+ python -m lidar_slam --no-model /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 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 0.026502481 Adjusted end_distance from 9.223372036854776e+18 to 208.076502481 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026502481 meters 0.18640140913073794 Centerline is valid? [0, False] SLAMing on 0.08650248099999999 meters 0.19555876226221824 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.01 [[ 0.99990136 0.00676834 -0.0123069 0.04379532] [-0.00734453 0.99884936 -0.04739217 0.01279973] [ 0.01197197 0.04747789 0.99880054 0.00810452] [ 0. 0. 0. 1. ]] SLAMing on 0.146502481 meters 0.2014381136072635 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:0.01 [[ 9.99484846e-01 -3.06922546e-03 -3.19471698e-02 9.75774308e-02] [ 9.12492149e-04 9.97731950e-01 -6.73061883e-02 1.41099556e-02] [ 3.20812899e-02 6.72423638e-02 9.97220766e-01 1.36831142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20650248099999996 meters 0.21050618365256613 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:0.01 [[ 0.99949139 0.00458825 -0.03155799 0.1469833 ] [-0.00611703 0.99880354 -0.04851884 0.01622847] [ 0.03129762 0.0486872 0.9983236 0.01083544] [ 0. 0. 0. 1. ]] SLAMing on 0.26650248099999996 meters 0.21822403242875907 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.00 [[ 0.99944608 0.01381178 -0.03027826 0.19104803] [-0.01552154 0.99825463 -0.05698043 0.0137659 ] [ 0.02943841 0.05741883 0.99791606 -0.00429781] [ 0. 0. 0. 1. ]] SLAMing on 0.32650248099999996 meters 0.23219524762531107 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:-0.02 [[ 0.99909864 0.01296188 -0.04042139 0.24688048] [-0.01581184 0.99735075 -0.07100325 0.0075646 ] [ 0.03939397 0.07157838 0.99665674 -0.01746219] [ 0. 0. 0. 1. ]] SLAMing on 0.38650248099999995 meters 0.24128210590967689 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.02 [[ 9.99209561e-01 7.17643085e-04 -3.97459276e-02 2.85461360e-01] [-3.15001871e-03 9.98122430e-01 -6.11693650e-02 6.23245648e-03] [ 3.96274041e-02 6.12462148e-02 9.97335736e-01 -2.04573573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44650248099999995 meters 0.24419981664970486 Centerline is valid? [False, False] Translation: X:0.30, Y:0.00, Z:-0.01 [[ 0.99926929 0.00133616 -0.03819817 0.30194582] [-0.002999 0.99904858 -0.04350791 0.00399165] [ 0.0381037 0.04359067 0.99832257 -0.01284094] [ 0. 0. 0. 1. ]] SLAMing on 0.506502481 meters 0.2420399897312754 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:-0.02 [[ 9.99696278e-01 1.01282992e-02 -2.24670646e-02 3.27304047e-01] [-1.08953124e-02 9.99352742e-01 -3.42839474e-02 -8.76850585e-04] [ 2.21052845e-02 3.45183204e-02 9.99159568e-01 -1.91830363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5665024809999999 meters 0.25030447688312696 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:-0.02 [[ 9.99563544e-01 1.88206690e-02 -2.27706825e-02 3.29103051e-01] [-1.94074035e-02 9.99478035e-01 -2.58265308e-02 -5.92351351e-04] [ 2.22727244e-02 2.62571785e-02 9.99407067e-01 -2.03257886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6265024809999998 meters 0.2524751188468156 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.00, Z:-0.02 [[ 0.99953886 0.01879695 -0.02384849 0.33437206] [-0.01938941 0.99950291 -0.02485929 -0.00338268] [ 0.02336936 0.02531023 0.99940646 -0.02372046] [ 0. 0. 0. 1. ]] SLAMing on 0.6865024809999999 meters 0.2470280339686984 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.01, Z:-0.03 [[ 0.9996332 0.01123301 -0.0246431 0.33861126] [-0.01198962 0.99945449 -0.03077296 -0.00894484] [ 0.02428399 0.03105713 0.99922257 -0.02670095] [ 0. 0. 0. 1. ]] SLAMing on 0.7465024809999998 meters 0.2440169116691838 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:-0.03 [[ 0.99864077 -0.03687642 -0.03683405 0.37162474] [ 0.03585487 0.99896412 -0.02801985 -0.05975319] [ 0.03782916 0.02666109 0.9989285 -0.02795717] [ 0. 0. 0. 1. ]] SLAMing on 0.8065024809999999 meters 0.24897645574464897 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:-0.03 [[ 0.99642735 -0.07585291 -0.03713325 0.44464155] [ 0.07521376 0.99699915 -0.01831901 -0.13734028] [ 0.03841137 0.01546063 0.9991424 -0.03461301] [ 0. 0. 0. 1. ]] SLAMing on 0.8665024809999998 meters 0.24377934155349915 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.03 [[ 0.99670622 -0.07306653 -0.03518503 0.51150538] [ 0.07266336 0.99727686 -0.01260588 -0.21500601] [ 0.03601028 0.01000769 0.99930131 -0.03330063] [ 0. 0. 0. 1. ]] SLAMing on 0.9265024809999999 meters 0.22127673364697212 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.27, Z:-0.03 [[ 0.99896432 -0.03464318 -0.02949801 0.57014921] [ 0.03425352 0.99932044 -0.01361418 -0.26872974] [ 0.0299496 0.01258967 0.99947212 -0.02571752] [ 0. 0. 0. 1. ]] SLAMing on 0.9865024809999998 meters 0.2099327577595055 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.27, Z:-0.03 [[ 0.99976174 -0.01248221 -0.01790673 0.58269706] [ 0.01218359 0.99978648 -0.01668983 -0.271188 ] [ 0.01811123 0.01646769 0.99970035 -0.02668188] [ 0. 0. 0. 1. ]] SLAMing on 1.0465024809999999 meters 0.19974619256337198 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.27, Z:-0.03 [[ 0.99988036 -0.00696586 -0.01381086 0.60205257] [ 0.00673767 0.99984115 -0.01650088 -0.26999488] [ 0.01392361 0.01640585 0.99976846 -0.02560087] [ 0. 0. 0. 1. ]] SLAMing on 1.106502481 meters 0.1909792419707202 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.27, Z:-0.02 [[ 0.99979692 -0.01110908 -0.01681377 0.61125454] [ 0.01086835 0.99983808 -0.01434187 -0.27127176] [ 0.01697037 0.01415622 0.99975577 -0.01975168] [ 0. 0. 0. 1. ]] SLAMing on 1.166502481 meters 0.18324560965776895 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.27, Z:-0.01 [[ 0.99973085 -0.01082722 -0.02051807 0.62591484] [ 0.01075862 0.99993617 -0.00345074 -0.27154427] [ 0.02055412 0.00322907 0.99978353 -0.01046057] [ 0. 0. 0. 1. ]] SLAMing on 1.2265024809999998 meters 0.17657862175245972 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.27, Z:-0.00 [[ 0.99988714 -0.00318969 -0.01468114 0.63738605] [ 0.00316211 0.99999319 -0.00190126 -0.27306538] [ 0.0146871 0.00185462 0.99989042 -0.00481325] [ 0. 0. 0. 1. ]] SLAMing on 1.2865024809999999 meters 0.17337517217008475 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.28, Z:-0.00 [[ 0.99995109 0.00395077 -0.00906706 0.65282518] [-0.00396033 0.99999162 -0.00103688 -0.27539484] [ 0.00906289 0.00107274 0.99995836 -0.00492097] [ 0. 0. 0. 1. ]] SLAMing on 1.346502481 meters 0.1709471231512448 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.28, Z:0.00 [[ 0.99989826 0.00790593 -0.01187267 0.65735096] [-0.0078257 0.99994633 0.00678866 -0.28181333] [ 0.01192571 -0.00669506 0.99990647 0.00115782] [ 0. 0. 0. 1. ]] SLAMing on 1.406502481 meters 0.1684892480465101 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.29, Z:0.01 [[ 0.99986181 0.0079332 -0.01460901 0.66097491] [-0.00776305 0.99990181 0.01166668 -0.29087068] [ 0.01470013 -0.01155166 0.99982522 0.00941943] [ 0. 0. 0. 1. ]] SLAMing on 1.4665024809999998 meters 0.16831896394313234 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.30, Z:0.01 [[ 0.99993613 0.00519232 -0.01003884 0.67590335] [-0.00516158 0.99998192 0.00308584 -0.29862719] [ 0.01005468 -0.00303382 0.99994485 0.0116035 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5265024809999999 meters 0.16794246482988534 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.31, Z:0.02 [[ 0.99992467 0.00133799 -0.01220105 0.67759273] [-0.00130471 0.99999541 0.00273528 -0.30565254] [ 0.01220465 -0.00271915 0.99992182 0.01965943] [ 0. 0. 0. 1. ]] SLAMing on 1.586502481 meters 0.16790868275458257 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.31, Z:0.02 [[ 9.99967144e-01 5.02570406e-03 -6.36024337e-03 6.89218050e-01] [-5.03186274e-03 9.99986886e-01 -9.52676807e-04 -3.09221223e-01] [ 6.35537209e-03 9.84649378e-04 9.99979320e-01 2.20422980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6465024809999997 meters 0.16421774412934537 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.31, Z:0.03 [[ 0.99992102 0.00960357 -0.00810694 0.69025749] [-0.00956451 0.99994253 0.00484327 -0.31202102] [ 0.00815298 -0.00476535 0.99995541 0.02693603] [ 0. 0. 0. 1. ]] SLAMing on 1.7065024809999998 meters 0.16338427637791725 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.31, Z:0.03 [[ 0.99985772 0.01363977 -0.0099243 0.6931091 ] [-0.01354178 0.99985955 0.00987417 -0.3137216 ] [ 0.01005758 -0.00973837 0.999902 0.02877272] [ 0. 0. 0. 1. ]] SLAMing on 1.7665024809999998 meters 0.16261043404331646 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.31, Z:0.03 [[ 0.99985234 0.01332094 -0.01085617 0.69400532] [-0.01321895 0.99986832 0.00941245 -0.31122403] [ 0.01098012 -0.00926755 0.99989677 0.03030828] [ 0. 0. 0. 1. ]] SLAMing on 1.826502481 meters 0.1635158966840485 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.31, Z:0.03 [[ 0.99984441 0.0129351 -0.01199361 0.69520043] [-0.01282593 0.99987601 0.00913538 -0.30909303] [ 0.01211029 -0.00898013 0.99988634 0.03219452] [ 0. 0. 0. 1. ]] SLAMing on 1.8865024809999997 meters 0.15880662882573426 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.31, Z:0.04 [[ 0.99982699 0.01324334 -0.01306155 0.69411009] [-0.01311401 0.99986462 0.00993789 -0.3068223 ] [ 0.0131914 -0.00976489 0.99986531 0.03780575] [ 0. 0. 0. 1. ]] SLAMing on 1.9465024809999998 meters 0.15382999838264563 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.31, Z:0.05 [[ 0.99985586 0.0091815 -0.0142816 0.69223305] [-0.00905421 0.99991893 0.00895274 -0.30594632] [ 0.01436264 -0.00882214 0.99985793 0.04872879] [ 0. 0. 0. 1. ]] SLAMing on 2.0065024809999996 meters 0.1531344926700842 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.30, Z:0.06 [[ 0.99992203 0.01032854 -0.00701859 0.69750411] [-0.01030946 0.99994308 0.00274912 -0.30191481] [ 0.00704658 -0.00267655 0.99997159 0.05759018] [ 0. 0. 0. 1. ]] SLAMing on 2.0665024809999997 meters 0.1548859339762112 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.30, Z:0.07 [[ 0.99991461 0.01032721 -0.00800781 0.69415111] [-0.0102792 0.99992908 0.00601435 -0.29899831] [ 0.00806935 -0.00593152 0.99994985 0.07084192] [ 0. 0. 0. 1. ]] SLAMing on 2.1265024809999997 meters 0.1544746824579941 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.30, Z:0.08 [[ 0.99989833 0.01089537 -0.00919948 0.69238063] [-0.01081089 0.99989939 0.00918365 -0.29829405] [ 0.00929861 -0.00908326 0.99991551 0.08074683] [ 0. 0. 0. 1. ]] SLAMing on 2.1865024809999998 meters 0.14807485995344255 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:0.09 [[ 0.99988605 0.01156547 -0.00970154 0.68955517] [-0.01146723 0.99988303 0.01012072 -0.29468728] [ 0.00981746 -0.01000832 0.99990172 0.08711509] [ 0. 0. 0. 1. ]] SLAMing on 2.246502481 meters 0.14713903422009322 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:0.10 [[ 0.99987894 0.0109224 -0.01108137 0.68627287] [-0.01079757 0.99987827 0.01126302 -0.29267805] [ 0.01120304 -0.01114201 0.99987517 0.09802402] [ 0. 0. 0. 1. ]] SLAMing on 2.306502481 meters 0.1472370909550943 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:0.11 [[ 0.99987234 0.01002891 -0.01243881 0.68318914] [-0.00986333 0.99986288 0.01330156 -0.29166361] [ 0.01257051 -0.01317718 0.99983416 0.11018634] [ 0. 0. 0. 1. ]] SLAMing on 2.366502481 meters 0.14976294690976213 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:0.12 [[ 0.99993307 0.01052202 -0.00481137 0.68999753] [-0.01048906 0.99992168 0.00682688 -0.28924263] [ 0.00488282 -0.00677596 0.99996512 0.1158453 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4265024809999995 meters 0.14747246430017336 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:0.12 [[ 0.9999294 0.01072135 -0.0051238 0.68602379] [-0.01067997 0.99991067 0.00803642 -0.28571545] [ 0.0052095 -0.00798113 0.99995458 0.1239329 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4865024809999996 meters 0.1476306108007892 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:0.13 [[ 0.99993413 0.01057295 -0.00446556 0.6815036 ] [-0.01053848 0.99991503 0.00767308 -0.28112029] [ 0.00454631 -0.00762551 0.99996059 0.12883184] [ 0. 0. 0. 1. ]] SLAMing on 2.5465024809999997 meters 0.14687403801763116 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:0.13 [[ 0.99993296 0.01084759 -0.0040514 0.67902369] [-0.01081503 0.99990972 0.00797422 -0.27879799] [ 0.00413753 -0.00792987 0.99996 0.13146075] [ 0. 0. 0. 1. ]] SLAMing on 2.6065024809999997 meters 0.15079913046304796 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.28, Z:0.14 [[ 9.99989518e-01 3.45422817e-03 -3.00549645e-03 6.74534164e-01] [-3.45179393e-03 9.99993711e-01 8.14740073e-04 -2.77558147e-01] [ 3.00829185e-03 -8.04357178e-04 9.99995152e-01 1.35454618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6665024809999998 meters 0.15591629843402272 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:0.14 [[ 9.99996708e-01 -2.55821463e-03 -2.00217231e-04 6.84933586e-01] [ 2.55923349e-03 9.99982861e-01 5.26571849e-03 -2.78873033e-01] [ 1.86742961e-04 -5.26621355e-03 9.99986116e-01 1.40096551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.726502481 meters 0.15647508147516542 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:0.14 [[ 9.99998080e-01 -1.75617255e-03 8.69059318e-04 6.81532462e-01] [ 1.75080972e-03 9.99979657e-01 6.13359782e-03 -2.76813198e-01] [-8.79813295e-04 -6.13206449e-03 9.99980812e-01 1.42414038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.786502481 meters 0.1540940884417277 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:0.14 [[ 0.99999819 -0.00113735 0.00152666 0.67901536] [ 0.00112699 0.99997645 0.00676935 -0.27583207] [-0.00153433 -0.00676762 0.99997592 0.1446305 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8465024809999995 meters 0.1489178961533963 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.27, Z:0.15 [[ 9.99998530e-01 6.22821433e-04 1.59744830e-03 6.76393344e-01] [-6.35746031e-04 9.99966967e-01 8.10307089e-03 -2.73501171e-01] [-1.59234876e-03 -8.10407455e-03 9.99965894e-01 1.48075302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9065024809999995 meters 0.14370195362084673 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:0.15 [[ 9.99997930e-01 3.76564197e-04 1.99974294e-03 6.75571800e-01] [-3.93990406e-04 9.99961894e-01 8.72099238e-03 -2.75134450e-01] [-1.99638273e-03 -8.72176220e-03 9.99959972e-01 1.49062242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9665024809999996 meters 0.1439530624881632 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.28, Z:0.15 [[ 0.99996125 0.00253543 0.00843071 0.68665277] [-0.00257245 0.99998708 0.00438398 -0.2804637 ] [-0.00841949 -0.0044055 0.99995485 0.15041595] [ 0. 0. 0. 1. ]] SLAMing on 3.0265024809999996 meters 0.13753769800364235 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:0.15 [[ 0.99996349 0.00107955 0.00847663 0.68374425] [-0.00110737 0.99999402 0.00327766 -0.28553716] [-0.00847304 -0.00328693 0.9999587 0.15466231] [ 0. 0. 0. 1. ]] SLAMing on 3.0865024809999997 meters 0.13515606228703453 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.31, Z:0.15 [[ 0.99998405 0.00467184 0.00317292 0.70246642] [-0.00467765 0.99998739 0.00182629 -0.30958243] [-0.00316435 -0.0018411 0.9999933 0.15362561] [ 0. 0. 0. 1. ]] SLAMing on 3.1465024809999997 meters 0.1364613597684204 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.32, Z:0.15 [[ 9.99966728e-01 6.78871276e-04 8.12909957e-03 7.15225308e-01] [-7.23220333e-04 9.99984866e-01 5.45389649e-03 -3.20463914e-01] [-8.12527405e-03 -5.45959416e-03 9.99952085e-01 1.50260920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.206502481 meters 0.13875067375090835 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.35, Z:0.15 [[ 9.99974674e-01 -4.53352969e-03 5.48612902e-03 7.38061224e-01] [ 4.53092607e-03 9.99989617e-01 4.86918736e-04 -3.45820190e-01] [-5.48827952e-03 -4.62049159e-04 9.99984833e-01 1.52677392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2665024809999994 meters 0.13626958637843908 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.36, Z:0.15 [[ 0.99999564 -0.00183697 0.00231188 0.76207911] [ 0.00183463 0.9999978 0.00101573 -0.36270693] [-0.00231374 -0.00101148 0.99999681 0.15401373] [ 0. 0. 0. 1. ]] SLAMing on 3.3265024809999995 meters 0.1333159970034985 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.37, Z:0.15 [[ 0.99995918 0.00290221 0.008557 0.77292756] [-0.00288792 0.99999442 -0.00168207 -0.37217834] [-0.00856184 0.00165729 0.99996197 0.15432672] [ 0. 0. 0. 1. ]] SLAMing on 3.3865024809999995 meters 0.13256202856592694 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.38, Z:0.16 [[ 9.99970041e-01 3.25265824e-03 7.02404472e-03 7.73941632e-01] [-3.25139788e-03 9.99994696e-01 -1.90846471e-04 -3.79429389e-01] [-7.02462822e-03 1.68002789e-04 9.99975313e-01 1.57206969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4465024809999996 meters 0.14192479380618736 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.39, Z:0.16 [[ 0.99992117 -0.0057468 0.01116367 0.78671369] [ 0.00571813 0.99998028 0.0025985 -0.39009485] [-0.01117839 -0.00253446 0.99993431 0.15959631] [ 0. 0. 0. 1. ]] SLAMing on 3.5065024809999996 meters 0.16499071818977154 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.41, Z:0.16 [[ 0.99992814 -0.00697944 0.00974708 0.7889049 ] [ 0.00690601 0.99994768 0.00754665 -0.40938939] [-0.00979924 -0.0074788 0.99992402 0.16297936] [ 0. 0. 0. 1. ]] SLAMing on 3.5665024809999997 meters 0.1703396481787429 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.42, Z:0.17 [[ 0.99987037 -0.00169697 0.01601165 0.79727616] [ 0.00159751 0.99997936 0.00622275 -0.42160473] [-0.01602188 -0.00619636 0.99985244 0.16609216] [ 0. 0. 0. 1. ]] SLAMing on 3.6265024809999997 meters 0.15903510427819276 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.42, Z:0.17 [[ 0.99986254 0.00280942 0.01634058 0.79611291] [-0.00297212 0.99994617 0.00994072 -0.4196946 ] [-0.01631177 -0.00998792 0.99981707 0.1666679 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6865024809999993 meters 0.15392325966478607 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.42, Z:0.17 [[ 0.9998514 0.00269067 0.01702772 0.79554601] [-0.00284019 0.99995757 0.00876319 -0.41664918] [-0.01700342 -0.00881025 0.99981661 0.16514693] [ 0. 0. 0. 1. ]] SLAMing on 3.7465024809999994 meters 0.13820397537276588 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.41, Z:0.16 [[ 0.99983994 0.00249827 0.01771571 0.79481579] [-0.0026329 0.9999678 0.0075801 -0.41279196] [-0.0176962 -0.00762554 0.99981433 0.16400572] [ 0. 0. 0. 1. ]] SLAMing on 3.8065024809999994 meters 0.13777291998760832 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.41, Z:0.16 [[ 0.99983596 0.00216576 0.01798241 0.7950822 ] [-0.00228593 0.99997518 0.00666478 -0.41091215] [-0.01796753 -0.0067048 0.99981609 0.16250611] [ 0. 0. 0. 1. ]] SLAMing on 3.8665024809999995 meters 0.1390924727324661 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.41, Z:0.16 [[ 0.99984025 0.00207194 0.01775356 0.79553112] [-0.00218938 0.99997584 0.00659812 -0.41085687] [-0.01773946 -0.00663593 0.99982062 0.16248974] [ 0. 0. 0. 1. ]] SLAMing on 3.9265024809999995 meters 0.1359339291036799 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.41, Z:0.16 [[ 0.99983136 0.00579861 0.01742519 0.79699509] [-0.00597404 0.99993183 0.01003253 -0.40982409] [-0.01736582 -0.01013493 0.99979784 0.16092871] [ 0. 0. 0. 1. ]] SLAMing on 3.9865024809999996 meters 0.13577888103962277 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.41, Z:0.16 [[ 0.99983621 0.00539805 0.0172749 0.79790815] [-0.00556001 0.99994091 0.00934116 -0.40887668] [-0.01722345 -0.00943568 0.99980714 0.15976988] [ 0. 0. 0. 1. ]] SLAMing on 4.046502480999999 meters 0.13740323584566658 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.41, Z:0.16 [[ 0.99984225 0.00467036 0.01713685 0.79940571] [-0.00481244 0.99995431 0.00825896 -0.40683989] [-0.01709749 -0.00834013 0.99981904 0.15771165] [ 0. 0. 0. 1. ]] SLAMing on 4.106502480999999 meters 0.14012775928630267 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.41, Z:0.16 [[ 0.99984864 0.00412633 0.01690187 0.80091824] [-0.00425536 0.99996202 0.0076055 -0.40595297] [-0.01686985 -0.00767627 0.99982823 0.15601572] [ 0. 0. 0. 1. ]] SLAMing on 4.166502480999999 meters 0.13781638753654626 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.40, Z:0.15 [[ 0.99984169 0.0036499 0.01741468 0.80107373] [-0.00375635 0.99997444 0.00608364 -0.40185072] [-0.01739203 -0.00614809 0.99982984 0.15392319] [ 0. 0. 0. 1. ]] SLAMing on 4.226502480999999 meters 0.13013358926993088 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.40, Z:0.15 [[ 0.9998181 0.00737267 0.01758987 0.80127043] [-0.00752183 0.99993619 0.00842899 -0.39692213] [-0.0175266 -0.00855977 0.99980976 0.15259155] [ 0. 0. 0. 1. ]] SLAMing on 4.286502480999999 meters 0.12828096483725276 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.39, Z:0.15 [[ 0.99982042 0.00663514 0.01775138 0.80180685] [-0.0067494 0.99995684 0.00638442 -0.39136095] [-0.01770825 -0.00650308 0.99982205 0.15081116] [ 0. 0. 0. 1. ]] SLAMing on 4.346502480999999 meters 0.12827279766495875 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.39, Z:0.15 [[ 0.99982883 0.00638455 0.01736513 0.80229025] [-0.00649081 0.99996051 0.00606998 -0.38994234] [-0.01732569 -0.00618166 0.99983079 0.15126758] [ 0. 0. 0. 1. ]] SLAMing on 4.406502480999999 meters 0.1305518745774317 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.39, Z:0.15 [[ 0.99984168 0.00573902 0.01684297 0.80355661] [-0.00582915 0.99996893 0.0053068 -0.38767135] [-0.01681199 -0.00540414 0.99984406 0.15088826] [ 0. 0. 0. 1. ]] SLAMing on 4.466502480999999 meters 0.13337094586677523 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.39, Z:0.15 [[ 0.99985762 0.00556393 0.01593074 0.804792 ] [-0.00565508 0.99996787 0.00568217 -0.38876425] [-0.01589862 -0.00577145 0.99985695 0.15182846] [ 0. 0. 0. 1. ]] SLAMing on 4.526502480999999 meters 0.13981931315537766 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.39, Z:0.15 [[ 0.99988197 0.0046751 0.01463551 0.80817838] [-0.0047588 0.99997249 0.00568913 -0.3907416 ] [-0.01460851 -0.00575811 0.99987671 0.15057751] [ 0. 0. 0. 1. ]] SLAMing on 4.586502480999999 meters 0.14301043202289224 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.39, Z:0.15 [[ 0.99988921 0.00423008 0.01427148 0.80959414] [-0.00430717 0.99997628 0.00537531 -0.39027364] [-0.0142484 -0.00543619 0.99988371 0.14960867] [ 0. 0. 0. 1. ]] SLAMing on 4.646502480999999 meters 0.14250046979925907 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.39, Z:0.15 [[ 0.9998895 0.00351995 0.01444263 0.81033192] [-0.00357807 0.9999856 0.00400081 -0.38672082] [-0.01442834 -0.00405204 0.9998877 0.14781653] [ 0. 0. 0. 1. ]] SLAMing on 4.706502480999999 meters 0.13964418684228652 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.38, Z:0.15 [[ 0.99988586 0.00343433 0.01471276 0.8092322 ] [-0.00348293 0.99998856 0.0032787 -0.38257121] [-0.01470133 -0.00332957 0.99988639 0.14876179] [ 0. 0. 0. 1. ]] SLAMing on 4.766502480999999 meters 0.1415128949758383 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.38, Z:0.15 [[ 0.99989274 0.00324087 0.01428277 0.80988848] [-0.00328699 0.99998946 0.00320647 -0.38234705] [-0.01427223 -0.00325308 0.99989285 0.14910812] [ 0. 0. 0. 1. ]] SLAMing on 4.826502480999999 meters 0.14721666811917328 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.39, Z:0.15 [[ 0.99990864 0.00321065 0.01313 0.81102288] [-0.00326578 0.99998593 0.00417908 -0.3854754 ] [-0.01311639 -0.00422158 0.99990506 0.15094262] [ 0. 0. 0. 1. ]] SLAMing on 4.886502480999999 meters 0.1550215484141045 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.39, Z:0.15 [[ 0.9999189 0.00293116 0.01239398 0.81287905] [-0.00298988 0.99998438 0.00472233 -0.38810373] [-0.01237995 -0.00475901 0.99991204 0.15038538] [ 0. 0. 0. 1. ]] SLAMing on 4.946502480999999 meters 0.15961494291636386 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.39, Z:0.15 [[ 0.99992704 0.00282052 0.0117455 0.81412472] [-0.00288147 0.99998245 0.00517563 -0.38989536] [-0.0117307 -0.0052091 0.99991762 0.15055414] [ 0. 0. 0. 1. ]] SLAMing on 5.006502480999999 meters 0.16299282237386953 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.39, Z:0.15 [[ 0.99993379 0.00228481 0.01127785 0.81605061] [-0.00233837 0.99998604 0.00473862 -0.39026322] [-0.01126687 -0.00476468 0.99992517 0.14894225] [ 0. 0. 0. 1. ]] SLAMing on 5.066502480999999 meters 0.13510702104644223 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.39, Z:0.15 [[ 0.99993795 0.00212821 0.01093494 0.81686726] [-0.00217981 0.99998654 0.00470867 -0.39058776] [-0.01092477 -0.00473222 0.99992913 0.14876887] [ 0. 0. 0. 1. ]] SLAMing on 5.126502480999999 meters 0.13249907537486655 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.39, Z:0.15 [[ 0.99993426 0.00536093 0.01013576 0.81967338] [-0.00543802 0.99995638 0.00759353 -0.38863641] [-0.01009461 -0.00764815 0.9999198 0.14656126] [ 0. 0. 0. 1. ]] SLAMing on 5.186502480999999 meters 0.13061330584115788 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.38, Z:0.14 [[ 0.99993719 0.00450182 0.01026356 0.8204023 ] [-0.00455951 0.9999739 0.00560373 -0.38336197] [-0.01023806 -0.00565017 0.99993163 0.14478738] [ 0. 0. 0. 1. ]] SLAMing on 5.2465024809999985 meters 0.1262567649514905 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.38, Z:0.15 [[ 0.9999332 0.00602014 0.00986679 0.82021766] [-0.0060802 0.9999631 0.00606826 -0.37731379] [-0.00982989 -0.00612784 0.99993291 0.14555563] [ 0. 0. 0. 1. ]] SLAMing on 5.306502480999999 meters 0.12266673782903004 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.37, Z:0.14 [[ 0.99991155 0.00923415 0.00957166 0.82139913] [-0.0093121 0.99992358 0.0081316 -0.37154391] [-0.00949584 -0.00822001 0.99992113 0.14428747] [ 0. 0. 0. 1. ]] SLAMing on 5.366502480999999 meters 0.12336386731232507 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.37, Z:0.14 [[ 0.99992131 0.00836217 0.00935181 0.8227344 ] [-0.00842676 0.99994077 0.00688849 -0.36831467] [-0.00929365 -0.00696675 0.99993254 0.14290997] [ 0. 0. 0. 1. ]] SLAMing on 5.426502480999999 meters 0.12445637942983694 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.37, Z:0.14 [[ 0.99993164 0.00752644 0.0089479 0.82499833] [-0.00757969 0.99995367 0.00593309 -0.3672319 ] [-0.00890283 -0.00600051 0.99994237 0.14057578] [ 0. 0. 0. 1. ]] SLAMing on 5.486502480999999 meters 0.12404313305470163 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.36, Z:0.14 [[ 0.99993895 0.00660132 0.0088615 0.82655316] [-0.00663931 0.99996886 0.00426508 -0.36381676] [-0.00883307 -0.00432366 0.99995164 0.13817519] [ 0. 0. 0. 1. ]] SLAMing on 5.546502480999999 meters 0.12380704609198392 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.36, Z:0.14 [[ 0.99994436 0.00587573 0.00876079 0.82769823] [-0.00590153 0.99997831 0.00292278 -0.36077372] [-0.00874343 -0.00297432 0.99995735 0.13653626] [ 0. 0. 0. 1. ]] SLAMing on 5.606502480999999 meters 0.12418049371804885 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.36, Z:0.14 [[ 0.99995153 0.00520062 0.00836053 0.82940231] [-0.00521817 0.99998422 0.00207897 -0.35980155] [-0.00834958 -0.0021225 0.99996289 0.13501718] [ 0. 0. 0. 1. ]] SLAMing on 5.666502480999998 meters 0.12642472334124918 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.36, Z:0.14 [[ 0.99995988 0.00505385 0.00739606 0.83117526] [-0.00507535 0.99998294 0.00289095 -0.36318543] [-0.00738132 -0.00292837 0.99996847 0.13514954] [ 0. 0. 0. 1. ]] SLAMing on 5.726502480999999 meters 0.13046212487864078 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.37, Z:0.13 [[ 0.99996762 0.00478268 0.00647151 0.83306658] [-0.00480606 0.99998196 0.00360222 -0.36670845] [-0.00645417 -0.0036332 0.99997257 0.1349879 ] [ 0. 0. 0. 1. ]] SLAMing on 5.7865024809999985 meters 0.12564864191669087 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.37, Z:0.14 [[ 0.99997267 0.00525212 0.00520267 0.83348846] [-0.00527971 0.99997199 0.00530447 -0.37154321] [-0.00517466 -0.00533179 0.9999724 0.13824844] [ 0. 0. 0. 1. ]] SLAMing on 5.846502480999999 meters 0.12513738333260238 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.37, Z:0.14 [[ 0.99997244 0.00567329 0.00478816 0.83313487] [-0.00570266 0.99996486 0.00614412 -0.37337618] [-0.00475314 -0.00617126 0.99996966 0.14009597] [ 0. 0. 0. 1. ]] SLAMing on 5.906502480999999 meters 0.12454585933762456 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.37, Z:0.14 [[ 0.9999747 0.00506191 0.0049983 0.83408078] [-0.00508731 0.99997415 0.00508136 -0.37098281] [-0.00497245 -0.00510666 0.9999746 0.13795237] [ 0. 0. 0. 1. ]] SLAMing on 5.966502480999999 meters 0.12430212955047451 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.14 [[ 0.99997798 0.00466074 0.00472399 0.83501585] [-0.00468263 0.9999783 0.00463419 -0.370306 ] [-0.00470229 -0.00465621 0.9999781 0.13731336] [ 0. 0. 0. 1. ]] SLAMing on 6.026502480999999 meters 0.1262016001025836 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.14 [[ 0.99998009 0.0050184 0.0038263 0.83519072] [-0.00504178 0.99996852 0.00612661 -0.37408595] [-0.00379543 -0.00614578 0.99997391 0.13983923] [ 0. 0. 0. 1. ]] SLAMing on 6.086502480999998 meters 0.12749674696569094 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.14 [[ 0.99998128 0.00479063 0.00380533 0.83577831] [-0.00481252 0.9999718 0.00576447 -0.37378044] [-0.00377761 -0.00578268 0.99997614 0.13896886] [ 0. 0. 0. 1. ]] SLAMing on 6.146502480999999 meters 0.12689229087151851 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.14 [[ 0.99998421 0.00433762 0.00357219 0.83692232] [-0.00435586 0.99997743 0.00511589 -0.37303265] [-0.00354992 -0.00513137 0.99998053 0.13781678] [ 0. 0. 0. 1. ]] SLAMing on 6.2065024809999985 meters 0.12814469994286312 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.14 [[ 0.99998617 0.00390834 0.00352047 0.83792717] [-0.00392423 0.99998208 0.00452016 -0.37224984] [-0.00350274 -0.00453391 0.99998359 0.13637834] [ 0. 0. 0. 1. ]] SLAMing on 6.266502480999999 meters 0.12216452559950275 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.14 [[ 0.99998491 0.00396475 0.00380172 0.83731961] [-0.0039809 0.99998305 0.00424973 -0.37087844] [-0.00378481 -0.0042648 0.99998374 0.13648687] [ 0. 0. 0. 1. ]] SLAMing on 6.326502480999999 meters 0.12129990787215664 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.14 [[ 0.99998232 0.00468361 0.00366406 0.83645394] [-0.00470319 0.99997462 0.00535141 -0.37410444] [-0.00363891 -0.00536855 0.99997897 0.13810991] [ 0. 0. 0. 1. ]] SLAMing on 6.386502480999999 meters 0.1209578887196479 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.14 [[ 0.99995665 0.00876014 0.00315494 0.83782111] [-0.00879033 0.99991445 0.00968669 -0.37516276] [-0.00306981 -0.009714 0.99994811 0.13754033] [ 0. 0. 0. 1. ]] SLAMing on 6.446502480999999 meters 0.11901030895900905 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.14 [[ 0.99996399 0.0078576 0.00320647 0.83919206] [-0.00788302 0.99993697 0.00799405 -0.37158525] [-0.00314345 -0.00801904 0.99996291 0.13504496] [ 0. 0. 0. 1. ]] SLAMing on 6.506502480999998 meters 0.119089807503909 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.14 [[ 0.99996602 0.00769564 0.00295452 0.8396571 ] [-0.0077184 0.99994 0.00777273 -0.37113418] [-0.00289452 -0.00779527 0.99996543 0.13504915] [ 0. 0. 0. 1. ]] SLAMing on 6.566502480999999 meters 0.11650034106320027 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.37, Z:0.13 [[ 0.99993398 0.01111601 0.00290876 0.84029694] [-0.01114471 0.99988746 0.0100432 -0.3656027 ] [-0.00279679 -0.01007495 0.99994534 0.13402282] [ 0. 0. 0. 1. ]] SLAMing on 6.626502480999998 meters 0.11730086154686788 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.36, Z:0.13 [[ 0.99997721 0.00607009 0.00295432 0.84111091] [-0.00608295 0.99997198 0.0043624 -0.36211387] [-0.00292775 -0.00438027 0.99998612 0.13247111] [ 0. 0. 0. 1. ]] SLAMing on 6.686502480999999 meters 0.12031420219675829 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.36, Z:0.13 [[ 0.99997937 0.0060619 0.00212534 0.84224139] [-0.0060729 0.99996801 0.00520514 -0.3648528 ] [-0.00209372 -0.00521794 0.99998419 0.13317327] [ 0. 0. 0. 1. ]] SLAMing on 6.7465024809999985 meters 0.12072244992735241 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.37, Z:0.13 [[ 0.99995583 0.00932251 0.00119139 0.84554407] [-0.00933303 0.99991454 0.00915414 -0.36582138] [-0.00110595 -0.00916486 0.99995739 0.13086032] [ 0. 0. 0. 1. ]] SLAMing on 6.806502480999999 meters 0.12520840039146713 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.37, Z:0.13 [[ 9.99960184e-01 8.88595259e-03 8.18230649e-04 8.47140308e-01] [-8.89290927e-03 9.99920564e-01 8.93202945e-03 -3.66538193e-01] [-7.38796063e-04 -8.93895026e-03 9.99959774e-01 1.29486741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.866502480999999 meters 0.12461263845379182 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.36, Z:0.13 [[ 9.99965962e-01 8.19928648e-03 9.19992157e-04 8.48276772e-01] [-8.20604097e-03 9.99937483e-01 7.59546985e-03 -3.63949638e-01] [-8.57657208e-04 -7.60276081e-03 9.99970731e-01 1.27284524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.926502480999998 meters 0.12208422644575702 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.36, Z:0.13 [[ 9.99964679e-01 8.38597836e-03 5.62746630e-04 8.47921353e-01] [-8.39006633e-03 9.99935122e-01 7.70450384e-03 -3.63659307e-01] [-4.98100318e-04 -7.70895319e-03 9.99970162e-01 1.28858676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.986502480999999 meters 0.12162336027509243 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.36, Z:0.13 [[ 9.99966237e-01 8.20846898e-03 3.81678829e-04 8.48409592e-01] [-8.21109135e-03 9.99938392e-01 7.46922760e-03 -3.63255512e-01] [-3.20344392e-04 -7.47210942e-03 9.99972032e-01 1.28679916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.046502480999998 meters 0.11804894571581902 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.36, Z:0.13 [[ 9.99964664e-01 8.40604022e-03 -9.97790766e-05 8.48457717e-01] [-8.40498701e-03 9.99933342e-01 7.91630947e-03 -3.64143076e-01] [ 1.66317241e-04 -7.91519109e-03 9.99968661e-01 1.30054386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.106502480999999 meters 0.117117196280563 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.36, Z:0.13 [[ 9.99969491e-01 7.80645929e-03 2.77093083e-04 8.49103800e-01] [-7.80810817e-03 9.99948031e-01 6.55502325e-03 -3.61026043e-01] [-2.25907161e-04 -6.55698683e-03 9.99978477e-01 1.27784362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.166502480999998 meters 0.11755960031784282 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.36, Z:0.13 [[ 9.99971216e-01 7.58667541e-03 9.95441430e-05 8.49573517e-01] [-7.58714760e-03 9.99951899e-01 6.21565767e-03 -3.60327721e-01] [-5.23831777e-05 -6.21623401e-03 9.99980678e-01 1.27564135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.226502480999999 meters 0.11960874291040038 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.36, Z:0.13 [[ 9.99974246e-01 7.17260398e-03 -2.49002407e-04 8.50489299e-01] [-7.17103833e-03 9.99957446e-01 5.80361660e-03 -3.59441662e-01] [ 2.90618855e-04 -5.80168153e-03 9.99983128e-01 1.27208466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2865024809999985 meters 0.12057521464721155 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.36, Z:0.13 [[ 9.99995462e-01 2.92582568e-03 -7.17428276e-04 8.50594365e-01] [-2.92451358e-03 9.99994062e-01 1.82318436e-03 -3.59880806e-01] [ 7.22758335e-04 -1.82107796e-03 9.99998081e-01 1.28412114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.346502480999998 meters 0.12429280296756898 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.36, Z:0.13 [[ 9.99979591e-01 -6.33937676e-03 -7.93057462e-04 8.64924135e-01] [ 6.34224005e-03 9.99973184e-01 3.66158859e-03 -3.61942409e-01] [ 7.69824006e-04 -3.66654362e-03 9.99992982e-01 1.32689269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.406502480999999 meters 0.12730577909887653 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.37, Z:0.13 [[ 0.99999491 -0.0022378 -0.00227337 0.86730518] [ 0.00225852 0.99995557 0.00915234 -0.36802052] [ 0.00225279 -0.00915743 0.99995553 0.1332319 ] [ 0. 0. 0. 1. ]] SLAMing on 7.466502480999998 meters 0.12601630530775368 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.37, Z:0.13 [[ 0.9999834 0.00466047 0.00338926 0.87956245] [-0.004686 0.99996041 0.00756437 -0.37043828] [-0.00335388 -0.00758012 0.99996565 0.13175576] [ 0. 0. 0. 1. ]] SLAMing on 7.526502480999999 meters 0.12549095406239164 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.37, Z:0.13 [[ 0.99998391 0.00448893 0.00346899 0.87966561] [-0.00451356 0.99996443 0.00712551 -0.36926909] [-0.00343688 -0.00714106 0.9999686 0.13131553] [ 0. 0. 0. 1. ]] SLAMing on 7.586502480999998 meters 0.12508627658289154 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.37, Z:0.13 [[ 0.99998648 0.0039595 0.00337109 0.88044268] [-0.00398023 0.99997309 0.00616306 -0.36704836] [-0.0033466 -0.0061764 0.99997533 0.13032183] [ 0. 0. 0. 1. ]] SLAMing on 7.646502480999999 meters 0.12422320814093817 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.36, Z:0.13 [[ 0.9999876 0.00368242 0.00335351 0.87967671] [-0.00369987 0.99997957 0.00521228 -0.36222906] [-0.00333424 -0.00522463 0.99998079 0.13151948] [ 0. 0. 0. 1. ]] SLAMing on 7.7065024809999985 meters 0.12563625329587993 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.36, Z:0.13 [[ 0.99999043 0.00365523 0.00240368 0.88050786] [-0.00366853 0.99997787 0.00555011 -0.36358395] [-0.00238334 -0.00555887 0.99998171 0.13294604] [ 0. 0. 0. 1. ]] SLAMing on 7.766502480999998 meters 0.12563017297070767 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.36, Z:0.13 [[ 0.99999247 0.00313305 0.00229127 0.88126936] [-0.00314379 0.99998402 0.00469918 -0.36120932] [-0.00227651 -0.00470635 0.99998633 0.13210866] [ 0. 0. 0. 1. ]] SLAMing on 7.826502480999999 meters 0.12193726408098868 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.36, Z:0.13 [[ 0.99997512 0.00687633 0.00157146 0.88347373] [-0.00689008 0.99993646 0.00892239 -0.36221322] [-0.00151001 -0.00893299 0.99995896 0.13089979] [ 0. 0. 0. 1. ]] SLAMing on 7.886502480999998 meters 0.1247904150526151 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.36, Z:0.13 [[ 9.99977912e-01 6.58646211e-03 8.91633664e-04 8.84814968e-01] [-6.59421389e-03 9.99937849e-01 8.98966326e-03 -3.63099031e-01] [-8.32368172e-04 -8.99534431e-03 9.99959195e-01 1.30885341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.946502480999999 meters 0.12667202273829822 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.36, Z:0.13 [[ 9.99998277e-01 1.79808605e-03 4.61077690e-04 8.86005824e-01] [-1.80002017e-03 9.99989437e-01 4.22925323e-03 -3.62420144e-01] [-4.53468258e-04 -4.23007589e-03 9.99990950e-01 1.30318455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.006502480999998 meters 0.12613061187737112 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.36, Z:0.13 [[ 9.99998586e-01 1.67988757e-03 7.88201222e-05 8.86200487e-01] [-1.68020767e-03 9.99989541e-01 4.25388713e-03 -3.61685096e-01] [-7.16732456e-05 -4.25401355e-03 9.99990949e-01 1.31244599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.066502480999999 meters 0.12570877902386415 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.36, Z:0.13 [[ 9.99997541e-01 2.01036748e-03 -9.36159941e-04 8.86557093e-01] [-2.00536276e-03 9.99983856e-01 5.31661557e-03 -3.64682218e-01] [ 9.46833179e-04 -5.31472516e-03 9.99985428e-01 1.33692101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.126502481 meters 0.12742033299873934 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.37, Z:0.13 [[ 0.99999667 0.00203361 -0.00159032 0.88766765] [-0.00202432 0.99998098 0.00582654 -0.36684367] [ 0.00160213 -0.0058233 0.99998176 0.13401049] [ 0. 0. 0. 1. ]] SLAMing on 8.186502480999998 meters 0.12541850914961314 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.37, Z:0.13 [[ 0.99997813 0.00644587 -0.00148323 0.88807555] [-0.00642964 0.99992211 0.01069742 -0.36884622] [ 0.00155207 -0.01068765 0.99994168 0.13331772] [ 0. 0. 0. 1. ]] SLAMing on 8.246502480999998 meters 0.12751265027083633 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.37, Z:0.13 [[ 0.9999829 -0.00225014 0.00539868 0.89709414] [ 0.00219638 0.99994814 0.00994458 -0.37437245] [-0.00542077 -0.00993255 0.99993598 0.13355926] [ 0. 0. 0. 1. ]] SLAMing on 8.306502480999999 meters 0.1283812201273027 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.38, Z:0.13 [[ 0.99998618 0.00211069 0.00481424 0.8976161 ] [-0.00218229 0.99988636 0.01491632 -0.3759583 ] [-0.00478221 -0.01492662 0.99987716 0.13460036] [ 0. 0. 0. 