[ 9.99998878e-01 -8.16052860e-04 -1.25602156e-03 -4.56034322e+00] [ 8.17921160e-04 9.99998559e-01 1.48767973e-03 -5.41173013e+00] [ 1.25480573e-03 -1.48870538e-03 9.99998105e-01 4.84492821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12165253199998 meters 0.18531946228712026 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.40, Z:0.48 [[ 9.99970294e-01 7.70763845e-03 -6.22070378e-05 -4.56352434e+00] [-7.70688691e-03 9.99937830e-01 8.05857922e-03 -5.40294321e+00] [ 1.24315785e-04 -8.05786041e-03 9.99967527e-01 4.84482003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18165253199999 meters 0.18165899589997925 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.39, Z:0.48 [[ 9.99971593e-01 7.43411882e-03 1.24353564e-03 -4.56582662e+00] [-7.44039646e-03 9.99959201e-01 5.12216217e-03 -5.39427054e+00] [-1.20540614e-03 -5.13126906e-03 9.99986108e-01 4.81531564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24165253199999 meters 0.17755936313891738 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.39, Z:0.48 [[ 9.99992009e-01 3.32350389e-03 2.22158748e-03 -4.56846486e+00] [-3.32326694e-03 9.99994472e-01 -1.10339227e-04 -5.38962117e+00] [-2.22194191e-03 1.02955417e-04 9.99997526e-01 4.81835601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30165253199999 meters 0.18643059023321001 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.38, Z:0.48 [[ 9.99990607e-01 3.18942787e-03 2.93495230e-03 -4.57057807e+00] [-3.18581553e-03 9.99994163e-01 -1.23465133e-03 -5.38398650e+00] [-2.93887300e-03 1.22528952e-03 9.99994931e-01 4.82293259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361652532 meters 0.18180261030621458 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.38, Z:0.48 [[ 9.99964073e-01 7.45808850e-03 4.02857510e-03 -4.57311294e+00] [-7.46478825e-03 9.99970776e-01 1.65058805e-03 -5.37796824e+00] [-4.01614714e-03 -1.68060121e-03 9.99990523e-01 4.81802707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421652532 meters 0.18950085614913548 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.38, Z:0.48 [[ 9.99965594e-01 7.12727614e-03 4.24425416e-03 -4.57309768e+00] [-7.13113070e-03 9.99974174e-01 8.93743767e-04 -5.37596883e+00] [-4.23777458e-03 -9.23979348e-04 9.99990594e-01 4.80819115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48165253199998 meters 0.18955536541060272 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.37, Z:0.48 [[ 9.99964108e-01 7.05515759e-03 4.69120193e-03 -4.57398801e+00] [-7.05701948e-03 9.99975027e-01 3.80453552e-04 -5.37401405e+00] [-4.68840062e-03 -4.13545801e-04 9.99988924e-01 4.80405731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54165253199999 meters 0.19617467170308275 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.37, Z:0.48 [[ 9.99964731e-01 6.99370247e-03 4.65020110e-03 -4.57367508e+00] [-6.99552632e-03 9.99975460e-01 3.76058388e-04 -5.37455922e+00] [-4.64745695e-03 -4.08575729e-04 9.99989117e-01 4.80120816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60165253199999 meters 0.1816653874689303 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.38, Z:0.48 [[ 9.99977594e-01 3.71866425e-03 5.56620689e-03 -4.57669339e+00] [-3.70322102e-03 9.99989273e-01 -2.78220199e-03 -5.37662225e+00] [-5.57649325e-03 2.76152676e-03 9.99980638e-01 4.81484104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66165253199999 meters 0.18889603642754588 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.38, Z:0.48 [[ 9.99982477e-01 3.72909667e-03 4.59773560e-03 -4.57421733e+00] [-3.72236422e-03 9.99991989e-01 -1.47198632e-03 -5.38258700e+00] [-4.60318794e-03 1.45484608e-03 9.99988347e-01 4.81640611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721652532 meters 0.18437937406440158 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.39, Z:0.48 [[ 9.99989048e-01 -1.61070635e-04 4.67729988e-03 -4.57447752e+00] [ 1.84267231e-04 9.99987685e-01 -4.95939172e-03 -5.38555021e+00] [-4.67644347e-03 4.96019928e-03 9.99976763e-01 4.81785839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781652532 meters 0.1718328496806244 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.40, Z:0.49 [[ 9.99987711e-01 -3.65029546e-03 3.35471984e-03 -4.57256248e+00] [ 3.66391224e-03 9.99985038e-01 -4.06185043e-03 -5.39850560e+00] [-3.33984269e-03 4.07409191e-03 9.99986124e-01 4.87485961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841652532 meters 0.1577154886274662 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.41, Z:0.49 [[ 9.99968830e-01 -7.72863271e-03 1.61483082e-03 -4.56896630e+00] [ 7.73411003e-03 9.99964265e-01 -3.41362726e-03 -5.41222853e+00] [-1.58839044e-03 3.42601014e-03 9.99992870e-01 4.92092238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90165253199999 meters 0.15972333226280308 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.42, Z:0.49 [[ 9.99971663e-01 -7.52030878e-03 3.44546209e-04 -4.56633028e+00] [ 7.52045715e-03 9.99971628e-01 -4.31356099e-04 -5.42176285e+00] [-3.41292502e-04 4.33935020e-04 9.99999848e-01 4.94474601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96165253199999 meters 0.16856736254405283 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.43, Z:0.50 [[ 9.99930894e-01 -1.16956257e-02 -1.19152540e-03 -4.56276038e+00] [ 1.16942897e-02 9.99930990e-01 -1.12210230e-03 -5.43318266e+00] [ 1.20456687e-03 1.10809071e-03 9.99998661e-01 4.96673722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02165253199999 meters 0.14930594661060698 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99931026e-01 -1.15167296e-02 -2.30396586e-03 -4.56044576e+00] [ 1.15194960e-02 9.99932939e-01 1.19105497e-03 -5.44124772e+00] [ 2.29009430e-03 -1.21751334e-03 9.99996637e-01 4.98348588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08165253199999 meters 0.1372876217614703 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99928152e-01 -1.16434116e-02 -2.84971118e-03 -4.55820689e+00] [ 1.16485379e-02 9.99930553e-01 1.78892329e-03 -5.44537974e+00] [ 2.82868411e-03 -1.82198972e-03 9.99994339e-01 4.96908668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141652532 meters 0.1479658226485191 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99926193e-01 -1.15671217e-02 -3.71631272e-03 -4.55590551e+00] [ 1.15784585e-02 9.99928335e-01 3.04365454e-03 -5.45164133e+00] [ 3.68084007e-03 -3.08645907e-03 9.99988463e-01 4.96824014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201652532 meters 0.14361798759876906 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.49 [[ 9.99916850e-01 -1.21591228e-02 -4.29525294e-03 -4.55306564e+00] [ 1.21711031e-02 9.99922081e-01 2.77415366e-03 -5.45344945e+00] [ 4.26118699e-03 -2.82620096e-03 9.99986927e-01 4.94489419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26165253199999 meters 0.14194123952071686 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99921513e-01 -1.16738301e-02 -4.54866568e-03 -4.55307108e+00] [ 1.16921386e-02 9.99923566e-01 4.01944427e-03 -5.45721142e+00] [ 4.50139569e-03 -4.07231243e-03 9.99981577e-01 4.95785044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32165253199999 meters 0.13787639736786572 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99861470e-01 -1.58271460e-02 -5.15187004e-03 -4.55158785e+00] [ 1.58329591e-02 9.99874057e-01 1.08951863e-03 -5.46244717e+00] [ 5.13397722e-03 -1.17093704e-03 9.99986135e-01 4.96629609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38165253199999 meters 0.1386426555325612 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99959102e-01 -7.45964139e-03 -5.11351904e-03 -4.54629075e+00] [ 7.42947527e-03 9.99955036e-01 -5.89311473e-03 -5.46373822e+00] [ 5.15724964e-03 5.85488295e-03 9.99969561e-01 4.99517504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44165253199999 meters 0.13749927320930305 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.47, Z:0.50 [[ 9.99979623e-01 -3.02317696e-03 -5.62269071e-03 -4.54516792e+00] [ 3.01947434e-03 9.99995219e-01 -6.66886061e-04 -5.46719304e+00] [ 5.62467994e-03 6.49894901e-04 9.99983970e-01 4.99835101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501652532 meters 0.13548440349430435 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.47, Z:0.50 [[ 9.99974405e-01 -3.03034961e-03 -6.48122658e-03 -4.54295978e+00] [ 3.03468855e-03 9.99995178e-01 6.59732799e-04 -5.47334574e+00] [ 6.47919611e-03 -6.79384417e-04 9.99978779e-01 5.00043710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561652532 meters 0.14497466786773414 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.47, Z:0.50 [[ 9.99974153e-01 -2.83556796e-03 -6.60709713e-03 -4.54303291e+00] [ 2.84416872e-03 9.99995120e-01 1.29271257e-03 -5.47494087e+00] [ 6.60339931e-03 -1.31147086e-03 9.99977337e-01 5.00844723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62165253199998 meters 0.13416346051462244 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.47, Z:0.50 [[ 9.99974726e-01 -2.97960599e-03 -6.45519874e-03 -4.54305689e+00] [ 2.98548834e-03 9.99995137e-01 9.01812060e-04 -5.47393399e+00] [ 6.45248031e-03 -9.21061189e-04 9.99978758e-01 5.00150635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68165253199999 meters 0.13066659659661764 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.47, Z:0.50 [[ 9.99978410e-01 -2.74100665e-03 -5.97211100e-03 -4.54474292e+00] [ 2.74524024e-03 9.99995986e-01 7.00812058e-04 -5.47206918e+00] [ 5.97016610e-03 -7.17191807e-04 9.99981921e-01 5.00721742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74165253199999 meters 0.14791158875699176 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.47, Z:0.50 [[ 9.99985403e-01 -2.16176941e-03 -4.95178332e-03 -4.54803905e+00] [ 2.16398852e-03 9.99997561e-01 4.42829501e-04 -5.46898912e+00] [ 4.95081395e-03 -4.53538640e-04 9.99987642e-01 5.01883195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80165253199999 meters 0.152399021020941 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99987705e-01 2.33698167e-03 -4.37357726e-03 -4.55042687e+00] [-2.31873367e-03 9.99988606e-01 4.17276024e-03 -5.46492813e+00] [ 4.38327909e-03 -4.16256778e-03 9.99981730e-01 5.03286632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861652532 meters 0.15010312002961637 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99991050e-01 2.46179006e-03 -3.44081536e-03 -4.55252871e+00] [-2.45114511e-03 9.99992208e-01 3.09452859e-03 -5.46078901e+00] [ 3.44840663e-03 -3.08606696e-03 9.99989292e-01 5.02789310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921652532 meters 0.15195405493207106 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99993531e-01 2.13498470e-03 -2.89468389e-03 -4.55365065e+00] [-2.12971277e-03 9.99996070e-01 1.82310682e-03 -5.45579272e+00] [ 2.89856482e-03 -1.81693018e-03 9.99994149e-01 5.02141568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98165253199998 meters 0.1528323927060871 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99994818e-01 1.93187773e-03 -2.57526139e-03 -4.55422008e+00] [-1.92918244e-03 9.99997589e-01 1.04868392e-03 -5.45317663e+00] [ 2.57728111e-03 -1.04371034e-03 9.99996134e-01 5.01708054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04165253199999 meters 0.1497066737486264 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99995564e-01 1.70876645e-03 -2.43955918e-03 -4.55430009e+00] [-1.70766889e-03 9.99998440e-01 4.51914599e-04 -5.45126386e+00] [ 2.44032759e-03 -4.47746636e-04 9.99996922e-01 5.01171595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10165253199999 meters 0.15026290025054373 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99997081e-01 1.82148047e-03 -1.58767302e-03 -4.55649895e+00] [-1.82223841e-03 9.99998226e-01 -4.76074887e-04 -5.44708888e+00] [ 1.58680304e-03 4.78966616e-04 9.99998626e-01 5.01318807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16165253199999 meters 0.15000731440226225 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99996682e-01 1.90587614e-03 -1.73324425e-03 -4.55631458e+00] [-1.90614091e-03 9.99998172e-01 -1.51119247e-04 -5.44827712e+00] [ 1.73295307e-03 1.54422554e-04 9.99998487e-01 5.01688848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221652532 meters 0.15338498349773086 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99995161e-01 2.09733998e-03 -2.29776228e-03 -4.55531142e+00] [-2.09525694e-03 9.99997392e-01 9.08584058e-04 -5.45229027e+00] [ 2.29966189e-03 -9.03765259e-04 9.99996947e-01 5.02520819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281652532 meters 0.14873470496931795 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99995781e-01 1.66665097e-03 -2.37905481e-03 -4.55435740e+00] [-1.66592492e-03 9.99998565e-01 3.07131570e-04 -5.45132927e+00] [ 2.37956328e-03 -3.03166948e-04 9.99997123e-01 5.01270016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341652532 meters 0.1474750567616065 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99994219e-01 1.49652923e-03 -3.05327467e-03 -4.55237442e+00] [-1.49393941e-03 9.99998523e-01 8.50312260e-04 -5.45493875e+00] [ 3.05454268e-03 -8.45745937e-04 9.99994977e-01 5.00994225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40165253199999 meters 0.14531839756691606 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99994528e-01 1.25042520e-03 -3.06288038e-03 -4.55175499e+00] [-1.24876831e-03 9.99999073e-01 5.42811024e-04 -5.45478237e+00] [ 3.06355629e-03 -5.38983226e-04 9.99995162e-01 5.00045638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46165253199999 meters 0.13899573774329657 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99992554e-01 9.20358155e-04 -3.74753173e-03 -4.54955766e+00] [-9.16927973e-04 9.99999159e-01 9.16932979e-04 -5.45771849e+00] [ 3.74837249e-03 -9.13489935e-04 9.99992558e-01 4.99352569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52165253199999 meters 0.1445899061666671 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99991350e-01 8.99363781e-04 -4.06102356e-03 -4.54865332e+00] [-8.94024522e-04 9.99998734e-01 1.31638086e-03 -5.45976369e+00] [ 4.06220232e-03 -1.31273882e-03 9.99990888e-01 4.99309115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58165253199999 meters 0.1460187917718724 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99989087e-01 6.42644865e-04 -4.62750940e-03 -4.54663263e+00] [-6.35240465e-04 9.99998516e-01 1.60137522e-03 -5.46269233e+00] [ 4.62853165e-03 -1.59841816e-03 9.99988011e-01 4.98494143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641652532 meters 0.13821254390688853 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99989723e-01 4.43435823e-04 -4.51194986e-03 -4.54659170e+00] [-4.37954678e-04 9.99999165e-01 1.21572174e-03 -5.46164278e+00] [ 4.51248518e-03 -1.21373322e-03 9.99989082e-01 4.97889736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701652532 meters 0.14127197373237077 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99989616e-01 4.70472819e-04 -4.53279564e-03 -4.54650853e+00] [-4.64285610e-04 9.99998959e-01 1.36594300e-03 -5.46226215e+00] [ 4.53343356e-03 -1.36382430e-03 9.99988794e-01 4.97871682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76165253199999 meters 0.15291685899095395 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99989053e-01 4.78336009e-04 -4.65450638e-03 -4.54606633e+00] [-4.70972388e-04 9.99998636e-01 1.58300878e-03 -5.46352342e+00] [ 4.65525724e-03 -1.58079930e-03 9.99987915e-01 4.97740842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82165253199999 meters 0.15177847725144242 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99989783e-01 1.51101040e-04 -4.51784920e-03 -4.54588743e+00] [-1.47041617e-04 9.99999585e-01 8.98848656e-04 -5.46168405e+00] [ 4.51798314e-03 -8.98175161e-04 9.99989390e-01 4.96800581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88165253199999 meters 0.1328690508553993 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99984935e-01 -3.59175284e-03 -4.15086407e-03 -4.54768428e+00] [ 3.58060562e-03 9.99989972e-01 -2.68983801e-03 -5.46288482e+00] [ 4.16048368e-03 2.67493488e-03 9.99987767e-01 4.98221061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94165253199999 meters 0.13956196912424562 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.47, Z:0.50 [[ 9.99988740e-01 5.79278711e-04 -4.70997119e-03 -4.54621554e+00] [-5.70399400e-04 9.99998058e-01 1.88634044e-03 -5.46503932e+00] [ 4.71105476e-03 -1.88363263e-03 9.99987129e-01 4.98270658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001652532 meters 0.14481137688761178 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99990525e-01 5.55556760e-04 -4.31748690e-03 -4.54726282e+00] [-5.49649346e-04 9.99998911e-01 1.36931911e-03 -5.46244291e+00] [ 4.31824293e-03 -1.36693303e-03 9.99989742e-01 4.98134212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061652532 meters 0.13983621985352782 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.47, Z:0.50 [[ 9.99984951e-01 1.28901684e-04 -5.48465237e-03 -4.54449462e+00] [-1.18179663e-04 9.99998082e-01 1.95519278e-03 -5.46593013e+00] [ 5.48489388e-03 -1.95451519e-03 9.99983048e-01 4.98558769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12165253199998 meters 0.13498162345423095 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99988348e-01 2.18932232e-04 -4.82246064e-03 -4.54630356e+00] [-2.12564661e-04 9.99999105e-01 1.32087175e-03 -5.46232674e+00] [ 4.82274551e-03 -1.31983128e-03 9.99987500e-01 4.98625146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18165253199999 meters 0.14237817056343874 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.46, Z:0.50 [[ 9.99982479e-01 4.33074235e-03 -4.03565412e-03 -4.54798331e+00] [-4.31442839e-03 9.99982522e-01 4.04243410e-03 -5.45616063e+00] [ 4.05309033e-03 -4.02495173e-03 9.99983686e-01 4.97986782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24165253199999 meters 0.14232896589625743 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99994052e-01 -1.24324432e-05 -3.44901416e-03 -4.54924724e+00] [ 9.25341325e-06 9.99999575e-01 -9.21735761e-04 -5.45375714e+00] [ 3.44902415e-03 9.21698364e-04 9.99993627e-01 4.97624033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30165253199999 meters 0.14077672056934873 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99995420e-01 1.74437356e-04 -3.02149457e-03 -4.55053299e+00] [-1.77629948e-04 9.99999426e-01 -1.05639056e-03 -5.45266030e+00] [ 3.02130856e-03 1.05692243e-03 9.99994877e-01 4.97925615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361652532 meters 0.1446390375965867 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99995184e-01 1.44389727e-04 -3.10030651e-03 -4.55042882e+00] [-1.47438499e-04 9.99999506e-01 -9.83171541e-04 -5.45282536e+00] [ 3.10016302e-03 9.83623911e-04 9.99994711e-01 4.98108917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421652532 meters 0.1551218033693391 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99997205e-01 1.69793432e-04 -2.35840335e-03 -4.55228783e+00] [-1.73765802e-04 9.99998567e-01 -1.68424473e-03 -5.44877364e+00] [ 2.35811400e-03 1.68464983e-03 9.99995801e-01 4.97972046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48165253199998 meters 0.15519530562471767 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99996934e-01 1.68344404e-04 -2.47048657e-03 -4.55212743e+00] [-1.72131079e-04 9.99998811e-01 -1.53263216e-03 -5.44930633e+00] [ 2.47022563e-03 1.53305271e-03 9.99995774e-01 4.98241076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54165253199999 meters 0.15017354205538386 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99997649e-01 6.45147116e-04 -2.07025713e-03 -4.55391975e+00] [-6.47525150e-04 9.99999131e-01 -1.14820127e-03 -5.44904472e+00] [ 2.06951457e-03 1.14953912e-03 9.99997198e-01 4.99479757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60165253199999 meters 0.15336934209102876 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99998653e-01 5.54383682e-04 -1.54463241e-03 -4.55504437e+00] [-5.57027613e-04 9.99998380e-01 -1.71178593e-03 -5.44639261e+00] [ 1.54368092e-03 1.71264403e-03 9.99997342e-01 4.99128750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66165253199999 meters 0.14872533328258958 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99997668e-01 1.16300463e-03 -1.81985524e-03 -4.55538189e+00] [-1.16354418e-03 9.99999279e-01 -2.95449848e-04 -5.45040067e+00] [ 1.81951032e-03 2.97566641e-04 9.99998300e-01 5.01095375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721652532 meters 0.14254585618422666 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.45, Z:0.50 [[ 9.99997231e-01 1.00262721e-03 -2.12879617e-03 -4.55445039e+00] [-1.00290435e-03 9.99999489e-01 -1.29123008e-04 -5.45147082e+00] [ 2.12866562e-03 1.31257630e-04 9.99997726e-01 5.00917941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781652532 meters 0.14313247920203445 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99997750e-01 9.07262317e-04 -1.91733152e-03 -4.55506422e+00] [-9.08150674e-04 9.99999481e-01 -4.62510006e-04 -5.44966698e+00] [ 1.91691090e-03 4.64250191e-04 9.99998055e-01 5.00949480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841652532 meters 0.13952354851023202 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99998137e-01 8.06442731e-04 -1.75368413e-03 -4.55518779e+00] [-8.07685008e-04 9.99999423e-01 -7.07788457e-04 -5.44926070e+00] [ 1.75311232e-03 7.09203563e-04 9.99998212e-01 5.00487402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90165253199999 meters 0.14558463544056016 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99998261e-01 1.00775239e-03 -1.56900974e-03 -4.55605094e+00] [-1.00859263e-03 9.99999348e-01 -5.34822224e-04 -5.44917686e+00] [ 1.56846975e-03 5.36403785e-04 9.99998626e-01 5.01187372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96165253199999 meters 0.14482157472689502 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99998397e-01 1.15215922e-03 -1.37055697e-03 -4.55682415e+00] [-1.15276440e-03 9.99999238e-01 -4.40849012e-04 -5.44886562e+00] [ 1.37004799e-03 4.42428234e-04 9.99998964e-01 5.01637840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02165253199999 meters 0.13837405022423446 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99998398e-01 1.42085548e-03 -1.08889647e-03 -4.55802208e+00] [-1.42106527e-03 9.99998972e-01 -1.91913850e-04 -5.44863375e+00] [ 1.08862267e-03 1.93460936e-04 9.99999389e-01 5.02402861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08165253199999 meters 0.14859814373345795 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.50 [[ 9.99998556e-01 1.52956683e-03 -7.39996742e-04 -4.55899642e+00] [-1.52976465e-03 9.99998794e-01 -2.66834198e-04 -5.44772386e+00] [ 7.39587709e-04 2.67965834e-04 9.99999691e-01 5.02537158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141652532 meters 0.14321318950018416 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99999475e-01 9.69632763e-04 -3.30552626e-04 -4.55904731e+00] [-9.70178681e-04 9.99998159e-01 -1.65539100e-03 -5.44387685e+00] [ 3.28946897e-04 1.65571082e-03 9.99998575e-01 5.00749026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201652532 meters 0.14691959660542503 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99998895e-01 1.48627402e-03 3.82978715e-05 -4.56078143e+00] [-1.48623066e-03 9.99998281e-01 -1.10835393e-03 -5.44431331e+00] [-3.99451234e-05 1.10829579e-03 9.99999385e-01 5.02107942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26165253199999 meters 0.15309378359393402 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99997930e-01 1.93034609e-03 6.43734484e-04 -4.56299918e+00] [-1.92973226e-03 9.99997684e-01 -9.52798290e-04 -5.44312977e+00] [-6.45572224e-04 9.51554082e-04 9.99999339e-01 5.03252547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32165253199999 meters 0.15513059813101998 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99997167e-01 2.18966132e-03 9.33632985e-04 -4.56431094e+00] [-2.18896834e-03 9.99997328e-01 -7.42620075e-04 -5.44263710e+00] [-9.35256577e-04 7.40574278e-04 9.99999288e-01 5.04263019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38165253199999 meters 0.15889968174802907 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99997114e-01 2.30154758e-03 6.89313639e-04 -4.56398623e+00] [-2.30141274e-03 9.99997332e-01 -1.96339581e-04 -5.44465328e+00] [-6.89763685e-04 1.94752619e-04 9.99999743e-01 5.04926673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44165253199999 meters 0.15754568237272226 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.51 [[ 9.99997445e-01 2.23802541e-03 3.18273793e-04 -4.56316505e+00] [-2.23807212e-03 9.99997485e-01 1.46466595e-04 -5.44624294e+00] [-3.17945197e-04 -1.47178540e-04 9.99999939e-01 5.05249910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501652532 meters 0.1521135959383595 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99997809e-01 1.98194474e-03 6.74265779e-04 -4.56364050e+00] [-1.98154516e-03 9.99997861e-01 -5.92766361e-04 -5.44343961e+00] [-6.75439167e-04 5.91428974e-04 9.99999597e-01 5.04545657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561652532 meters 0.15680164461759863 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99997760e-01 1.83932828e-03 1.04751741e-03 -4.56430681e+00] [-1.83798593e-03 9.99997490e-01 -1.28097675e-03 -5.44090362e+00] [-1.04987092e-03 1.27904856e-03 9.99998631e-01 5.04033071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62165253199998 meters 0.15814411117032054 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99997819e-01 1.85812529e-03 9.53786966e-04 -4.56426993e+00] [-1.85698398e-03 9.99997560e-01 -1.19609743e-03 -5.44143161e+00] [-9.56007138e-04 1.19432366e-03 9.99998830e-01 5.04425658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68165253199999 meters 0.1557799899881127 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.50 [[ 9.99996603e-01 2.10965782e-03 1.53098930e-03 -4.56586424e+00] [-2.10741223e-03 9.99996704e-01 -1.46688849e-03 -5.43982689e+00] [-1.53407889e-03 1.46365709e-03 9.99997752e-01 5.04693428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74165253199999 meters 0.17944016081641198 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.50 [[ 9.99996017e-01 2.07281977e-03 1.91550375e-03 -4.56683302e+00] [-2.06922301e-03 9.99996096e-01 -1.87778653e-03 -5.43794415e+00] [-1.91938859e-03 1.87381545e-03 9.99996402e-01 5.04704224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80165253199999 meters 0.17368435136393445 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99997574e-01 1.86991586e-03 1.16380129e-03 -4.56486251e+00] [-1.86835195e-03 9.99997352e-01 -1.34343555e-03 -5.44149307e+00] [-1.16631032e-03 1.34125790e-03 9.99998420e-01 5.04691786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861652532 meters 0.1723610589270928 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.44, Z:0.50 [[ 9.99997697e-01 1.81724747e-03 1.14167555e-03 -4.56464320e+00] [-1.81563284e-03 9.99997352e-01 -1.41371087e-03 -5.44143694e+00] [-1.14424159e-03 1.41163475e-03 9.99998349e-01 5.04456332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921652532 meters 0.17133654379210467 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.50 [[ 9.99997809e-01 1.54066570e-03 1.41748242e-03 -4.56533484e+00] [-1.53768768e-03 9.99996614e-01 -2.09962245e-03 -5.43806912e+00] [-1.42071243e-03 2.09743820e-03 9.99996791e-01 5.04505418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98165253199998 meters 0.1704621821882407 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99997135e-01 1.89894596e-03 1.45729197e-03 -4.56607128e+00] [-1.89671473e-03 9.99997029e-01 -1.53093554e-03 -5.43945418e+00] [-1.46019481e-03 1.52816709e-03 9.99997766e-01 5.05594979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04165253199999 meters 0.17500541426931626 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.50 [[ 9.99997522e-01 1.62451275e-03 1.52217969e-03 -4.56574461e+00] [-1.62125980e-03 9.99996405e-01 -2.13583986e-03 -5.43805045e+00] [-1.52564392e-03 2.13336672e-03 9.99996561e-01 5.04777081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10165253199999 meters 0.1663605345941599 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.50 [[ 9.99997934e-01 1.37654459e-03 1.49565566e-03 -4.56545524e+00] [-1.37277862e-03 9.99995892e-01 -2.51606001e-03 -5.43698688e+00] [-1.49911298e-03 2.51400160e-03 9.99995716e-01 5.04405271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16165253199999 meters 0.16399021046091006 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99997392e-01 1.83348593e-03 1.36140175e-03 -4.56594904e+00] [-1.83125946e-03 9.99996987e-01 -1.63486882e-03 -5.43928892e+00] [-1.36439516e-03 1.63237148e-03 9.99997737e-01 5.05831285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221652532 meters 0.16856350710226634 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99996735e-01 2.08366551e-03 1.47928454e-03 -4.56666747e+00] [-2.08168579e-03 9.99996937e-01 -1.33857505e-03 -5.43986856e+00] [-1.48206915e-03 1.33549128e-03 9.99998010e-01 5.06527020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281652532 meters 0.16358438460111505 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99997293e-01 2.03606492e-03 1.12631888e-03 -4.56621674e+00] [-2.03476435e-03 9.99997263e-01 -1.15464550e-03 -5.44031967e+00] [-1.12866673e-03 1.15235058e-03 9.99998699e-01 5.07294559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341652532 meters 0.15542353861943187 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99997115e-01 2.26964271e-03 7.86162331e-04 -4.56595998e+00] [-2.26930421e-03 9.99997332e-01 -4.31200544e-04 -5.44247245e+00] [-7.87138905e-04 4.29415258e-04 9.99999598e-01 5.08337500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40165253199999 meters 0.1652711515003127 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99997169e-01 1.99511877e-03 1.29634566e-03 -4.56682537e+00] [-1.99327440e-03 9.99997002e-01 -1.42248201e-03 -5.43841066e+00] [-1.29917979e-03 1.41989402e-03 9.99998148e-01 5.07625285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46165253199999 meters 0.1749943687646716 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99997492e-01 1.87449931e-03 1.22537120e-03 -4.56675472e+00] [-1.87259183e-03 9.99997036e-01 -1.55595563e-03 -5.43765307e+00] [-1.22828421e-03 1.55365711e-03 9.99998039e-01 5.07772598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52165253199999 meters 0.1600700514348894 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99997420e-01 1.94655837e-03 1.17051062e-03 -4.56672953e+00] [-1.94498928e-03 9.99997210e-01 -1.34016028e-03 -5.43853870e+00] [-1.17311606e-03 1.33788019e-03 9.99998417e-01 5.08046142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58165253199999 meters 0.16815428245337846 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99997378e-01 1.78941739e-03 1.42882376e-03 -4.56724308e+00] [-1.78683084e-03 9.99996766e-01 -1.80949898e-03 -5.43663122e+00] [-1.43205709e-03 1.80694117e-03 9.99997342e-01 5.07739863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641652532 meters 0.16712191208177596 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.51 [[ 9.99996239e-01 1.92667441e-03 1.95181891e-03 -4.56916406e+00] [-1.92259551e-03 9.99995969e-01 -2.08952056e-03 -5.43368398e+00] [-1.95583687e-03 2.08576015e-03 9.99995912e-01 5.08627418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701652532 meters 0.1678130714703785 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.51 [[ 9.99995071e-01 2.09147455e-03 2.34160124e-03 -4.57051544e+00] [-2.08636345e-03 9.99995441e-01 -2.18305659e-03 -5.43245449e+00] [-2.34615637e-03 2.17816040e-03 9.99994876e-01 5.09365264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76165253199999 meters 0.163722730914646 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.51 [[ 9.99994118e-01 2.32496670e-03 2.52142731e-03 -4.57173748e+00] [-2.31984287e-03 9.99995242e-01 -2.03313908e-03 -5.43172318e+00] [-2.52614229e-03 2.02727781e-03 9.99994754e-01 5.10577239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82165253199999 meters 0.16488711420615348 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.51 [[ 9.99991453e-01 2.45202750e-03 3.32901532e-03 -4.57384800e+00] [-2.44286252e-03 9.99993223e-01 -2.75434189e-03 -5.42747938e+00] [-3.33574648e-03 2.74618602e-03 9.99990666e-01 5.10659613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88165253199999 meters 0.15915085020253741 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.51 [[ 9.99992431e-01 2.22225542e-03 3.19374840e-03 -4.57329202e+00] [-2.21284423e-03 9.99993208e-01 -2.94727094e-03 -5.42703108e+00] [-3.20027630e-03 2.94018137e-03 9.99990557e-01 5.10295556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94165253199999 meters 0.1625447716891927 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.51 [[ 9.99992229e-01 2.33604091e-03 3.17573595e-03 -4.57362864e+00] [-2.32749042e-03 9.99993664e-01 -2.69347840e-03 -5.42732945e+00] [-3.18200791e-03 2.68606597e-03 9.99991330e-01 5.10982024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001652532 meters 0.17445246523988872 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.51 [[ 9.99992186e-01 2.71036208e-03 2.87790475e-03 -4.57364263e+00] [-2.70542604e-03 9.99994865e-01 -1.71766295e-03 -5.42994855e+00] [-2.88254546e-03 1.70986357e-03 9.99994384e-01 5.12371790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061652532 meters 0.16931525652046814 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.51 [[ 9.99991045e-01 2.69748105e-03 3.26097497e-03 -4.57442669e+00] [-2.69068545e-03 9.99994203e-01 -2.08651098e-03 -5.42843223e+00] [-3.26658439e-03 2.07771804e-03 9.99992506e-01 5.12119434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12165253199998 meters 0.19695726249188453 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.51 [[ 9.99990254e-01 3.29984677e-03 2.93307139e-03 -4.57455143e+00] [-3.29824127e-03 9.99994408e-01 -5.52046783e-04 -5.43279391e+00] [-2.93487666e-03 5.42367426e-04 9.99995546e-01 5.14006648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18165253199999 meters 0.163699953639443 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99990776e-01 3.58982521e-03 2.35833213e-03 -4.57314907e+00] [-3.59102495e-03 9.99993425e-01 5.04684595e-04 -5.43840817e+00] [-2.35650490e-03 -5.13148769e-04 9.99997092e-01 5.14160526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24165253199999 meters 0.16436851786342935 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99992717e-01 3.37080697e-03 1.79005328e-03 -4.57096712e+00] [-3.37227260e-03 9.99993981e-01 8.16376773e-04 -5.44122913e+00] [-1.78729066e-03 -8.22407374e-04 9.99998065e-01 5.13008574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30165253199999 meters 0.18033331521007803 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99994027e-01 3.15526155e-03 1.41102090e-03 -4.56937557e+00] [-3.15657044e-03 9.99994589e-01 9.26360276e-04 -5.44301917e+00] [-1.40809035e-03 -9.30808729e-04 9.99998575e-01 5.12015249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361652532 meters 0.17073149489568062 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99995386e-01 2.94667806e-03 7.37720452e-04 -4.56696589e+00] [-2.94764743e-03 9.99994789e-01 1.31639391e-03 -5.44678550e+00] [-7.33837618e-04 -1.31856238e-03 9.99998861e-01 5.10835021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421652532 meters 0.16799404926186165 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99995668e-01 2.84993962e-03 7.35592076e-04 -4.56668967e+00] [-2.85085752e-03 9.99995155e-01 1.24982989e-03 -5.44704140e+00] [-7.32026572e-04 -1.25192154e-03 9.99998948e-01 5.10396793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48165253199998 meters 0.15843147268255905 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.45, Z:0.51 [[ 9.99995758e-01 2.91279529e-03 -1.24067858e-05 -4.56483860e+00] [-2.91276115e-03 9.99993363e-01 2.18870328e-03 -5.45233791e+00] [ 1.87819480e-05 -2.18865786e-03 9.99997605e-01 5.10521960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54165253199999 meters 0.15473913724948962 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99999233e-01 -1.11255674e-03 5.44966616e-04 -4.56625525e+00] [ 1.11361186e-03 9.99997499e-01 -1.93966512e-03 -5.45208045e+00] [-5.42807266e-04 1.94027051e-03 9.99997970e-01 5.10491413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60165253199999 meters 0.1511373754472055 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99998966e-01 -9.66225847e-04 1.06531753e-03 -4.56746570e+00] [ 9.68423678e-04 9.99997400e-01 -2.06449335e-03 -5.45102994e+00] [-1.06331999e-03 2.06552289e-03 9.99997301e-01 5.10291935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66165253199999 meters 0.1580901656997675 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99999531e-01 -1.53491701e-04 9.55913989e-04 -4.56821849e+00] [ 1.53828332e-04 9.99999926e-01 -3.52091656e-04 -5.45578395e+00] [-9.55859875e-04 3.52238538e-04 9.99999481e-01 5.12265379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721652532 meters 0.15343575968731324 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99999270e-01 4.44306324e-04 1.12376048e-03 -4.56938077e+00] [-4.45014069e-04 9.99999703e-01 6.29628518e-04 -5.45807925e+00] [-1.12348039e-03 -6.30128148e-04 9.99999170e-01 5.13615629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781652532 meters 0.14813428676275353 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99999285e-01 2.51017694e-04 1.16954293e-03 -4.56911273e+00] [-2.51495316e-04 9.99999885e-01 4.08254470e-04 -5.45748574e+00] [-1.16944031e-03 -4.08548312e-04 9.99999233e-01 5.12954943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841652532 meters 0.1463505225871768 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99999015e-01 2.22700230e-04 1.38544605e-03 -4.56963237e+00] [-2.22990350e-04 9.99999953e-01 2.09254580e-04 -5.45664554e+00] [-1.38539938e-03 -2.09563316e-04 9.99999018e-01 5.12924337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90165253199999 meters 0.1621581310485789 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99999024e-01 2.19924888e-04 1.37967629e-03 -4.56951872e+00] [-2.20292100e-04 