1. ]] SLAMing on 8.366502480999998 meters 0.12262485118897602 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.37, Z:0.13 [[ 0.99998481 0.00143217 0.0053219 0.89803094] [-0.00150105 0.99991489 0.01296015 -0.37161571] [-0.00530288 -0.01296794 0.99990185 0.13208151] [ 0. 0. 0. 1. ]] SLAMing on 8.426502480999998 meters 0.1211412650748174 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.37, Z:0.13 [[ 0.99998138 0.00551927 -0.00260192 0.90887033] [-0.00550165 0.99996221 0.00673143 -0.36794959] [ 0.00263897 -0.00671699 0.99997396 0.13485665] [ 0. 0. 0. 1. ]] SLAMing on 8.486502480999999 meters 0.11600938837197816 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.36, Z:0.13 [[ 0.99998398 0.00532287 -0.00192416 0.90841544] [-0.00531209 0.9999704 0.00556664 -0.36487006] [ 0.00195373 -0.00555633 0.99998265 0.13345548] [ 0. 0. 0. 1. ]] SLAMing on 8.546502481 meters 0.11705943903273659 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.37, Z:0.13 [[ 0.99998246 0.00549329 -0.00221411 0.90902238] [-0.00547937 0.99996547 0.00624711 -0.36768185] [ 0.00224835 -0.00623486 0.99997804 0.1334424 ] [ 0. 0. 0. 1. ]] SLAMing on 8.606502480999998 meters 0.116334610707105 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.37, Z:0.13 [[ 0.99998065 0.00575478 -0.0023608 0.90898183] [-0.00573851 0.99996014 0.0068403 -0.36948406] [ 0.00240007 -0.00682662 0.99997382 0.13401374] [ 0. 0. 0. 1. ]] SLAMing on 8.666502480999998 meters 0.1158175611668733 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.37, Z:0.13 [[ 0.99998157 0.00572474 -0.00202393 0.90835565] [-0.00571171 0.99996329 0.00638725 -0.36792007] [ 0.00206043 -0.00637558 0.99997755 0.13389165] [ 0. 0. 0. 1. ]] SLAMing on 8.726502480999999 meters 0.11629568137067442 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.37, Z:0.13 [[ 0.99998188 0.00562581 -0.00214343 0.90875891] [-0.00561225 0.99996452 0.0062817 -0.36817108] [ 0.0021787 -0.00626956 0.99997797 0.13356839] [ 0. 0. 0. 1. ]] SLAMing on 8.786502480999998 meters 0.11735083592031167 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.37, Z:0.13 [[ 0.99998279 0.00535308 -0.0024012 0.90930852] [-0.00533885 0.99996836 0.00589656 -0.36726626] [ 0.00243269 -0.00588364 0.99997973 0.13344265] [ 0. 0. 0. 1. ]] SLAMing on 8.846502480999998 meters 0.11787529024115186 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.37, Z:0.13 [[ 0.99998699 0.00439946 -0.00258298 0.91162524] [-0.00438754 0.99997979 0.00460102 -0.36585852] [ 0.00260317 -0.00458962 0.99998608 0.13026581] [ 0. 0. 0. 1. ]] SLAMing on 8.906502480999999 meters 0.11730363492049752 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.36, Z:0.13 [[ 0.99998897 0.00378036 -0.00278655 0.91286381] [-0.00376979 0.99998571 0.00378992 -0.36452689] [ 0.00280084 -0.00377937 0.99998894 0.12893253] [ 0. 0. 0. 1. ]] SLAMing on 8.966502481 meters 0.11858606393828877 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.37, Z:0.13 [[ 0.99998549 0.00405782 -0.00354384 0.91324131] [-0.00404097 0.99998056 0.0047492 -0.36680512] [ 0.00356304 -0.00473482 0.99998244 0.13069883] [ 0. 0. 0. 1. ]] SLAMing on 9.026502480999998 meters 0.11727876473818419 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.37, Z:0.13 [[ 0.99998365 0.00414834 -0.00393712 0.91317534] [-0.00412893 0.99997935 0.0049248 -0.36660802] [ 0.00395747 -0.00490846 0.99998012 0.13197241] [ 0. 0. 0. 1. ]] SLAMing on 9.086502480999998 meters 0.11683247350308679 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.36, Z:0.13 [[ 0.99998684 0.0034183 -0.00382547 0.91415824] [-0.00340527 0.9999884 0.00340785 -0.36338236] [ 0.00383708 -0.00339478 0.99998688 0.12994718] [ 0. 0. 0. 1. ]] SLAMing on 9.146502480999999 meters 0.11519281895609262 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.36, Z:0.13 [[ 0.99998586 0.00335612 -0.0041258 0.91436726] [-0.00334206 0.99998861 0.00340872 -0.36307259] [ 0.0041372 -0.00339488 0.99998568 0.13053844] [ 0. 0. 0. 1. ]] SLAMing on 9.206502480999998 meters 0.11703780205587914 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.36, Z:0.13 [[ 0.99998129 -0.00487208 -0.00370024 0.92925903] [ 0.00489224 0.99997313 0.00545973 -0.36385347] [ 0.00367354 -0.00547773 0.99997825 0.1332541 ] [ 0. 0. 0. 1. ]] SLAMing on 9.266502480999998 meters 0.1201829120440098 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.37, Z:0.13 [[ 9.99999600e-01 -3.30311628e-05 8.94243000e-04 9.42615871e-01] [ 2.90243587e-05 9.99989963e-01 4.48030814e-03 -3.71095820e-01] [-8.94382014e-04 -4.48028039e-03 9.99989564e-01 1.34871222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.326502480999999 meters 0.12194361310931963 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.37, Z:0.14 [[ 9.99999865e-01 1.76442484e-04 4.87772731e-04 9.43221572e-01] [-1.79033638e-04 9.99985847e-01 5.31728528e-03 -3.73810196e-01] [-4.86827632e-04 -5.31737189e-03 9.99985744e-01 1.35245179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.386502480999999 meters 0.12056943320387015 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.38, Z:0.13 [[ 9.99990948e-01 4.25417544e-03 -7.06852237e-05 9.44626035e-01] [-4.25329621e-03 9.99944473e-01 9.64155475e-03 -3.75053636e-01] [ 1.11698164e-04 -9.64116683e-03 9.99953517e-01 1.34781161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.446502480999998 meters 0.11863364402631493 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.37, Z:0.14 [[ 9.99991481e-01 4.12630937e-03 -1.08300800e-04 9.44479252e-01] [-4.12513449e-03 9.99948924e-01 9.22674212e-03 -3.73645638e-01] [ 1.46367660e-04 -9.22621676e-03 9.99957427e-01 1.35075864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.506502480999998 meters 0.11930209902820696 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.38, Z:0.14 [[ 0.99999066 0.00419669 -0.00103001 0.94543648] [-0.00418626 0.99994195 0.00992836 -0.37625738] [ 0.00107162 -0.00992395 0.99995018 0.13641155] [ 0. 0. 0. 1. ]] SLAMing on 9.566502480999999 meters 0.11965740095952929 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.38, Z:0.14 [[ 9.99990780e-01 4.24817083e-03 -6.26941048e-04 9.45370735e-01] [-4.24169033e-03 9.99941009e-01 9.99935267e-03 -3.76608063e-01] [ 6.69383022e-04 -9.99660118e-03 9.99949809e-01 1.35385435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.626502480999998 meters 0.12026587602967642 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.38, Z:0.13 [[ 9.99991264e-01 4.10969805e-03 -7.63473349e-04 9.46282190e-01] [-4.10188780e-03 9.99941942e-01 9.96431308e-03 -3.77416324e-01] [ 8.04379341e-04 -9.96109434e-03 9.99950064e-01 1.34424680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686502480999998 meters 0.11953212158856225 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 9.99993422e-01 3.62694834e-03 -3.39974403e-05 9.46716594e-01] [-3.62651946e-03 9.99956128e-01 8.63659933e-03 -3.74803104e-01] [ 6.53204484e-05 -8.63641923e-03 9.99962703e-01 1.31377654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.746502480999998 meters 0.11769409520001042 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.37, Z:0.13 [[ 9.99993030e-01 3.63888855e-03 8.35556428e-04 9.44983527e-01] [-3.64526166e-03 9.99963270e-01 7.75693055e-03 -3.70890751e-01] [-8.07299133e-04 -7.75992230e-03 9.99969565e-01 1.31482341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806502480999999 meters 0.11562567924278441 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.37, Z:0.13 [[ 0.99999334 0.00346621 0.00113977 0.94482031] [-0.00347435 0.9999679 0.00722038 -0.36950561] [-0.00111471 -0.0072243 0.99997328 0.13077846] [ 0. 0. 0. 1. ]] SLAMing on 9.866502480999998 meters 0.11773994674088502 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 0.99999386 0.00328085 0.00122738 0.94534614] [-0.00328919 0.99997108 0.00685735 -0.3694003 ] [-0.00120484 -0.00686135 0.99997573 0.12963069] [ 0. 0. 0. 1. ]] SLAMing on 9.926502480999998 meters 0.1163973907253701 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 0.99999389 0.0033165 0.00110841 0.94608228] [-0.00332436 0.99996882 0.00716312 -0.37143316] [-0.00108462 -0.00716676 0.99997373 0.12891294] [ 0. 0. 0. 1. ]] SLAMing on 9.986502480999999 meters 0.11532960225833158 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 0.99999324 0.00343563 0.00130719 0.94583433] [-0.00344493 0.99996827 0.00718296 -0.37146516] [-0.00128247 -0.00718742 0.99997335 0.12869052] [ 0. 0. 0. 1. ]] SLAMing on 10.046502480999997 meters 0.11503960498825724 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 0.99999288 0.00343141 0.00157175 0.94591121] [-0.00344243 0.99996916 0.00705879 -0.37178912] [-0.00154748 -0.00706415 0.99997385 0.12777347] [ 0. 0. 0. 1. ]] SLAMing on 10.106502480999998 meters 0.11420603878294791 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 0.99999194 0.00354069 0.00189506 0.94555759] [-0.00355367 0.99996993 0.00689242 -0.37163262] [-0.0018706 -0.00689909 0.99997445 0.12727019] [ 0. 0. 0. 1. ]] SLAMing on 10.166502480999998 meters 0.11318481622447435 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 0.99999222 0.00340486 0.00198984 0.94570729] [-0.00341752 0.99997371 0.00639497 -0.37044158] [-0.00196801 -0.00640172 0.99997757 0.1266875 ] [ 0. 0. 0. 1. ]] SLAMing on 10.226502480999999 meters 0.11366211537391935 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 0.99999273 0.00344412 0.00163465 0.94626718] [-0.00345497 0.99997172 0.00668008 -0.3715362 ] [-0.00161159 -0.00668568 0.99997635 0.12692219] [ 0. 0. 0. 1. ]] SLAMing on 10.286502480999998 meters 0.11384489940273568 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 0.99999217 0.00379539 0.00111609 0.9463974 ] [-0.00380389 0.99996294 0.00772269 -0.37402251] [-0.00108674 -0.00772688 0.99996956 0.12843081] [ 0. 0. 0. 1. ]] SLAMing on 10.346502480999998 meters 0.11513536569013934 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.38, Z:0.13 [[ 9.99993474e-01 3.56131812e-03 6.07878049e-04 9.47730326e-01] [-3.56597632e-03 9.99962891e-01 7.84217875e-03 -3.75039522e-01] [-5.79926998e-04 -7.84429525e-03 9.99969065e-01 1.27954517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.406502480999999 meters 0.11572946326377777 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.38, Z:0.13 [[ 9.99972156e-01 7.45081046e-03 -4.16235596e-04 9.49841172e-01] [-7.44516501e-03 9.99897531e-01 1.22269124e-02 -3.76348185e-01] [ 5.07293352e-04 -1.22234730e-02 9.99925162e-01 1.27780543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.466502480999997 meters 0.11303805677411333 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 9.99978629e-01 6.52455244e-03 -4.14795128e-04 9.51310628e-01] [-6.51992184e-03 9.99925425e-01 1.03264625e-02 -3.72436584e-01] [ 4.82139740e-04 -1.03235374e-02 9.99946595e-01 1.25150666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.526502480999998 meters 0.11288785507407025 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.37, Z:0.13 [[ 9.99979179e-01 6.41748119e-03 -6.76179019e-04 9.51343294e-01] [-6.41032308e-03 9.99928406e-01 1.01040147e-02 -3.71435085e-01] [ 7.40972933e-04 -1.00994698e-02 9.99948725e-01 1.25900536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.586502480999998 meters 0.1144490261463213 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.37, Z:0.13 [[ 0.99999579 -0.00250959 -0.0014599 0.96564082] [ 0.00252514 0.99993905 0.01074776 -0.37008764] [ 0.00143284 -0.0107514 0.99994118 0.12922067] [ 0. 0. 0. 1. ]] SLAMing on 10.646502480999999 meters 0.1146165914150312 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.37, Z:0.13 [[ 0.99999092 0.00192829 0.00380082 0.97855244] [-0.00195567 0.99997207 0.00721333 -0.37352253] [-0.00378681 -0.0072207 0.99996676 0.12799801] [ 0. 0. 0. 1. ]] SLAMing on 10.706502480999998 meters 0.11536051794042573 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.37, Z:0.13 [[ 0.99997743 0.00578308 0.00342089 0.97998048] [-0.00582125 0.9999197 0.01125616 -0.37354533] [-0.00335552 -0.01127582 0.9999308 0.12699568] [ 0. 0. 0. 1. ]] SLAMing on 10.766502480999998 meters 0.11485842601805958 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.37, Z:0.13 [[ 0.99997974 0.00542367 0.00333169 0.98068026] [-0.0054592 0.99992733 0.01074835 -0.37259177] [-0.00327315 -0.01076632 0.99993668 0.12616298] [ 0. 0. 0. 1. ]] SLAMing on 10.826502480999999 meters 0.11577199527217959 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.37, Z:0.13 [[ 0.99998086 0.0053034 0.0031864 0.98071908] [-0.00533648 0.99993102 0.01046308 -0.37169784] [-0.00313069 -0.01047988 0.99994018 0.12653195] [ 0. 0. 0. 1. ]] SLAMing on 10.886502480999997 meters 0.11463959244693045 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.37, Z:0.13 [[ 0.99998216 0.00513781 0.0030454 0.98100128] [-0.00516864 0.99993459 0.01020303 -0.37112622] [-0.00299278 -0.01021859 0.99994331 0.12648267] [ 0. 0. 0. 1. ]] SLAMing on 10.946502480999998 meters 0.11491096895521383 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.37, Z:0.13 [[ 0.99998405 0.00481962 0.0029433 0.98175239] [-0.00484825 0.99994023 0.0097999 -0.37041899] [-0.00289589 -0.00981401 0.99994765 0.12559071] [ 0. 0. 0. 1. ]] SLAMing on 11.006502480999998 meters 0.11471091789782449 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.37, Z:0.12 [[ 0.99998597 0.00439795 0.00295346 0.98300539] [-0.00442514 0.99994729 0.0092652 -0.37002462] [-0.00291256 -0.00927814 0.99995272 0.12361248] [ 0. 0. 0. 1. ]] SLAMing on 11.066502480999999 meters 0.11414100917865734 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.37, Z:0.12 [[ 0.99996562 0.00792087 0.00245334 0.98515438] [-0.00795127 0.9998885 0.01263974 -0.36887872] [-0.00235295 -0.01265881 0.99991711 0.12172495] [ 0. 0. 0. 1. ]] SLAMing on 11.126502480999998 meters 0.11371772860386829 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.37, Z:0.12 [[ 0.99999251 0.00290684 0.0025572 0.98605451] [-0.00292392 0.99997327 0.00670131 -0.36534206] [-0.00253765 -0.00670873 0.99997428 0.1196649 ] [ 0. 0. 0. 1. ]] SLAMing on 11.186502480999998 meters 0.11493378165743368 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.37, Z:0.12 [[ 0.99999366 0.00303273 0.00186752 0.98666585] [-0.00304649 0.9999679 0.00741012 -0.36767624] [-0.00184499 -0.00741576 0.9999708 0.12083125] [ 0. 0. 0. 1. ]] SLAMing on 11.246502480999998 meters 0.11471497094483496 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.37, Z:0.12 [[ 0.99999384 0.00285895 0.00203648 0.98665936] [-0.0028731 0.99997153 0.00697682 -0.36626166] [-0.00201648 -0.00698262 0.99997359 0.12029668] [ 0. 0. 0. 1. ]] SLAMing on 11.306502480999997 meters 0.11448742797902846 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.37, Z:0.12 [[ 0.99997845 0.00638557 0.00152255 0.98878563] [-0.0064012 0.9999245 0.01048904 -0.36550896] [-0.00145545 -0.01049856 0.99994383 0.11853346] [ 0. 0. 0. 1. ]] SLAMing on 11.366502480999998 meters 0.11392206607104308 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.36, Z:0.12 [[ 0.99998165 0.00585266 0.0015635 0.9897234 ] [-0.00586725 0.99993775 0.0094908 -0.36369188] [-0.00150786 -0.0094998 0.99995374 0.11685455] [ 0. 0. 0. 1. ]] SLAMing on 11.426502480999998 meters 0.11425600566779655 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.36, Z:0.12 [[ 0.99993477 0.00902548 0.00700021 1.00204886] [-0.00905244 0.99995169 0.0038291 -0.36202008] [-0.00696531 -0.00389222 0.99996817 0.11639348] [ 0. 0. 0. 1. ]] SLAMing on 11.486502480999999 meters 0.11284034164604015 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.36, Z:0.12 [[ 0.99993519 0.00872979 0.0073084 1.00189626] [-0.00875048 0.99995779 0.00280248 -0.35886017] [-0.00728363 -0.00286625 0.99996937 0.11566839] [ 0. 0. 0. 1. ]] SLAMing on 11.546502480999997 meters 0.11281835093683336 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.36, Z:0.11 [[ 0.99994043 0.00819732 0.00720703 1.002985 ] [-0.00821232 0.99996417 0.00205374 -0.35755356] [-0.00718994 -0.0021128 0.99997192 0.11426276] [ 0. 0. 0. 1. ]] SLAMing on 11.606502480999998 meters 0.1124520884065058 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.35, Z:0.11 [[ 9.99946490e-01 7.59939132e-03 7.01901367e-03 1.00345532e+00] [-7.60649933e-03 9.99970584e-01 9.86538843e-04 -3.53789374e-01] [-7.01131010e-03 -1.03987618e-03 9.99974880e-01 1.14107081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.666502480999998 meters 0.1133090025376192 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.35, Z:0.11 [[ 9.99956256e-01 6.80780264e-03 6.41397371e-03 1.00494133e+00] [-6.80759804e-03 9.99976827e-01 -5.37306783e-05 -3.51456494e-01] [-6.41419087e-03 1.00645731e-05 9.99979429e-01 1.13567364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726502480999997 meters 0.1139675666901771 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99996406 0.00606095 0.00592789 1.00651476] [-0.00605468 0.99998109 -0.00107595 -0.34934771] [-0.0059343 0.00104002 0.99998185 0.11249879] [ 0. 0. 0. 1. ]] SLAMing on 11.786502480999998 meters 0.11413079014696728 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99994246 0.00967369 0.00463706 1.00940946] [-0.00968821 0.9999482 0.00312045 -0.35106332] [-0.00460663 -0.0031652 0.99998438 0.11177912] [ 0. 0. 0. 1. ]] SLAMing on 11.846502480999998 meters 0.11530856621373639 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99994914 0.00925934 0.00399802 1.01066623] [-0.00927062 0.99995307 0.00281166 -0.3503578 ] [-0.0039718 -0.00284859 0.99998806 0.11175568] [ 0. 0. 0. 1. ]] SLAMing on 11.906502480999999 meters 0.11653339895234177 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99995129 0.00924316 0.00346242 1.01088032] [-0.00925361 0.99995264 0.00301462 -0.35007634] [-0.00343439 -0.00304652 0.99998946 0.11310177] [ 0. 0. 0. 1. ]] SLAMing on 11.966502480999997 meters 0.1186950212785907 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99995781 0.00875625 0.00277596 1.01281047] [-0.00876435 0.99995733 0.00291837 -0.35124872] [-0.00275028 -0.00294257 0.99999189 0.11215051] [ 0. 0. 0. 1. ]] SLAMing on 12.026502480999998 meters 0.11673931272848607 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99996094 0.00847186 0.00251966 1.01345202] [-0.00847825 0.99996084 0.00253583 -0.35038495] [-0.00249808 -0.00255709 0.99999361 0.11193263] [ 0. 0. 0. 1. ]] SLAMing on 12.086502480999998 meters 0.1162432395296131 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99996375 0.00814841 0.0024689 1.01393968] [-0.00815303 0.99996502 0.00186706 -0.34887016] [-0.0024536 -0.00188712 0.99999521 0.11128972] [ 0. 0. 0. 1. ]] SLAMing on 12.146502480999997 meters 0.11536218731346361 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99996543 0.0078877 0.00263181 1.01394621] [-0.00789064 0.99996826 0.00110575 -0.34681289] [-0.002623 -0.00112648 0.99999593 0.11076479] [ 0. 0. 0. 1. ]] SLAMing on 12.206502480999998 meters 0.11563875356621084 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99996589 0.0080582 0.00181275 1.01415364] [-0.00806144 0.9999659 0.00178953 -0.34844324] [-0.00179827 -0.00180408 0.99999676 0.11290983] [ 0. 0. 0. 1. ]] SLAMing on 12.266502480999998 meters 0.11677977001107129 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.11 [[ 0.99996789 0.0078668 0.00152692 1.01499295] [-0.00786937 0.99996762 0.00168423 -0.34875218] [-0.00151362 -0.0016962 0.99999742 0.1124356 ] [ 0. 0. 0. 1. ]] SLAMing on 12.326502480999999 meters 0.11755827746098292 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.35, Z:0.11 [[ 0.99996881 0.007609 0.00211778 1.0150311 ] [-0.00761136 0.99997041 0.00111256 -0.34662606] [-0.00210925 -0.00112864 0.99999714 0.11081226] [ 0. 0. 0. 1. ]] SLAMing on 12.386502480999997 meters 0.11537822885322414 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.35, Z:0.11 [[ 0.99997123 0.00740692 0.00163389 1.01597767] [-0.00740868 0.99997198 0.00107374 -0.34709449] [-0.00162589 -0.00108581 0.99999809 0.1107959 ] [ 0. 0. 0. 1. ]] SLAMing on 12.446502480999998 meters 0.11502679140549597 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.35, Z:0.11 [[ 0.9999726 0.00732805 0.00105031 1.01673269] [-0.0073295 0.99997218 0.00138283 -0.34800667] [-0.00104014 -0.00139049 0.99999849 0.11143329] [ 0. 0. 0. 1. ]] SLAMing on 12.506502480999998 meters 0.11581577042408793 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.35, Z:0.11 [[ 9.99973657e-01 7.25394074e-03 2.55838679e-04 1.01791360e+00] [-7.25445563e-03 9.99971538e-01 2.07257125e-03 -3.50279167e-01] [-2.40797088e-04 -2.07437262e-03 9.99997819e-01 1.12087448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.566502480999997 meters 0.11475563299992828 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.35, Z:0.11 [[ 9.99976247e-01 6.86373112e-03 6.27886883e-04 1.01805581e+00] [-6.86437732e-03 9.99975906e-01 1.03287887e-03 -3.47420859e-01] [-6.20782352e-04 -1.03716439e-03 9.99999269e-01 1.10745213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.626502480999998 meters 0.11284669662834468 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.35, Z:0.11 [[ 9.99943334e-01 1.06409281e-02 3.14135105e-04 1.01930974e+00] [-1.06422553e-02 9.99932886e-01 4.57877516e-03 -3.46080845e-01] [-2.65391605e-04 -4.58185881e-03 9.99989468e-01 1.09808582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.686502480999998 meters 0.11349066287764961 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.34, Z:0.11 [[ 9.99948025e-01 1.01948504e-02 1.10790925e-04 1.02010207e+00] [-1.01951979e-02 9.99940803e-01 3.80101478e-03 -3.44258249e-01] [-7.20335896e-05 -3.80194676e-03 9.99992770e-01 1.09136298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.746502480999998 meters 0.11234480295520376 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.34, Z:0.11 [[ 9.99956577e-01 9.31901064e-03 -2.94523885e-05 1.02179783e+00] [-9.31890863e-03 9.99953488e-01 2.48601447e-03 -3.41622718e-01] [ 5.26182138e-05 -2.48563205e-03 9.99996909e-01 1.06870909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806502480999997 meters 0.11212883533011166 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.34, Z:0.11 [[ 9.99958699e-01 9.08769738e-03 -1.19301344e-04 1.02185567e+00] [-9.08744087e-03 9.99956711e-01 1.99860248e-03 -3.39832543e-01] [ 1.37458874e-04 -1.99743579e-03 9.99997996e-01 1.07037661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.866502480999998 meters 0.11232511124648178 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.34, Z:0.11 [[ 9.99961170e-01 8.81129725e-03 -1.38738902e-04 1.02173230e+00] [-8.81114517e-03 9.99960618e-01 1.06102223e-03 -3.36922574e-01] [ 1.48082420e-04 -1.05975859e-03 9.99999427e-01 1.07226053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926502480999998 meters 0.11019471430471428 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.33, Z:0.11 [[ 9.99963274e-01 8.56594121e-03 -2.73805964e-04 1.02182983e+00] [-8.56583205e-03 9.99963234e-01 3.97399343e-04 -3.34765662e-01] [ 2.77199996e-04 -3.95039372e-04 9.99999884e-01 1.07441741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.986502480999997 meters 0.11097701911090617 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.33, Z:0.11 [[ 9.99967901e-01 8.00947764e-03 -2.10485542e-04 1.02245494e+00] [-8.00963691e-03 9.99967628e-01 -7.67065923e-04 -3.31786465e-01] [ 2.04334931e-04 7.68727214e-04 9.99999684e-01 1.06193768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.046502480999997 meters 0.1100834742606283 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.33, Z:0.11 [[ 9.99929293e-01 1.18646754e-02 -7.99243054e-04 1.02404879e+00] [-1.18618493e-02 9.99923686e-01 3.45246387e-03 -3.32497631e-01] [ 8.40144423e-04 -3.44273926e-03 9.99993721e-01 1.05513530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.106502480999998 meters 0.11056965995774579 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.10 [[ 0.99993438 0.01139517 -0.00118003 1.02548056] [-0.01139147 0.99993033 0.00309371 -0.33242268] [ 0.0012152 -0.00308006 0.99999452 0.10440923] [ 0. 0. 0. 1. ]] SLAMing on 13.166502480999998 meters 0.11043148652148385 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.11 [[ 0.99993203 0.01150659 -0.00188074 1.02583689] [-0.01149989 0.99992763 0.00353321 -0.33428025] [ 0.00192126 -0.00351134 0.99999199 0.10579545] [ 0. 0. 0. 1. ]] SLAMing on 13.226502480999997 meters 0.11000995613273887 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.10 [[ 0.99993677 0.01110582 -0.00176729 1.02649373] [-0.01110098 0.99993467 0.00272476 -0.33262435] [ 0.00179743 -0.00270497 0.99999473 0.10442087] [ 0. 0. 0. 1. ]] SLAMing on 13.286502480999998 meters 0.10921989212880477 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.10 [[ 0.99993663 0.01105716 -0.00211312 1.02686464] [-0.01105151 0.99993537 0.00266992 -0.3325973 ] [ 0.00214251 -0.0026464 0.9999942 0.1048785 ] [ 0. 0. 0. 1. ]] SLAMing on 13.346502480999998 meters 0.1091388990518295 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.11 [[ 0.99993406 0.01119094 -0.00257838 1.02714692] [-0.01118286 0.99993258 0.00312663 -0.33367526] [ 0.00261319 -0.00309759 0.99999179 0.10585982] [ 0. 0. 0. 1. ]] SLAMing on 13.406502480999997 meters 0.10958647766273787 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.10 [[ 0.99994617 0.01001141 -0.00272462 1.02982333] [-0.01000659 0.99994835 0.00177691 -0.33045379] [ 0.00274226 -0.00174955 0.99999471 0.10262375] [ 0. 0. 0. 1. ]] SLAMing on 13.466502480999997 meters 0.11118208082043242 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.10 [[ 0.99994608 0.00972699 -0.00363539 1.03051339] [-0.00971913 0.99995041 0.00217278 -0.33166518] [ 0.00365635 -0.00213733 0.99999103 0.10426416] [ 0. 0. 0. 1. ]] SLAMing on 13.526502480999998 meters 0.11261425642700383 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.11 [[ 0.99994462 0.00964999 -0.00419834 1.03070312] [-0.00964091 0.99995115 0.00217882 -0.33113391] [ 0.00421916 -0.00213823 0.99998881 0.10560898] [ 0. 0. 0. 1. ]] SLAMing on 13.586502480999998 meters 0.11234169823375216 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.10 [[ 0.99994992 0.00914545 -0.00406398 1.03117421] [-0.00914076 0.99995754 0.00117196 -0.32839467] [ 0.00407452 -0.00113476 0.99999106 0.10453206] [ 0. 0. 0. 1. ]] SLAMing on 13.646502480999997 meters 0.10951483272378365 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.10 [[ 9.99954531e-01 8.32167776e-03 -4.65670419e-03 1.03354033e+00] [-8.32087881e-03 9.99965363e-01 1.90916733e-04 -3.27537746e-01] [ 4.65813164e-03 -1.52160181e-04 9.99989139e-01 1.02508275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.706502480999998 meters 0.11119601744438647 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.10 [[ 9.99953068e-01 8.19995315e-03 -5.15980106e-03 1.03398695e+00] [-8.19854731e-03 9.99966348e-01 2.93554309e-04 -3.27928144e-01] [ 5.16203456e-03 -2.51237659e-04 9.99986645e-01 1.03330302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.766502480999998 meters 0.11007563096853268 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:0.10 [[ 9.99953178e-01 7.96787487e-03 -5.49137958e-03 1.03445742e+00] [-7.96770216e-03 9.99968256e-01 5.33272259e-05 -3.26922137e-01] [ 5.49163016e-03 -9.57105204e-06 9.99984921e-01 1.03588382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.826502480999997 meters 0.10976309699632178 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.33, Z:0.10 [[ 9.99954914e-01 7.52655911e-03 -5.78974253e-03 1.03557101e+00] [-7.52971251e-03 9.99971515e-01 -5.23047720e-04 -3.26000337e-01] [ 5.78564086e-03 5.66619234e-04 9.99983103e-01 1.02701830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.886502480999997 meters 0.10965100188022833 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.32, Z:0.10 [[ 0.99992239 0.01090965 -0.00601568 1.03734389] [-0.01089582 0.99993793 0.00232606 -0.32290034] [ 0.00604068 -0.00226033 0.9999792 0.10065327] [ 0. 0. 0. 1. ]] SLAMing on 13.946502480999998 meters 0.10939009840183206 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.32, Z:0.10 [[ 9.99930224e-01 1.00615135e-02 -6.18973511e-03 1.03860934e+00] [-1.00560293e-02 9.99949017e-01 9.16504523e-04 -3.19543326e-01] [ 6.19864096e-03 -8.54196416e-04 9.99980423e-01 9.91531578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006502480999998 meters 0.10986835863175667 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.32, Z:0.10 [[ 0.99996032 0.00590036 -0.00667367 1.03825425] [-0.00592151 0.99997749 -0.0031547 -0.31934182] [ 0.00665491 0.0031941 0.99997275 0.10098924] [ 0. 0. 0. 1. ]] SLAMing on 14.066502480999997 meters 0.10985802983412626 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.32, Z:0.10 [[ 9.99994204e-01 -4.97323536e-04 -3.36829467e-03 1.04905293e+00] [ 4.97646057e-04 9.99999872e-01 9.49147076e-05 -3.20327585e-01] [ 3.36824703e-03 -9.65903760e-05 9.99994323e-01 1.04455479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126502480999998 meters 0.10940632355181658 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.32, Z:0.10 [[ 0.9999847 0.00347903 -0.00430124 1.05095905] [-0.00345848 0.99998262 0.00477391 -0.32257799] [ 0.00431777 -0.00475896 0.99997935 0.10420804] [ 0. 0. 0. 1. ]] SLAMing on 14.186502480999998 meters 0.11017890497446345 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.32, Z:0.10 [[ 0.99996013 0.0075659 -0.004742 1.05207424] [-0.00752134 0.99992803 0.00934698 -0.32356047] [ 0.00481238 -0.00931094 0.99994507 0.10391059] [ 0. 0. 0. 1. ]] SLAMing on 14.246502480999997 meters 0.1096447670225096 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.32, Z:0.10 [[ 0.99996002 0.00748492 -0.00489132 1.05217313] [-0.00743993 0.99993044 0.00915182 -0.32288063] [ 0.00495948 -0.00911507 0.99994616 0.10422106] [ 0. 0. 0. 1. ]] SLAMing on 14.306502480999997 meters 0.10987662883670009 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.32, Z:0.10 [[ 0.99996116 0.00723037 -0.00503945 1.05283804] [-0.00718509 0.99993417 0.00894611 -0.32275014] [ 0.0051038 -0.00890956 0.99994728 0.10370371] [ 0. 0. 0. 1. ]] SLAMing on 14.366502480999998 meters 0.11238546536774807 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.33, Z:0.10 [[ 0.99998076 0.00249055 -0.00568141 1.05486067] [-0.00246335 0.9999855 0.00478884 -0.32504212] [ 0.00569325 -0.00477475 0.99997239 0.10243934] [ 0. 0. 0. 1. ]] SLAMing on 14.426502480999998 meters 0.11551790217077802 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.33, Z:0.10 [[ 9.99982427e-01 -1.71811865e-03 -5.67402960e-03 1.05503874e+00] [ 1.72338424e-03 9.99998089e-01 9.23255979e-04 -3.26540974e-01] [ 5.67243249e-03 -9.33018287e-04 9.99983476e-01 1.02199274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.486502480999997 meters 0.11623197846133076 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:0.11 [[ 0.99998445 -0.00440493 -0.00341926 1.06519786] [ 0.00443455 0.9999523 0.00870226 -0.32566242] [ 0.00338076 -0.00871729 0.99995629 0.10720059] [ 0. 0. 0. 1. ]] SLAMing on 14.546502480999997 meters 0.11412826096278408 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:0.11 [[ 9.99992348e-01 -2.80135909e-04 -3.90197999e-03 1.06567844e+00] [ 3.30848257e-04 9.99915416e-01 1.30019918e-02 -3.25582721e-01] [ 3.89800762e-03 -1.30031832e-02 9.99907857e-01 1.07798848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.606502480999998 meters 0.11440990859336857 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.32, Z:0.10 [[ 0.99999044 0.00332641 0.00283833 1.07676806] [-0.00334357 0.99997604 0.00606203 -0.3233757 ] [-0.0028181 -0.00607147 0.9999776 0.1028197 ] [ 0. 0. 0. 1. ]] SLAMing on 14.666502480999997 meters 0.1149072197702681 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.32, Z:0.10 [[ 0.99999214 0.0029092 0.00269494 1.07731319] [-0.00292373 0.99998113 0.0054022 -0.32179439] [-0.00267917 -0.00541004 0.99998178 0.10235326] [ 0. 0. 0. 1. ]] SLAMing on 14.726502480999997 meters 0.11532039456996988 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.32, Z:0.10 [[ 0.99999306 0.00239847 0.00284971 1.07762221] [-0.00241097 0.99998746 0.00438957 -0.31894685] [-0.00283915 -0.00439641 0.99998631 0.10138162] [ 0. 0. 0. 1. ]] SLAMing on 14.786502480999998 meters 0.11579345559288685 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.32, Z:0.10 [[ 0.99999397 0.00194062 0.00288132 1.07792424] [-0.00195074 0.99999193 0.00351283 -0.31646231] [-0.00287448 -0.00351843 0.99998968 0.10079038] [ 0. 0. 0. 1. ]] SLAMing on 14.846502480999998 meters 0.11652550428731005 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.31, Z:0.10 [[ 0.99999502 0.00155614 0.00274521 1.07813607] [-0.00156362 0.99999507 0.00272455 -0.3139594 ] [-0.00274096 -0.00272882 0.99999252 0.10081727] [ 0. 0. 0. 1. ]] SLAMing on 14.906502480999997 meters 0.11648058425614531 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.31, Z:0.10 [[ 0.99998268 0.00539022 0.00236171 1.07930972] [-0.00540553 0.99996411 0.00652397 -0.31327837] [-0.00232646 -0.00653662 0.99997593 0.10012404] [ 0. 0. 0. 1. ]] SLAMing on 14.966502480999997 meters 0.11336646850176824 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.31, Z:0.10 [[ 0.99998565 0.00480612 0.00236499 1.08027934] [-0.00481897 0.9999735 0.0054571 -0.31116225] [-0.0023387 -0.00546842 0.99998231 0.09856251] [ 0. 0. 0. 1. ]] SLAMing on 15.026502480999998 meters 0.11341842435355579 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.31, Z:0.10 [[ 0.99998912 0.00426453 0.00188819 1.08166838] [-0.00427352 0.99997942 0.00478445 -0.31009216] [-0.00186775 -0.00479247 0.99998677 0.09779393] [ 0. 0. 0. 1. ]] SLAMing on 15.086502480999997 meters 0.11348320215640076 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.31, Z:0.10 [[ 0.9999911 0.00379917 0.00183207 1.08218936] [-0.00380627 0.9999852 0.0038865 -0.30758988] [-0.00181728 -0.00389344 0.99999077 0.09712857] [ 0. 0. 0. 1. ]] SLAMing on 15.146502480999997 meters 0.11418843537012137 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.31, Z:0.10 [[ 0.99999266 0.00337822 0.00180926 1.08262304] [-0.00338359 0.99998985 0.00297561 -0.30528766] [-0.00179919 -0.00298171 0.99999394 0.09648446] [ 0. 0. 0. 1. ]] SLAMing on 15.206502480999998 meters 0.11228876071921137 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.30, Z:0.10 [[ 0.99999387 0.00311844 0.00159316 1.08265997] [-0.00312227 0.99999222 0.00240985 -0.30328373] [-0.00158564 -0.00241481 0.99999583 0.09699396] [ 0. 0. 0. 1. ]] SLAMing on 15.266502480999998 meters 0.11376581175926119 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.30, Z:0.10 [[ 0.9999955 0.00271889 0.00126742 1.08340632] [-0.00272142 0.9999943 0.00199673 -0.30203856] [-0.00126199 -0.00200017 0.9999972 0.09675621] [ 0. 0. 0. 1. ]] SLAMing on 15.326502480999997 meters 0.11511674160836628 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.30, Z:0.10 [[ 9.99996377e-01 2.52068742e-03 9.44336246e-04 1.08387147e+00] [-2.52240356e-03 9.99995162e-01 1.82053818e-03 -3.01391190e-01] [-9.39742670e-04 -1.82291359e-03 9.99997897e-01 9.68994230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386502480999997 meters 0.11779176005103646 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.30, Z:0.10 [[ 9.99997318e-01 2.31405348e-03 9.66376356e-05 1.08523337e+00] [-2.31426786e-03 9.99994722e-01 2.28056793e-03 -3.03343198e-01] [-9.13597694e-05 -2.28078546e-03 9.99997395e-01 9.71430404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446502480999998 meters 0.11974295937405127 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.10 [[ 9.99978959e-01 6.47099637e-03 -4.54972688e-04 1.08637770e+00] [-6.46751058e-03 9.99952544e-01 7.28566913e-03 -3.05928625e-01] [ 5.02096635e-04 -7.28257330e-03 9.99973356e-01 9.69254274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506502480999997 meters 0.11703672948453067 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.10 [[ 9.99976292e-01 6.80531639e-03 -1.05050585e-03 1.08690799e+00] [-6.79640147e-03 9.99942718e-01 8.26861364e-03 -3.09034286e-01] [ 1.10671621e-03 -8.26127795e-03 9.99965263e-01 9.78714435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.566502480999997 meters 0.11679457364515797 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.10 [[ 9.99974539e-01 7.06445858e-03 -1.00704482e-03 1.08655557e+00] [-7.05554508e-03 9.99938164e-01 8.59575280e-03 -3.09586127e-01] [ 1.06770688e-03 -8.58842870e-03 9.99962549e-01 9.83633173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.626502480999998 meters 0.11477182831169384 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.10 [[ 0.99997532 0.00691481 -0.00123991 1.08713288] [-0.00690446 0.99994287 0.00815979 -0.3087859 ] [ 0.00129626 -0.00815103 0.99996594 0.09812955] [ 0. 0. 0. 1. ]] SLAMing on 15.686502480999998 meters 0.11485018477307975 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.10 [[ 0.99997545 0.00681055 -0.00164677 1.08781762] [-0.00679693 0.99994378 0.00813892 -0.30910453] [ 0.00170211 -0.00812753 0.99996552 0.09824128] [ 0. 0. 0. 1. ]] SLAMing on 15.746502480999997 meters 0.11550134273537872 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.10 [[ 0.99997632 0.00658824 -0.00198616 1.08859145] [-0.00657235 0.99994717 0.00790361 -0.30891554] [ 0.00203813 -0.00789037 0.99996679 0.09800659] [ 0. 0. 0. 1. ]] SLAMing on 15.806502480999997 meters 0.11412466474515023 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.10 [[ 0.9999778 0.00632336 -0.00209919 1.08899709] [-0.00630772 0.99995293 0.0073728 -0.30753234] [ 0.00214571 -0.0073594 0.99997062 0.09764278] [ 0. 0. 0. 1. ]] SLAMing on 15.866502480999998 meters 0.11365576193809271 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.10 [[ 0.99998033 0.00581346 -0.00235535 1.09020173] [-0.00579768 0.99996106 0.00665281 -0.30636998] [ 0.00239393 -0.00663902 0.9999751 0.09644812] [ 0. 0. 0. 1. ]] SLAMing on 15.926502480999996 meters 0.11648292221227059 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.09 [[ 0.99998183 0.00521992 -0.00301411 1.09237192] [-0.00520112 0.99996718 0.00621168 -0.30695669] [ 0.00304644 -0.00619589 0.99997616 0.09494143] [ 0. 0. 0. 1. ]] SLAMing on 15.986502480999997 meters 0.11453674937225541 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.09 [[ 0.99998229 0.00503113 -0.00318025 1.09301872] [-0.00501197 0.99996942 0.00600371 -0.30675671] [ 0.00321036 -0.00598766 0.99997692 0.09439943] [ 0. 0. 0. 1. ]] SLAMing on 16.046502480999997 meters 0.11513939351241721 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.09 [[ 0.99998238 0.00488452 -0.00337397 1.09351716] [-0.00486521 0.99997187 0.00570803 -0.30606283] [ 0.00340175 -0.00569151 0.99997802 0.09415654] [ 0. 0. 0. 1. ]] SLAMing on 16.106502481 meters 0.11510212321156187 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.10 [[ 0.99997978 0.00503823 -0.00388017 1.09395131] [-0.0050142 0.99996834 0.00617802 -0.30737414] [ 0.00391118 -0.00615844 0.99997339 0.09503428] [ 0. 0. 0. 1. ]] SLAMing on 16.166502481 meters 0.11305448112473267 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.31, Z:0.09 [[ 0.99997963 0.00484389 -0.00415595 1.09480487] [-0.00481864 0.99997 0.00606411 -0.30757567] [ 0.0041852 -0.00604396 0.99997298 0.09451238] [ 0. 0. 0. 1. ]] SLAMing on 16.226502481 meters 0.11634842593834127 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.31, Z:0.09 [[ 0.99997801 0.00486121 -0.0045108 1.09535122] [-0.00483267 0.99996837 0.0063165 -0.30852855] [ 0.00454136 -0.00629457 0.99996988 0.09477859] [ 0. 0. 0. 1. ]] SLAMing on 16.286502481 meters 0.11164988711206124 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.31, Z:0.10 [[ 0.99997516 0.00502117 -0.00494573 1.09555738] [-0.00498799 0.99996513 0.00669781 -0.30935109] [ 0.00497919 -0.00667297 0.99996534 0.09577709] [ 0. 0. 0. 1. ]] SLAMing on 16.346502480999998 meters 0.11087809506473716 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.31, Z:0.09 [[ 0.99997697 0.0045845 -0.00500482 1.09634944] [-0.00455445 0.99997163 0.00599888 -0.30768711] [ 0.00503218 -0.00597595 0.99996948 0.09476339] [ 0. 0. 0. 1. ]] SLAMing on 16.406502481 meters 0.11260874248087697 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.31, Z:0.10 [[ 0.99997225 0.00480777 -0.00569079 1.09688699] [-0.0047686 0.99996498 0.00687723 -0.31004533] [ 0.00572365 -0.0068499 0.99996016 0.09598055] [ 0. 0. 0. 1. ]] SLAMing on 16.466502481 meters 0.11379583660475218 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.31, Z:0.10 [[ 0.99996823 0.00494714 -0.00624955 1.09722155] [-0.00490066 0.99996039 0.00743012 -0.31118764] [ 0.00628606 -0.00739926 0.99995287 0.097087 ] [ 0. 0. 0. 1. ]] SLAMing on 16.526502480999998 meters 0.11368016291416029 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.31, Z:0.10 [[ 0.99996766 0.0047486 -0.00649143 1.09784023] [-0.00470181 0.999963 0.00720411 -0.31083773] [ 0.0065254 -0.00717335 0.99995298 0.09681861] [ 0. 0. 0. 1. ]] SLAMing on 16.586502481 meters 0.11367758729299045 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.31, Z:0.10 [[ 0.99997056 0.00413738 -0.00646156 1.09891622] [-0.00409801 0.99997304 0.00609333 -0.30828863] [ 0.0064866 -0.00606667 0.99996056 0.09505302] [ 0. 0. 0. 1. ]] SLAMing on 16.646502481 meters 0.11354788619098763 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.31, Z:0.09 [[ 0.9999704 0.00375105 -0.00671833 1.09984694] [-0.00371478 0.9999785 0.00540339 -0.30694239] [ 0.00673845 -0.00537827 0.99996283 0.0943865 ] [ 0. 