9.99999940e-01 2.66012332e-04 -5.45713834e+00] [-1.37961771e-03 -2.66316004e-04 9.99999013e-01 5.12818708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96165253199999 meters 0.16016284126024163 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99998371e-01 3.81024952e-04 1.76438222e-03 -4.57072817e+00] [-3.81287988e-04 9.99999916e-01 1.48747331e-04 -5.45606778e+00] [-1.76432539e-03 -1.49419827e-04 9.99998432e-01 5.13276124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02165253199999 meters 0.15756030188924233 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99998061e-01 3.92446264e-04 1.92974168e-03 -4.57130099e+00] [-3.92519658e-04 9.99999922e-01 3.76543962e-05 -5.45528427e+00] [-1.92972675e-03 -3.84117848e-05 9.99998137e-01 5.13587490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08165253199999 meters 0.15627380984045372 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99997764e-01 6.88958192e-04 1.99912503e-03 -4.57189532e+00] [-6.89942614e-04 9.99999641e-01 4.91778201e-04 -5.45625448e+00] [-1.99878550e-03 -4.93156383e-04 9.99997881e-01 5.14299254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141652532 meters 0.1566375289248051 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99997285e-01 2.83993654e-04 2.31307133e-03 -4.57198249e+00] [-2.82587270e-04 9.99999775e-01 -6.08320000e-04 -5.45302836e+00] [-2.31324356e-03 6.07664703e-04 9.99997140e-01 5.13007095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201652532 meters 0.16090863560474314 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99995673e-01 3.74697713e-04 2.91793087e-03 -4.57355338e+00] [-3.71191108e-04 9.99999208e-01 -1.20219264e-03 -5.44999486e+00] [-2.91837902e-03 1.20110432e-03 9.99995020e-01 5.13005730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26165253199999 meters 0.1623328545986867 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99993990e-01 2.53568373e-04 3.45761210e-03 -4.57482623e+00] [-2.46041348e-04 9.99997600e-01 -2.17719487e-03 -5.44607982e+00] [-3.45815587e-03 2.17633107e-03 9.99991652e-01 5.12882138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32165253199999 meters 0.1624326531690604 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99986307e-01 3.91695916e-03 3.47036529e-03 -4.57419938e+00] [-3.91980089e-03 9.99991988e-01 8.12431939e-04 -5.44223860e+00] [-3.46715522e-03 -8.26023955e-04 9.99993648e-01 5.11698474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38165253199999 meters 0.16740623160222445 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99986613e-01 3.56825669e-03 3.74707740e-03 -4.57459132e+00] [-3.56717303e-03 9.99993594e-01 -2.95845156e-04 -5.43851959e+00] [-3.74810904e-03 2.82474722e-04 9.99992936e-01 5.11043158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44165253199999 meters 0.17983470971912469 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99951728e-01 8.28439690e-03 5.28295855e-03 -4.57884079e+00] [-8.29705409e-03 9.99962750e-01 2.37845368e-03 -5.43048450e+00] [-5.26305771e-03 -2.42217187e-03 9.99983217e-01 5.12085114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501652532 meters 0.1667470708708082 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99946781e-01 8.21020028e-03 6.24723356e-03 -4.58098081e+00] [-8.21497071e-03 9.99965984e-01 7.38329510e-04 -5.42409055e+00] [-6.24095923e-03 -7.89611057e-04 9.99980213e-01 5.11609833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561652532 meters 0.18114822875305475 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99947236e-01 7.98951790e-03 6.45697483e-03 -4.58147621e+00] [-7.98923217e-03 9.99968083e-01 -7.00430729e-05 -5.42120523e+00] [-6.45732836e-03 1.84531061e-05 9.99979151e-01 5.11566686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62165253199998 meters 0.17974445886869528 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99948856e-01 7.62314575e-03 6.64632145e-03 -4.58161041e+00] [-7.61663643e-03 9.99970489e-01 -1.00415025e-03 -5.41816830e+00] [-6.65378010e-03 9.53476277e-04 9.99977409e-01 5.10965067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68165253199999 meters 0.18047275195922352 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99947305e-01 7.25596464e-03 7.26215467e-03 -4.58296087e+00] [-7.23760152e-03 9.99970553e-01 -2.55169958e-03 -5.41179597e+00] [-7.28045586e-03 2.49900454e-03 9.99970375e-01 5.10614646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74165253199999 meters 0.17085401222881294 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99949663e-01 7.04933919e-03 7.13989221e-03 -4.58279913e+00] [-7.02884679e-03 9.99971118e-01 -2.89116626e-03 -5.41056386e+00] [-7.16006681e-03 2.84083552e-03 9.99970331e-01 5.10900823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80165253199999 meters 0.17625983643933585 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99945062e-01 6.95559179e-03 7.84177069e-03 -4.58423565e+00] [-6.92543283e-03 9.99968544e-01 -3.86655548e-03 -5.40660818e+00] [-7.86841820e-03 3.81203540e-03 9.99961777e-01 5.10508733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861652532 meters 0.18907240291545602 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99945574e-01 6.96154748e-03 7.77090048e-03 -4.58445391e+00] [-6.93175750e-03 9.99968549e-01 -3.85390271e-03 -5.40621361e+00] [-7.79748520e-03 3.79982696e-03 9.99962380e-01 5.11230299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921652532 meters 0.177909841627074 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99946025e-01 7.06241725e-03 7.62035754e-03 -4.58437291e+00] [-7.03548032e-03 9.99968928e-01 -3.55590111e-03 -5.40715339e+00] [-7.64523402e-03 3.50209630e-03 9.99964642e-01 5.11791512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98165253199998 meters 0.17737258056092603 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99947696e-01 7.04191962e-03 7.41737139e-03 -4.58406674e+00] [-7.01703118e-03 9.99969681e-01 -3.37612286e-03 -5.40765664e+00] [-7.44092089e-03 3.32389835e-03 9.99966792e-01 5.12165442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04165253199999 meters 0.1702685393074026 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99945617e-01 7.00676925e-03 7.72446104e-03 -4.58462777e+00] [-6.97812541e-03 9.99968700e-01 -3.72893541e-03 -5.40634350e+00] [-7.75034705e-03 3.67483036e-03 9.99963213e-01 5.11876527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10165253199999 meters 0.18278470347014003 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99946606e-01 7.10355943e-03 7.50499206e-03 -4.58403983e+00] [-7.07911358e-03 9.99969567e-01 -3.27883716e-03 -5.40850303e+00] [-7.52805508e-03 3.22553340e-03 9.99966462e-01 5.11902067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16165253199999 meters 0.17591324273935377 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99970976e-01 2.95926746e-03 7.02066126e-03 -4.58251748e+00] [-2.91141785e-03 9.99972533e-01 -6.81599878e-03 -5.41258462e+00] [-7.04063878e-03 6.79536088e-03 9.99952125e-01 5.11332654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221652532 meters 0.18431139643295183 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.51 [[ 9.99972428e-01 3.06990888e-03 6.76156901e-03 -4.58188732e+00] [-3.02750818e-03 9.99975747e-01 -6.27217158e-03 -5.41475437e+00] [-6.78066002e-03 6.25152794e-03 9.99957470e-01 5.11392387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281652532 meters 0.1758735758344572 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99979300e-01 3.13289065e-03 5.61995458e-03 -4.57951428e+00] [-3.10784122e-03 9.99985223e-01 -4.46043950e-03 -5.42111206e+00] [-5.63384560e-03 4.44288125e-03 9.99974260e-01 5.12706398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34165253199998 meters 0.17388670654918162 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99980075e-01 3.56881459e-03 5.20703424e-03 -4.57913169e+00] [-3.55232077e-03 9.99988655e-01 -3.17342187e-03 -5.42527261e+00] [-5.21830052e-03 3.15486158e-03 9.99981408e-01 5.13942466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40165253199999 meters 0.16784362894644422 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99987433e-01 -4.25705996e-04 4.99528308e-03 -4.57841513e+00] [ 4.58228604e-04 9.99978696e-01 -6.51132639e-03 -5.42973335e+00] [-4.99240475e-03 6.51353355e-03 9.99966324e-01 5.13731162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46165253199999 meters 0.16606906847264896 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.51 [[ 9.99992746e-01 -4.21962521e-04 3.78539303e-03 -4.57567311e+00] [ 4.40436504e-04 9.99987992e-01 -4.88082874e-03 -5.43650948e+00] [-3.78328805e-03 4.88246056e-03 9.99980924e-01 5.14246821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52165253199999 meters 0.1683156290388987 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.51 [[ 9.99994255e-01 -9.14506258e-05 3.38831838e-03 -4.57504505e+00] [ 1.04062913e-04 9.99993067e-01 -3.72229584e-03 -5.44064701e+00] [-3.38795448e-03 3.72262705e-03 9.99987332e-01 5.14913948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58165253199999 meters 0.18166194268084349 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.52 [[ 9.99995494e-01 1.27775238e-04 2.99917395e-03 -4.57436914e+00] [-1.19078077e-04 9.99995788e-01 -2.89985142e-03 -5.44377955e+00] [-2.99953185e-03 2.89948122e-03 9.99991298e-01 5.15405937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641652532 meters 0.15774480658682016 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.52 [[ 9.99995906e-01 2.78447355e-04 2.84786762e-03 -4.57415485e+00] [-2.71391693e-04 9.99996894e-01 -2.47761088e-03 -5.44535788e+00] [-2.84854865e-03 2.47682785e-03 9.99992876e-01 5.15703330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701652532 meters 0.1572371423445197 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99994313e-01 4.04290177e-04 3.34810779e-03 -4.57563302e+00] [-3.94915576e-04 9.99996002e-01 -2.80015763e-03 -5.44290922e+00] [-3.34922648e-03 2.79881949e-03 9.99990475e-01 5.15959194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76165253199999 meters 0.17258288107729 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99993988e-01 5.00561173e-04 3.43129495e-03 -4.57620594e+00] [-4.91233782e-04 9.99996184e-01 -2.71863359e-03 -5.44258967e+00] [-3.43264270e-03 2.71693167e-03 9.99990418e-01 5.16526679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82165253199999 meters 0.16919785305322568 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99992201e-01 8.08667128e-04 3.86573801e-03 -4.57800881e+00] [-7.98651518e-04 9.99996323e-01 -2.59170833e-03 -5.44143464e+00] [-3.86781962e-03 2.58860074e-03 9.99989170e-01 5.17606021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88165253199999 meters 0.16595168818469835 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99991859e-01 1.11347047e-03 3.87840192e-03 -4.57838531e+00] [-1.10603791e-03 9.99997549e-01 -1.91801629e-03 -5.44352882e+00] [-3.88052806e-03 1.91371102e-03 9.99990640e-01 5.18250078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94165253199999 meters 0.18197575586344306 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99992419e-01 1.09554154e-03 3.73647212e-03 -4.57795436e+00] [-1.08888807e-03 9.99997819e-01 -1.78225265e-03 -5.44417163e+00] [-3.73841650e-03 1.77817054e-03 9.99991431e-01 5.18091738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001652532 meters 0.16161809477139596 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99992118e-01 1.19920903e-03 3.78490421e-03 -4.57812594e+00] [-1.19347954e-03 9.99998139e-01 -1.51567092e-03 -5.44492375e+00] [-3.78671477e-03 1.51114177e-03 9.99991689e-01 5.18159812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061652532 meters 0.17795686653734594 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99992298e-01 1.27680277e-03 3.71118048e-03 -4.57795611e+00] [-1.27224271e-03 9.99998433e-01 -1.23083724e-03 -5.44591298e+00] [-3.71274621e-03 1.22610624e-03 9.99992356e-01 5.18185185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12165253199998 meters 0.16331514239771378 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99994081e-01 1.20200610e-03 3.22381166e-03 -4.57677007e+00] [-1.19977533e-03 9.99999040e-01 -6.93813204e-04 -5.44853907e+00] [-3.22464253e-03 6.89941248e-04 9.99994563e-01 5.18278020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18165253199999 meters 0.16394848769459475 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99993946e-01 1.19743470e-03 3.26721463e-03 -4.57687900e+00] [-1.19518938e-03 9.99999048e-01 -6.89093806e-04 -5.44858867e+00] [-3.26803667e-03 6.85184694e-04 9.99994425e-01 5.18304042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24165253199999 meters 0.16786598084877893 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99994358e-01 1.08839343e-03 3.17809427e-03 -4.57633926e+00] [-1.08628039e-03 9.99999188e-01 -6.66525643e-04 -5.44950651e+00] [-3.17881713e-03 6.63069581e-04 9.99994728e-01 5.17834368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30165253199999 meters 0.16399820961803918 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99994171e-01 1.36464185e-03 3.12974402e-03 -4.57652914e+00] [-1.36464749e-03 9.99999069e-01 -3.34173351e-07 -5.45165821e+00] [-3.12974156e-03 -3.93682591e-06 9.99995102e-01 5.18444732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361652532 meters 0.15721126483922776 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99995136e-01 1.17981900e-03 2.88737422e-03 -4.57555673e+00] [-1.17982038e-03 9.99999304e-01 -1.22663444e-06 -5.45263401e+00] [-2.88737366e-03 -2.17995447e-06 9.99995832e-01 5.17905067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421652532 meters 0.16308719414312317 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99995606e-01 1.02809740e-03 2.78044231e-03 -4.57513330e+00] [-1.02761578e-03 9.99999457e-01 -1.74641978e-04 -5.45243330e+00] [-2.78062035e-03 1.71783985e-04 9.99996119e-01 5.17674574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48165253199998 meters 0.17206432226629417 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99994975e-01 6.59605940e-04 3.10070188e-03 -4.57528185e+00] [-6.56322366e-04 9.99999223e-01 -1.05987583e-03 -5.44987314e+00] [-3.10139857e-03 1.05783545e-03 9.99994631e-01 5.16545182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54165253199999 meters 0.18721202210733467 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99994458e-01 5.59503761e-04 3.28197412e-03 -4.57566789e+00] [-5.54878395e-04 9.99998852e-01 -1.41006564e-03 -5.44853896e+00] [-3.28275929e-03 1.40823673e-03 9.99993620e-01 5.16397554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60165253199999 meters 0.16531357348183665 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99994290e-01 5.31233151e-04 3.33735133e-03 -4.57578680e+00] [-5.26245369e-04 9.99998744e-01 -1.49523338e-03 -5.44832161e+00] [-3.33814146e-03 1.49346858e-03 9.99993313e-01 5.16385650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66165253199999 meters 0.16430187381358466 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99993474e-01 6.00680982e-04 3.56235463e-03 -4.57677690e+00] [-5.95146228e-04 9.99998615e-01 -1.55453498e-03 -5.44734395e+00] [-3.56328348e-03 1.55240471e-03 9.99992446e-01 5.17157927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721652532 meters 0.1524594729545046 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.52 [[ 9.99997980e-01 2.61645992e-04 1.99264301e-03 -4.57420021e+00] [-2.64175234e-04 9.99999160e-01 1.26913240e-03 -5.45349665e+00] [-1.99230927e-03 -1.26965624e-03 9.99997209e-01 5.22338342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781652532 meters 0.16967520375737496 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.52 [[ 9.99997548e-01 -2.38722031e-04 2.20172932e-03 -4.57410326e+00] [ 2.38495496e-04 9.99999966e-01 1.03151392e-04 -5.44964205e+00] [-2.20175387e-03 -1.02626036e-04 9.99997571e-01 5.21138977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84165253199998 meters 0.1583794571718638 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99985080e-01 4.36208167e-03 3.28804938e-03 -4.57681120e+00] [-4.37345190e-03 9.99984455e-01 3.45882428e-03 -5.44478106e+00] [-3.27291059e-03 -3.47315280e-03 9.99988613e-01 5.21475819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90165253199999 meters 0.17500433054662243 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99993856e-01 4.06295219e-04 3.48185745e-03 -4.57798919e+00] [-4.04540801e-04 9.99999791e-01 -5.04563522e-04 -5.44488151e+00] [-3.48206173e-03 5.03151869e-04 9.99993811e-01 5.22615970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96165253199999 meters 0.16918489386743676 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99991687e-01 4.83788721e-04 4.04875654e-03 -4.57966307e+00] [-4.79208636e-04 9.99999244e-01 -1.13212606e-03 -5.44146681e+00] [-4.04930119e-03 1.13017645e-03 9.99991163e-01 5.23102396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02165253199999 meters 0.17628403742679388 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99990427e-01 4.68862960e-04 4.35031339e-03 -4.58053147e+00] [-4.62446409e-04 9.99998804e-01 -1.47585175e-03 -5.43970021e+00] [-4.35100016e-03 1.47382583e-03 9.99989448e-01 5.23320577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08165253199999 meters 0.17122644740086895 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99991377e-01 3.37595905e-04 4.13904215e-03 -4.57990466e+00] [-3.31195485e-04 9.99998749e-01 -1.54694080e-03 -5.43993234e+00] [-4.13955921e-03 1.54555663e-03 9.99990238e-01 5.23192259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141652532 meters 0.17071137471041434 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99991191e-01 4.50091812e-04 4.17309538e-03 -4.58043579e+00] [-4.44041383e-04 9.99998849e-01 -1.45067911e-03 -5.43956838e+00] [-4.17374352e-03 1.44881331e-03 9.99990240e-01 5.23971360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201652532 meters 0.16748810206434597 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99990393e-01 2.54895237e-04 4.37597402e-03 -4.58080821e+00] [-2.45933484e-04 9.99997872e-01 -2.04836073e-03 -5.43749024e+00] [-4.37648682e-03 2.04726485e-03 9.99988327e-01 5.23737973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26165253199999 meters 0.1882884657250739 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99990382e-01 -8.26490437e-06 4.38586611e-03 -4.58064096e+00] [ 1.95415043e-05 9.99996695e-01 -2.57108608e-03 -5.43599966e+00] [-4.38583037e-03 2.57114706e-03 9.99987077e-01 5.23367675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32165253199999 meters 0.1898852251844015 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.52 [[ 9.99989869e-01 -1.64415367e-04 4.49827334e-03 -4.58086951e+00] [ 1.77806447e-04 9.99995554e-01 -2.97669997e-03 -5.43438079e+00] [-4.49776392e-03 2.97746963e-03 9.99985452e-01 5.23216428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38165253199999 meters 0.18132531305600236 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.52 [[ 9.99987958e-01 9.16824597e-05 4.90662618e-03 -4.58256967e+00] [-7.69724729e-05 9.99995503e-01 -2.99808889e-03 -5.43249740e+00] [-4.90687898e-03 2.99767511e-03 9.99983468e-01 5.24304295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44165253199999 meters 0.18528597062276586 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.52 [[ 9.99980110e-01 3.83477765e-03 5.00749186e-03 -4.58253406e+00] [-3.83490719e-03 9.99992647e-01 1.62673452e-05 -5.42810119e+00] [-5.00739266e-03 -3.54702882e-05 9.99987462e-01 5.23663177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501652532 meters 0.1873586936875079 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.52 [[ 9.99980063e-01 3.58150717e-03 5.20066886e-03 -4.58301330e+00] [-3.57741829e-03 9.99993285e-01 -7.95312407e-04 -5.42504486e+00] [-5.20348235e-03 7.76691582e-04 9.99986160e-01 5.23578712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561652532 meters 0.18384900621067307 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.52 [[ 9.99955138e-01 7.47093336e-03 5.82294117e-03 -4.58441584e+00] [-7.48155547e-03 9.99970385e-01 1.80453929e-03 -5.41855301e+00] [-5.80928713e-03 -1.84802299e-03 9.99981418e-01 5.23290375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62165253199998 meters 0.1947089991261645 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.41, Z:0.52 [[ 9.99909575e-01 1.17173712e-02 6.59884184e-03 -4.58657980e+00] [-1.17493705e-02 9.99919301e-01 4.83152257e-03 -5.41279601e+00] [-6.54169658e-03 -4.90861791e-03 9.99966555e-01 5.23652840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68165253199999 meters 0.1893203014735862 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.41, Z:0.52 [[ 9.99942170e-01 7.58177774e-03 7.62708319e-03 -4.58893190e+00] [-7.57884486e-03 9.99971195e-01 -4.13364512e-04 -5.40850235e+00] [-7.62999753e-03 3.55536127e-04 9.99970828e-01 5.23362688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74165253199999 meters 0.19169967832970256 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.41, Z:0.52 [[ 9.99943035e-01 7.34475936e-03 7.74474223e-03 -4.58891720e+00] [-7.33678269e-03 9.99972526e-01 -1.05785535e-03 -5.40666372e+00] [-7.75229914e-03 1.00097360e-03 9.99969449e-01 5.22774887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80165253199999 meters 0.1857264956263871 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.41, Z:0.52 [[ 9.99947620e-01 6.95120055e-03 7.51252288e-03 -4.58779672e+00] [-6.94008740e-03 9.99974786e-01 -1.50434237e-03 -5.40613321e+00] [-7.52279045e-03 1.45212601e-03 9.99970649e-01 5.21815468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861652532 meters 0.1749859708021337 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.52 [[ 9.99958469e-01 6.44120762e-03 6.44754130e-03 -4.58482297e+00] [-6.43299053e-03 9.99978470e-01 -1.29438184e-03 -5.40858883e+00] [-6.45573987e-03 1.25285111e-03 9.99978377e-01 5.21146604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921652532 meters 0.18238414535149255 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.52 [[ 9.99959657e-01 6.46861216e-03 6.23222205e-03 -4.58419732e+00] [-6.46233942e-03 9.99978592e-01 -1.02611528e-03 -5.40986231e+00] [-6.23872617e-03 9.85799151e-04 9.99980053e-01 5.21047562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98165253199998 meters 0.182499812269771 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.41, Z:0.52 [[ 9.99964491e-01 5.98196853e-03 5.93566406e-03 -4.58245714e+00] [-5.97395669e-03 9.99981222e-01 -1.36659191e-03 -5.41028538e+00] [-5.94372751e-03 1.33108399e-03 9.99981450e-01 5.19491272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04165253199999 meters 0.18332646179439277 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.52 [[ 9.99984783e-01 1.90879880e-03 5.17583912e-03 -4.58102851e+00] [-1.88644818e-03 9.99988891e-01 -4.31970976e-03 -5.41501086e+00] [-5.18402707e-03 4.30988008e-03 9.99977275e-01 5.20340660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10165253199999 meters 0.17980034098619782 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.52 [[ 9.99983399e-01 2.19148752e-03 5.32898863e-03 -4.58115133e+00] [-2.17136431e-03 9.99990502e-01 -3.77903733e-03 -5.41725036e+00] [-5.33721973e-03 3.76740342e-03 9.99978660e-01 5.19937034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16165253199999 meters 0.17942348409538308 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.52 [[ 9.99989044e-01 1.91414837e-03 4.27169001e-03 -4.57821794e+00] [-1.90103334e-03 9.99993474e-01 -3.07217209e-03 -5.42193808e+00] [-4.27754273e-03 3.06401781e-03 9.99986157e-01 5.19246960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221652532 meters 0.1884560673937273 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.52 [[ 9.99993181e-01 1.55583766e-03 3.34933677e-03 -4.57510098e+00] [-1.54755884e-03 9.99995745e-01 -2.47295490e-03 -5.42739244e+00] [-3.35317004e-03 2.46775474e-03 9.99991333e-01 5.17830527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281652532 meters 0.16557819898456455 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.43, Z:0.52 [[ 9.99991740e-01 -3.02531761e-03 2.71417585e-03 -4.57242722e+00] [ 3.04198573e-03 9.99976411e-01 -6.15817269e-03 -5.43196502e+00] [-2.69548140e-03 6.16637831e-03 9.99977355e-01 5.16071968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34165253199998 meters 0.1823723388838241 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.52 [[ 9.99993131e-01 -2.84226317e-03 2.37896452e-03 -4.57169602e+00] [ 2.85455462e-03 9.99982513e-01 -5.17937632e-03 -5.43525352e+00] [-2.36420177e-03 5.18613163e-03 9.99983757e-01 5.16323680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40165253199999 meters 0.1532220696687742 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.52 [[ 9.99969771e-01 -7.72871713e-03 8.51090807e-04 -4.56819682e+00] [ 7.73318440e-03 9.99955642e-01 -5.37701713e-03 -5.44700097e+00] [-8.09495610e-04 5.38343623e-03 9.99985182e-01 5.20888877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46165253199999 meters 0.15528243535000213 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.52 [[ 9.99992689e-01 -3.80967013e-03 -3.28958456e-04 -4.56503128e+00] [ 3.80963624e-03 9.99992738e-01 -1.03586911e-04 -5.45264836e+00] [ 3.29350699e-04 1.02332941e-04 9.99999941e-01 5.20352220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52165253199999 meters 0.1509885327368437 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.46, Z:0.52 [[ 9.99990257e-01 -4.21056155e-03 -1.32543167e-03 -4.56195311e+00] [ 4.21172638e-03 9.99990746e-01 8.77269861e-04 -5.45823347e+00] [ 1.32172560e-03 -8.82843670e-04 9.99998737e-01 5.19468470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58165253199999 meters 0.1478490341982426 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.46, Z:0.52 [[ 9.99989711e-01 -4.14201612e-03 -1.84951361e-03 -4.56020964e+00] [ 4.14533485e-03 9.99989799e-01 1.79416461e-03 -5.46383826e+00] [ 1.84206328e-03 -1.80181300e-03 9.99996680e-01 5.18875574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641652532 meters 0.1431838441552095 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.52 [[ 9.99963574e-01 -8.20696998e-03 -2.34458802e-03 -4.55901257e+00] [ 8.20492512e-03 9.99965951e-01 -8.80455929e-04 -5.46989726e+00] [ 2.35173406e-03 8.61186689e-04 9.99996864e-01 5.19436169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701652532 meters 0.1434381162787536 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.52 [[ 9.99988360e-01 -3.81062634e-03 -2.95969541e-03 -4.55717680e+00] [ 3.82403097e-03 9.99982397e-01 4.53668394e-03 -5.47591597e+00] [ 2.94235571e-03 -4.54794910e-03 9.99985329e-01 5.19024137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76165253199999 meters 0.1500465889163862 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.52 [[ 9.99966465e-01 -7.58168037e-03 -3.09621138e-03 -4.55735558e+00] [ 7.58740284e-03 9.99969521e-01 1.84067267e-03 -5.48108055e+00] [ 3.08216162e-03 -1.86410315e-03 9.99993513e-01 5.20286313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82165253199999 meters 0.13095536958460052 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.52 [[ 9.99965650e-01 -7.62545060e-03 -3.24827619e-03 -4.55612545e+00] [ 7.63272053e-03 9.99968380e-01 2.23160173e-03 -5.48413797e+00] [ 3.23115651e-03 -2.25631826e-03 9.99992234e-01 5.18841899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88165253199999 meters 0.13139541186769257 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.49, Z:0.52 [[ 9.99958940e-01 -8.10930613e-03 -4.04434259e-03 -4.55313510e+00] [ 8.11956986e-03 9.99963841e-01 2.52786937e-03 -5.48853427e+00] [ 4.02369709e-03 -2.56060390e-03 9.99988627e-01 5.17211212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94165253199999 meters 0.1417797448319303 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.49, Z:0.52 [[ 9.99979839e-01 -4.21319846e-03 -4.75093469e-03 -4.55105086e+00] [ 4.24579573e-03 9.99967373e-01 6.87214944e-03 -5.49023241e+00] [ 4.72182595e-03 -6.89218239e-03 9.99965100e-01 5.16678698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001652532 meters 0.13983893489532417 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.49, Z:0.52 [[ 9.99986339e-01 -3.84884047e-03 -3.53663874e-03 -4.55396984e+00] [ 3.87016287e-03 9.99974257e-01 6.04206637e-03 -5.48655621e+00] [ 3.51329275e-03 -6.05567120e-03 9.99975493e-01 5.16051451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061652532 meters 0.136388572048285 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.49, Z:0.52 [[ 9.99934459e-01 1.86337356e-03 -1.12962894e-02 -4.54259670e+00] [-1.85060427e-03 9.99997637e-01 1.14074470e-03 -5.49026314e+00] [ 1.12983884e-02 -1.11976497e-03 9.99935544e-01 5.22713453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12165253199998 meters 0.13934592424735498 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.49, Z:0.52 [[ 9.99937830e-01 1.63416920e-03 -1.10301906e-02 -4.54291447e+00] [-1.62778192e-03 9.99998502e-01 5.88025460e-04 -5.48816530e+00] [ 1.10311350e-02 -5.70034158e-04 9.99938993e-01 5.22068658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18165253199999 meters 0.1330856523096434 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.49, Z:0.52 [[ 9.99938367e-01 1.56955254e-03 -1.09908884e-02 -4.54299404e+00] [-1.56336014e-03 9.99998614e-01 5.71981418e-04 -5.48801900e+00] [ 1.09917709e-02 -5.54763448e-04 9.99939435e-01 5.22054509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24165253199999 meters 0.13347193049827802 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.49, Z:0.52 [[ 9.99943411e-01 1.62471476e-03 -1.05136076e-02 -4.54419816e+00] [-1.62338058e-03 9.99998673e-01 1.35433468e-04 -5.48609357e+00] [ 1.05138137e-02 -1.18358217e-04 9.99944721e-01 5.21916042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30165253199999 meters 0.1349481325211864 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.49, Z:0.52 [[ 9.99942528e-01 1.68382697e-03 -1.05879929e-02 -4.54418484e+00] [-1.68039036e-03 9.99998533e-01 3.33464099e-04 -5.48685456e+00] [ 1.05885389e-02 -3.15652973e-04 9.99943890e-01 5.22222004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361652532 meters 0.13453200081444652 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.49, Z:0.52 [[ 9.99947171e-01 1.88313750e-03 -1.01049492e-02 -4.54543755e+00] [-1.88215417e-03 9.99998223e-01 1.06820932e-04 -5.48582960e+00] [ 1.01051324e-02 -8.77962166e-05 9.99948938e-01 5.22079268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421652532 meters 0.13588363873189105 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.48, Z:0.52 [[ 9.99955529e-01 1.87393000e-03 -9.24279659e-03 -4.54715314e+00] [-1.88241233e-03 9.99997815e-01 -9.09108796e-04 -5.48150175e+00] [ 9.24107279e-03 9.26467121e-04 9.99956871e-01 5.21015303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48165253199998 meters 0.132306448583435 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.48, Z:0.52 [[ 9.99953853e-01 2.38866350e-03 -9.30512077e-03 -4.54794988e+00] [-2.38921156e-03 9.99997145e-01 -4.77830078e-05 -5.48413692e+00] [ 9.30498006e-03 7.00127049e-05 9.99956705e-01 5.22508518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54165253199999 meters 0.14046212980858816 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.48, Z:0.52 [[ 9.99939943e-01 6.68277408e-03 -8.68627154e-03 -4.54932478e+00] [-6.65454282e-03 9.99972495e-01 3.27495096e-03 -5.48034034e+00] [ 8.70791839e-03 -3.21695111e-03 9.99956911e-01 5.21918617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60165253199999 meters 0.1401440505229235 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.48, Z:0.52 [[ 9.99944112e-01 6.41941952e-03 -8.40022083e-03 -4.54975242e+00] [-6.39831793e-03 9.99976314e-01 2.53649603e-03 -5.47786462e+00] [ 8.41630469e-03 -2.48260699e-03 9.99961500e-01 5.21323638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66165253199999 meters 0.15303421968515818 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.48, Z:0.52 [[ 9.99945490e-01 6.83732980e-03 -7.89102779e-03 -4.55164759e+00] [-6.81745734e-03 9.99973529e-01 2.54251911e-03 -5.47716940e+00] [ 7.90820295e-03 -2.48858377e-03 9.99965633e-01 5.22201712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721652532 meters 0.13908762757991772 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.47, Z:0.52 [[ 9.99951438e-01 6.53407741e-03 -7.37753403e-03 -4.55240240e+00] [-6.52356696e-03 9.99977673e-01 1.44782281e-03 -5.47348052e+00] [ 7.38682950e-03 -1.39962467e-03 9.99971738e-01 5.21208944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781652532 meters 0.15356915530785012 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.47, Z:0.52 [[ 9.99951790e-01 6.65780714e-03 -7.21744795e-03 -4.55314652e+00] [-6.64711183e-03 9.99976775e-01 1.50484544e-03 -5.47300544e+00] [ 7.22729930e-03 -1.45679771e-03 9.99972822e-01 5.21706398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84165253199998 meters 0.1387256680922293 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.47, Z:0.52 [[ 9.99957600e-01 6.57795147e-03 -6.44422673e-03 -4.55462642e+00] [-6.57503807e-03 9.99978272e-01 4.73176423e-04 -5.46884405e+00] [ 6.44719924e-03 -4.30785324e-04 9.99979124e-01 5.20837037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90165253199999 meters 0.1400178485403076 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.47, Z:0.52 [[ 9.99958327e-01 6.50717327e-03 -6.40325599e-03 -4.55487287e+00] [-6.50552635e-03 9.99978800e-01 2.77996427e-04 -5.46801703e+00] [ 6.40492921e-03 -2.36328291e-04 9.99979460e-01 5.21066997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96165253199999 meters 0.1425632205675004 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.52 [[ 9.99959550e-01 6.51846047e-03 -6.19748120e-03 -4.55577693e+00] [-6.51818788e-03 9.99978754e-01 6.41814746e-05 -5.46649841e+00] [ 6.19776789e-03 -2.37825316e-05 9.99980793e-01 5.21689109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02165253199999 meters 0.1385548713194556 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.52 [[ 9.99980099e-01 2.14047650e-03 -5.93462302e-03 -4.55642435e+00] [-2.16734320e-03 9.99987416e-01 -4.52438197e-03 -5.46527368e+00] [ 5.92486401e-03 4.53715430e-03 9.99972155e-01 5.21499136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08165253199999 meters 0.14858420810787462 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.46, Z:0.52 [[ 9.99965826e-01 6.09465309e-03 -5.58595166e-03 -4.55677632e+00] [-6.10251850e-03 9.99980410e-01 -1.39210797e-03 -5.46107395e+00] [ 5.57735782e-03 1.42614877e-03 9.99983429e-01 5.20511226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141652532 meters 0.15430469831610544 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.46, Z:0.52 [[ 9.99968574e-01 6.09175354e-03 -5.07361915e-03 -4.55794161e+00] [-6.10259457e-03 9.99979123e-01 -2.12401291e-03 -5.45826834e+00] [ 5.06057426e-03 2.15490840e-03 9.99984873e-01 5.20334641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201652532 meters 0.15539370176064 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.46, Z:0.52 [[ 9.99968269e-01 6.31495409e-03 -4.85619244e-03 -4.55867745e+00] [-6.32449314e-03 9.99978096e-01 -1.95146622e-03 -5.45873579e+00] [ 4.84376265e-03 1.98211726e-03 9.99986304e-01 5.20649024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26165253199999 meters 0.1515583534105612 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.46, Z:0.52 [[ 9.99968460e-01 6.19621993e-03 -4.96854425e-03 -4.55801559e+00] [-6.20604051e-03 9.99978814e-01 -1.96357529e-03 -5.45931806e+00] [ 4.95627224e-03 1.99434835e-03 9.99985729e-01 5.19980268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32165253199999 meters 0.16820337418324985 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.46, Z:0.52 [[ 9.99968304e-01 6.26673894e-03 -4.91102503e-03 -4.55835287e+00] [-6.27575013e-03 9.99978648e-01 -1.82163272e-03 -5.45934674e+00] [ 4.89950448e-03 1.85239535e-03 9.99986282e-01 5.20278614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38165253199999 meters 0.1458253989730368 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.46, Z:0.52 [[ 9.99986637e-01 2.15226088e-03 -4.70032547e-03 -4.55887088e+00] [-2.17949499e-03 9.99980824e-01 -5.79667407e-03 -5.46067099e+00] [ 4.68775939e-03 5.80684095e-03 9.99972152e-01 5.20211890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44165253199999 meters 0.15547446504504006 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.46, Z:0.52 [[ 9.99984185e-01 2.66150742e-03 -4.95445576e-03 -4.55892491e+00] [-2.68400996e-03 9.99986089e-01 -4.54078411e-03 -5.46457313e+00] [ 4.94230150e-03 4.55401010e-03 9.99977417e-01 5.21486855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501652532 meters 0.1531744298761588 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.52 [[ 9.99984733e-01 2.76708074e-03 -4.78296465e-03 -4.55921012e+00] [-2.78781659e-03 9.99986722e-01 -4.33413838e-03 -5.46539239e+00] [ 4.77090823e-03 4.34740624e-03 9.99979169e-01 5.21258982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561652532 meters 0.14659752902128007 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.52 [[ 9.99980183e-01 3.23791754e-03 -5.39904108e-03 -4.55846368e+00] [-3.25178156e-03 9.99991433e-01 -2.56107050e-03 -5.47103676e+00] [ 5.39070229e-03 2.57857625e-03 9.99982145e-01 5.22971566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62165253199998 meters 0.1446772685675436 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.52 [[ 9.99981003e-01 3.21735897e-03 -5.25752384e-03 -4.55845005e+00] [-3.23121307e-03 9.99991324e-01 -2.62873269e-03 -5.47132848e+00] [ 5.24902065e-03 2.64567093e-03 9.99982724e-01 5.22349481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68165253199999 meters 0.1490164825862587 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.52 [[ 9.99983637e-01 3.06970772e-03 -4.82735575e-03 -4.55921423e+00] [-3.08574765e-03 9.99989732e-01 -3.31878513e-03 -5.46888525e+00] [ 4.81711848e-03 3.33362683e-03 9.99982841e-01 5.21700082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74165253199999 