0. 0. 1. ]] SLAMing on 16.706502480999998 meters 0.1131731775659016 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.31, Z:0.10 [[ 9.99960275e-01 8.87476408e-03 8.29076119e-04 1.10747963e+00] [-8.87734082e-03 9.99955610e-01 3.15778293e-03 -3.07096678e-01] [-8.01014737e-04 -3.16501748e-03 9.99994671e-01 9.76652379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.766502481 meters 0.11222236029488224 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99963523e-01 8.48582972e-03 9.70964344e-04 1.10739897e+00] [-8.48774225e-03 9.99962013e-01 1.98285536e-03 -3.03284647e-01] [-9.54101286e-04 -1.99102432e-03 9.99997563e-01 9.74262496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826502481 meters 0.11016556816388828 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99967377e-01 8.07126055e-03 3.16291021e-04 1.10881302e+00] [-8.07175771e-03 9.99966137e-01 1.60341001e-03 -3.02982508e-01] [-3.03338771e-04 -1.60591073e-03 9.99998665e-01 9.70906273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.886502480999997 meters 0.11146971119651214 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99969668e-01 7.77407154e-03 -4.77065069e-04 1.11049410e+00] [-7.77319616e-03 9.99968150e-01 1.81013964e-03 -3.04422787e-01] [ 4.91122030e-04 -1.80637641e-03 9.99998248e-01 9.67683026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946502481 meters 0.11145917116582252 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99966100e-01 8.17179740e-03 -1.01043692e-03 1.10984551e+00] [-8.16933077e-03 9.99963698e-01 2.42164770e-03 -3.04731316e-01] [ 1.03018945e-03 -2.41331102e-03 9.99996557e-01 9.92243525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.006502481 meters 0.11147901237758977 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99926027e-01 1.21131418e-02 -1.10061362e-03 1.11070302e+00] [-1.21058255e-02 9.99906065e-01 6.42731676e-03 -3.03841431e-01] [ 1.17836524e-03 -6.41351748e-03 9.99978739e-01 9.84475422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066502481 meters 0.11185383403619072 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 0.99997047 0.00754238 -0.00147474 1.11194204] [-0.00753956 0.99996976 0.00190704 -0.30435954] [ 0.00148908 -0.00189586 0.99999709 0.09752332] [ 0. 0. 0. 1. ]] SLAMing on 17.126502481 meters 0.1124567941410174 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.31, Z:0.10 [[ 0.99997064 0.00742106 -0.00190803 1.11283978] [-0.00741726 0.99997051 0.00198939 -0.30511102] [ 0.00192273 -0.00197518 0.9999962 0.09740121] [ 0. 0. 0. 1. ]] SLAMing on 17.186502480999998 meters 0.11043861730556175 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 0.99996914 0.00772198 -0.0014488 1.11142349] [-0.00771923 0.99996842 0.0018893 -0.30394701] [ 0.00146334 -0.00187806 0.99999717 0.09829551] [ 0. 0. 0. 1. ]] SLAMing on 17.246502481 meters 0.10963729189507321 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99968678e-01 7.84547563e-03 -1.04504316e-03 1.11012611e+00] [-7.84413368e-03 9.99968412e-01 1.28207639e-03 -3.01479010e-01] [ 1.05506865e-03 -1.27383877e-03 9.99998632e-01 9.91216518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.306502481 meters 0.10917189831300289 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99967548e-01 7.99935625e-03 -9.55593402e-04 1.10920399e+00] [-7.99825002e-03 9.99967345e-01 1.15589939e-03 -3.00392422e-01] [ 9.64808648e-04 -1.14821880e-03 9.99998875e-01 1.00208582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.366502480999998 meters 0.10995744123896448 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99968422e-01 7.91072977e-03 -7.59098038e-04 1.10868699e+00] [-7.91005200e-03 9.99968317e-01 8.91740072e-04 -2.99216312e-01] [ 7.66128303e-04 -8.85707407e-04 9.99999314e-01 1.00422131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.426502481 meters 0.11124493738204241 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99970418e-01 7.56501815e-03 -1.39050253e-03 1.10988642e+00] [-7.56386487e-03 9.99971047e-01 8.32793757e-04 -2.99900205e-01] [ 1.39676237e-03 -8.22251548e-04 9.99998686e-01 1.00288778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486502481 meters 0.11300513715666312 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 0.99997155 0.00721298 -0.00220652 1.11200452] [-0.00720925 0.99997258 0.00169261 -0.30344718] [ 0.00221867 -0.00167665 0.99999613 0.09917856] [ 0. 0. 0. 1. ]] SLAMing on 17.546502480999997 meters 0.1147489350361026 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.31, Z:0.10 [[ 0.99996918 0.00733908 -0.00278765 1.11244673] [-0.00733195 0.99996985 0.00255738 -0.30560384] [ 0.00280634 -0.00253687 0.99999284 0.10019082] [ 0. 0. 0. 1. ]] SLAMing on 17.606502481 meters 0.1156775387199685 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 0.99996896 0.00722143 -0.0031523 1.11239424] [-0.00721465 0.99997165 0.00215497 -0.3038769 ] [ 0.00316777 -0.00213216 0.99999271 0.1012431 ] [ 0. 0. 0. 1. ]] SLAMing on 17.666502481 meters 0.11533774156425988 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 0.99992912 0.01136983 -0.00353278 1.11315243] [-0.01134711 0.99991523 0.00638514 -0.30401999] [ 0.00360508 -0.0063446 0.99997337 0.1012843 ] [ 0. 0. 0. 1. ]] SLAMing on 17.726502480999997 meters 0.11506607269378051 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 0.999932 0.01120494 -0.00323134 1.11265494] [-0.01118638 0.99992116 0.00570385 -0.30164956] [ 0.003295 -0.00566732 0.99997851 0.10117466] [ 0. 0. 0. 1. ]] SLAMing on 17.786502481 meters 0.11524530982289298 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 9.99970753e-01 6.83354417e-03 -3.43451550e-03 1.11217356e+00] [-6.83105225e-03 9.99976397e-01 7.36759547e-04 -2.99312058e-01] [ 3.43946911e-03 -7.13276644e-04 9.99993831e-01 1.02415294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846502480999998 meters 0.11191118298482704 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 0.99995715 0.00867248 -0.00323721 1.11095237] [-0.008666 0.99996043 0.00201127 -0.29537333] [ 0.00325452 -0.00198313 0.99999274 0.10371124] [ 0. 0. 0. 1. ]] SLAMing on 17.906502481 meters 0.11046777217937886 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.29, Z:0.10 [[ 0.99991482 0.01260363 -0.00339111 1.11161544] [-0.01258492 0.99990578 0.00548259 -0.29353754] [ 0.00345989 -0.00543945 0.99997922 0.10319526] [ 0. 0. 0. 1. ]] SLAMing on 17.966502481 meters 0.1101287183586013 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.30, Z:0.10 [[ 0.99991822 0.01219042 -0.00386544 1.11364876] [-0.01216944 0.99991133 0.00540634 -0.29512522] [ 0.003931 -0.00535886 0.99997791 0.10140375] [ 0. 0. 0. 1. ]] SLAMing on 18.026502480999998 meters 0.11157416224520238 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.30, Z:0.10 [[ 0.99992948 0.0107552 -0.00503611 1.11709548] [-0.01073056 0.99993045 0.00489299 -0.29997493] [ 0.00508838 -0.0048386 0.99997535 0.09907041] [ 0. 0. 0. 1. ]] SLAMing on 18.086502481 meters 0.11429004334631496 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.30, Z:0.10 [[ 9.99964291e-01 6.32048927e-03 -5.60959166e-03 1.11912135e+00] [-6.31429201e-03 9.99979435e-01 1.12178517e-03 -3.04011899e-01] [ 5.61656653e-03 -1.08632452e-03 9.99983637e-01 9.74387865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146502481 meters 0.11420988397637051 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 9.99999184e-01 -1.18245416e-03 -4.83757350e-04 1.12951712e+00] [ 1.18384698e-03 9.99995126e-01 2.88907352e-03 -3.10396455e-01] [ 4.80338795e-04 -2.88964385e-03 9.99995710e-01 9.81793788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206502480999998 meters 0.11508872658928267 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.32, Z:0.10 [[ 0.99997833 0.00433241 0.00495653 1.14136211] [-0.00434866 0.99998519 0.00327375 -0.31868852] [-0.00494227 -0.00329524 0.99998236 0.10095201] [ 0. 0. 0. 1. ]] SLAMing on 18.266502481 meters 0.1160533585952346 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.32, Z:0.10 [[ 0.99997959 0.00450321 0.00453225 1.14234782] [-0.00452274 0.99998049 0.00430797 -0.32221303] [-0.00451277 -0.00432838 0.99998045 0.10072518] [ 0. 0. 0. 1. ]] SLAMing on 18.326502481 meters 0.11497840859921246 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.32, Z:0.10 [[ 0.99998137 0.00447048 0.00415678 1.1431732 ] [-0.00448992 0.99997897 0.00467933 -0.32386187] [-0.00413577 -0.0046979 0.99998041 0.10059523] [ 0. 0. 0. 1. ]] SLAMing on 18.386502480999997 meters 0.11499529542341531 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.32, Z:0.10 [[ 0.99998179 0.00451191 0.00400836 1.14335318] [-0.00453135 0.99997795 0.00485354 -0.32436614] [-0.00398638 -0.00487161 0.99998019 0.10080269] [ 0. 0. 0. 1. ]] SLAMing on 18.446502481 meters 0.1144275118883839 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.33, Z:0.10 [[ 0.9999808 0.00504293 0.00359983 1.14295973] [-0.00506437 0.99996934 0.00597197 -0.32722715] [-0.0035696 -0.00599009 0.99997569 0.10261748] [ 0. 0. 0. 1. ]] SLAMing on 18.506502481 meters 0.11323991838414255 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.33, Z:0.10 [[ 0.99998096 0.00505321 0.00354106 1.14412854] [-0.00507488 0.99996829 0.00613652 -0.32843358] [-0.00350994 -0.00615437 0.9999749 0.1010646 ] [ 0. 0. 0. 1. ]] SLAMing on 18.566502480999997 meters 0.11278187875857429 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.33, Z:0.10 [[ 0.99998372 0.00472341 0.00320289 1.1462695 ] [-0.00474327 0.99996939 0.00622308 -0.33049962] [-0.00317339 -0.00623817 0.99997551 0.09876494] [ 0. 0. 0. 1. ]] SLAMing on 18.626502481 meters 0.11374488635111818 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.33, Z:0.10 [[ 9.99995425e-01 5.71796511e-04 2.97019058e-03 1.14673075e+00] [-5.79030017e-04 9.99996868e-01 2.43507887e-03 -3.32186582e-01] [-2.96878890e-03 -2.43678756e-03 9.99992624e-01 9.87743050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.686502480999998 meters 0.11546160916578624 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.34, Z:0.10 [[ 0.99995916 -0.00865584 0.00260082 1.16156886] [ 0.00864362 0.99995171 0.00467603 -0.33507481] [-0.00264117 -0.00465336 0.99998569 0.10318141] [ 0. 0. 0. 1. ]] SLAMing on 18.746502481 meters 0.11594389188555787 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:0.10 [[ 0.99998441 0.00471346 0.00299493 1.16655668] [-0.00472425 0.99998234 0.00360691 -0.34181535] [-0.00297787 -0.003621 0.99998901 0.10432062] [ 0. 0. 0. 1. ]] SLAMing on 18.806502481 meters 0.11509462996736586 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:0.10 [[ 0.99998494 0.00450196 0.00313724 1.16735449] [-0.00451179 0.99998491 0.00313464 -0.34114749] [-0.00312308 -0.00314874 0.99999017 0.10268933] [ 0. 0. 0. 1. ]] SLAMing on 18.866502480999998 meters 0.11320162133539036 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:0.10 [[ 0.99998662 0.00431504 0.00285153 1.16855289] [-0.00432389 0.99998584 0.00310281 -0.34213527] [-0.0028381 -0.0031151 0.99999112 0.10167808] [ 0. 0. 0. 1. ]] SLAMing on 18.926502481 meters 0.112623982844718 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.34, Z:0.10 [[ 0.99998714 0.00432905 0.00264011 1.16940053] [-0.00433807 0.99998473 0.00342217 -0.34382725] [-0.00262526 -0.00343358 0.99999066 0.10101319] [ 0. 0. 0. 1. ]] SLAMing on 18.986502481 meters 0.11224743486540185 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.35, Z:0.10 [[ 0.99998604 0.00465194 0.00250555 1.1695139 ] [-0.00466241 0.99998037 0.00418674 -0.34606921] [-0.00248603 -0.00419836 0.9999881 0.10131885] [ 0. 0. 0. 1. ]] SLAMing on 19.046502480999997 meters 0.11214482820597321 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.35, Z:0.10 [[ 0.99998413 0.00512408 0.00234278 1.16953285] [-0.0051365 0.99997262 0.00532637 -0.34918177] [-0.00231542 -0.00533831 0.99998307 0.10191622] [ 0. 0. 0. 1. ]] SLAMing on 19.106502481 meters 0.11266399122635608 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.35, Z:0.10 [[ 0.99998126 0.00583993 0.00183463 1.16936549] [-0.00585278 0.99995782 0.00707891 -0.35382678] [-0.00179321 -0.00708951 0.99997326 0.10375746] [ 0. 0. 0. 1. ]] SLAMing on 19.166502481 meters 0.11597275824172674 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.36, Z:0.10 [[ 0.99999621 0.00191006 0.0019823 1.17017571] [-0.00191812 0.99998987 0.0040723 -0.35825031] [-0.0019745 -0.00407608 0.99998974 0.10220514] [ 0. 0. 0. 1. ]] SLAMing on 19.226502480999997 meters 0.11709290627576593 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.36, Z:0.10 [[ 9.99996883e-01 2.22686677e-03 1.12941209e-03 1.17129753e+00] [-2.23296891e-03 9.99982760e-01 5.43077086e-03 -3.63602983e-01] [-1.11729901e-03 -5.43327587e-03 9.99984615e-01 1.02886882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.286502481 meters 0.11729305948548106 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.36, Z:0.10 [[ 9.99997067e-01 2.24331719e-03 9.13117867e-04 1.17191457e+00] [-2.24844955e-03 9.99981460e-01 5.65901530e-03 -3.64669277e-01] [-9.00405971e-04 -5.66105180e-03 9.99983571e-01 1.02623147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346502480999998 meters 0.11622755900398381 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.37, Z:0.10 [[ 9.99997001e-01 2.29594006e-03 8.53017724e-04 1.17217894e+00] [-2.30081669e-03 9.99980761e-01 5.76060784e-03 -3.65121470e-01] [-8.39775302e-04 -5.76255320e-03 9.99983044e-01 1.02440178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.406502480999997 meters 0.11491255751237357 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.37, Z:0.10 [[ 9.99997291e-01 2.26377973e-03 5.42166536e-04 1.17335538e+00] [-2.26707886e-03 9.99978434e-01 6.16381087e-03 -3.67151304e-01] [-5.28201333e-04 -6.16502330e-03 9.99980857e-01 1.01618509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.466502481 meters 0.11666944838136381 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.37, Z:0.10 [[ 9.99996051e-01 2.79659470e-03 2.76025507e-04 1.17299824e+00] [-2.79863104e-03 9.99966627e-01 7.67547781e-03 -3.70560076e-01] [-2.54551095e-04 -7.67621999e-03 9.99970505e-01 1.03246663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.526502480999998 meters 0.11774416057043639 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.37, Z:0.10 [[ 9.99995882e-01 2.85502511e-03 -2.92681538e-04 1.17397679e+00] [-2.85244074e-03 9.99959978e-01 8.47969682e-03 -3.73096904e-01] [ 3.16879572e-04 -8.47882704e-03 9.99964004e-01 1.03571192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.586502481 meters 0.11875439971650034 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.38, Z:0.10 [[ 9.99996281e-01 2.67396079e-03 -5.37346192e-04 1.17538528e+00] [-2.66917273e-03 9.99958400e-01 8.72204475e-03 -3.75210074e-01] [ 5.60646244e-04 -8.72057804e-03 9.99961818e-01 1.02163580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646502481 meters 0.11985340518356441 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.38, Z:0.10 [[ 9.99995850e-01 2.79280331e-03 -7.07905842e-04 1.17566921e+00] [-2.78609592e-03 9.99952824e-01 9.30519502e-03 -3.76935859e-01] [ 7.33860025e-04 -9.30318410e-03 9.99956455e-01 1.02345418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706502480999998 meters 0.12088926526397158 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.38, Z:0.10 [[ 0.99997004 0.006316 0.00447569 1.18796408] [-0.00633506 0.99997087 0.00425793 -0.37746863] [-0.00444866 -0.00428615 0.99998092 0.10216146] [ 0. 0. 0. 1. ]] SLAMing on 19.766502481 meters 0.12120434610199482 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.38, Z:0.10 [[ 0.99997065 0.00624281 0.00444255 1.18786573] [-0.00626062 0.99997237 0.00400724 -0.37643963] [-0.00441741 -0.00403493 0.9999821 0.10239205] [ 0. 0. 0. 1. ]] SLAMing on 19.826502481 meters 0.11975227934133378 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.37, Z:0.10 [[ 0.99997592 0.00553336 0.00418761 1.18966467] [-0.00554592 0.99998014 0.00299457 -0.37497763] [-0.00417096 -0.00301772 0.99998675 0.1002137 ] [ 0. 0. 0. 1. ]] SLAMing on 19.886502480999997 meters 0.12035157387063831 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.37, Z:0.10 [[ 0.9999804 0.00497767 0.00379759 1.19122206] [-0.00498665 0.99998478 0.00235928 -0.37429422] [-0.00378579 -0.00237817 0.99999001 0.09890069] [ 0. 0. 0. 1. ]] SLAMing on 19.946502481 meters 0.12242523761798312 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.38, Z:0.10 [[ 0.99998342 0.00500845 0.00284033 1.19210857] [-0.0050183 0.99998139 0.00347022 -0.37732489] [-0.0028229 -0.00348441 0.99998994 0.10047636] [ 0. 0. 0. 1. ]] SLAMing on 20.006502481 meters 0.12600591906144593 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.38, Z:0.10 [[ 0.99998302 0.00499316 0.00300562 1.19224941] [-0.00500386 0.99998113 0.00356377 -0.37770524] [-0.00298777 -0.00357875 0.99998913 0.09979956] [ 0. 0. 0. 1. ]] SLAMing on 20.066502480999997 meters 0.12169516003480323 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.38, Z:0.10 [[ 0.99995378 0.00924215 0.00264879 1.19219521] [-0.00926228 0.99992752 0.00769144 -0.37668307] [-0.00257751 -0.00771561 0.99996691 0.10099059] [ 0. 0. 0. 1. ]] SLAMing on 20.126502481 meters 0.11950348325091552 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.37, Z:0.10 [[ 0.99996245 0.00834659 0.00233265 1.19379508] [-0.00835982 0.99994869 0.00572177 -0.37247244] [-0.00228477 -0.00574106 0.99998091 0.09903975] [ 0. 0. 0. 1. ]] SLAMing on 20.186502480999998 meters 0.11706619408227693 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.37, Z:0.10 [[ 0.99992456 0.01207246 0.00226595 1.19463036] [-0.01209205 0.9998878 0.00884122 -0.36969617] [-0.00215896 -0.00886796 0.99995835 0.09793244] [ 0. 0. 0. 1. ]] SLAMing on 20.246502480999997 meters 0.1154093763500945 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.10 [[ 0.99993139 0.01150759 0.00219079 1.19553105] [-0.01152366 0.99990569 0.0074711 -0.36670082] [-0.00210461 -0.00749583 0.99996969 0.09652179] [ 0. 0. 0. 1. ]] SLAMing on 20.306502481 meters 0.11589811866803462 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.10 [[ 0.99993564 0.01116848 0.00199633 1.19650152] [-0.01118226 0.99991276 0.0070308 -0.36621638] [-0.00191763 -0.00705267 0.99997329 0.09558352] [ 0. 0. 0. 1. ]] SLAMing on 20.366502480999998 meters 0.11638823069548983 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.09 [[ 0.99994356 0.01047464 0.00177766 1.1984243 ] [-0.01048557 0.99992547 0.00625362 -0.36564584] [-0.00171202 -0.00627191 0.99997887 0.09321171] [ 0. 0. 0. 1. ]] SLAMing on 20.426502481 meters 0.11832054372336998 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.09 [[ 0.99998085 0.00599188 0.00154527 1.19957489] [-0.00599543 0.99997937 0.00230333 -0.36777791] [-0.00153143 -0.00231255 0.99999615 0.09204613] [ 0. 0. 0. 1. ]] SLAMing on 20.486502481 meters 0.12149891930621592 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.09 [[ 9.99980547e-01 6.15640218e-03 1.00174463e-03 1.19997988e+00] [-6.15992128e-03 9.99974731e-01 3.54865056e-03 -3.70869726e-01] [-9.79872395e-04 -3.55475219e-03 9.99993202e-01 9.32175788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546502480999997 meters 0.12241512683574071 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.09 [[ 9.99983611e-01 5.63045488e-03 1.03711121e-03 1.20137809e+00] [-5.63344835e-03 9.99979908e-01 2.90641079e-03 -3.70145386e-01] [-1.02072596e-03 -2.91220567e-03 9.99995239e-01 9.09246264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.606502481 meters 0.1227288790405738 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.09 [[ 9.99988096e-01 4.86572004e-03 3.63136606e-04 1.20389397e+00] [-4.86653283e-03 9.99985577e-01 2.27198167e-03 -3.70162787e-01] [-3.52076542e-04 -2.27372184e-03 9.99997353e-01 8.88953284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.666502481 meters 0.12547190888877882 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.09 [[ 9.99989067e-01 4.67239408e-03 1.85959646e-04 1.20427559e+00] [-4.67277853e-03 9.99986828e-01 2.12361901e-03 -3.69691596e-01] [-1.76034812e-04 -2.12446474e-03 9.99997728e-01 8.88665713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726502480999997 meters 0.12524111786746048 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.09 [[ 9.99989025e-01 4.66235071e-03 -4.60505130e-04 1.20421874e+00] [-4.66135769e-03 9.99986858e-01 2.13441917e-03 -3.68851519e-01] [ 4.70450489e-04 -2.13224916e-03 9.99997616e-01 9.08643787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786502481 meters 0.12562435913692696 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.09 [[ 9.99988822e-01 4.67163939e-03 -7.29462709e-04 1.20359871e+00] [-4.67033973e-03 9.99987522e-01 1.77332147e-03 -3.66473037e-01] [ 7.37737925e-04 -1.76989481e-03 9.99998162e-01 9.26294421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846502480999998 meters 0.12411721670012082 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:0.09 [[ 9.99962509e-01 8.57807537e-03 -1.18214250e-03 1.20429780e+00] [-8.57103320e-03 9.99946222e-01 5.83871642e-03 -3.65356151e-01] [ 1.23216387e-03 -5.82836533e-03 9.99982256e-01 9.30805019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.906502480999997 meters 0.12428566054594689 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.36, Z:0.09 [[ 0.99996608 0.00812872 -0.00132727 1.20506445] [-0.00812124 0.99995163 0.00554808 -0.36462747] [ 0.00137231 -0.00553711 0.99998373 0.0924052 ] [ 0. 0. 0. 1. ]] SLAMing on 20.966502481 meters 0.12682225122258528 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.36, Z:0.09 [[ 0.99997306 0.00715795 -0.00162319 1.20706172] [-0.00715091 0.99996518 0.00430175 -0.36246589] [ 0.00165392 -0.00429002 0.99998943 0.09014949] [ 0. 0. 0. 1. ]] SLAMing on 21.026502480999998 meters 0.1244691865526479 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.36, Z:0.09 [[ 0.99997974 0.00603669 -0.00201702 1.20910202] [-0.00603164 0.99997868 0.00250175 -0.35887368] [ 0.00203208 -0.00248954 0.99999484 0.08793379] [ 0. 0. 0. 1. ]] SLAMing on 21.086502480999997 meters 0.12588328636040835 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.35, Z:0.09 [[ 9.99983571e-01 5.39766370e-03 -1.92945410e-03 1.20934917e+00] [-5.39666020e-03 9.99985300e-01 5.24919166e-04 -3.53436278e-01] [ 1.93225908e-03 -5.14497934e-04 9.99998001e-01 8.69810934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.146502481 meters 0.12344014074666018 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.35, Z:0.09 [[ 0.99995738 0.00898481 -0.00212622 1.21059259] [-0.00897729 0.99995352 0.00351598 -0.35053337] [ 0.00215771 -0.00349674 0.99999156 0.08555944] [ 0. 0. 0. 1. ]] SLAMing on 21.206502480999998 meters 0.11999896278990908 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.35, Z:0.08 [[ 0.99992059 0.01236327 -0.00244341 1.21239106] [-0.01234835 0.99990559 0.00602767 -0.34695597] [ 0.0025177 -0.00599702 0.99997885 0.0835152 ] [ 0. 0. 0. 1. ]] SLAMing on 21.266502481 meters 0.1191930133962684 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.34, Z:0.08 [[ 0.9999331 0.01124455 -0.00271205 1.21392033] [-0.01123508 0.99993082 0.00348242 -0.34113389] [ 0.00275102 -0.00345172 0.99999026 0.08143248] [ 0. 0. 0. 1. ]] SLAMing on 21.326502481 meters 0.11900442285797458 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.33, Z:0.08 [[ 0.9999382 0.01089322 -0.00222082 1.21378217] [-0.01088956 0.99993934 0.00165257 -0.33111359] [ 0.00223869 -0.00162829 0.99999617 0.08057983] [ 0. 0. 0. 1. ]] SLAMing on 21.386502480999997 meters 0.11872666272078332 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.33, Z:0.08 [[ 0.99989742 0.0140606 -0.00272763 1.21537395] [-0.01404933 0.99989286 0.00410844 -0.32619396] [ 0.0027851 -0.00406969 0.99998784 0.07979154] [ 0. 0. 0. 1. ]] SLAMing on 21.446502481 meters 0.11957777000369317 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.32, Z:0.08 [[ 0.99991013 0.01308057 -0.00293704 1.21649309] [-0.01307409 0.99991208 0.00221557 -0.32127797] [ 0.00296577 -0.00217698 0.99999323 0.07857058] [ 0. 0. 0. 1. ]] SLAMing on 21.506502481 meters 0.119268371544308 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.32, Z:0.08 [[ 9.99921221e-01 1.21203794e-02 -3.26305624e-03 1.21765549e+00] [-1.21183451e-02 9.99926364e-01 6.42472295e-04 -3.17170831e-01] [ 3.27060297e-03 -6.02878840e-04 9.99994470e-01 7.77259541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.566502480999997 meters 0.12508242724677368 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.31, Z:0.08 [[ 0.99999129 0.00311179 -0.00278223 1.21362392] [-0.00309569 0.99997855 0.00577118 -0.30997706] [ 0.00280013 -0.00576251 0.99997948 0.07536735] [ 0. 0. 0. 1. ]] SLAMing on 21.626502481 meters 0.12319265255095287 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.31, Z:0.08 [[ 0.99998979 0.0029676 -0.00340901 1.2133984 ] [-0.00294928 0.99998126 0.00536482 -0.30797758] [ 0.00342486 -0.00535471 0.9999798 0.0773737 ] [ 0. 0. 0. 1. ]] SLAMing on 21.686502480999998 meters 0.12467266170555219 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.31, Z:0.08 [[ 0.99996943 0.00702714 -0.00342858 1.21291694] [-0.00699636 0.99993583 0.00890943 -0.30506272] [ 0.00349097 -0.00888517 0.99995443 0.07818904] [ 0. 0. 0. 1. ]] SLAMing on 21.746502480999997 meters 0.12474464477940002 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.30, Z:0.08 [[ 0.99997311 0.00689682 -0.00249293 1.21223782] [-0.00687608 0.99994243 0.00823692 -0.29784005] [ 0.0025496 -0.00821956 0.99996297 0.07726018] [ 0. 0. 0. 1. ]] SLAMing on 21.806502481 meters 0.12704791733767049 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.29, Z:0.07 [[ 0.99998017 0.00554833 -0.0029798 1.21446999] [-0.00553051 0.99996696 0.00595787 -0.29321055] [ 0.00301276 -0.00594127 0.99997781 0.07491498] [ 0. 0. 0. 1. ]] SLAMing on 21.866502480999998 meters 0.12298031431068904 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.29, Z:0.08 [[ 0.99998258 0.00527012 -0.00265951 1.21327815] [-0.00525675 0.99997363 0.00501064 -0.2880796 ] [ 0.00268585 -0.00499657 0.99998391 0.0759106 ] [ 0. 0. 0. 1. ]] SLAMing on 21.926502480999996 meters 0.12332634838217868 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.28, Z:0.08 [[ 0.99995543 0.00904294 -0.00271267 1.21323529] [-0.0090215 0.99992878 0.00781385 -0.28363906] [ 0.00278314 -0.00778903 0.99996579 0.07612094] [ 0. 0. 0. 1. ]] SLAMing on 21.986502481 meters 0.1212540813834663 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.28, Z:0.08 [[ 0.99991505 0.0127931 -0.00249525 1.21299634] [-0.01276724 0.99986732 0.01011646 -0.27822293] [ 0.00262434 -0.01008374 0.99994571 0.07580684] [ 0. 0. 0. 1. ]] SLAMing on 22.046502480999997 meters 0.11651746730734446 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.27, Z:0.07 [[ 0.99992653 0.01189275 -0.00234456 1.21356474] [-0.01187501 0.99990179 0.00744337 -0.27159038] [ 0.00243285 -0.00741498 0.99996955 0.07414953] [ 0. 0. 0. 1. ]] SLAMing on 22.106502481 meters 0.11555801113940467 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.27, Z:0.07 [[ 0.99993049 0.01164526 -0.00184379 1.21247371] [-0.01163364 0.99991314 0.00619403 -0.26518649] [ 0.00191576 -0.00617215 0.99997912 0.07459703] [ 0. 0. 0. 1. ]] SLAMing on 22.166502481 meters 0.11546403890868759 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:0.07 [[ 0.9999358 0.01116698 -0.0019219 1.21276278] [-0.01115742 0.99992568 0.00491449 -0.26184824] [ 0.00197663 -0.00489273 0.99998608 0.07427915] [ 0. 0. 0. 1. ]] SLAMing on 22.226502480999997 meters 0.1135799299746234 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:0.07 [[ 0.99994342 0.01044839 -0.00199662 1.21349369] [-0.01044155 0.99993969 0.0034039 -0.25819258] [ 0.00203207 -0.00338286 0.99999221 0.07322399] [ 0. 0. 0. 1. ]] SLAMing on 22.286502481 meters 0.11616110876511512 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.25, Z:0.07 [[ 0.99995084 0.00964705 -0.00228981 1.21448866] [-0.00964306 0.99995198 0.0017463 -0.25433659] [ 0.00230655 -0.00172413 0.99999585 0.07237592] [ 0. 0. 0. 1. ]] SLAMing on 22.346502480999998 meters 0.11435246464420488 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.25, Z:0.07 [[ 9.99959798e-01 8.57404612e-03 -2.62452505e-03 1.21621892e+00] [-8.57429488e-03 9.99963237e-01 -8.35443239e-05 -2.50585817e-01] [ 2.62371225e-03 1.06044417e-04 9.99996552e-01 7.04865921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406502480999997 meters 0.11465440933819829 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.25, Z:0.07 [[ 0.99992088 0.01222735 -0.00295371 1.21729372] [-0.01221807 0.99992044 0.00313677 -0.24824277] [ 0.00299183 -0.00310044 0.99999072 0.0698217 ] [ 0. 0. 0. 1. ]] SLAMing on 22.466502481 meters 0.11362685609761955 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.24, Z:0.07 [[ 0.99992281 0.01218654 -0.00242 1.21594943] [-0.01218159 0.9999237 0.00205078 -0.24411699] [ 0.00244481 -0.00202115 0.99999497 0.07045174] [ 0. 0. 0. 1. ]] SLAMing on 22.526502480999998 meters 0.11095245712223034 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.24, Z:0.07 [[ 9.99926872e-01 1.18694343e-02 -2.31687338e-03 1.21531422e+00] [-1.18682795e-02 9.99929439e-01 5.11530849e-04 -2.39022592e-01] [ 2.32278148e-03 -4.83996140e-04 9.99997185e-01 7.12172204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586502480999997 meters 0.109050142381106 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.23, Z:0.07 [[ 0.99987937 0.01533879 -0.00244241 1.21602367] [-0.01533123 0.9998777 0.00308692 -0.23456138] [ 0.00248946 -0.00304911 0.99999225 0.07063202] [ 0. 0. 0. 1. ]] SLAMing on 22.646502481 meters 0.11008795968132576 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.23, Z:0.07 [[ 0.99989218 0.01444782 -0.00262397 1.21659689] [-0.0144443 0.99989476 0.00135301 -0.22992513] [ 0.00264324 -0.00131496 0.99999564 0.07031956] [ 0. 0. 0. 1. ]] SLAMing on 22.706502480999998 meters 0.11106186835466103 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.23, Z:0.07 [[ 9.99902136e-01 1.36999914e-02 -2.83362804e-03 1.21755292e+00] [-1.36998822e-02 9.99906151e-01 5.79496695e-05 -2.26985293e-01] [ 2.83415601e-03 -1.91236280e-05 9.99995984e-01 6.94370753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.766502480999996 meters 0.11170026144988467 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.23, Z:0.07 [[ 9.99905289e-01 1.33921818e-02 -3.17199661e-03 1.21776811e+00] [-1.33940804e-02 9.99910128e-01 -5.78068984e-04 -2.25145822e-01] [ 3.16396993e-03 6.20500212e-04 9.99994802e-01 7.00596368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.826502481 meters 0.11224757346237602 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:0.07 [[ 0.99991073 0.0129506 -0.0032881 1.21788451] [-0.01295605 0.99991472 -0.0016431 -0.22208805] [ 0.00326654 0.00168555 0.99999324 0.07024588] [ 0. 0. 0. 1. ]] SLAMing on 22.886502480999997 meters 0.10941206988610175 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:0.07 [[ 0.99992024 0.01215234 -0.0034399 1.21898373] [-0.01216335 0.9999209 -0.00319971 -0.21855425] [ 0.00340075 0.00324129 0.99998896 0.06897719] [ 0. 0. 0. 1. ]] SLAMing on 22.946502481 meters 0.11228097297508428 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.21, Z:0.07 [[ 0.99993027 0.01127226 -0.00351962 1.2198746 ] [-0.01128986 0.99992366 -0.00502086 -0.21416837] [ 0.00346276 0.00506025 0.9999812 0.06791139] [ 0. 0. 0. 1. ]] SLAMing on 23.006502481 meters 0.10891964865663101 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.21, Z:0.07 [[ 9.99985560e-01 4.92628910e-03 -2.14732636e-03 1.21338953e+00] [-4.92438151e-03 9.99987477e-01 8.92739392e-04 -2.06882988e-01] [ 2.15169736e-03 -8.82152247e-04 9.99997296e-01 6.58384348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.066502480999997 meters 0.10888244344047404 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.20, Z:0.07 [[ 9.99985346e-01 5.18607163e-03 -1.55293076e-03 1.21141975e+00] [-5.18559701e-03 9.99986507e-01 3.09501975e-04 -2.00230205e-01] [ 1.55451491e-03 -3.01444567e-04 9.99998746e-01 6.75294775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126502481 meters 0.1064972163738672 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.20, Z:0.07 [[ 0.99995774 0.00905871 -0.00156588 1.21012934] [-0.00905362 0.99995382 0.00322389 -0.19564302] [ 0.00159501 -0.00320957 0.99999358 0.06964507] [ 0. 0. 0. 1. ]] SLAMing on 23.186502480999998 meters 0.1061447028340648 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.19, Z:0.07 [[ 9.99951785e-01 9.79722367e-03 -6.64924487e-04 1.20776567e+00] [-9.79508828e-03 9.99947090e-01 3.14214802e-03 -1.89260642e-01] [ 6.95673633e-04 -3.13548353e-03 9.99994842e-01 7.11719845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246502480999997 meters 0.1055388784921831 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.19, Z:0.07 [[ 9.99963391e-01 8.45395824e-03 -1.32204161e-03 1.21036471e+00] [-8.45251751e-03 9.99963681e-01 1.09159352e-03 -1.85608082e-01] [ 1.33122188e-03 -1.08037898e-03 9.99998530e-01 6.86915243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306502481 meters 0.10457834672661213 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.18, Z:0.07 [[ 0.99993506 0.0112403 -0.0018814 1.21336196] [-0.01123386 0.99993111 0.00340194 -0.18246229] [ 0.00191951 -0.00338059 0.99999244 0.06547617] [ 0. 0. 0. 1. ]] SLAMing on 23.366502480999998 meters 0.10448796932320817 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.18, Z:0.07 [[ 0.99993859 0.01089299 -0.0020395 1.21371 ] [-0.01088739 0.99993699 0.00273591 -0.18087733] [ 0.00206918 -0.00271354 0.99999418 0.06534835] [ 0. 0. 0. 1. ]] SLAMing on 23.426502480999996 meters 0.10419939676301572 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.18, Z:0.07 [[ 0.99993461 0.01123088 -0.00215681 1.21249664] [-0.01122542 0.99993379 0.00252934 -0.1795591 ] [ 0.00218507 -0.00250497 0.99999448 0.06764863] [ 0. 0. 0. 1. ]] SLAMing on 23.486502481 meters 0.10273556205446295 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.18, Z:0.07 [[ 9.99941503e-01 1.04445468e-02 -2.81104579e-03 1.21471720e+00] [-1.04416166e-02 9.99944928e-01 1.05506288e-03 -1.76900402e-01] [ 2.82191063e-03 -1.02564930e-03 9.99995492e-01 6.57125295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.546502480999997 meters 0.10246452296219605 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.18, Z:0.07 [[ 0.99993913 0.01058609 -0.00310986 1.21507776] [-0.01058176 0.99994302 0.00140751 -0.17796963] [ 0.00312458 -0.00137452 0.99999417 0.06604526] [ 0. 0. 0. 1. ]] SLAMing on 23.606502480999996 meters 0.10291363080781687 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.18, Z:0.07 [[ 0.99996807 0.00732705 -0.00319015 1.21348641] [-0.0073319 0.99997198 -0.00150969 -0.18020455] [ 0.003179 0.00153304 0.99999377 0.06878517] [ 0. 0. 0. 1. ]] SLAMing on 23.666502481 meters 0.10430255466792865 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.18, Z:0.07 [[ 0.99996857 0.00693788 -0.00383652 1.21539308] [-0.00694319 0.99997495 -0.00137269 -0.18157322] [ 0.0038269 0.00139928 0.9999917 0.0674478 ] [ 0. 0. 0. 1. ]] SLAMing on 23.726502480999997 meters 0.10489170696420037 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.19, Z:0.07 [[ 0.99999418 -0.00231284 0.00250687 1.2245576 ] [ 0.00231712 0.99999586 -0.00170324 -0.1882891 ] [-0.00250292 0.00170904 0.99999541 0.06622627] [ 0. 0. 0. 1. ]] SLAMing on 23.786502481 meters 0.10893540938783805 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.20, Z:0.07 [[ 0.99996754 -0.00318091 0.00740332 1.23802419] [ 0.00322685 0.99997556 -0.00620191 -0.1957412 ] [-0.00738341 0.0062256 0.99995336 0.06884467] [ 0. 0. 0. 1. ]] SLAMing on 23.846502480999998 meters 0.10793890524463089 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.20, Z:0.07 [[ 9.99972978e-01 1.30652892e-03 7.23438442e-03 1.23800103e+00] [-1.29848590e-03 9.99998534e-01 -1.11636157e-03 -1.97432476e-01] [-7.23583237e-03 1.10693765e-03 9.99973208e-01 6.93263000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.906502480999997 meters 0.10751618801614095 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.20, Z:0.07 [[ 0.99996032 0.00564297 0.00689334 1.2387244 ] [-0.00566811 0.99997734 0.00363288 -0.19908665] [-0.00687269 -0.00367181 0.99996964 0.0692684 ] [ 0. 0. 0. 1. ]] SLAMing on 23.966502481 meters 0.10729280142710433 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.20, Z:0.07 [[ 0.99996196 0.00608655 0.00624835 1.23900778] [-0.00611621 0.99997006 0.00473983 -0.20251338] [-0.00621932 -0.00477787 0.99996925 0.07055761] [ 0. 0. 0. 1. ]] SLAMing on 24.026502480999998 meters 0.1084599992508042 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:0.07 [[ 0.99996239 0.006236 0.00602827 1.23968862] [-0.00626999 0.99996446 0.0056358 -0.20526265] [-0.00599291 -0.00567339 0.99996595 0.07014427] [ 0. 0. 0. 1. ]] SLAMing on 24.086502480999997 meters 0.10802844606743936 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:0.07 [[ 0.99997959 0.00216944 0.00600994 1.23998031] [-0.00217916 0.99999633 0.00161159 -0.20610914] [-0.00600642 -0.00162465 0.99998064 0.06980215] [ 0. 0. 0. 1. ]] SLAMing on 24.146502481 meters 0.1082386309697655 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:0.07 [[ 0.99998099 0.00210167 0.00579764 1.24048171] [-0.00211097 0.9999965 0.00159766 -0.20635705] [-0.00579426 -0.00160987 0.99998192 0.06964639] [ 0. 0. 0. 1. ]] SLAMing on 24.206502480999998 meters 0.10699471642173447 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:0.07 [[ 0.99996306 0.00657855 0.00553178 1.2409632 ] [-0.00661363 0.99995799 0.00634724 -0.20786196] [-0.0054898 -0.00638359 0.99996456 0.06975478] [ 0. 0. 0. 1. ]] SLAMing on 24.266502480999996 meters 0.10630122969456104 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:0.07 [[ 0.99996121 0.00690457 0.00546796 1.24077194] [-0.00694221 0.99995214 0.0068939 -0.20943397] [-0.0054201 -0.00693159 0.99996129 0.07029359] [ 0. 0. 0. 1. ]] SLAMing on 24.326502481 meters 0.10606945795927873 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:0.07 [[ 0.99998262 0.00255392 0.00531344 1.24169658] [-0.00256899 0.99999269 0.00283205 -0.21090259] [-0.00530617 -0.00284565 0.99998187 0.06925412] [ 0. 0. 0. 1. ]] SLAMing on 24.386502480999997 meters 0.10920917192388128 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.22, Z:0.07 [[ 0.99995564 -0.00708401 0.00620804 1.25496874] [ 0.00705169 0.99996155 0.00521178 -0.21525096] [-0.00624472 -0.00516777 0.99996715 0.07290659] [ 0. 0. 0. 1. ]] SLAMing on 24.446502480999996 meters 0.10886736347215523 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.22, Z:0.07 [[ 0.9999605 -0.00669332 0.00584776 1.25482875] [ 0.00665838 0.99995999 0.00597392 -0.21699798] [-0.00588751 -0.00593475 0.99996506 0.07411923] [ 0. 0. 0. 1. ]] SLAMing on 24.506502481 meters 0.10880796425701644 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.22, Z:0.07 [[ 0.99997899 0.00370493 0.00531909 1.26470687] [-0.00372069 0.99998871 0.00295677 -0.21960514] [-0.00530808 -0.0029765 0.99998148 0.07319553] [ 0. 0. 0. 1. ]] SLAMing on 24.566502480999997 meters 0.10766647312327594 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:0.07 [[ 0.99998213 0.00298879 0.00517838 1.26637699] [-0.00299814 0.99999389 0.00179948 -0.21786056] [-0.00517297 -0.00181497 0.99998497 0.07088102] [ 0. 0. 0. 1. ]] SLAMing on 24.626502481 meters 0.10710941985083448 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:0.07 [[ 0.99996277 0.00722684 0.00471451 1.26599911] [-0.00725509 0.99995567 0.00600223 -0.21781953] [-0.00467093 -0.00603621 0.99997087 0.07271864] [ 0. 0. 0. 1. ]] SLAMing on 24.686502480999998 meters 0.10828171279875265 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:0.07 [[ 0.99996586 0.00692087 0.00451519 1.26683631] [-0.00694725 0.99995873 0.00585381 -0.21790601] [-0.00447449 -0.00588498 0.99997267 0.07192811] [ 0. 0. 0. 1. ]] SLAMing on 24.746502480999997 meters 0.1094262109394849 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:0.07 [[ 0.99998828 0.00242126 0.00419357 1.26825361] [-0.00242905 0.99999533 0.00185506 -0.2194936 ] [-0.00418906 -0.00186523 0.99998949 0.07049622] [ 0. 0. 0. 1. ]] SLAMing on 24.806502481 meters 0.11167635467043 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:0.07 [[ 0.99999074 0.00246059 0.00353024 1.26866385] [-0.00247 0.9999934 0.00266508 -0.22149584] [-0.00352366 -0.00267378 0.99999022 0.07161936] [ 0. 0. 0. 1. ]] SLAMing on 24.866502480999998 meters 0.11038135746140713 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:0.07 [[ 0.99998955 0.0024378 0.00386755 1.26762227] [-0.00244543 0.99999507 0.00196907 -0.21888233] [-0.00386273 -0.0019785 0.99999058 0.07229104] [ 0. 0. 0. 1. ]] SLAMing on 24.926502480999996 meters 0.10794164645001819 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:0.07 [[ 0.99997416 0.00621445 0.00361333 1.26809396] [-0.00623282 0.9999676 0.00509503 -0.21624772] [-0.00358155 -0.00511742 0.99998049 0.07227175] [ 0. 0. 0. 1. ]] SLAMing on 24.986502481 meters 0.1077455074057438 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.21, Z:0.07 [[ 0.99997521 0.00592703 0.00380191 1.26802283] [-0.00594347 0.99997298 0.00432696 -0.21426415] [-0.00377616 -0.00434945 0.99998341 0.07186608] [ 0. 0. 0. 1. ]] SLAMing on 25.046502480999997 meters 0.10928884429459253 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.21, Z:0.07 [[ 0.9999747 0.00594791 0.00390031 1.26725343] [-0.00596491 0.99997269 0.00436313 -0.21361231] [-0.00387426 -0.00438628 0.99998288 0.07283173] [ 0. 0. 0. 1. ]] SLAMing on 25.106502480999996 meters 0.11231173813247211 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:0.07 [[ 0.99997703 0.00584092 0.00343841 1.26742848] [-0.00585876 0.99996932 0.00519978 -0.21652638] [-0.00340793 -0.0052198 0.99998057 0.07377829] [ 0. 0. 0. 1. ]] SLAMing on 25.166502481 meters 0.11588060159158434 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:0.07 [[ 0.99997878 0.00571487 0.00312803 1.26753731] [-0.0057324 0.99996776 0.00562379 -0.21784649] [-0.00309579 -0.0056416 0.99997929 0.07438232] [ 0. 0. 0. 1. ]] SLAMing on 25.226502480999997 meters 0.11691760385127989 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.21, Z:0.07 [[ 0.99998235 0.00506108 0.00311294 1.26817197] [-0.00507441 0.99997792 0.00428962 -0.21462408] [-0.00309116 -0.00430534 0.99998595 0.07341362] [ 0. 0. 0. 1. ]] SLAMing on 25.286502480999996 meters 0.11292996001918136 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.21, Z:0.07 [[ 0.999958 0.00869347 0.00290215 1.26925724] [-0.00871433 0.99993573 0.00725292 -0.21180168] [-0.00283891 -0.0072779 0.99996949 0.07236518] [ 0. 0. 0. 1. ]] SLAMing on 25.346502480999998 meters 0.11012210924228359 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.21, Z:0.07 [[ 0.99992387 0.01198924 0.0029175 1.27023544] [-0.01201532 0.99988649 0.00909052 -0.20619544] [-0.00280818 -0.00912489 0.99995442 0.07083806] [ 0. 0. 0. 1. ]] SLAMing on 25.406502480999997 meters 0.109287881671477 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.20, Z:0.07 [[ 0.9999338 0.011185 0.00269876 1.27112721] [-0.01120432 0.99991092 0.00725355 -0.20180423] [-0.00261738 -0.00728331 0.99997005 0.07008859] [ 0. 0. 0. 1. ]] SLAMing on 25.466502481 meters 0.10921780337354334 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.20, Z:0.07 [[ 0.99994826 0.00987295 0.00244958 1.27286539] [-0.00988528 0.99993827 0.00507287 -0.19680994] [-0.00239934 -0.00509682 0.99998413 0.06816384] [ 0. 0. 0. 1. ]] SLAMing on 25.526502480999998 meters 0.1085040252320993 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.19, Z:0.07 [[ 0.99995908 0.00877451 0.00220038 1.27411179] [-0.00878058 0.99995763 0.00276579 -0.19122389] [-0.00217602 -0.002785 0.99999375 0.06691159] [ 0. 0. 0. 1. ]] SLAMing on 25.586502480999997 meters 0.10722642171147083 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:0.07 [[ 9.99967653e-01 7.83238353e-03 1.82941926e-03 1.27549132e+00] [-7.83423439e-03 9.99968805e-01 1.00675357e-03 -1.87387165e-01] [-1.82147691e-03 -1.02105311e-03 9.99997820e-01 6.58132880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646502481 meters 0.1083536535627439 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.18, Z:0.07 [[ 9.99972005e-01 7.20112677e-03 2.03288243e-03 1.27557576e+00] [-7.20039908e-03 9.99974010e-01 -3.65050726e-04 -1.83411613e-01] [-2.03545838e-03 3.50402942e-04 9.99997867e-01 6.52558705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.706502480999998 meters 0.10730192195710783 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:0.07 [[ 0.99997293 0.0069495 0.00241599 1.27475188] [-0.00694602 0.99997483 -0.00144445 -0.17971628] [-0.00242597 0.00142763 0.99999604 0.06567642] [ 0. 0. 0. 1. ]] SLAMing on 25.766502480999996 meters 0.10622045132708649 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:0.07 [[ 0.9999757 0.00650904 0.00249797 1.27462561] [-0.00650209 0.99997499 -0.00278195 -0.17582672] [-0.00251602 0.00276564 0.99999301 0.06573038] [ 0. 0. 0. 1. ]] SLAMing on 25.826502481 meters 0.10579032703644103 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:0.07 [[ 0.99997304 0.00673663 0.00292272 1.27296233] [-0.00672711 0.99997207 -0.00325643 -0.17323442] [-0.00294458 0.00323668 0.99999043 0.06722704] [ 0. 0. 0. 1. ]] SLAMing on 25.886502480999997 meters 0.10630232900778544 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:0.07 [[ 0.99997159 0.00700005 0.00279519 1.27201249] [-0.00699135 0.99997072 -0.00311064 -0.17278262] [-0.00281688 0.00309101 0.99999126 0.0690457 ] [ 0. 0. 0. 1. ]] SLAMing on 25.946502480999996 meters 0.10680435813173346 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:0.07 [[ 0.9999773 0.00631834 0.00234059 1.27398298] [-0.00630948 0.99997296 -0.00377701 -0.17239641] [-0.00236439 0.00376215 0.99999013 0.06713089] [ 0. 0. 0. 1. ]] SLAMing on 26.006502481 meters 0.10703177820581901 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.17, Z:0.07 [[ 0.99998067 0.00590297 0.00195485 1.27571002] [-0.00589533 0.99997505 -0.0038915 -0.17329997] [-0.00197777 0.0038799 0.99999052 0.06542466] [ 0. 0. 0. 1. ]] SLAMing on 26.066502480999997 meters 0.1066138563076518 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.18, Z:0.06 [[ 0.99998183 0.00585637 0.00142841 1.27728039] [-0.00585152 0.99997718 -0.00337528 -0.17554328] [-0.00144814 0.00336686 0.99999328 0.06438744] [ 0. 0. 0. 1. ]] SLAMing on 26.126502480999996 meters 0.10737720995676958 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.18, Z:0.06 [[ 9.99956149e-01 9.34325309e-03 6.35275886e-04 1.28029270e+00] [-9.34354367e-03 9.99956244e-01 4.55992392e-04 -1.77029169e-01] [-6.30987637e-04 -4.61908124e-04 9.99999694e-01 6.18892024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.186502480999998 meters 0.10590172922876093 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.18, Z:0.06 [[ 9.99959125e-01 9.03026357e-03 4.50999412e-04 1.28109918e+00] [-9.03022482e-03 9.99959223e-01 -8.78816008e-05 -1.76137025e-01] [-4.51774616e-04 8.38053825e-05 9.99999894e-01 6.11479847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.246502480999997 meters 0.10567010883642654 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.18, Z:0.06 [[ 9.99987305e-01 5.03868949e-03 -2.56666646e-05 1.28108736e+00] [-5.03875246e-03 9.99978833e-01 -4.11645442e-03 -1.76802830e-01] [ 4.92458567e-06 4.11653149e-03 9.99991527e-01 6.24611256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306502481 meters 0.10621671719106589 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.07 [[ 9.99998968e-01 1.33394194e-03 5.33787530e-04 1.29179269e+00] [-1.33544317e-03 9.99995126e-01 2.82199262e-03 -1.77379608e-01] [-5.30020554e-04 -2.82270255e-03 9.99995876e-01 6.74884099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.366502480999998 meters 0.10683605940385202 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.07 [[ 9.99987639e-01 2.65483209e-03 4.20389378e-03 1.30812559e+00] [-2.65233018e-03 9.99996302e-01 -6.00605012e-04 -1.81165939e-01] [-4.20547274e-03 5.89447474e-04 9.99990983e-01 6.80631621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426502480999996 meters 0.10821077217378255 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.07 [[ 9.99991596e-01 2.29585164e-03 3.39650838e-03 1.31044270e+00] [-2.29541748e-03 9.99997357e-01 -1.31716529e-04 -1.83988543e-01] [-3.39680180e-03 1.23919018e-04 9.99994223e-01 6.65124788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486502481 meters 0.11012214207722802 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.07 [[ 9.99992209e-01 2.39507446e-03 3.13766843e-03 1.31092226e+00] [-2.39694028e-03 9.99996953e-01 5.91025489e-04 -1.85876774e-01] [-3.13624331e-03 -5.98541689e-04 9.99994903e-01 6.63283682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546502480999997 meters 0.1101738827958312 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.07 [[ 9.99991012e-01 2.75935360e-03 3.21907737e-03 1.30963623e+00] [-2.76226241e-03 9.99995780e-01 8.99522709e-04 -1.85521315e-01] [-3.21658168e-03 -9.08406560e-04 9.99994414e-01 6.81830487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606502480999996 meters 0.11119846621954219 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.07 [[ 9.99992551e-01 2.54044290e-03 2.90573964e-03 1.31023845e+00] [-2.54162946e-03 9.99996688e-01 4.04731419e-04 -1.84712841e-01] [-2.90470182e-03 -4.12113718e-04 9.99995696e-01 6.81507048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666502481 meters 0.10941007670397276 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.07 [[ 0.99998051 0.00583796 0.00221154 1.31313705] [-0.00584646 0.99997546 0.00386057 -0.18503627] [-0.00218894 -0.00387342 0.9999901 0.06541735] [ 0. 0. 0. 1. ]] SLAMing on 26.726502480999997 meters 0.11104302157829532 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.06 [[ 0.9999807 0.00585122 0.00208923 1.31373298] [-0.00586065 0.99997253 0.00453881 -0.18715089] [-0.00206262 -0.00455096 0.99998752 0.06475995] [ 0. 0. 0. 1. ]] SLAMing on 26.786502480999996 meters 0.1116760469590135 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.07 [[ 0.99999658 0.00196373 0.00172983 1.31380362] [-0.0019662 0.99999705 0.00142702 -0.19039607] [-0.00172702 -0.00143041 0.99999749 0.06560285] [ 0. 0. 0. 1. ]] SLAMing on 26.846502480999998 meters 0.1136804637370161 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.19, Z:0.07 [[ 0.99997624 -0.00655982 0.00211853 1.32695014] [ 0.00655108 0.9999701 0.00410891 -0.19331348] [-0.00214542 -0.00409493 0.99998931 0.06899583] [ 0. 0. 0. 1. ]] SLAMing on 26.906502480999997 meters 0.11400683467328088 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.19, Z:0.07 [[ 0.9999953 -0.00249326 0.00178695 1.32779702] [ 0.00247833 0.99996238 0.00831239 -0.19351136] [-0.00180761 -0.00830793 0.99996385 0.06851184] [ 0. 0. 0. 1. ]] SLAMing on 26.966502480999996 meters 0.1135373986918683 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.19, Z:0.07 [[ 0.99999573 -0.00259447 0.0013467 1.32866829] [ 0.00258311 0.99996164 0.00836928 -0.19449287] [-0.00136836 -0.00836577 0.99996407 0.06843888] [ 0. 0. 0. 1. ]] SLAMing on 27.026502480999998 meters 0.11196100977008311 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.19, Z:0.07 [[ 0.9999951 -0.00282924 0.00133895 1.32853075] [ 0.00281871 0.99996562 0.00779839 -0.19289225] [-0.00136097 -0.00779458 0.9999687 0.068682 ] [ 0. 0. 0. 1. ]] SLAMing on 27.086502480999997 meters 0.11327383850369148 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.19, Z:0.07 [[ 9.99998877e-01 1.10444967e-03 1.01330191e-03 1.32874921e+00] [-1.11617460e-03 9.99931579e-01 1.16443510e-02 -1.91767746e-01] [-1.00037198e-03 -1.16454690e-02 9.99931689e-01 6.91963553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146502481 meters 0.11382053801855874 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.19, Z:0.07 [[ 9.99999743e-01 1.18785891e-05 7.16540892e-04 1.33051171e+00] [-1.89904708e-05 9.99950735e-01 9.92610763e-03 -1.88529959e-01] [-7.16387683e-04 -9.92611869e-03 9.99950478e-01 6.71994568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206502480999998 meters 0.1130821573532314 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:0.07 [[ 9.99992785e-01 3.65741725e-03 1.02653399e-03 1.33001407e+00] [-3.66994634e-03 9.99915375e-01 1.24809582e-02 -1.83506769e-01] [-9.80799051e-04 -1.24846355e-02 9.99921583e-01 6.71575630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266502480999996 meters 0.11248060403718052 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:0.07 [[ 0.99999284 0.0034924 0.00145367 1.32820474] [-0.00350863 0.99992977 0.01131966 -0.17732236] [-0.00141404 -0.01132468 0.99993487 0.06885191] [ 0. 0. 0. 1. ]] SLAMing on 27.326502481 meters 0.10979764385041128 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:0.07 [[ 9.99995142e-01 2.82188647e-03 1.32373072e-03 1.32908292e+00] [-2.83511027e-03 9.99945009e-01 1.00966165e-02 -1.74615369e-01] [-1.29516643e-03 -1.01003203e-02 9.99948152e-01 6.78124013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.386502480999997 meters 0.10996897739464771 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:0.07 [[ 9.99996680e-01 2.36916815e-03 1.01342166e-03 1.33047782e+00] [-2.37885496e-03 9.99950448e-01 9.66657528e-03 -1.74398028e-01] [-9.90469699e-04 -9.66895397e-03 9.99952764e-01 6.65123019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446502480999996 meters 0.11019759152991628 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.18, Z:0.06 [[ 9.99983267e-01 5.27413114e-03 2.37662749e-03 1.34157725e+00] [-5.27375034e-03 9.99986080e-01 -1.66463345e-04 -1.78796528e-01] [-2.37747236e-03 1.53926820e-04 9.99997162e-01 6.37067138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.506502481 meters 0.11021176742931675 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.18, Z:0.06 [[ 0.99994958 0.00976664 0.00233584 1.34158981] [-0.00977749 0.99994126 0.00467703 -0.1801903 ] [-0.00229003 -0.00469963 0.99998633 0.06389188] [ 0. 0. 0. 1. ]] SLAMing on 27.566502480999997 meters 0.1080527395289932 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.18, Z:0.06 [[ 0.99995002 0.00972093 0.00233819 1.34179376] [-0.00973092 0.99994341 0.00429905 -0.17923085] [-0.00229627 -0.00432159 0.99998803 0.06374727] [ 0. 0. 0. 1. ]] SLAMing on 27.626502480999996 meters 0.10625743472047802 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.18, Z:0.06 [[ 9.99983619e-01 5.42037215e-03 1.83902479e-03 1.34271159e+00] [-5.41956149e-03 9.99985215e-01 -4.45508417e-04 -1.78469873e-01] [-1.84141243e-03 4.35534411e-04 9.99998210e-01 6.36156162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686502480999998 meters 0.10682011943876756 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.18, Z:0.06 [[ 9.99982882e-01 5.53841002e-03 1.88731120e-03 1.34287599e+00] [-5.53847496e-03 9.99984662e-01 2.91829455e-05 -1.79996268e-01] [-1.88712062e-03 -3.96352718e-05 9.99998219e-01 6.32799371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746502480999997 meters 0.10792585359880828 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.19, Z:0.06 [[ 9.99988413e-01 4.72634478e-03 9.14341645e-04 1.34506104e+00] [-4.72646386e-03 9.99988822e-01 1.28118347e-04 -1.85015365e-01] [-9.13725893e-04 -1.32438465e-04 9.99999574e-01 6.23442840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806502480999995 meters 0.10903613870026792 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.19, Z:0.06 [[ 9.99989770e-01 4.51933404e-03 1.87214199e-04 1.34670099e+00] [-4.51946065e-03 9.99989555e-01 6.81500906e-04 -1.87578029e-01] [-1.84132314e-04 -6.82340041e-04 9.99999750e-01 6.16008982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866502480999998 meters 0.10829148717943121 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.19, Z:0.06 [[ 9.99968652e-01 7.90305617e-03 -4.85915828e-04 1.34939142e+00] [-7.90091133e-03 9.99959679e-01 4.26793996e-03 -1.87657373e-01] [ 5.19626005e-04 -4.26396699e-03 9.99990774e-01 5.92638555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926502480999996 meters 0.1087639948061999 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.19, Z:0.06 [[ 9.99968101e-01 7.95978864e-03 -6.62792385e-04 1.34944660e+00] [-7.95681337e-03 9.99958766e-01 4.37673736e-03 -1.87983698e-01] [ 6.97602960e-04 -4.37132403e-03 9.99990202e-01 5.97242492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986502481 meters 0.10841301731798415 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.19, Z:0.06 [[ 0.99994451 0.00394037 0.00976941 1.35329035] [-0.00399516 0.99997636 0.00559565 -0.18977912] [-0.00974713 -0.00563437 0.99993662 0.05925633] [ 0. 0. 0. 1. ]] SLAMing on 28.046502480999997 meters 0.1076773693230342 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.19, Z:0.06 [[ 0.99992638 0.00775981 0.0093282 1.35547291] [-0.00784968 0.99992276 0.00963666 -0.1907092 ] [-0.0092527 -0.00970918 0.99991006 0.05720462] [ 0. 0. 0. 1. ]] SLAMing on 28.106502480999996 meters 0.10780340695427053 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.19, Z:0.06 [[ 0.99995634 0.00330348 0.00874045 1.35780878] [-0.00335158 0.99997929 0.0054947 -0.19446581] [-0.00872212 -0.00552375 0.9999467 0.05518953] [ 0. 0. 0. 1. ]] SLAMing on 28.166502481 meters 0.10975407498026148 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.20, Z:0.06 [[ 0.99995978 0.00364395 0.00819531 1.35842351] [-0.00369965 0.99997009 0.00679153 -0.19837116] [-0.00817032 -0.00682158 0.99994335 0.0556225 ] [ 0. 0. 0. 1. ]] SLAMing on 28.226502480999997 meters 0.1120274478819641 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.21, Z:0.06 [[ 9.99976781e-01 -4.00696727e-05 6.81443540e-03 1.35896237e+00] [ 9.00288665e-06 9.99989608e-01 4.55893656e-03 -2.05606223e-01] [-6.81454726e-03 -4.55876935e-03 9.99966389e-01 5.82840030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.286502480999996 meters 0.11511151715496411 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.21, Z:0.06 [[ 0.99997413 -0.00340303 0.00633657 1.3583073 ] [ 0.00338928 0.99999188 0.00217941 -0.2104625 ] [-0.00634393 -0.00215787 0.99997755 0.06050501] [ 0. 0. 0. 1. ]] SLAMing on 28.346502480999998 meters 0.11621725397625407 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.21, Z:0.06 [[ 9.99982222e-01 7.54615805e-04 5.91498321e-03 1.35980251e+00] [-7.97119961e-04 9.99973857e-01 7.18678500e-03 -2.13829628e-01] [-5.90940531e-03 -7.19137218e-03 9.99956681e-01 5.92987702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406502480999997 meters 0.1149985667850123 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.21, Z:0.06 [[ 0.99997771 -0.0031146 0.00590623 1.35971006] [ 0.00309456 0.99998944 0.0033989 -0.21499525] [-0.00591676 -0.00338055 0.99997678 0.05962364] [ 0. 0. 0. 1. ]] SLAMing on 28.466502480999996 meters 0.11243836840458761 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.22, Z:0.06 [[ 0.99998106 -0.00287173 0.00544349 1.35984391] [ 0.00285176 0.99998919 0.00367326 -0.21584691] [-0.00545398 -0.00365767 0.99997844 0.06070178] [ 0. 0. 0. 1. ]] SLAMing on 28.526502480999998 meters 0.10957627246441164 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.21, Z:0.06 [[ 9.99987245e-01 9.12447005e-04 4.96757828e-03 1.36251937e+00] [-9.46670210e-04 9.99975806e-01 6.89132689e-03 -2.13466752e-01] [-4.96117013e-03 -6.89594165e-03 9.99963916e-01 5.76694289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.586502480999997 meters 0.10835626143346172 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.22, Z:0.05 [[ 9.99961876e-01 7.52379324e-03 4.43154904e-03 1.37553730e+00] [-7.52585065e-03 9.99971580e-01 4.47770624e-04 -2.19787807e-01] [-4.42805417e-03 -4.81104730e-04 9.99990080e-01 5.42204153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.646502480999995 meters 0.10837861175729202 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.22, Z:0.05 [[ 9.99962319e-01 7.53721509e-03 4.30704594e-03 1.37640616e+00] [-7.54107964e-03 9.99971177e-01 8.81726144e-04 -2.21733571e-01] [-4.30027604e-03 -9.14172697e-04 9.99990336e-01 5.33121063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.706502480999998 meters 0.10903061623406927 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.23, Z:0.05 [[ 0.99996431 0.00757256 0.00374725 1.37787856] [-0.00757926 0.9999697 0.00177741 -0.22601169] [-0.00373367 -0.00180575 0.9999914 0.05265745] [ 0. 0. 0. 1. ]] SLAMing on 28.766502480999996 meters 0.1107591909368096 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.23, Z:0.05 [[ 9.99988689e-01 3.56944594e-03 3.14351144e-03 1.37884295e+00] [-3.56574849e-03 9.99992945e-01 -1.18103869e-03 -2.30522301e-01] [-3.14770492e-03 1.16981636e-03 9.99994362e-01 5.28496914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.826502481 meters 0.113043862291406 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.24, Z:0.05 [[ 9.99991875e-01 3.38695689e-03 2.18592679e-03 1.38066575e+00] [-3.38681098e-03 9.99994262e-01 -7.04449656e-05 -2.35175692e-01] [-2.18615284e-03 6.30410724e-05 9.99997608e-01 5.26217206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.886502480999997 meters 0.11510751539206215 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.24, Z:0.05 [[ 9.99993762e-01 3.27984028e-03 1.31068816e-03 1.38198213e+00] [-3.28099574e-03 9.99994230e-01 8.80393581e-04 -2.38869404e-01] [-1.30779304e-03 -8.84688451e-04 9.99998754e-01 5.29014215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.946502480999996 meters 0.11743571219442328 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.24, Z:0.05 [[ 9.99995138e-01 2.85465715e-03 1.25457393e-03 1.38381300e+00] [-2.85580722e-03 9.99995503e-01 9.15865099e-04 -2.40374146e-01] [-1.25195381e-03 -9.19443467e-04 9.99998794e-01 5.04073335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.006502481 meters 0.11790601735478837 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.24, Z:0.05 [[ 9.99995951e-01 2.58736712e-03 1.18436578e-03 1.38477671e+00] [-2.58824192e-03 9.99996378e-01 7.37685544e-04 -2.40892549e-01] [-1.18245283e-03 -7.40747982e-04 9.99999027e-01 4.91639443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.066502480999997 meters 0.11662655332085177 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.24, Z:0.05 [[ 9.99998697e-01 1.61390445e-03 -2.58199669e-05 1.38691840e+00] [-1.61390288e-03 9.99998696e-01 6.09671769e-05 -2.44851125e-01] [ 2.59183284e-05 -6.09254266e-05 9.99999998e-01 4.88374397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126502480999996 meters 0.12078383151231115 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.25, Z:0.05 [[ 9.99998444e-01 1.64309233e-03 -6.42788388e-04 1.38834196e+00] [-1.64248530e-03 9.99998206e-01 9.43755849e-04 -2.48545070e-01] [ 6.44337912e-04 -9.42698609e-04 9.99999348e-01 4.83670011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.186502480999998 meters 0.11709149410679401 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.25, Z:0.05 [[ 9.99997929e-01 1.70694877e-03 -1.10826187e-03 1.38964227e+00] [-1.70528092e-03 9.99997415e-01 1.50412974e-03 -2.50941302e-01] [ 1.11082647e-03 -1.50223673e-03 9.99998255e-01 4.76975392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.246502480999997 meters 0.11906752931199756 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.25, Z:0.05 [[ 9.99997636e-01 1.81093258e-03 -1.20315067e-03 1.39014484e+00] [-1.80890489e-03 9.99996946e-01 1.68426986e-03 -2.51755012e-01] [ 1.20619709e-03 -1.68208949e-03 9.99997858e-01 4.72231967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.306502480999995 meters 0.11433030379970932 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.25, Z:0.05 [[ 9.99997788e-01 1.64858228e-03 -1.30588348e-03 1.39128382e+00] [-1.64635542e-03 9.99997192e-01 1.70449602e-03 -2.52933267e-01] [ 1.30868982e-03 -1.70234230e-03 9.99997695e-01 4.58473688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.366502480999998 meters 0.11428450132363732 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.25, Z:0.05 [[ 9.99986949e-01 -5.06878931e-03 -6.39744034e-04 1.40200287e+00] [ 5.07187517e-03 9.99975045e-01 4.91783252e-03 -2.53803332e-01] [ 6.14800613e-04 -4.92101303e-03 9.99987703e-01 5.03986905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.426502480999996 meters 0.11573807083981552 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.26, Z:0.05 [[ 0.99998089 0.00579306 -0.00215678 1.40983165] [-0.0057874 0.99997982 0.00262158 -0.2586967 ] [ 0.00217192 -0.00260905 0.99999424 0.05142283] [ 0. 0. 0. 1. ]] SLAMing on 29.486502480999995 meters 0.11557662136017126 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.26, Z:0.05 [[ 0.99998418 0.00439129 -0.00351628 1.41397458] [-0.00438416 0.99998832 0.00203457 -0.26362988] [ 0.00352518 -0.00201912 0.99999175 0.0486082 ] [ 0. 0. 0. 1. ]] SLAMing on 29.546502480999997 meters 0.11507395640027238 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.27, Z:0.05 [[ 0.99998379 0.00411216 -0.00393811 1.41616074] [-0.00410332 0.99998905 0.00225043 -0.26672463] [ 0.00394733 -0.00223424 0.99998971 0.04647488] [ 0. 0. 0. 1. ]] SLAMing on 29.606502480999996 meters 0.11205702330823133 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.27, Z:0.05 [[ 0.9999831 0.00441261 -0.00378518 1.41596419] [-0.00440323 0.99998722 0.00248233 -0.2671784 ] [ 0.00379609 -0.00246562 0.99998976 0.04644833] [ 0. 0. 0. 1. ]] SLAMing on 29.666502481 meters 0.11182226435591777 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.27, Z:0.05 [[ 9.99948055e-01 9.66013133e-03 3.25097865e-03 1.42394960e+00] [-9.66025050e-03 9.99953338e-01 2.09565028e-05 -2.72760181e-01] [-3.25062451e-03 -5.23606823e-05 9.99994715e-01 4.87087447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.726502480999997 meters 0.10960900317664671 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.27, Z:0.05 [[ 9.99946984e-01 9.63938431e-03 3.62103513e-03 1.42408704e+00] [-9.63786883e-03 9.99953460e-01 -4.35737821e-04 -2.71798288e-01] [-3.62506685e-03 4.00815659e-04 9.99993349e-01 4.74355881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.786502480999996 meters 0.10852210085185948 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.27, Z:0.05 [[ 9.99948954e-01 9.56027623e-03 3.26975404e-03 1.42480221e+00] [-9.55859411e-03 9.99954175e-01 -5.29689556e-04 -2.72015546e-01] [-3.27466818e-03 4.98408266e-04 9.99994514e-01 4.73507754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.846502480999998 meters 0.10866161424190852 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.27, Z:0.05 [[ 9.99950188e-01 9.63691239e-03 2.59829795e-03 1.42571594e+00] [-9.63692873e-03 9.99953564e-01 -6.23105597e-06 -2.73911357e-01] [-2.59823734e-03 -1.88088666e-05 9.99996624e-01 4.78817702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.906502480999997 meters 0.10958641788186235 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.28, Z:0.05 [[ 9.99958101e-01 8.95970186e-03 1.87624312e-03 1.42851318e+00] [-8.95922204e-03 9.99959831e-01 -2.63985781e-04 -2.75888713e-01] [-1.87853299e-03 2.47165042e-04 9.99998205e-01 4.54113279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.966502480999996 meters 0.11175198843904165 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.28, Z:0.05 [[ 9.99999254e-01 1.20725701e-03 1.88312392e-04 1.44235580e+00] [-1.20754440e-03 9.99998095e-01 1.53359527e-03 -2.77890138e-01] [-1.86460590e-04 -1.53382152e-03 9.99998806e-01 4.76672898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026502480999998 meters 0.11454898093005043 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.29, Z:0.05 [[ 9.99997054e-01 1.11452892e-03 -2.15642376e-03 1.44333401e+00] [-1.10599613e-03 9.99991571e-01 3.95407400e-03 -2.85111379e-01] [ 2.16081251e-03 -3.95167735e-03 9.99989858e-01 5.33816186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086502480999997 meters 0.11381455972531217 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.29, Z:0.05 [[ 0.99998178 0.00527234 -0.00293876 1.44449589] [-0.00524654 0.99994823 0.00871858 -0.28645833] [ 0.00298458 -0.008703 0.99995767 0.05382828] [ 0. 0. 0. 1. ]] SLAMing on 30.146502480999995 meters 0.11359797356621983 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.28, Z:0.05 [[ 0.99998663 0.00428694 -0.00289019 1.4462204 ] [-0.0042666 0.99996635 0.00700614 -0.28386307] [ 0.00292013 -0.00699372 0.99997128 0.05076325] [ 0. 0. 0. 1. ]] SLAMing on 30.206502480999998 meters 0.11341728980937084 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.28, Z:0.05 [[ 0.9999876 0.00414334 -0.00276183 1.44545756] [-0.00412589 0.99997169 0.00629275 -0.28094519] [ 0.00278782 -0.00628128 0.99997639 0.05148191] [ 0. 0. 0. 1. ]] SLAMing on 30.266502480999996 meters 0.11339866967708401 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.28, Z:0.05 [[ 0.99996572 0.00770346 -0.00303682 1.44631281] [-0.00767411 0.99992487 0.00955871 -0.27814854] [ 0.00311023 -0.00953508 0.9999497 0.05101633] [ 0. 0. 0. 1. ]] SLAMing on 30.326502480999995 meters 0.11581030507009793 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.28, Z:0.05 [[ 0.99996946 0.00694506 -0.00358393 1.44771671] [-0.00691387 0.99993876 0.00864154 -0.27630891] [ 0.00364372 -0.0086165 0.99995624 0.05029291] [ 0. 0. 0. 1. ]] SLAMing on 30.386502480999997 meters 0.11676408393587484 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.27, Z:0.05 [[ 0.99997261 0.00603867 -0.00427982 1.44975018] [-0.00600613 0.99995327 0.00757503 -0.27459596] [ 0.00432537 -0.00754911 0.99996215 0.04893438] [ 0. 0. 0. 1. ]] SLAMing on 30.446502480999996 meters 0.11901538971146791 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.27, Z:0.05 [[ 0.99997755 0.00485192 -0.00462082 1.45172096] [-0.00482482 0.99997121 0.00585631 -0.27074974] [ 0.0046491 -0.00583388 0.99997218 0.0467863 ] [ 0. 0. 0. 1. ]] SLAMing on 30.506502481 meters 0.12254727939276822 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.27, Z:0.05 [[ 0.99997497 0.00459281 -0.00538201 1.45228019] [-0.00456136 0.99997253 0.00584201 -0.27069385] [ 0.00540869 -0.00581731 0.99996845 0.04794048] [ 0. 0. 0. 1. ]] SLAMing on 30.566502480999997 meters 0.12480991252525413 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.27, Z:0.05 [[ 0.99994755 0.00865648 -0.00547374 1.45183061] [-0.00860316 0.99991604 0.00969011 -0.26817529] [ 0.00555716 -0.00964251 0.99993807 0.04901832] [ 0. 0. 0. 1. ]] SLAMing on 30.626502480999996 meters 0.12489956870831923 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.26, Z:0.05 [[ 0.99995162 0.00791572 -0.00583891 1.4526454 ] [-0.00786824 0.99993615 0.00811032 -0.26433699] [ 0.00590274 -0.00806399 0.99995006 0.04867952] [ 0. 0. 0. 1. ]] SLAMing on 30.686502480999998 meters 0.12365635448088615 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.26, Z:0.05 [[ 0.999954 0.00722913 -0.00630439 1.45315506] [-0.00718907 0.99995396 0.00635526 -0.2600439 ] [ 0.00635004 -0.00630965 0.99995993 0.048941 ] [ 0. 0. 0. 1. ]] SLAMing on 30.746502480999997 meters 0.11654861457520194 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:0.05 [[ 0.99991976 0.01149555 -0.005323 1.45155783] [-0.01144557 0.999891 0.00932642 -0.25132748] [ 0.00542963 -0.00926475 0.99994234 0.04907264] [ 0. 0. 0. 1. ]] SLAMing on 30.806502480999995 meters 0.11535299730525504 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.25, Z:0.05 [[ 0.99993 0.01050188 -0.00544997 1.45348946] [-0.01046369 0.99992082 0.00698965 -0.24653468] [ 0.00552294 -0.00693214 0.99996072 0.04607229] [ 0. 0. 0. 1. ]] SLAMing on 30.866502480999998 meters 0.11374435575580519 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.25, Z:0.04 [[ 0.99993024 0.00997133 -0.0063309 1.45576662] [-0.00992966 0.99992906 0.00657897 -0.24710083] [ 0.00639605 -0.00651565 0.99995832 0.04492491] [ 0. 0. 0. 1. ]] SLAMing on 30.926502480999996 meters 0.11297171412478982 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.24, Z:0.04 [[ 0.9999376 0.00947589 -0.0059166 1.45594377] [-0.00944414 0.99994097 0.00537264 -0.24341408] [ 0.00596716 -0.00531642 0.99996806 0.0436248 ] [ 0. 0. 0. 1. ]] SLAMing on 30.986502480999995 meters 0.11292420903779171 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.24, Z:0.05 [[ 9.99998746e-01 -1.27933417e-04 -1.57825294e-03 1.46391275e+00] [ 1.36310759e-04 9.99985898e-01 5.30901929e-03 -2.42171282e-01] [ 1.57755148e-03 -5.30922776e-03 9.99984662e-01 4.68869824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.046502480999997 meters 0.11231485404604849 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.24, Z:0.05 [[ 0.99998587 0.00326181 0.00419878 1.47568597] [-0.00327102 0.99999226 0.00218772 -0.24321841] [-0.00419162 -0.00220142 0.99998879 0.04856438] [ 0. 0. 0. 1. ]] SLAMing on 31.106502480999996 meters 0.1115456392767398 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.25, Z:0.05 [[ 0.99997286 0.00660637 0.00326154 1.47901574] [-0.0066254 0.99996089 0.00585865 -0.2457567 ] [-0.00322271 -0.0058801 0.99997752 0.04598427] [ 0. 0. 0. 1. ]] SLAMing on 31.166502481 meters 0.11276477638165125 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.25, Z:0.05 [[ 0.99999226 0.00265807 0.00290056 1.47922331] [-0.00266554 0.99999313 0.00257537 -0.24846793] [-0.00289369 -0.00258308 0.99999248 0.04674983] [ 0. 0. 0. 1. ]] SLAMing on 31.226502480999997 meters 0.11280656196936312 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.25, Z:0.05 [[ 0.99999243 0.00256885 0.00292173 1.47920543] [-0.00257575 0.9999939 0.00235989 -0.24762873] [-0.00291565 -0.0023674 0.99999295 0.04676853] [ 0. 0. 0. 1. ]] SLAMing on 31.286502480999996 meters 0.11062945459502774 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.25, Z:0.05 [[ 0.99997716 0.00640139 0.00216729 1.4815671 ] [-0.00641512 0.99995903 0.00638563 -0.24902042] [-0.00212633 -0.00639938 0.99997726 0.04526231] [ 0. 0. 0. 1. ]] SLAMing on 31.346502480999998 meters 0.10937041273976159 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.25, Z:0.04 [[ 0.99998103 0.00591129 0.00173194 1.48301453] [-0.00592081 0.99996713 0.00554 -0.24774222] [-0.00169913 -0.00555015 0.99998315 0.04413482] [ 0. 0. 0. 1. ]] SLAMing on 31.406502480999997 meters 0.10954492017159977 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.25, Z:0.04 [[ 0.99998195 0.00572415 0.00182478 1.48265559] [-0.0057331 0.99997139 0.0049348 -0.24571144] [-0.00179648 -0.00494517 0.99998616 0.04443853] [ 0. 0. 0. 1. ]] SLAMing on 31.466502480999996 meters 0.11040036704710454 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.25, Z:0.05 [[ 9.99998344e-01 1.45101235e-03 1.09881196e-03 1.48318812e+00] [-1.45191737e-03 9.99998607e-01 8.23289610e-04 -2.46529157e-01] [-1.09761582e-03 -8.24883631e-04 9.99999057e-01 4.55496001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.526502480999998 meters 0.11007966068262069 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.25, Z:0.05 [[ 9.99983628e-01 5.72125755e-03 1.00257459e-04 1.48445269e+00] [-5.72175861e-03 9.99965403e-01 6.03770146e-03 -2.49212524e-01] [-6.57107457e-05 -6.03817626e-03 9.99981768e-01 4.63943281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.586502480999997 meters 0.11283553419743733 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.25, Z:0.05 [[ 9.99984436e-01 5.57630956e-03 -1.81975840e-04 1.48468248e+00] [-5.57502344e-03 9.99963761e-01 6.43389016e-03 -2.49547196e-01] [ 2.17846608e-04 -6.43277551e-03 9.99979286e-01 4.70455508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.646502480999995 meters 0.11575462070639435 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.25, Z:0.05 [[ 9.99998635e-01 1.35456543e-03 -9.45648964e-04 1.48525342e+00] [-1.35175146e-03 9.99994676e-01 2.97002602e-03 -2.52545693e-01] [ 9.49667023e-04 -2.96874369e-03 9.99995142e-01 4.82079591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.706502480999998 meters 0.1166247661219274 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.25, Z:0.05 [[ 9.99984862e-01 5.35897525e-03 -1.24806465e-03 1.48569404e+00] [-5.34999231e-03 9.99960533e-01 7.09292621e-03 -2.52649344e-01] [ 1.28602620e-03 -7.08614170e-03 9.99974066e-01 4.83634245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.766502480999996 meters 0.11611924736314987 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.25, Z:0.05 [[ 9.99987652e-01 4.94270243e-03 -5.14942301e-04 1.48503068e+00] [-4.93969242e-03 9.99971604e-01 5.69122781e-03 -2.48051394e-01] [ 5.43057724e-04 -5.68861388e-03 9.99983672e-01 4.73604031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.826502480999995 meters 0.11456726986078573 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.24, Z:0.05 [[ 9.99990885e-01 4.23009845e-03 -5.79847016e-04 1.48575771e+00] [-4.22771749e-03 9.99982871e-01 4.04768522e-03 -2.44191183e-01] [ 5.96959191e-04 -4.04519689e-03 9.99991640e-01 4.63251577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.886502480999997 meters 0.11286677318015528 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.24, Z:0.05 [[ 9.99993228e-01 3.66340108e-03 -3.52426691e-04 1.48571037e+00] [-3.66241483e-03 9.99989486e-01 2.75951993e-03 -2.40533446e-01] [ 3.62532214e-04 -2.75821051e-03 9.99996130e-01 4.57296818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.946502480999996 meters 0.11445878108805219 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.24, Z:0.04 [[ 9.99978190e-01 6.49301222e-03 -1.20826125e-03 1.48902752e+00] [-6.48600335e-03 9.99962623e-01 5.71701189e-03 -2.38409946e-01] [ 1.24533672e-03 -5.70905042e-03 9.99982928e-01 4.31090344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.006502481 meters 0.11690712246576772 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.24, Z:0.04 [[ 9.99983228e-01 5.78072542e-03 -3.57177349e-04 1.48702874e+00] [-5.77886539e-03 9.99970772e-01 5.00589963e-03 -2.37027317e-01] [ 3.86104641e-04 -5.00375159e-03 9.99987407e-01 4.42944482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06650248099999 meters 0.11701480293211561 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.23, Z:0.04 [[ 9.99985772e-01 5.30591786e-03 5.50213994e-04 1.48575585e+00] [-5.30783951e-03 9.99979605e-01 3.55197431e-03 -2.29919588e-01] [-5.31356288e-04 -3.55484423e-03 9.99993540e-01 4.39272756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.126502480999996 meters 0.1128688081648231 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.22, Z:0.04 [[ 9.99966270e-01 8.16654974e-03 8.75843458e-04 1.48755572e+00] [-8.16986946e-03 9.99959191e-01 3.85618257e-03 -2.21553138e-01] [-8.44316008e-04 -3.86320803e-03 9.99992181e-01 3.92363887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.186502481 meters 0.11075976973208004 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.22, Z:0.04 [[ 9.99931525e-01 1.16290578e-02 1.30774396e-03 1.48754106e+00] [-1.16357346e-02 9.99918680e-01 5.21943739e-03 -2.15014635e-01] [-1.24694048e-03 -5.23429655e-03 9.99985524e-01 3.77642283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24650248099999 meters 0.1065727373096736 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.21, Z:0.04 [[ 0.99987815 0.01540954 0.00249448 1.48642547] [-0.0154258 0.99985898 0.00663798 -0.20653271] [-0.00239184 -0.00667565 0.99997486 0.03623927] [ 0. 0. 0. 1. ]] SLAMing on 32.306502480999995 meters 0.10359938327173071 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.20, Z:0.03 [[ 0.99988663 0.01489711 0.00219225 1.48788032] [-0.01490475 0.99988277 0.00350779 -0.1984186 ] [-0.00213974 -0.00354006 0.99999144 0.03370568] [ 0. 0. 0. 1. ]] SLAMing on 32.366502481 meters 0.10289111757681325 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.19, Z:0.03 [[ 9.99898975e-01 1.40423151e-02 2.20313613e-03 1.48888372e+00] [-1.40444225e-02 9.99900927e-01 9.43995073e-04 -1.92637068e-01] [-2.18966199e-03 -9.74841480e-04 9.99997128e-01 3.17300365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.426502481 meters 0.10260025390864934 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.19, Z:0.03 [[ 9.99906009e-01 1.35234505e-02 2.25580426e-03 1.48930199e+00] [-1.35232160e-02 9.99908550e-01 -1.19194077e-04 -1.89949313e-01] [-2.25720988e-03 8.86771458e-05 9.99997449e-01 3.09380150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.486502480999995 meters 0.10359416688365265 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:0.03 [[ 9.99994570e-01 3.17933565e-03 8.67006785e-04 1.50275662e+00] [-3.17911139e-03 9.99994913e-01 -2.59916579e-04 -1.90778261e-01] [-8.67828737e-04 2.57158856e-04 9.99999590e-01 3.36262963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.546502481 meters 0.10422132283930746 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:0.04 [[ 9.99994492e-01 3.29733617e-03 -3.78137613e-04 1.50384249e+00] [-3.29695709e-03 9.99994066e-01 9.98781799e-04 -1.94931689e-01] [ 3.81428689e-04 -9.97529595e-04 9.99999430e-01 3.51981618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.606502481 meters 0.10457077655686767 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:0.03 [[ 9.99995180e-01 3.07669778e-03 -4.17306886e-04 1.50448453e+00] [-3.07634527e-03 9.99994913e-01 8.42751957e-04 -1.94707812e-01] [ 4.19897656e-04 -8.41464114e-04 9.99999558e-01 3.42857554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.666502480999995 meters 0.10427825615700019 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.20, Z:0.03 [[ 9.99971324e-01 -7.01335520e-04 7.54050782e-03 1.51188917e+00] [ 6.68818207e-04 9.99990471e-01 4.31400772e-03 -1.98859395e-01] [-7.54346153e-03 -4.30884078e-03 9.99962264e-01 3.27232283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.726502481 meters 0.10368185847936655 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.20, Z:0.03 [[ 0.99996998 0.00328726 0.00701614 1.51334753] [-0.00334658 0.99995861 0.00846041 -0.19962043] [-0.00698804 -0.00848363 0.9999396 0.03188805] [ 0. 0. 0. 1. ]] SLAMing on 32.786502481 meters 0.1033563991884664 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.20, Z:0.03 [[ 0.99997373 0.00286054 0.00665989 1.51508949] [-0.00291435 0.99996307 0.00808496 -0.20016392] [-0.00663651 -0.00810415 0.99994514 0.03012628] [ 0. 0. 0. 