meters 0.15217916494861192 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.52 [[ 9.99984498e-01 3.97435905e-03 -3.89981122e-03 -4.56268848e+00] [-3.98569771e-03 9.99987840e-01 -2.90403673e-03 -5.46852817e+00] [ 3.88822212e-03 2.91953518e-03 9.99988179e-01 5.23779839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80165253199999 meters 0.14901459454829144 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.53 [[ 9.99982325e-01 4.46623117e-03 -3.92453717e-03 -4.56371704e+00] [-4.47457262e-03 9.99987743e-01 -2.11925679e-03 -5.46999661e+00] [ 3.91502398e-03 2.13677996e-03 9.99990053e-01 5.25636333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861652532 meters 0.14897672137472212 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.53 [[ 9.99983652e-01 4.38401734e-03 -3.67085050e-03 -4.56443337e+00] [-4.39286336e-03 9.99987459e-01 -2.40521762e-03 -5.46849433e+00] [ 3.66025995e-03 2.42130384e-03 9.99990370e-01 5.25750996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921652532 meters 0.149117820020488 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.53 [[ 9.99983092e-01 4.04177061e-03 -4.18087496e-03 -4.56266693e+00] [-4.05193185e-03 9.99988851e-01 -2.42479957e-03 -5.46988117e+00] [ 4.17102786e-03 2.44169919e-03 9.99988320e-01 5.25034947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98165253199998 meters 0.16148745375326584 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.53 [[ 9.99984208e-01 3.96005356e-03 -3.98772053e-03 -4.56321277e+00] [-3.97097944e-03 9.99988374e-01 -2.73570044e-03 -5.46833018e+00] [ 3.97684065e-03 2.75149240e-03 9.99988307e-01 5.25060382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04165253199999 meters 0.15312897643245424 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.53 [[ 9.99983868e-01 3.93070750e-03 -4.10032137e-03 -4.56325609e+00] [-3.94173898e-03 9.99988625e-01 -2.68578990e-03 -5.46814816e+00] [ 4.08971767e-03 2.70190897e-03 9.99987987e-01 5.25628808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10165253199999 meters 0.14760212026176298 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.53 [[ 9.99985198e-01 3.98474905e-03 -3.70490865e-03 -4.56455716e+00] [-3.99627604e-03 9.99987182e-01 -3.10909666e-03 -5.46603604e+00] [ 3.69247219e-03 3.12385647e-03 9.99988304e-01 5.26115805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16165253199999 meters 0.15285210420497244 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99986649e-01 3.86584245e-03 -3.42883519e-03 -4.56535354e+00] [-3.87828491e-03 9.99985892e-01 -3.62957598e-03 -5.46375014e+00] [ 3.41475545e-03 3.64282552e-03 9.99987535e-01 5.26218091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221652532 meters 0.1599551337647337 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99987595e-01 4.00322099e-03 -2.96380925e-03 -4.56729541e+00] [-4.01499649e-03 9.99984028e-01 -3.97786435e-03 -5.46106058e+00] [ 2.94783764e-03 3.98971469e-03 9.99987696e-01 5.27460707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281652532 meters 0.15298343536010403 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99986716e-01 4.09616624e-03 -3.12889886e-03 -4.56751902e+00] [-4.10777877e-03 9.99984666e-01 -3.71401283e-03 -5.46112806e+00] [ 3.11363767e-03 3.72681631e-03 9.99988208e-01 5.28504360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34165253199998 meters 0.14321789828322415 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99986796e-01 3.67323828e-03 -3.59369757e-03 -4.56614703e+00] [-3.68746136e-03 9.99985364e-01 -3.95919611e-03 -5.46082798e+00] [ 3.57910190e-03 3.97239546e-03 9.99985705e-01 5.28120986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40165253199999 meters 0.1461912613525168 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99988404e-01 3.35844561e-03 -3.45147936e-03 -4.56617833e+00] [-3.37489737e-03 9.99982920e-01 -4.77186467e-03 -5.45796574e+00] [ 3.43539436e-03 4.78345773e-03 9.99982658e-01 5.27524877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46165253199999 meters 0.15660445383438965 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.53 [[ 9.99966295e-01 7.82621749e-03 -2.48162254e-03 -4.56877377e+00] [-7.83017216e-03 9.99968083e-01 -1.58789003e-03 -5.45241046e+00] [ 2.46911616e-03 1.60726804e-03 9.99995660e-01 5.28054992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52165253199999 meters 0.15347486713361522 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.53 [[ 9.99960680e-01 8.63393157e-03 -2.02324499e-03 -4.57149874e+00] [-8.63568939e-03 9.99962340e-01 -8.61692651e-04 -5.45315416e+00] [ 2.01572900e-03 8.79130884e-04 9.99997582e-01 5.30362373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58165253199999 meters 0.17677273016662753 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.53 [[ 9.99961335e-01 8.56377070e-03 -1.99768783e-03 -4.57127754e+00] [-8.56569897e-03 9.99962854e-01 -9.58700111e-04 -5.45340033e+00] [ 1.98940354e-03 9.75774636e-04 9.99997545e-01 5.29926623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641652532 meters 0.15704994459830374 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.53 [[ 9.99967007e-01 7.90256773e-03 -1.88015929e-03 -4.57050893e+00] [-7.90638507e-03 9.99966680e-01 -2.03163270e-03 -5.45061798e+00] [ 1.86404153e-03 2.04643094e-03 9.99996169e-01 5.28252397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701652532 meters 0.15354110528946338 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.53 [[ 9.99967306e-01 7.81754466e-03 -2.06717998e-03 -4.56996172e+00] [-7.82160264e-03 9.99967485e-01 -1.96230953e-03 -5.45122495e+00] [ 2.05177233e-03 1.97841404e-03 9.99995938e-01 5.28154365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76165253199999 meters 0.16135222578438732 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.53 [[ 9.99989995e-01 4.26053795e-03 -1.36288713e-03 -4.57277496e+00] [-4.26821407e-03 9.99974761e-01 -5.67981897e-03 -5.45135635e+00] [ 1.33865365e-03 5.68557924e-03 9.99982941e-01 5.29621437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82165253199999 meters 0.16174394342552859 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.53 [[ 9.99988256e-01 4.59662062e-03 -1.53562333e-03 -4.57287564e+00] [-4.60409030e-03 9.99977412e-01 -4.89666474e-03 -5.45357960e+00] [ 1.51308054e-03 4.90367738e-03 9.99986832e-01 5.30530812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88165253199999 meters 0.15814585415203003 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99987051e-01 4.71394147e-03 -1.91726507e-03 -4.57220409e+00] [-4.72191796e-03 9.99980127e-01 -4.17731730e-03 -5.45619195e+00] [ 1.89753533e-03 4.18631638e-03 9.99989437e-01 5.31133436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94165253199999 meters 0.15025772183333647 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99985885e-01 4.92784710e-03 -1.98657459e-03 -4.57236507e+00] [-4.93509930e-03 9.99981116e-01 -3.66238514e-03 -5.45757219e+00] [ 1.96848940e-03 3.67213738e-03 9.99991320e-01 5.31719504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001652532 meters 0.1606043863110876 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99985273e-01 4.97998197e-03 -2.15725107e-03 -4.57205944e+00] [-4.98706888e-03 9.99982145e-01 -3.29232646e-03 -5.45885882e+00] [ 2.14081682e-03 3.30303633e-03 9.99992253e-01 5.32008241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061652532 meters 0.1585114433348462 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99986461e-01 4.75450468e-03 -2.11476701e-03 -4.57186128e+00] [-4.76229241e-03 9.99981841e-01 -3.69288251e-03 -5.45769703e+00] [ 2.09717078e-03 3.70290366e-03 9.99990945e-01 5.31512920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12165253199998 meters 0.1535965972213607 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99983031e-01 5.37048773e-03 -2.25739512e-03 -4.57274601e+00] [-5.37582346e-03 9.99982755e-01 -2.36428583e-03 -5.46060621e+00] [ 2.24465882e-03 2.37638107e-03 9.99994657e-01 5.33794351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18165253199999 meters 0.15844841984729055 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99982928e-01 4.99623075e-03 -3.03007107e-03 -4.57057330e+00] [-5.00287677e-03 9.99985088e-01 -2.18975565e-03 -5.46295416e+00] [ 3.01908536e-03 2.20487734e-03 9.99993012e-01 5.33380722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24165253199999 meters 0.150254120413199 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99986038e-01 4.16794968e-03 -3.24846877e-03 -4.56879290e+00] [-4.17868744e-03 9.99985805e-01 -3.30573320e-03 -5.46051960e+00] [ 3.23464453e-03 3.31926138e-03 9.99989260e-01 5.31421823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30165253199999 meters 0.1513325537168296 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.53 [[ 9.99960141e-01 8.54809515e-03 -2.57808730e-03 -4.57053420e+00] [-8.54769188e-03 9.99963454e-01 1.67400845e-04 -5.45628039e+00] [ 2.57942404e-03 -1.45357476e-04 9.99996663e-01 5.31462937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361652532 meters 0.16537872063260045 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.53 [[ 9.99961297e-01 8.67542500e-03 -1.46354953e-03 -4.57317883e+00] [-8.67735780e-03 9.99961480e-01 -1.31948622e-03 -5.44998602e+00] [ 1.45204605e-03 1.33213489e-03 9.99998058e-01 5.31229186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421652532 meters 0.16225011762931557 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.53 [[ 9.99974579e-01 7.12829729e-03 -1.71527665e-04 -4.57819328e+00] [-7.12879737e-03 9.99969733e-01 -3.11677507e-03 -5.44699670e+00] [ 1.49305174e-04 3.11791862e-03 9.99995128e-01 5.34641785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48165253199998 meters 0.1609017999044561 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.54 [[ 9.99934913e-01 1.14061712e-02 2.63539468e-04 -4.57980826e+00] [-1.14063220e-02 9.99934779e-01 5.77906647e-04 -5.44305284e+00] [-2.56930577e-04 -5.80875049e-04 9.99999798e-01 5.35661852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54165253199999 meters 0.17996796057385725 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.53 [[ 9.99943288e-01 3.89266954e-03 9.91306034e-03 -4.59636354e+00] [-3.91406474e-03 9.99990051e-01 2.13979893e-03 -5.43955192e+00] [-9.90463218e-03 -2.17847794e-03 9.99948575e-01 5.29913979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60165253199999 meters 0.15693872657579008 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.53 [[ 9.99941896e-01 3.91075718e-03 1.00454439e-02 -4.59711150e+00] [-3.93094578e-03 9.99990292e-01 1.99076975e-03 -5.43809024e+00] [-1.00375610e-02 -2.03014218e-03 9.99947562e-01 5.30621103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66165253199999 meters 0.16103054582104576 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.53 [[ 9.99939417e-01 3.60028388e-03 1.04019020e-02 -4.59758948e+00] [-3.61094583e-03 9.99992974e-01 1.00640042e-03 -5.43475418e+00] [-1.03982056e-02 -1.04390015e-03 9.99945392e-01 5.29864409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721652532 meters 0.1652077254740947 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.53 [[ 9.99941099e-01 2.90662467e-03 1.04570167e-02 -4.59681207e+00] [-2.90383835e-03 9.99995744e-01 -2.81627827e-04 -5.43133821e+00] [-1.04577907e-02 2.51245753e-04 9.99945284e-01 5.28234476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781652532 meters 0.1563741771863594 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.53 [[ 9.99939634e-01 2.60492686e-03 1.06743780e-02 -4.59706794e+00] [-2.59300447e-03 9.99995999e-01 -1.13060486e-03 -5.42854813e+00] [-1.06772805e-02 1.10285790e-03 9.99942388e-01 5.27716301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84165253199998 meters 0.1622243018467859 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.53 [[ 9.99939530e-01 2.24421324e-03 1.07656596e-02 -4.59713552e+00] [-2.22368250e-03 9.99995687e-01 -1.91864961e-03 -5.42592312e+00] [-1.07699191e-02 1.89459418e-03 9.99940208e-01 5.27464283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90165253199999 meters 0.16449028274298857 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.53 [[ 9.99924677e-01 5.96919369e-03 1.07242289e-02 -4.59661608e+00] [-5.98485755e-03 9.99981069e-01 1.42910621e-03 -5.42282799e+00] [-1.07154953e-02 -1.49318155e-03 9.99941473e-01 5.26794709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96165253199999 meters 0.16241428334725888 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.53 [[ 9.99937846e-01 1.71273340e-03 1.10168801e-02 -4.59721850e+00] [-1.67895328e-03 9.99993864e-01 -3.07473257e-03 -5.42226720e+00] [-1.10220787e-02 3.05604463e-03 9.99934585e-01 5.26551340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02165253199999 meters 0.1639401429413234 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.53 [[ 9.99940601e-01 1.89096395e-03 1.07340019e-02 -4.59702685e+00] [-1.86618857e-03 9.99995573e-01 -2.31766935e-03 -5.42464417e+00] [-1.07383370e-02 2.29750001e-03 9.99939703e-01 5.27563532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08165253199999 meters 0.17059671021942563 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.53 [[ 9.99944460e-01 1.67630133e-03 1.04050998e-02 -4.59593281e+00] [-1.65354557e-03 9.99996223e-01 -2.19519897e-03 -5.42594008e+00] [-1.04087403e-02 2.17787175e-03 9.99943456e-01 5.27150013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141652532 meters 0.1666223151741057 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.53 [[ 9.99949828e-01 1.84846553e-03 9.84499418e-03 -4.59458610e+00] [-1.83741519e-03 9.99997672e-01 -1.13135906e-03 -5.43062086e+00] [-9.84706254e-03 1.11321296e-03 9.99950897e-01 5.27297094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201652532 meters 0.16904064090818718 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.53 [[ 9.99953866e-01 1.75585799e-03 9.44370251e-03 -4.59339557e+00] [-1.74954563e-03 9.99998241e-01 -6.76639439e-04 -5.43308484e+00] [-9.44487398e-03 6.60086035e-04 9.99955178e-01 5.27063538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26165253199999 meters 0.16132326412827588 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99959455e-01 1.54401569e-03 8.87150646e-03 -4.59145564e+00] [-1.54170200e-03 9.99998776e-01 -2.67633165e-04 -5.43659639e+00] [-8.87190883e-03 2.53945095e-04 9.99960612e-01 5.26305400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32165253199999 meters 0.1573358689332528 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99964206e-01 1.25979927e-03 8.36662374e-03 -4.58965827e+00] [-1.25896274e-03 9.99999202e-01 -1.05250279e-04 -5.43864543e+00] [-8.36674965e-03 9.47132444e-05 9.99964994e-01 5.25439074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38165253199999 meters 0.157243371993969 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99963232e-01 1.14069919e-03 8.49908195e-03 -4.58986972e+00] [-1.13726972e-03 9.99999270e-01 -4.08332909e-04 -5.43766604e+00] [-8.49954153e-03 3.98652147e-04 9.99963799e-01 5.25269780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44165253199999 meters 0.1533245160770353 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99964426e-01 1.34112209e-03 8.32751909e-03 -4.58948563e+00] [-1.34189681e-03 9.99999096e-01 8.74449988e-05 -5.44012443e+00] [-8.32739429e-03 -9.86165594e-05 9.99965322e-01 5.25426815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501652532 meters 0.15821250755683694 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99963366e-01 1.16199146e-03 8.48030906e-03 -4.58965468e+00] [-1.15843035e-03 9.99999239e-01 -4.24827070e-04 -5.43846728e+00] [-8.48079625e-03 4.14987660e-04 9.99963951e-01 5.25075699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561652532 meters 0.17558079370776306 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99963571e-01 9.95825051e-04 8.47733801e-03 -4.58957614e+00] [-9.89744830e-04 9.99999250e-01 -7.21397398e-04 -5.43760946e+00] [-8.47805004e-03 7.12980717e-04 9.99963807e-01 5.25006697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62165253199998 meters 0.1672868172633831 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.52 [[ 9.99962415e-01 9.79899926e-04 8.61447892e-03 -4.58987388e+00] [-9.71968495e-04 9.99999100e-01 -9.24847789e-04 -5.43690396e+00] [-8.61537743e-03 9.16440027e-04 9.99962467e-01 5.24958720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68165253199999 meters 0.1615510847490633 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.52 [[ 9.99964623e-01 8.76164037e-04 8.36565192e-03 -4.58912314e+00] [-8.68864408e-04 9.99999239e-01 -8.76165928e-04 -5.43763480e+00] [-8.36641322e-03 8.68866315e-04 9.99964623e-01 5.24815638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74165253199999 meters 0.1708755128268216 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99964221e-01 8.36978957e-04 8.41761399e-03 -4.58936122e+00] [-8.28096837e-04 9.99999097e-01 -1.05861266e-03 -5.43684550e+00] [-8.41849242e-03 1.05160419e-03 9.99964011e-01 5.25052722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80165253199999 meters 0.16796146093433603 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99965436e-01 1.01866213e-03 8.25164732e-03 -4.58946945e+00] [-1.01366925e-03 9.99999301e-01 -6.09235696e-04 -5.43808967e+00] [-8.25226216e-03 6.00850197e-04 9.99965769e-01 5.26022883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861652532 meters 0.17427051051413356 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99966896e-01 1.06166584e-03 8.06720382e-03 -4.58920314e+00] [-1.05811151e-03 9.99999341e-01 -4.44846114e-04 -5.43858313e+00] [-8.06767079e-03 4.36295386e-04 9.99967361e-01 5.26355107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921652532 meters 0.1786619252716679 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99946214e-01 5.21955443e-03 8.96243356e-03 -4.59075490e+00] [-5.23723292e-03 9.99984384e-01 1.95017556e-03 -5.43253138e+00] [-8.95211456e-03 -1.99700902e-03 9.99957935e-01 5.24565200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98165253199998 meters 0.17816299818333187 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.53 [[ 9.99941292e-01 5.62476425e-03 9.26149677e-03 -4.59195706e+00] [-5.64695071e-03 9.99981245e-01 2.37115364e-03 -5.43346159e+00] [-9.24798589e-03 -2.42331365e-03 9.99954300e-01 5.25468042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04165253199999 meters 0.18342722741930562 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99936398e-01 6.17499292e-03 9.43767520e-03 -4.59310464e+00] [-6.20382395e-03 9.99976170e-01 3.02867039e-03 -5.43502975e+00] [-9.41874828e-03 -3.08702744e-03 9.99950878e-01 5.26692107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10165253199999 meters 0.18244544494465675 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.53 [[ 9.99937344e-01 5.85898788e-03 9.53836406e-03 -4.59293886e+00] [-5.88190422e-03 9.99979878e-01 2.37626722e-03 -5.43318237e+00] [-9.52424961e-03 -2.43222208e-03 9.99951685e-01 5.25959125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16165253199999 meters 0.18145857415568262 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.53 [[ 9.99951628e-01 1.45946120e-03 9.72684546e-03 -4.59288808e+00] [-1.43775570e-03 9.99996462e-01 -2.23812385e-03 -5.43279464e+00] [-9.73007750e-03 2.22403076e-03 9.99950188e-01 5.25055588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221652532 meters 0.17347076243646742 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99952791e-01 1.76531402e-03 9.55503082e-03 -4.59286889e+00] [-1.75127212e-03 9.99997375e-01 -1.47774914e-03 -5.43509151e+00] [-9.55761443e-03 1.46094592e-03 9.99953258e-01 5.25850679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281652532 meters 0.17839969635869082 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99957155e-01 1.52029206e-03 9.13105108e-03 -4.59172366e+00] [-1.50655015e-03 9.99997723e-01 -1.51165552e-03 -5.43544893e+00] [-9.13332844e-03 1.49783437e-03 9.99957168e-01 5.25717500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34165253199998 meters 0.1726451346779938 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99955537e-01 1.33062693e-03 9.33556650e-03 -4.59173316e+00] [-1.31148301e-03 9.99997025e-01 -2.05646527e-03 -5.43396159e+00] [-9.33827512e-03 2.04413040e-03 9.99954308e-01 5.24873057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40165253199999 meters 0.17356150117503016 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.53 [[ 9.99953130e-01 1.47428984e-03 9.56889405e-03 -4.59246086e+00] [-1.45475993e-03 9.99996845e-01 -2.04761879e-03 -5.43363292e+00] [-9.57188265e-03 2.03360238e-03 9.99952121e-01 5.25152088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46165253199999 meters 0.17887928658105678 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99956371e-01 1.89811891e-03 9.14621527e-03 -4.59213093e+00] [-1.89087852e-03 9.99997892e-01 -8.00209469e-04 -5.43761675e+00] [-9.14771488e-03 7.82880174e-04 9.99957852e-01 5.26460842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52165253199999 meters 0.16960970281007912 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99962470e-01 1.66365831e-03 8.50235701e-03 -4.59011775e+00] [-1.66116362e-03 9.99998575e-01 -3.00466133e-04 -5.44085788e+00] [-8.50284477e-03 2.86331051e-04 9.99963809e-01 5.25875872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58165253199999 meters 0.16303623997199507 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.52 [[ 9.99972591e-01 6.34887275e-04 7.37656521e-03 -4.58559064e+00] [-6.31634981e-04 9.99999702e-01 -4.43216738e-04 -5.44383607e+00] [-7.37684440e-03 4.38545293e-04 9.99972695e-01 5.22872904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641652532 meters 0.16807714850090474 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.52 [[ 9.99972987e-01 6.53200986e-04 7.32105904e-03 -4.58505837e+00] [-6.51711742e-04 9.99999766e-01 -2.05803039e-04 -5.44537796e+00] [-7.32119176e-03 2.01026260e-04 9.99973180e-01 5.22279573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701652532 meters 0.16244219707620086 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99979184e-01 5.17935668e-04 6.43139651e-03 -4.58253352e+00] [-5.22358169e-04 9.99999628e-01 6.85981744e-04 -5.45064444e+00] [-6.43103882e-03 -6.89326957e-04 9.99979083e-01 5.21822611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76165253199999 meters 0.16634850653983588 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99984658e-01 2.75975696e-04 5.53236520e-03 -4.57965968e+00] [-2.83791723e-04 9.99998963e-01 1.41204704e-03 -5.45584742e+00] [-5.53196977e-03 -1.41359541e-03 9.99983699e-01 5.20721655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82165253199999 meters 0.14844583955095064 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99986669e-01 2.45454255e-05 5.16354554e-03 -4.57799514e+00] [-3.26494358e-05 9.99998768e-01 1.56938778e-03 -5.45778920e+00] [-5.16350066e-03 -1.56953545e-03 9.99985437e-01 5.19570497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88165253199999 meters 0.16163610633803407 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99989542e-01 -3.52872943e-04 4.55977304e-03 -4.57557069e+00] [ 3.44901252e-04 9.99998411e-01 1.74893288e-03 -5.46042123e+00] [-4.56038295e-03 -1.74734192e-03 9.99988075e-01 5.18117884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94165253199999 meters 0.1550106447316001 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.52 [[ 9.99991754e-01 -4.09256053e-04 4.04026590e-03 -4.57409856e+00] [ 3.99923969e-04 9.99997251e-01 2.31030759e-03 -5.46359426e+00] [-4.04120031e-03 -2.30867274e-03 9.99989169e-01 5.17953174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001652532 meters 0.15929760830495346 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99992118e-01 -3.14545006e-04 3.95794691e-03 -4.57381730e+00] [ 3.03910329e-04 9.99996343e-01 2.68723218e-03 -5.46531937e+00] [-3.95877769e-03 -2.68600814e-03 9.99988557e-01 5.17879263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061652532 meters 0.15012502246368425 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99995065e-01 -5.38043304e-04 3.09525007e-03 -4.57166365e+00] [ 5.27411625e-04 9.99993963e-01 3.43462816e-03 -5.46959447e+00] [-3.09707936e-03 -3.43297874e-03 9.99989311e-01 5.17879717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12165253199998 meters 0.15043320038928362 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99994400e-01 -8.05022911e-04 3.24825894e-03 -4.57145359e+00] [ 7.95373332e-04 9.99995271e-01 2.97089174e-03 -5.46849513e+00] [-3.25063522e-03 -2.96829152e-03 9.99990311e-01 5.16884491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18165253199999 meters 0.15352848844342717 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.51 [[ 9.99993155e-01 -1.44908680e-03 3.40434719e-03 -4.57069132e+00] [ 1.44291663e-03 9.99997313e-01 1.81419698e-03 -5.46554536e+00] [-3.40696697e-03 -1.80927237e-03 9.99992560e-01 5.14921630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24165253199999 meters 0.1522445890812132 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99993015e-01 -1.28322733e-03 3.51050508e-03 -4.57131637e+00] [ 1.27608905e-03 9.99997115e-01 2.03489058e-03 -5.46569982e+00] [-3.51310618e-03 -2.03039665e-03 9.99991768e-01 5.15543320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30165253199999 meters 0.156146376230898 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.52 [[ 9.99989582e-01 -9.20003767e-04 4.47097365e-03 -4.57397642e+00] [ 9.12573194e-04 9.99998200e-01 1.66371457e-03 -5.46272208e+00] [-4.47249622e-03 -1.65961715e-03 9.99988621e-01 5.16061883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361652532 meters 0.15008338846644986 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.52 [[ 9.99989352e-01 -9.21835321e-04 4.52173568e-03 -4.57423283e+00] [ 9.14367088e-04 9.99998215e-01 1.65341901e-03 -5.46233925e+00] [-4.52325179e-03 -1.64926688e-03 9.99988410e-01 5.16297114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421652532 meters 0.1594541466766092 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99985986e-01 2.70217395e-03 4.55247970e-03 -4.57352944e+00] [-2.72340653e-03 9.99985414e-01 4.66423445e-03 -5.45848134e+00] [-4.53980972e-03 -4.67656735e-03 9.99978760e-01 5.14820154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48165253199998 meters 0.15539559657388477 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99984405e-01 2.43437960e-03 5.02633881e-03 -4.57448558e+00] [-2.45255555e-03 9.99990465e-01 3.61314927e-03 -5.45456871e+00] [-5.01749510e-03 -3.62542030e-03 9.99980840e-01 5.14309854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54165253199999 meters 0.15539559657388477 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99984405e-01 2.43437960e-03 5.02633881e-03 -4.57448558e+00] [-2.45255555e-03 9.99990465e-01 3.61314927e-03 -5.45456871e+00] [-5.01749510e-03 -3.62542030e-03 9.99980840e-01 5.14309854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60165253199999 meters 0.16249341988079155 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.51 [[ 9.99981960e-01 2.31072753e-03 5.54433511e-03 -4.57578103e+00] [-2.32577254e-03 9.99993627e-01 2.70867161e-03 -5.45085221e+00] [-5.53804077e-03 -2.72151760e-03 9.99980962e-01 5.14239401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66165253199999 meters 0.16287010385128017 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 0.99996025 0.00652801 0.00607363 -4.57768887] [-0.00656579 0.99995909 0.0062217 -5.44631632] [-0.00603276 -0.00626133 0.9999622 0.51509727] [ 0. 0. 0. 1. ]] SLAMing on 111.721652532 meters 0.15830361515316912 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.51 [[ 9.99959472e-01 6.18514699e-03 6.54204143e-03 -4.57849001e+00] [-6.21831798e-03 9.99967852e-01 5.06230690e-03 -5.44227866e+00] [-6.51052001e-03 -5.10278223e-03 9.99965787e-01 5.14354660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781652532 meters 0.1572845621314667 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99950379e-01 6.52095020e-03 7.53100361e-03 -4.58146749e+00] [-6.55344108e-03 9.99969291e-01 4.29769310e-03 -5.43773323e+00] [-7.50274730e-03 -4.34683383e-03 9.99962406e-01 5.15235387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84165253199998 meters 0.16855262366191234 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.52 [[ 9.99946888e-01 6.21178966e-03 8.22402328e-03 -4.58312565e+00] [-6.23629048e-03 9.99976182e-01 2.95689235e-03 -5.43186200e+00] [-8.20545981e-03 -3.00802270e-03 9.99961810e-01 5.15034148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90165253199999 meters 0.17727224040350795 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99944461e-01 5.80914830e-03 8.79368725e-03 -4.58416995e+00] [-5.82360341e-03 9.99981732e-01 1.61909279e-03 -5.42693164e+00] [-8.78412105e-03 -1.67021382e-03 9.99960024e-01 5.14302328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96165253199999 meters 0.1694843738244399 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99942268e-01 5.62090270e-03 9.15787147e-03 -4.58488512e+00] [-5.62927114e-03 9.99983761e-01 8.88276891e-04 -5.42420854e+00] [-9.15272984e-03 -9.39777750e-04 9.99957671e-01 5.13902605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02165253199999 meters 0.16565340243850185 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99943064e-01 5.27170455e-03 9.27783003e-03 -4.58499311e+00] [-5.27325270e-03 9.99986086e-01 1.42410977e-04 -5.42159665e+00] [-9.27695019e-03 -1.91327211e-04 9.99956950e-01 5.13474064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08165253199999 meters 0.16906059049033484 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99942023e-01 5.03693542e-03 9.51735111e-03 -4.58560232e+00] [-5.03240753e-03 9.99987213e-01 -4.99639483e-04 -5.41897316e+00] [-9.51974606e-03 4.51715326e-04 9.99954584e-01 5.13441996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141652532 meters 0.17988959273772287 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99938990e-01 4.83413057e-03 9.93210407e-03 -4.58631992e+00] [-4.82198680e-03 9.99987598e-01 -1.24626202e-03 -5.41633936e+00] [-9.93800548e-03 1.19829351e-03 9.99949899e-01 5.12844049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201652532 meters 0.18068467470727959 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99939533e-01 4.71916490e-03 9.93278553e-03 -4.58633581e+00] [-4.70468884e-03 9.99987837e-01 -1.48026378e-03 -5.41560465e+00] [-9.93965033e-03 1.43344360e-03 9.99949573e-01 5.12861928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26165253199999 meters 0.17734152018400376 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99940061e-01 4.71473011e-03 9.88160879e-03 -4.58625200e+00] [-4.70081287e-03 9.99987927e-01 -1.43115265e-03 -5.41577196e+00] [-9.88823699e-03 1.38461527e-03 9.99950152e-01 5.12968506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32165253199999 meters 0.1807616483121485 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.41, Z:0.51 [[ 9.99937142e-01 4.60043804e-03 1.02248457e-02 -4.58722838e+00] [-4.58081509e-03 9.99987623e-01 -1.94173617e-03 -5.41324626e+00] [-1.02336520e-02 1.89477599e-03 9.99945840e-01 5.13122901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38165253199999 meters 0.18260150516076828 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.41, Z:0.51 [[ 9.99936980e-01 4.59238438e-03 1.02443179e-02 -4.58733842e+00] [-4.57271847e-03 9.99987659e-01 -1.94228761e-03 -5.41312765e+00] [-1.02531112e-02 1.89532082e-03 9.99945639e-01 5.13234182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44165253199999 meters 0.20111280801360046 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99940342e-01 4.66060555e-03 9.87881748e-03 -4.58631838e+00] [-4.64605710e-03 9.99988089e-01 -1.49512962e-03 -5.41525985e+00] [-9.88566803e-03 1.44914288e-03 9.99950086e-01 5.13019634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501652532 meters 0.19883331382643626 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99944978e-01 4.39745617e-03 9.52385046e-03 -4.58505279e+00] [-4.38203993e-03 9.99989056e-01 -1.63896159e-03 -5.41556805e+00] [-9.53095349e-03 1.59713752e-03 9.99953304e-01 5.12394901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561652532 meters 0.19352954352618293 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99945801e-01 4.52247738e-03 9.37771678e-03 -4.58487586e+00] [-4.51096539e-03 9.99989046e-01 -1.24837776e-03 -5.41679419e+00] [-9.38325982e-03 1.20600754e-03 9.99955249e-01 5.12773787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62165253199998 meters 0.18640120213787148 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99947782e-01 4.53443348e-03 9.15814669e-03 -4.58449123e+00] [-4.52500638e-03 9.99989211e-01 -1.04982651e-03 -5.41751099e+00] [-9.16280825e-03 1.00833102e-03 9.99957512e-01 5.13094172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68165253199999 meters 0.182689429143606 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99951558e-01 4.47237691e-03 8.76812907e-03 -4.58340731e+00] [-4.46538245e-03 9.99989696e-01 -8.17128710e-04 -5.41904135e+00] [-8.77169324e-03 7.77936077e-04 9.99961225e-01 5.12974629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74165253199999 meters 0.17731809845018434 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99957037e-01 4.41162664e-03 8.15237940e-03 -4.58181563e+00] [-4.40830824e-03 9.99990193e-01 -4.24972024e-04 -5.42141894e+00] [-8.15417427e-03 3.89015565e-04 9.99966678e-01 5.12863507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80165253199999 meters 0.1728909423797199 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99957922e-01 4.15537178e-03 8.17839982e-03 -4.58158699e+00] [-4.14867788e-03 9.99991045e-01 -8.35280544e-04 -5.42015215e+00] [-8.18179749e-03 8.01315851e-04 9.99966207e-01 5.12313882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861652532 meters 0.16897630890396143 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99959864e-01 4.06729953e-03 7.98299210e-03 -4.58084513e+00] [-4.06107792e-03 9.99991437e-01 -7.95413851e-04 -5.42085346e+00] [-7.98615893e-03 7.62962374e-04 9.99967819e-01 5.11915010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921652532 meters 0.19361458879531537 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99962512e-01 3.92667378e-03 7.71721648e-03 -4.57986089e+00] [-3.91987800e-03 9.99991916e-01 -8.95528133e-04 -5.42131876e+00] [-7.72067054e-03 8.65244015e-04 9.99969821e-01 5.11398275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98165253199998 meters 0.1687691763928347 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99963867e-01 3.72652844e-03 7.64049733e-03 -4.57945767e+00] [-3.71779696e-03 9.99992420e-01 -1.15667516e-03 -5.42067504e+00] [-7.64474979e-03 1.12822755e-03 9.99970142e-01 5.10978782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04165253199999 meters 0.1615305612119525 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99961408e-01 3.76773013e-03 7.93640888e-03 -4.58023269e+00] [-3.75727066e-03 9.99992054e-01 -1.33240755e-03 -5.41974448e+00] [-7.94136597e-03 1.30253689e-03 9.99967619e-01 5.11064439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10165253199999 meters 0.1652652791640042 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99959791e-01 3.93828416e-03 8.05648794e-03 -4.58063801e+00] [-3.92903129e-03 9.99991604e-01 -1.16400361e-03 -5.42012168e+00] [-8.06100448e-03 1.13230261e-03 9.99966868e-01 5.11243142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16165253199999 meters 0.1694132351400007 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99961895e-01 3.71942991e-03 7.89778845e-03 -4.57960258e+00] [-3.70892999e-03 9.99992219e-01 -1.34370607e-03 -5.42069061e+00] [-7.90272482e-03 1.31436252e-03 9.99967909e-01 5.10191474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221652532 meters 0.1638836250735687 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99971016e-01 -6.66689091e-04 7.58433931e-03 -4.57844441e+00] [ 7.07328361e-04 9.99985402e-01 -5.35689393e-03 -5.42281323e+00] [-7.58065721e-03 5.36210329e-03 9.99956890e-01 5.09582156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281652532 meters 0.17137817976130662 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99970834e-01 -4.04165967e-04 7.62674625e-03 -4.57886767e+00] [ 4.41234085e-04 9.99988097e-01 -4.85922282e-03 -5.42391510e+00] [-7.62469154e-03 4.86244627e-03 9.99959110e-01 5.10100688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34165253199998 meters 0.1550730462777037 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99972916e-01 -1.05267918e-04 7.35904645e-03 -4.57858774e+00] [ 1.34683658e-04 9.99992004e-01 -3.99684046e-03 -5.42659967e+00] [-7.35856686e-03 3.99772335e-03 9.99964934e-01 5.10725758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40165253199999 meters 0.16339414474800742 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99971406e-01 4.58786909e-04 7.54833403e-03 -4.57971708e+00] [-4.35769681e-04 9.99995252e-01 -3.05067453e-03 -5.42887332e+00] [-7.54969780e-03 3.04729796e-03 9.99966857e-01 5.11938434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46165253199999 meters 0.15414245970039048 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99976965e-01 5.74009058e-04 6.76313243e-03 -4.57792881e+00] [-5.61546603e-04 9.99998141e-01 -1.84445932e-03 -5.43410882e+00] [-6.76417860e-03 1.84061902e-03 9.99975429e-01 5.12284261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52165253199999 meters 0.15968929404126353 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.51 [[ 9.99980851e-01 5.66643092e-04 6.16252671e-03 -4.57628286e+00] [-5.61164892e-04 9.99999446e-01 -8.90646390e-04 -5.43821664e+00] [-6.16302797e-03 8.87171141e-04 9.99980615e-01 5.12040375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58165253199999 meters 0.15593913303815624 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.51 [[ 9.99982322e-01 6.46403186e-04 5.91084697e-03 -4.57568037e+00] [-6.44601863e-04 9.99999745e-01 -3.06648784e-04 -5.44032865e+00] [-5.91104368e-03 3.02833220e-04 9.99982484e-01 5.12222593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641652532 meters 0.15300713271462982 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99986665e-01 6.54225532e-04 5.12275081e-03 -4.57373963e+00] [-6.58002933e-04 9.99999513e-01 7.35726740e-04 -5.44520960e+00] [-5.12226699e-03 -7.39087714e-04 9.99986608e-01 5.12508114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701652532 meters 0.15140451077260333 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99987842e-01 6.88443156e-04 4.88281848e-03 -4.57293807e+00] [-6.94508646e-04 9.99998989e-01 1.24062401e-03 -5.44763390e+00] [-4.88195945e-03 -1.24400009e-03 9.99987309e-01 5.12316004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76165253199999 meters 0.14952179437561608 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99992184e-01 3.32256983e-04 3.93963044e-03 -4.57014183e+00] [-3.39513279e-04 9.99998247e-01 1.84134633e-03 -5.45240026e+00] [-3.93901174e-03 -1.84266949e-03 9.99990544e-01 5.11662770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82165253199999 meters 0.15217310392059405 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99993731e-01 -2.36583614e-05 3.54083862e-03 -4.56838183e+00] [ 1.76066593e-05 9.99998539e-01 1.70913688e-03 -5.45355545e+00] [-3.54087389e-03 -1.70906382e-03 9.99992271e-01 5.10396189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88165253199999 meters 0.14132292708047853 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99990490e-01 -2.42035243e-04 4.35446976e-03 -4.56973221e+00] [ 2.40286880e-04 9.99999890e-01 4.02028679e-04 -5.44856510e+00] [-4.35456659e-03 -4.00978534e-04 9.99990438e-01 5.09092650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94165253199999 meters 0.14246043450579043 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99988845e-01 -3.66719231e-04 4.70899905e-03 -4.57042489e+00] [ 3.67765060e-04 9.99999908e-01 -2.21227658e-04 -5.44640832e+00] [-4.70891749e-03 2.22956996e-04 9.99988888e-01 5.08735669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001652532 meters 0.14407995066582927 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99987666e-01 1.29933074e-04 4.96506032e-03 -4.57184629e+00] [-1.31921569e-04 9.99999911e-01 4.00172160e-04 -5.44733466e+00] [-4.96500788e-03 -4.00822223e-04 9.99987594e-01 5.10096223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061652532 meters 0.15078713518067466 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99986690e-01 -1.31530125e-04 5.15785089e-03 -4.57183345e+00] [ 1.32638434e-04 9.99999968e-01 -2.14536551e-04 -5.44571692e+00] [-5.15782250e-03 2.15217825e-04 9.99986675e-01 5.09185797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12165253199998 meters 0.15990173563796828 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99987034e-01 -5.15437712e-05 5.09197213e-03 -4.57179731e+00] [ 5.12558996e-05 9.99999997e-01 5.66648707e-05 -5.44644230e+00] [-5.09197504e-03 -5.64031424e-05 9.99987034e-01 5.09415487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18165253199999 meters 0.15968534670245407 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99986085e-01 -1.41098389e-04 5.27344034e-03 -4.57199617e+00] [ 1.42057322e-04 9.99999973e-01 -1.81467787e-04 -5.44586644e+00] [-5.27341459e-03 1.82214393e-04 9.99986079e-01 5.08984218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24165253199999 meters 0.15355799157829586 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99986126e-01 4.58756645e-04 5.24751272e-03 -4.57305773e+00] [-4.64124452e-04 9.99999370e-01 1.02175205e-03 -5.44833196e+00] [-5.24704068e-03 -1.02417337e-03 9.99985710e-01 5.11145897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30165253199999 meters 0.15873320429229235 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99984287e-01 4.73224410e-04 5.58590776e-03 -4.57394785e+00] [-4.77735181e-04 9.99999561e-01 8.06220291e-04 -5.44714527e+00] [-5.58552378e-03 -8.08876207e-04 9.99984074e-01 5.11234911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361652532 meters 0.15120155221527085 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99978638e-01 -3.48195553e-03 5.53174293e-03 -4.57408933e+00] [ 3.49684245e-03 9.99990285e-01 -2.68379160e-03 -5.44985386e+00] [-5.52234434e-03 2.70307790e-03 9.99981098e-01 5.11914193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421652532 meters 0.1533271438319771 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.51 [[ 9.99978117e-01 -2.86488117e-03 5.96304116e-03 -4.57612890e+00] [ 2.87666655e-03 9.99993924e-01 -1.96876714e-03 -5.45044427e+00] [-5.95736464e-03 1.98587774e-03 9.99980283e-01 5.13612198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48165253199998 meters 0.1632352206928378 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.51 [[ 9.99975487e-01 -2.45834052e-03 6.55611806e-03 -4.57817173e+00] [ 2.47001424e-03 9.99995378e-01 -1.77308243e-03 -5.44949823e+00] [-6.55172891e-03 1.78923267e-03 9.99976936e-01 5.14588656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54165253199999 meters 0.15483685062947022 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99977320e-01 -1.74136942e-03 6.50586366e-03 -4.57913044e+00] [ 1.74307887e-03 9.99998448e-01 -2.57094134e-04 -5.45315425e+00] [-6.50540586e-03 2.68428537e-04 9.99978804e-01 5.16754073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60165253199999 meters 0.1546514431766208 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99976895e-01 -1.93174001e-03 6.51747914e-03 -4.57874996e+00] [ 1.93514923e-03 9.99997994e-01 -5.16822257e-04 -5.45288878e+00] [-6.51646770e-03 5.29422611e-04 9.99978627e-01 5.16072481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66165253199999 meters 0.15281054492298268 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99975672e-01 -1.89141156e-03 6.71402490e-03 -4.57941487e+00] [ 1.89567347e-03 9.99998006e-01 -6.28469786e-04 -5.45187478e+00] [-6.71282281e-03 6.41182095e-04 9.99977263e-01 5.16358939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721652532 meters 0.16085848961102853 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99976421e-01 -1.40147873e-03 6.72264951e-03 -4.58025906e+00] [ 1.39959138e-03 9.99998980e-01 2.85441705e-04 -5.45382215e+00] [-6.72304269e-03 -2.76026012e-04 9.99977362e-01 5.17879904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781652532 meters 0.1553050828850355 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99978057e-01 -1.74651994e-03 6.39029518e-03 -4.57897777e+00] [ 1.74612890e-03 9.99998473e-01 6.67708673e-05 -5.45410763e+00] [-6.39040204e-03 -5.56111231e-05 9.99979580e-01 5.17146214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84165253199998 meters 0.15601002750971005 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99976366e-01 -1.92175399e-03 6.60113015e-03 -4.57917089e+00] [ 1.92446183e-03 9.99998067e-01 -4.03881558e-04 -5.45276812e+00] [-6.60034123e-03 4.16575635e-04 9.99978131e-01 5.16543396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90165253199999 meters 0.16232733421794687 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99973437e-01 -1.81059930e-03 7.06020998e-03 -4.58036385e+00] [ 1.81520022e-03 9.99998144e-01 -6.45315336e-04 -5.45137230e+00] [-7.05902847e-03 6.58113889e-04 9.99974868e-01 5.16626504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96165253199999 meters 0.1580950345638114 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99972096e-01 -1.58363534e-03 7.30059683e-03 -4.58130240e+00] [ 1.58658367e-03 9.99998662e-01 -3.98074325e-04 -5.45154732e+00] [-7.29995666e-03 4.09646225e-04 9.99973271e-01 5.17244845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02165253199999 meters 0.16357847003697398 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99975806e-01 -1.52012384e-03 6.78799122e-03 -4.58017612e+00] [ 1.51798152e-03 9.99998796e-01 3.20745034e-04 -5.45474806e+00] [-6.78847062e-03 -3.10433229e-04 9.99976910e-01 5.17678476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08165253199999 meters 0.17218272865031756 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99977101e-01 -1.44361237e-03 6.61161735e-03 -4.57991379e+00] [ 1.43924042e-03 9.99998743e-01 6.65963474e-04 -5.45573213e+00] [-6.61257043e-03 -6.56432517e-04 9.99977921e-01 5.18055544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141652532 meters 0.1633837682401993 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99976356e-01 -1.42272231e-03 6.72776640e-03 -4.58013516e+00] [ 1.41823004e-03 9.99998768e-01 6.72445223e-04 -5.45555209e+00] [-6.72871482e-03 -6.62887803e-04 9.99977142e-01 5.17914526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20165253199998 meters 0.14730774815203782 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99978374e-01 -1.26471501e-03 6.45379376e-03 -4.57969502e+00] [ 1.25682759e-03 9.99998459e-01 1.22604719e-03 -5.45786110e+00] [-6.45533441e-03 -1.21790937e-03 9.99978422e-01 5.18453054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26165253199999 meters 0.15094111096349477 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99979496e-01 -1.42775793e-03 6.24258805e-03 -4.57888899e+00] [ 1.42015647e-03 9.99998245e-01 1.22194003e-03 -5.45851456e+00] [-6.24432172e-03 -1.21304952e-03 9.99979768e-01 5.18073412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32165253199999 meters 0.16010645380046834 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99981851e-01 -1.52183483e-03 5.82940167e-03 -4.57772120e+00] [ 1.51260370e-03 9.99997596e-01 1.58762808e-03 -5.46050190e+00] [-5.83180376e-03 -1.57878169e-03 9.99981749e-01 5.18007494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38165253199999 meters 0.15612114429233265 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99982747e-01 -1.45343489e-03 5.69144556e-03 -4.57730494e+00] [ 1.44260602e-03 9.99997142e-01 1.90630108e-03 -5.46204963e+00] [-5.69419998e-03 -1.89805767e-03 9.99981987e-01 5.17992541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44165253199999 meters 0.15459362191781972 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99983748e-01 -1.61104029e-03 5.46885489e-03 -4.57644073e+00] [ 1.60073419e-03 9.99996936e-01 1.88836293e-03 -5.46274436e+00] [-5.47188036e-03 -1.87957806e-03 9.99983263e-01 5.17572961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501652532 meters 0.15306465695550556 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.52 [[ 9.99987196e-01 -1.51544446e-03 4.82812029e-03 -4.57536299e+00] [ 1.50162651e-03 9.99994770e-01 2.86431377e-03 -5.46604115e+00] [-4.83243575e-03 -2.85702706e-03 9.99984242e-01 5.18721987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561652532 meters 0.15693175516635327 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99988978e-01 -1.37443867e-03 4.48940432e-03 -4.57472711e+00] [ 1.35914827e-03 9.99993272e-01 3.40716325e-03 -5.46832171e+00] [-4.49405705e-03 -3.40102393e-03 9.99984118e-01 5.19185470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62165253199998 meters 0.16653053357806127 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99987988e-01 -1.62813287e-03 4.62305688e-03 -4.57459509e+00] [ 1.61491053e-03 9.99994599e-01 2.86237934e-03 -5.46696907e+00] [-4.62769225e-03 -2.85487913e-03 9.99985217e-01 5.18374761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68165253199999 meters 0.1616753590982731 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99990226e-01 -1.28104843e-03 4.23165148e-03 -4.57415079e+00] [ 1.26512592e-03 9.99992119e-01 3.76325430e-03 -5.47060452e+00] [-4.23643904e-03 -3.75786395e-03 9.99983965e-01 5.19350491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74165253199999 meters 0.1593849772315272 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99992414e-01 -1.27909536e-03 3.67901090e-03 -4.57262323e+00] [ 1.26334792e-03 9.99990045e-01 4.27949118e-03 -5.47398766e+00] [-3.68444816e-03 -4.27481085e-03 9.99984075e-01 5.19234363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80165253199999 meters 0.15448958107733754 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99994143e-01 -1.89259693e-03 2.85153053e-03 -4.56978023e+00] [ 1.88078143e-03 9.99989659e-01 4.14056380e-03 -5.47534981e+00] [-2.85933746e-03 -4.13517645e-03 9.99987362e-01 5.18014786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861652532 meters 0.15255921955691712 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99994641e-01 -2.19175877e-03 2.43196213e-03 -4.56819782e+00] [ 2.18191628e-03 9.99989449e-01 4.04244207e-03 -5.47634139e+00] [-2.44079653e-03 -4.03711407e-03 9.99988872e-01 5.17198610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921652532 meters 0.1485007851040503 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99995964e-01 -2.28713867e-03 1.68550663e-03 -4.56610965e+00] [ 2.27942041e-03 9.99986973e-01 4.56697987e-03 -5.48011128e+00] [-1.69592999e-03 -4.56311946e-03 9.99988151e-01 5.16958545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98165253199998 meters 0.14732972023750934 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.52 [[ 9.99996759e-01 -2.31748825e-03 1.05445911e-03 -4.56454205e+00] [ 2.31210265e-03 9.99984422e-01 5.08032249e-03 -5.48319166e+00] [-1.06621627e-03 -5.07786801e-03 9.99986539e-01 5.17127961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04165253199999 meters 0.1476449176069963 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.49, Z:0.52 [[ 9.99996689e-01 -2.53181538e-03 4.60405876e-04 -4.56274387e+00] [ 2.52934971e-03 9.99982865e-01 5.27937972e-03 -5.48529910e+00] [-4.73764402e-04 -5.27819771e-03 9.99985958e-01 5.16678415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10165253199999 meters 0.14564038632650492 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.52 [[ 9.99995478e-01 -2.97145774e-03 4.63221739e-04 -4.56199267e+00] [ 2.96934810e-03 9.99985510e-01 4.49032255e-03 -5.48366610e+00] [-4.76557830e-04 -4.48892678e-03 9.99989811e-01 5.15288560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16165253199999 meters 0.14498487950539451 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.52 [[ 9.99995317e-01 -3.05508275e-03 1.78476833e-04 -4.56143475e+00] [ 3.05424081e-03 9.99985025e-01 4.54117897e-03 -5.48401424e+00] [-1.92347838e-04 -4.54061259e-03 9.99989673e-01 5.15586052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221652532 meters 0.15243494325359194 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.52 [[ 9.99994745e-01 -3.17309620e-03 6.64456993e-04 -4.56251485e+00] [ 3.17062877e-03 9.99988194e-01 3.68215592e-03 -5.48078907e+00] [-6.76132983e-04 -3.68002982e-03 9.99993000e-01 5.15213608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281652532 meters 0.14983630533624762 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.52 [[ 9.99995447e-01 -2.87288145e-03 9.23863033e-04 -4.56409064e+00] [ 2.86935984e-03 9.99988698e-01 3.79082596e-03 -5.47960741e+00] [-9.34743185e-04 -3.78815781e-03 9.99992388e-01 5.16579403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34165253199998 meters 0.15303647870498416 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99995219e-01 -2.57044687e-03 1.71903072e-03 -4.56652821e+00] [ 2.56464040e-03 9.99991028e-01 3.37147366e-03 -5.47637301e+00] [-1.72768149e-03 -3.36704884e-03 9.99992839e-01 5.17144176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40165253199999 meters 0.15305649363597001 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99993605e-01 -2.96812139e-03 1.99525422e-03 -4.56672733e+00] [ 2.96326437e-03 9.99992650e-01 2.43284915e-03 -5.47330743e+00] [-2.00246055e-03 -2.42692113e-03 9.99995050e-01 5.16201513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46165253199999 meters 0.15598949739573523 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99992461e-01 -2.95165929e-03 2.52284204e-03 -4.56824192e+00] [ 2.94703536e-03 9.99993975e-01 1.83458166e-03 -5.46994627e+00] [-2.52824189e-03 -1.82713292e-03 9.99995135e-01 5.16459683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52165253199999 meters 0.15522701080402962 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99991277e-01 -2.95937160e-03 2.94761375e-03 -4.56944600e+00] [ 2.95531645e-03 9.99994682e-01 1.37914730e-03 -5.46733862e+00] [-2.95167949e-03 -1.37042414e-03 9.99994705e-01 5.16570191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58165253199999 meters 0.15949763248093024 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99990532e-01 -3.23411252e-03 2.91131481e-03 -4.56941870e+00] [ 3.23149393e-03 9.99994370e-01 9.03708243e-04 -5.46528417e+00] [-2.91422111e-03 -8.94291791e-04 9.99995354e-01 5.16658712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641652532 meters 0.15954633454389497 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.52 [[ 9.99987517e-01 -3.38227311e-03 3.67770104e-03 -4.57097132e+00] [ 3.38327900e-03 9.99994241e-01 -2.67324992e-04 -5.46060044e+00] [-3.67677569e-03 2.79764344e-04 9.99993202e-01 5.15881288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70165253199998 meters 0.1614132669610435 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.52 [[ 9.99986043e-01 -3.11582642e-03 4.26674925e-03 -4.57294945e+00] [ 3.11763279e-03 9.99995053e-01 -4.16772341e-04 -5.45849745e+00] [-4.26542955e-03 4.30068681e-04 9.99990811e-01 5.16488322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76165253199999 meters 0.147693097917261 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.52 [[ 9.99984747e-01 -3.32898107e-03 4.40713731e-03 -4.57316363e+00] [ 3.33304401e-03 9.99994027e-01 -9.14877411e-04 -5.45659521e+00] [-4.40406538e-03 9.29552639e-04 9.99989870e-01 5.16231958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82165253199999 meters 0.15409510702046403 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99982714e-01 -2.96737609e-03 5.07614724e-03 -4.57541537e+00] [ 2.97238498e-03 9.99995103e-01 -9.79489455e-04 -5.45487405e+00] [-5.07321587e-03 9.94560787e-04 9.99986637e-01 5.16934209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88165253199999 meters 0.1506055003218721 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.52 [[ 9.99983895e-01 -3.18224395e-03 4.69933044e-03 -4.57464760e+00] [ 3.18644669e-03 9.99994530e-01 -8.87111912e-04 -5.45499313e+00] [-4.69648173e-03 9.02071791e-04 9.99988565e-01 5.17244887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94165253199999 meters 0.1678638073252976 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99982438e-01 -3.13372530e-03 5.03015858e-03 -4.57560056e+00] [ 3.13904331e-03 9.99994522e-01 -1.04967702e-03 -5.45382313e+00] [-5.02684163e-03 1.06544847e-03 9.99986798e-01 5.17346179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001652532 meters 0.14394936311756493 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99983034e-01 -3.02738276e-03 4.97658215e-03 -4.57533830e+00] [ 3.03070654e-03 9.99995189e-01 -6.60477013e-04 -5.45552768e+00] [-4.97455869e-03 6.75548367e-04 9.99987399e-01 5.17191673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061652532 meters 0.1535674991355738 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99984415e-01 -2.60638005e-03 4.93721161e-03 -4.57583906e+00] [ 2.60544629e-03 9.99996587e-01 1.95550373e-04 -5.45772953e+00] [-4.93770444e-03 -1.82683686e-04 9.99987793e-01 5.18243019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12165253199998 meters 0.1537418328087009 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99982180e-01 -2.53016973e-03 5.40717135e-03 -4.57675411e+00] [ 2.53023529e-03 9.99996799e-01 -5.28344645e-06 -5.45726145e+00] [-5.40714067e-03 1.89647681e-05 9.99985381e-01 5.17798454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18165253199999 meters 0.14191286231918504 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99983455e-01 -2.54177923e-03 5.16039418e-03 -4.57604567e+00] [ 2.54004479e-03 9.99996715e-01 3.42632984e-04 -5.45885388e+00] [-5.16124813e-03 -3.29519683e-04 9.99986626e-01 5.17623047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24165253199999 meters 0.148297279959689 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99983860e-01 -2.22288652e-03 5.22861269e-03 -4.57651630e+00] [ 2.21783691e-03 9.99997069e-01 9.71364384e-04 -5.46062476e+00] [-5.23075660e-03 -9.59752496e-04 9.99985859e-01 5.18219643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30165253199999 meters 0.14165427665612926 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99986762e-01 -2.11069221e-03 4.69266367e-03 -4.57518007e+00] [ 2.10154477e-03 9.99995884e-01 1.95338234e-03 -5.46490474e+00] [-4.69676734e-03 -1.94349464e-03 9.99987082e-01 5.18359219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361652532 meters 0.16161852395549897 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99988637e-01 -2.16554994e-03 4.24696318e-03 -4.57352147e+00] [ 2.15431601e-03 9.99994174e-01 2.64796144e-03 -5.46911534e+00] [-4.25267273e-03 -2.63878205e-03 9.99987476e-01 5.17629295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421652532 meters 0.15461699429168307 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99989920e-01 -2.23537518e-03 3.89407269e-03 -4.57224745e+00] [ 2.22338641e-03 9.99992784e-01 3.08033490e-03 -5.47183072e+00] [-3.90093029e-03 -3.07164582e-03 9.99987674e-01 5.17167308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48165253199998 meters 0.14606559816906534 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99973283e-01 -6.31026175e-03 3.68971348e-03 -4.57137947e+00] [ 6.31155039e-03 9.99980025e-01 -3.37713819e-04 -5.47626795e+00] [-3.68750872e-03 3.60992609e-04 9.99993136e-01 5.16849981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54165253199999 meters 0.15001514670336785 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99974300e-01 -6.42619744e-03 3.17866094e-03 -4.56978487e+00] [ 6.42558349e-03 9.99979335e-01 2.03321561e-04 -5.47941394e+00] [-3.17990184e-03 -1.82891584e-04 9.99994927e-01 5.16282356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60165253199999 meters 0.13848367668508027 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99993341e-01 -2.20131998e-03 2.91085147e-03 -4.56892441e+00] [ 2.18757136e-03 9.99986477e-01 4.71800639e-03 -5.48080535e+00] [-2.92119795e-03 -4.71160727e-03 9.99984634e-01 5.16009550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66165253199999 meters 0.1363712769089354 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99993186e-01 -2.32139342e-03 2.87025705e-03 -4.56858973e+00] [ 2.30818369e-03 9.99986770e-01 4.59705856e-03 -5.48087364e+00] [-2.88089065e-03 -4.59040216e-03 9.99985314e-01 5.15634942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721652532 meters 0.14082538121159985 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99993621e-01 -2.16070634e-03 2.84434616e-03 -4.56869965e+00] [ 2.14675285e-03 9.99985692e-01 4.89964024e-03 -5.48216660e+00] [-2.85489215e-03 -4.89350287e-03 9.99983951e-01 5.16038556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781652532 meters 0.17527302155336583 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.52 [[ 9.99993048e-01 -2.16822464e-03 3.03351137e-03 -4.56913815e+00] [ 2.15397300e-03 9.99986666e-01 4.69347455e-03 -5.48148648e+00] [-3.04364743e-03 -4.68690782e-03 9.99984384e-01 5.15917614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84165253199998 meters 0.1757671232702575 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.51 [[ 9.99990053e-01 -2.48614585e-03 3.70320848e-03 -4.57028724e+00] [ 2.47411176e-03 9.99991656e-01 3.25068390e-03 -5.47652476e+00] [-3.71125926e-03 -3.24148941e-03 9.99987860e-01 5.14748496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90165253199999 meters 0.1764676317170303 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.51 [[ 9.99989098e-01 -2.49140951e-03 3.94936194e-03 -4.57094553e+00] [ 2.47981847e-03 9.99992612e-01 2.93709889e-03 -5.47537422e+00] [-3.95665027e-03 -2.92727317e-03 9.99987888e-01 5.14810684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96165253199999 meters 0.1668709452107414 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.51 [[ 9.99991447e-01 -2.97410370e-03 2.87427870e-03 -4.56816768e+00] [ 2.96526913e-03 9.99990882e-01 3.07305528e-03 -5.47785831e+00] [-2.88339208e-03 -3.06450599e-03 9.99991147e-01 5.14744928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02165253199999 meters 0.17139862270718664 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.51 [[ 9.99994124e-01 6.69624557e-04 3.36193725e-03 -4.56862731e+00] [-6.88032928e-04 9.99984762e-01 5.47735730e-03 -5.47147350e+00] [-3.35821825e-03 -5.47963825e-03 9.99979348e-01 5.13009646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08165253199999 meters 0.16978993711869106 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.51 [[ 9.99994038e-01 6.96329900e-04 3.38222793e-03 -4.56876744e+00] [-7.14802345e-04 9.99984820e-01 5.46348552e-03 -5.47142979e+00] [-3.37837220e-03 -5.46587057e-03 9.99979355e-01 5.13186081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141652532 meters 0.16712984441109544 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.51 [[ 9.99994864e-01 7.72307503e-04 3.11061928e-03 -4.56825193e+00] [-7.90397231e-04 9.99982760e-01 5.81844996e-03 -5.47294808e+00] [-3.10607202e-03 -5.82087870e-03 9.99978235e-01 5.13610349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20165253199998 meters 0.1637027888468226 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.51 [[ 9.99995117e-01 4.90868241e-04 3.08617341e-03 -4.56804274e+00] [-5.07178784e-04 9.99985898e-01 5.28647842e-03 -5.47131632e+00] [-3.08353492e-03 -5.28801785e-03 9.99981264e-01 5.13296840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26165253199999 meters 0.16149301712963984 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.51 [[ 9.99994602e-01 1.89573443e-04 3.28011238e-03 -4.56826430e+00] [-2.04300824e-04 9.99989898e-01 4.49014920e-03 -5.46872684e+00] [-3.27922803e-03 -4.49079509e-03 9.99984540e-01 5.12737006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32165253199999 meters 0.15540703871905961 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.51 [[ 9.99996547e-01 -1.44878634e-04 2.62390305e-03 -4.56644651e+00] [ 1.33007424e-04 9.99989758e-01 4.52386595e-03 -5.46973656e+00] [-2.62453159e-03 -4.52350133e-03 9.99986325e-01 5.12509781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38165253199999 meters 0.15720836574431654 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99992967e-01 -1.03751009e-04 3.74910038e-03 -4.56851384e+00] [ 9.33774759e-05 9.99996167e-01 2.76700831e-03 -5.46434079e+00] [-3.74937309e-03 -2.76663877e-03 9.99989144e-01 5.10503473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44165253199999 meters 0.1632943223463498 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99993814e-01 -4.54042310e-04 3.48782489e-03 -4.56748101e+00] [ 4.45528460e-04 9.99996921e-01 2.44140912e-03 -5.46397441e+00] [-3.48892265e-03 -2.43984010e-03 9.99990937e-01 5.09932294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501652532 meters 0.16187683952109058 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99992957e-01 -4.01052892e-04 3.73171263e-03 -4.56801585e+00] [ 3.92778868e-04 9.99997464e-01 2.21768775e-03 -5.46323047e+00] [-3.73259258e-03 -2.21620639e-03 9.99990578e-01 5.09710630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561652532 meters 0.15804228221028677 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99992690e-01 -9.96603867e-04 3.69140937e-03 -4.56716023e+00] [ 9.91913268e-04 9.99998699e-01 1.27229255e-03 -5.46079081e+00] [-3.69267254e-03 -1.26862169e-03 9.99992377e-01 5.08387079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62165253199998 meters 0.15336866194309104 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99992845e-01 -1.01758740e-03 3.64339072e-03 -4.56716049e+00] [ 1.01283585e-03 9.99998635e-01 1.30576348e-03 -5.46072458e+00] [-3.64471447e-03 -1.30206398e-03 9.99992510e-01 5.08602760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68165253199999 meters 0.1528496988656699 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.51 [[ 9.99991726e-01 -1.30489057e-03 3.85291012e-03 -4.56738262e+00] [ 1.30275112e-03 9.99998996e-01 5.57741262e-04 -5.45805701e+00] [-3.85363404e-03 -5.52717264e-04 9.99992422e-01 5.07893913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74165253199999 meters 0.154183727687693 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99988151e-01 -1.08800512e-03 4.74494365e-03 -4.56984341e+00] [ 1.08858161e-03 9.99999400e-01 -1.18913946e-04 -5.45378088e+00] [-4.74481143e-03 1.24077796e-04 9.99988736e-01 5.08124308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80165253199999 meters 0.15592873080478362 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99985311e-01 -1.01876817e-03 5.32350026e-03 -4.57158153e+00] [ 1.02255116e-03 9.99999227e-01 -7.07946776e-04 -5.45060651e+00] [-5.32277491e-03 7.13379928e-04 9.99985579e-01 5.08518840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861652532 meters 0.1553397689738819 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.51 [[ 9.99983891e-01 -8.77876114e-04 5.60779726e-03 -4.57270941e+00] [ 8.82231612e-04 9.99999311e-01 -7.74259512e-04 -5.44953919e+00] [-5.60711370e-03 7.79194415e-04 9.99983976e-01 5.09100129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921652532 meters 0.15197796069046945 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.44, Z:0.51 [[ 9.99973782e-01 3.36569837e-03 6.41155744e-03 -4.57462388e+00] [-3.38032765e-03 9.99991705e-01 2.27223690e-03 -5.44443818e+00] [-6.40385659e-03 -2.29385049e-03 9.99976864e-01 5.08737391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98165253199998 meters 0.15837791010691923 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.51 [[ 9.99970985e-01 3.14639744e-03 6.93751230e-03 -4.57566815e+00] [-3.15604507e-03 9.99994067e-01 1.38013793e-03 -5.44123414e+00] [-6.93312868e-03 -1.40199299e-03 9.99974983e-01 5.08235040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04165253199999 meters 0.17726200805708417 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.51 [[ 9.99964957e-01 3.29190259e-03 7.69724395e-03 -4.57753781e+00] [-3.29699219e-03 9.99994355e-01 6.48627216e-04 -5.43843879e+00] [-7.69506528e-03 -6.73982239e-04 9.99970165e-01 5.08041750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10165253199999 meters 0.17849689132063734 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99956659e-01 3.03711176e-03 8.80091722e-03 -4.57938061e+00] [-3.02537569e-03 9.99994517e-01 -1.34651172e-03 -5.43210608e+00] [-8.80495847e-03 1.31982728e-03 9.99960365e-01 5.05952274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16165253199999 meters 0.17726361381618186 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99949605e-01 3.10850535e-03 9.54591650e-03 -4.58127695e+00] [-3.08976457e-03 9.99993272e-01 -1.97734591e-03 -5.42909943e+00] [-9.55199887e-03 1.94775162e-03 9.99952482e-01 5.06078910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221652532 meters 0.190542041845665 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99949215e-01 3.55454905e-03 9.43036326e-03 -4.58203123e+00] [-3.54431935e-03 9.99993112e-01 -1.10125233e-03 -5.43070630e+00] [-9.43421276e-03 1.06777218e-03 9.99954927e-01 5.07938147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281652532 meters 0.16510838215363172 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99960951e-01 3.38657914e-03 8.16252144e-03 -4.57963655e+00] [-3.38891515e-03 9.99994221e-01 2.72373631e-04 -5.43496435e+00] [-8.16155185e-03 -3.00025087e-04 9.99966649e-01 5.09806051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34165253199998 meters 0.17306313933696202 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99960822e-01 2.81021688e-03 8.39384664e-03 -4.57948437e+00] [-2.80227419e-03 9.99995615e-01 -9.57862631e-04 -5.43121842e+00] [-8.39650163e-03 9.34303244e-04 9.99964312e-01 5.08418852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40165253199999 meters 0.172298297540731 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99961169e-01 2.10404179e-03 8.55768535e-03 -4.57899254e+00] [-2.08472889e-03 9.99995262e-01 -2.26508542e-03 -5.42763630e+00] [-8.56241064e-03 2.24715701e-03 9.99960817e-01 5.06817992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46165253199999 meters 0.16594175265050845 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99962587e-01 2.50739541e-03 8.27874786e-03 -4.57913432e+00] [-2.49651412e-03 9.99996007e-01 -1.32443742e-03 -5.43007804e+00] [-8.28203569e-03 1.30371985e-03 9.99964853e-01 5.08328161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52165253199999 meters 0.16268886410494915 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99953510e-01 2.77702957e-03 9.23400976e-03 -4.58172954e+00] [-2.75978924e-03 9.99994426e-01 -1.87926544e-03 -5.42594933e+00] [-9.23917707e-03 1.85369415e-03 9.99955600e-01 5.08776265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58165253199999 meters 0.16207963217019428 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99927026e-01 7.09949161e-03 9.77449363e-03 -4.58281200e+00] [-7.11901498e-03 9.99972731e-01 1.96403645e-03 -5.42422680e+00] [-9.76028343e-03 -2.03347789e-03 9.99950300e-01 5.08455889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641652532 meters 0.19373935342583518 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99926297e-01 7.17552618e-03 9.79351373e-03 -4.58298404e+00] [-7.19659106e-03 9.99971863e-01 2.11735747e-03 -5.42472212e+00] [-9.77804501e-03 -2.18768133e-03 9.99949801e-01 5.08754172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70165253199998 meters 0.1620513267566405 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99942589e-01 2.89372652e-03 1.03172439e-02 -4.58413281e+00] [-2.86671860e-03 9.99992428e-01 -2.63157395e-03 -5.42306257e+00] [-1.03247808e-02 2.60184624e-03 9.99943313e-01 5.08465204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76165253199999 meters 0.16175539762140406 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99943820e-01 2.39535836e-03 1.03256513e-02 -4.58355337e+00] [-2.35951659e-03 9.99991154e-01 -3.48192491e-03 -5.42075772e+00] [-1.03339005e-02 3.45736575e-03 9.99940627e-01 5.07400330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82165253199999 meters 0.17118740432568372 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99946291e-01 2.65027175e-03 1.00195849e-02 -4.58329894e+00] [-2.62372049e-03 9.99993014e-01 -2.66215253e-03 -5.42309986e+00] [-1.00265703e-02 2.63572096e-03 9.99946259e-01 5.08371982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88165253199999 meters 0.17409154037949026 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99947109e-01 2.71933058e-03 9.91884419e-03 -4.58327007e+00] [-2.69585968e-03 9.99993537e-01 -2.37889700e-03 -5.42375909e+00] [-9.92524909e-03 2.35203137e-03 9.99947977e-01 5.08802626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94165253199999 meters 0.165866667055765 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99954920e-01 2.57245009e-03 9.14002662e-03 -4.58157068e+00] [-2.55582490e-03 9.99995059e-01 -1.83015786e-03 -5.42609697e+00] [-9.14468945e-03 1.80671505e-03 9.99956554e-01 5.09318935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001652532 meters 0.16183652883628277 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.51 [[ 9.99956567e-01 2.32833774e-03 9.02455896e-03 -4.58106152e+00] [-2.30890333e-03 9.99994994e-01 -2.16332319e-03 -5.42529897e+00] [-9.02955074e-03 2.14239240e-03 9.99956938e-01 5.08952206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061652532 meters 0.1665342146622466 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99954098e-01 2.10377392e-03 9.34754008e-03 -4.58146788e+00] [-2.07667413e-03 9.99993616e-01 -2.90789766e-03 -5.42290864e+00] [-9.35359797e-03 2.88835239e-03 9.99952083e-01 5.08233903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12165253199998 meters 0.16499403113896732 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.51 [[ 9.99941026e-01 2.60715742e-03 1.05426445e-02 -4.58442186e+00] [-2.56991169e-03 9.99990415e-01 -3.54486913e-03 -5.41937915e+00] [-1.05517855e-02 3.51756641e-03 9.99938141e-01 5.08506317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18165253199999 meters 0.17943279209927074 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99937111e-01 2.99346244e-03 1.08080280e-02 -4.58572133e+00] [-2.95955085e-03 9.99990652e-01 -3.15226183e-03 -5.41970204e+00] [-1.08173631e-02 3.12007668e-03 9.99936623e-01 5.09632727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24165253199999 meters 0.1948425120168713 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99936279e-01 2.91014843e-03 1.09073170e-02 -4.58590959e+00] [-2.87337512e-03 9.99990141e-01 -3.38559120e-03 -5.41884603e+00] [-1.09170621e-02 3.35403465e-03 9.99934782e-01 5.09521135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30165253199999 meters 0.1802416384703901 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99935494e-01 2.71373843e-03 1.10291995e-02 -4.58598279e+00] [-2.67158361e-03 9.99989077e-01 -3.83504831e-03 -5.41738974e+00] [-1.10394864e-02 3.80533550e-03 9.99931822e-01 5.09079143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361652532 meters 0.1741260783816581 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99932101e-01 2.96216743e-03 1.12702850e-02 -4.58707333e+00] [-2.92164674e-03 9.99989215e-01 -3.61012402e-03 -5.41718835e+00] [-1.12808572e-02 3.57695110e-03 9.99929971e-01 5.09907484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421652532 meters 0.1847059270700401 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.51 [[ 9.99932640e-01 2.82735414e-03 1.12570282e-02 -4.58696563e+00] [-2.78455599e-03 9.99988843e-01 -3.81576449e-03 -5.41661118e+00] [-1.12676912e-02 3.78416164e-03 9.99929357e-01 5.09787523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48165253199998 meters 0.18328145829026335 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.52 [[ 9.99989257e-01 2.31378467e-03 -4.01649440e-03 -4.58732440e+00] [-2.31918739e-03 9.99996412e-01 -1.34099629e-03 -5.42005104e+00] [ 4.01337721e-03 1.35029689e-03 9.99991035e-01 5.18412279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54165253199999 