1. ]] SLAMing on 32.846502480999995 meters 0.10379634524193618 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.20, Z:0.03 [[ 9.99978078e-01 -1.35023888e-03 6.48226471e-03 1.51582736e+00] [ 1.32290668e-03 9.99990225e-01 4.21889622e-03 -2.02052105e-01] [-6.48789786e-03 -4.21022831e-03 9.99970090e-01 2.95225175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.906502481 meters 0.10463894441172646 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.21, Z:0.03 [[ 0.99998395 -0.00177954 0.00537945 1.51836352] [ 0.00175423 0.99998739 0.00470623 -0.2070579 ] [-0.00538776 -0.00469671 0.99997446 0.02854155] [ 0. 0. 0. 1. ]] SLAMing on 32.966502481 meters 0.10612451221849331 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.21, Z:0.03 [[ 0.9999722 -0.00557267 0.0049541 1.51911719] [ 0.00556333 0.99998272 0.00189771 -0.21131862] [-0.00496459 -0.0018701 0.99998593 0.02867665] [ 0. 0. 0. 1. ]] SLAMing on 33.026502480999994 meters 0.10669725622986137 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.22, Z:0.03 [[ 9.99991078e-01 4.20924603e-03 -3.54442514e-04 1.53092051e+00] [-4.20879745e-03 9.99990353e-01 1.25697038e-03 -2.18266953e-01] [ 3.59729992e-04 -1.25546739e-03 9.99999147e-01 3.00324166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.086502481 meters 0.10758107648561285 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.22, Z:0.03 [[ 0.99997706 -0.00375001 0.00564105 1.54012668] [ 0.00373953 0.99999127 0.00186691 -0.22477661] [-0.005648 -0.00184577 0.99998235 0.02963508] [ 0. 0. 0. 1. ]] SLAMing on 33.146502481 meters 0.11061005761015101 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.23, Z:0.03 [[ 0.99998236 -0.00338535 0.00488089 1.54164911] [ 0.00336615 0.99998658 0.00393831 -0.23080409] [-0.00489416 -0.00392181 0.99998033 0.02946861] [ 0. 0. 0. 1. ]] SLAMing on 33.206502480999994 meters 0.10986340733397963 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.24, Z:0.03 [[ 0.99998716 -0.00345137 0.00371035 1.544132 ] [ 0.0034321 0.99998065 0.00518847 -0.23675199] [-0.00372819 -0.00517567 0.99997966 0.02879024] [ 0. 0. 0. 1. ]] SLAMing on 33.266502480999996 meters 0.1124858439198438 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:0.03 [[ 9.99952724e-01 -4.69501642e-03 8.51511338e-03 1.55695216e+00] [ 4.69590155e-03 9.99988971e-01 -8.39574809e-05 -2.48154540e-01] [-8.51462529e-03 1.23939646e-04 9.99963742e-01 3.12993681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.326502481 meters 0.11329662709332365 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:0.03 [[ 0.99995549 -0.00397231 0.00855775 1.55642063] [ 0.00395878 0.99999089 0.00159728 -0.25182142] [-0.00856402 -0.00156333 0.99996211 0.03224343] [ 0. 0. 0. 1. ]] SLAMing on 33.386502480999994 meters 0.11159294910367111 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:0.03 [[ 9.99966410e-01 4.57957250e-04 8.18343708e-03 1.55725213e+00] [-5.11182414e-04 9.99978724e-01 6.50310337e-03 -2.54085357e-01] [-8.18028483e-03 -6.50706816e-03 9.99945369e-01 3.21191158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.446502480999996 meters 0.11037749786941317 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:0.03 [[ 9.99967065e-01 1.83439594e-04 8.11394401e-03 1.55801698e+00] [-2.30991731e-04 9.99982803e-01 5.85999644e-03 -2.52997914e-01] [-8.11272952e-03 -5.86167770e-03 9.99949911e-01 3.10981900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.506502481 meters 0.11156340909692411 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:0.03 [[ 9.99968864e-01 -4.48993055e-05 7.89106489e-03 1.55856876e+00] [-4.20250904e-07 9.99983509e-01 5.74305288e-03 -2.53040661e-01] [-7.89119261e-03 -5.74287738e-03 9.99952373e-01 3.08619268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56650248099999 meters 0.11441247209110533 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.26, Z:0.03 [[ 0.99996511 -0.00390122 0.00738691 1.55868792] [ 0.00387972 0.9999882 0.00292318 -0.25702721] [-0.00739822 -0.00289442 0.99996844 0.03219802] [ 0. 0. 0. 1. ]] SLAMing on 33.626502480999996 meters 0.11503474055683333 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.26, Z:0.03 [[ 9.99977457e-01 -7.59883585e-05 6.71411564e-03 1.56045350e+00] [ 2.80034661e-05 9.99974462e-01 7.14667212e-03 -2.57964882e-01] [-6.71448724e-03 -7.14632300e-03 9.99951922e-01 3.11955398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.686502481 meters 0.11543284543223806 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.26, Z:0.03 [[ 0.99997413 0.00327428 0.00640415 1.56277729] [-0.00334202 0.99993828 0.01059578 -0.25748604] [-0.00636906 -0.01061691 0.99992336 0.02836919] [ 0. 0. 0. 1. ]] SLAMing on 33.74650248099999 meters 0.11593136549838295 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.26, Z:0.03 [[ 0.99997846 0.00304308 0.00581603 1.56335933] [-0.0031035 0.99994102 0.01040763 -0.25712851] [-0.00578402 -0.01042545 0.99992893 0.02904106] [ 0. 0. 0. 1. ]] SLAMing on 33.806502480999995 meters 0.11509968672064497 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:0.03 [[ 0.99997889 0.00240536 0.00603535 1.56342535] [-0.00245914 0.99995719 0.00892032 -0.25277526] [-0.00601364 -0.00893497 0.999942 0.02826235] [ 0. 0. 0. 1. ]] SLAMing on 33.866502481 meters 0.11567629261207679 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:0.03 [[ 0.99998235 0.00167487 0.00569973 1.56453426] [-0.00171821 0.99996959 0.00760681 -0.24992873] [-0.00568682 -0.00761647 0.99995482 0.02732447] [ 0. 0. 0. 1. ]] SLAMing on 33.92650248099999 meters 0.11636169898865079 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.25, Z:0.03 [[ 9.99985516e-01 9.49167396e-04 5.29787064e-03 1.56576246e+00] [-9.83711487e-04 9.99978250e-01 6.52157986e-03 -2.47665386e-01] [-5.29156534e-03 -6.52669697e-03 9.99964700e-01 2.64044933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.986502480999995 meters 0.11663892661963336 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:0.03 [[ 9.99984904e-01 1.15871474e-03 5.37121493e-03 1.56469075e+00] [-1.19518744e-03 9.99976219e-01 6.79217255e-03 -2.47017106e-01] [-5.36321701e-03 -6.79848962e-03 9.99962508e-01 2.79040681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.046502481 meters 0.11836920780361655 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:0.03 [[ 9.99986602e-01 9.14120078e-04 5.09521126e-03 1.56499346e+00] [-9.46824394e-04 9.99978944e-01 6.41992577e-03 -2.45914611e-01] [-5.08923539e-03 -6.42466402e-03 9.99966411e-01 2.81294084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.106502481 meters 0.11916250495562455 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.24, Z:0.03 [[ 0.99998067 0.00428144 0.00450815 1.56711577] [-0.00432478 0.9999441 0.00964862 -0.24461112] [-0.00446658 -0.00966793 0.99994329 0.02632289] [ 0. 0. 0. 1. ]] SLAMing on 34.166502480999995 meters 0.11683247136637809 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.24, Z:0.03 [[ 0.99997879 0.00398524 0.00515137 1.56593631] [-0.00402817 0.99995702 0.00835073 -0.23913048] [-0.00511787 -0.00837131 0.99995186 0.02642276] [ 0. 0. 0. 1. ]] SLAMing on 34.226502481 meters 0.11487429546747117 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.23, Z:0.03 [[ 0.99998033 0.00364458 0.00510534 1.5643148 ] [-0.00367934 0.99997 0.00681607 -0.23405907] [-0.00508035 -0.00683472 0.99996374 0.02892481] [ 0. 0. 0. 1. ]] SLAMing on 34.286502481 meters 0.11039625635131393 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.22, Z:0.02 [[ 0.99992983 0.01066453 0.0051573 1.56739126] [-0.01071524 0.99989351 0.00990707 -0.22209974] [-0.00505109 -0.00996164 0.99993762 0.02120931] [ 0. 0. 0. 1. ]] SLAMing on 34.346502480999995 meters 0.10999235675958244 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.22, Z:0.02 [[ 0.99997154 0.00556652 0.00509203 1.56797324] [-0.0055848 0.99997799 0.00358248 -0.21714697] [-0.00507198 -0.00361081 0.99998062 0.02042282] [ 0. 0. 0. 1. ]] SLAMing on 34.406502481 meters 0.11069867868572579 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.22, Z:0.02 [[ 0.99997349 0.00553432 0.00473235 1.56778362] [-0.00555075 0.99997859 0.00346679 -0.21632509] [-0.00471306 -0.00349297 0.99998279 0.02166967] [ 0. 0. 0. 1. ]] SLAMing on 34.466502481 meters 0.11187280171298747 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.21, Z:0.02 [[ 0.99998028 0.00433167 0.00454652 1.56939924] [-0.00433993 0.99998895 0.00180731 -0.21171732] [-0.00453864 -0.00182701 0.99998803 0.01996314] [ 0. 0. 0. 1. ]] SLAMing on 34.526502480999994 meters 0.11298571924305048 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.21, Z:0.02 [[ 9.99986024e-01 3.71460989e-03 3.76203834e-03 1.57119503e+00] [-3.71931031e-03 9.99992311e-01 1.24320989e-03 -2.11274225e-01] [-3.75739137e-03 -1.25718470e-03 9.99992151e-01 1.92633922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.586502481 meters 0.11446924883528369 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.21, Z:0.02 [[ 9.99985538e-01 3.54919750e-03 4.04055994e-03 1.57061515e+00] [-3.55195175e-03 9.99993464e-01 6.74676915e-04 -2.09048968e-01] [-4.03813897e-03 -6.89019032e-04 9.99991609e-01 1.94362766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.646502481 meters 0.11489730238965616 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.21, Z:0.02 [[ 9.99988144e-01 3.33053915e-03 3.55226524e-03 1.57066379e+00] [-3.33276004e-03 9.99994254e-01 6.19469020e-04 -2.08292365e-01] [-3.55018166e-03 -6.31300523e-04 9.99993499e-01 2.07321714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.706502480999994 meters 0.11634923626405123 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.21, Z:0.02 [[ 9.99992199e-01 2.86235018e-03 2.72183198e-03 1.57098851e+00] [-2.86446700e-03 9.99995598e-01 7.74136324e-04 -2.09477539e-01] [-2.71960415e-03 -7.81926883e-04 9.99995996e-01 2.24107387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.766502480999996 meters 0.11776636951438986 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.21, Z:0.02 [[ 0.99998168 0.00574188 0.00191354 1.57367716] [-0.00574811 0.99997814 0.00326744 -0.20621361] [-0.00189474 -0.00327838 0.99999283 0.02045089] [ 0. 0. 0. 1. ]] SLAMing on 34.826502481 meters 0.11715340024779228 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.20, Z:0.02 [[ 9.99986516e-01 4.77725811e-03 2.03601390e-03 1.57415982e+00] [-4.77936199e-03 9.99988049e-01 1.02971933e-03 -1.99989953e-01] [-2.03107033e-03 -1.03943629e-03 9.99997397e-01 1.94594224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.886502480999994 meters 0.11610268162110543 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.20, Z:0.02 [[ 0.99996298 0.00840235 0.0018526 1.57404519] [-0.00840956 0.99995697 0.00391729 -0.19598663] [-0.0018196 -0.00393273 0.99999061 0.02018345] [ 0. 0. 0. 1. ]] SLAMing on 34.946502480999996 meters 0.11641134752879448 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:0.02 [[ 0.99996889 0.00765853 0.00188614 1.5745993 ] [-0.00766305 0.99996775 0.00240306 -0.19198676] [-0.00186768 -0.00241744 0.99999533 0.01923522] [ 0. 0. 0. 1. ]] SLAMing on 35.006502481 meters 0.11759862784755333 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.19, Z:0.02 [[ 9.99945048e-01 1.03877582e-02 1.41229860e-03 1.57609464e+00] [-1.03933201e-02 9.99938029e-01 3.98960895e-03 -1.85757563e-01] [-1.37076799e-03 -4.00406819e-03 9.99991044e-01 1.82019673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06650248099999 meters 0.1173041453405846 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.18, Z:0.02 [[ 0.99994416 0.01035391 0.00211674 1.57481412] [-0.01035895 0.9999435 0.00238669 -0.1776264 ] [-0.00209191 -0.00240849 0.99999491 0.01843024] [ 0. 0. 0. 1. ]] SLAMing on 35.126502480999996 meters 0.12203251455331213 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.17, Z:0.02 [[ 9.99952945e-01 9.44560197e-03 2.21112210e-03 1.57532186e+00] [-9.44617180e-03 9.99955353e-01 2.47408224e-04 -1.72375243e-01] [-2.20868646e-03 -2.68283222e-04 9.99997525e-01 1.73633831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.186502481 meters 0.11654217962617859 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.16, Z:0.02 [[ 0.99992207 0.01220658 0.00261834 1.57620397] [-0.01221107 0.99992399 0.00170536 -0.16157564] [-0.00259732 -0.0017372 0.99999512 0.01571916] [ 0. 0. 0. 1. ]] SLAMing on 35.24650248099999 meters 0.11450530051710558 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.16, Z:0.01 [[ 9.99932533e-01 1.12614109e-02 2.84769686e-03 1.57630883e+00] [-1.12596829e-02 9.99936414e-01 -6.22092926e-04 -1.55733652e-01] [-2.85452143e-03 5.89986792e-04 9.99995752e-01 1.49149335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.306502480999995 meters 0.11254374436500837 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.01 [[ 9.99890444e-01 1.44920422e-02 3.01357476e-03 1.57668780e+00] [-1.44959516e-02 9.99894110e-01 1.27950445e-03 -1.49763228e-01] [-2.99471302e-03 -1.32304891e-03 9.99994641e-01 1.40365482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.366502481 meters 0.1094165959496529 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.01 [[ 9.99900746e-01 1.37567540e-02 3.04129173e-03 1.57711947e+00] [-1.37553247e-02 9.99905271e-01 -4.90369947e-04 -1.45856519e-01] [-3.04774953e-03 4.48487321e-04 9.99995255e-01 1.33312108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42650248099999 meters 0.11317948671334992 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.14, Z:0.01 [[ 0.99990724 0.01326156 0.00310517 1.57729263] [-0.01325607 0.99991055 -0.00177999 -0.14287495] [-0.00312849 0.00173866 0.99999359 0.01294953] [ 0. 0. 0. 1. ]] SLAMing on 35.486502480999995 meters 0.1090817528896339 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.14, Z:0.01 [[ 0.99997895 0.00599552 0.00248129 1.5702732 ] [-0.00600473 0.99997504 0.00372294 -0.13980039] [-0.00245891 -0.00373776 0.99998999 0.01137985] [ 0. 0. 0. 1. ]] SLAMing on 35.546502481 meters 0.11009418975390237 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.14, Z:0.01 [[ 0.99998097 0.00571218 0.00233014 1.57091883] [-0.0057203 0.99997755 0.00349019 -0.13984432] [-0.00231015 -0.00350346 0.99999119 0.01074634] [ 0. 0. 0. 1. ]] SLAMing on 35.60650248099999 meters 0.11021721221797894 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.14, Z:0.01 [[ 0.9999847 0.00525401 0.00172998 1.57283693] [-0.0052606 0.99997883 0.0038297 -0.14297074] [-0.00170982 -0.00383874 0.99999117 0.00933399] [ 0. 0. 0. 1. ]] SLAMing on 35.666502480999995 meters 0.11252212368756631 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.01 [[ 9.99988832e-01 4.58104912e-03 1.16201414e-03 1.57508640e+00] [-4.58555282e-03 9.99981869e-01 3.90318025e-03 -1.46009434e-01] [-1.14411241e-03 -3.90846513e-03 9.99991707e-01 7.29257237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.726502481 meters 0.11444619057555064 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.01 [[ 9.99993111e-01 3.68120129e-03 4.76006930e-04 1.57741611e+00] [-3.68294561e-03 9.99986310e-01 3.71706185e-03 -1.49427676e-01] [-4.62317161e-04 -3.71878935e-03 9.99992978e-01 5.43204344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.786502481 meters 0.11606308585004736 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.01 [[ 9.99993124e-01 3.70389814e-03 1.81627897e-04 1.57803864e+00] [-3.70464391e-03 9.99983920e-01 4.29368120e-03 -1.51677098e-01] [-1.65721619e-04 -4.29432455e-03 9.99990766e-01 5.21433741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.846502480999995 meters 0.11508398444769491 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.00 [[ 9.99995121e-01 3.11645465e-03 -2.15863007e-04 1.57969106e+00] [-3.11566729e-03 9.99988822e-01 3.55654839e-03 -1.51083784e-01] [ 2.26944415e-04 -3.55585848e-03 9.99993652e-01 3.70180389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.906502481 meters 0.11474592433547685 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.00 [[ 9.99996019e-01 2.79001986e-03 -4.22246384e-04 1.58068692e+00] [-2.78865687e-03 9.99991008e-01 3.19482948e-03 -1.50914238e-01] [ 4.31156225e-04 -3.19363926e-03 9.99994807e-01 2.68053456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.966502481 meters 0.11414243756428635 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.00 [[ 9.99996476e-01 2.61777035e-03 -4.41776389e-04 1.58067752e+00] [-2.61650396e-03 9.99992535e-01 2.84322624e-03 -1.49880215e-01] [ 4.49216004e-04 -2.84206031e-03 9.99995860e-01 2.73553279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.026502480999994 meters 0.11411835886010421 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.00 [[ 9.99995981e-01 2.71617464e-03 -8.13032868e-04 1.58101802e+00] [-2.71363130e-03 9.99991472e-01 3.11313945e-03 -1.50926712e-01] [ 8.21481765e-04 -3.11092067e-03 9.99994824e-01 3.21070100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.086502481 meters 0.11396065498031101 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:0.00 [[ 9.99997572e-01 1.83082427e-03 -1.22665199e-03 1.58319510e+00] [-1.82829717e-03 9.99996211e-01 2.05812998e-03 -1.49928393e-01] [ 1.23041542e-03 -2.05588229e-03 9.99997130e-01 9.48449142e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.146502481 meters 0.11518912359448719 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.00 [[ 9.99997864e-01 1.21465033e-03 -1.67235325e-03 1.58473398e+00] [-1.21243700e-03 9.99998389e-01 1.32385699e-03 -1.49196968e-01] [ 1.67395858e-03 -1.32182654e-03 9.99997725e-01 -3.01559546e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.206502480999994 meters 0.11539393249120551 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.15, Z:-0.00 [[ 9.99985916e-01 4.77679179e-03 -2.31317473e-03 1.58654744e+00] [-4.76539029e-03 9.99976593e-01 4.90961822e-03 -1.48772474e-01] [ 2.33657281e-03 -4.89852589e-03 9.99985272e-01 -1.53985238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.266502480999996 meters 0.11603184224376321 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.15, Z:-0.00 [[ 0.99998921 0.0038121 -0.00265489 1.5882789 ] [-0.00380274 0.99998657 0.00352067 -0.14626364] [ 0.00266827 -0.00351054 0.99999028 -0.00335416] [ 0. 0. 0. 1. ]] SLAMing on 36.326502481 meters 0.11563976135442779 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.14, Z:-0.00 [[ 0.99999008 0.00334328 -0.00294229 1.58896189] [-0.00333535 0.9999908 0.00269793 -0.1445228 ] [ 0.00295128 -0.00268809 0.99999203 -0.00365981] [ 0. 0. 0. 1. ]] SLAMing on 36.386502480999994 meters 0.11753734888954451 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.14, Z:-0.00 [[ 9.99991679e-01 2.49492741e-03 -3.22767455e-03 1.59009472e+00] [-2.49090319e-03 9.99996116e-01 1.25020719e-03 -1.41347700e-01] [ 3.23078119e-03 -1.24215696e-03 9.99994010e-01 -4.70572964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.446502480999996 meters 0.11862780390650797 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.14, Z:-0.01 [[ 0.99998824 -0.00184261 0.0044853 1.5965604 ] [ 0.00182233 0.99998812 0.00452001 -0.13951761] [-0.00449358 -0.00451179 0.99997973 -0.00504118] [ 0. 0. 0. 1. ]] SLAMing on 36.506502481 meters 0.11919072465433098 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.14, Z:-0.00 [[ 0.99998688 -0.00238013 0.00453621 1.59639951] [ 0.00236575 0.99999216 0.00317389 -0.13544765] [-0.00454373 -0.00316312 0.99998467 -0.00490954] [ 0. 0. 0. 1. ]] SLAMing on 36.56650248099999 meters 0.11933065515770763 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.13, Z:-0.01 [[ 9.99990395e-01 8.26899635e-04 4.30421020e-03 1.59795614e+00] [-8.51148683e-04 9.99983761e-01 5.63501755e-03 -1.31878617e-01] [-4.29948071e-03 -5.63862695e-03 9.99974860e-01 -6.77893008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.626502480999996 meters 0.11932312395868515 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.13, Z:-0.01 [[ 0.99998421 0.00380888 0.00413075 1.59961567] [-0.00384007 0.99996398 0.00756963 -0.12676414] [-0.00410177 -0.00758537 0.99996282 -0.00893189] [ 0. 0. 0. 1. ]] SLAMing on 36.686502481 meters 0.11370657814635204 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.13, Z:-0.01 [[ 0.99998668 0.00345921 0.00382996 1.60013266] [-0.00348459 0.99997188 0.00664097 -0.12502685] [-0.00380688 -0.00665423 0.99997061 -0.00887778] [ 0. 0. 0. 1. ]] SLAMing on 36.74650248099999 meters 0.11121053125912123 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.12, Z:-0.01 [[ 0.99996183 0.00763386 0.00424901 1.59881997] [-0.00767389 0.99992555 0.00948685 -0.1199986 ] [-0.00417627 -0.00951909 0.99994597 -0.00769307] [ 0. 0. 0. 1. ]] SLAMing on 36.806502480999995 meters 0.11195699701356916 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.12, Z:-0.01 [[ 0.99996617 0.00746182 0.00346061 1.60148297] [-0.00748999 0.99993833 0.00820011 -0.11626402] [-0.00339921 -0.00822576 0.99996039 -0.01024144] [ 0. 0. 0. 1. ]] SLAMing on 36.866502481 meters 0.11160868305108362 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.11, Z:-0.01 [[ 0.9999902 0.00293695 0.00331196 1.6020155 ] [-0.00294762 0.99999047 0.00322131 -0.11483022] [-0.00330247 -0.00323104 0.99998933 -0.0106894 ] [ 0. 0. 0. 1. ]] SLAMing on 36.92650248099999 meters 0.1125925090418588 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.11, Z:-0.01 [[ 0.999973 0.00664565 0.00313707 1.60277443] [-0.00666638 0.9999557 0.00664529 -0.11291352] [-0.00309277 -0.00666603 0.999973 -0.01142225] [ 0. 0. 0. 1. ]] SLAMing on 36.986502480999995 meters 0.1114337639367034 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.11, Z:-0.01 [[ 0.9999927 0.00242629 0.00295132 1.60293504] [-0.00243411 0.99999354 0.00264637 -0.1138569 ] [-0.00294488 -0.00265354 0.99999214 -0.01122512] [ 0. 0. 0. 1. ]] SLAMing on 37.046502481 meters 0.11762782611067048 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.12, Z:-0.01 [[ 0.99999433 0.00236281 0.00239816 1.60343646] [-0.00237093 0.99999145 0.00338787 -0.11703824] [-0.00239014 -0.00339353 0.99999139 -0.01072622] [ 0. 0. 0. 1. ]] SLAMing on 37.10650248099999 meters 0.11463642538660343 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.12, Z:-0.01 [[ 0.99999624 0.00174245 0.00211974 1.6050371 ] [-0.0017484 0.99999452 0.00281149 -0.11675215] [-0.00211483 -0.00281519 0.9999938 -0.01243962] [ 0. 0. 0. 1. ]] SLAMing on 37.166502480999995 meters 0.11490360474341735 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.12, Z:-0.01 [[ 0.99999704 0.00173552 0.00170469 1.60579237] [-0.00174156 0.99999218 0.00355061 -0.11950566] [-0.00169852 -0.00355357 0.99999224 -0.0126104 ] [ 0. 0. 0. 1. ]] SLAMing on 37.226502481 meters 0.11751882144171089 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.12, Z:-0.01 [[ 9.99997370e-01 1.78633924e-03 1.43828895e-03 1.60600162e+00] [-1.79265616e-03 9.99988701e-01 4.40272629e-03 -1.22264542e-01] [-1.43040793e-03 -4.40529307e-03 9.99989274e-01 -1.23741616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28650248099999 meters 0.12011888875650871 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.12, Z:-0.02 [[ 9.99998844e-01 7.55297917e-04 1.31956248e-03 1.60798088e+00] [-7.59493854e-04 9.99994648e-01 3.18219212e-03 -1.20204663e-01] [-1.31715191e-03 -3.18319064e-03 9.99994066e-01 -1.50892854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.346502480999995 meters 0.12068291662106617 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.12, Z:-0.02 [[ 9.99999144e-01 -5.53094149e-05 1.30731897e-03 1.60844777e+00] [ 5.29210978e-05 9.99998330e-01 1.82684566e-03 -1.17203606e-01] [-1.30741783e-03 -1.82677491e-03 9.99997477e-01 -1.57842679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.406502481 meters 0.12141307848002418 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.11, Z:-0.02 [[ 9.99998500e-01 -9.89645254e-04 1.42123646e-03 1.60814652e+00] [ 9.89959984e-04 9.99999486e-01 -2.20761774e-04 -1.11279963e-01] [-1.42101726e-03 2.22168410e-04 9.99998966e-01 -1.55899088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.466502481 meters 0.12198869150489115 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.11, Z:-0.02 [[ 9.99995449e-01 2.71684349e-03 1.31176601e-03 1.60844045e+00] [-2.72077013e-03 9.99991796e-01 3.00095461e-03 -1.08771806e-01] [-1.30360212e-03 -3.00450997e-03 9.99994637e-01 -1.57677924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.526502480999994 meters 0.122784709129122 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.10, Z:-0.02 [[ 9.99983644e-01 5.58648732e-03 1.22626369e-03 1.60951905e+00] [-5.59228415e-03 9.99972959e-01 4.77582969e-03 -1.02704919e-01] [-1.19955042e-03 -4.78260919e-03 9.99987844e-01 -1.71397911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.586502481 meters 0.12089679752283772 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.10, Z:-0.02 [[ 9.99989392e-01 4.46358636e-03 1.13644298e-03 1.61038121e+00] [-4.46641788e-03 9.99986897e-01 2.50134076e-03 -9.76163540e-02] [-1.12526314e-03 -2.50639006e-03 9.99996226e-01 -1.82015326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.646502481 meters 0.12087597294205515 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:-0.02 [[ 9.99973124e-01 7.29067240e-03 7.72435764e-04 1.61275406e+00] [-7.29411440e-03 9.99963041e-01 4.55108610e-03 -9.36799012e-02] [-7.39226738e-04 -4.55659802e-03 9.99989345e-01 -2.08153898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.706502480999994 meters 0.11857872893601053 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:-0.02 [[ 9.99978992e-01 6.44373372e-03 7.03428754e-04 1.61331802e+00] [-6.44519372e-03 9.99977038e-01 2.09338877e-03 -8.77156932e-02] [-6.89923363e-04 -2.09787853e-03 9.99997561e-01 -2.14403173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.766502480999996 meters 0.11760240610582444 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.08, Z:-0.02 [[ 9.99982266e-01 5.91443444e-03 6.97920843e-04 1.61387121e+00] [-5.91470236e-03 9.99982435e-01 3.82448589e-04 -8.32178843e-02] [-6.95646617e-04 -3.86569800e-04 9.99999683e-01 -2.21645485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.826502481 meters 0.11442315130612839 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.08, Z:-0.02 [[ 9.99957878e-01 9.16956509e-03 4.02358334e-04 1.61581573e+00] [-9.17078817e-03 9.99952982e-01 3.15121925e-03 -8.07609296e-02] [-3.73444106e-04 -3.15477645e-03 9.99994954e-01 -2.42781560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.886502480999994 meters 0.11741314646242959 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.08, Z:-0.02 [[ 9.99958116e-01 9.14748776e-03 2.98493508e-04 1.61570819e+00] [-9.14839915e-03 9.99953000e-01 3.20993805e-03 -8.12148017e-02] [-2.69116610e-04 -3.21253435e-03 9.99994804e-01 -2.38283448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.946502480999996 meters 0.11852168336822944 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.08, Z:-0.02 [[ 9.99988715e-01 4.73714518e-03 3.59936381e-04 1.61618961e+00] [-4.73678738e-03 9.99988293e-01 -9.88505088e-04 -8.13396997e-02] [-3.64614859e-04 9.86788991e-04 9.99999447e-01 -2.48342646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006502481 meters 0.12193280229092474 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.08, Z:-0.03 [[ 9.99990482e-01 4.33030302e-03 -5.33488302e-04 1.61791752e+00] [-4.33056720e-03 9.99990501e-01 -4.95029830e-04 -8.43782657e-02] [ 5.31339605e-04 4.97335425e-04 9.99999735e-01 -2.55735289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06650248099999 meters 0.11821316120157009 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.08, Z:-0.03 [[ 9.99992128e-01 3.90585748e-03 -6.98479468e-04 1.61815889e+00] [-3.90673838e-03 9.99991569e-01 -1.26427162e-03 -8.25368578e-02] [ 6.93535515e-04 1.26699044e-03 9.99998957e-01 -2.55208026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.126502480999996 meters 0.11847944265388043 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.08, Z:-0.03 [[ 9.99992880e-01 3.68317899e-03 -8.21284556e-04 1.61863197e+00] [-3.68454193e-03 9.99991827e-01 -1.66422542e-03 -8.19457402e-02] [ 8.15148204e-04 1.66723962e-03 9.99998278e-01 -2.58381518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.186502481 meters 0.116745838632649 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.08, Z:-0.03 [[ 9.99979514e-01 6.20921022e-03 -1.55486008e-03 1.62046997e+00] [-6.20818685e-03 9.99980510e-01 6.62143932e-04 -8.33132703e-02] [ 1.55894117e-03 -6.52477506e-04 9.99998572e-01 -2.67169616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24650248099999 meters 0.11571368793705412 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.09, Z:-0.03 [[ 9.99940490e-01 1.07953398e-02 -1.57365210e-03 1.62057823e+00] [-1.07864262e-02 9.99926329e-01 5.56677882e-03 -8.51549342e-02] [ 1.63363144e-03 -5.54947346e-03 9.99983267e-01 -2.66639894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.306502480999995 meters 0.11545903388509365 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.09, Z:-0.03 [[ 0.99994511 0.01027133 -0.00207013 1.62295063] [-0.01026017 0.99993316 0.00532989 -0.08671158] [ 0.00212474 -0.00530836 0.99998365 -0.0289341 ] [ 0. 0. 0. 1. ]] SLAMing on 38.366502481 meters 0.11432557158496168 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.09, Z:-0.03 [[ 0.99997672 0.00647814 -0.00214439 1.6226692 ] [-0.00647383 0.99997703 0.00200854 -0.08927449] [ 0.00215735 -0.00199461 0.99999568 -0.02829797] [ 0. 0. 0. 1. ]] SLAMing on 38.42650248099999 meters 0.11667277641337132 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:-0.03 [[ 0.99999277 -0.0022924 0.00303328 1.6324413 ] [ 0.00228258 0.99999216 0.0032372 -0.09855252] [-0.00304068 -0.00323026 0.99999016 -0.0297933 ] [ 0. 0. 0. 1. ]] SLAMing on 38.486502480999995 meters 0.11685961746905954 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.11, Z:-0.03 [[ 0.99999291 -0.00305023 0.00220952 1.63533158] [ 0.00304144 0.99998749 0.00397117 -0.10517239] [-0.00222161 -0.00396442 0.99998967 -0.03221992] [ 0. 0. 0. 1. ]] SLAMing on 38.546502481 meters 0.11859650839765155 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.11, Z:-0.03 [[ 0.99997716 -0.00651954 0.00178411 1.636072 ] [ 0.00651599 0.99997679 0.00199189 -0.11180215] [-0.00179705 -0.00198022 0.99999642 -0.03221476] [ 0. 0. 0. 1. ]] SLAMing on 38.60650248099999 meters 0.11830314874651461 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.12, Z:-0.03 [[ 9.99981949e-01 -5.93261127e-03 9.51692651e-04 1.63674029e+00] [ 5.92855184e-03 9.99973551e-01 4.21305483e-03 -1.19092926e-01] [-9.76661897e-04 -4.20733662e-03 9.99990672e-01 -3.12581730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.666502480999995 meters 0.11846749772253663 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.12, Z:-0.03 [[ 9.99996500e-01 2.55173179e-03 6.98408068e-04 1.64677522e+00] [-2.55247155e-03 9.99996180e-01 1.06037897e-03 -1.24595064e-01] [-6.95699597e-04 -1.06215793e-03 9.99999194e-01 -3.16944282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.726502481 meters 0.11771250435474154 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.03 [[ 9.99995361e-01 3.02998508e-03 3.10366793e-04 1.64743537e+00] [-3.03071546e-03 9.99992574e-01 2.38048880e-03 -1.28694788e-01] [-3.03151643e-04 -2.38141839e-03 9.99997118e-01 -3.16637522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78650248099999 meters 0.1174955681344619 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.03 [[ 9.99994412e-01 3.33672077e-03 2.06215182e-04 1.64779804e+00] [-3.33736225e-03 9.99989334e-01 3.19287995e-03 -1.31055542e-01] [-1.95559233e-04 -3.19355032e-03 9.99994881e-01 -3.18959009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.846502480999995 meters 0.11722667942309098 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.03 [[ 9.99994703e-01 3.25463433e-03 -2.38297585e-05 1.64883241e+00] [-3.25454155e-03 9.99989596e-01 3.19610964e-03 -1.31528867e-01] [ 3.42316788e-05 -3.19601516e-03 9.99994892e-01 -3.28709189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.906502481 meters 0.11609000832488778 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.03 [[ 9.99995832e-01 2.82012385e-03 -6.18157832e-04 1.65072759e+00] [-2.81840647e-03 9.99992215e-01 2.76170060e-03 -1.31610782e-01] [ 6.25941357e-04 -2.75994687e-03 9.99995995e-01 -3.43152560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96650248099999 meters 0.11525462731913605 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.03 [[ 9.99975355e-01 6.97279908e-03 -8.18333906e-04 1.65139160e+00] [-6.96695800e-03 9.99951677e-01 6.93583247e-03 -1.31777604e-01] [ 8.66656528e-04 -6.92996024e-03 9.99975612e-01 -3.47440748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.026502480999994 meters 0.11496250344237566 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.03 [[ 9.99995770e-01 2.79189259e-03 -8.15138706e-04 1.65100082e+00] [-2.78999154e-03 9.99993407e-01 2.32407172e-03 -1.30654983e-01] [ 8.21621891e-04 -2.32178766e-03 9.99996967e-01 -3.40229656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.086502481 meters 0.1160860546063445 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.04 [[ 9.99997312e-01 2.13005032e-03 -9.16246495e-04 1.65181832e+00] [-2.12891884e-03 9.99996972e-01 1.23411706e-03 -1.28314475e-01] [ 9.18872452e-04 -1.23216313e-03 9.99998819e-01 -3.50654371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.146502481 meters 0.11710217275303553 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.04 [[ 9.99998161e-01 1.45721176e-03 -1.24671204e-03 1.65318068e+00] [-1.45646492e-03 9.99998760e-01 5.99743624e-04 -1.27692844e-01] [ 1.24758445e-03 -5.97926729e-04 9.99999043e-01 -3.64044024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.206502480999994 meters 0.11771595400131199 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.04 [[ 9.99997421e-01 9.54383463e-04 -2.06064987e-03 1.65428674e+00] [-9.52450304e-04 9.99999106e-01 9.38908680e-04 -1.30998885e-01] [ 2.06154411e-03 -9.36943592e-04 9.99997436e-01 -3.62428025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.266502480999996 meters 0.1188403112097177 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.04 [[ 9.99997423e-01 6.26847708e-04 -2.18198222e-03 1.65458595e+00] [-6.25930379e-04 9.99999715e-01 4.21068127e-04 -1.29766672e-01] [ 2.18224555e-03 -4.19701273e-04 9.99997531e-01 -3.64523593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.326502481 meters 0.11889656978910927 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.04 [[ 9.99997056e-01 6.28545733e-04 -2.34360119e-03 1.65500575e+00] [-6.27111373e-04 9.99999616e-01 6.12717118e-04 -1.30686375e-01] [ 2.34398541e-03 -6.11245615e-04 9.99997066e-01 -3.66378558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.386502480999994 meters 0.11896615726694765 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.04 [[ 9.99996634e-01 7.21340455e-04 -2.49220148e-03 1.65534406e+00] [-7.19076669e-04 9.99999328e-01 9.09124560e-04 -1.31702808e-01] [ 2.49285560e-03 -9.07329417e-04 9.99996481e-01 -3.67354054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.446502480999996 meters 0.11642892204994992 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.04 [[ 0.99998225 0.00520643 -0.00289688 1.65628851] [-0.00518899 0.99996857 0.00599431 -0.13438176] [ 0.002928 -0.00597917 0.99997784 -0.03712006] [ 0. 0. 0. 1. ]] SLAMing on 39.506502481 meters 0.1177569953506562 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.04 [[ 9.99993533e-01 1.35285647e-03 -3.33213089e-03 1.65718826e+00] [-1.34353559e-03 9.99995183e-01 2.79792517e-03 -1.37578547e-01] [ 3.33590003e-03 -2.79343024e-03 9.99990534e-01 -3.74178002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56650248099999 meters 0.11538285974532053 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.04 [[ 9.99992083e-01 1.43806048e-03 -3.71027105e-03 1.65826245e+00] [-1.42583725e-03 9.99993555e-01 3.29497628e-03 -1.39637008e-01] [ 3.71498551e-03 -3.28965996e-03 9.99987688e-01 -3.80562676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.626502480999996 meters 0.11611374437466826 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.04 [[ 9.99991575e-01 9.40283410e-04 -3.99584274e-03 1.65992799e+00] [-9.28704997e-04 9.99995368e-01 2.89848303e-03 -1.39766205e-01] [ 3.99854963e-03 -2.89474765e-03 9.99987816e-01 -3.98416156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.686502481 meters 0.115891387763896 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.04 [[ 9.99986322e-01 -3.17755363e-03 -4.15435832e-03 1.66020752e+00] [ 3.17422949e-03 9.99994637e-01 -8.06505359e-04 -1.41609771e-01] [ 4.15689876e-03 7.93307441e-04 9.99991045e-01 -3.98163556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74650248099999 meters 0.11813654626772853 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.04 [[ 9.99987183e-01 -2.83361812e-03 -4.19582345e-03 1.65974597e+00] [ 2.83416687e-03 9.99995976e-01 1.24842876e-04 -1.43677484e-01] [ 4.19545281e-03 -1.36732940e-04 9.99991190e-01 -3.90163186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.806502480999995 meters 0.11840001365069688 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.15, Z:-0.04 [[ 0.99998018 -0.00556332 0.00294926 1.66787456] [ 0.00554579 0.9999671 0.00592023 -0.14757736] [-0.0029821 -0.00590376 0.99997813 -0.0409092 ] [ 0. 0. 0. 1. ]] SLAMing on 39.866502481 meters 0.11928650578302594 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.15, Z:-0.04 [[ 9.99998558e-01 1.65119288e-03 3.96889349e-04 1.67782049e+00] [-1.65182472e-03 9.99997361e-01 1.59696427e-03 -1.52324169e-01] [-3.94251406e-04 -1.59761756e-03 9.99998646e-01 -4.02700718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92650248099999 meters 0.11976808100199575 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.15, Z:-0.04 [[ 9.99983054e-01 5.82112897e-03 -8.34964313e-05 1.67888963e+00] [-5.82051104e-03 9.99964438e-01 6.10276995e-03 -1.53495849e-01] [ 1.19018473e-04 -6.10218054e-03 9.99981374e-01 -4.06960576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.986502480999995 meters 0.12003581758863523 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.15, Z:-0.04 [[ 9.99984678e-01 5.53041252e-03 -2.40832842e-04 1.67968613e+00] [-5.52895121e-03 9.99968493e-01 5.69595065e-03 -1.52870397e-01] [ 2.72326211e-04 -5.69453183e-03 9.99983749e-01 -4.15274725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.046502481 meters 0.11683500083369323 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.15, Z:-0.04 [[ 9.99986180e-01 5.20979264e-03 -7.05349458e-04 1.68069991e+00] [-5.20603082e-03 9.99972751e-01 5.23400853e-03 -1.52511487e-01] [ 7.32598337e-04 -5.23026413e-03 9.99986054e-01 -4.18660973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10650248099999 meters 0.11838868166294986 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.15, Z:-0.04 [[ 9.99988284e-01 4.78691341e-03 -7.19662809e-04 1.68099757e+00] [-4.78370931e-03 9.99978922e-01 4.38990665e-03 -1.50411762e-01] [ 7.40661743e-04 -4.38641256e-03 9.99990105e-01 -4.23037381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.166502480999995 meters 0.11866961317077579 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.15, Z:-0.04 [[ 9.99990768e-01 4.24289535e-03 -6.79780089e-04 1.68131673e+00] [-4.24068025e-03 9.99985800e-01 3.22750983e-03 -1.47532430e-01] [ 6.93464423e-04 -3.22459730e-03 9.99994561e-01 -4.29174755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.226502481 meters 0.11696058478625876 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.14, Z:-0.04 [[ 9.99993409e-01 3.59757963e-03 -4.89086472e-04 1.68122292e+00] [-3.59678729e-03 9.99992233e-01 1.61138069e-03 -1.43315715e-01] [ 4.94879744e-04 -1.60961092e-03 9.99998582e-01 -4.32686630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28650248099999 meters 0.11610601559504752 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.14, Z:-0.04 [[ 9.99972603e-01 7.37464790e-03 -6.38564523e-04 1.68169355e+00] [-7.37142037e-03 9.99960741e-01 4.91722557e-03 -1.41179292e-01] [ 6.74802261e-04 -4.91238372e-03 9.99987706e-01 -4.35257710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.346502480999995 meters 0.12180201940219293 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.14, Z:-0.05 [[ 9.99979403e-01 6.40101181e-03 -4.69288981e-04 1.68243394e+00] [-6.39971572e-03 9.99975841e-01 2.71316523e-03 -1.35930430e-01] [ 4.86644646e-04 -2.71010603e-03 9.99996209e-01 -4.51151936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.406502481 meters 0.11420795476192772 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.13, Z:-0.05 [[ 9.99983377e-01 5.66182336e-03 -1.09089964e-03 1.68458034e+00] [-5.65994439e-03 9.99982507e-01 1.71785863e-03 -1.34995454e-01] [ 1.10060677e-03 -1.71165564e-03 9.99997929e-01 -4.68083314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46650248099999 meters 0.11375888214217976 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.13, Z:-0.05 [[ 9.99983820e-01 5.63196992e-03 -8.00579138e-04 1.68420621e+00] [-5.63087824e-03 9.99983223e-01 1.35938109e-03 -1.33699548e-01] [ 8.08221700e-04 -1.35485113e-03 9.99998756e-01 -4.68917657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.526502480999994 meters 0.11202270329759025 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.13, Z:-0.05 [[ 9.99985322e-01 5.18660711e-03 -1.56707681e-03 1.68646471e+00] [-5.18637518e-03 9.99986539e-01 1.52027338e-04 -1.31228830e-01] [ 1.56784423e-03 -1.43897658e-04 9.99998761e-01 -4.87770463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.586502481 meters 0.10961572226837278 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.13, Z:-0.05 [[ 9.99986904e-01 4.59573809e-03 -2.25176142e-03 1.68841330e+00] [-4.59742098e-03 9.99989156e-01 -7.42757847e-04 -1.30368252e-01] [ 2.24832349e-03 7.53100416e-04 9.99997189e-01 -5.00533415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64650248099999 meters 0.110368284962645 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.13, Z:-0.05 [[ 9.99998337e-01 -2.69085055e-04 -1.80398569e-03 1.69943267e+00] [ 2.73631192e-04 9.99996787e-01 2.52027819e-03 -1.28423203e-01] [ 1.80330172e-03 -2.52076763e-03 9.99995197e-01 -5.00544772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.706502480999994 meters 0.11134274870975062 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.13, Z:-0.05 [[ 0.99997887 -0.00457844 0.00461463 1.70785886] [ 0.00454744 0.99996718 0.0067055 -0.12945854] [-0.00464518 -0.00668438 0.99996687 -0.05134579] [ 0. 