meters 0.1793896189795095 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.52 [[ 9.99989054e-01 2.48049987e-03 -3.96713601e-03 -4.58777449e+00] [-2.48482536e-03 9.99996323e-01 -1.08577348e-03 -5.42044056e+00] [ 3.96442816e-03 1.09561924e-03 9.99991541e-01 5.18966527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60165253199999 meters 0.17327130003210622 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.52 [[ 9.99988430e-01 2.70987808e-03 -3.97450706e-03 -4.58806536e+00] [-2.71229481e-03 9.99996140e-01 -6.02793827e-04 -5.42174390e+00] [ 3.97285822e-03 6.13566888e-04 9.99991920e-01 5.19595417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66165253199999 meters 0.1688419906076664 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.52 [[ 9.99988650e-01 2.41975967e-03 -4.10428460e-03 -4.58709541e+00] [-2.42353198e-03 9.99996645e-01 -9.14390931e-04 -5.42184164e+00] [ 4.10205822e-03 9.24327417e-04 9.99991159e-01 5.18511334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721652532 meters 0.1631273873979339 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.52 [[ 9.99985712e-01 2.16556465e-03 -4.88728976e-03 -4.58479112e+00] [-2.16754670e-03 9.99997571e-01 -4.00291914e-04 -5.42575299e+00] [ 4.88641103e-03 4.10879624e-04 9.99987977e-01 5.17982153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781652532 meters 0.17477148860216343 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99986487e-01 2.19438117e-03 -4.71288549e-03 -4.58518278e+00] [-2.19630252e-03 9.99997507e-01 -4.02544580e-04 -5.42565290e+00] [ 4.71199041e-03 4.12890063e-04 9.99988813e-01 5.17905877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84165253199998 meters 0.16404211653872353 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.52 [[ 9.99982840e-01 2.49901925e-03 -5.29858856e-03 -4.58434586e+00] [-2.49364137e-03 9.99996369e-01 1.02132868e-03 -5.43026532e+00] [ 5.30112164e-03 -1.00809838e-03 9.99985441e-01 5.19260849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90165253199999 meters 0.1607568642803509 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.52 [[ 9.99982352e-01 -1.87010545e-03 -5.63892002e-03 -4.58303251e+00] [ 1.85496836e-03 9.99994666e-01 -2.68843249e-03 -5.43366782e+00] [ 5.64391759e-03 2.67792503e-03 9.99980487e-01 5.18652703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96165253199999 meters 0.1609530340658441 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99980859e-01 -1.60484380e-03 -5.97548431e-03 -4.58249136e+00] [ 1.59535684e-03 9.99997460e-01 -1.59207580e-03 -5.43722069e+00] [ 5.97802417e-03 1.58251229e-03 9.99980879e-01 5.19342103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02165253199999 meters 0.16239937570041144 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.52 [[ 9.99974152e-01 -1.87484814e-03 -6.94126486e-03 -4.58002225e+00] [ 1.87090128e-03 9.99998085e-01 -5.75058134e-04 -5.44208556e+00] [ 6.94232971e-03 5.62056848e-04 9.99975744e-01 5.19391640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08165253199999 meters 0.1628356672121908 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99957925e-01 -5.73955834e-03 -7.15576905e-03 -4.57974868e+00] [ 5.71472517e-03 9.99977595e-01 -3.48600191e-03 -5.44688202e+00] [ 7.17561684e-03 3.44496198e-03 9.99968321e-01 5.20133281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141652532 meters 0.15865420301632951 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.52 [[ 9.99956056e-01 -5.62650936e-03 -7.49859809e-03 -4.57894460e+00] [ 5.60594077e-03 9.99980474e-01 -2.76119302e-03 -5.44977746e+00] [ 7.51398755e-03 2.71903499e-03 9.99968073e-01 5.20320834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20165253199998 meters 0.1473977504246445 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99947916e-01 -5.72551311e-03 -8.44894511e-03 -4.57672145e+00] [ 5.71371676e-03 9.99982669e-01 -1.41967086e-03 -5.45533603e+00] [ 8.45692702e-03 1.37132204e-03 9.99963299e-01 5.20897518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26165253199999 meters 0.161766929922414 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.52 [[ 9.99943829e-01 -5.76850341e-03 -8.89180079e-03 -4.57531416e+00] [ 5.76115381e-03 9.99983041e-01 -8.51952236e-04 -5.45871004e+00] [ 8.89656449e-03 8.00677348e-04 9.99960104e-01 5.20501168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32165253199999 meters 0.15697512430968502 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.52 [[ 9.99941648e-01 -5.50036653e-03 -9.29764961e-03 -4.57481203e+00] [ 5.50286106e-03 9.99984830e-01 2.42735948e-04 -5.46220130e+00] [ 9.29617342e-03 -2.93885457e-04 9.99956746e-01 5.21579032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38165253199999 meters 0.15265022866335579 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.47, Z:0.52 [[ 9.99941308e-01 -5.11230678e-03 -9.55225683e-03 -4.57483515e+00] [ 5.12506486e-03 9.99986007e-01 1.31160831e-03 -5.46533261e+00] [ 9.54541782e-03 -1.36048726e-03 9.99953516e-01 5.22850070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44165253199999 meters 0.14952648241345198 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.52 [[ 9.99941769e-01 -4.73764385e-03 -9.69603026e-03 -4.57500710e+00] [ 4.75877734e-03 9.99986349e-01 2.15769258e-03 -5.46787710e+00] [ 9.68567552e-03 -2.20370819e-03 9.99950664e-01 5.23836485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501652532 meters 0.1475382872650378 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.52 [[ 9.99943712e-01 -4.36759921e-03 -9.66934005e-03 -4.57569251e+00] [ 4.39474343e-03 9.99986457e-01 2.78778098e-03 -5.46927411e+00] [ 9.65703319e-03 -2.83011833e-03 9.99949365e-01 5.24914181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561652532 meters 0.1505555335474337 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.53 [[ 9.99946793e-01 -4.05662577e-03 -9.48450399e-03 -4.57678688e+00] [ 4.08642292e-03 9.99986770e-01 3.12440129e-03 -5.46941904e+00] [ 9.47170398e-03 -3.16299274e-03 9.99950140e-01 5.25886171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62165253199998 meters 0.14735776494240688 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.53 [[ 9.99949301e-01 -3.80025511e-03 -9.32484373e-03 -4.57755896e+00] [ 3.83124393e-03 9.99987190e-01 3.30764402e-03 -5.46954708e+00] [ 9.31215439e-03 -3.34320208e-03 9.99951052e-01 5.26415018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68165253199999 meters 0.14910089843357296 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.53 [[ 9.99948915e-01 -3.65308182e-03 -9.42458856e-03 -4.57779110e+00] [ 3.68734069e-03 9.99986649e-01 3.62024072e-03 -5.47017670e+00] [ 9.41123769e-03 -3.65480744e-03 9.99949034e-01 5.27265246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74165253199999 meters 0.14305555274472545 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.53 [[ 9.99954433e-01 -3.18128518e-03 -9.00063880e-03 -4.57982715e+00] [ 3.21638257e-03 9.99987270e-01 3.88764887e-03 -5.46932005e+00] [ 8.98815651e-03 -3.91642122e-03 9.99951936e-01 5.28841985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80165253199999 meters 0.17176154684283929 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.53 [[ 9.99951110e-01 -3.39689120e-03 -9.28648635e-03 -4.57887650e+00] [ 3.43213750e-03 9.99986958e-01 3.78214122e-03 -5.46970367e+00] [ 9.27351771e-03 -3.81382881e-03 9.99949727e-01 5.28547418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861652532 meters 0.16858225888141937 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.53 [[ 9.99948598e-01 -3.50985844e-03 -9.51226302e-03 -4.57831102e+00] [ 3.54558582e-03 9.99986714e-01 3.74167085e-03 -5.46983668e+00] [ 9.49900391e-03 -3.77520507e-03 9.99947757e-01 5.28557501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921652532 meters 0.14975446300513456 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.53 [[ 9.99947804e-01 -3.78148281e-03 -9.49155315e-03 -4.57807099e+00] [ 3.81175435e-03 9.99987700e-01 3.17325221e-03 -5.46823612e+00] [ 9.47943681e-03 -3.20926605e-03 9.99949919e-01 5.28034987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98165253199998 meters 0.16560827430264133 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.53 [[ 9.99949978e-01 -3.53200228e-03 -9.35765994e-03 -4.57927229e+00] [ 3.56228422e-03 9.99988466e-01 3.22136946e-03 -5.46698229e+00] [ 9.34617413e-03 -3.25454297e-03 9.99951027e-01 5.29314514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04165253199999 meters 0.16420211245082594 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.53 [[ 9.99950394e-01 -3.81713753e-03 -9.19997516e-03 -4.57943621e+00] [ 3.83945071e-03 9.99989728e-01 2.40891223e-03 -5.46434045e+00] [ 9.19068550e-03 -2.44411559e-03 9.99954778e-01 5.28817245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10165253199999 meters 0.16526962159913 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.53 [[ 9.99958200e-01 4.00768626e-04 -9.13443512e-03 -4.57965868e+00] [-3.45665237e-04 9.99981740e-01 6.03327072e-03 -5.46198927e+00] [ 9.13668627e-03 -6.02986107e-03 9.99940079e-01 5.28713565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16165253199999 meters 0.16577398652129832 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.53 [[ 9.99962366e-01 1.44158594e-04 -8.67444552e-03 -4.58034878e+00] [-1.01320442e-04 9.99987800e-01 4.93866790e-03 -5.45851385e+00] [ 8.67505164e-03 -4.93760314e-03 9.99950181e-01 5.27781091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221652532 meters 0.1641797555323017 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.53 [[ 9.99969742e-01 2.28399412e-04 -7.77580073e-03 -4.58245363e+00] [-1.99460176e-04 9.99993052e-01 3.72227707e-03 -5.45361521e+00] [ 7.77659687e-03 -3.72061348e-03 9.99962840e-01 5.27339529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281652532 meters 0.16232896529323726 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.53 [[ 9.99972022e-01 -5.29408287e-05 -7.48016310e-03 -4.58276693e+00] [ 7.30976846e-05 9.99996367e-01 2.69446037e-03 -5.45061694e+00] [ 7.47999328e-03 -2.69493177e-03 9.99968393e-01 5.26379155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34165253199998 meters 0.16304541063323025 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.53 [[ 9.99974290e-01 -4.83824392e-04 -7.15435766e-03 -4.58305907e+00] [ 4.94564672e-04 9.99998753e-01 1.49952910e-03 -5.44677048e+00] [ 7.15362323e-03 -1.50302884e-03 9.99973283e-01 5.25288572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40165253199999 meters 0.16115616538481095 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.53 [[ 9.99969700e-01 3.53387095e-03 -6.93624788e-03 -4.58368158e+00] [-3.49987570e-03 9.99981835e-01 4.90713567e-03 -5.44292411e+00] [ 6.95346307e-03 -4.88271097e-03 9.99963904e-01 5.25277333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46165253199999 meters 0.1695348612735902 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.53 [[ 9.99973145e-01 3.30838838e-03 -6.53943284e-03 -4.58452802e+00] [-3.28164142e-03 9.99986224e-01 4.09661085e-03 -5.43983277e+00] [ 6.55289593e-03 -4.07504076e-03 9.99970226e-01 5.25009962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52165253199999 meters 0.1688149575284941 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99979699e-01 3.32956457e-03 -5.43278419e-03 -4.58703602e+00] [-3.31477217e-03 9.99990781e-01 2.72953791e-03 -5.43380746e+00] [ 5.44182228e-03 -2.71147405e-03 9.99981517e-01 5.24674765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58165253199999 meters 0.1598714541997718 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99982188e-01 3.16590296e-03 -5.05977707e-03 -4.58786115e+00] [-3.15602055e-03 9.99993099e-01 1.95992487e-03 -5.43103159e+00] [ 5.06594708e-03 -1.94392120e-03 9.99985279e-01 5.24402738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641652532 meters 0.16814151627269308 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99986056e-01 3.34664972e-03 -4.08501661e-03 -4.59051594e+00] [-3.34159316e-03 9.99993643e-01 1.24403063e-03 -5.42634013e+00] [ 4.08915398e-03 -1.23036282e-03 9.99990882e-01 5.24894652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70165253199998 meters 0.16886133555933233 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.52 [[ 9.99988229e-01 3.08743993e-03 -3.74295752e-03 -4.59123111e+00] [-3.08563635e-03 9.99995121e-01 4.87540375e-04 -5.42327986e+00] [ 3.74444451e-03 -4.75985231e-04 9.99992876e-01 5.24626563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76165253199999 meters 0.17445137793705875 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.53 [[ 9.99988821e-01 3.37199172e-03 -3.31463259e-03 -4.59280298e+00] [-3.36981551e-03 9.99994103e-01 6.61909756e-04 -5.42265192e+00] [ 3.31684500e-03 -6.50732657e-04 9.99994288e-01 5.25454807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82165253199999 meters 0.16504289155676782 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.53 [[ 9.99988582e-01 3.29707873e-03 -3.45913085e-03 -4.59214257e+00] [-3.29427833e-03 9.99994242e-01 8.14950680e-04 -5.42368594e+00] [ 3.46179789e-03 -8.03546034e-04 9.99993685e-01 5.25049152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88165253199999 meters 0.18925242815281923 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.52 [[ 9.99989079e-01 3.05698436e-03 -3.53516619e-03 -4.59139654e+00] [-3.05483950e-03 9.99995147e-01 6.11963655e-04 -5.42375506e+00] [ 3.53701980e-03 -6.01157606e-04 9.99993564e-01 5.24197312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94165253199999 meters 0.17325324274301057 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.52 [[ 9.99989132e-01 3.15308040e-03 -3.43425800e-03 -4.59164433e+00] [-3.15033614e-03 9.99994714e-01 8.04201649e-04 -5.42413110e+00] [ 3.43677556e-03 -7.93373842e-04 9.99993780e-01 5.24182204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001652532 meters 0.16923716926376492 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99988690e-01 3.23000908e-03 -3.49091172e-03 -4.59148388e+00] [-3.22611513e-03 9.99994168e-01 1.12050687e-03 -5.42533586e+00] [ 3.49451061e-03 -1.10923212e-03 9.99993279e-01 5.24256520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061652532 meters 0.19773778289508775 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99988118e-01 3.43365325e-03 -3.46030906e-03 -4.59161598e+00] [-3.42815510e-03 9.99992854e-01 1.59359991e-03 -5.42695025e+00] [ 3.46575620e-03 -1.58171850e-03 9.99992743e-01 5.24446066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12165253199998 meters 0.1614308741513434 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99986861e-01 3.47842079e-03 -3.76536155e-03 -4.59073765e+00] [-3.47059926e-03 9.99991811e-01 2.08177545e-03 -5.42924554e+00] [ 3.77257201e-03 -2.06868004e-03 9.99990744e-01 5.24332954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18165253199999 meters 0.18744525576609533 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99987936e-01 3.52551814e-03 -3.42024972e-03 -4.59148441e+00] [-3.51891609e-03 9.99991938e-01 1.93438490e-03 -5.42854414e+00] [ 3.42704186e-03 -1.92232600e-03 9.99992280e-01 5.24103789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24165253199999 meters 0.16961511928322898 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.52 [[ 9.99989483e-01 3.45216317e-03 -3.01924778e-03 -4.59238333e+00] [-3.44776579e-03 9.99992990e-01 1.46044253e-03 -5.42665063e+00] [ 3.02426830e-03 -1.45001752e-03 9.99994376e-01 5.23893040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30165253199999 meters 0.17705203908146186 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.52 [[ 9.99990507e-01 3.66632354e-03 -2.35464680e-03 -4.59441337e+00] [-3.66354148e-03 9.99992587e-01 1.18474667e-03 -5.42466792e+00] [ 2.35897301e-03 -1.17610908e-03 9.99996526e-01 5.24512341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361652532 meters 0.18353629726948006 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.52 [[ 9.99992279e-01 3.53331676e-03 -1.71955099e-03 -4.59572815e+00] [-3.53288588e-03 9.99993727e-01 2.53552916e-04 -5.42129017e+00] [ 1.72043608e-03 -2.47475981e-04 9.99998489e-01 5.24014025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421652532 meters 0.18631034846144223 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.52 [[ 9.99993864e-01 3.44544277e-03 -6.32976294e-04 -4.59823688e+00] [-3.44604902e-03 9.99993602e-01 -9.59207640e-04 -5.41526247e+00] [ 6.29667349e-04 9.61383021e-04 9.99999340e-01 5.23475925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48165253199998 meters 0.18111557290490637 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.52 [[ 9.99992056e-01 3.92764585e-03 6.79128387e-04 -4.60199656e+00] [-3.92670092e-03 9.99991328e-01 -1.38715622e-03 -5.41029988e+00] [-6.84570756e-04 1.38447847e-03 9.99998807e-01 5.24461084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54165253199999 meters 0.19685036697536465 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.52 [[ 9.99990115e-01 4.04165003e-03 1.85320649e-03 -4.60492353e+00] [-4.03718552e-03 9.99988955e-01 -2.40652089e-03 -5.40452112e+00] [-1.86291234e-03 2.39901536e-03 9.99995387e-01 5.24456027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60165253199999 meters 0.1839986908283546 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.40, Z:0.52 [[ 9.99990054e-01 3.86639547e-03 2.22326747e-03 -4.60573931e+00] [-3.85946575e-03 9.99987707e-01 -3.11279336e-03 -5.40182109e+00] [-2.23527543e-03 3.10418178e-03 9.99992684e-01 5.24133163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66165253199999 meters 0.20155642839930307 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.40, Z:0.52 [[ 9.99965297e-01 7.87760781e-03 2.71075702e-03 -4.60662588e+00] [-7.87797662e-03 9.99968960e-01 1.25402531e-04 -5.39822279e+00] [-2.70968501e-03 -1.46753460e-04 9.99996318e-01 5.23646605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721652532 meters 0.1879591798702171 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.40, Z:0.52 [[ 9.99963456e-01 7.97951774e-03 3.06813976e-03 -4.60777294e+00] [-7.97960948e-03 9.99968162e-01 1.76607270e-05 -5.39714824e+00] [-3.06790115e-03 -4.21426387e-05 9.99995293e-01 5.24043101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781652532 meters 0.18841178509721293 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.40, Z:0.52 [[ 9.99986069e-01 3.78941945e-03 3.67453898e-03 -4.60918486e+00] [-3.77309891e-03 9.99983032e-01 -4.43832700e-03 -5.39609713e+00] [-3.69129531e-03 4.42440077e-03 9.99983399e-01 5.23841214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84165253199998 meters 0.1771955670706012 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.40, Z:0.52 [[ 9.99995157e-01 -3.61805262e-04 3.09123315e-03 -4.60730208e+00] [ 3.85332842e-04 9.99970940e-01 -7.61386389e-03 -5.40133913e+00] [-3.08838859e-03 7.61501817e-03 9.99966236e-01 5.23283133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90165253199999 meters 0.18487845163841946 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.41, Z:0.52 [[ 9.99997901e-01 -2.10663456e-04 2.03805334e-03 -4.60520181e+00] [ 2.21669228e-04 9.99985388e-01 -5.40142137e-03 -5.40788855e+00] [-2.03688568e-03 5.40186181e-03 9.99983335e-01 5.24982970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96165253199999 meters 0.18184728119742766 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.53 [[ 9.99990710e-01 -4.23329584e-03 8.12348076e-04 -4.60221154e+00] [ 4.23865451e-03 9.99968489e-01 -6.71225611e-03 -5.41728239e+00] [-7.83907512e-04 6.71563701e-03 9.99977143e-01 5.26307097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02165253199999 meters 0.16839133554196964 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.53 [[ 9.99990144e-01 -4.33124361e-03 -9.75543741e-04 -4.59820244e+00] [ 4.32790413e-03 9.99984856e-01 -3.39968317e-03 -5.42812487e+00] [ 9.90253823e-04 3.39542760e-03 9.99993745e-01 5.28575402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08165253199999 meters 0.16104872625173802 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.53 [[ 9.99955358e-01 -8.87159731e-03 -3.25229296e-03 -4.59240899e+00] [ 8.85984414e-03 9.99954232e-01 -3.61057986e-03 -5.44084604e+00] [ 3.28417572e-03 3.58160386e-03 9.99988193e-01 5.30280805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141652532 meters 0.15835619695048186 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.53 [[ 9.99901151e-01 -1.31277778e-02 -5.03481731e-03 -4.58779088e+00] [ 1.31083883e-02 9.99906612e-01 -3.86494095e-03 -5.45351119e+00] [ 5.08508521e-03 3.79856057e-03 9.99979856e-01 5.31820553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20165253199998 meters 0.15214868024723735 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.54 [[ 9.99894779e-01 -1.29956745e-02 -6.44534389e-03 -4.58511216e+00] [ 1.29941944e-02 9.99915535e-01 -2.71462412e-04 -5.46362539e+00] [ 6.44832732e-03 1.87681797e-04 9.99979192e-01 5.35478845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26165253199999 meters 0.146191181604583 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.54 [[ 9.99837784e-01 -1.66335201e-02 -6.90876780e-03 -4.58436946e+00] [ 1.66196172e-02 9.99859752e-01 -2.06491657e-03 -5.47152214e+00] [ 6.94214569e-03 1.94976053e-03 9.99974002e-01 5.37207236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32165253199999 meters 0.14972516080092318 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.54 [[ 0.99979341 -0.01270394 -0.01586652 -4.5692051 ] [ 0.01259162 0.99989509 -0.00715928 -5.47581544] [ 0.01595581 0.00695802 0.99984849 0.5430162 ] [ 0. 0. 0. 1. ]] SLAMing on 124.38165253199999 meters 0.13669692524398702 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.54 [[ 0.99978762 -0.01250531 -0.01638086 -4.56800493] [ 0.01240691 0.99990446 -0.00609477 -5.47991826] [ 0.01645551 0.00589024 0.99984725 0.54335079] [ 0. 0. 0. 1. ]] SLAMing on 124.44165253199999 meters 0.1432687809201718 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.54 [[ 9.99781075e-01 -1.24235131e-02 -1.68362437e-02 -4.56697711e+00] [ 1.23332867e-02 9.99909077e-01 -5.45233797e-03 -5.48240206e+00] [ 1.69024501e-02 5.24349810e-03 9.99843394e-01 5.43599296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501652532 meters 0.1511732279999432 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.49, Z:0.55 [[ 9.99823109e-01 -7.59904979e-03 -1.72048169e-02 -4.56706632e+00] [ 7.59866258e-03 9.99971126e-01 -8.78787891e-05 -5.48508531e+00] [ 1.72049880e-02 -4.28703545e-05 9.99851982e-01 5.45201942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561652532 meters 0.14620477370930046 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.54 [[ 9.99982228e-01 -5.96054069e-03 -1.21384967e-04 -4.57311071e+00] [ 5.96042505e-03 9.99981802e-01 -9.31731247e-04 -5.48292350e+00] [ 1.26936380e-04 9.30991182e-04 9.99999559e-01 5.41155072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62165253199998 meters 0.15409631453321895 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.54 [[ 9.99983725e-01 -5.70293301e-03 1.61440275e-04 -4.57430752e+00] [ 5.70307618e-03 9.99983332e-01 -9.00690567e-04 -5.48219547e+00] [-1.56301006e-04 9.01596614e-04 9.99999581e-01 5.41838762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68165253199999 meters 0.14759485627776522 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.54 [[ 9.99998895e-01 -1.47839297e-03 1.56052561e-04 -4.57441586e+00] [ 1.47789335e-03 9.99993932e-01 3.15463917e-03 -5.48116981e+00] [-1.60715410e-04 -3.15440506e-03 9.99995012e-01 5.41965493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74165253199999 meters 0.15667296666308828 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.54 [[ 9.99998299e-01 -1.84003134e-03 1.26694799e-04 -4.57428205e+00] [ 1.83971683e-03 9.99995332e-01 2.43938135e-03 -5.47850514e+00] [-1.31182745e-04 -2.43914412e-03 9.99997017e-01 5.41818315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80165253199999 meters 0.15116147746907124 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.54 [[ 9.99998009e-01 -1.97056436e-03 3.13717015e-04 -4.57472586e+00] [ 1.96993994e-03 9.99996103e-01 1.97842134e-03 -5.47675664e+00] [-3.17614399e-04 -1.97779940e-03 9.99997994e-01 5.41698345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861652532 meters 0.14540755953512388 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.54 [[ 9.99997658e-01 -2.14140081e-03 3.15096072e-04 -4.57463552e+00] [ 2.14087562e-03 9.99996334e-01 1.65777422e-03 -5.47569177e+00] [-3.18644876e-04 -1.65709576e-03 9.99998576e-01 5.41515044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921652532 meters 0.15360557258469604 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.54 [[ 9.99997582e-01 2.02198000e-03 8.65133661e-04 -4.57625381e+00] [-2.02605724e-03 9.99986722e-01 4.73822147e-03 -5.47043045e+00] [-8.55541585e-04 -4.73996282e-03 9.99988400e-01 5.41775536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98165253199998 meters 0.15734212484847024 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.54 [[ 9.99994413e-01 2.57214868e-03 2.13478498e-03 -4.57965821e+00] [-2.57917313e-03 9.99991248e-01 3.29426670e-03 -5.46247765e+00] [-2.12629295e-03 -3.29975428e-03 9.99992295e-01 5.41900703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04165253199999 meters 0.16648829664471512 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.54 [[ 9.99993404e-01 2.49776290e-03 2.63703839e-03 -4.58100183e+00] [-2.50417320e-03 9.99993911e-01 2.43037294e-03 -5.45868785e+00] [-2.63095184e-03 -2.43696051e-03 9.99993570e-01 5.41953816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10165253199999 meters 0.1622273053214343 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.54 [[ 9.99988921e-01 2.65462641e-03 3.88729588e-03 -4.58396596e+00] [-2.65733171e-03 9.99996231e-01 6.90933806e-04 -5.45089226e+00] [-3.88544706e-03 -7.01255986e-04 9.99992206e-01 5.41348700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16165253199999 meters 0.17323108630981332 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.54 [[ 9.99982661e-01 2.86362977e-03 5.14556525e-03 -4.58689963e+00] [-2.85972524e-03 9.99995618e-01 -7.66012115e-04 -5.44401719e+00] [-5.14773628e-03 7.51283930e-04 9.99986468e-01 5.41072967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221652532 meters 0.17482943160539313 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.54 [[ 9.99972671e-01 3.56420910e-03 6.47723872e-03 -4.59065882e+00] [-3.55187957e-03 9.99991860e-01 -1.91402454e-03 -5.43758079e+00] [-6.48400799e-03 1.89096586e-03 9.99977191e-01 5.41845592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281652532 meters 0.17692233671902607 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.54 [[ 9.99973427e-01 3.62575514e-03 6.32444795e-03 -4.59076939e+00] [-3.61453851e-03 9.99991876e-01 -1.78406392e-03 -5.43732147e+00] [-6.33086515e-03 1.76115655e-03 9.99978409e-01 5.42599210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34165253199998 meters 0.18230172477962683 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.54 [[ 9.99966283e-01 3.36727055e-03 7.48965569e-03 -4.59278377e+00] [-3.33919907e-03 9.99987366e-01 -3.75738595e-03 -5.43007392e+00] [-7.50221320e-03 3.73224981e-03 9.99964893e-01 5.40759522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40165253199999 meters 0.17963274928546383 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.54 [[ 9.99962577e-01 3.46620343e-03 7.92659802e-03 -4.59426564e+00] [-3.43470368e-03 9.99986165e-01 -3.98409645e-03 -5.42811856e+00] [-7.94029804e-03 3.95672183e-03 9.99960647e-01 5.41391246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46165253199999 meters 0.1716575365634814 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.55 [[ 9.99973223e-01 3.41987986e-03 6.46967961e-03 -4.59186439e+00] [-3.40908636e-03 9.99992780e-01 -1.67861434e-03 -5.43361887e+00] [-6.47537356e-03 1.65651369e-03 9.99977663e-01 5.45047552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52165253199999 meters 0.1606828505851327 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.54 [[ 9.99983557e-01 2.51377976e-03 5.15429845e-03 -4.58818640e+00] [-2.50431760e-03 9.99995169e-01 -1.84141161e-03 -5.43478455e+00] [-5.15890245e-03 1.82847333e-03 9.99985021e-01 5.44159677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58165253199999 meters 0.16772667580245887 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.54 [[ 9.99977991e-01 2.38010720e-03 6.19295275e-03 -4.59016035e+00] [-2.36070603e-03 9.99992289e-01 -3.13820811e-03 -5.42854430e+00] [-6.20037427e-03 3.12351930e-03 9.99975899e-01 5.43037292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641652532 meters 0.1753644258469167 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.54 [[ 9.99976463e-01 2.52626534e-03 6.37904977e-03 -4.59102697e+00] [-2.50703330e-03 9.99992294e-01 -3.02107377e-03 -5.42826066e+00] [-6.38663265e-03 3.00501017e-03 9.99975090e-01 5.43758173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70165253199998 meters 0.17098956932579443 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.54 [[ 9.99975095e-01 2.92809887e-03 6.42145392e-03 -4.59171872e+00] [-2.91305747e-03 9.99992995e-01 -2.35047090e-03 -5.43008981e+00] [-6.42829135e-03 2.33170630e-03 9.99976620e-01 5.44853392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76165253199999 meters 0.18639705239897586 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.55 [[ 9.99971969e-01 3.05388246e-03 6.83624362e-03 -4.59291643e+00] [-3.03718498e-03 9.99992383e-01 -2.45154395e-03 -5.42901001e+00] [-6.84367827e-03 2.43071230e-03 9.99973628e-01 5.45048934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82165253199999 meters 0.17442418398530155 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.54 [[ 9.99971658e-01 2.65659728e-03 7.04457898e-03 -4.59300868e+00] [-2.63358405e-03 9.99991172e-01 -3.27406620e-03 -5.42613003e+00] [-7.05321467e-03 3.25542091e-03 9.99969827e-01 5.44217246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88165253199999 meters 0.18284952224575649 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.54 [[ 9.99970745e-01 2.78523764e-03 7.12405994e-03 -4.59345528e+00] [-2.76308590e-03 9.99991324e-01 -3.11738123e-03 -5.42618818e+00] [-7.13268078e-03 3.09760564e-03 9.99969764e-01 5.44648613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94165253199999 meters 0.1767593082656333 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.54 [[ 9.99968877e-01 2.58636636e-03 7.45351550e-03 -4.59411620e+00] [-2.55823540e-03 9.99989579e-01 -3.78125287e-03 -5.42374902e+00] [-7.46321753e-03 3.76206734e-03 9.99965073e-01 5.44335305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001652532 meters 0.17055682366986166 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.54 [[ 9.99966870e-01 2.46691160e-03 7.75713923e-03 -4.59487935e+00] [-2.43397974e-03 9.99987998e-01 -4.25194089e-03 -5.42180670e+00] [-7.76753529e-03 4.23291930e-03 9.99960873e-01 5.44363927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061652532 meters 0.16794148807022224 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.54 [[ 9.99967263e-01 2.52436450e-03 7.68771089e-03 -4.59476906e+00] [-2.49327053e-03 9.99988684e-01 -4.05153412e-03 -5.42245160e+00] [-7.69785144e-03 4.03223394e-03 9.99962241e-01 5.44500614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12165253199998 meters 0.1657611872127893 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.54 [[ 9.99968966e-01 2.21753657e-03 7.55974800e-03 -4.59410721e+00] [-2.18397972e-03 9.99987739e-01 -4.44425354e-03 -5.42165316e+00] [-7.56951061e-03 4.42760528e-03 9.99961549e-01 5.43906852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18165253199999 meters 0.1709273310851554 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.54 [[ 9.99963873e-01 2.33537444e-03 8.17300349e-03 -4.59581675e+00] [-2.29613625e-03 9.99985810e-01 -4.80704668e-03 -5.41932322e+00] [-8.18411377e-03 4.78810669e-03 9.99955046e-01 5.44327258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24165253199999 meters 0.16729626045418375 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99964192e-01 2.59820485e-03 8.05379387e-03 -4.59597108e+00] [-2.56446588e-03 9.99987906e-01 -4.19670206e-03 -5.42102590e+00] [-8.06460036e-03 4.17589810e-03 9.99958761e-01 5.45222576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30165253199999 meters 0.17256481471923987 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99966090e-01 2.70711491e-03 7.77751127e-03 -4.59544144e+00] [-2.67889902e-03 9.99989801e-01 -3.63601269e-03 -5.42296786e+00] [-7.78727506e-03 3.61505423e-03 9.99963144e-01 5.45596400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361652532 meters 0.1618521761864065 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.55 [[ 9.99972464e-01 2.83799842e-03 6.85686036e-03 -4.59364113e+00] [-2.82392857e-03 9.99993889e-01 -2.06074933e-03 -5.42783312e+00] [-6.86266687e-03 2.04132930e-03 9.99974368e-01 5.46895773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421652532 meters 0.1707652151301409 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.55 [[ 9.99975790e-01 2.86403886e-03 6.34161736e-03 -4.59202606e+00] [-2.85598620e-03 9.99995104e-01 -1.27850409e-03 -5.43149192e+00] [-6.34524800e-03 1.26036157e-03 9.99979074e-01 5.46470832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48165253199998 meters 0.17019169892544664 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.55 [[ 9.99976776e-01 3.03621838e-03 6.10159442e-03 -4.59163219e+00] [-3.03232385e-03 9.99995193e-01 -6.47429778e-04 -5.43355450e+00] [-6.10353082e-03 6.28912732e-04 9.99981176e-01 5.46928206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54165253199999 meters 0.1770924896011925 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.55 [[ 9.99977399e-01 3.12507379e-03 5.95270033e-03 -4.59119404e+00] [-3.12366496e-03 9.99995091e-01 -2.45953391e-04 -5.43538341e+00] [-5.95343973e-03 2.27353591e-04 9.99982252e-01 5.46947556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60165253199999 meters 0.1711703103185513 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.55 [[ 9.99981084e-01 3.01890823e-03 5.35892537e-03 -4.58940384e+00] [-3.02056454e-03 9.99995393e-01 3.01006971e-04 -5.43891766e+00] [-5.35799197e-03 -3.17188257e-04 9.99985596e-01 5.46552262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66165253199999 meters 0.1604605419992448 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.55 [[ 9.99987842e-01 -1.39330913e-03 4.73016384e-03 -4.58748075e+00] [ 1.40833323e-03 9.99993970e-01 -3.17438861e-03 -5.44271950e+00] [-4.72571242e-03 3.18101166e-03 9.99983774e-01 5.46175280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721652532 meters 0.15703196038044942 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.55 [[ 9.99989577e-01 -1.24510326e-03 4.39258018e-03 -4.58662812e+00] [ 1.25560296e-03 9.99996360e-01 -2.38837933e-03 -5.44584651e+00] [-4.38959041e-03 2.39386977e-03 9.99987500e-01 5.46236599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781652532 meters 0.16023122656890032 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.55 [[ 9.99989001e-01 -7.73693734e-04 4.62602915e-03 -4.58751583e+00] [ 7.81171147e-04 9.99998391e-01 -1.61478996e-03 -5.44788010e+00] [-4.62477235e-03 1.61838592e-03 9.99987996e-01 5.46783348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84165253199998 meters 0.1525708514749881 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.55 [[ 9.99992647e-01 -6.12054461e-04 3.78574101e-03 -4.58576852e+00] [ 6.12871238e-04 9.99999789e-01 -2.14594684e-04 -5.45326454e+00] [-3.78560887e-03 2.16913278e-04 9.99992811e-01 5.47614794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90165253199999 meters 0.1655825138899596 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.55 [[ 9.99983065e-01 -4.67685281e-03 3.46355440e-03 -4.58470662e+00] [ 4.68897253e-03 9.99982884e-01 -3.49939904e-03 -5.45814763e+00] [-3.44712894e-03 3.51558029e-03 9.99987879e-01 5.47432812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96165253199999 meters 0.1713138533688594 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.55 [[ 9.99986478e-01 -4.55392479e-03 2.51100349e-03 -4.58259793e+00] [ 4.55797166e-03 9.99988319e-01 -1.60829094e-03 -5.46492764e+00] [-2.50365012e-03 1.61971428e-03 9.99995554e-01 5.48263434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02165253199999 meters 0.15449110608920105 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99987245e-01 -4.81991322e-03 1.50955944e-03 -4.57987628e+00] [ 4.82076148e-03 9.99988224e-01 -5.58789216e-04 -5.47030296e+00] [-1.50684835e-03 5.66059315e-04 9.99998704e-01 5.47982940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08165253199999 meters 0.14534021463414024 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99989339e-01 -4.45911100e-03 1.19961827e-03 -4.57930693e+00] [ 4.45808864e-03 9.99989698e-01 8.53563598e-04 -5.47533761e+00] [-1.20341205e-03 -8.48206493e-04 9.99998916e-01 5.48618235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141652532 meters 0.14231682623630978 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99991139e-01 -4.13262018e-03 8.02516933e-04 -4.57884737e+00] [ 4.13101468e-03 9.99989483e-01 1.99204149e-03 -5.47924818e+00] [-8.10740844e-04 -1.98870863e-03 9.99997694e-01 5.49732266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20165253199998 meters 0.14745114404196633 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99993527e-01 -3.52411905e-03 7.24948494e-04 -4.57922861e+00] [ 3.52172546e-03 9.99988429e-01 3.27694558e-03 -5.48367431e+00] [-7.36488452e-04 -3.27437130e-03 9.99994368e-01 5.50776039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26165253199999 meters 0.137485056950516 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99992135e-01 -3.90198278e-03 7.10021991e-04 -4.57841814e+00] [ 3.90005522e-03 9.99988760e-01 2.69622123e-03 -5.48285022e+00] [-7.20534619e-04 -2.69343090e-03 9.99996113e-01 5.49437467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32165253199999 meters 0.14478766945876692 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99992276e-01 -3.84288881e-03 8.24567145e-04 -4.57894649e+00] [ 3.84070116e-03 9.99989144e-01 2.63847366e-03 -5.48216142e+00] [-8.34697554e-04 -2.63528637e-03 9.99996179e-01 5.49785657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38165253199999 meters 0.1441808641585848 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99992459e-01 -3.74365149e-03 1.03262955e-03 -4.57976605e+00] [ 3.74097006e-03 9.99989657e-01 2.58653013e-03 -5.48128004e+00] [-1.04230194e-03 -2.58264758e-03 9.99996122e-01 5.50231784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44165253199999 meters 0.1442487895032111 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99992431e-01 -3.58250452e-03 1.51772268e-03 -4.58133730e+00] [ 3.57899241e-03 9.99990926e-01 2.31049964e-03 -5.47901637e+00] [-1.52598628e-03 -2.30505023e-03 9.99996179e-01 5.50745049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501652532 meters 0.14510919212411266 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99991529e-01 -3.63608277e-03 1.92882178e-03 -4.58232003e+00] [ 3.63281300e-03 9.99991963e-01 1.69601692e-03 -5.47654151e+00] [-1.93497314e-03 -1.68899550e-03 9.99996702e-01 5.50693542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561652532 meters 0.14889690542821096 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99991527e-01 -3.45561288e-03 2.23710362e-03 -4.58371867e+00] [ 3.45209752e-03 9.99992804e-01 1.57334620e-03 -5.47474707e+00] [-2.24252440e-03 -1.56561017e-03 9.99996260e-01 5.51771464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62165253199998 meters 0.15313349178617508 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99990947e-01 -3.61572178e-03 2.24313915e-03 -4.58390578e+00] [ 3.61290362e-03 9.99992681e-01 1.25912594e-03 -5.47328982e+00] [-2.24767538e-03 -1.25101029e-03 9.99996691e-01 5.52064075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68165253199999 meters 0.15705656708211663 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99997112e-01 3.89569308e-04 2.37155670e-03 -4.58397948e+00] [-4.00870380e-04 9.99988559e-01 4.76664588e-03 -5.47067180e+00] [-2.36967263e-03 -4.76758281e-03 9.99985827e-01 5.51548208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74165253199999 meters 0.15002763367647073 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99995863e-01 3.30564074e-04 2.85722849e-03 -4.58526494e+00] [-3.41984554e-04 9.99991952e-01 3.99748450e-03 -5.46742460e+00] [-2.85588407e-03 -3.99844509e-03 9.99987928e-01 5.51628981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80165253199999 meters 0.1575474132626056 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99995237e-01 2.69133440e-04 3.07476903e-03 -4.58591170e+00] [-2.80242939e-04 9.99993433e-01 3.61325724e-03 -5.46583808e+00] [-3.07377639e-03 -3.61410171e-03 9.99988745e-01 5.51811862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861652532 meters 0.15048131968701436 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99994277e-01 4.56221584e-04 3.35216942e-03 -4.58711442e+00] [-4.68244088e-04 9.99993459e-01 3.58657551e-03 -5.46472576e+00] [-3.35051122e-03 -3.58812462e-03 9.99987950e-01 5.52684267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921652532 meters 0.16447114129880966 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99996525e-01 -2.58030283e-04 2.62351949e-03 -4.58444999e+00] [ 2.49736885e-04 9.99994973e-01 3.16100921e-03 -5.46530692e+00] [-2.62432194e-03 -3.16034303e-03 9.99991563e-01 5.51306308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98165253199998 meters 0.16224396793662801 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99995714e-01 1.51773569e-04 2.92375944e-03 -4.58575409e+00] [-1.62215843e-04 9.99993609e-01 3.57161715e-03 -5.46561295e+00] [-2.92319867e-03 -3.57207612e-03 9.99989348e-01 5.52222864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041652532 meters 0.15874722050842585 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99996638e-01 -1.66503532e-04 2.58753926e-03 -4.58450596e+00] [ 1.57645795e-04 9.99994129e-01 3.42305511e-03 -5.46612770e+00] [-2.58809402e-03 -3.42263569e-03 9.99990794e-01 5.51620374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101652532 meters 0.15504366107926534 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99996521e-01 1.25446976e-04 2.63495830e-03 -4.58509644e+00] [-1.35743504e-04 9.99992355e-01 3.90784719e-03 -5.46729641e+00] [-2.63444793e-03 -3.90819127e-03 9.99988893e-01 5.52482435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161652532 meters 0.16844412253052263 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99997125e-01 9.19158881e-05 2.39630454e-03 -4.58434391e+00] [-1.01776783e-04 9.99991527e-01 4.11524546e-03 -5.46863545e+00] [-2.39590598e-03 -4.11547752e-03 9.99988661e-01 5.52308202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221652532 meters 0.15979161355786572 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99997316e-01 3.53981728e-05 2.31666128e-03 -4.58428229e+00] [-4.49578572e-05 9.99991485e-01 4.12657007e-03 -5.46851086e+00] [-2.31649548e-03 -4.12666314e-03 9.99988802e-01 5.52607105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281652532 meters 0.15862361469628608 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99996959e-01 1.98088950e-05 2.46592042e-03 -4.58470611e+00] [-2.95419273e-05 9.99992210e-01 3.94704415e-03 -5.46778177e+00] [-2.46582302e-03 -3.94710500e-03 9.99989170e-01 5.52681557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341652532 meters 0.1643920452383474 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99996377e-01 3.11472829e-04 2.67383348e-03 -4.58576850e+00] [-3.22841635e-04 9.99990906e-01 4.25249711e-03 -5.46802218e+00] [-2.67248463e-03 -4.25334493e-03 9.99987383e-01 5.53624713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401652532 meters 0.15907114433005226 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99997720e-01 -2.01175787e-05 2.13539334e-03 -4.58417290e+00] [ 1.11921588e-05 9.99991265e-01 4.17968416e-03 -5.46857513e+00] [-2.13545877e-03 -4.17965073e-03 9.99988985e-01 5.53340092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46165253200002 meters 0.16562648070684524 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.55 [[ 9.99996417e-01 -3.34672078e-04 2.65601411e-03 -4.58476427e+00] [ 3.26800947e-04 9.99995556e-01 2.96339363e-03 -5.46486608e+00] [-2.65699407e-03 -2.96251502e-03 9.99992082e-01 5.51931062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.521652532 meters 0.15708890586734175 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99996801e-01 -2.10874882e-04 2.52062066e-03 -4.58469612e+00] [ 2.02656130e-04 9.99994664e-01 3.26041732e-03 -5.46576274e+00] [-2.52129475e-03 -3.25989607e-03 9.99991508e-01 5.52435692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581652532 meters 0.16307487505300514 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99997492e-01 -4.03735519e-04 2.20296094e-03 -4.58366782e+00] [ 3.96776956e-04 9.99994934e-01 3.15825521e-03 -5.46602510e+00] [-2.20422488e-03 -3.15737320e-03 9.99992586e-01 5.52089625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.641652532 meters 0.17284163136077238 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99997414e-01 -6.70852467e-04 2.17282986e-03 -4.58311317e+00] [ 6.64835557e-04 9.99995946e-01 2.76869806e-03 -5.46542102e+00] [-2.17467844e-03 -2.76724633e-03 9.99993807e-01 5.51301378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701652532 meters 0.16350142381112964 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.55 [[ 9.99997134e-01 -7.71628448e-04 2.26643401e-03 -4.58340017e+00] [ 7.66160952e-04 9.99996797e-01 2.41225650e-03 -5.46400353e+00] [-2.26828812e-03 -2.41051313e-03 9.99994522e-01 5.51340683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761652532 meters 0.1611379129628615 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99998147e-01 -7.97462072e-04 1.75236233e-03 -4.58255535e+00] [ 7.92430807e-04 9.99995568e-01 2.86995420e-03 -5.46558069e+00] [-1.75464324e-03 -2.86856026e-03 9.99994346e-01 5.52189088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821652532 meters 0.16308313364530339 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99998165e-01 -1.06397992e-03 1.59327040e-03 -4.58171229e+00] [ 1.05990636e-03 9.99996173e-01 2.55539316e-03 -5.46525249e+00] [-1.59598319e-03 -2.55369975e-03 9.99995466e-01 5.51415625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881652532 meters 0.16187010431049823 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.55 [[ 9.99997436e-01 -1.50157845e-03 1.69485072e-03 -4.58122285e+00] [ 1.49853358e-03 9.99997264e-01 1.79638765e-03 -5.46336099e+00] [-1.69754350e-03 -1.79384326e-03 9.99996950e-01 5.50124921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941652532 meters 0.16646547298517825 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99998044e-01 -1.34900280e-03 1.44612020e-03 -4.58069279e+00] [ 1.34550259e-03 9.99996170e-01 2.41865790e-03 -5.46597436e+00] [-1.44937744e-03 -2.41670741e-03 9.99996029e-01 5.50431997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001652532 meters 0.15944155279793343 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99998436e-01 -1.30415306e-03 1.19467520e-03 -4.58004807e+00] [ 1.30060902e-03 9.99994766e-01 2.96252285e-03 -5.46797747e+00] [-1.19853253e-03 -2.96096441e-03 9.99994898e-01 5.50443800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061652532 meters 0.15943482318714622 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99998384e-01 -1.51461910e-03 9.68900295e-04 -4.57894372e+00] [ 1.51166946e-03 9.99994243e-01 3.03783767e-03 -5.46923188e+00] [-9.73495884e-04 -3.03636810e-03 9.99994916e-01 5.49616417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121652532 meters 0.16241602986564832 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99983236e-01 -5.68459036e-03 1.10151285e-03 -4.57911543e+00] [ 5.68568051e-03 9.99983347e-01 -9.89090215e-04 -5.47037485e+00] [-1.09587194e-03 9.95336484e-04 9.99998904e-01 5.49370455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18165253200002 meters 0.15166887597747353 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99984345e-01 -5.50001388e-03 1.02976674e-03 -4.57894519e+00] [ 5.50042671e-03 9.99984793e-01 -3.98496207e-04 -5.47257495e+00] [-1.02755935e-03 4.04154125e-04 9.99999390e-01 5.49466528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24165253200002 meters 0.15155234911637702 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99987073e-01 -5.01727884e-03 8.24727548e-04 -4.57897078e+00] [ 5.01660663e-03 9.99987085e-01 8.15123523e-04 -5.47621280e+00] [-8.28806599e-04 -8.10975652e-04 9.99999328e-01 5.50523717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.301652532 meters 0.15024340082889828 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99987826e-01 -4.89459402e-03 6.25529124e-04 -4.57851712e+00] [ 4.89368399e-03 9.99986977e-01 1.44816034e-03 -5.47857134e+00] [-6.32609135e-04 -1.44508157e-03 9.99998756e-01 5.50711547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.361652532 meters 0.1451180129880466 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99988164e-01 -4.85130185e-03 3.70870593e-04 -4.57787251e+00] [ 4.85057469e-03 9.99986360e-01 1.93706912e-03 -5.48059256e+00] [-3.80262841e-04 -1.93524726e-03 9.99998055e-01 5.50775038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421652532 meters 0.14328127622273668 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99990013e-01 -4.33504407e-03 1.08657232e-03 -4.58037834e+00] [ 4.33269650e-03 9.99988295e-01 2.15365264e-03 -5.47960026e+00] [-1.09589578e-03 -2.14892334e-03 9.99997091e-01 5.51849353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481652532 meters 0.14307087451387926 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99992013e-01 -3.86277938e-03 1.02609325e-03 -4.58102036e+00] [ 3.85962949e-03 9.99987887e-01 3.05422581e-03 -5.48177968e+00] [-1.03787862e-03 -3.05024108e-03 9.99994809e-01 5.53260607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541652532 meters 0.14315994304516225 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99991338e-01 -4.04668002e-03 9.73818123e-04 -4.58066629e+00] [ 4.04397975e-03 9.99988017e-01 2.75904317e-03 -5.48127114e+00] [-9.84971418e-04 -2.75508117e-03 9.99995720e-01 5.52835888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601652532 meters 0.1476984987319284 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99992138e-01 -3.47794027e-03 1.90450133e-03 -4.58372804e+00] [ 3.47288059e-03 9.99990449e-01 2.65358940e-03 -5.47842210e+00] [-1.91371217e-03 -2.64695443e-03 9.99994666e-01 5.54034875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661652532 meters 0.1533955383052838 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.48, Z:0.55 [[ 9.99990905e-01 -3.46547070e-03 2.48623806e-03 -4.58516689e+00] [ 3.46032321e-03 9.99991867e-01 2.07171467e-03 -5.47580526e+00] [-2.49339731e-03 -2.06309264e-03 9.99994763e-01 5.53955831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721652532 meters 0.15432083009203207 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.48, Z:0.55 [[ 9.99991106e-01 -3.17693996e-03 2.77392358e-03 -4.58640686e+00] [ 3.17064623e-03 9.99992396e-01 2.27034884e-03 -5.47546525e+00] [-2.78111525e-03 -2.26153352e-03 9.99993575e-01 5.54785849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781652532 meters 0.1621950544282787 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.56 [[ 9.99990176e-01 -3.12669907e-03 3.14177522e-03 -4.58764991e+00] [ 3.12071312e-03 9.99993310e-01 1.90837612e-03 -5.47330176e+00] [-3.14772112e-03 -1.89855280e-03 9.99993244e-01 5.55370724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841652532 meters 0.1568811034484541 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.56 [[ 9.99988515e-01 -3.19094566e-03 3.57595640e-03 -4.58871387e+00] [ 3.18619065e-03 9.99994033e-01 1.33462620e-03 -5.47059264e+00] [-3.58019378e-03 -1.32321719e-03 9.99992716e-01 5.55328142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901652532 meters 0.16016704766843537 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99987427e-01 -3.60137742e-03 3.48928535e-03 -4.58797480e+00] [ 3.59874685e-03 9.99993236e-01 7.59883009e-04 -5.46940282e+00] [-3.49199837e-03 -7.47316400e-04 9.99993624e-01 5.54477098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96165253200002 meters 0.15166277385098054 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99986534e-01 -3.53186467e-03 3.80221214e-03 -4.58890111e+00] [ 3.52978681e-03 9.99993617e-01 5.53060046e-04 -5.46830049e+00] [-3.80414120e-03 -5.39631601e-04 9.99992619e-01 5.54737840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.021652532 meters 0.1537746460275246 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.56 [[ 9.99985904e-01 -3.48181496e-03 4.00854966e-03 -4.59006237e+00] [ 3.48011614e-03 9.99993852e-01 4.30694018e-04 -5.46646099e+00] [-4.01002461e-03 -4.16737729e-04 9.99991873e-01 5.55802847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.081652532 meters 0.15707057494106905 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.56 [[ 9.99989923e-01 6.97282921e-04 4.43483987e-03 -4.59105161e+00] [-7.14230685e-04 9.99992445e-01 3.82107030e-03 -5.46319066e+00] [-4.43214200e-03 -3.82419930e-03 9.99982866e-01 5.55548250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.141652532 meters 0.1749845679587117 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.56 [[ 9.99987057e-01 7.33116939e-04 5.03474669e-03 -4.59233313e+00] [-7.49536062e-04 9.99994405e-01 3.26004938e-03 -5.46118392e+00] [-5.03232852e-03 -3.26378091e-03 9.99982012e-01 5.55232306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201652532 meters 0.1675931462594252 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.56 [[ 9.99987261e-01 8.29919745e-04 4.97876887e-03 -4.59248475e+00] [-8.46857882e-04 9.99993858e-01 3.40093041e-03 -5.46156689e+00] [-4.97591580e-03 -3.40510340e-03 9.99981823e-01 5.55725507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261652532 meters 0.17101471258846448 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99983227e-01 6.06003359e-04 5.76009945e-03 -4.59369066e+00] [-6.19138631e-04 9.99997212e-01 2.27888018e-03 -5.45775385e+00] [-5.75870238e-03 -2.28240826e-03 9.99980814e-01 5.54499748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321652532 meters 0.16586282763665341 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99987300e-01 3.69696266e-04 5.02626375e-03 -4.59186343e+00] [-3.82860572e-04 9.99996499e-01 2.61839380e-03 -5.46003019e+00] [-5.02527814e-03 -2.62028490e-03 9.99983940e-01 5.54558503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381652532 meters 0.16379594926819302 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99988806e-01 3.25376685e-04 4.72043694e-03 -4.59118909e+00] [-3.38455330e-04 9.99996106e-01 2.77010867e-03 -5.46082015e+00] [-4.71951723e-03 -2.77167532e-03 9.99985022e-01 5.54784236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441652532 meters 0.16724397676637065 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.56 [[ 9.99974871e-01 4.64487072e-03 5.35552341e-03 -4.59299944e+00] [-4.67883441e-03 9.99968913e-01 6.34681534e-03 -5.45684937e+00] [-5.32587678e-03 -6.37171346e-03 9.99965518e-01 5.55142763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501652532 meters 0.16513474550961124 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.56 [[ 9.99973425e-01 4.68891290e-03 5.58246280e-03 -4.59392560e+00] [-4.72322258e-03 9.99969942e-01 6.14873820e-03 -5.45557038e+00] [-5.55346410e-03 -6.17494201e-03 9.99965514e-01 5.55749264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561652532 meters 0.1671888337844671 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.56 [[ 9.99971186e-01 4.79094357e-03 5.88847989e-03 -4.59497856e+00] [-4.82531645e-03 9.99971322e-01 5.83703076e-03 -5.45402944e+00] [-5.86034614e-03 -5.86527636e-03 9.99965627e-01 5.56183749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621652532 meters 0.17121739424051477 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.45, Z:0.56 [[ 9.99978700e-01 4.31594757e-04 6.51262296e-03 -4.59629465e+00] [-4.37022413e-04 9.99999558e-01 8.32005379e-04 -5.45143937e+00] [-6.51226099e-03 -8.34833819e-04 9.99978447e-01 5.55813976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68165253200002 meters 0.1816879064425944 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.45, Z:0.56 [[ 9.99968669e-01 4.25352618e-03 6.67601576e-03 -4.59652295e+00] [-4.28006126e-03 9.99982978e-01 3.96544771e-03 -5.44713096e+00] [-6.65903498e-03 -3.99389722e-03 9.99969853e-01 5.55316047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74165253200002 meters 0.1624385781544001 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.55 [[ 9.99970987e-01 3.65450630e-03 6.68356506e-03 -4.59576953e+00] [-3.67372134e-03 9.99989148e-01 2.86495557e-03 -5.44437656e+00] [-6.67302253e-03 -2.88942601e-03 9.99973561e-01 5.53981083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.801652532 meters 0.17245754860475532 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.55 [[ 9.99971484e-01 3.63321645e-03 6.62045756e-03 -4.59585081e+00] [-3.65176502e-03 9.99989435e-01 2.79177374e-03 -5.44387786e+00] [-6.61024450e-03 -2.81587049e-03 9.99974187e-01 5.54367001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.861652532 meters 0.16722579869039805 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.55 [[ 9.99971105e-01 3.05167625e-03 6.96250093e-03 -4.59593136e+00] [-3.06034892e-03 9.99994554e-01 1.23531299e-03 -5.43917512e+00] [-6.95869324e-03 -1.25658498e-03 9.99974998e-01 5.52771039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921652532 meters 0.18217389603110712 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.55 [[ 9.99973675e-01 -1.24165175e-03 7.14891097e-03 -4.59636018e+00] [ 1.26472989e-03 9.99994001e-01 -3.22458780e-03 -5.43869437e+00] [-7.14486427e-03 3.23354435e-03 9.99969247e-01 5.52683502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981652532 meters 0.18101350918353937 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.55 [[ 9.99972541e-01 -1.28802737e-03 7.29778703e-03 -4.59673462e+00] [ 1.31334592e-03 9.99993132e-01 -3.46561725e-03 -5.43749959e+00] [-7.29327310e-03 3.47510661e-03 9.99967365e-01 5.52590482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041652532 meters 0.18286244030582427 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.55 [[ 9.99968206e-01 2.96202535e-03 7.40362116e-03 -4.59738963e+00] [-2.96681357e-03 9.99995397e-01 6.35840983e-04 -5.43595132e+00] [-7.40170371e-03 -6.57785931e-04 9.99972391e-01 5.53208933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101652532 meters 0.17818325474336355 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99966359e-01 2.94410929e-03 7.65597596e-03 -4.59816911e+00] [-2.94633856e-03 9.99995620e-01 2.79917813e-04 -5.43424396e+00] [-7.65511833e-03 -3.02465494e-04 9.99970653e-01 5.53390530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161652532 meters 0.18100680754613258 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99958480e-01 3.04202164e-03 8.58978971e-03 -4.60046771e+00] [-3.03714849e-03 9.99995219e-01 -5.80305852e-04 -5.42995995e+00] [-8.59151395e-03 5.54193290e-04 9.99962939e-01 5.53481845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221652532 meters 0.1704760981068935 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99956309e-01 2.60874172e-03 8.97636085e-03 -4.60075283e+00] [-2.59353730e-03 9.99995183e-01 -1.70505236e-03 -5.42665645e+00] [-8.98076565e-03 1.68169734e-03 9.99958258e-01 5.52193507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281652532 meters 0.18562437535372947 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99957455e-01 2.12351752e-03 8.97660271e-03 -4.59993811e+00] [-2.10093706e-03 9.99994607e-01 -2.52416112e-03 -5.42497513e+00] [-8.98191440e-03 2.50519445e-03 9.99956524e-01 5.50769734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341652532 meters 0.17623958616052057 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99956741e-01 2.00807926e-03 9.08208372e-03 -4.60012541e+00] [-1.98333805e-03 9.99994300e-01 -2.73236436e-03 -5.42398501e+00] [-9.08751876e-03 2.71423332e-03 9.99955024e-01 5.50541794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401652532 meters 0.18045050437445437 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99956327e-01 2.01480921e-03 9.12604993e-03 -4.60057425e+00] [-1.98974716e-03 9.99994227e-01 -2.75445832e-03 -5.42306833e+00] [-9.13154695e-03 2.73617950e-03 9.99954563e-01 5.51033395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46165253200002 meters 0.1763793119284967 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99938616e-01 6.16279218e-03 9.20780901e-03 -4.60065835e+00] [-6.17530976e-03 9.99980046e-01 1.33163993e-03 -5.42235530e+00] [-9.19941866e-03 -1.38841926e-03 9.99956721e-01 5.50914042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.521652532 meters 0.16995373306141523 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99956885e-01 1.82070450e-03 9.10565035e-03 -4.60019162e+00] [-1.79429964e-03 9.99994164e-01 -2.90716219e-03 -5.42302573e+00] [-9.11089029e-03 2.89069858e-03 9.99954317e-01 5.50511230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.581652532 meters 0.17316347432073687 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99951005e-01 1.48584031e-03 9.78676470e-03 -4.60107864e+00] [-1.44689762e-03 9.99991013e-01 -3.98499683e-03 -5.41960519e+00] [-9.79259781e-03 3.97064114e-03 9.99944168e-01 5.49170703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.641652532 meters 0.18908103476437432 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99958066e-01 1.43445737e-03 9.04483682e-03 -4.59958927e+00] [-1.40421815e-03 9.99993407e-01 -3.34872311e-03 -5.42216935e+00] [-9.04958079e-03 3.33588176e-03 9.99953487e-01 5.49660537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701652532 meters 0.18785730071948453 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99940436e-01 5.46341632e-03 9.44854124e-03 -4.60016771e+00] [-5.46480953e-03 9.99985060e-01 1.21640500e-04 -5.41926466e+00] [-9.44773551e-03 -1.73267733e-04 9.99955354e-01 5.48880149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761652532 meters 0.16875767104158682 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99945585e-01 5.49532683e-03 8.86730266e-03 -4.59914897e+00] [-5.50209686e-03 9.99984590e-01 7.39268392e-04 -5.42171572e+00] [-8.86310349e-03 -7.88016923e-04 9.99960411e-01 5.49687554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821652532 meters 0.18436891915983558 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99937307e-01 5.54080533e-03 9.73040325e-03 -4.60094769e+00] [-5.54024637e-03 9.99984649e-01 -8.43990924e-05 -5.41854017e+00] [-9.73072152e-03 3.04849699e-05 9.99952655e-01 5.49231314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881652532 meters 0.1893113110823139 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99934735e-01 5.74744724e-03 9.87387072e-03 -4.60183346e+00] [-5.75016042e-03 9.99983437e-01 2.46416823e-04 -5.41873618e+00] [-9.87229092e-03 -3.03177081e-04 9.99951222e-01 5.50183179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941652532 meters 0.1799808617028507 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99934157e-01 5.66690165e-03 9.97835280e-03 -4.60192482e+00] [-5.66784999e-03 9.99983935e-01 6.67638940e-05 -5.41836732e+00] [-9.97781416e-03 -1.23315305e-04 9.99950213e-01 5.49979791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001652532 meters 0.21001256558979853 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99936025e-01 5.46138421e-03 9.90555420e-03 -4.60142525e+00] [-5.46033100e-03 9.99985083e-01 -1.33366797e-04 -5.41829447e+00] [-9.90613481e-03 7.92706599e-05 9.99950930e-01 5.49473916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061652532 meters 0.17503394943265516 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99950456e-01 1.11299177e-03 9.89172468e-03 -4.60111153e+00] [-1.06886437e-03 9.99989460e-01 -4.46521035e-03 -5.41874809e+00] [-9.89659016e-03 4.45441622e-03 9.99941106e-01 5.48983940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121652532 meters 0.1807350213775763 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99949772e-01 1.12077035e-03 9.95982648e-03 -4.60121350e+00] [-1.07689613e-03 9.99989699e-01 -4.40939125e-03 -5.41897320e+00] [-9.96466579e-03 4.39844407e-03 9.99940678e-01 5.48913388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18165253200002 meters 0.17705761392777794 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99953935e-01 1.65968036e-03 9.45371795e-03 -4.60079191e+00] [-1.63336968e-03 9.99994774e-01 -2.79014496e-03 -5.42401218e+00] [-9.45829929e-03 2.77457502e-03 9.99951420e-01 5.50548109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24165253200002 meters 0.18424768160371705 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99956855e-01 1.84902423e-03 9.10323671e-03 -4.60009828e+00] [-1.83202161e-03 9.99996563e-01 -1.87574050e-03 -5.42722704e+00] [-9.10667371e-03 1.85898225e-03 9.99956805e-01 5.50992683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301652532 meters 0.16741223837356983 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99960415e-01 1.75782222e-03 8.72231847e-03 -4.59867533e+00] [-1.74530963e-03 9.99997437e-01 -1.44195318e-03 -5.42994841e+00] [-8.72483082e-03 1.42667296e-03 9.99960920e-01 5.50307778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361652532 meters 0.17169872175919168 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99966644e-01 1.73806184e-03 7.98059739e-03 -4.59673240e+00] [-1.73367027e-03 9.99998342e-01 -5.57165157e-04 -5.43451025e+00] [-7.98155255e-03 5.43310847e-04 9.99967999e-01 5.50315195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421652532 meters 0.16660076437142002 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.55 [[ 9.99965895e-01 -2.37943027e-03 7.90866259e-03 -4.59630350e+00] [ 2.41275352e-03 9.99988241e-01 -4.20664524e-03 -5.43742312e+00] [-7.89856018e-03 4.22558342e-03 9.99959878e-01 5.50016150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481652532 meters 0.16469481847557071 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.44, Z:0.55 [[ 9.99969071e-01 -2.11746363e-03 7.57450776e-03 -4.59583914e+00] [ 2.14202328e-03 9.99992471e-01 -3.23576738e-03 -5.44056780e+00] [-7.56759911e-03 3.25189207e-03 9.99966078e-01 5.50679433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541652532 meters 0.16230745043713016 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.55 [[ 9.99977283e-01 -1.68189910e-03 6.52723890e-03 -4.59400721e+00] [ 1.68594353e-03 9.99998390e-01 -6.14170638e-04 -5.44902478e+00] [-6.52619542e-03 6.25161242e-04 9.99978509e-01 5.52974482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601652532 meters 0.15909195062720935 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99984372e-01 -2.04246658e-03 5.20425613e-03 -4.59076055e+00] [ 2.03831531e-03 9.99997600e-01 8.02848428e-04 -5.45636528e+00] [-5.20588343e-03 -7.92227967e-04 9.99986135e-01 5.53119638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661652532 meters 0.1598232189917263 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99984173e-01 -1.83489259e-03 5.31857633e-03 -4.59132951e+00] [ 1.82880215e-03 9.99997667e-01 1.14976357e-03 -5.45700910e+00] [-5.32067362e-03 -1.14001875e-03 9.99985195e-01 5.53624508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721652532 meters 0.15120552349111102 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99985918e-01 -1.59820756e-03 5.06053592e-03 -4.59071211e+00] [ 1.58836384e-03 9.99996840e-01 1.94861575e-03 -5.46061014e+00] [-5.06363422e-03 -1.94055034e-03 9.99985297e-01 5.53801747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781652532 meters 0.16596874452428811 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99988983e-01 -1.35766459e-03 4.49350312e-03 -4.58941869e+00] [ 1.34383077e-03 9.99994353e-01 3.08021771e-03 -5.46582514e+00] [-4.49765965e-03 -3.07414526e-03 9.99985160e-01 5.54096078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841652532 meters 0.14677041250987477 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99991044e-01 -1.77072657e-03 3.84392945e-03 -4.58720443e+00] [ 1.75822812e-03 9.99993165e-01 3.25242544e-03 -5.46830930e+00] [-3.84966233e-03 -3.24563781e-03 9.99987323e-01 5.53132769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901652532 meters 0.15857974773019276 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99992318e-01 -1.68551165e-03 3.53885604e-03 -4.58644754e+00] [ 1.67159609e-03 9.99990874e-01 3.93150252e-03 -5.47115103e+00] [-3.54545034e-03 -3.92555678e-03 9.99986010e-01 5.53236850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96165253200002 meters 0.16385891797086508 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99993732e-01 -2.02306412e-03 2.90570523e-03 -4.58433456e+00] [ 2.01081093e-03 9.99989101e-01 4.21369168e-03 -5.47412770e+00] [-2.91419813e-03 -4.20782245e-03 9.99986901e-01 5.52373363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.021652532 meters 0.14879055785719808 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99994675e-01 -2.44839511e-03 2.15769002e-03 -4.58190811e+00] [ 2.43877986e-03 9.99987135e-01 4.44769078e-03 -5.47712340e+00] [-2.16855197e-03 -4.44240497e-03 9.99987781e-01 5.51307759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.081652532 meters 0.15308166641045973 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99994356e-01 -2.49330981e-03 2.25178833e-03 -4.58206726e+00] [ 2.48365679e-03 9.99987759e-01 4.27949749e-03 -5.47657820e+00] [-2.26243088e-03 -4.27388067e-03 9.99988308e-01 5.51202333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.141652532 meters 0.15101338773842984 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99994129e-01 -2.58927948e-03 2.24430956e-03 -4.58187501e+00] [ 2.57985415e-03 9.99987884e-01 4.19242691e-03 -5.47668790e+00] [-2.25513773e-03 -4.18661231e-03 9.99988693e-01 5.50966191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201652532 meters 0.156916829172908 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99994432e-01 -2.66936983e-03 2.00242435e-03 -4.58107373e+00] [ 2.66075288e-03 9.99987242e-01 4.29365131e-03 -5.47779713e+00] [-2.01386015e-03 -4.28829945e-03 9.99988777e-01 5.50694399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261652532 meters 0.161249647670726 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99992971e-01 -3.01704864e-03 2.22594394e-03 -4.58124974e+00] [ 3.00950861e-03 9.99989749e-01 3.38294995e-03 -5.47475374e+00] [-2.23612765e-03 -3.37622717e-03 9.99991800e-01 5.49999633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321652532 meters 0.1601542436086572 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99991290e-01 -3.28240438e-03 2.57783412e-03 -4.58200053e+00] [ 3.27619928e-03 9.99991735e-01 2.40764402e-03 -5.47095602e+00] [-2.58571568e-03 -2.39917755e-03 9.99993779e-01 5.49709050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381652532 meters 0.1623582308794213 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99990246e-01 -3.49192256e-03 2.70467788e-03 -4.58221510e+00] [ 3.48717579e-03 9.99992375e-01 1.75775556e-03 -5.46862990e+00] [-2.71079520e-03 -1.74830672e-03 9.99994797e-01 5.49433173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441652532 meters 0.1666069342840562 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.55 [[ 9.99989310e-01 -3.24022740e-03 3.29856502e-03 -4.58449297e+00] [ 3.23585411e-03 9.99993880e-01 1.33029121e-03 -5.46485605e+00] [-3.30285528e-03 -1.31960331e-03 9.99993675e-01 5.50744364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501652532 meters 0.16583673760470372 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99987741e-01 -3.36931748e-03 3.62831658e-03 -4.58544508e+00] [ 3.36734672e-03 9.99994180e-01 5.49132142e-04 -5.46152530e+00] [-3.63014566e-03 -5.36907611e-04 9.99993267e-01 5.50905018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561652532 meters 0.1605390081272686 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99992142e-01 4.48245864e-04 3.93892962e-03 -4.58619589e+00] [-4.61432327e-04 9.99994291e-01 3.34745667e-03 -5.45593788e+00] [-3.93740665e-03 -3.34924791e-03 9.99986640e-01 5.50623180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621652532 meters 0.1743638110140522 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.55 [[ 9.99987834e-01 4.66055017e-04 4.91059681e-03 -4.58878573e+00] [-4.75052521e-04 9.99998210e-01 1.83125572e-03 -5.44975090e+00] [-4.90973455e-03 -1.83356624e-03 9.99986266e-01 5.50710213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68165253200002 meters 0.1800278182818264 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.55 [[ 9.99982943e-01 8.43317832e-04 5.77945553e-03 -4.59178935e+00] [-8.51006659e-04 9.99998756e-01 1.32804217e-03 -5.44539185e+00] [-5.77832838e-03 -1.33293787e-03 9.99982417e-01 5.52155116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74165253200002 meters 0.1943166795993784 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.55 [[ 9.99968922e-01 4.81918248e-03 6.23949054e-03 -4.59303199e+00] [-4.84600136e-03 9.99979055e-01 4.29028815e-03 -5.44027196e+00] [-6.21868417e-03 -4.32039139e-03 9.99971331e-01 5.52169983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801652532 meters 0.1690642931910339 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.55 [[ 9.99965352e-01 4.51141037e-03 6.99578355e-03 -4.59449703e+00] [-4.53011496e-03 9.99986201e-01 2.66015796e-03 -5.43467755e+00] [-6.98368595e-03 -2.69175749e-03 9.99971991e-01 5.51179962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861652532 meters 0.18753779619445843 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99964052e-01 4.09370343e-03 7.42534142e-03 -4.59518891e+00] [-4.10426099e-03 9.99990587e-01 1.40714842e-03 -5.43043053e+00] [-7.41951108e-03 -1.43757337e-03 9.99971442e-01 5.50414231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921652532 meters 0.18768312899522044 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99959266e-01 3.91823803e-03 8.13107815e-03 -4.59672101e+00] [-3.91916976e-03 9.99992315e-01 9.86579775e-05 -5.42593220e+00] [-8.13062910e-03 -1.30521034e-04 9.99966937e-01 5.49926044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981652532 meters 0.18482883450518328 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99953059e-01 3.94465199e-03 8.84987556e-03 -4.59881779e+00] [-3.93744623e-03 9.99991903e-01 -8.31497580e-04 -5.42162277e+00] [-8.85308386e-03 7.96612639e-04 9.99960493e-01 5.50441323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041652532 meters 0.18369258704533387 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99949536e-01 3.74373563e-03 9.32252604e-03 -4.59995771e+00] [-3.72799154e-03 9.99991596e-01 -1.70562724e-03 -5.41789858e+00] [-9.32883312e-03 1.67078687e-03 9.99955090e-01 5.50340377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101652532 meters 0.2088937158443673 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99947674e-01 3.74951896e-03 9.51786224e-03 -4.60067694e+00] [-3.73088421e-03 9.99991090e-01 -1.97487250e-03 -5.41621356e+00] [-9.52518226e-03 1.93925912e-03 9.99952754e-01 5.50666219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161652532 meters 0.20441110380592237 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99948775e-01 3.58354084e-03 9.46598022e-03 -4.60044125e+00] [-3.56240084e-03 9.99991125e-01 -2.24917881e-03 -5.41553041e+00] [-9.47395624e-03 2.21534198e-03 9.99952667e-01 5.50483602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221652532 meters 0.17393137532417688 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99937031e-01 4.06079834e-03 1.04615766e-02 -4.60369687e+00] [-4.03354207e-03 9.99988419e-01 -2.62515251e-03 -5.41087295e+00] [-1.04721156e-02 2.58279000e-03 9.99941830e-01 5.51814864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281652532 meters 0.20073611631765328 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99937626e-01 4.05105223e-03 1.04083391e-02 -4.60368537e+00] [-4.02277239e-03 9.99988164e-01 -2.73653739e-03 -5.41045216e+00] [-1.04193018e-02 2.69449633e-03 9.99942087e-01 5.52015985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341652532 meters 0.19024424712328755 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99935039e-01 4.00060513e-03 1.06729959e-02 -4.60456603e+00] [-3.96624696e-03 9.99986891e-01 -3.23839524e-03 -5.40789894e+00] [-1.06858115e-02 3.19585314e-03 9.99937798e-01 5.52253305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401652532 meters 0.19024424712328755 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99935039e-01 4.00060513e-03 1.06729959e-02 -4.60456603e+00] [-3.96624696e-03 9.99986891e-01 -3.23839524e-03 -5.40789894e+00] [-1.06858115e-02 3.19585314e-03 9.99937798e-01 5.52253305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46165253200002 meters 0.19145710894268134 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99936879e-01 3.66435437e-03 1.06212017e-02 -4.60409575e+00] [-3.62410577e-03 9.99986189e-01 -3.80623089e-03 -5.40618044e+00] [-1.06350024e-02 3.76749828e-03 9.99936349e-01 5.51606827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.521652532 meters 0.18866569497035426 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99936210e-01 3.53967640e-03 1.07260217e-02 -4.60423096e+00] [-3.49537774e-03 9.99985297e-01 -4.14595397e-03 -5.40497617e+00] [-1.07405394e-02 4.10819800e-03 9.99933880e-01 5.51321545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581652532 meters 0.1852273134593631 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.40, Z:0.55 [[ 9.99931962e-01 3.64638631e-03 1.10804432e-02 -4.60532452e+00] [-3.59857521e-03 9.99984143e-01 -4.33178692e-03 -5.40356090e+00] [-1.10960629e-02 4.29161838e-03 9.99929227e-01 5.51545910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641652532 meters 0.1779571802592116 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.40, Z:0.55 [[ 9.99932163e-01 3.75745307e-03 1.10250166e-02 -4.60543003e+00] [-3.71268573e-03 9.99984792e-01 -4.07818417e-03 -5.40408634e+00] [-1.10401725e-02 4.03697509e-03 9.99930906e-01 5.51938527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701652532 meters 0.1952590333333987 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.56 [[ 9.99970575e-01 5.90510562e-03 -4.89689311e-03 -4.60235198e+00] [-5.90714085e-03 9.99982472e-01 -4.01257984e-04 -5.40584439e+00] [ 4.89443780e-03 4.30172814e-04 9.99987930e-01 5.55965520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761652532 meters 0.1829235679960185 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.56 [[ 9.99971603e-01 5.63521095e-03 -5.00376341e-03 -4.60156435e+00] [-5.63879287e-03 9.99983855e-01 -7.02026616e-04 -5.40562475e+00] [ 4.99972656e-03 7.30221866e-04 9.99987235e-01 5.55045672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821652532 meters 0.17005166138782568 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.56 [[ 9.99970728e-01 5.79176212e-03 -4.99983524e-03 -4.60165085e+00] [-5.79365375e-03 9.99983150e-01 -3.63936327e-04 -5.40687996e+00] [ 4.99764317e-03 3.92892988e-04 9.99987435e-01 5.55149573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881652532 meters 0.1747756252694727 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99972643e-01 5.52491326e-03 -4.91828449e-03 -4.60154566e+00] [-5.52904075e-03 9.99984374e-01 -8.26011642e-04 -5.40564369e+00] [ 4.91364400e-03 8.53182440e-04 9.99987564e-01 5.54601429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941652532 meters 0.17643462534912344 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99975120e-01 5.17682036e-03 -4.79168878e-03 -4.60121588e+00] [-5.18343475e-03 9.99985629e-01 -1.36899961e-03 -5.40451106e+00] [ 4.78453285e-03 1.39380295e-03 9.99987583e-01 5.53545158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001652532 meters 0.17658932553475054 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99976690e-01 5.28360428e-03 -4.32458331e-03 -4.60241891e+00] [-5.29028904e-03 9.99984827e-01 -1.53578124e-03 -5.40341315e+00] [ 4.31640323e-03 1.55862373e-03 9.99989470e-01 5.53605627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061652532 meters 0.1826886091329996 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99976783e-01 5.29464216e-03 -4.28961106e-03 -4.60230479e+00] [-5.30085041e-03 9.99984918e-01 -1.43720067e-03 -5.40424561e+00] [ 4.28193690e-03 1.45990589e-03 9.99989767e-01 5.53322371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121652532 meters 0.17796777842388756 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99977395e-01 5.21280900e-03 -4.24695020e-03 -4.60202719e+00] [-5.21917434e-03 9.99985271e-01 -1.48909897e-03 -5.40457936e+00] [ 4.23912525e-03 1.51123088e-03 9.99989873e-01 5.52697214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18165253200002 meters 0.18285154413273963 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99978882e-01 5.13021255e-03 -3.98955970e-03 -4.60240251e+00] [-5.13739479e-03 9.99985198e-01 -1.79209821e-03 -5.40373614e+00] [ 3.98030680e-03 1.81255631e-03 9.99990436e-01 5.52300710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24165253200002 meters 0.17573083774953757 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99981495e-01 4.79686984e-03 -3.74171840e-03 -4.60259980e+00] [-4.80630971e-03 9.99985279e-01 -2.51797115e-03 -5.40156502e+00] [ 3.72958495e-03 2.53590841e-03 9.99989830e-01 5.51601252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.301652532 meters 0.1912961318893927 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99981111e-01 4.95799265e-03 -3.63253791e-03 -4.60296852e+00] [-4.96637522e-03 9.99985017e-01 -2.30225954e-03 -5.40224149e+00] [ 3.62106890e-03 2.32025660e-03 9.99990752e-01 5.51819405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.361652532 meters 0.18153653361267602 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99980052e-01 4.82830955e-03 -4.07213711e-03 -4.60140176e+00] [-4.83674771e-03 9.99986171e-01 -2.06487402e-03 -5.40450001e+00] [ 4.06211095e-03 2.08452873e-03 9.99989577e-01 5.51101871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421652532 meters 0.18729824312587073 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99989911e-01 4.70827480e-04 -4.46723323e-03 -4.59987167e+00] [-4.96397597e-04 9.99983491e-01 -5.72454592e-03 -5.40809905e+00] [ 4.46446421e-03 5.72670569e-03 9.99973636e-01 5.50261823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481652532 meters 0.18313442256918913 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99989612e-01 6.85237775e-04 -4.50620910e-03 -4.59977062e+00] [-7.08453605e-04 9.99986475e-01 -5.15238818e-03 -5.41001629e+00] [ 4.50261754e-03 5.15552710e-03 9.99976573e-01 5.50262118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541652532 meters 0.17622702043939772 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99990667e-01 1.13413630e-03 -4.16893190e-03 -4.60080834e+00] [-1.15298324e-03 9.99989115e-01 -4.52118768e-03 -5.41160113e+00] [ 4.16375888e-03 4.52595220e-03 9.99981089e-01 5.50624452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601652532 meters 0.17630361182638218 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99987043e-01 1.76358012e-03 -4.77522369e-03 -4.59972014e+00] [-1.77711406e-03 9.99994412e-01 -2.83144173e-03 -5.41848054e+00] [ 4.77020354e-03 2.83989116e-03 9.99984590e-01 5.51425972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661652532 meters 0.18018847856945894 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.42, Z:0.55 [[ 9.99985320e-01 2.15093688e-03 -4.97326950e-03 -4.59944413e+00] [-2.15985248e-03 9.99996069e-01 -1.78802952e-03 -5.42224619e+00] [ 4.96940402e-03 1.79874480e-03 9.99986035e-01 5.51903394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721652532 meters 0.16693780231107488 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99983844e-01 -2.18536189e-03 -5.24739329e-03 -4.59792081e+00] [ 2.15623949e-03 9.99982279e-01 -5.54913787e-03 -5.42566504e+00] [ 5.25942717e-03 5.53773359e-03 9.99970836e-01 5.50617718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781652532 meters 0.16161623590404378 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99983132e-01 -1.97574338e-03 -5.46185710e-03 -4.59726691e+00] [ 1.94976402e-03 9.99986781e-01 -4.75774706e-03 -5.42876580e+00] [ 5.47118498e-03 4.74701748e-03 9.99973766e-01 5.50416902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841652532 meters 0.1646412378746706 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.43, Z:0.55 [[ 9.99982101e-01 -1.58102086e-03 -5.77044309e-03 -4.59643903e+00] [ 1.56108705e-03 9.99992805e-01 -3.45733750e-03 -5.43355429e+00] [ 5.77586769e-03 3.44826745e-03 9.99977374e-01 5.50519362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901652532 meters 0.18162993963653942 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.55 [[ 9.99977445e-01 -1.13988073e-03 -6.61899464e-03 -4.59480470e+00] [ 1.13136714e-03 9.99998528e-01 -1.28983904e-03 -5.44214779e+00] [ 6.62045516e-03 1.28232143e-03 9.99977262e-01 5.51710574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96165253200002 meters 0.16550964124530973 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.55 [[ 9.99974106e-01 -1.01007433e-03 -7.12505460e-03 -4.59338814e+00] [ 1.00799129e-03 9.99999448e-01 -2.95940386e-04 -5.44675765e+00] [ 7.12534959e-03 2.88750730e-04 9.99974573e-01 5.51591103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.021652532 meters 0.16339958685499176 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.45, Z:0.55 [[ 9.99969921e-01 -8.31292873e-04 -7.71146206e-03 -4.59178822e+00] [ 8.39997409e-04 9.99999014e-01 1.12560878e-03 -5.45244280e+00] [ 7.71051875e-03 -1.13205253e-03 9.99969633e-01 5.51504088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.081652532 meters 0.15580394415426796 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99963318e-01 -1.08881186e-03 -8.49571111e-03 -4.58930557e+00] [ 1.10467672e-03 9.99997655e-01 1.86292648e-03 -5.45690079e+00] [ 8.49366280e-03 -1.87224315e-03 9.99962175e-01 5.50784233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141652532 meters 0.18109945704242378 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.46, Z:0.55 [[ 9.99952943e-01 -4.89042747e-03 -8.37832653e-03 -4.58966718e+00] [ 4.87920836e-03 9.99987173e-01 -1.35898083e-03 -5.46071939e+00] [ 8.38486506e-03 1.31803728e-03 9.99963978e-01 5.51069761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201652532 meters 0.17804839597948105 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99957429e-01 -4.06594840e-03 -8.28296963e-03 -4.59057952e+00] [ 4.06674380e-03 9.99991728e-01 7.91885009e-05 -5.46501486e+00] [ 8.28257913e-03 -1.12869845e-04 9.99965692e-01 5.52272547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261652532 meters 0.17516487335557493 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.47, Z:0.55 [[ 9.99956354e-01 -3.71459461e-03 -8.57275578e-03 -4.59018755e+00] [ 3.72461609e-03 9.99992399e-01 1.15332239e-03 -5.46875890e+00] [ 8.56840648e-03 -1.18520228e-03 9.99962588e-01 5.52989087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321652532 meters 0.1697944083374859 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.48, Z:0.55 [[ 9.99925917e-01 -7.84155308e-03 -9.30969863e-03 -4.58819392e+00] [ 7.82694982e-03 9.99968083e-01 -1.60400609e-03 -5.47542231e+00] [ 9.32197939e-03 1.53102071e-03 9.99955377e-01 5.53013946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381652532 meters 0.158981117366773 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.48, Z:0.55 [[ 9.99907413e-01 -8.18284706e-03 -1.08723095e-02 -4.58442979e+00] [ 8.18853387e-03 9.99966359e-01 4.78640506e-04 -5.48368353e+00] [ 1.08680271e-02 -5.67624465e-04 9.99940780e-01 5.53887603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441652532 meters 0.15347603065136262 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.49, Z:0.55 [[ 9.99906624e-01 -7.81459271e-03 -1.12104892e-02 -4.58396424e+00] [ 7.83332803e-03 9.99967993e-01 1.62829654e-03 -5.48745326e+00] [ 1.11974059e-02 -1.71595993e-03 9.99935835e-01 5.54650750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501652532 meters 0.15111881013861067 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.49, Z:0.56 [[ 9.99797788e-01 -1.50872281e-02 -1.32950649e-02 -4.57036692e+00] [ 1.51071768e-02 9.99884898e-01 1.40130428e-03 -5.49065377e+00] [ 1.32723928e-02 -1.60187182e-03 9.99910635e-01 5.56097907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561652532 meters 0.14473886914203565 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.49, Z:0.55 [[ 0.99987233 -0.01421633 -0.00729577 -4.55645704] [ 0.01415241 0.99986166 -0.0087394 -5.487341 ] [ 0.007419 0.00863503 0.9999352 0.55133681] [ 0. 0. 0. 1. ]] SLAMing on 136.621652532 meters 0.13986018084174695 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.49, Z:0.55 [[ 9.99916984e-01 -9.86779712e-03 -8.28566802e-03 -4.55467320e+00] [ 9.83950787e-03 9.99945646e-01 -3.44809115e-03 -5.49074318e+00] [ 8.31924273e-03 3.36627800e-03 9.99959728e-01 5.52330340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68165253200002 meters 0.13879866896022353 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.50, Z:0.55 [[ 9.99940051e-01 -5.57574617e-03 -9.42364316e-03 -4.55246377e+00] [ 5.59443341e-03 9.99982434e-01 1.95782093e-03 -5.49568060e+00] [ 9.41256132e-03 -2.01042351e-03 9.99953680e-01 5.53268259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74165253200002 meters 0.13785631507430912 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.49, Z:0.55 [[ 9.99945372e-01 -5.51337284e-03 -8.88010963e-03 -4.55381026e+00] [ 5.52689829e-03 9.99983603e-01 1.49929790e-03 -5.49358216e+00] [ 8.87169783e-03 -1.54829546e-03 9.99959447e-01 5.53012604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.801652532 meters 0.14694466613350166 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.49, Z:0.55 [[ 9.99959435e-01 -1.69791591e-03 -8.84561615e-03 -4.55342838e+00] [ 1.73924670e-03 9.99987598e-01 4.66686467e-03 -5.49008708e+00] [ 8.83758250e-03 -4.68206006e-03 9.99949986e-01 5.51963033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.861652532 meters 0.14762796827187147 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.49, Z:0.55 [[ 9.99967439e-01 -1.24858979e-03 -7.97254112e-03 -4.55637052e+00] [ 1.28258587e-03 9.99990102e-01 4.26045756e-03 -5.48724788e+00] [ 7.96714264e-03 -4.27054431e-03 9.99959143e-01 5.53019499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921652532 meters 0.15029218438142383 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.55 [[ 9.99973197e-01 -1.06984493e-03 -7.24294516e-03 -4.55865119e+00] [ 1.09559104e-03 9.99993093e-01 3.55161256e-03 -5.48340312e+00] [ 7.23909546e-03 -3.55945268e-03 9.99967462e-01 5.53715418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981652532 meters 0.14696677922120632 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.48, Z:0.55 [[ 9.99979230e-01 -1.16201499e-03 -6.33946218e-03 -4.56074202e+00] [ 1.17614272e-03 9.99996832e-01 2.22526416e-03 -5.47818949e+00] [ 6.33685631e-03 -2.23267406e-03 9.99977429e-01 5.53127590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041652532 meters 0.15966179865761268 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.47, Z:0.55 [[ 9.99980486e-01 3.04488254e-03 -5.45500188e-03 -4.56294249e+00] [-3.01951328e-03 9.99984617e-01 4.65285708e-03 -5.47130214e+00] [ 5.46908537e-03 -4.63629483e-03 9.99974297e-01 5.52461279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101652532 meters 0.18057480841471754 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.55 [[ 9.99986794e-01 3.65199942e-03 -3.61578034e-03 -4.56755325e+00] [-3.64482920e-03 9.99991382e-01 1.98764305e-03 -5.46142668e+00] [ 3.62300805e-03 -1.97443790e-03 9.99991488e-01 5.50855512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161652532 meters 0.15526143770307335 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.46, Z:0.55 [[ 9.99989906e-01 3.64352481e-03 -2.62925415e-03 -4.57015168e+00] [-3.64181171e-03 9.99993153e-01 6.56048267e-04 -5.45536991e+00] [ 2.63162648e-03 -6.46466396e-04 9.99996328e-01 5.51038771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221652532 meters 0.17137155670417906 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.55 [[ 9.99965945e-01 8.02304429e-03 -1.93396004e-03 -4.57249119e+00] [-8.01530718e-03 9.99959973e-01 3.97574722e-03 -5.45050195e+00] [ 1.96578023e-03 -3.96011054e-03 9.99990227e-01 5.51829364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281652532 meters 0.17053873713675224 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.45, Z:0.55 [[ 9.99967943e-01 7.86151431e-03 -1.51966161e-03 -4.57353617e+00] [-7.85667159e-03 9.99964121e-01 3.16683486e-03 -5.44735617e+00] [ 1.54450321e-03 -3.15479386e-03 9.99993831e-01 5.51773341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341652532 meters 0.1790723597896564 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.55 [[ 9.99969863e-01 7.75328112e-03 -4.00521620e-04 -4.57614458e+00] [-7.75277503e-03 9.99969165e-01 1.25006441e-03 -5.43986444e+00] [ 4.10201371e-04 -1.24692159e-03 9.99999138e-01 5.51287842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401652532 meters 0.17945381346096462 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.55 [[ 9.99971315e-01 7.56264656e-03 4.18837147e-04 -4.57792370e+00] [-7.56258596e-03 9.99971393e-01 -1.46074001e-04 -5.43445485e+00] [-4.19929871e-04 1.42902319e-04 9.99999902e-01 5.50905749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46165253200002 meters 0.18748566555043522 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.43, Z:0.55 [[ 9.99926239e-01 1.20305619e-02 1.66767951e-03 -4.58097452e+00] [-1.20347757e-02 9.99924353e-01 2.54016413e-03 -5.42825446e+00] [-1.63699375e-03 -2.56004691e-03 9.99995383e-01 5.50663617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.521652532 meters 0.18358584772596345 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.42, Z:0.55 [[ 9.99920824e-01 1.22586323e-02 2.84102489e-03 -4.58397130e+00] [-1.22626809e-02 9.99923813e-01 1.41205348e-03 -5.42306356e+00] [-2.82349860e-03 -1.44678026e-03 9.99994967e-01 5.50937376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.581652532 meters 0.1830045984937105 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.55 [[ 9.99959676e-01 8.14227132e-03 3.78810987e-03 -4.58650240e+00] [-8.12847883e-03 9.99960330e-01 -3.64225616e-03 -5.41892156e+00] [-3.81761584e-03 3.61131772e-03 9.99986192e-01 5.51178163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.641652532 meters 0.17815530287690673 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.55 [[ 9.99957976e-01 8.31806108e-03 3.85437873e-03 -4.58728040e+00] [-8.30491766e-03 9.99959687e-01 -3.41354659e-03 -5.41875234e+00] [-3.88261744e-03 3.38139284e-03 9.99986746e-01 5.52208233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701652532 meters 0.18067156076505467 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.41, Z:0.55 [[ 9.99913106e-01 1.23914568e-02 4.49800968e-03 -4.58897749e+00] [-1.23909330e-02 9.99923219e-01 -1.44294327e-04 -5.41417475e+00] [-4.49945234e-03 8.85472519e-05 9.99989873e-01 5.52544638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761652532 meters 0.19016984568519668 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.41, Z:0.55 [[ 9.99906790e-01 1.24253258e-02 5.65883769e-03 -4.59132819e+00] [-1.24140362e-02 9.99920891e-01 -2.02582302e-03 -5.40720458e+00] [-5.68356153e-03 1.95538517e-03 9.99981937e-01 5.51034886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821652532 meters 0.18924964449544512 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99951775e-01 4.49390019e-03 8.73222777e-03 -4.60012921e+00] [-4.53122938e-03 9.99980661e-01 4.25980387e-03 -5.40723860e+00] [-8.71291576e-03 -4.29916617e-03 9.99952800e-01 5.46345979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881652532 meters 0.1848224524840097 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99941989e-01 4.52199766e-03 9.77596485e-03 -4.60264963e+00] [-4.55390865e-03 9.99984368e-01 3.24443651e-03 -5.40285990e+00] [-9.76114070e-03 -3.28876715e-03 9.99946951e-01 5.46317382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941652532 meters 0.20855854173833496 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99941563e-01 4.20303748e-03 9.96015643e-03 -4.60271014e+00] [-4.22827930e-03 9.99987899e-01 2.51457779e-03 -5.40070679e+00] [-9.94946704e-03 -2.55654517e-03 9.99947235e-01 5.45567515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001652532 meters 0.20665925910615265 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99942233e-01 4.16163505e-03 9.91014912e-03 -4.60262046e+00] [-4.18753269e-03 9.99987868e-01 2.59393033e-03 -5.40095895e+00] [-9.89923390e-03 -2.63527956e-03 9.99947529e-01 5.45656414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061652532 meters 0.18349484767531915 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.54 [[ 9.99951109e-01 -9.28195368e-04 9.84473120e-03 -4.60077254e+00] [ 9.56872410e-04 9.99995312e-01 -2.90862297e-03 -5.39937086e+00] [-9.84198528e-03 2.91790091e-03 9.99947309e-01 5.42720525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121652532 meters 0.18537280997940125 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.54 [[ 9.99944523e-01 3.27381606e-03 1.00116396e-02 -4.60113810e+00] [-3.28544678e-03 9.99993947e-01 1.14549418e-03 -5.39836402e+00] [-1.00078288e-02 -1.17832334e-03 9.99949226e-01 5.42670046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18165253200002 meters 0.1927245676049172 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.54 [[ 9.99942512e-01 4.02487211e-03 9.93847511e-03 -4.60214669e+00] [-4.05182946e-03 9.99988163e-01 2.69377885e-03 -5.40180510e+00] [-9.92751535e-03 -2.73389299e-03 9.99946984e-01 5.44970771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24165253200002 meters 0.1934088678867814 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99941154e-01 4.16971050e-03 1.00150961e-02 -4.60232147e+00] [-4.19962093e-03 9.99986779e-01 2.96736309e-03 -5.40282021e+00] [-1.00025906e-02 -3.00924808e-03 9.99945445e-01 5.45027061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.301652532 meters 0.1877699960493794 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.40, Z:0.55 [[ 9.99938881e-01 4.38232416e-03 1.01503758e-02 -4.60259457e+00] [-4.41646153e-03 9.99984659e-01 3.34319317e-03 -5.40419165e+00] [-1.01355691e-02 -3.38781758e-03 9.99942895e-01 5.45038990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.361652532 meters 0.1989933353691037 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99947093e-01 3.65781032e-05 1.02864238e-02 -4.60225021e+00] [-2.63655693e-05 9.99999507e-01 -9.92950606e-04 -5.40510291e+00] [-1.02864550e-02 9.92626864e-04 9.99946600e-01 5.43921158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421652532 meters 0.19837228798086873 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99950774e-01 -9.60505214e-05 9.92168502e-03 -4.60115478e+00] [ 1.03613211e-04 9.99999705e-01 -7.61727236e-04 -5.40659166e+00] [-9.92160892e-03 7.62717758e-04 9.99950489e-01 5.43645397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481652532 meters 0.18693371769241998 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99952032e-01 1.32669958e-04 9.79371429e-03 -4.60134173e+00] [-1.31262221e-04 9.99999981e-01 -1.44381450e-04 -5.40814779e+00] [-9.79373326e-03 1.43088980e-04 9.99952030e-01 5.44655693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541652532 meters 0.18293488110566988 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.55 [[ 9.99953342e-01 4.89858460e-04 9.64748934e-03 -4.60159889e+00] [-4.96311834e-04 9.99999655e-01 6.66534692e-04 -5.41017563e+00] [-9.64715950e-03 -6.71291755e-04 9.99953240e-01 5.45828025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601652532 meters 0.18751448734976817 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99960868e-01 8.78108176e-05 8.84617035e-03 -4.59909766e+00] [-9.50841796e-05 9.99999658e-01 8.21787393e-04 -5.41282610e+00] [-8.84609516e-03 -8.22596366e-04 9.99960534e-01 5.44941326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661652532 meters 0.18129029048237855 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99959909e-01 -2.28883520e-04 8.95137765e-03 -4.59880722e+00] [ 2.26499686e-04 9.99999939e-01 2.67322117e-04 -5.41157159e+00] [-8.95143828e-03 -2.65283916e-04 9.99959900e-01 5.43984366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721652532 meters 0.21119801600728375 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99959950e-01 3.29791597e-03 8.31993685e-03 -4.59664633e+00] [-3.32923158e-03 9.99987416e-01 3.75288529e-03 -5.41037135e+00] [-8.30745545e-03 -3.78043398e-03 9.99958346e-01 5.42919459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781652532 meters 0.2019638955025707 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99953907e-01 3.58136587e-03 8.90824852e-03 -4.59851111e+00] [-3.61385856e-03 9.99986867e-01 3.63406443e-03 -5.40862963e+00] [-8.89511661e-03 -3.66609008e-03 9.99953717e-01 5.43620061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841652532 meters 0.20490264395611926 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99953503e-01 3.44395074e-03 9.00729328e-03 -4.59853844e+00] [-3.47368576e-03 9.99988562e-01 3.28765742e-03 -5.40779819e+00] [-8.99586773e-03 -3.31879306e-03 9.99954029e-01 5.43249299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901652532 meters 0.1945188088459783 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99954716e-01 3.16750032e-03 8.97404654e-03 -4.59799556e+00] [-3.19344746e-03 9.99990758e-01 2.87850116e-03 -5.40717947e+00] [-8.96484595e-03 -2.90702895e-03 9.99955589e-01 5.42460574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96165253200002 meters 0.1920522022307973 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99957588e-01 -1.32494791e-03 9.11411983e-03 -4.59779268e+00] [ 1.34141883e-03 9.99997478e-01 -1.80131087e-03 -5.40671351e+00] [-9.11171020e-03 1.81346032e-03 9.99956843e-01 5.41515502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.021652532 meters 0.17879637774943336 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.41, Z:0.54 [[ 9.99962725e-01 -1.52075851e-03 8.49922426e-03 -4.59577570e+00] [ 1.53255065e-03 9.99997872e-01 -1.38109674e-03 -5.40974790e+00] [-8.49710586e-03 1.39407075e-03 9.99962927e-01 5.40814315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.081652532 meters 0.1967504299875435 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.54 [[ 9.99969769e-01 -1.20814748e-03 7.68126666e-03 -4.59457376e+00] [ 1.20441839e-03 9.99999155e-01 4.90085797e-04 -5.41508512e+00] [-7.68185226e-03 -4.80819523e-04 9.99970379e-01 5.42899060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.141652532 meters 0.19567160307367054 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.42, Z:0.54 [[ 9.99963326e-01 -5.04895235e-03 6.91769208e-03 -4.59322013e+00] [ 5.06025720e-03 9.99985888e-01 -1.61766557e-03 -5.42198881e+00] [-6.90942694e-03 1.65261155e-03 9.99974764e-01 5.44465428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201652532 meters 0.17641372371071862 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.43, Z:0.54 [[ 9.99937957e-01 -9.39214693e-03 5.98909441e-03 -4.59054083e+00] [ 9.41866654e-03 9.99945896e-01 -4.41526037e-03 -5.42820923e+00] [-5.94730160e-03 4.47139572e-03 9.99972318e-01 5.44234269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261652532 meters 0.18371485713902233 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.44, Z:0.55 [[ 9.99945125e-01 -9.42208761e-03 4.57952508e-03 -4.58743816e+00] [ 9.43192783e-03 9.99953246e-01 -2.13191533e-03 -5.43623621e+00] [-4.55922388e-03 2.17499209e-03 9.99987241e-01 5.45670627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321652532 meters 0.1756413174167799 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.44, Z:0.55 [[ 9.99947326e-01 -9.80458735e-03 3.03578796e-03 -4.58404494e+00] [ 9.80457605e-03 9.99951934e-01 1.86067080e-05 -5.44493045e+00] [-3.03582447e-03 1.11588860e-05 9.99995392e-01 5.47257683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381652532 meters 0.16794352974585613 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.45, Z:0.55 [[ 9.99950775e-01 -9.73788288e-03 1.90289124e-03 -4.58154119e+00] [ 9.73444845e-03 9.99950989e-01 1.80585263e-03 -5.45235233e+00] [-1.92038316e-03 -1.78724014e-03 9.99996559e-01 5.47954123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441652532 meters 0.16470789819963655 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.46, Z:0.55 [[ 9.99907484e-01 -1.35621395e-02 1.04521537e-03 -4.57982839e+00] [ 1.35619666e-02 9.99908017e-01 1.72387949e-04 -5.46086875e+00] [-1.04745717e-03 -1.58196825e-04 9.99999439e-01 5.49648108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501652532 meters 0.15857812355930387 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.47, Z:0.55 [[ 9.99847907e-01 -1.74399432e-02 -1.04364366e-04 -4.57761671e+00] [ 1.74398272e-02 9.99847389e-01 -1.02502779e-03 -5.47043914e+00] [ 1.22224865e-04 1.02305179e-03 9.99999469e-01 5.52098453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561652532 meters 0.15715023097577707 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.48, Z:0.56 [[ 9.99848637e-01 -1.73101224e-02 -1.75003913e-03 -4.57478325e+00] [ 1.73144406e-02 9.99847010e-01 2.48316093e-03 -5.48107476e+00] [ 1.70678757e-03 -2.51308602e-03 9.99995386e-01 5.56010250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621652532 meters 0.1584246507927532 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.49, Z:0.56 [[ 9.99763542e-01 -2.15745066e-02 -2.72042881e-03 -4.57180220e+00] [ 2.15749828e-02 9.99767222e-01 1.45787182e-04 -5.48902808e+00] [ 2.71665026e-03 -2.04445914e-04 9.99996289e-01 5.55916327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68165253200002 meters 0.14506464329146934 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.50, Z:0.56 [[ 0.99970366 -0.02087294 -0.01252634 -4.55495774] [ 0.02079938 0.99976582 -0.00597423 -5.49534316] [ 0.01264811 0.00571192 0.9999037 0.56203992] [ 0. 0. 0. 1. ]] SLAMing on 139.741652532 meters 0.13740057915725354 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.51, Z:0.56 [[ 0.99960829 -0.02442186 -0.01366889 -4.55295201] [ 0.02433276 0.99968181 -0.00664723 -5.50776679] [ 0.01382687 0.00631203 0.99988448 0.56443138] [ 0. 0. 0. 1. ]] SLAMing on 139.801652532 meters 0.17973641897180512 Centerline is valid? [False, False] Translation: X:-4.43, Y:-5.50, Z:0.57 [[ 0.99940522 -0.0295246 -0.01781887 -4.43435579] [ 0.02940723 0.99954429 -0.00681303 -5.49862612] [ 0.0180119 0.00628498 0.99981802 0.56646365] [ 0. 0. 0. 1. ]] SLAMing on 139.861652532 meters 0.1286624294156071 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.53, Z:0.57 [[ 0.99882289 -0.04380118 -0.02083952 -4.52206603] [ 0.04363918 0.99901398 -0.00816599 -5.52557423] [ 0.02117665 0.00724696 0.99974948 0.56954593] [ 0. 0. 0. 1. ]] SLAMing on 139.921652532 meters 0.12357224671786722 Centerline is valid? [False, False] Translation: X:-4.51, Y:-5.53, Z:0.57 [[ 0.99845487 -0.05060541 -0.02295562 -4.50790259] [ 0.05044083 0.99869742 -0.0076929 -5.53096233] [ 0.02331502 0.00652312 0.99970689 0.57056974] [ 0. 0. 0. 1. ]] SLAMing on 139.981652532 meters 0.11537079354048957 Centerline is valid? [False, False] Translation: X:-4.50, Y:-5.54, Z:0.57 [[ 0.99797586 -0.05887855 -0.02403103 -4.50336002] [ 0.05858418 0.99820072 -0.01277551 -5.5435141 ] [ 0.02474 0.01134181 0.99962958 0.57035696] [ 0. 0. 0. 1. ]] SLAMing on 140.041652532 meters 0.10819654458407457 Centerline is valid? [False, False] Translation: X:-4.50, Y:-5.56, Z:0.57 [[ 0.99744181 -0.06683536 -0.02535479 -4.49850356] [ 0.06642932 0.99765415 -0.01653312 -5.55935251] [ 0.02640031 0.01480653 0.99954179 0.57163345] [ 0. 0. 0. 1. ]] SLAMing on 140.101652532 meters 0.10599439014404648 Centerline is valid? [False, False] Translation: X:-4.50, Y:-5.57, Z:0.57 [[ 0.99744342 -0.06651223 -0.02612925 -4.49687649] [ 0.06614479 0.99770197 -0.01468468 -5.56600061] [ 0.02704591 0.01291882 0.99955071 0.57272282] [ 0. 0. 0. 1. ]] SLAMing on 140.161652532 meters 0.1059294444146472 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.58, Z:0.57 [[ 0.99715383 -0.07045765 -0.02683221 -4.49406658] [ 0.07004016 0.9974127 -0.01619486 -5.57671711] [ 0.02790384 0.01426943 0.99950876 0.5729716 ] [ 0. 0. 0. 1. ]] SLAMing on 140.221652532 meters 0.09999566889362874 Centerline is valid? [False, True] Translation: X:-4.49, Y:-5.59, Z:0.56 [[ 0.99595702 -0.08625489 -0.02509404 -4.49242886] [ 0.08590863 0.99619653 -0.01456614 -5.59395459] [ 0.02625499 0.01235146 0.99957897 0.56438337] [ 0. 0. 0. 1. ]] SLAMing on 140.281652532 meters 0.09902292686520296 Centerline is valid? [True, True] Translation: X:-4.43, Y:-5.63, Z:0.56 [[ 9.94061339e-01 -1.04177527e-01 -3.14499242e-02 -4.42898481e+00] [ 1.04108586e-01 9.94558577e-01 -3.82616956e-03 -5.62626290e+00] [ 3.16773928e-02 5.29240098e-04 9.99498005e-01 5.58514106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341652532 meters 0.09864519132323354 Centerline is valid? [True, True] Translation: X:-4.37, Y:-5.65, Z:0.55 [[ 9.92412169e-01 -1.17255734e-01 -3.70024359e-02 -4.36671883e+00] [ 1.17169317e-01 9.93101745e-01 -4.50288833e-03 -5.64619138e+00] [ 3.72751731e-02 1.33171028e-04 9.99305030e-01 5.51704994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401652532 meters 0.10061955675651614 Centerline is valid? [True, False] Translation: X:-4.35, Y:-5.65, Z:0.55 [[ 0.99213806 -0.11616479 -0.04655972 -4.34854058] [ 0.11575255 0.99321193 -0.0114636 -5.65035327] [ 0.04757533 0.00598407 0.99884973 0.55327167] [ 0. 0. 0. 1. ]] SLAMing on 140.46165253200002 meters 0.09999488012654874 Centerline is valid? [False, True] Translation: X:-4.34, Y:-5.65, Z:0.55 [[ 0.9933013 -0.10368417 -0.05101096 -4.34219829] [ 0.10296954 0.99454847 -0.01645049 -5.64982207] [ 0.05243853 0.01108772 0.9985626 0.55318773] [ 0. 0. 0. 1. ]] SLAMing on 140.521652532 meters 0.10115090441049424 Centerline is valid? [True, False] Translation: X:-4.34, Y:-5.65, Z:0.55 [[ 9.94035387e-01 -9.56314164e-02 -5.24240556e-02 -4.33905888e+00] [ 9.53161919e-02 9.95410873e-01 -8.48625673e-03 -5.64946554e+00] [ 5.29950277e-02 3.43877815e-03 9.98588855e-01 5.50978028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581652532 meters 0.1012120301532886 Centerline is valid? [False, False] Translation: X:-4.34, Y:-5.65, Z:0.55 [[ 9.94417962e-01 -9.14804878e-02 -5.25760113e-02 -4.33853936e+00] [ 9.13479029e-02 9.95806865e-01 -4.92434229e-03 -5.64774703e+00] [ 5.28060342e-02 9.41460505e-05 9.98604784e-01 5.48920309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641652532 meters 0.10350225448208915 Centerline is valid? [False, False] Translation: X:-4.34, Y:-5.64, Z:0.54 [[ 0.99576448 -0.07802697 -0.04863017 -4.33841635] [ 0.07747634 0.996908 -0.0131095 -5.64043371] [ 0.0495027 0.00928629 0.99873082 0.53847035] [ 0. 0. 0. 1. ]] SLAMing on 140.701652532 meters 0.10168613170458023 Centerline is valid? [False, False] Translation: X:-4.34, Y:-5.64, Z:0.54 [[ 9.96447482e-01 -6.89154843e-02 -4.84052760e-02 -4.34098448e+00] [ 6.87172438e-02 9.97619608e-01 -5.74965966e-03 -5.63535538e+00] [ 4.86862930e-02 2.40295674e-03 9.98811229e-01 5.37571837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761652532 meters 0.10558153341537332 Centerline is valid? [False, False] Translation: X:-4.35, Y:-5.63, Z:0.52 [[ 0.99758921 -0.06182978 -0.03150956 -4.35282013] [ 0.06144618 0.99802572 -0.0130012 -5.62609438] [ 0.03225121 0.01103371 0.99941889 0.52318516] [ 0. 0. 0. 1. ]] SLAMing on 140.821652532 meters 0.1079604093967985 Centerline is valid? [False, False] Translation: X:-4.35, Y:-5.62, Z:0.52 [[ 0.9985266 -0.04343307 -0.03252996 -4.35285008] [ 0.04298143 0.99897127 -0.01445698 -5.61770571] [ 0.0331244 0.01303749 0.9993662 0.52378798] [ 0. 0. 0. 1. ]] SLAMing on 140.881652532 meters 0.11226197235563642 Centerline is valid? [False, False] Translation: X:-4.36, Y:-5.61, Z:0.52 [[ 0.99921684 -0.03592436 -0.01658731 -4.35617985] [ 0.03570991 0.99927701 -0.01304865 -5.61000542] [ 0.01704408 0.0124461 0.99977727 0.51711236] [ 0. 0. 0. 1. ]] SLAMing on 140.941652532 meters 0.11554724041033568 Centerline is valid? [False, False] Translation: X:-4.35, Y:-5.60, Z:0.52 [[ 0.99950678 -0.02093603 -0.0234067 -4.34671262] [ 0.02064735 0.99970858 -0.01250761 -5.60180037] [ 0.02366174 0.01201815 0.99964778 0.5223329 ] [ 0. 0. 0. 