0. 0. 1. ]] SLAMing on 40.766502480999996 meters 0.11320424261193046 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.13, Z:-0.05 [[ 0.99997897 -0.0047154 0.00445352 1.70745113] [ 0.00468283 0.99996243 0.00729492 -0.13168949] [-0.00448776 -0.00727391 0.99996347 -0.0502547 ] [ 0. 0. 0. 1. ]] SLAMing on 40.826502481 meters 0.11610501021408244 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.13, Z:-0.05 [[ 0.99997815 -0.00478806 0.00455678 1.70791605] [ 0.00475344 0.99995999 0.00757719 -0.13217084] [-0.00459287 -0.00755536 0.99996091 -0.05131374] [ 0. 0. 0. 1. ]] SLAMing on 40.886502480999994 meters 0.11528689232184261 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.14, Z:-0.05 [[ 9.99982262e-01 -9.99010897e-04 5.87176417e-03 1.71474905e+00] [ 1.00771986e-03 9.99998396e-01 -1.48042191e-03 -1.35047301e-01] [-5.87027579e-03 1.48631274e-03 9.99981665e-01 -4.93574240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.946502480999996 meters 0.11339103372044688 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 9.99982920e-01 2.32900048e-03 5.36053903e-03 1.71670594e+00] [-2.33460257e-03 9.99996735e-01 1.03904079e-03 -1.31874373e-01] [-5.35810160e-03 -1.05153777e-03 9.99985092e-01 -5.11974882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.006502481 meters 0.1104258880992585 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 0.99997128 0.00590297 0.00475257 1.71887605] [-0.00592009 0.999976 0.00359776 -0.12858879] [-0.00473122 -0.0036258 0.99998223 -0.05322326] [ 0. 0. 0. 1. ]] SLAMing on 41.06650248099999 meters 0.1089339918473065 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 0.99997267 0.00563623 0.00478427 1.71932002] [-0.00564918 0.9999804 0.00269813 -0.12650772] [-0.00476897 -0.00272508 0.99998492 -0.05395665] [ 0. 0. 0. 1. ]] SLAMing on 41.126502480999996 meters 0.10840038230462987 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 0.9999744 0.00555262 0.00451241 1.71971432] [-0.00556409 0.99998132 0.00253159 -0.12631575] [-0.00449827 -0.00255664 0.99998661 -0.05382796] [ 0. 0. 0. 1. ]] SLAMing on 41.186502481 meters 0.10894465596054347 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 0.99997488 0.00584409 0.00401017 1.72010366] [-0.00585819 0.99997666 0.00351509 -0.12910593] [-0.00398954 -0.00353849 0.99998578 -0.05315243] [ 0. 0. 0. 1. ]] SLAMing on 41.24650248099999 meters 0.10883250897885571 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 0.99997521 0.00594211 0.00377861 1.72042968] [-0.00595744 0.99997403 0.00405648 -0.13077233] [-0.00375441 -0.00407889 0.99998463 -0.05309841] [ 0. 0. 0. 1. ]] SLAMing on 41.306502480999995 meters 0.11164237484071975 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 9.99991526e-01 1.87973408e-03 3.66248350e-03 1.72067519e+00] [-1.88106981e-03 9.99998166e-01 3.61296399e-04 -1.32468225e-01] [-3.66179764e-03 -3.68182725e-04 9.99993228e-01 -5.32021629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.366502481 meters 0.11117373390958875 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 9.99992281e-01 1.69009656e-03 3.54718109e-03 1.72118148e+00] [-1.69125749e-03 9.99998517e-01 3.24308682e-04 -1.32653449e-01] [-3.54662772e-03 -3.30305375e-04 9.99993656e-01 -5.37795324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42650248099999 meters 0.11260744381241045 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 0.99997975 0.00550858 0.00318815 1.72208017] [-0.00552072 0.9999775 0.00381029 -0.13123092] [-0.00316709 -0.00382781 0.99998766 -0.05417265] [ 0. 0. 0. 1. ]] SLAMing on 41.486502480999995 meters 0.10850376253069417 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.05 [[ 0.99998217 0.00514893 0.00302599 1.72149722] [-0.00515622 0.99998381 0.00240699 -0.12783974] [-0.00301355 -0.00242255 0.99999252 -0.05271587] [ 0. 0. 0. 1. ]] SLAMing on 41.546502481 meters 0.10753353278036995 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.12, Z:-0.05 [[ 0.99995854 0.00860585 0.00297767 1.72209357] [-0.00862012 0.99995125 0.00481502 -0.12338218] [-0.00293609 -0.00484049 0.99998397 -0.05348999] [ 0. 0. 0. 1. ]] SLAMing on 41.60650248099999 meters 0.106422844414677 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.12, Z:-0.06 [[ 0.99996994 0.00738901 0.00235054 1.7248912 ] [-0.00739529 0.99996908 0.00267434 -0.11940061] [-0.00233071 -0.00269164 0.99999366 -0.05652873] [ 0. 0. 0. 1. ]] SLAMing on 41.666502480999995 meters 0.10676690905816627 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.12, Z:-0.06 [[ 0.99997379 0.0069217 0.00212336 1.72575254] [-0.00692622 0.99997375 0.00212692 -0.11849225] [-0.00210858 -0.00214158 0.99999548 -0.05734991] [ 0. 0. 0. 1. ]] SLAMing on 41.726502481 meters 0.10892088351707656 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.12, Z:-0.06 [[ 9.99979339e-01 6.27280611e-03 1.40447547e-03 1.72753378e+00] [-6.27522254e-03 9.99978827e-01 1.72277498e-03 -1.18725140e-01] [-1.39363910e-03 -1.73155279e-03 9.99997530e-01 -5.83982648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78650248099999 meters 0.10986628039052998 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.12, Z:-0.06 [[ 9.99981532e-01 6.01687338e-03 8.55902941e-04 1.72843074e+00] [-6.01858025e-03 9.99979876e-01 2.00583252e-03 -1.20323747e-01] [-8.43816877e-04 -2.01094680e-03 9.99997622e-01 -5.85206741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.846502480999995 meters 0.11096530630991555 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.12, Z:-0.06 [[ 9.99984415e-01 5.53310330e-03 7.44413153e-04 1.72836754e+00] [-5.53393864e-03 9.99984055e-01 1.12480830e-03 -1.18031381e-01] [-7.38177603e-04 -1.12891031e-03 9.99999090e-01 -5.81830522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.906502481 meters 0.11152917991192081 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.11, Z:-0.06 [[ 9.99960611e-01 8.84401235e-03 7.47816743e-04 1.72864926e+00] [-8.84652754e-03 9.99954987e-01 3.42976877e-03 -1.12742183e-01] [-7.17450164e-04 -3.43624925e-03 9.99993839e-01 -5.85634514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96650248099999 meters 0.11177679347013272 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.11, Z:-0.06 [[ 9.99966374e-01 8.14355507e-03 9.66004083e-04 1.72805495e+00] [-8.14502148e-03 9.99965668e-01 1.52392246e-03 -1.07427919e-01] [-9.53560771e-04 -1.53173934e-03 9.99998372e-01 -5.80866416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.026502480999994 meters 0.10880944377475656 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.10, Z:-0.06 [[ 9.99974146e-01 7.15377742e-03 7.28740330e-04 1.72945397e+00] [-7.15301047e-03 9.99973866e-01 -1.04966108e-03 -1.01122858e-01] [-7.36230326e-04 1.04442125e-03 9.99999184e-01 -5.97763050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.086502481 meters 0.10864133227248295 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.10, Z:-0.06 [[ 9.99940064e-01 1.09304199e-02 6.28199687e-04 1.72994137e+00] [-1.09318479e-02 9.99937562e-01 2.31649203e-03 -9.90964557e-02] [-6.02840233e-04 -2.32322057e-03 9.99997120e-01 -6.01738528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14650248099999 meters 0.10867014370386248 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.10, Z:-0.06 [[ 9.99943581e-01 1.06097425e-02 5.17932235e-04 1.73080549e+00] [-1.06107634e-02 9.99941684e-01 2.00989336e-03 -9.90808440e-02] [-4.96577581e-04 -2.01527562e-03 9.99997846e-01 -6.11835127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.206502480999994 meters 0.10972639163286278 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.10, Z:-0.06 [[ 9.99944585e-01 1.05252742e-02 2.12671840e-04 1.73162910e+00] [-1.05257363e-02 9.99941950e-01 2.30340975e-03 -1.00511342e-01] [-1.88415476e-04 -2.30552064e-03 9.99997325e-01 -6.17272744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.266502480999996 meters 0.1102644732830932 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.10, Z:-0.06 [[ 9.99948423e-01 1.01538577e-02 2.24991150e-04 1.73175013e+00] [-1.01542125e-02 9.99947106e-01 1.63609572e-03 -9.88043106e-02] [-2.08366567e-04 -1.63829595e-03 9.99998636e-01 -6.19771733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32650248099999 meters 0.11066768497740723 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.10, Z:-0.06 [[ 9.99950982e-01 9.90115263e-03 3.38493467e-05 1.73215540e+00] [-9.90118798e-03 9.99950155e-01 1.28616226e-03 -9.82474512e-02] [-2.11131707e-05 -1.28643437e-03 9.99999172e-01 -6.21466565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.386502480999994 meters 0.11160718715866434 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.10, Z:-0.06 [[ 9.99985960e-01 5.29881911e-03 -5.04044644e-05 1.73262775e+00] [-5.29895957e-03 9.99980211e-01 -3.39107966e-03 -9.77104441e-02] [ 3.24347493e-05 3.39129914e-03 9.99994249e-01 -6.27282022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.446502480999996 meters 0.11404576706961256 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.10, Z:-0.06 [[ 9.99988436e-01 -1.27175586e-03 4.63793950e-03 1.74076329e+00] [ 1.27308355e-03 9.99999149e-01 -2.83326011e-04 -9.83684889e-02] [-4.63757523e-03 2.89227219e-04 9.99989205e-01 -6.28075058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506502481 meters 0.11487995345264675 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.10, Z:-0.06 [[ 0.99998766 0.00220094 0.00445263 1.74176081] [-0.00221322 0.99999375 0.0027564 -0.09593959] [-0.00444654 -0.00276622 0.99998629 -0.06390726] [ 0. 0. 0. 1. ]] SLAMing on 42.56650248099999 meters 0.11387925498489644 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.09, Z:-0.06 [[ 9.99988349e-01 1.44811362e-03 4.60494445e-03 1.74209609e+00] [-1.45286340e-03 9.99998416e-01 1.02827494e-03 -9.18863945e-02] [-4.60344809e-03 -1.03495331e-03 9.99988869e-01 -6.47947187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.626502480999996 meters 0.11280952176463753 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.09, Z:-0.06 [[ 0.99997526 0.00530878 0.00461562 1.74191446] [-0.00532896 0.99997625 0.00437055 -0.08948342] [-0.00459231 -0.00439504 0.9999798 -0.06450268] [ 0. 0. 0. 1. ]] SLAMing on 42.686502481 meters 0.11248002428136437 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.09, Z:-0.07 [[ 0.99997794 0.00477425 0.00461822 1.74230863] [-0.00478937 0.99998319 0.00326872 -0.08708907] [-0.00460254 -0.00329076 0.99998399 -0.06511016] [ 0. 0. 0. 1. ]] SLAMing on 42.74650248099999 meters 0.11238340902879879 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.09, Z:-0.07 [[ 0.99995649 0.00830208 0.00425482 1.74383697] [-0.00832963 0.9999442 0.00649755 -0.0854052 ] [-0.00420064 -0.00653271 0.99996984 -0.06654344] [ 0. 0. 0. 1. ]] SLAMing on 42.806502480999995 meters 0.1124040927061394 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.08, Z:-0.07 [[ 0.99996391 0.00755912 0.00387809 1.74560165] [-0.00758012 0.99995654 0.00542855 -0.0841002 ] [-0.00383689 -0.00545775 0.99997775 -0.06831472] [ 0. 0. 0. 1. ]] SLAMing on 42.866502481 meters 0.1105305877950219 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.08, Z:-0.07 [[ 0.99996615 0.00729856 0.00379837 1.74589244] [-0.00731734 0.99996096 0.00495274 -0.0831621 ] [-0.00376207 -0.00498037 0.99998052 -0.06856307] [ 0. 0. 0. 1. ]] SLAMing on 42.92650248099999 meters 0.11106671764553923 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.08, Z:-0.07 [[ 0.99996842 0.00688736 0.00396619 1.74588523] [-0.00690288 0.99996853 0.00391119 -0.08021413] [-0.00393913 -0.00393844 0.99998449 -0.06897086] [ 0. 0. 0. 1. ]] SLAMing on 42.986502480999995 meters 0.11042471685359195 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.08, Z:-0.07 [[ 0.9999793 0.0056569 0.00306576 1.74852815] [-0.00566599 0.99997956 0.0029638 -0.08316969] [-0.00304893 -0.00298111 0.99999091 -0.07073381] [ 0. 0. 0. 1. ]] SLAMing on 43.046502481 meters 0.11168898591177977 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.07 [[ 0.99997907 0.00584423 0.00277535 1.74884642] [-0.00585438 0.99997615 0.00366472 -0.0851851 ] [-0.00275386 -0.00368089 0.99998943 -0.07054527] [ 0. 0. 0. 1. ]] SLAMing on 43.10650248099999 meters 0.11147988264026014 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.07 [[ 0.99997787 0.00605033 0.00276713 1.74846174] [-0.00606092 0.99997428 0.00383482 -0.08506048] [-0.00274385 -0.00385151 0.99998882 -0.06982577] [ 0. 0. 0. 1. ]] SLAMing on 43.166502480999995 meters 0.11127762988242333 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.07 [[ 0.9999786 0.00604102 0.00251211 1.74896284] [-0.00605087 0.99997396 0.00393276 -0.08566944] [-0.00248828 -0.00394788 0.99998911 -0.06988476] [ 0. 0. 0. 1. ]] SLAMing on 43.226502481 meters 0.11117108722589564 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.07 [[ 0.99997978 0.00592039 0.00232132 1.74954349] [-0.00592929 0.99997502 0.00384644 -0.08586451] [-0.00229849 -0.00386012 0.99998991 -0.07025405] [ 0. 0. 0. 1. ]] SLAMing on 43.28650248099999 meters 0.11011021839873779 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.07 [[ 9.99983184e-01 5.52736467e-03 1.75490244e-03 1.75142755e+00] [-5.53397788e-03 9.99977520e-01 3.78620016e-03 -8.70873897e-02] [-1.73393528e-03 -3.79584808e-03 9.99991292e-01 -7.16654871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.346502480999995 meters 0.111540075151834 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.07 [[ 9.99981985e-01 5.84675928e-03 1.35835339e-03 1.75207444e+00] [-5.85311278e-03 9.99971724e-01 4.72143483e-03 -8.98183384e-02] [-1.33070989e-03 -4.72930037e-03 9.99987931e-01 -7.16117264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.406502481 meters 0.11044858463081286 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.07 [[ 9.99981695e-01 5.98747649e-03 8.71659516e-04 1.75300710e+00] [-5.99208006e-03 9.99967584e-01 5.37822087e-03 -9.20980679e-02] [-8.39429289e-04 -5.38334547e-03 9.99985157e-01 -7.17764119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46650248099999 meters 0.11114411021332296 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.07 [[ 9.99981282e-01 6.09168645e-03 5.72410525e-04 1.75354905e+00] [-6.09492794e-03 9.99964356e-01 5.84290155e-03 -9.35169993e-02] [-5.36796997e-04 -5.84628098e-03 9.99982766e-01 -7.18866551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.526502480999994 meters 0.11294185418762613 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.10, Z:-0.07 [[ 9.99980453e-01 6.24938631e-03 1.98060229e-04 1.75387449e+00] [-6.25055917e-03 9.99958614e-01 6.61069077e-03 -9.57244659e-02] [-1.56739272e-04 -6.61179954e-03 9.99978130e-01 -7.14221365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.586502481 meters 0.11388279820282744 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.10, Z:-0.07 [[ 9.99998550e-01 1.67299435e-03 -3.18761980e-04 1.75545784e+00] [-1.67217327e-03 9.99995328e-01 2.55893855e-03 -9.74012015e-02] [ 3.23041581e-04 -2.55840181e-03 9.99996675e-01 -7.26938347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64650248099999 meters 0.11478088351335015 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:-0.07 [[ 0.99999059 -0.00388541 -0.00192982 1.7690236 ] [ 0.00389417 0.99998204 0.0045566 -0.09619624] [ 0.00191208 -0.00456408 0.99998776 -0.07447689] [ 0. 0. 0. 1. ]] SLAMing on 43.706502480999994 meters 0.11375782943324701 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.10, Z:-0.08 [[ 9.99985917e-01 3.14109172e-03 4.27777111e-03 1.77569246e+00] [-3.14020441e-03 9.99995047e-01 -2.14123189e-04 -9.52999788e-02] [-4.27842250e-03 2.00687097e-04 9.99990827e-01 -7.57772269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.766502480999996 meters 0.11397243794371055 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.09, Z:-0.08 [[ 9.99987360e-01 2.63047772e-03 4.28496309e-03 1.77640199e+00] [-2.62455001e-03 9.99995592e-01 -1.38840992e-03 -9.25849666e-02] [-4.28859638e-03 1.37714627e-03 9.99989856e-01 -7.68694871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82650248099999 meters 0.11277230261035723 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.09, Z:-0.08 [[ 0.99996918 0.00669712 0.00409805 1.77670616] [-0.00670757 0.99997427 0.00254213 -0.09215567] [-0.00408092 -0.00256954 0.99998837 -0.07676618] [ 0. 0. 0. 1. ]] SLAMing on 43.886502480999994 meters 0.11060232104106485 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.09, Z:-0.08 [[ 9.99970315e-01 6.29147620e-03 4.44816040e-03 1.77642707e+00] [-6.29612982e-03 9.99979646e-01 1.03296049e-03 -8.77959832e-02] [-4.44157101e-03 -1.06093602e-03 9.99989573e-01 -7.71650087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.946502480999996 meters 0.10975547012131441 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.09, Z:-0.08 [[ 9.99972904e-01 5.93283150e-03 4.35818213e-03 1.77678426e+00] [-5.93386102e-03 9.99982370e-01 2.23332615e-04 -8.60896603e-02] [-4.35678030e-03 -2.49187410e-04 9.99990478e-01 -7.74400184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00650248099999 meters 0.10960328166728822 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.08, Z:-0.08 [[ 9.99980246e-01 4.89497304e-03 3.94293917e-03 1.77915227e+00] [-4.89073999e-03 9.99987454e-01 -1.08250470e-03 -8.48145708e-02] [-3.94818854e-03 1.06319943e-03 9.99991641e-01 -8.01057296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06650248099999 meters 0.11039607959594452 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.08, Z:-0.08 [[ 0.99995422 0.00879777 0.00376205 1.77945195] [-0.0088081 0.99995746 0.00273632 -0.08403315] [-0.00373781 -0.00276933 0.99998918 -0.08012176] [ 0. 0. 0. 1. ]] SLAMing on 44.126502480999996 meters 0.11250592313153453 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.08, Z:-0.08 [[ 0.99995949 0.00822603 0.00365283 1.77977073] [-0.00823281 0.99996441 0.00184499 -0.08218996] [-0.00363752 -0.00187499 0.99999163 -0.08045793] [ 0. 0. 0. 1. ]] SLAMing on 44.186502481 meters 0.11467433838879217 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.08, Z:-0.08 [[ 0.99998816 0.00332444 0.00355386 1.78020303] [-0.00331197 0.99998835 -0.00351086 -0.07978082] [-0.00356549 0.00349905 0.99998752 -0.08103345] [ 0. 0. 0. 1. ]] SLAMing on 44.24650248099999 meters 0.1158191998847263 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.08, Z:-0.08 [[ 0.99999163 0.0024582 0.00327145 1.78134451] [-0.00244216 0.99998503 -0.00489692 -0.07710482] [-0.00328344 0.00488889 0.99998266 -0.08216519] [ 0. 0. 0. 1. ]] SLAMing on 44.306502480999995 meters 0.116791629102271 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:-0.08 [[ 0.999979 0.00564585 0.00318041 1.7821665 ] [-0.00563749 0.99998064 -0.00263391 -0.07237172] [-0.00319522 0.00261592 0.99999147 -0.08321129] [ 0. 0. 0. 1. ]] SLAMing on 44.366502481 meters 0.11894275555062485 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:-0.08 [[ 9.99953302e-01 9.21014643e-03 2.92697860e-03 1.78286505e+00] [-9.21128759e-03 9.99957504e-01 3.76635984e-04 -6.97125631e-02] [-2.92338534e-03 -4.03579638e-04 9.99995645e-01 -8.36024803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42650248099999 meters 0.12045996052758001 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:-0.08 [[ 9.99958657e-01 8.66508675e-03 2.75700657e-03 1.78315290e+00] [-8.66336687e-03 9.99962271e-01 -6.35153892e-04 -6.75903536e-02] [-2.76240622e-03 6.11242673e-04 9.99995998e-01 -8.36258178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.486502480999995 meters 0.12194177142428109 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.06, Z:-0.09 [[ 9.99932930e-01 1.13370444e-02 2.36791454e-03 1.78582073e+00] [-1.13401322e-02 9.99934860e-01 1.29468644e-03 -6.32863451e-02] [-2.35308238e-03 -1.32145207e-03 9.99996358e-01 -8.66921726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.546502481 meters 0.11680790366522213 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.06, Z:-0.09 [[ 9.99941434e-01 1.05860478e-02 2.25051421e-03 1.78640078e+00] [-1.05857728e-02 9.99943960e-01 -1.34070418e-04 -6.02806877e-02] [-2.25180737e-03 1.10239134e-04 9.99997459e-01 -8.72631916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60650248099999 meters 0.11636157010925116 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.05, Z:-0.09 [[ 0.99995142 0.00950804 0.00259956 1.78645677] [-0.00950109 0.99995129 -0.00267264 -0.0534996 ] [-0.00262485 0.00264781 0.99999305 -0.08812953] [ 0. 0. 0. 1. ]] SLAMing on 44.666502480999995 meters 0.11734579930211127 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.05, Z:-0.09 [[ 9.99921917e-01 1.22231930e-02 2.59883980e-03 1.78757015e+00] [-1.22198166e-02 9.99924476e-01 -1.31116019e-03 -4.65815652e-02] [-2.61467009e-03 1.27930047e-03 9.99995763e-01 -8.96354127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.726502481 meters 0.11766529261186219 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.04, Z:-0.09 [[ 0.99993517 0.01110449 0.00252052 1.78777854] [-0.01109515 0.99993164 -0.00368894 -0.04099862] [-0.00256131 0.00366073 0.99999002 -0.08970153] [ 0. 0. 0. 1. ]] SLAMing on 44.78650248099999 meters 0.11957867976066508 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.03, Z:-0.09 [[ 0.99994951 0.00974396 0.00245554 1.78791033] [-0.00972812 0.99993232 -0.00638132 -0.03380818] [-0.00251756 0.00635711 0.99997662 -0.08966425] [ 0. 0. 0. 1. ]] SLAMing on 44.846502480999995 meters 0.12125078778095956 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.03, Z:-0.09 [[ 0.99991538 0.01279378 0.00235564 1.78795877] [-0.01278308 0.99990815 -0.00450362 -0.02753958] [-0.00241304 0.00447312 0.99998708 -0.08926539] [ 0. 0. 0. 1. ]] SLAMing on 44.906502481 meters 0.12270107871729488 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.02, Z:-0.09 [[ 0.99998691 0.00453739 0.0023656 1.78150512] [-0.00453292 0.99998794 -0.00189201 -0.02047449] [-0.00237415 0.00188126 0.99999541 -0.09257885] [ 0. 0. 0. 1. ]] SLAMing on 44.96650248099999 meters 0.11975385694571061 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.02, Z:-0.09 [[ 9.99967317e-01 7.79393023e-03 2.14917710e-03 1.78228465e+00] [-7.79523422e-03 9.99969437e-01 5.99027639e-04 -1.65806105e-02] [-2.14444263e-03 -6.15761400e-04 9.99997511e-01 -9.31690805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.026502480999994 meters 0.1206760898452372 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.01, Z:-0.10 [[ 9.99978409e-01 6.32994695e-03 1.76432317e-03 1.78434965e+00] [-6.32643675e-03 9.99978012e-01 -1.98807595e-03 -1.08883472e-02] [-1.77686879e-03 1.97687115e-03 9.99996467e-01 -9.53169059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.086502481 meters 0.12123317379254238 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.01, Z:-0.10 [[ 9.99982956e-01 5.59683141e-03 1.66231054e-03 1.78476137e+00] [-5.59096384e-03 9.99978197e-01 -3.51368764e-03 -7.20276990e-03] [-1.68193981e-03 3.50433383e-03 9.99992445e-01 -9.56258866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14650248099999 meters 0.12123094865389442 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.00, Z:-0.10 [[ 9.99959571e-01 8.84661299e-03 1.61028147e-03 1.78518341e+00] [-8.84463555e-03 9.99960128e-01 -1.23101963e-03 -2.54336275e-03] [-1.62110761e-03 1.21672751e-03 9.99997946e-01 -9.59809662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.206502480999994 meters 0.12052716889307202 Centerline is valid? [False, False] Translation: X:1.79, Y:0.00, Z:-0.10 [[ 9.99931756e-01 1.15992557e-02 1.39312842e-03 1.78697500e+00] [-1.15998898e-02 9.99932619e-01 4.47986923e-04 2.82651302e-03] [-1.38783823e-03 -4.64116487e-04 9.99998929e-01 -9.79982157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.266502480999996 meters 0.12124135470290787 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.10 [[ 9.99939255e-01 1.08669312e-02 1.84278988e-03 1.78627384e+00] [-1.08636224e-02 9.99939376e-01 -1.79618526e-03 1.13954043e-02] [-1.86219718e-03 1.77605678e-03 9.99996689e-01 -9.77800160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32650248099999 meters 0.12138667024755119 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.09 [[ 9.99997844e-01 1.76705199e-03 1.09096801e-03 1.79978484e+00] [-1.76766958e-03 9.99998278e-01 5.65393381e-04 1.94611269e-02] [-1.08996705e-03 -5.67320632e-04 9.99999245e-01 -9.34265307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.386502480999994 meters 0.12351254724996003 Centerline is valid? [False, False] Translation: X:1.81, Y:0.03, Z:-0.10 [[ 9.99994267e-01 -2.82273706e-03 -1.87026621e-03 1.81212141e+00] [ 2.82486708e-03 9.99995363e-01 1.13722494e-03 2.99375460e-02] [ 1.86704746e-03 -1.14250167e-03 9.99997604e-01 -9.51090543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.446502480999996 meters 0.12366573635990408 Centerline is valid? [False, False] Translation: X:1.83, Y:0.04, Z:-0.10 [[ 9.99993081e-01 -3.71992140e-03 2.48981924e-05 1.83257655e+00] [ 3.71999446e-03 9.99983648e-01 -4.34343416e-03 3.77274497e-02] [-8.74055150e-06 4.34349673e-03 9.99990567e-01 -9.71502379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50650248099999 meters 0.12986516653126237 Centerline is valid? [False, False] Translation: X:1.85, Y:0.04, Z:-0.10 [[ 0.99999147 -0.00260065 0.00320789 1.85009773] [ 0.0026236 0.99997083 -0.00717355 0.04443999] [-0.00318914 0.0071819 0.99996912 -0.09650448] [ 0. 0. 0. 1. ]] SLAMing on 45.56650248099999 meters 0.12579191859920075 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:-0.10 [[ 9.99996725e-01 -2.45242116e-03 7.31804857e-04 1.86181190e+00] [ 2.45352707e-03 9.99995844e-01 -1.51416324e-03 5.65060249e-02] [-7.28088449e-04 1.51595379e-03 9.99998586e-01 -9.70745731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.626502480999996 meters 0.12618223574655998 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:-0.10 [[ 9.99999471e-01 8.44022643e-04 5.87822766e-04 1.86222017e+00] [-8.44632559e-04 9.99999104e-01 1.03811035e-03 6.03440677e-02] [-5.86946051e-04 -1.03860629e-03 9.99999288e-01 -9.72353515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68650248099999 meters 0.1276776293784465 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:-0.10 [[ 0.99998902 -0.00400918 -0.00242491 1.87499115] [ 0.00401444 0.99998959 0.00216849 0.06808165] [ 0.0024162 -0.0021782 0.99999471 -0.09874453] [ 0. 0. 0. 1. ]] SLAMing on 45.74650248099999 meters 0.12779305704659905 Centerline is valid? [False, False] Translation: X:1.89, Y:0.08, Z:-0.10 [[ 9.99994664e-01 3.16815298e-03 7.96760626e-04 1.88564197e+00] [-3.16578256e-03 9.99990611e-01 -2.95893456e-03 7.51114649e-02] [-8.06127503e-04 2.95639640e-03 9.99995305e-01 -1.01139096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.806502480999995 meters 0.12570503970363586 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.10 [[ 9.99996233e-01 -1.64723148e-04 -2.73992491e-03 1.89680105e+00] [ 1.63536076e-04 9.99999893e-01 -4.33468249e-04 8.32881683e-02] [ 2.73999602e-03 4.33018539e-04 9.99996152e-01 -1.00372834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.866502481 meters 0.12549201398589452 Centerline is valid? [False, False] Translation: X:1.91, Y:0.09, Z:-0.10 [[ 9.99998013e-01 1.73302926e-03 9.85580035e-04 1.91292551e+00] [-1.73023436e-03 9.99994500e-01 -2.82960210e-03 9.31268748e-02] [-9.90478397e-04 2.82789120e-03 9.99995511e-01 -9.83446230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92650248099999 meters 0.1282496653597147 Centerline is valid? [False, False] Translation: X:1.92, Y:0.10, Z:-0.10 [[ 9.99984184e-01 -1.65904401e-03 5.37387698e-03 1.92359655e+00] [ 1.64401113e-03 9.99994727e-01 2.80061001e-03 9.67017853e-02] [-5.37849498e-03 -2.79173101e-03 9.99981639e-01 -1.00620306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.986502480999995 meters 0.12371791916511113 Centerline is valid? [False, False] Translation: X:1.93, Y:0.11, Z:-0.10 [[ 9.99988766e-01 6.71884000e-04 4.69214167e-03 1.92574906e+00] [-6.86956288e-04 9.99994608e-01 3.21136807e-03 1.06754252e-01] [-4.68995870e-03 -3.21455529e-03 9.99983835e-01 -1.02252065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.046502481 meters 0.12211844830024537 Centerline is valid? [False, False] Translation: X:1.93, Y:0.11, Z:-0.10 [[ 9.99990864e-01 -1.80035836e-04 4.27072785e-03 1.92709645e+00] [ 1.75484487e-04 9.99999416e-01 1.06605895e-03 1.13223679e-01] [-4.27091728e-03 -1.06529976e-03 9.99990312e-01 -1.03224819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10650248099999 meters 0.12134786558250645 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:-0.10 [[ 0.9999861 0.00313985 0.00423455 1.92724218] [-0.00315536 0.99998832 0.00366216 0.11738137] [-0.004223 -0.00367547 0.99998433 -0.10325349] [ 0. 0. 0. 1. ]] SLAMing on 46.166502480999995 meters 0.12804543901350388 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:-0.10 [[ 9.99981133e-01 -6.13316557e-03 3.42567949e-04 1.94066299e+00] [ 6.13255458e-03 9.99979652e-01 1.75700393e-03 1.21741870e-01] [-3.53336975e-04 -1.75486997e-03 9.99998398e-01 -1.03909659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.226502481 meters 0.1272911460973855 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:-0.11 [[ 9.99989995e-01 3.25421603e-04 4.46138569e-03 1.95228523e+00] [-3.15992027e-04 9.99997715e-01 -2.11413999e-03 1.25276861e-01] [-4.46206349e-03 2.11270907e-03 9.99987813e-01 -1.07140948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28650248099999 meters 0.1335778698254864 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:-0.11 [[ 9.99990065e-01 -8.23638899e-04 4.38073520e-03 1.95253158e+00] [ 8.41207117e-04 9.99991606e-01 -4.01000597e-03 1.30083564e-01] [-4.37739564e-03 4.01365124e-03 9.99982364e-01 -1.07161871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.346502480999995 meters 0.13820804555970265 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:-0.11 [[ 0.99995479 -0.00925757 0.00216951 1.96312334] [ 0.00926771 0.99994595 -0.00471162 0.13795044] [-0.00212578 0.00473151 0.99998655 -0.1054616 ] [ 0. 0. 0. 1. ]] SLAMing on 46.406502481 meters 0.13720515083825977 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.10 [[ 9.99997270e-01 2.02527879e-03 1.16527756e-03 1.97261270e+00] [-2.01914329e-03 9.99984219e-01 -5.24257010e-03 1.45382195e-01] [-1.17587683e-03 5.24020292e-03 9.99985579e-01 -1.03404799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46650248099999 meters 0.14243425439254093 Centerline is valid? [False, False] Translation: X:1.99, Y:0.16, Z:-0.11 [[ 9.99997015e-01 -1.33845918e-03 -2.04404161e-03 1.98776458e+00] [ 1.33262108e-03 9.99995037e-01 -2.85485240e-03 1.56529687e-01] [ 2.04785257e-03 2.85211995e-03 9.99993836e-01 -1.06878106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.526502480999994 meters 0.14289843116602094 Centerline is valid? [False, False] Translation: X:2.00, Y:0.17, Z:-0.11 [[ 9.99978323e-01 -4.35567536e-03 -4.93782823e-03 2.00187506e+00] [ 4.35725916e-03 9.99990459e-01 3.10034523e-04 1.67102265e-01] [ 4.93643071e-03 -3.31543199e-04 9.99987761e-01 -1.08990489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.586502481 meters 0.1359150009201956 Centerline is valid? [False, False] Translation: X:2.01, Y:0.18, Z:-0.11 [[ 9.99972295e-01 7.41789127e-03 6.19537866e-04 2.01337825e+00] [-7.41841483e-03 9.99972124e-01 8.47103575e-04 1.79097634e-01] [-6.13236874e-04 -8.51676095e-04 9.99999449e-01 -1.13107464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64650248099999 meters 0.12906029821928638 Centerline is valid? [False, False] Translation: X:2.01, Y:0.19, Z:-0.11 [[ 9.99945223e-01 1.04615144e-02 3.29125661e-04 2.01420330e+00] [-1.04618837e-02 9.99944622e-01 1.14121211e-03 1.90576561e-01] [-3.17168628e-04 -1.14459287e-03 9.99999295e-01 -1.12993400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.706502480999994 meters 0.12425772606457884 Centerline is valid? [False, False] Translation: X:2.02, Y:0.20, Z:-0.11 [[ 9.99916610e-01 1.29097408e-02 -3.33867337e-04 2.01638392e+00] [-1.29091816e-02 9.99915351e-01 1.62610526e-03 1.99968200e-01] [ 3.54831673e-04 -1.62165971e-03 9.99998622e-01 -1.14424314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.766502480999996 meters 0.12712502481893814 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:-0.12 [[ 0.99992685 0.0115473 -0.00360055 2.0296497 ] [-0.01152403 0.99991299 0.00641995 0.21154733] [ 0.00367437 -0.00637799 0.99997291 -0.11557486] [ 0. 0. 0. 1. ]] SLAMing on 46.82650248099999 meters 0.12428996190355061 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:-0.12 [[ 0.99997011 0.00398832 -0.00662383 2.04344151] [-0.00394727 0.999973 0.00619835 0.22172261] [ 0.00664837 -0.00617202 0.99995885 -0.11661126] [ 0. 0. 0. 1. ]] SLAMing on 46.886502480999994 meters 0.126109896407337 Centerline is valid? [False, False] Translation: X:2.05, Y:0.23, Z:-0.12 [[ 9.99987048e-01 2.06164602e-03 4.65336860e-03 2.04956760e+00] [-2.05253387e-03 9.99995969e-01 -1.96211145e-03 2.32292357e-01] [-4.65739502e-03 1.95253484e-03 9.99987248e-01 -1.21465127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.946502480999996 meters 0.12792884384676811 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:-0.12 [[ 9.99993571e-01 -3.51577207e-03 7.05593880e-04 2.06224842e+00] [ 3.51591786e-03 9.99993798e-01 -2.05479516e-04 2.40100419e-01] [-7.04867085e-04 2.07959005e-04 9.99999730e-01 -1.21121708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00650248099999 meters 0.12784423269511994 Centerline is valid? [False, False] Translation: X:2.07, Y:0.25, Z:-0.12 [[ 0.99998522 0.00274537 0.00469377 2.07449888] [-0.00272554 0.99998736 -0.004224 0.24561412] [-0.00470531 0.00421114 0.99998006 -0.12468203] [ 0. 0. 0. 1. ]] SLAMing on 47.06650248099999 meters 0.1279814268155446 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:-0.13 [[ 0.99997701 0.0050692 0.00450358 2.07631583] [-0.00505495 0.9999822 -0.00316951 0.25264887] [-0.00451957 0.00314667 0.99998484 -0.12643212] [ 0. 0. 0. 1. ]] SLAMing on 47.126502480999996 meters 0.12677159552013692 Centerline is valid? [False, False] Translation: X:2.08, Y:0.26, Z:-0.13 [[ 0.99996285 0.00748524 0.0042745 2.07755171] [-0.00747545 0.99996941 -0.00230068 0.26091926] [-0.00429159 0.00226864 0.99998822 -0.12740237] [ 0. 0. 0. 1. ]] SLAMing on 47.18650248099999 meters 0.12497040544738058 Centerline is valid? [False, False] Translation: X:2.08, Y:0.27, Z:-0.13 [[ 0.99989314 0.01407253 0.00395937 2.07878619] [-0.01408296 0.99989741 0.002617 0.27102845] [-0.00392214 -0.00267248 0.99998874 -0.12794963] [ 0. 0. 0. 1. ]] SLAMing on 47.24650248099999 meters 0.12445057008298806 Centerline is valid? [False, False] Translation: X:2.08, Y:0.28, Z:-0.13 [[ 0.99985188 0.0168001 0.00373895 2.07978137] [-0.01681508 0.99985058 0.00400969 0.2784347 ] [-0.00367103 -0.00407197 0.99998497 -0.12842888] [ 0. 0. 0. 1. ]] SLAMing on 47.306502480999995 meters 0.1259111931626222 Centerline is valid? [False, False] Translation: X:2.09, Y:0.29, Z:-0.13 [[ 9.99930700e-01 1.17371871e-02 -9.13566453e-04 2.09169745e+00] [-1.17326456e-02 9.99919518e-01 4.82721918e-03 2.89440399e-01] [ 9.70150902e-04 -4.81616610e-03 9.99987932e-01 -1.27683846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.366502481 meters 0.12372920922782103 Centerline is valid? [False, False] Translation: X:2.10, Y:0.30, Z:-0.13 [[ 0.99998487 0.00350477 -0.00423901 2.10472547] [-0.00348851 0.99998656 0.0038355 0.30068692] [ 0.0042524 -0.00382065 0.99998366 -0.12824021] [ 0. 0. 0. 1. ]] SLAMing on 47.42650248099999 meters 0.13136207186710877 Centerline is valid? [False, False] Translation: X:2.12, Y:0.31, Z:-0.13 [[ 9.99999571e-01 -2.23479832e-04 -8.99208040e-04 2.12259639e+00] [ 2.22812370e-04 9.99999700e-01 -7.42308414e-04 3.13018940e-01] [ 8.99373661e-04 7.42107741e-04 9.99999320e-01 -1.27855421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.486502480999995 meters 0.12675420036577204 Centerline is valid? [False, False] Translation: X:2.12, Y:0.33, Z:-0.13 [[ 9.99998975e-01 -5.46041198e-04 -1.32353612e-03 2.12445913e+00] [ 5.42753041e-04 9.99996769e-01 -2.48345961e-03 3.25559040e-01] [ 1.32488791e-03 2.48273871e-03 9.99996040e-01 -1.29122513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.546502481 meters 0.12859088157868268 Centerline is valid? [False, False] Translation: X:2.14, Y:0.34, Z:-0.13 [[ 9.99966523e-01 -6.08694771e-03 -5.46829842e-03 2.14021364e+00] [ 6.08435443e-03 9.99981370e-01 -4.90750370e-04 3.36566606e-01] [ 5.47118371e-03 4.57462875e-04 9.99984928e-01 -1.31585077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60650248099999 meters 0.13056292790663038 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:-0.13 [[ 9.99999759e-01 -3.62330618e-04 -5.92761916e-04 2.15122481e+00] [ 3.59496282e-04 9.99988536e-01 -4.77471402e-03 3.45956349e-01] [ 5.94485146e-04 4.77449977e-03 9.99988425e-01 -1.34625070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.666502480999995 meters 0.12772838538170542 Centerline is valid? [False, False] Translation: X:2.16, Y:0.36, Z:-0.13 [[ 9.99978060e-01 -4.82349518e-03 -4.54018373e-03 2.16395106e+00] [ 4.81806152e-03 9.99987665e-01 -1.20696918e-03 3.55324208e-01] [ 4.54594954e-03 1.18506781e-03 9.99988965e-01 -1.34232483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.726502481 meters 0.13401337293598115 Centerline is valid? [False, False] Translation: X:2.18, Y:0.36, Z:-0.14 [[ 9.99999386e-01 1.04369947e-03 3.72875868e-04 2.17596810e+00] [-1.04193646e-03 9.99988424e-01 -4.69743485e-03 3.64594111e-01] [-3.77774262e-04 4.69704346e-03 9.99988897e-01 -1.38292405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78650248099999 meters 0.1278361601949316 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:-0.14 [[ 9.99998561e-01 1.61790832e-03 -5.09928723e-04 2.17889500e+00] [-1.62032933e-03 9.99987246e-01 -4.78363264e-03 3.69928643e-01] [ 5.02182740e-04 4.78445201e-03 9.99988428e-01 -1.40263180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.846502480999995 meters 0.12917309158919862 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:-0.14 [[ 9.99996388e-01 -2.55688286e-03 8.28100773e-04 2.18961265e+00] [ 2.55559205e-03 9.99995524e-01 1.55608050e-03 3.78316949e-01] [-8.32075782e-04 -1.55395859e-03 9.99998446e-01 -1.41184576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.906502481 meters 0.1263010361015902 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:-0.14 [[ 9.99995459e-01 -3.01222615e-03 8.77449524e-05 2.19128902e+00] [ 3.01222353e-03 9.99995463e-01 3.00241715e-05 3.83886110e-01] [-8.78349939e-05 -2.97597277e-05 9.99999996e-01 -1.41854242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96650248099999 meters 0.12438692455474357 Centerline is valid? [False, False] Translation: X:2.20, Y:0.39, Z:-0.14 [[ 0.99998921 0.0032226 0.00334693 2.20337986] [-0.00321087 0.99998871 -0.00350387 0.39021959] [-0.00335818 0.00349308 0.99998826 -0.14464302] [ 0. 0. 0. 1. ]] SLAMing on 48.026502480999994 meters 0.12380431046111447 Centerline is valid? [False, False] Translation: X:2.21, Y:0.40, Z:-0.15 [[ 9.99990735e-01 3.73963933e-03 2.13188827e-03 2.20633208e+00] [-3.73080399e-03 9.99984498e-01 -4.13339300e-03 3.97378643e-01] [-2.14731262e-03 4.12540105e-03 9.99989185e-01 -1.45967869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.086502481 meters 0.12326975358742778 Centerline is valid? [False, False] Translation: X:2.22, Y:0.41, Z:-0.15 [[ 9.99989574e-01 -3.80359427e-03 2.52669848e-03 2.21808088e+00] [ 3.80692229e-03 9.99991891e-01 -1.31364171e-03 4.05691054e-01] [-2.52168143e-03 1.32324696e-03 9.99995945e-01 -1.47132430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14650248099999 meters 0.12326807383331136 Centerline is valid? [False, False] Translation: X:2.23, Y:0.41, Z:-0.15 [[ 9.99997382e-01 2.27732685e-03 2.21193714e-04 2.23225087e+00] [-2.27640370e-03 9.99989054e-01 -4.08773719e-03 4.10462737e-01] [-2.30500407e-04 4.08722296e-03 9.99991621e-01 -1.48109239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.206502480999994 meters 0.12336639322815729 Centerline is valid? [False, False] Translation: X:2.23, Y:0.41, Z:-0.15 [[ 9.99998855e-01 1.51318924e-03 1.78977423e-05 2.23249732e+00] [-1.51306876e-03 9.99983906e-01 -5.46787770e-03 4.14242097e-01] [-2.61713880e-05 5.46784436e-03 9.99985051e-01 -1.47770281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.266502480999996 meters 0.12575557523745295 Centerline is valid? [False, False] Translation: X:2.24, Y:0.42, Z:-0.15 [[ 9.99975713e-01 -4.83839248e-03 5.01636414e-03 2.24122754e+00] [ 4.83880738e-03 9.99988290e-01 -7.05752683e-05 4.17341396e-01] [-5.01596393e-03 9.48467741e-05 9.99987415e-01 -1.49595692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32650248099999 meters 0.13136372081241188 Centerline is valid? [False, False] Translation: X:2.24, Y:0.42, Z:-0.15 [[ 0.99994223 -0.00963639 0.00476114 2.24198499] [ 0.00966202 0.9999388 -0.00538985 0.4208418 ] [-0.00470891 0.00543554 0.99997414 -0.1498192 ] [ 0. 0. 0. 1. ]] SLAMing on 48.386502480999994 meters 0.13371305901453712 Centerline is valid? [False, False] Translation: X:2.24, Y:0.42, Z:-0.15 [[ 0.99997091 -0.00611411 0.00456042 2.24278546] [ 0.00612558 0.9999781 -0.00250392 0.42498559] [-0.00454501 0.00253179 0.99998647 -0.15037827] [ 0. 0. 0. 1. ]] SLAMing on 48.446502480999996 meters 0.13159016934060563 Centerline is valid? [False, False] Translation: X:2.24, Y:0.44, Z:-0.15 [[ 9.99987034e-01 -3.59532558e-03 3.60636049e-03 2.24397409e+00] [ 3.60121145e-03 9.99992192e-01 -1.62691688e-03 4.35123932e-01] [-3.60048304e-03 1.63988305e-03 9.99992174e-01 -1.49422701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50650248099999 meters 0.13003459542429777 Centerline is valid? [False, False] Translation: X:2.25, Y:0.45, Z:-0.15 [[ 9.99995877e-01 -1.42929578e-03 2.49051421e-03 2.24526079e+00] [ 1.43503218e-03 9.99996318e-01 -2.30303746e-03 4.46903184e-01] [-2.48721332e-03 2.30660194e-03 9.99994247e-01 -1.47557274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56650248099999 meters 0.12813100418479934 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:-0.15 [[ 9.99997185e-01 2.21392732e-03 8.53486792e-04 2.24864963e+00] [-2.21298466e-03 9.99996942e-01 -1.10385460e-03 4.58869339e-01] [-8.55928036e-04 1.10196274e-03 9.99999027e-01 -1.48318696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.626502480999996 meters 0.12727071805072432 Centerline is valid? [False, False] Translation: X:2.25, Y:0.47, Z:-0.14 [[ 9.99990964e-01 4.20403882e-03 -6.31273579e-04 2.24992916e+00] [-4.20605928e-03 9.99985925e-01 -3.23414918e-03 4.73605237e-01] [ 6.17668205e-04 3.23677513e-03 9.99994571e-01 -1.44276564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68650248099999 meters 0.12295625407607039 Centerline is valid? [False, False] Translation: X:2.25, Y:0.48, Z:-0.14 [[ 9.99992885e-01 3.15113819e-03 -2.07387661e-03 2.25189526e+00] [-3.16426379e-03 9.99974791e-01 -6.35646408e-03 4.84211671e-01] [ 2.05379424e-03 6.36298115e-03 9.99977647e-01 -1.43106698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74650248099999 meters 0.12244813599888493 Centerline is valid? [False, False] Translation: X:2.26, Y:0.49, Z:-0.14 [[ 0.99998202 -0.00388672 -0.00456645 2.2635771 ] [ 0.00387415 0.99998869 -0.00275739 0.49499024] [ 0.00457712 0.00273965 0.99998577 -0.14252163] [ 0. 0. 0. 1. ]] SLAMing on 48.806502480999995 meters 0.12102624688583975 Centerline is valid? [False, False] Translation: X:2.27, Y:0.51, Z:-0.15 [[ 9.99994913e-01 1.93259505e-03 2.53740945e-03 2.27449162e+00] [-1.92037391e-03 9.99986588e-01 -4.81002026e-03 5.07228954e-01] [-2.54667123e-03 4.80512302e-03 9.99985213e-01 -1.47363067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86650248099999 meters 0.12249595782365418 Centerline is valid? [False, False] Translation: X:2.28, Y:0.51, Z:-0.15 [[ 9.99996332e-01 1.68975876e-03 2.11685073e-03 2.27542836e+00] [-1.67801261e-03 9.99983255e-01 -5.53841913e-03 5.09840819e-01] [-2.12617388e-03 5.53484671e-03 9.99982422e-01 -1.47563105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92650248099999 meters 0.12082751074504237 Centerline is valid? [False, False] Translation: X:2.29, Y:0.52, Z:-0.15 [[ 9.99983494e-01 1.29980237e-03 5.59665576e-03 2.29334829e+00] [-1.28843911e-03 9.99997102e-01 -2.03349313e-03 5.17693694e-01] [-5.59928268e-03 2.02624861e-03 9.99982271e-01 -1.48235336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.986502480999995 meters 0.12232987652205106 Centerline is valid? [False, False] Translation: X:2.31, Y:0.53, Z:-0.15 [[ 9.99949196e-01 7.32320247e-04 1.00533542e-02 2.30961101e+00] [-7.45387708e-04 9.99998882e-01 1.29612568e-03 5.27267658e-01] [-1.00523938e-02 -1.30355347e-03 9.99948624e-01 -1.48303865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.046502481 meters 0.12299785674040763 Centerline is valid? [False, False] Translation: X:2.32, Y:0.54, Z:-0.15 [[ 9.99972882e-01 -6.38207451e-03 3.67488675e-03 2.32366623e+00] [ 6.37601200e-03 9.99978297e-01 1.65907084e-03 5.39044506e-01] [-3.68539531e-03 -1.63559473e-03 9.99991871e-01 -1.47160187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10650248099999 meters 0.12305664373331592 Centerline is valid? [False, False] Translation: X:2.33, Y:0.56, Z:-0.15 [[ 9.99941637e-01 -1.04820378e-03 1.07528555e-02 2.33403730e+00] [ 1.05383727e-03 9.99999310e-01 -5.18253347e-04 5.56759479e-01] [-1.07523048e-02 5.29554860e-04 9.99942052e-01 -1.51289192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.166502480999995 meters 0.12458154194794026 Centerline is valid? [False, False] Translation: X:2.34, Y:0.57, Z:-0.15 [[ 9.99954630e-01 -7.49395286e-04 9.49612800e-03 2.33704028e+00] [ 7.62442279e-04 9.99998770e-01 -1.37038205e-03 5.65467604e-01] [-9.49508937e-03 1.37756012e-03 9.99953972e-01 -1.52469564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.226502481 meters 0.12436783668110953 Centerline is valid? [False, False] Translation: X:2.36, Y:0.57, Z:-0.15 [[ 9.99981727e-01 -3.32806425e-03 5.04676910e-03 2.36137652e+00] [ 3.33300076e-03 9.99993975e-01 -9.70058271e-04 5.74421634e-01] [-5.04351027e-03 9.86861430e-04 9.99986794e-01 -1.51471085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28650248099999 meters 0.12496923917911326 Centerline is valid? [False, False] Translation: X:2.36, Y:0.58, Z:-0.15 [[ 9.99986459e-01 -4.52418374e-04 5.18434825e-03 2.36132763e+00] [ 4.44794538e-04 9.99998818e-01 1.47160732e-03 5.82632485e-01] [-5.18500791e-03 -1.46928143e-03 9.99985478e-01 -1.51848834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.346502480999995 meters 0.130578063453535 Centerline is valid? [False, False] Translation: X:2.37, Y:0.59, Z:-0.15 [[ 9.99943109e-01 2.31924926e-03 1.04115513e-02 2.37187217e+00] [-2.27694206e-03 9.99989111e-01 -4.07350357e-03 5.91426730e-01] [-1.04208854e-02 4.04956533e-03 9.99937501e-01 -1.54478772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.406502481 meters 0.13043262046586954 Centerline is valid? [False, False] Translation: X:2.38, Y:0.60, Z:-0.16 [[ 9.99923411e-01 -7.59869549e-03 9.76895715e-03 2.38234836e+00] [ 7.61415924e-03 9.99969816e-01 -1.54673166e-03 6.02054352e-01] [-9.75690913e-03 1.62099560e-03 9.99951086e-01 -1.55275409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46650248099999 meters 0.13310936104341756 Centerline is valid? [False, False] Translation: X:2.40, Y:0.61, Z:-0.15 [[ 9.99967562e-01 1.68852046e-03 7.87547071e-03 2.39881214e+00] [-1.66570305e-03 9.99994399e-01 -2.90293513e-03 6.10853992e-01] [-7.88032827e-03 2.88972277e-03 9.99964774e-01 -1.53537292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.526502480999994 meters 0.13425091602672753 Centerline is valid? [False, False] Translation: X:2.42, Y:0.62, Z:-0.15 [[ 9.99987636e-01 -2.01620325e-03 4.54553016e-03 2.42237800e+00] [ 2.03502055e-03 9.99989364e-01 -4.13891904e-03 6.21935877e-01] [-4.53713691e-03 4.14811812e-03 9.99981104e-01 -1.52032708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.586502481 meters 0.13440025553415186 Centerline is valid? [False, False] Translation: X:2.44, Y:0.64, Z:-0.15 [[ 9.99981273e-01 -5.98998040e-03 -1.25441741e-03 2.43703725e+00] [ 5.99042509e-03 9.99981996e-01 3.51045754e-04 6.37817302e-01] [ 1.25229207e-03 -3.58553673e-04 9.99999152e-01 -1.51771784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64650248099999 meters 0.13455216511555407 Centerline is valid? [False, False] Translation: X:2.45, Y:0.65, Z:-0.16 [[ 9.99986913e-01 -7.06633237e-04 5.06703548e-03 2.44892035e+00] [ 7.16461876e-04 9.99997865e-01 -1.93816893e-03 6.52556562e-01] [-5.06565509e-03 1.94177390e-03 9.99985284e-01 -1.56078959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.706502480999994 meters 0.129155371310943 Centerline is valid? [False, False] Translation: X:2.48, Y:0.67, Z:-0.15 [[ 9.99997534e-01 1.88639419e-03 -1.17199558e-03 2.47776100e+00] [-1.88810481e-03 9.99997151e-01 -1.46018778e-03 6.71680602e-01] [ 1.16923775e-03 1.46239703e-03 9.99998247e-01 -1.53903340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.766502480999996 meters 0.12639584216043254 Centerline is valid? [False, False] Translation: X:2.51, Y:0.69, Z:-0.15 [[ 9.99959222e-01 3.29275666e-03 -8.40899125e-03 2.50660720e+00] [-3.29336322e-03 9.99994575e-01 -5.82864921e-05 6.85683094e-01] [ 8.40875371e-03 8.59779778e-05 9.99964642e-01 -1.51506189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82650248099999 meters 0.12592954437002676 Centerline is valid? [False, False] Translation: X:2.52, Y:0.70, Z:-0.15 [[ 0.99996203 0.00826377 -0.00276471 2.51923636] [-0.00827231 0.999961 -0.00309158 0.70005682] [ 0.00273905 0.00311433 0.9999914 -0.1549529 ] [ 0. 0. 0. 1. ]] SLAMing on 49.886502480999994 meters 0.12256655679738958 Centerline is valid? [False, False] Translation: X:2.54, Y:0.71, Z:-0.15 [[ 9.99989136e-01 4.66122676e-03 1.74902902e-05 2.53673517e+00] [-4.66118060e-03 9.99986997e-01 -2.06882832e-03 7.13293095e-01] [-2.71333407e-05 2.06872432e-03 9.99997860e-01 -1.54442879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.946502480999996 meters 0.12016452948090757 Centerline is valid? [False, False] Translation: X:2.55, Y:0.73, Z:-0.15 [[ 9.99969918e-01 -4.35463839e-03 -6.41867796e-03 2.55088434e+00] [ 4.34132569e-03 9.99988400e-01 -2.08653165e-03 7.29342843e-01] [ 6.42768959e-03 2.05860331e-03 9.99977223e-01 -1.53042023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00650248099999 meters 0.11819659043335212 Centerline is valid? [False, False] Translation: X:2.56, Y:0.74, Z:-0.16 [[ 9.99995576e-01 2.18917688e-03 -2.01397604e-03 2.56471006e+00] [-2.19745039e-03 9.99989119e-01 -4.11504991e-03 7.43464907e-01] [ 2.00494555e-03 4.11945731e-03 9.99989505e-01 -1.55290379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06650248099999 meters 0.11528820403835759 Centerline is valid? [False, False] Translation: X:2.59, Y:0.76, Z:-0.15 [[ 9.99950110e-01 6.29952781e-03 -7.75198057e-03 2.59044305e+00] [-6.30482248e-03 9.99979907e-01 -6.58760168e-04 7.61939862e-01] [ 7.74767494e-03 7.07602164e-04 9.99969736e-01 -1.53221601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.126502480999996 meters 0.11529591454025195 Centerline is valid? [False, False] Translation: X:2.61, Y:0.78, Z:-0.15 [[ 9.99985356e-01 3.12000489e-03 -4.42191422e-03 2.60637287e+00] [-3.11207836e-03 9.99993541e-01 1.79830611e-03 7.76265378e-01] [ 4.42749638e-03 -1.78451844e-03 9.99988606e-01 -1.52395178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18650248099999 meters 0.11609722807973512 Centerline is valid? [False, False] Translation: X:2.61, Y:0.78, Z:-0.15 [[ 9.99978738e-01 -3.31942078e-04 -6.51257405e-03 2.60980222e+00] [ 3.18220337e-04 9.99997728e-01 -2.10788442e-03 7.82840684e-01] [ 6.51325894e-03 2.10576717e-03 9.99976571e-01 -1.52389081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24650248099999 meters 0.12038807260775332 Centerline is valid? [False, False] Translation: X:2.62, Y:0.78, Z:-0.16 [[ 9.99945740e-01 -1.02267166e-02 -1.98253368e-03 2.62306883e+00] [ 1.02253100e-02 9.99947462e-01 -7.18339357e-04 7.80339811e-01] [ 1.98977577e-03 6.98028359e-04 9.99997777e-01 -1.56184525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.306502480999995 meters 0.12010367560173023 Centerline is valid? [False, False] Translation: X:2.62, Y:0.78, Z:-0.16 [[ 9.99896885e-01 -1.42557920e-02 -1.72987698e-03 2.62403348e+00] [ 1.42477404e-02 9.99888003e-01 -4.58080646e-03 7.80593108e-01] [ 1.79498626e-03 4.55568727e-03 9.99988012e-01 -1.58301616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36650248099999 meters 0.12102497192252054 Centerline is valid? [False, False] Translation: X:2.62, Y:0.78, Z:-0.16 [[ 9.99946838e-01 -1.00884987e-02 -2.13132657e-03 2.62455379e+00] [ 1.00869720e-02 9.99948862e-01 -7.25871871e-04 7.82521988e-01] [ 2.13854054e-03 7.04334651e-04 9.99997465e-01 -1.58015744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42650248099999 meters 0.11907591407985794 Centerline is valid? [False, False] Translation: X:2.63, Y:0.79, Z:-0.16 [[ 9.99945169e-01 -9.98650163e-03 -3.15088702e-03 2.62649934e+00] [ 9.98146340e-03 9.99948887e-01 -1.61068166e-03 7.86274318e-01] [ 3.16681104e-03 1.57914289e-03 9.99993739e-01 -1.57814109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.486502480999995 meters 0.11827790626768897 Centerline is valid? [False, False] Translation: X:2.63, Y:0.79, Z:-0.16 [[ 9.99946143e-01 -9.68476236e-03 -3.73036631e-03 2.62798456e+00] [ 9.67825963e-03 9.99951620e-01 -1.75731245e-03 7.87320188e-01] [ 3.74720499e-03 1.72111435e-03 9.99991498e-01 -1.58168555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54650248099999 meters 0.11713953574893478 Centerline is valid? [False, False] Translation: X:2.63, Y:0.79, Z:-0.16 [[ 9.99946727e-01 -9.36746569e-03 -4.33526185e-03 2.62935097e+00] [ 9.35941991e-03 9.99954447e-01 -1.87247481e-03 7.88034570e-01] [ 4.35260471e-03 1.83179952e-03 9.99988850e-01 -1.58255508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60650248099999 meters 0.11501815941658264 Centerline is valid? [False, False] Translation: X:2.63, Y:0.79, Z:-0.16 [[ 0.99994302 -0.00920776 -0.00540179 2.63099211] [ 0.00919316 0.99995404 -0.00272071 0.79028961] [ 0.00542659 0.00267089 0.99998171 -0.15725257] [ 0. 0. 0. 1. ]] SLAMing on 50.666502480999995 meters 0.11399818751257952 Centerline is valid? [False, False] Translation: X:2.63, Y:0.79, Z:-0.16 [[ 9.99973489e-01 -4.72809176e-03 -5.53781711e-03 2.63113540e+00] [ 4.73682370e-03 9.99987557e-01 1.56473128e-03 7.89940901e-01] [ 5.53035001e-03 -1.59092146e-03 9.99983442e-01 -1.57024957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.726502481 meters 0.11239014492713666 Centerline is valid? [False, False] Translation: X:2.64, Y:0.79, Z:-0.15 [[ 9.99983114e-01 3.90650201e-03 -4.30251534e-03 2.64376040e+00] [-3.91376017e-03 9.99990930e-01 -1.67983238e-03 7.91017224e-01] [ 4.29591405e-03 1.69664303e-03 9.99989333e-01 -1.51192512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78650248099999 meters 0.11227074147899445 Centerline is valid? [False, False] Translation: X:2.66, Y:0.79, Z:-0.15 [[ 9.99995679e-01 -2.93795464e-03 -9.98312232e-05 2.65715253e+00] [ 2.93790271e-03 9.99995551e-01 -5.16443428e-04 7.92866821e-01] [ 1.01348066e-04 5.16147902e-04 9.99999862e-01 -1.50847235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.846502480999995 meters 0.11190448826414612 Centerline is valid? [False, False] Translation: X:2.66, Y:0.79, Z:-0.15 [[ 9.99995784e-01 -2.57473254e-03 -1.34245977e-03 2.65924399e+00] [ 2.57332837e-03 9.99996141e-01 -1.04664647e-03 7.94595063e-01] [ 1.34514943e-03 1.04318747e-03 9.99998551e-01 -1.50216265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.906502481 meters 0.11184228811751558 Centerline is valid? [False, False] Translation: X:2.66, Y:0.80, Z:-0.15 [[ 9.99993600e-01 -2.61943049e-03 -2.43694219e-03 2.66045739e+00] [ 2.61373943e-03 9.99993857e-01 -2.33559073e-03 7.97259296e-01] [ 2.44304513e-03 2.32920625e-03 9.99994303e-01 -1.48349688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96650248099999 meters 0.11175157144652216 Centerline is valid? [False, False] Translation: X:2.68, Y:0.80, Z:-0.15 [[ 9.99992591e-01 1.58748955e-03 -3.50671580e-03 2.67511699e+00] [-1.61104225e-03 9.99976097e-01 -6.72387319e-03 7.95583632e-01] [ 3.49595790e-03 6.72947285e-03 9.99971246e-01 -1.47544653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.026502480999994 meters 0.11244902147820834 Centerline is valid? [False, False] Translation: X:2.68, Y:0.80, Z:-0.15 [[ 9.99987533e-01 1.97557493e-03 -4.58595853e-03 2.67670037e+00] [-2.00835900e-03 9.99972384e-01 -7.15523171e-03 7.96224677e-01] [ 4.57169619e-03 7.16435275e-03 9.99963885e-01 -1.46546200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.086502481 meters 0.11413552436491793 Centerline is valid? [False, False] Translation: X:2.69, Y:0.80, Z:-0.14 [[ 9.99999250e-01 -8.32875772e-04 -8.97427677e-04 2.69018371e+00] [ 8.30063923e-04 9.99994760e-01 -3.12906242e-03 8.00961122e-01] [ 9.00029095e-04 3.12831516e-03 9.99994702e-01 -1.44272642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14650248099999 meters 0.11579194775012137 Centerline is valid? [False, False] Translation: X:2.69, Y:0.80, Z:-0.14 [[ 9.99983998e-01 -5.43895439e-03 -1.55592911e-03 2.69025908e+00] [ 5.42470985e-03 9.99944629e-01 -9.01724085e-03 8.03748242e-01] [ 1.60488732e-03 9.00865609e-03 9.99958133e-01 -1.41827155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.206502480999994 meters 0.11665667681113935 Centerline is valid? [False, False] Translation: X:2.69, Y:0.80, Z:-0.14 [[ 9.99985313e-01 -5.02535914e-03 -2.02944413e-03 2.69161406e+00] [ 5.00752540e-03 9.99949625e-01 -8.69900114e-03 8.03477347e-01] [ 2.07305750e-03 8.68871089e-03 9.99960104e-01 -1.42520747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.266502480999996 meters 0.11640733678341111 Centerline is valid? [False, False] Translation: X:2.69, Y:0.80, Z:-0.14 [[ 0.99998296 -0.00518067 -0.00269201 2.69196022] [ 0.00515537 0.99994326 -0.00932147 0.80457924] [ 0.00274015 0.00930743 0.99995293 -0.1409481 ] [ 0. 0. 0. 1. ]] SLAMing on 51.32650248099999 meters 0.11563142380154506 Centerline is valid? [False, False] Translation: X:2.69, Y:0.80, Z:-0.14 [[ 9.99988100e-01 -4.17818251e-03 -2.51853064e-03 2.69334532e+00] [ 4.16043383e-03 9.99966763e-01 -7.01175332e-03 8.00029684e-01] [ 2.54774331e-03 7.00119170e-03 9.99972246e-01 -1.44309106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.386502480999994 meters 0.11450474330036606 Centerline is valid? [False, False] Translation: X:2.69, Y:0.80, Z:-0.15 [[ 9.99990177e-01 -3.75096460e-03 -2.36132442e-03 2.69343757e+00] [ 3.73705788e-03 9.99975809e-01 -5.86649492e-03 7.96806389e-01] [ 2.38327231e-03 5.85761289e-03 9.99980004e-01 -1.45173043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.446502480999996 meters 0.11395834594497137 Centerline is valid? [False, False] Translation: X:2.69, Y:0.79, Z:-0.15 [[ 9.99991305e-01 -3.47140973e-03 -2.31057211e-03 2.69357041e+00] [ 3.45945886e-03 9.99980722e-01 -5.15631310e-03 7.94765611e-01] [ 2.32842725e-03 5.14827494e-03 9.99984037e-01 -1.45647323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50650248099999 meters 0.11424908902509709 Centerline is valid? [False, False] Translation: X:2.71, Y:0.79, Z:-0.14 [[ 9.99998866e-01 1.18258089e-03 -9.32164082e-04 2.70655772e+00] [-1.19286160e-03 9.99937609e-01 -1.11065679e-02 7.94507875e-01] [ 9.18971508e-04 1.11076672e-02 9.99937886e-01 -1.41574569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56650248099999 meters 0.11377433930259652 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 0.99998371 -0.00394705 0.00412274 2.71896573] [ 0.00397519 0.9999687 -0.0068409 0.79340826] [-0.00409561 0.00685718 0.9999681 -0.14301834] [ 0. 0. 0. 1. ]] SLAMing on 51.626502480999996 meters 0.11356581627060612 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 0.99998598 -0.00381806 0.00366996 2.71953124] [ 0.00384334 0.99996876 -0.00690636 0.7930533 ] [-0.00364347 0.00692037 0.99996942 -0.14241716] [ 0. 0. 0. 1. ]] SLAMing on 51.68650248099999 meters 0.1140060987995904 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 0.99998739 -0.00383054 0.00324852 2.71991532] [ 0.00385403 0.99996624 -0.00725735 0.7935246 ] [-0.00322061 0.00726978 0.99996839 -0.14163711] [ 0. 0. 0. 1. ]] SLAMing on 51.74650248099999 meters 0.11459696602318195 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99991522e-01 -3.27561278e-03 2.49515841e-03 2.72183342e+00] [ 3.29251809e-03 9.99971449e-01 -6.80153697e-03 7.93284132e-01] [-2.47280797e-03 6.80969466e-03 9.99973756e-01 -1.42371447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.806502480999995 meters 0.11401324548243397 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99972844e-01 -7.19104914e-03 1.61240412e-03 2.72371659e+00] [ 7.20827880e-03 9.99914094e-01 -1.09474203e-02 7.93840770e-01] [-1.53354217e-03 1.09587457e-02 9.99938775e-01 -1.42698687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86650248099999 meters 0.11405801709637413 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99970287e-01 -7.61394190e-03 1.20505538e-03 2.72282653e+00] [ 7.62762650e-03 9.99901391e-01 -1.17909583e-02 7.93718566e-01] [-1.11516088e-03 1.17997997e-02 9.99929758e-01 -1.39817847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92650248099999 meters 0.113746328667247 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99970793e-01 -7.56220561e-03 1.10704946e-03 2.72268357e+00] [ 7.57461086e-03 9.99903252e-01 -1.16667386e-02 7.92661355e-01] [-1.01871608e-03 1.16747834e-02 9.99931328e-01 -1.39244025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.986502480999995 meters 0.11342815931584685 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99974088e-01 -7.11129273e-03 1.11924902e-03 2.72339773e+00] [ 7.12289049e-03 9.99917130e-01 -1.07237112e-02 7.90780180e-01] [-1.04289682e-03 1.07314056e-02 9.99941873e-01 -1.40541992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04650248099999 meters 0.11337241711798624 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99969378e-01 -7.79733638e-03 6.66698558e-04 2.72248738e+00] [ 7.80481118e-03 9.99896816e-01 -1.20599637e-02 7.92809126e-01] [-5.72594171e-04 1.20647978e-02 9.99927054e-01 -1.37629070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10650248099999 meters 0.11267399034052454 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99968574e-01 -7.89911998e-03 6.75106231e-04 2.72265003e+00] [ 7.90675894e-03 9.99894548e-01 -1.21809810e-02 7.93648203e-01] [-5.78816010e-04 1.21859361e-02 9.99925581e-01 -1.37901139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.166502480999995 meters 0.11135373419116222 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99975599e-01 -6.81299431e-03 1.54422125e-03 2.72444990e+00] [ 6.82641689e-03 9.99937446e-01 -8.86024999e-03 7.89475250e-01] [-1.48375982e-03 8.87057529e-03 9.99959555e-01 -1.44913571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22650248099999 meters 0.11170890479893753 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99973722e-01 -7.23335848e-03 4.83338517e-04 2.72472420e+00] [ 7.23796251e-03 9.99920540e-01 -1.03211222e-02 7.92573561e-01] [-4.08643734e-04 1.03243494e-02 9.99946619e-01 -1.42034904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28650248099999 meters 0.11196812337032211 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.14 [[ 9.99972807e-01 -7.37396003e-03 -1.01650359e-04 2.72481219e+00] [ 7.37239478e-03 9.99912258e-01 -1.10056222e-02 7.93526531e-01] [ 1.82796458e-04 1.10045735e-02 9.99939431e-01 -1.40287019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.346502480999995 meters 0.11204225517131143 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 9.99975517e-01 -6.98810843e-03 -3.62171037e-04 2.72545339e+00] [ 6.98388040e-03 9.99919503e-01 -1.05930503e-02 7.92143149e-01] [ 4.36167267e-04 1.05902616e-02 9.99943826e-01 -1.40417627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.406502481 meters 0.1132510652470159 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 9.99978163e-01 -6.52762599e-03 -1.03153733e-03 2.72715600e+00] [ 6.51660909e-03 9.99925254e-01 -1.03450350e-02 7.92334604e-01] [ 1.09898875e-03 1.03380870e-02 9.99945957e-01 -1.41037113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46650248099999 meters 0.11332442156823984 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 9.99997141e-01 -2.02475013e-03 -1.27231940e-03 2.72774713e+00] [ 2.01723473e-03 9.99980674e-01 -5.88062193e-03 7.92326832e-01] [ 1.28420160e-03 5.87803855e-03 9.99981900e-01 -1.41252874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.526502480999994 meters 0.11394636672183549 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 9.99998025e-01 -1.58078160e-03 -1.20478355e-03 2.72850766e+00] [ 1.57451803e-03 9.99985332e-01 -5.18224938e-03 7.91168908e-01] [ 1.21295788e-03 5.18034219e-03 9.99985846e-01 -1.42650426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.586502481 meters 0.11402119917264208 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 9.99980754e-01 -5.78974644e-03 -2.22959574e-03 2.72934375e+00] [ 5.76703256e-03 9.99932741e-01 -1.00625688e-02 7.91973143e-01] [ 2.28770550e-03 1.00495169e-02 9.99946885e-01 -1.40707029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64650248099999 meters 0.11468103884271169 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 0.99997817 -0.00601044 -0.00274451 2.72932775] [ 0.00598076 0.99992488 -0.01069884 0.79298303] [ 0.00280861 0.01068219 0.999939 -0.13909623] [ 0. 0. 0. 1. ]] SLAMing on 52.706502480999994 meters 0.1144634119221286 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 0.99997751 -0.00596908 -0.00305609 2.72975265] [ 0.00593565 0.9999237 -0.01083352 0.79336702] [ 0.00312052 0.01081513 0.99993665 -0.13874692] [ 0. 0. 0. 1. ]] SLAMing on 52.766502480999996 meters 0.1139886321820752 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 0.9999817 -0.00531276 -0.00289459 2.7308187 ] [ 0.00528495 0.99994062 -0.00953021 0.79121817] [ 0.00294505 0.00951474 0.9999504 -0.14109866] [ 0. 0. 0. 1. ]] SLAMing on 52.82650248099999 meters 0.11267950486740742 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 0.99998433 -0.00486938 -0.00276114 2.73123814] [ 0.00484566 0.99995185 -0.00853313 0.78891266] [ 0.00280256 0.00851962 0.99995978 -0.14234545] [ 0. 0. 0. 1. ]] SLAMing on 52.886502480999994 meters 0.11344712433996056 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 9.99995268e-01 -5.20235128e-04 -3.03212221e-03 2.73123426e+00] [ 5.07170233e-04 9.99990592e-01 -4.30800610e-03 7.88529829e-01] [ 3.03433486e-03 4.30644792e-03 9.99986124e-01 -1.41510147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.946502480999996 meters 0.11497781693784899 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 9.99992064e-01 -7.20019550e-04 -3.91847879e-03 2.73171300e+00] [ 6.98623684e-04 9.99984856e-01 -5.45888027e-03 7.91127637e-01] [ 3.92234995e-03 5.45609940e-03 9.99977423e-01 -1.39397540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00650248099999 meters 0.11467540308920994 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 0.9999786 -0.00466072 -0.0045908 2.73315714] [ 0.00461657 0.99994345 -0.00958035 0.79108709] [ 0.00463519 0.00955895 0.99994357 -0.13957646] [ 0. 0. 0. 1. ]] SLAMing on 53.06650248099999 meters 0.11419037358903625 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 0.99998027 -0.00414 -0.00472399 2.73394535] [ 0.00409917 0.99995445 -0.00861994 0.78890518] [ 0.00475946 0.00860041 0.99995169 -0.14053176] [ 0. 0. 0. 1. ]] SLAMing on 53.126502480999996 meters 0.1140796033625095 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 0.99997984 -0.00382121 -0.00507206 2.73457952] [ 0.00377938 0.99995898 -0.00823146 0.78779168] [ 0.00510331 0.00821213 0.99995326 -0.14048155] [ 0. 0. 0. 1. ]] SLAMing on 53.18650248099999 meters 0.11334574202650384 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 0.99997973 -0.00363175 -0.00522939 2.7347581 ] [ 0.00359012 0.99996197 -0.00794833 0.7866906 ] [ 0.00525805 0.0079294 0.99995474 -0.14029659] [ 0. 0. 0. 1. ]] SLAMing on 53.24650248099999 meters 0.11263478387117996 Centerline is valid? [False, False] Translation: X:2.73, Y:0.78, Z:-0.14 [[ 0.99998119 -0.00343432 -0.00508179 2.73457065] [ 0.00339662 0.99996679 -0.00740779 0.78473006] [ 0.00510706 0.00739039 0.99995965 -0.14044765] [ 0. 0. 0. 1. ]] SLAMing on 53.306502480999995 meters 0.1115451243538404 Centerline is valid? [False, False] Translation: X:2.73, Y:0.78, Z:-0.14 [[ 0.99998194 -0.00338763 -0.00496428 2.7343652 ] [ 0.00335201 0.9999687 -0.00716663 0.78382528] [ 0.0049884 0.00714986 0.999962 -0.14047183] [ 0. 0. 0. 1. ]] SLAMing on 53.36650248099999 meters 0.11036542113286604 Centerline is valid? [False, False] Translation: X:2.73, Y:0.78, Z:-0.14 [[ 0.99998506 -0.00314463 -0.00447128 2.73434266] [ 0.00311651 0.99997541 -0.00628227 0.78188142] [ 0.00449092 0.00626824 0.99997027 -0.14199497] [ 0. 0. 0. 1. ]] SLAMing on 53.42650248099999 meters 0.11070397237181695 Centerline is valid? [False, False] Translation: X:2.73, Y:0.78, Z:-0.14 [[ 0.99998209 -0.00354588 -0.00482075 2.73396172] [ 0.00351097 0.9999677 -0.00722964 0.7834149 ] [ 0.00484623 0.00721258 0.99996225 -0.14016821] [ 0. 0. 0. 1. ]] SLAMing on 53.486502480999995 meters 0.11057552146370077 Centerline is valid? [False, False] Translation: X:2.73, Y:0.78, Z:-0.14 [[ 0.99997955 -0.00366461 -0.00524113 2.73446488] [ 0.00362413 0.99996371 -0.00771066 0.78490405] [ 0.0052692 0.00769151 0.99995654 -0.1396195 ] [ 0. 0. 0. 1. ]] SLAMing on 53.54650248099999 meters 0.11077554731364762 Centerline is valid? [False, False] Translation: X:2.73, Y:0.79, Z:-0.14 [[ 0.99997808 -0.00356938 -0.0055773 2.73499393] [ 0.00352631 0.99996403 -0.00771424 0.78526564] [ 0.00560463 0.00769441 0.99995469 -0.13945258] [ 0. 0. 0. 1. ]] SLAMing on 53.60650248099999 meters 0.11065133274978504 Centerline is valid? [False, False] Translation: X:2.74, Y:0.78, Z:-0.14 [[ 0.99998351 -0.0029189 -0.00494555 2.73522232] [ 0.00288773 0.999976 -0.00629698 0.78144851] [ 0.00496382 0.0062826 0.99996794 -0.14164169] [ 0. 0. 0. 1. ]] SLAMing on 53.666502480999995 meters 0.11121546613991164 Centerline is valid? [False, False] Translation: X:2.74, Y:0.78, Z:-0.14 [[ 0.99997766 -0.002799 -0.00607074 2.73675016] [ 0.0027565 0.99997171 -0.00699809 0.78363341] [ 0.00609016 0.0069812 0.99995709 -0.14061041] [ 0. 0. 0. 1. ]] SLAMing on 53.72650248099999 meters 0.11236426237149003 Centerline is valid? [False, False] Translation: X:2.75, Y:0.78, Z:-0.14 [[ 0.99997298 0.00527943 -0.0051146 2.75045643] [-0.00532814 0.99994013 -0.00955788 0.78437269] [ 0.00506383 0.00958487 0.99994124 -0.13651611] [ 0. 0. 0. 1. ]] SLAMing on 53.78650248099999 meters 0.11266246757786301 Centerline is valid? [False, False] Translation: X:2.76, Y:0.79, Z:-0.14 [[ 9.99997016e-01 -2.10153783e-03 -1.24520587e-03 2.76468245e+00] [ 2.09125240e-03 9.99964155e-01 -8.20454356e-03 7.85049038e-01] [ 1.26240339e-03 8.20191504e-03 9.99965567e-01 -1.38026383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.846502480999995 meters 0.11208062826174205 Centerline is valid? [False, False] Translation: X:2.78, Y:0.78, Z:-0.14 [[ 9.99973258e-01 -6.86700357e-03 2.51554689e-03 2.77868906e+00] [ 6.87711718e-03 9.99968215e-01 -4.03410079e-03 7.83999226e-01] [-2.48776475e-03 4.05129262e-03 9.99988699e-01 -1.38616190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90650248099999 meters 0.11216975175389368 Centerline is valid? [False, False] Translation: X:2.78, Y:0.78, Z:-0.14 [[ 9.99978621e-01 -6.07982934e-03 2.40708752e-03 2.78034877e+00] [ 6.08662906e-03 9.99977478e-01 -2.82770005e-03 7.82253406e-01] [-2.38984137e-03 2.84229064e-03 9.99993105e-01 -1.40989784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96650248099999 meters 0.11264330639996797 Centerline is valid? [False, False] Translation: X:2.78, Y:0.78, Z:-0.14 [[ 9.99979402e-01 -6.24606388e-03 1.47746901e-03 2.78053825e+00] [ 6.25156020e-03 9.99973445e-01 -3.74519596e-03 7.83172821e-01] [-1.45403704e-03 3.75435530e-03 9.99991895e-01 -1.38337555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.026502480999994 meters 0.11439899895054831 Centerline is valid? [False, False] Translation: X:2.78, Y:0.78, Z:-0.14 [[ 9.99981283e-01 -6.03573488e-03 1.00180043e-03 2.78106497e+00] [ 6.03965388e-03 9.99973935e-01 -3.95615917e-03 7.83074914e-01] [-9.77895993e-04 3.96213565e-03 9.99991673e-01 -1.37554648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.086502481 meters 0.11654853106965822 Centerline is valid? [False, False] Translation: X:2.78, Y:0.78, Z:-0.14 [[ 9.99984529e-01 -5.56173055e-03 9.95079374e-05 2.78302527e+00] [ 5.56208398e-03 9.99976538e-01 -3.99839295e-03 7.84172934e-01] [-7.72676186e-05 3.99888456e-03 9.99992001e-01 -1.37947501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14650248099999 meters 0.11727869412449961 Centerline is valid? [False, False] Translation: X:2.78, Y:0.78, Z:-0.14 [[ 9.99987212e-01 -5.04676048e-03 -3.26031321e-04 2.78457300e+00] [ 5.04556872e-03 9.99980940e-01 -3.55821918e-03 7.84221615e-01] [ 3.43982587e-04 3.55652867e-03 9.99993616e-01 -1.39142813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.206502480999994 meters 0.11816895680052919 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99988648e-01 -4.71507604e-03 -6.87697807e-04 2.78549753e+00] [ 4.71278024e-03 9.99983441e-01 -3.30264435e-03 7.83810390e-01] [ 7.03258638e-04 3.29936589e-03 9.99994310e-01 -1.39496830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.266502480999996 meters 0.1181234481512993 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99989412e-01 -4.50028111e-03 -9.61315695e-04 2.78607112e+00] [ 4.49723995e-03 9.99984949e-01 -3.14260799e-03 7.83534459e-01] [ 9.75443846e-04 3.13825145e-03 9.99994600e-01 -1.39568470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32650248099999 meters 0.11754131445793056 Centerline is valid? [False, False] Translation: X:2.78, Y:0.78, Z:-0.14 [[ 9.99988941e-01 -4.62512251e-03 -8.52175407e-04 2.78494692e+00] [ 4.62242506e-03 9.99984385e-01 -3.14059667e-03 7.81541159e-01] [ 8.66687744e-04 3.13662282e-03 9.99994705e-01 -1.38037828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.386502480999994 meters 0.11651674590949958 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99959048e-01 -8.93791975e-03 -1.41997376e-03 2.78544565e+00] [ 8.92679072e-03 9.99930820e-01 -7.65949090e-03 7.81946016e-01] [ 1.48833544e-03 7.64650141e-03 9.99969657e-01 -1.37097789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.446502480999996 meters 0.11470135527675208 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99919671e-01 -1.26238357e-02 -1.13568367e-03 2.78627070e+00] [ 1.26112217e-02 9.99865324e-01 -1.05019901e-02 7.79094117e-01] [ 1.26810611e-03 1.04868241e-02 9.99944208e-01 -1.39386942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50650248099999 meters 0.11393749514668516 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99916904e-01 -1.28573807e-02 -9.34130355e-04 2.78524094e+00] [ 1.28468964e-02 9.99862603e-01 -1.04752862e-02 7.77894268e-01] [ 1.06868675e-03 1.04624151e-02 9.99944696e-01 -1.38410273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56650248099999 meters 0.11328099794138245 Centerline is valid? [False, False] Translation: X:2.78, Y:0.78, Z:-0.14 [[ 9.99915121e-01 -1.29865409e-02 -1.04867627e-03 2.78496488e+00] [ 1.29746271e-02 9.99858955e-01 -1.06643751e-02 7.77784008e-01] [ 1.18702171e-03 1.06498638e-02 9.99942584e-01 -1.37598892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.626502480999996 meters 0.11325835609301235 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99919675e-01 -1.26277534e-02 -1.08768918e-03 2.78564893e+00] [ 1.26161919e-02 9.99869899e-01 -1.00506799e-02 7.76787118e-01] [ 1.21446517e-03 1.00361501e-02 9.99948899e-01 -1.38605254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68650248099999 meters 0.11350387434711144 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.14 [[ 9.99969575e-01 -7.77878621e-03 -5.82535934e-04 2.78611289e+00] [ 7.77615032e-03 9.99960093e-01 -4.39810312e-03 7.74088805e-01] [ 6.16724591e-04 4.39343942e-03 9.99990159e-01 -1.41014297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74650248099999 meters 0.11400722813516877 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99969368e-01 -7.72754143e-03 -1.24462505e-03 2.78716592e+00] [ 7.72153110e-03 9.99958843e-01 -4.76353114e-03 7.75500057e-01] [ 1.28138421e-03 4.75377481e-03 9.99987880e-01 -1.40695554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.806502480999995 meters 0.11486914218723984 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99971250e-01 -7.37894404e-03 -1.74660149e-03 2.78888941e+00] [ 7.37083902e-03 9.99962244e-01 -4.60226992e-03 7.76760560e-01] [ 1.78049544e-03 4.58926368e-03 9.99987884e-01 -1.41929152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86650248099999 meters 0.11583610074852153 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99966410e-01 -7.82244071e-03 -2.44690239e-03 2.78879794e+00] [ 7.80792279e-03 9.99952186e-01 -5.88750995e-03 7.79135546e-01] [ 2.49284009e-03 5.86820697e-03 9.99979675e-01 -1.39508466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92650248099999 meters 0.11659844672757005 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 0.99996307 -0.00808103 -0.00292477 2.78903778] [ 0.00806143 0.99994537 -0.0066542 0.78101337] [ 0.00297838 0.00663038 0.99997358 -0.13835601] [ 0. 0. 0. 1. ]] SLAMing on 54.986502480999995 meters 0.11533600743311817 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 0.99996534 -0.00776591 -0.00300217 2.78976694] [ 0.00774741 0.99995123 -0.00612422 0.7802448 ] [ 0.00304958 0.00610074 0.99997674 -0.13924474] [ 0. 0. 0. 1. ]] SLAMing on 55.04650248099999 meters 0.11464960803522356 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 0.99996904 -0.0073071 -0.0029215 2.79089701] [ 0.00729189 0.99995999 -0.00518161 0.77960125] [ 0.00295925 0.00516015 0.99998231 -0.14139798] [ 0. 0. 0. 1. ]] SLAMing on 55.10650248099999 meters 0.11379849095582938 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99970732e-01 -7.24276447e-03 -2.46509999e-03 2.79003534e+00] [ 7.23132389e-03 9.99963187e-01 -4.61871727e-03 7.77207035e-01] [ 2.49846153e-03 4.60075615e-03 9.99986295e-01 -1.41338485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.166502480999995 meters 0.1133747629989788 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.14 [[ 9.99972893e-01 -7.10041254e-03 -1.94891410e-03 2.78918100e+00] [ 7.09258473e-03 9.99966869e-01 -3.99444645e-03 7.74392373e-01] [ 1.97721175e-03 3.98051534e-03 9.99990123e-01 -1.41422981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22650248099999 meters 0.11392763988716818 Centerline is valid? [False, False] Translation: X:2.79, Y:0.78, Z:-0.14 [[ 9.99968943e-01 -7.40340333e-03 -2.70229382e-03 2.78935989e+00] [ 7.38971483e-03 9.99959990e-01 -5.04082407e-03 7.76906143e-01] [ 2.73950496e-03 5.02069833e-03 9.99983644e-01 -1.39434711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28650248099999 meters 0.113756838806875 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.14 [[ 9.99974692e-01 -6.67809349e-03 -2.45304798e-03 2.79018344e+00] [ 6.66900653e-03 9.99970939e-01 -3.69404297e-03 7.74097400e-01] [ 2.47764586e-03 3.67759009e-03 9.99990168e-01 -1.41484920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.346502480999995 meters 0.11354224135570878 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.14 [[ 9.99978307e-01 -6.00859149e-03 -2.69854594e-03 2.79165199e+00] [ 6.00102052e-03 9.99978060e-01 -2.80496108e-03 7.72921113e-01] [ 2.71534060e-03 2.78870621e-03 9.99992425e-01 -1.43096838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40650248099999 meters 0.11422855056950058 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.14 [[ 9.99979046e-01 -5.60358900e-03 -3.24159987e-03 2.79313633e+00] [ 5.59511123e-03 9.99980919e-01 -2.61848879e-03 7.73491498e-01] [ 3.25621095e-03 2.60029681e-03 9.99991318e-01 -1.43781157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46650248099999 meters 0.11448994385051292 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.14 [[ 9.99978819e-01 -5.50278232e-03 -3.47567160e-03 2.79342948e+00] [ 5.49359301e-03 9.99981404e-01 -2.64793064e-03 7.73445523e-01] [ 3.49017796e-03 2.62878063e-03 9.99990454e-01 -1.43502366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.526502480999994 meters 0.11404000916367531 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.15 [[ 9.99983422e-01 -4.89702240e-03 -3.02903640e-03 2.79372656e+00] [ 4.89275188e-03 9.99987028e-01 -1.41566732e-03 7.70095685e-01] [ 3.03592966e-03 1.40082353e-03 9.99994410e-01 -1.45168149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58650248099999 meters 0.1135489169386487 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.15 [[ 9.99985093e-01 -4.57079644e-03 -2.98697079e-03 2.79414949e+00] [ 4.56871887e-03 9.99989317e-01 -7.01998284e-04 7.68664826e-01] [ 2.99014757e-03 6.88341189e-04 9.99995293e-01 -1.46040525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64650248099999 meters 0.11301934639063974 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.99995592 -0.00873782 -0.00343544 2.79501769] [ 0.00872022 0.99994894 -0.00510593 0.76941728] [ 0.00347988 0.00507574 0.99998106 -0.14600349] [ 0. 