1. ]] SLAMing on 141.001652532 meters 0.1223085707503597 Centerline is valid? [False, False] Translation: X:-4.35, Y:-5.59, Z:0.52 [[ 9.99665417e-01 -1.21677454e-02 -2.28254288e-02 -4.34929313e+00] [ 1.20454917e-02 9.99912402e-01 -5.48590028e-03 -5.59455943e+00] [ 2.28901804e-02 5.20912128e-03 9.99724414e-01 5.22762752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061652532 meters 0.1234860131111392 Centerline is valid? [False, False] Translation: X:-4.35, Y:-5.59, Z:0.52 [[ 9.99944435e-01 -8.94858476e-03 -5.57214301e-03 -4.35455191e+00] [ 8.91206118e-03 9.99938865e-01 -6.54536353e-03 -5.58727318e+00] [ 5.63037409e-03 6.49534056e-03 9.99963054e-01 5.15772490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121652532 meters 0.13749191174440414 Centerline is valid? [False, False] Translation: X:-4.36, Y:-5.58, Z:0.52 [[ 9.99987090e-01 -6.63718805e-05 -5.08086717e-03 -4.35729945e+00] [ 7.36491465e-05 9.99998972e-01 1.43211448e-03 -5.58239948e+00] [ 5.08076689e-03 -1.43247020e-03 9.99986067e-01 5.17687263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18165253200002 meters 0.14256109035816103 Centerline is valid? [False, False] Translation: X:-4.36, Y:-5.58, Z:0.52 [[ 9.99992093e-01 1.78127565e-04 -3.97270400e-03 -4.36063929e+00] [-1.76643512e-04 9.99999914e-01 3.73910131e-04 -5.57601502e+00] [ 3.97277026e-03 -3.73205422e-04 9.99992039e-01 5.18430722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.241652532 meters 0.13854212980005606 Centerline is valid? [False, False] Translation: X:-4.36, Y:-5.57, Z:0.52 [[ 9.99985342e-01 4.49212791e-03 -3.02264241e-03 -4.36372458e+00] [-4.48302567e-03 9.99985417e-01 3.01141712e-03 -5.56820210e+00] [ 3.03612600e-03 -2.99782240e-03 9.99990897e-01 5.19582060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301652532 meters 0.12962162245242886 Centerline is valid? [False, False] Translation: X:-4.37, Y:-5.56, Z:0.52 [[ 9.99987451e-01 4.68843293e-03 -1.76529901e-03 -4.36716668e+00] [-4.68570169e-03 9.99987824e-01 1.54815239e-03 -5.56067731e+00] [ 1.77253592e-03 -1.53986129e-03 9.99997243e-01 5.19982662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361652532 meters 0.13549434895234364 Centerline is valid? [False, False] Translation: X:-4.37, Y:-5.55, Z:0.52 [[ 9.99954336e-01 9.55556470e-03 -1.27320095e-04 -4.37234960e+00] [-9.55490610e-03 9.99944514e-01 4.43539300e-03 -5.55225546e+00] [ 1.69695715e-04 -4.43397393e-03 9.99990155e-01 5.22483671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421652532 meters 0.14224173328551623 Centerline is valid? [False, False] Translation: X:-4.38, Y:-5.54, Z:0.52 [[ 9.99906130e-01 1.36492796e-02 1.19522777e-03 -4.37568849e+00] [-1.36562162e-02 9.99888738e-01 6.00162442e-03 -5.54217477e+00] [-1.11317693e-03 -6.01738334e-03 9.99981276e-01 5.22155141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481652532 meters 0.15383352817838683 Centerline is valid? [False, False] Translation: X:-4.38, Y:-5.53, Z:0.52 [[ 9.99900212e-01 1.38145023e-02 2.95387245e-03 -4.37930399e+00] [-1.38215240e-02 9.99901669e-01 2.37006237e-03 -5.53064622e+00] [-2.92084076e-03 -2.41065288e-03 9.99992829e-01 5.19073501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541652532 meters 0.1665052141450505 Centerline is valid? [False, False] Translation: X:-4.38, Y:-5.52, Z:0.52 [[ 9.99829202e-01 1.79536608e-02 4.38547763e-03 -4.38235964e+00] [-1.79682159e-02 9.99833105e-01 3.30238352e-03 -5.51985714e+00] [-4.32545584e-03 -3.38061869e-03 9.99984931e-01 5.17337235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601652532 meters 0.16336970252698382 Centerline is valid? [False, False] Translation: X:-4.39, Y:-5.51, Z:0.52 [[ 9.99819049e-01 1.81658063e-02 5.64555634e-03 -4.38560717e+00] [-1.81759041e-02 9.99833286e-01 1.74248761e-03 -5.51258393e+00] [-5.61296146e-03 -1.84478539e-03 9.99982546e-01 5.17834283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661652532 meters 0.17123802832705265 Centerline is valid? [False, False] Translation: X:-4.39, Y:-5.51, Z:0.52 [[ 9.99706674e-01 2.30811297e-02 7.33668856e-03 -4.39050679e+00] [-2.31179115e-02 9.99720398e-01 4.96875844e-03 -5.50525572e+00] [-7.21995265e-03 -5.13690989e-03 9.99960741e-01 5.20366856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721652532 meters 0.1731913729169643 Centerline is valid? [False, False] Translation: X:-4.39, Y:-5.50, Z:0.52 [[ 9.99685633e-01 2.35536449e-02 8.59428627e-03 -4.39405076e+00] [-2.35891618e-02 9.99713514e-01 4.05490308e-03 -5.49938274e+00] [-8.49631638e-03 -4.25636036e-03 9.99954847e-01 5.21771530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781652532 meters 0.1797086109812799 Centerline is valid? [False, False] Translation: X:-4.40, Y:-5.49, Z:0.52 [[ 0.99951858 0.02904472 0.01090974 -4.40012769] [-0.02912287 0.9995508 0.00707451 -5.49230446] [-0.01069936 -0.00738882 0.99991546 0.52348552] [ 0. 0. 0. 1. ]] SLAMing on 141.841652532 meters 0.18011080136717494 Centerline is valid? [False, False] Translation: X:-4.40, Y:-5.48, Z:0.52 [[ 9.99480309e-01 2.96431412e-02 1.26647747e-02 -4.40450402e+00] [-2.97103846e-02 9.99545258e-01 5.15470570e-03 -5.48498231e+00] [-1.25062138e-02 -5.52830217e-03 9.99906512e-01 5.23485338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901652532 meters 0.2083877305358985 Centerline is valid? [False, False] Translation: X:-4.43, Y:-5.48, Z:0.52 [[ 0.999298 0.02914928 0.0235334 -4.42534395] [-0.02940506 0.9995114 0.01059688 -5.48167569] [-0.02321301 -0.01128144 0.99966689 0.52009777] [ 0. 0. 0. 1. ]] SLAMing on 141.96165253200002 meters 0.17904524393256874 Centerline is valid? [False, False] Translation: X:-4.43, Y:-5.47, Z:0.53 [[ 9.99227506e-01 3.75482072e-02 1.15984026e-02 -4.42665767e+00] [-3.75811174e-02 9.99290113e-01 2.63260546e-03 -5.47471627e+00] [-1.14913194e-02 -3.06645272e-03 9.99929271e-01 5.28314819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.021652532 meters 0.1979810681358728 Centerline is valid? [False, False] Translation: X:-4.44, Y:-5.47, Z:0.53 [[ 0.99922642 0.03372655 0.02022585 -4.44270624] [-0.03390611 0.99938801 0.00860153 -5.47473809] [-0.01992337 -0.00928065 0.99975844 0.52625002] [ 0. 0. 0. 1. ]] SLAMing on 142.081652532 meters 0.19342236939309293 Centerline is valid? [False, False] Translation: X:-4.45, Y:-5.47, Z:0.53 [[ 9.99319491e-01 3.00064880e-02 2.14514661e-02 -4.44649576e+00] [-3.00874739e-02 9.99541272e-01 3.46251074e-03 -5.46894251e+00] [-2.13377280e-02 -4.10557490e-03 9.99763895e-01 5.28033085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141652532 meters 0.19792211381636346 Centerline is valid? [False, False] Translation: X:-4.45, Y:-5.47, Z:0.54 [[ 0.99941296 0.03376706 0.00579045 -4.44722659] [-0.03380851 0.99940228 0.00721565 -5.46906451] [-0.00554334 -0.00740718 0.9999572 0.5365426 ] [ 0. 0. 0. 1. ]] SLAMing on 142.201652532 meters 0.20131099576135564 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.47, Z:0.54 [[ 0.99925363 0.03717554 0.01049535 -4.4649134 ] [-0.03725311 0.99927924 0.00729426 -5.47101145] [-0.01021661 -0.0076798 0.99991832 0.54210775] [ 0. 0. 0. 1. ]] SLAMing on 142.261652532 meters 0.18527223173695567 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.47, Z:0.54 [[ 0.9994017 0.02888494 0.01902357 -4.48070206] [-0.02907725 0.99952803 0.0099113 -5.47262471] [-0.0187283 -0.01045852 0.99976991 0.53923183] [ 0. 0. 0. 1. ]] SLAMing on 142.321652532 meters 0.18789066359900924 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.48, Z:0.54 [[ 0.99967283 0.02206995 0.01292849 -4.49369503] [-0.0222606 0.99964275 0.01479315 -5.48306069] [-0.01259739 -0.01507611 0.99980699 0.54308805] [ 0. 0. 0. 1. ]] SLAMing on 142.381652532 meters 0.1893926835673173 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.49, Z:0.54 [[ 0.99981645 0.0140577 0.01301718 -4.49444042] [-0.01415182 0.99987418 0.00716636 -5.48638389] [-0.0129148 -0.00734927 0.99988959 0.54350293] [ 0. 0. 0. 1. ]] SLAMing on 142.441652532 meters 0.1768224110738524 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.49, Z:0.54 [[ 9.99910166e-01 5.66954420e-03 1.21456029e-02 -4.49223541e+00] [-5.67519555e-03 9.99983803e-01 4.30885401e-04 -5.49326812e+00] [-1.21429633e-02 -4.99775365e-04 9.99926147e-01 5.43836733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501652532 meters 0.16119022049266693 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.51, Z:0.55 [[ 9.99947097e-01 -3.36995654e-03 9.71835643e-03 -4.48618183e+00] [ 3.40906264e-03 9.99986148e-01 -4.01018708e-03 -5.50541149e+00] [-9.70470766e-03 4.04310542e-03 9.99944734e-01 5.46402191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561652532 meters 0.15845905556774253 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.51, Z:0.55 [[ 9.99960995e-01 -4.02475605e-03 7.86188354e-03 -4.48141282e+00] [ 4.04117342e-03 9.99989685e-01 -2.07345589e-03 -5.51307913e+00] [-7.85345729e-03 2.10514625e-03 9.99966945e-01 5.46546360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621652532 meters 0.1478979005755483 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.55 [[ 9.99945964e-01 -9.01930751e-03 5.16920595e-03 -4.47400270e+00] [ 9.03807421e-03 9.99952608e-01 -3.61869177e-03 -5.52372333e+00] [-5.13632288e-03 3.66521589e-03 9.99980092e-01 5.45659577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68165253200002 meters 0.1429452684570004 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.55 [[ 9.99948868e-01 -9.34714446e-03 3.85912770e-03 -4.47060787e+00] [ 9.35415287e-03 9.99954625e-01 -1.80202284e-03 -5.53107777e+00] [-3.84210882e-03 1.83802957e-03 9.99990930e-01 5.45544322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.741652532 meters 0.14496925206592318 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.54, Z:0.55 [[ 9.99941193e-01 -1.06015343e-02 2.28447157e-03 -4.46617927e+00] [ 1.05998072e-02 9.99943526e-01 7.66766362e-04 -5.54182608e+00] [-2.29247146e-03 -7.42506312e-04 9.99997097e-01 5.47281423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.801652532 meters 0.13563481570019412 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.55, Z:0.55 [[ 9.99944375e-01 -1.03835043e-02 1.85220307e-03 -4.46539931e+00] [ 1.03801903e-02 9.99944522e-01 1.78994295e-03 -5.54529954e+00] [-1.87068619e-03 -1.77061716e-03 9.99996683e-01 5.47889491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.861652532 meters 0.1376232688308666 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.55, Z:0.55 [[ 9.99949270e-01 -9.86311315e-03 2.04386352e-03 -4.46668310e+00] [ 9.85797093e-03 9.99948257e-01 2.51091421e-03 -5.54658995e+00] [-2.06852320e-03 -2.49063848e-03 9.99994759e-01 5.49185035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921652532 meters 0.13041449208321898 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.55, Z:0.55 [[ 9.99952998e-01 -9.45011630e-03 2.16737361e-03 -4.46778137e+00] [ 9.44351055e-03 9.99950794e-01 3.03806160e-03 -5.54716161e+00] [-2.19597700e-03 -3.01745119e-03 9.99993036e-01 5.50438114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981652532 meters 0.13459864808212169 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.55, Z:0.55 [[ 9.99983226e-01 -5.40950545e-03 2.07025341e-03 -4.46764931e+00] [ 5.39523971e-03 9.99962083e-01 6.83545930e-03 -5.54503042e+00] [-2.10715137e-03 -6.82417513e-03 9.99974495e-01 5.50409715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041652532 meters 0.13625286402328646 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.54, Z:0.55 [[ 9.99980562e-01 -5.51966016e-03 2.89999001e-03 -4.46954318e+00] [ 5.50383968e-03 9.99970082e-01 5.43530557e-03 -5.53947896e+00] [-2.92990428e-03 -5.41923884e-03 9.99981024e-01 5.49754287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101652532 meters 0.1645564647695246 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.55 [[ 9.99989426e-01 -9.06436693e-04 4.50844677e-03 -4.47362710e+00] [ 8.72691996e-04 9.99971635e-01 7.48111619e-03 -5.53083352e+00] [-4.51510005e-03 -7.47710260e-03 9.99961853e-01 5.49110904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161652532 meters 0.14315170680219755 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.52, Z:0.55 [[ 9.99972093e-01 4.20660702e-03 6.17399646e-03 -4.47897983e+00] [-4.27289452e-03 9.99932949e-01 1.07629327e-02 -5.52424221e+00] [-6.12830706e-03 -1.07890132e-02 9.99923018e-01 5.51266018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221652532 meters 0.17155801677327925 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.52, Z:0.55 [[ 9.99962270e-01 4.54301701e-03 7.40404442e-03 -4.48208906e+00] [-4.61443322e-03 9.99942721e-01 9.65719712e-03 -5.51925999e+00] [-7.35974752e-03 -9.69099822e-03 9.99925957e-01 5.51230309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281652532 meters 0.24389200215746057 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.51, Z:0.55 [[ 9.99954210e-01 4.54802107e-03 8.41980494e-03 -4.48461328e+00] [-4.61741566e-03 9.99955383e-01 8.24081775e-03 -5.51327977e+00] [-8.38194987e-03 -8.27931814e-03 9.99930595e-01 5.51026903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341652532 meters 0.2421509337432584 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.51, Z:0.55 [[ 9.99955783e-01 4.04790927e-03 8.48807368e-03 -4.48433779e+00] [-4.10966981e-03 9.99965118e-01 7.27138142e-03 -5.51036998e+00] [-8.45834371e-03 -7.30594308e-03 9.99937538e-01 5.50191735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401652532 meters 0.2348897722350828 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.51, Z:0.55 [[ 9.99952870e-01 3.80364082e-03 8.93258166e-03 -4.48515282e+00] [-3.86044717e-03 9.99972381e-01 6.35084703e-03 -5.50710269e+00] [-8.90817862e-03 -6.38503147e-03 9.99939936e-01 5.49598513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46165253200002 meters 0.1592123108752257 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99952827e-01 -4.49915310e-04 9.70266156e-03 -4.48674389e+00] [ 4.37220670e-04 9.99999046e-01 1.31044827e-03 -5.50425231e+00] [-9.70324189e-03 -1.30614425e-03 9.99952069e-01 5.48928061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.521652532 meters 0.23186888596866848 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99947795e-01 -4.82230556e-04 1.02065832e-02 -4.48809217e+00] [ 4.75152715e-04 9.99999645e-01 6.95871982e-04 -5.50116089e+00] [-1.02069151e-02 -6.90985968e-04 9.99947669e-01 5.48965835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581652532 meters 0.23383548576782928 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99947953e-01 -7.00727470e-04 1.01783991e-02 -4.48798437e+00] [ 6.98165971e-04 9.99999724e-01 2.55211346e-04 -5.49964935e+00] [-1.01785752e-02 -2.48091851e-04 9.99948166e-01 5.48888979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641652532 meters 0.22714525206985822 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99943783e-01 -5.76363095e-04 1.05876849e-02 -4.48921232e+00] [ 5.75581174e-04 9.99999831e-01 7.68989583e-05 -5.49852116e+00] [-1.05877275e-02 -7.08005631e-05 9.99943946e-01 5.49311938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701652532 meters 0.23534161059043496 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99942623e-01 -6.07872192e-04 1.06949479e-02 -4.48942810e+00] [ 6.09394108e-04 9.99999805e-01 -1.39044056e-04 -5.49777462e+00] [-1.06948613e-02 1.45553517e-04 9.99942798e-01 5.49170079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761652532 meters 0.23244014736685006 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99942357e-01 -1.15121687e-03 1.06750694e-02 -4.48849263e+00] [ 1.16363367e-03 9.99998654e-01 -1.15702051e-03 -5.49562329e+00] [-1.06737230e-02 1.16937569e-03 9.99942350e-01 5.47574860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821652532 meters 0.2255439566911931 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99944223e-01 -1.16470064e-03 1.04973578e-02 -4.48831572e+00] [ 1.17604927e-03 9.99998731e-01 -1.07498643e-03 -5.49558781e+00] [-1.04960925e-02 1.08727188e-03 9.99944323e-01 5.47972147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881652532 meters 0.22591405160215 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99943913e-01 -1.01749846e-03 1.05420972e-02 -4.48880541e+00] [ 1.02661671e-03 9.99999104e-01 -8.59561819e-04 -5.49573902e+00] [-1.05412131e-02 8.70336302e-04 9.99944061e-01 5.48636885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941652532 meters 0.22069432629633642 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99947073e-01 -8.84948414e-04 1.02502236e-02 -4.48823131e+00] [ 8.87586597e-04 9.99999574e-01 -2.52831809e-04 -5.49804007e+00] [-1.02499955e-02 2.61916388e-04 9.99947433e-01 5.49056261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001652532 meters 0.2213612916221148 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99944320e-01 -9.18585947e-04 1.05125407e-02 -4.48839472e+00] [ 9.23871815e-04 9.99999449e-01 -4.97970264e-04 -5.49782030e+00] [-1.05120775e-02 5.07654777e-04 9.99944618e-01 5.48218442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061652532 meters 0.2139108381150136 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.50, Z:0.55 [[ 9.99955886e-01 -9.60206928e-04 9.34367149e-03 -4.48533285e+00] [ 9.51772381e-04 9.99999136e-01 9.07106289e-04 -5.50484402e+00] [-9.34453442e-03 -8.98173225e-04 9.99955936e-01 5.48107882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121652532 meters 0.20547770408566166 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.51, Z:0.55 [[ 9.99944269e-01 -5.51979757e-03 8.99949833e-03 -4.48357968e+00] [ 5.55018793e-03 9.99978968e-01 -3.35542318e-03 -5.50674971e+00] [-8.98078780e-03 3.40518509e-03 9.99953874e-01 5.46751142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18165253200002 meters 0.1974355433388919 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.51, Z:0.55 [[ 9.99949217e-01 -5.61549369e-03 8.36838550e-03 -4.48152719e+00] [ 5.63732982e-03 9.99980761e-01 -2.58806115e-03 -5.51058416e+00] [-8.35369126e-03 2.63510507e-03 9.99961635e-01 5.45973647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.241652532 meters 0.1882459385448139 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.52, Z:0.55 [[ 9.99959250e-01 -5.15936079e-03 7.40811341e-03 -4.47997843e+00] [ 5.15812350e-03 9.99986679e-01 1.86115364e-04 -5.51876885e+00] [-7.40897496e-03 -1.47895816e-04 9.99972542e-01 5.48567902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301652532 meters 0.18045312073791908 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.52, Z:0.55 [[ 9.99964172e-01 -5.41096198e-03 6.50972118e-03 -4.47748169e+00] [ 5.40458639e-03 9.99984899e-01 9.96587761e-04 -5.52344886e+00] [-6.51501537e-03 -9.61369705e-04 9.99978315e-01 5.48234706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361652532 meters 0.17139069581039001 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.55 [[ 9.99966736e-01 -5.83133892e-03 5.70287216e-03 -4.47471732e+00] [ 5.82356156e-03 9.99982092e-01 1.37941778e-03 -5.52642725e+00] [-5.71081389e-03 -1.34616087e-03 9.99982787e-01 5.46873551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421652532 meters 0.1688367106375533 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.55 [[ 9.99965780e-01 -6.09874910e-03 5.58959028e-03 -4.47359589e+00] [ 6.09229320e-03 9.99980756e-01 1.17128595e-03 -5.52711858e+00] [-5.59662609e-03 -1.13719245e-03 9.99983692e-01 5.45504175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481652532 meters 0.16371854781303113 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.55 [[ 9.99968820e-01 -5.94978465e-03 5.19217180e-03 -4.47279220e+00] [ 5.93996277e-03 9.99980544e-01 1.90504491e-03 -5.52983480e+00] [-5.20340538e-03 -1.87414421e-03 9.99984706e-01 5.45941577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541652532 meters 0.18155836267768408 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.55 [[ 9.99969900e-01 -5.74484851e-03 5.21488493e-03 -4.47321653e+00] [ 5.73333082e-03 9.99981098e-01 2.22088649e-03 -5.53033855e+00] [-5.22754501e-03 -2.19092098e-03 9.99983936e-01 5.46589107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601652532 meters 0.18145432097433756 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.55 [[ 9.99986092e-01 -1.75716410e-03 4.97274018e-03 -4.47243117e+00] [ 1.72681118e-03 9.99979894e-01 6.10158638e-03 -5.52928635e+00] [-4.98336168e-03 -6.09291453e-03 9.99969021e-01 5.46189546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661652532 meters 0.18242717563930802 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.55 [[ 9.99982076e-01 -1.87477566e-03 5.68621379e-03 -4.47386942e+00] [ 1.84680083e-03 9.99986186e-01 4.92103070e-03 -5.52503520e+00] [-5.69536108e-03 -4.91044119e-03 9.99971725e-01 5.45514745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721652532 meters 0.18050016388336293 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99979601e-01 -2.16391592e-03 6.00951793e-03 -4.47432816e+00] [ 2.13997321e-03 9.99989759e-01 3.98770851e-03 -5.52198025e+00] [-6.01808545e-03 -3.97476696e-03 9.99973992e-01 5.44756604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781652532 meters 0.1787218459237804 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99978277e-01 -2.64481243e-03 6.03742026e-03 -4.47377973e+00] [ 2.62621639e-03 9.99991790e-01 3.08598329e-03 -5.51972977e+00] [-6.04553254e-03 -3.07006068e-03 9.99977013e-01 5.43597191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841652532 meters 0.1756287782834332 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99977383e-01 -2.37209377e-03 6.29336410e-03 -4.47465313e+00] [ 2.35092696e-03 9.99991563e-01 3.36862245e-03 -5.52016805e+00] [-6.30130169e-03 -3.35375102e-03 9.99974523e-01 5.43971548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901652532 meters 0.17544100468402718 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.52, Z:0.54 [[ 9.99975931e-01 -2.21206820e-03 6.57608194e-03 -4.47537925e+00] [ 2.18935461e-03 9.99991620e-01 3.45916495e-03 -5.52030591e+00] [-6.58367875e-03 -3.44468431e-03 9.99972394e-01 5.44040034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96165253200002 meters 0.17125344304567922 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99977790e-01 -2.38639652e-03 6.22293692e-03 -4.47393861e+00] [ 2.36350370e-03 9.99990423e-01 3.68354300e-03 -5.52249800e+00] [-6.23166772e-03 -3.66875326e-03 9.99973853e-01 5.43190909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.021652532 meters 0.16988741541290933 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99977799e-01 -2.63774409e-03 6.11908838e-03 -4.47287166e+00] [ 2.61658598e-03 9.99990580e-01 3.46315541e-03 -5.52318152e+00] [-6.12816565e-03 -3.44706740e-03 9.99975281e-01 5.41840441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081652532 meters 0.16497223592330018 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99979701e-01 -3.08077578e-03 5.57728257e-03 -4.47069075e+00] [ 3.06185829e-03 9.99989542e-01 3.39724957e-03 -5.52496916e+00] [-5.58769041e-03 -3.38010376e-03 9.99978676e-01 5.40480803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141652532 meters 0.16393504128565156 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99977930e-01 -3.25386097e-03 5.79239106e-03 -4.47083630e+00] [ 3.23740893e-03 9.99990706e-01 2.84739854e-03 -5.52347858e+00] [-5.80160226e-03 -2.82858336e-03 9.99979170e-01 5.39695907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201652532 meters 0.1613977975889496 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99977241e-01 -3.53678726e-03 5.74527516e-03 -4.47035829e+00] [ 3.52322413e-03 9.99990987e-01 2.36915268e-03 -5.52223235e+00] [-5.75360256e-03 -2.34885687e-03 9.99980689e-01 5.39035972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261652532 meters 0.16594697387048096 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99977479e-01 -3.31766614e-03 5.83398821e-03 -4.47110737e+00] [ 3.30225073e-03 9.99991036e-01 2.64999564e-03 -5.52233602e+00] [-5.84272772e-03 -2.63067066e-03 9.99979471e-01 5.39982879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321652532 meters 0.16606487710973747 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99974817e-01 -3.01883982e-03 6.42275112e-03 -4.47298639e+00] [ 3.00265482e-03 9.99992296e-01 2.52810127e-03 -5.52068065e+00] [-6.43033357e-03 -2.50875230e-03 9.99976178e-01 5.40758312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381652532 meters 0.16561090508082243 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99975568e-01 -2.69556532e-03 6.44964917e-03 -4.47360242e+00] [ 2.67524160e-03 9.99991436e-01 3.15769165e-03 -5.52215588e+00] [-6.45810570e-03 -3.14036013e-03 9.99974215e-01 5.41839747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441652532 meters 0.16210486764360116 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99978986e-01 -2.78770230e-03 5.85285379e-03 -4.47156761e+00] [ 2.76573520e-03 9.99989114e-01 3.75797522e-03 -5.52611227e+00] [-5.86326619e-03 -3.74170880e-03 9.99975811e-01 5.41119313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501652532 meters 0.17121181057233234 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99983167e-01 -3.27503702e-03 4.78964568e-03 -4.46816450e+00] [ 3.25326787e-03 9.99984376e-01 4.54579367e-03 -5.53082264e+00] [-4.80445849e-03 -4.53013515e-03 9.99978197e-01 5.40246180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561652532 meters 0.16817627563086607 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99985813e-01 -3.73540406e-03 3.79734493e-03 -4.46509742e+00] [ 3.71642569e-03 9.99980631e-01 4.99263174e-03 -5.53446905e+00] [-3.81592088e-03 -4.97844836e-03 9.99980327e-01 5.39345859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621652532 meters 0.16468661500541182 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.54, Z:0.54 [[ 9.99984822e-01 -4.64317779e-03 2.96601771e-03 -4.46140813e+00] [ 4.63020473e-03 9.99979750e-01 4.36589346e-03 -5.53528007e+00] [-2.98622927e-03 -4.35209393e-03 9.99986071e-01 5.36705647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68165253200002 meters 0.171986924643894 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.53, Z:0.54 [[ 9.99983376e-01 -4.65954852e-03 3.39639670e-03 -4.46220002e+00] [ 4.64664059e-03 9.99981990e-01 3.79851285e-03 -5.53353588e+00] [-3.41403488e-03 -3.78266787e-03 9.99987018e-01 5.36017660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.741652532 meters 0.1670966455358355 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.53, Z:0.54 [[ 9.99982079e-01 -4.60829203e-03 3.82178832e-03 -4.46338764e+00] [ 4.59593764e-03 9.99984206e-01 3.23512687e-03 -5.53116143e+00] [-3.83663637e-03 -3.21750419e-03 9.99987464e-01 5.36012077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801652532 meters 0.1833812471561467 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.53, Z:0.54 [[ 9.99979650e-01 -4.58035935e-03 4.44062409e-03 -4.46485216e+00] [ 4.56965877e-03 9.99986638e-01 2.41686093e-03 -5.52818310e+00] [-4.45163485e-03 -2.39651961e-03 9.99987220e-01 5.35649158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861652532 meters 0.1817161333934714 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99978261e-01 -4.15834988e-03 5.11722921e-03 -4.46724689e+00] [ 4.14640482e-03 9.99988660e-01 2.34268261e-03 -5.52621676e+00] [-5.12691287e-03 -2.32141358e-03 9.99984163e-01 5.36589022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921652532 meters 0.1807301080066193 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99976390e-01 -3.87369904e-03 5.67567039e-03 -4.46929736e+00] [ 3.86179893e-03 9.99990325e-01 2.10614996e-03 -5.52387621e+00] [-5.68377407e-03 -2.08418193e-03 9.99981675e-01 5.37395644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981652532 meters 0.17753417667361512 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99974296e-01 -3.45600834e-03 6.28205214e-03 -4.47159845e+00] [ 3.44219509e-03 9.99991637e-01 2.20832688e-03 -5.52244477e+00] [-6.28963161e-03 -2.18664607e-03 9.99977829e-01 5.38534604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041652532 meters 0.17326965216634319 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99975989e-01 -3.21227300e-03 6.14025230e-03 -4.47158762e+00] [ 3.19515554e-03 9.99990988e-01 2.79552546e-03 -5.52416194e+00] [-6.14917695e-03 -2.77583928e-03 9.99977241e-01 5.39189576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101652532 meters 0.168489142455241 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99976855e-01 -3.40793394e-03 5.88860565e-03 -4.47056633e+00] [ 3.39102605e-03 9.99990106e-01 2.87889064e-03 -5.52506136e+00] [-5.89835846e-03 -2.85885560e-03 9.99978518e-01 5.38546843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161652532 meters 0.17278546045525134 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99978353e-01 -3.63982202e-03 5.48131976e-03 -4.46916192e+00] [ 3.62348725e-03 9.99988974e-01 2.98706701e-03 -5.52644559e+00] [-5.49213171e-03 -2.96714086e-03 9.99980516e-01 5.37998771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221652532 meters 0.16785247474241718 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99981699e-01 -3.35118918e-03 5.03702839e-03 -4.46847496e+00] [ 3.32959697e-03 9.99985259e-01 4.28898597e-03 -5.53044317e+00] [-5.05132734e-03 -4.27213621e-03 9.99978116e-01 5.39279429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281652532 meters 0.17433920403264602 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99982859e-01 -3.20368467e-03 4.90088336e-03 -4.46818688e+00] [ 3.18005104e-03 9.99983315e-01 4.82253574e-03 -5.53252237e+00] [-4.91625148e-03 -4.80686802e-03 9.99976362e-01 5.39577716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341652532 meters 0.16808451125945933 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99981279e-01 -3.53943962e-03 4.99136884e-03 -4.46746695e+00] [ 3.51874702e-03 9.99985205e-01 4.14838248e-03 -5.53156873e+00] [-5.00597794e-03 -4.13074145e-03 9.99978938e-01 5.37756361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401652532 meters 0.1654645519198796 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99978149e-01 -3.71678541e-03 5.46698050e-03 -4.46836162e+00] [ 3.69878660e-03 9.99987719e-01 3.29871006e-03 -5.52867136e+00] [-5.47917395e-03 -3.27841678e-03 9.99979615e-01 5.36914326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46165253200002 meters 0.16876483986498378 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99972364e-01 -3.07642051e-03 6.76800723e-03 -4.47235614e+00] [ 3.05753475e-03 9.99991408e-01 2.79902671e-03 -5.52457585e+00] [-6.77656006e-03 -2.77825594e-03 9.99973179e-01 5.37934218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.521652532 meters 0.1716388919646801 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.54 [[ 9.99970356e-01 -3.30418124e-03 6.95482841e-03 -4.47282424e+00] [ 3.28927866e-03 9.99992272e-01 2.15311620e-03 -5.52194067e+00] [-6.96188895e-03 -2.13017600e-03 9.99973497e-01 5.37722702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581652532 meters 0.17640949254467542 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.52, Z:0.54 [[ 9.99968728e-01 1.07834529e-03 7.83451778e-03 -4.47538125e+00] [-1.12045225e-03 9.99984942e-01 5.37214427e-03 -5.51734372e+00] [-7.82860678e-03 -5.38075448e-03 9.99954879e-01 5.37734079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641652532 meters 0.17943840013615486 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.52, Z:0.54 [[ 9.99964042e-01 1.30178317e-03 8.37975893e-03 -4.47696143e+00] [-1.34631625e-03 9.99984991e-01 5.31091779e-03 -5.51655578e+00] [-8.37271949e-03 -5.32200863e-03 9.99950786e-01 5.38024574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701652532 meters 0.18533468742148881 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.52, Z:0.54 [[ 9.99961695e-01 1.51296937e-03 8.62087722e-03 -4.47804454e+00] [-1.56098980e-03 9.99983290e-01 5.56624626e-03 -5.51658677e+00] [-8.61231160e-03 -5.57949014e-03 9.99947347e-01 5.38889755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761652532 meters 0.18551904394133045 Centerline is valid? [False, False] Translation: X:-4.48, Y:-5.52, Z:0.54 [[ 9.99958476e-01 -2.19450912e-03 8.84483364e-03 -4.47913491e+00] [ 2.17356270e-03 9.99994812e-01 2.37712713e-03 -5.51962630e+00] [-8.85000439e-03 -2.35780362e-03 9.99958058e-01 5.40138620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821652532 meters 0.17994926772638606 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.53, Z:0.54 [[ 9.99946755e-01 -7.01903618e-03 7.56441547e-03 -4.47499322e+00] [ 7.00374245e-03 9.99973380e-01 2.04639642e-03 -5.53116924e+00] [-7.57857783e-03 -1.99330824e-03 9.99969295e-01 5.43911892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881652532 meters 0.1667817977667586 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.54, Z:0.54 [[ 9.99895875e-01 -1.30945526e-02 6.06403632e-03 -4.46848415e+00] [ 1.30920069e-02 9.99914191e-01 4.59318336e-04 -5.54057381e+00] [-6.06953054e-03 -3.79880104e-04 9.99981508e-01 5.44813380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941652532 meters 0.1658994790637902 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.55, Z:0.54 [[ 9.99828121e-01 -1.77572237e-02 5.33003935e-03 -4.46484117e+00] [ 1.77734125e-02 9.99837523e-01 -3.00541886e-03 -5.54615225e+00] [-5.27580545e-03 3.09963528e-03 9.99981279e-01 5.42695278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001652532 meters 0.16217701137114363 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.55, Z:0.54 [[ 9.99729781e-01 -2.27481750e-02 4.78387428e-03 -4.46085732e+00] [ 2.27849991e-02 9.99710043e-01 -7.78933913e-03 -5.54865259e+00] [-4.60529391e-03 7.89623488e-03 9.99958219e-01 5.38935759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061652532 meters 0.16761142565161993 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.55, Z:0.54 [[ 9.99814791e-01 -1.87361911e-02 4.39755505e-03 -4.45978901e+00] [ 1.87527446e-02 9.99817105e-01 -3.75369286e-03 -5.54827593e+00] [-4.32642086e-03 3.83546387e-03 9.99983286e-01 5.38553354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121652532 meters 0.19744853370584403 Centerline is valid? [False, False] Translation: X:-4.45, Y:-5.54, Z:0.55 [[ 9.99965873e-01 -7.57090925e-03 -3.30659725e-03 -4.45100152e+00] [ 7.55819077e-03 9.99964055e-01 -3.84210125e-03 -5.54419216e+00] [ 3.33556660e-03 3.81697824e-03 9.99987152e-01 5.45214992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18165253200002 meters 0.20434373601899705 Centerline is valid? [False, False] Translation: X:-4.45, Y:-5.54, Z:0.55 [[ 9.99992168e-01 -2.78513144e-03 -2.81187072e-03 -4.45412284e+00] [ 2.78383542e-03 9.99996017e-01 -4.64718037e-04 -5.54064894e+00] [ 2.81315382e-03 4.56886613e-04 9.99995939e-01 5.46033244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.241652532 meters 0.2559297131033096 Centerline is valid? [False, False] Translation: X:-4.46, Y:-5.53, Z:0.55 [[ 9.99976481e-01 6.73990674e-03 -1.26920470e-03 -4.45975217e+00] [-6.73140752e-03 9.99955657e-01 6.58575071e-03 -5.53477693e+00] [ 1.31353577e-03 -6.57705228e-03 9.99977508e-01 5.45931081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301652532 meters 0.3022736801674499 Centerline is valid? [False, False] Translation: X:-4.47, Y:-5.52, Z:0.55 [[ 9.99815581e-01 1.91991057e-02 -4.44621821e-04 -4.46536585e+00] [-1.91891208e-02 9.99678883e-01 1.65501759e-02 -5.52459685e+00] [ 7.62227622e-04 -1.65385918e-02 9.99862938e-01 5.48273130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361652532 meters 0.3229849534717156 Centerline is valid? [False, False] Translation: X:-4.50, Y:-5.51, Z:0.56 [[ 0.99941322 0.03263907 0.01038739 -4.49942822] [-0.03283277 0.99927913 0.01905873 -5.51300421] [-0.00975784 -0.0193886 0.99976441 0.55637762] [ 0. 0. 0. 1. ]] SLAMing on 147.421652532 meters 0.3344383826404252 Centerline is valid? [False, False] Translation: X:-4.52, Y:-5.51, Z:0.56 [[ 0.99910269 0.03993938 0.01409504 -4.51533874] [-0.04023238 0.99896639 0.0211545 -5.50603313] [-0.01323558 -0.02170259 0.99967686 0.559683 ] [ 0. 0. 0. 1. ]] SLAMing on 147.481652532 meters 0.34909013587716886 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.49, Z:0.55 [[ 0.99793733 0.05975473 0.02346204 -4.55355814] [-0.06020518 0.99800544 0.01898638 -5.48860893] [-0.02228072 -0.02035975 0.99954442 0.55462341] [ 0. 0. 0. 1. ]] SLAMing on 147.541652532 meters 0.3399384629556558 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.48, Z:0.56 [[ 0.99655207 0.08005372 0.02180295 -4.59352386] [-0.08044558 0.9966013 0.01772997 -5.47721072] [-0.0203095 -0.01942279 0.99960506 0.55580093] [ 0. 0. 0. 1. ]] SLAMing on 147.601652532 meters 0.3385681026003443 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.46, Z:0.55 [[ 0.99473867 0.09835702 0.02865102 -4.64953953] [-0.09899366 0.99485104 0.02171782 -5.46315558] [-0.02636739 -0.02443983 0.99935352 0.54924255] [ 0. 0. 0. 1. ]] SLAMing on 147.661652532 meters 0.3324629747955985 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.44, Z:0.54 [[ 0.99027618 0.13630929 0.02780038 -4.71375517] [-0.13689883 0.9903723 0.02052856 -5.43572228] [-0.02473449 -0.02413478 0.99940268 0.54472755] [ 0. 0. 0. 1. ]] SLAMing on 147.721652532 meters 0.32219525262568455 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.43, Z:0.54 [[ 0.98910939 0.14365302 0.03203789 -4.75714838] [-0.14436865 0.98929558 0.02125902 -5.42703266] [-0.02864102 -0.02565276 0.99926054 0.53991959] [ 0. 0. 0. 1. ]] SLAMing on 147.781652532 meters 0.3180851311169911 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.40, Z:0.54 [[ 0.98083614 0.19316819 0.02542661 -4.84319187] [-0.19375799 0.98077454 0.02321944 -5.39587511] [-0.02045251 -0.02770108 0.999407 0.53661185] [ 0. 0. 0. 1. ]] SLAMing on 147.841652532 meters 0.295732106273445 Centerline is valid? [False, False] Translation: X:-4.92, Y:-5.38, Z:0.53 [[ 0.97824861 0.20496642 0.03191278 -4.92233958] [-0.2057877 0.97827754 0.02498966 -5.3807531 ] [-0.02609751 -0.03101336 0.99917821 0.53211197] [ 0. 0. 0. 1. ]] SLAMing on 147.901652532 meters 0.2823294343827652 Centerline is valid? [False, False] Translation: X:-5.02, Y:-5.36, Z:0.53 [[ 0.97083201 0.23627015 0.040763 -5.02424089] [-0.23758698 0.97086623 0.03116396 -5.36226632] [-0.03221231 -0.03993973 0.99868273 0.53037826] [ 0. 0. 0. 1. ]] SLAMing on 147.96165253200002 meters 0.26793284451487365 Centerline is valid? [False, False] Translation: X:-5.11, Y:-5.36, Z:0.53 [[ 0.96511462 0.25750028 0.04740655 -5.11438071] [-0.25926368 0.96514533 0.03573276 -5.35545071] [-0.03655302 -0.046777 0.99823634 0.52957431] [ 0. 0. 0. 1. ]] SLAMing on 148.021652532 meters 0.2544307762589269 Centerline is valid? [False, False] Translation: X:-5.21, Y:-5.35, Z:0.53 [[ 0.9555589 0.28946436 0.05583516 -5.20986381] [-0.29145871 0.95606426 0.03151126 -5.35006625] [-0.04426061 -0.04638451 0.99794262 0.53204794] [ 0. 0. 0. 1. ]] SLAMing on 148.081652532 meters 0.2578052018393148 Centerline is valid? [False, False] Translation: X:-5.30, Y:-5.35, Z:0.54 [[ 0.9473923 0.3129216 0.06728963 -5.30149161] [-0.31521868 0.9486491 0.02649673 -5.35319379] [-0.05554285 -0.04631375 0.99738159 0.53856703] [ 0. 0. 0. 1. ]] SLAMing on 148.141652532 meters 0.24946623491427902 Centerline is valid? [False, False] Translation: X:-5.36, Y:-5.37, Z:0.54 [[ 0.95413268 0.29264334 0.06317206 -5.3558009 ] [-0.2945719 0.95533939 0.02353835 -5.36621388] [-0.05346242 -0.04106742 0.99772503 0.54075874] [ 0. 0. 0. 1. ]] SLAMing on 148.201652532 meters 0.23215749964618726 Centerline is valid? [False, False] Translation: X:-5.40, Y:-5.38, Z:0.54 [[ 0.96712624 0.24242951 0.07677735 -5.40375934] [-0.2445513 0.96944196 0.01941512 -5.38353066] [-0.06972439 -0.03755287 0.99685921 0.54441451] [ 0. 0. 0. 1. ]] Total time of SLAM: 2993.56 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%| | 0/4942 [00:00