0. 0. 1. ]] SLAMing on 55.706502480999994 meters 0.11279309881917199 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.14 [[ 0.99995173 -0.00901559 -0.00390478 2.7948743 ] [ 0.00899224 0.99994182 -0.00595712 0.77060541] [ 0.00395826 0.00592172 0.99997463 -0.14423699] [ 0. 0. 0. 1. ]] SLAMing on 55.766502480999996 meters 0.11362247752056645 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.14 [[ 0.9999483 -0.00904 -0.00465639 2.79558739] [ 0.00900881 0.99993713 -0.00667696 0.77245991] [ 0.00471645 0.00663467 0.99996687 -0.14302691] [ 0. 0. 0. 1. ]] SLAMing on 55.82650248099999 meters 0.11332481746922304 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.9999562 -0.00834599 -0.00423541 2.79636362] [ 0.0083237 0.99995155 -0.00525404 0.76987424] [ 0.00427906 0.00521856 0.99997723 -0.1455908 ] [ 0. 0. 0. 1. ]] SLAMing on 55.886502480999994 meters 0.11374869802232669 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.99995824 -0.0079072 -0.00458166 2.79767111] [ 0.00788524 0.99995744 -0.00479034 0.76967583] [ 0.00461934 0.00475402 0.99997803 -0.14665788] [ 0. 0. 0. 1. ]] SLAMing on 55.946502480999996 meters 0.11475396876832439 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.99995579 -0.00778658 -0.00527106 2.79887227] [ 0.007759 0.99995621 -0.00523194 0.77155807] [ 0.00531157 0.00519081 0.99997242 -0.14647895] [ 0. 0. 0. 1. ]] SLAMing on 56.00650248099999 meters 0.11564771225376518 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.99995244 -0.00784365 -0.00579594 2.79952922] [ 0.00780986 0.99995252 -0.00582844 0.77331148] [ 0.00584138 0.0057829 0.99996622 -0.1458494 ] [ 0. 0. 0. 1. ]] SLAMing on 56.06650248099999 meters 0.11589328961379632 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.99995854 -0.00733445 -0.00539676 2.79993045] [ 0.00730913 0.99996226 -0.00469652 0.77100426] [ 0.005431 0.00465687 0.99997441 -0.14773376] [ 0. 0. 0. 1. ]] SLAMing on 56.126502480999996 meters 0.1156074516402032 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.99995977 -0.00721876 -0.00532444 2.80029399] [ 0.00719529 0.99996437 -0.00441533 0.77112525] [ 0.00535612 0.00437684 0.99997608 -0.14857565] [ 0. 0. 0. 1. ]] SLAMing on 56.18650248099999 meters 0.11555452698813728 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.99995506 -0.00764129 -0.00561178 2.7999973 ] [ 0.00761151 0.99995693 -0.00530989 0.77314507] [ 0.00565211 0.00526694 0.99997016 -0.14719438] [ 0. 0. 0. 1. ]] SLAMing on 56.24650248099999 meters 0.11445633366562981 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.99996332 -0.00706704 -0.00483907 2.7998366 ] [ 0.00704809 0.99996747 -0.00392236 0.76898828] [ 0.00486663 0.00388811 0.9999806 -0.14904216] [ 0. 0. 0. 1. ]] SLAMing on 56.306502480999995 meters 0.11437915673793322 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 0.99996518 -0.00683537 -0.00478663 2.79996604] [ 0.00681923 0.99997104 -0.00338033 0.76762139] [ 0.0048096 0.00334757 0.99998283 -0.14947656] [ 0. 0. 0. 1. ]] SLAMing on 56.36650248099999 meters 0.11388877826737409 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 9.99968138e-01 -6.47271230e-03 -4.67183203e-03 2.80050929e+00] [ 6.46033866e-03 9.99975597e-01 -2.65881352e-03 7.66482383e-01] [ 4.68892776e-03 2.62854718e-03 9.99985552e-01 -1.50724776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42650248099999 meters 0.1140001553448029 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 9.99968069e-01 -6.24807005e-03 -4.98231557e-03 2.80151870e+00] [ 6.23572806e-03 9.99977460e-01 -2.48885782e-03 7.67030299e-01] [ 4.99775383e-03 2.45770998e-03 9.99984491e-01 -1.51415614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.486502480999995 meters 0.11439185880742743 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 9.99968780e-01 -6.04059576e-03 -5.09414441e-03 2.80232951e+00] [ 6.02901410e-03 9.99979213e-01 -2.28582436e-03 7.67453254e-01] [ 5.10784626e-03 2.25504033e-03 9.99984412e-01 -1.52379322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54650248099999 meters 0.11429111311658467 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 9.99968961e-01 -5.83849586e-03 -5.29052830e-03 2.80299927e+00] [ 5.82709794e-03 9.99980674e-01 -2.16726100e-03 7.67639446e-01] [ 5.30307960e-03 2.13636530e-03 9.99983657e-01 -1.52825790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60650248099999 meters 0.11416026684539662 Centerline is valid? [False, False] Translation: X:2.80, Y:0.77, Z:-0.15 [[ 9.99968639e-01 -5.77501799e-03 -5.41949788e-03 2.80294064e+00] [ 5.76362825e-03 9.99981154e-01 -2.11489304e-03 7.66956471e-01] [ 5.43160929e-03 2.08359074e-03 9.99983078e-01 -1.52303773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.666502480999995 meters 0.11362734656563393 Centerline is valid? [False, False] Translation: X:2.80, Y:0.76, Z:-0.15 [[ 9.99973904e-01 -5.24401481e-03 -4.96914718e-03 2.80329427e+00] [ 5.24006884e-03 9.99985945e-01 -8.06780981e-04 7.64285684e-01] [ 4.97330811e-03 7.80721254e-04 9.99987328e-01 -1.54350160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72650248099999 meters 0.11368916763145415 Centerline is valid? [False, False] Translation: X:2.81, Y:0.77, Z:-0.15 [[ 0.9999389 -0.00927785 -0.00600903 2.80509527] [ 0.00924516 0.99994243 -0.00544621 0.76625452] [ 0.00605922 0.00539032 0.99996711 -0.15408629] [ 0. 0. 0. 1. ]] SLAMing on 56.78650248099999 meters 0.11413316127555358 Centerline is valid? [False, False] Translation: X:2.81, Y:0.77, Z:-0.15 [[ 0.99993685 -0.00908949 -0.0066093 2.80589488] [ 0.00905288 0.99994363 -0.00554904 0.7663936 ] [ 0.00665937 0.00548886 0.99996276 -0.15351145] [ 0. 0. 0. 1. ]] SLAMing on 56.846502480999995 meters 0.11428141787369651 Centerline is valid? [False, False] Translation: X:2.82, Y:0.76, Z:-0.15 [[ 9.99969380e-01 -2.13458937e-03 -7.52884932e-03 2.81939186e+00] [ 2.07074322e-03 9.99961919e-01 -8.47782593e-03 7.63673938e-01] [ 7.54665929e-03 8.46197602e-03 9.99935719e-01 -1.48052066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90650248099999 meters 0.11438555705962125 Centerline is valid? [False, False] Translation: X:2.82, Y:0.76, Z:-0.15 [[ 9.99970860e-01 -1.50751777e-03 -7.48373696e-03 2.81999331e+00] [ 1.45266707e-03 9.99972085e-01 -7.32935237e-03 7.60863899e-01] [ 7.49457718e-03 7.31826742e-03 9.99945136e-01 -1.49226167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96650248099999 meters 0.11399946270037956 Centerline is valid? [False, False] Translation: X:2.82, Y:0.76, Z:-0.15 [[ 0.99995037 -0.00535475 -0.00840127 2.82200032] [ 0.0052592 0.99992171 -0.01135444 0.76122137] [ 0.00846141 0.01130969 0.99990024 -0.14965925] [ 0. 0. 0. 1. ]] SLAMing on 57.026502480999994 meters 0.11339381250478113 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.16 [[ 0.99995607 -0.00832371 -0.00430911 2.83653604] [ 0.00831097 0.99996106 -0.00296625 0.75853142] [ 0.00433363 0.00293031 0.99998632 -0.15525058] [ 0. 0. 0. 1. ]] SLAMing on 57.08650248099999 meters 0.11346675029780605 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.15 [[ 0.99995587 -0.00826359 -0.00446948 2.83657269] [ 0.00825024 0.99996147 -0.00299747 0.7579817 ] [ 0.00449407 0.00296047 0.99998552 -0.15475221] [ 0. 0. 0. 1. ]] SLAMing on 57.14650248099999 meters 0.11326487965197471 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.15 [[ 0.99995193 -0.00864818 -0.00462042 2.83562984] [ 0.00863153 0.99995622 -0.00361186 0.75794029] [ 0.00465145 0.0035718 0.9999828 -0.15276754] [ 0. 0. 0. 1. ]] SLAMing on 57.206502480999994 meters 0.11243706023726063 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.15 [[ 9.99956572e-01 -8.19995011e-03 -4.42890375e-03 2.83623492e+00] [ 8.18859386e-03 9.99963154e-01 -2.57619921e-03 7.55990895e-01] [ 4.44986527e-03 2.53982084e-03 9.99986874e-01 -1.54378845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26650248099999 meters 0.11208212016564952 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.16 [[ 9.99957634e-01 -7.94427542e-03 -4.64965175e-03 2.83730330e+00] [ 7.93385827e-03 9.99965985e-01 -2.25458806e-03 7.56424525e-01] [ 4.66740466e-03 2.21760287e-03 9.99986649e-01 -1.55429788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32650248099999 meters 0.11212842296535094 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.15 [[ 0.99995333 -0.00818693 -0.00512884 2.83760706] [ 0.00817154 0.99996207 -0.0030142 0.75837094] [ 0.00515332 0.00297215 0.9999823 -0.15438186] [ 0. 0. 0. 1. ]] SLAMing on 57.386502480999994 meters 0.11216007273765731 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.15 [[ 0.99995101 -0.00841644 -0.00521004 2.83715638] [ 0.00839855 0.99995879 -0.00344714 0.75878974] [ 0.00523884 0.00340321 0.99998049 -0.1533584 ] [ 0. 0. 0. 1. ]] SLAMing on 57.446502480999996 meters 0.11163088797738073 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.16 [[ 9.99957557e-01 -7.91800228e-03 -4.71054292e-03 2.83758640e+00] [ 7.90769836e-03 9.99966309e-01 -2.20203496e-03 7.56702031e-01] [ 4.72781993e-03 2.16469195e-03 9.99986481e-01 -1.55630610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50650248099999 meters 0.11122548635507676 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.16 [[ 9.99961655e-01 -7.55592277e-03 -4.42677932e-03 2.83794022e+00] [ 7.55088696e-03 9.99970827e-01 -1.15318968e-03 7.55103191e-01] [ 4.43536359e-03 1.11971935e-03 9.99989537e-01 -1.57257725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56650248099999 meters 0.11074467757924567 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:-0.16 [[ 9.99963226e-01 -7.48538018e-03 -4.18528274e-03 2.83778077e+00] [ 7.48224008e-03 9.99971715e-01 -7.65427616e-04 7.54405395e-01] [ 4.19089387e-03 7.34084178e-04 9.99990949e-01 -1.57760143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.626502480999996 meters 0.11081317395001566 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:-0.16 [[ 9.99966167e-01 -7.28166342e-03 -3.82648286e-03 2.83750776e+00] [ 7.28067826e-03 9.99973459e-01 -2.71326002e-04 7.52594304e-01] [ 3.82835701e-03 2.43457432e-04 9.99992642e-01 -1.58293032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68650248099999 meters 0.11094980368426113 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:-0.16 [[ 9.99962131e-01 -7.57837457e-03 -4.27850538e-03 2.83721090e+00] [ 7.57362427e-03 9.99970686e-01 -1.12538465e-03 7.53578753e-01] [ 4.28690855e-03 1.09293824e-03 9.99990214e-01 -1.56321082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74650248099999 meters 0.11124515339331316 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.16 [[ 9.99958264e-01 -7.42945819e-03 -5.31734401e-03 2.83887451e+00] [ 7.41968690e-03 9.99970753e-01 -1.85499971e-03 7.56773617e-01] [ 5.33097014e-03 1.81546926e-03 9.99984142e-01 -1.55868542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.806502480999995 meters 0.11212889830249868 Centerline is valid? [False, False] Translation: X:2.84, Y:0.76, Z:-0.16 [[ 9.99957686e-01 -6.90051519e-03 -6.08358636e-03 2.84080167e+00] [ 6.88870560e-03 9.99974352e-01 -1.96004242e-03 7.57961291e-01] [ 6.09695563e-03 1.91805144e-03 9.99979574e-01 -1.56488245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86650248099999 meters 0.11345840559044146 Centerline is valid? [False, False] Translation: X:2.86, Y:0.76, Z:-0.15 [[ 9.99965462e-01 5.09604237e-04 -8.29550947e-03 2.85629870e+00] [-5.40334678e-04 9.99992999e-01 -3.70264736e-03 7.55863408e-01] [ 8.29356451e-03 3.70700183e-03 9.99958737e-01 -1.53768124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92650248099999 meters 0.1160437444350453 Centerline is valid? [False, False] Translation: X:2.87, Y:0.76, Z:-0.15 [[ 0.99993891 0.00872417 -0.0067878 2.86953056] [-0.00876657 0.99994209 -0.00624226 0.75612859] [ 0.00673295 0.00630138 0.99995748 -0.14940728] [ 0. 0. 0. 1. ]] SLAMing on 57.986502480999995 meters 0.11536068688084002 Centerline is valid? [False, False] Translation: X:2.88, Y:0.76, Z:-0.15 [[ 9.99994610e-01 6.92959762e-04 -3.20943007e-03 2.88363028e+00] [-7.14683980e-04 9.99976810e-01 -6.77267771e-03 7.57690648e-01] [ 3.20466245e-03 6.77493493e-03 9.99971915e-01 -1.48528071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04650248099999 meters 0.11534130237892097 Centerline is valid? [False, False] Translation: X:2.89, Y:0.76, Z:-0.15 [[ 9.99988729e-01 -2.78582048e-03 -3.84451672e-03 2.88569873e+00] [ 2.74687508e-03 9.99945236e-01 -1.00984851e-02 7.56226718e-01] [ 3.87243875e-03 1.00878109e-02 9.99941618e-01 -1.49977611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10650248099999 meters 0.11463141057867984 Centerline is valid? [False, False] Translation: X:2.90, Y:0.75, Z:-0.15 [[ 9.99976145e-01 -6.88940699e-03 4.95616711e-04 2.89972756e+00] [ 6.89136337e-03 9.99968011e-01 -4.06035015e-03 7.52519122e-01] [-4.67627452e-04 4.06366876e-03 9.99991634e-01 -1.53205144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.166502480999995 meters 0.11409043309773909 Centerline is valid? [False, False] Translation: X:2.90, Y:0.75, Z:-0.15 [[ 9.99978663e-01 -6.49928764e-03 6.57635462e-04 2.89979862e+00] [ 6.50132507e-03 9.99973921e-01 -3.14491078e-03 7.49785614e-01] [-6.37178632e-04 3.14911918e-03 9.99994839e-01 -1.53871430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22650248099999 meters 0.1136489206967434 Centerline is valid? [False, False] Translation: X:2.90, Y:0.75, Z:-0.15 [[ 9.99980213e-01 -6.23511259e-03 8.34698040e-04 2.89943955e+00] [ 6.23711851e-03 9.99977615e-01 -2.42253267e-03 7.46965298e-01] [-8.19574591e-04 2.42769084e-03 9.99996717e-01 -1.53837201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28650248099999 meters 0.11315910049829139 Centerline is valid? [False, False] Translation: X:2.90, Y:0.75, Z:-0.15 [[ 9.99944105e-01 -1.05681528e-02 -3.18736546e-04 2.90017502e+00] [ 1.05655281e-02 9.99917222e-01 -7.34290092e-03 7.47783423e-01] [ 3.96311060e-04 7.33912287e-03 9.99972990e-01 -1.51561417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.346502480999995 meters 0.11283809246552086 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:-0.15 [[ 9.99950503e-01 -9.94914996e-03 8.34517177e-05 2.90036436e+00] [ 9.94946613e-03 9.99933797e-01 -5.78008777e-03 7.43755839e-01] [-2.59392330e-05 5.78063197e-03 9.99983292e-01 -1.53187149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40650248099999 meters 0.11261791619193687 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:-0.15 [[ 9.99954607e-01 -9.52584105e-03 2.07347547e-04 2.90063879e+00] [ 9.52673505e-03 9.99942850e-01 -4.85152262e-03 7.41438069e-01] [-1.61120864e-04 4.85327774e-03 9.99988210e-01 -1.54086156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46650248099999 meters 0.11225066733388671 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:-0.16 [[ 9.99960586e-01 -8.86603270e-03 4.68285809e-04 2.90093765e+00] [ 8.86753745e-03 9.99955186e-01 -3.31543160e-03 7.37370022e-01] [-4.38870098e-04 3.31945347e-03 9.99994394e-01 -1.55486785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.526502480999994 meters 0.11211430429336491 Centerline is valid? [False, False] Translation: X:2.90, Y:0.74, Z:-0.16 [[ 9.99964857e-01 -8.37640704e-03 3.46721118e-04 2.90160778e+00] [ 8.37720314e-03 9.99962121e-01 -2.36210353e-03 7.35286082e-01] [-3.26922044e-04 2.36492507e-03 9.99997150e-01 -1.56354203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58650248099999 meters 0.11216867139690159 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:-0.16 [[ 9.99965391e-01 -8.31639937e-03 2.31036848e-04 2.90141750e+00] [ 8.31689558e-03 9.99962912e-01 -2.23690018e-03 7.34296318e-01] [-2.12425324e-04 2.23874427e-03 9.99997471e-01 -1.55736276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64650248099999 meters 0.1120245991434325 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:-0.16 [[ 9.99967224e-01 -8.09300371e-03 2.34836093e-04 2.90140302e+00] [ 8.09339190e-03 9.99965799e-01 -1.70207218e-03 7.32505013e-01] [-2.21053185e-04 1.70391701e-03 9.99998524e-01 -1.55778767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.706502480999994 meters 0.11187647747016484 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:-0.16 [[ 9.99972489e-01 -7.40225476e-03 4.78294813e-04 2.90236853e+00] [ 7.40244697e-03 9.99972521e-01 -4.01366878e-04 7.30044966e-01] [-4.75310650e-04 4.04896388e-04 9.99999805e-01 -1.58097909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76650248099999 meters 0.1119774574831065 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:-0.16 [[ 9.99973374e-01 -7.29722311e-03 -3.72515488e-05 2.90304485e+00] [ 7.29719793e-03 9.99973173e-01 -6.36359208e-04 7.30460893e-01] [ 4.18942046e-05 6.36070432e-04 9.99999797e-01 -1.57555393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82650248099999 meters 0.11227116215414684 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:-0.16 [[ 9.99973016e-01 -7.32566346e-03 -5.50387079e-04 2.90327460e+00] [ 7.32509780e-03 9.99972648e-01 -1.02283437e-03 7.30806161e-01] [ 5.57864965e-04 1.01877513e-03 9.99999325e-01 -1.56269823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.886502480999994 meters 0.11236741100175283 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:-0.16 [[ 9.99976122e-01 -6.90092287e-03 -3.64191268e-04 2.90352111e+00] [ 6.90088382e-03 9.99976183e-01 -1.08373599e-04 7.28550093e-01] [ 3.64930472e-04 1.05857770e-04 9.99999928e-01 -1.57305383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94650248099999 meters 0.1122134878717319 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:-0.16 [[ 9.99979230e-01 -6.42889658e-03 -4.57433546e-04 2.90434247e+00] [ 6.42919227e-03 9.99979123e-01 6.47914299e-04 7.27225132e-01] [ 4.53258622e-04 -6.50841770e-04 9.99999685e-01 -1.58364739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00650248099999 meters 0.11227811381558214 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:-0.16 [[ 9.99978181e-01 -6.56752115e-03 -7.10235599e-04 2.90401621e+00] [ 6.56773353e-03 9.99978388e-01 2.97102520e-04 7.27032630e-01] [ 7.08269023e-04 -3.01760676e-04 9.99999704e-01 -1.57055979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06650248099999 meters 0.11243988469616958 Centerline is valid? [False, False] Translation: X:2.90, Y:0.73, Z:-0.16 [[ 9.99978047e-01 -6.54466436e-03 -1.03607633e-03 2.90387122e+00] [ 6.54492865e-03 9.99978550e-01 2.51905251e-04 7.26213952e-01] [ 1.03440547e-03 -2.58680766e-04 9.99999432e-01 -1.55863687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.126502480999996 meters 0.11229067799926437 Centerline is valid? [False, False] Translation: X:2.90, Y:0.72, Z:-0.16 [[ 9.99982065e-01 -5.91746711e-03 -9.23875091e-04 2.90473548e+00] [ 5.91880114e-03 9.99981435e-01 1.44796336e-03 7.24070946e-01] [ 9.15289664e-04 -1.45340562e-03 9.99998525e-01 -1.57677503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18650248099999 meters 0.1121836013927695 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:-0.16 [[ 9.99948870e-01 -9.95352491e-03 -1.78465864e-03 2.90621005e+00] [ 9.94817420e-03 9.99946068e-01 -2.98239096e-03 7.25068415e-01] [ 1.81424770e-03 2.96448438e-03 9.99993960e-01 -1.57461590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24650248099999 meters 0.11224370654844028 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:-0.16 [[ 9.99949588e-01 -9.81543993e-03 -2.11634249e-03 2.90686594e+00] [ 9.80910967e-03 9.99947446e-01 -2.98104817e-03 7.25457723e-01] [ 2.14549157e-03 2.96013845e-03 9.99993317e-01 -1.57508254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.306502480999995 meters 0.1123736814430872 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:-0.16 [[ 9.99949572e-01 -9.77429418e-03 -2.30559085e-03 2.90721446e+00] [ 9.76725519e-03 9.99947664e-01 -3.04476669e-03 7.25710359e-01] [ 2.33523063e-03 3.02209386e-03 9.99992707e-01 -1.57489715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36650248099999 meters 0.11232759123155225 Centerline is valid? [False, False] Translation: X:2.91, Y:0.73, Z:-0.16 [[ 9.99951717e-01 -9.50805875e-03 -2.48217133e-03 2.90779420e+00] [ 9.50131681e-03 9.99951179e-01 -2.71395459e-03 7.25144236e-01] [ 2.50785459e-03 2.69023965e-03 9.99993237e-01 -1.57881082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42650248099999 meters 0.11237438269043704 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99951559e-01 -9.50468724e-03 -2.55727514e-03 2.90738876e+00] [ 9.49813592e-03 9.99951610e-01 -2.56189660e-03 7.23790959e-01] [ 2.58150142e-03 2.53748316e-03 9.99993448e-01 -1.57019876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.486502480999995 meters 0.11177276388083648 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99956070e-01 -9.00387440e-03 -2.60543213e-03 2.90817335e+00] [ 8.99975388e-03 9.99958239e-01 -1.58893492e-03 7.21889923e-01] [ 2.61962989e-03 1.56541687e-03 9.99995343e-01 -1.58199113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54650248099999 meters 0.11182596362043565 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99958322e-01 -8.68244383e-03 -2.82294907e-03 2.90891171e+00] [ 8.67914632e-03 9.99961641e-01 -1.17826764e-03 7.21212967e-01] [ 2.83307103e-03 1.15371774e-03 9.99995321e-01 -1.58716023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60650248099999 meters 0.11190345439313823 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99958313e-01 -8.58166928e-03 -3.11873436e-03 2.90920530e+00] [ 8.57801497e-03 9.99962508e-01 -1.18322223e-03 7.20934728e-01] [ 3.12877146e-03 1.15642035e-03 9.99994437e-01 -1.58307162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.666502480999995 meters 0.11162401314765838 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99954811e-01 -8.74025602e-03 -3.73939511e-03 2.90942620e+00] [ 8.73374297e-03 9.99960321e-01 -1.75453736e-03 7.21938612e-01] [ 3.75458184e-03 1.72179916e-03 9.99991469e-01 -1.56810425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72650248099999 meters 0.11119420756892003 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99961697e-01 -8.07593541e-03 -3.37407745e-03 2.91008645e+00] [ 8.07537862e-03 9.99967378e-01 -1.78610108e-04 7.18734335e-01] [ 3.37540983e-03 1.51356314e-04 9.99994292e-01 -1.59050837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78650248099999 meters 0.11089036250879515 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99964931e-01 -7.85055869e-03 -2.91647797e-03 2.90995163e+00] [ 7.85233368e-03 9.99968991e-01 5.97655180e-04 7.17048759e-01] [ 2.91169560e-03 -6.20535379e-04 9.99995568e-01 -1.60225929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.846502480999995 meters 0.11077971085401218 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99963905e-01 -7.87126458e-03 -3.19860118e-03 2.91032598e+00] [ 7.87242488e-03 9.99968951e-01 3.50324150e-04 7.17682361e-01] [ 3.19574437e-03 -3.75492253e-04 9.99994823e-01 -1.59933261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90650248099999 meters 0.11109426728490548 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99958467e-01 -8.22911734e-03 -3.91735517e-03 2.91056761e+00] [ 8.22633855e-03 9.99965900e-01 -7.24940226e-04 7.20194749e-01] [ 3.92318721e-03 6.92684627e-04 9.99992064e-01 -1.58180072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96650248099999 meters 0.11100298785579335 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99958409e-01 -8.13683362e-03 -4.11979519e-03 2.91108444e+00] [ 8.13354147e-03 9.99966590e-01 -8.15231275e-04 7.20722533e-01] [ 4.12629095e-03 7.81688844e-04 9.99991181e-01 -1.58352399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.026502480999994 meters 0.11064533576207272 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99961354e-01 -7.66252450e-03 -4.30995922e-03 2.91239939e+00] [ 7.66188683e-03 9.99970634e-01 -1.64446828e-04 7.20350945e-01] [ 4.31109273e-03 1.31418053e-04 9.99990699e-01 -1.59900716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08650248099999 meters 0.11044777965677338 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99960113e-01 -7.50903671e-03 -4.83595640e-03 2.91352842e+00] [ 7.50745393e-03 9.99971759e-01 -3.45364479e-04 7.21499837e-01] [ 4.83841319e-03 3.09044984e-04 9.99988247e-01 -1.60086822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14650248099999 meters 0.11059625253073492 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99957240e-01 -7.80993939e-03 -4.95211228e-03 2.91282094e+00] [ 7.80532878e-03 9.99969087e-01 -9.49681796e-04 7.21817078e-01] [ 4.95937616e-03 9.10988323e-04 9.99987287e-01 -1.58581984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.206502480999994 meters 0.11072741266546215 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99955031e-01 -7.91448189e-03 -5.22466305e-03 2.91266280e+00] [ 7.90793256e-03 9.99967922e-01 -1.27301134e-03 7.21851550e-01] [ 5.23457068e-03 1.23163782e-03 9.99985541e-01 -1.57517937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26650248099999 meters 0.1105252277936423 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99948599e-01 -8.16499955e-03 -6.01101954e-03 2.91277981e+00] [ 8.15284045e-03 9.99964675e-01 -2.04453401e-03 7.23178536e-01] [ 6.02750082e-03 1.99542204e-03 9.99979844e-01 -1.55458776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32650248099999 meters 0.11025631151005202 Centerline is valid? [False, False] Translation: X:2.92, Y:0.72, Z:-0.16 [[ 0.99990861 -0.01176146 -0.00666574 2.91511269] [ 0.01172369 0.99991516 -0.00567699 0.72321819] [ 0.00673195 0.00559832 0.99996167 -0.15710988] [ 0. 0. 0. 1. ]] SLAMing on 60.386502480999994 meters 0.10975203689808347 Centerline is valid? [False, False] Translation: X:2.92, Y:0.72, Z:-0.16 [[ 0.99992396 -0.01077612 -0.00599519 2.9163236 ] [ 0.01075533 0.99993607 -0.00348885 0.71969207] [ 0.0060324 0.00342411 0.99997594 -0.1612662 ] [ 0. 0. 0. 1. ]] SLAMing on 60.44650248099999 meters 0.10999944141902174 Centerline is valid? [False, False] Translation: X:2.92, Y:0.72, Z:-0.16 [[ 0.99992147 -0.01091427 -0.00615932 2.91606284] [ 0.01089101 0.99993348 -0.00379749 0.719847 ] [ 0.00620036 0.00373011 0.99997382 -0.16033952] [ 0. 0. 0. 1. ]] SLAMing on 60.50650248099999 meters 0.1101098392164527 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99958332e-01 -7.06596055e-03 -5.77977402e-03 2.91427450e+00] [ 7.06676592e-03 9.99975023e-01 1.18932003e-04 7.19061596e-01] [ 5.77878929e-03 -1.59771357e-04 9.99983290e-01 -1.58665019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56650248099999 meters 0.11002375990805803 Centerline is valid? [False, False] Translation: X:2.91, Y:0.72, Z:-0.16 [[ 9.99961131e-01 -6.64499021e-03 -5.79495095e-03 2.91459567e+00] [ 6.65035832e-03 9.99977474e-01 9.07565607e-04 7.16972525e-01] [ 5.78878965e-03 -9.46068831e-04 9.99982797e-01 -1.59152467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62650248099999 meters 0.10940029627268333 Centerline is valid? [False, False] Translation: X:2.92, Y:0.72, Z:-0.16 [[ 9.99930834e-01 -9.93545840e-03 -6.29388494e-03 2.91729909e+00] [ 9.92249198e-03 9.99948591e-01 -2.08805034e-03 7.16043845e-01] [ 6.31430711e-03 2.02545490e-03 9.99978013e-01 -1.61973245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68650248099999 meters 0.10956350602509901 Centerline is valid? [False, False] Translation: X:2.92, Y:0.72, Z:-0.16 [[ 9.99931184e-01 -9.64749143e-03 -6.67488277e-03 2.91798978e+00] [ 9.63545756e-03 9.99951898e-01 -1.83267395e-03 7.15384446e-01] [ 6.69224240e-03 1.76823228e-03 9.99976043e-01 -1.61956531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74650248099999 meters 0.10978562661684141 Centerline is valid? [False, False] Translation: X:2.93, Y:0.71, Z:-0.16 [[ 9.99964597e-01 -2.40439186e-03 -8.06372046e-03 2.93181457e+00] [ 2.36815454e-03 9.99987069e-01 -4.50041299e-03 7.14501833e-01] [ 8.07443695e-03 4.48115752e-03 9.99957360e-01 -1.56733594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.806502480999995 meters 0.11006570643604034 Centerline is valid? [False, False] Translation: X:2.93, Y:0.71, Z:-0.16 [[ 0.99994143 -0.00609856 -0.00894113 2.9334986 ] [ 0.00602294 0.99994608 -0.0084597 0.71393961] [ 0.00899224 0.00840535 0.99992424 -0.15677703] [ 0. 0. 0. 1. ]] SLAMing on 60.86650248099999 meters 0.11004725992522262 Centerline is valid? [False, False] Translation: X:2.93, Y:0.71, Z:-0.16 [[ 0.99994033 -0.00563518 -0.00935809 2.93451157] [ 0.00556158 0.99995355 -0.007872 0.7127814 ] [ 0.00940201 0.00781948 0.99992523 -0.15721176] [ 0. 0. 0. 1. ]] SLAMing on 60.92650248099999 meters 0.1100088442050649 Centerline is valid? [False, False] Translation: X:2.93, Y:0.71, Z:-0.16 [[ 0.9999416 -0.00524097 -0.00945179 2.9347139 ] [ 0.00517329 0.9999609 -0.00717127 0.71071177] [ 0.009489 0.00712196 0.99992962 -0.15733082] [ 0. 0. 0. 1. ]] SLAMing on 60.986502480999995 meters 0.10982734293929862 Centerline is valid? [False, False] Translation: X:2.93, Y:0.71, Z:-0.16 [[ 0.99994182 -0.00498559 -0.00956543 2.93457595] [ 0.0049225 0.99996606 -0.00660724 0.70835044] [ 0.00959804 0.00655977 0.99993242 -0.15689264] [ 0. 0. 0. 1. ]] SLAMing on 61.04650248099999 meters 0.10955105262395252 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:-0.16 [[ 0.99994577 -0.00414381 -0.00955412 2.93528168] [ 0.00409554 0.99997878 -0.00506641 0.70416005] [ 0.00957491 0.00502701 0.99994152 -0.15807805] [ 0. 0. 0. 1. ]] SLAMing on 61.10650248099999 meters 0.10963472273820442 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:-0.16 [[ 0.99993945 -0.00377152 -0.0103376 2.93664952] [ 0.00372186 0.99998146 -0.00481962 0.7042305 ] [ 0.01035558 0.00478085 0.99993495 -0.1579959 ] [ 0. 0. 0. 1. ]] SLAMing on 61.166502480999995 meters 0.10925416626897377 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:-0.16 [[ 0.99994236 -0.00308211 -0.01028458 2.93762154] [ 0.00304466 0.99998868 -0.00365551 0.70200007] [ 0.01029573 0.00362399 0.99994043 -0.15966018] [ 0. 0. 0. 1. ]] SLAMing on 61.22650248099999 meters 0.10908708795085183 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:-0.16 [[ 0.99990874 -0.007626 -0.01115154 2.93804982] [ 0.00752964 0.99993417 -0.00865777 0.70328817] [ 0.01121683 0.00857301 0.99990034 -0.15784102] [ 0. 0. 0. 1. ]] SLAMing on 61.28650248099999 meters 0.10861136212916381 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:-0.16 [[ 0.9999142 -0.00706024 -0.01103416 2.93888545] [ 0.00697647 0.99994669 -0.00761164 0.70143764] [ 0.01108731 0.00753401 0.99991015 -0.15948596] [ 0. 0. 0. 1. ]] SLAMing on 61.346502480999995 meters 0.10876179724387984 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:-0.16 [[ 0.99991205 -0.00700928 -0.01125882 2.93915884] [ 0.00692415 0.99994728 -0.00758273 0.70147243] [ 0.01131137 0.0075041 0.99990787 -0.15926629] [ 0. 0. 0. 1. ]] SLAMing on 61.40650248099999 meters 0.10916926755519456 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:-0.16 [[ 0.99990147 -0.00726189 -0.01201303 2.93964258] [ 0.0071613 0.99993911 -0.00839576 0.70378526] [ 0.01207326 0.0083089 0.99989259 -0.15791939] [ 0. 0. 0. 1. ]] SLAMing on 61.46650248099999 meters 0.10939982034356137 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:-0.16 [[ 0.99990728 -0.00658078 -0.01192145 2.94121015] [ 0.00649174 0.99995086 -0.00749266 0.70311628] [ 0.01197017 0.00741457 0.99990086 -0.16049175] [ 0. 0. 0. 1. ]] SLAMing on 61.526502480999994 meters 0.10995482224367019 Centerline is valid? [False, False] Translation: X:2.94, Y:0.71, Z:-0.16 [[ 0.99990275 -0.00665064 -0.01225822 2.94185027] [ 0.00655214 0.99994607 -0.0080579 0.7051699 ] [ 0.01231115 0.0079768 0.9998924 -0.16049864] [ 0. 0. 0. 1. ]] SLAMing on 61.58650248099999 meters 0.11074411170696 Centerline is valid? [False, False] Translation: X:2.95, Y:0.71, Z:-0.16 [[ 9.99964896e-01 9.27667239e-04 -8.32747471e-03 2.95137383e+00] [-1.00739135e-03 9.99953656e-01 -9.57453950e-03 7.06283687e-01] [ 8.31820679e-03 9.58259242e-03 9.99919487e-01 -1.58344464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64650248099999 meters 0.11110685172325722 Centerline is valid? [False, False] Translation: X:2.96, Y:0.71, Z:-0.16 [[ 9.99990533e-01 -3.27615496e-03 -2.86352752e-03 2.96313320e+00] [ 3.25965071e-03 9.99978159e-01 -5.74939868e-03 7.06709467e-01] [ 2.88230090e-03 5.74001015e-03 9.99979372e-01 -1.58134977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.706502480999994 meters 0.1109443485620437 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:-0.16 [[ 9.99993752e-01 -2.50071091e-03 -2.49862238e-03 2.96432006e+00] [ 2.48991087e-03 9.99987585e-01 -4.31619951e-03 7.04648542e-01] [ 2.50938493e-03 4.30995120e-03 9.99987564e-01 -1.61138105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76650248099999 meters 0.11119431196492698 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:-0.16 [[ 9.99994078e-01 -2.28704779e-03 -2.57182387e-03 2.96478671e+00] [ 2.27707012e-03 9.99989896e-01 -3.87586771e-03 7.04220738e-01] [ 2.58066218e-03 3.86998853e-03 9.99989182e-01 -1.61713869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82650248099999 meters 0.110390315983363 Centerline is valid? [False, False] Translation: X:2.97, Y:0.71, Z:-0.16 [[ 0.99997031 -0.00695502 -0.00331659 2.9651776 ] [ 0.00692484 0.99993529 -0.00902573 0.70669511] [ 0.00337915 0.00900249 0.99995377 -0.16022449] [ 0. 0. 0. 1. ]] SLAMing on 61.886502480999994 meters 0.1100356089355949 Centerline is valid? [False, False] Translation: X:2.96, Y:0.71, Z:-0.16 [[ 9.99971596e-01 -7.10155440e-03 -2.52490899e-03 2.96407058e+00] [ 7.07952511e-03 9.99937706e-01 -8.62922342e-03 7.05119447e-01] [ 2.58603260e-03 8.61110316e-03 9.99959580e-01 -1.60703338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94650248099999 meters 0.10972931524719129 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:-0.16 [[ 9.99971420e-01 -7.11551167e-03 -2.55503439e-03 2.96413576e+00] [ 7.09370779e-03 9.99939190e-01 -8.44369234e-03 7.04833719e-01] [ 2.61496020e-03 8.42532635e-03 9.99961087e-01 -1.60748793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00650248099999 meters 0.10979050079643232 Centerline is valid? [False, False] Translation: X:2.96, Y:0.71, Z:-0.16 [[ 9.99967617e-01 -7.60688129e-03 -2.62681348e-03 2.96321846e+00] [ 7.58307683e-03 9.99931140e-01 -8.95617831e-03 7.05562166e-01] [ 2.69476118e-03 8.93596895e-03 9.99956442e-01 -1.59172261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06650248099999 meters 0.10987142214760746 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:-0.16 [[ 9.99972602e-01 -7.13329756e-03 -1.97761840e-03 2.96358470e+00] [ 7.11821212e-03 9.99946291e-01 -7.53296853e-03 7.02683096e-01] [ 2.03124709e-03 7.51868503e-03 9.99969671e-01 -1.61585756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12650248099999 meters 0.11022888563332306 Centerline is valid? [False, False] Translation: X:2.96, Y:0.70, Z:-0.16 [[ 9.99971215e-01 -7.33786121e-03 -1.92999354e-03 2.96346074e+00] [ 7.32258782e-03 9.99942728e-01 -7.80516429e-03 7.03519626e-01] [ 1.98715622e-03 7.79080707e-03 9.99967677e-01 -1.61496496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18650248099999 meters 0.11025758313752496 Centerline is valid? [False, False] Translation: X:2.96, Y:0.71, Z:-0.16 [[ 9.99966478e-01 -7.82009041e-03 -2.42677433e-03 2.96339111e+00] [ 7.79773832e-03 9.99928306e-01 -9.08730315e-03 7.06298644e-01] [ 2.49766387e-03 9.06807517e-03 9.99955765e-01 -1.59732585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24650248099999 meters 0.11006723042834093 Centerline is valid? [False, False] Translation: X:2.96, Y:0.71, Z:-0.16 [[ 9.99967343e-01 -7.67735212e-03 -2.52431353e-03 2.96403993e+00] [ 7.65437373e-03 9.99930294e-01 -8.98985210e-03 7.06611024e-01] [ 2.59315583e-03 8.97023647e-03 9.99956404e-01 -1.60425027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.306502480999995 meters 0.10998114191615005 Centerline is valid? [False, False] Translation: X:2.97, Y:0.71, Z:-0.16 [[ 9.99991260e-01 -3.11043257e-03 -2.79369637e-03 2.96533512e+00] [ 3.09763830e-03 9.99984749e-01 -4.57240314e-03 7.07875930e-01] [ 2.80787591e-03 4.56370932e-03 9.99985644e-01 -1.61624536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36650248099999 meters 0.10974895959873733 Centerline is valid? [False, False] Translation: X:2.97, Y:0.71, Z:-0.16 [[ 9.99990014e-01 -2.67055728e-03 -3.58341401e-03 2.96782505e+00] [ 2.65278818e-03 9.99984209e-01 -4.95433075e-03 7.11998490e-01] [ 3.59658825e-03 4.94477524e-03 9.99981307e-01 -1.63299141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42650248099999 meters 0.11014278013876791 Centerline is valid? [False, False] Translation: X:2.98, Y:0.72, Z:-0.16 [[ 9.99981206e-01 5.93352890e-03 -1.54286634e-03 2.98157696e+00] [-5.94489428e-03 9.99954433e-01 -7.46923316e-03 7.17128002e-01] [ 1.49847713e-03 7.47826496e-03 9.99970915e-01 -1.60072494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.486502480999995 meters 0.11124938617658264 Centerline is valid? [False, False] Translation: X:2.98, Y:0.72, Z:-0.16 [[ 9.99982361e-01 5.51118730e-03 -2.21475813e-03 2.98219330e+00] [-5.53182555e-03 9.99940301e-01 -9.42301141e-03 7.21805541e-01] [ 2.16269393e-03 9.43509685e-03 9.99953150e-01 -1.58745622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54650248099999 meters 0.11243227017534134 Centerline is valid? [False, False] Translation: X:2.99, Y:0.73, Z:-0.16 [[ 9.99993334e-01 2.55075641e-03 2.61255295e-03 2.99336357e+00] [-2.53477848e-03 9.99978176e-01 -6.10098942e-03 7.27481169e-01] [-2.62805807e-03 6.09432651e-03 9.99977976e-01 -1.55255529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60650248099999 meters 0.11307471096887478 Centerline is valid? [False, False] Translation: X:3.00, Y:0.73, Z:-0.16 [[ 9.99999032e-01 -1.10254903e-03 8.48508288e-04 2.99612536e+00] [ 1.11157901e-03 9.99941961e-01 -1.07163278e-02 7.32458492e-01] [-8.36643764e-04 1.07172606e-02 9.99942219e-01 -1.55038343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.666502480999995 meters 0.11347954887094797 Centerline is valid? [False, False] Translation: X:3.00, Y:0.73, Z:-0.16 [[ 9.99999568e-01 -5.37423281e-04 7.58087699e-04 2.99723413e+00] [ 5.44839785e-04 9.99951662e-01 -9.81713212e-03 7.31188169e-01] [-7.52775099e-04 9.81754091e-03 9.99951523e-01 -1.56615604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72650248099999 meters 0.1132064893065995 Centerline is valid? [False, False] Translation: X:3.00, Y:0.73, Z:-0.16 [[ 9.99999611e-01 -4.98614861e-04 7.26960283e-04 2.99707736e+00] [ 5.05607715e-04 9.99953300e-01 -9.65106753e-03 7.30351524e-01] [-7.22114168e-04 9.65143134e-03 9.99953163e-01 -1.56309760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78650248099999 meters 0.11275775180200792 Centerline is valid? [False, False] Translation: X:3.00, Y:0.73, Z:-0.15 [[ 9.99988039e-01 -4.88600681e-03 2.21590638e-04 2.99705092e+00] [ 4.88867513e-03 9.99885884e-01 -1.42940335e-02 7.30235397e-01] [-1.51724606e-04 1.42949458e-02 9.99897811e-01 -1.54744921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.846502480999995 meters 0.11193302362437985 Centerline is valid? [False, False] Translation: X:3.01, Y:0.72, Z:-0.16 [[ 0.99994226 -0.00963288 0.00476187 3.01006921] [ 0.00966946 0.99992347 -0.00771773 0.72436088] [-0.00468716 0.00776333 0.99995888 -0.15837173] [ 0. 0. 0. 1. ]] SLAMing on 62.90650248099999 meters 0.11107581311842007 Centerline is valid? [False, False] Translation: X:3.01, Y:0.72, Z:-0.16 [[ 0.99994473 -0.00910885 0.00525121 3.01024794] [ 0.00914046 0.99994006 -0.00602665 0.7207174 ] [-0.005196 0.00607431 0.99996805 -0.16029365] [ 0. 0. 0. 1. ]] SLAMing on 62.96650248099999 meters 0.1108555096582769 Centerline is valid? [False, False] Translation: X:3.01, Y:0.72, Z:-0.16 [[ 0.99994366 -0.00883449 0.00588532 3.00963134] [ 0.00886318 0.99994888 -0.00486643 0.71711277] [-0.00584203 0.00491832 0.99997084 -0.16110887] [ 0. 0. 0. 1. ]] SLAMing on 63.026502480999994 meters 0.11097932353453287 Centerline is valid? [False, False] Translation: X:3.01, Y:0.72, Z:-0.16 [[ 0.99994411 -0.00895279 0.00562399 3.00954404] [ 0.0089819 0.99994629 -0.00517194 0.71740276] [-0.00557738 0.00522216 0.99997081 -0.16015195] [ 0. 0. 0. 1. ]] SLAMing on 63.08650248099999 meters 0.11037270726343393 Centerline is valid? [False, False] Translation: X:3.01, Y:0.71, Z:-0.16 [[ 0.99994566 -0.00823963 0.00638603 3.00978388] [ 0.00826246 0.99995954 -0.00355683 0.71325348] [-0.00635647 0.0036094 0.99997328 -0.16260976] [ 0. 0. 0. 1. ]] SLAMing on 63.14650248099999 meters 0.11037816156700675 Centerline is valid? [False, False] Translation: X:3.01, Y:0.71, Z:-0.16 [[ 0.99995238 -0.00804995 0.00551715 3.0112218 ] [ 0.00807058 0.99996048 -0.00372761 0.71481834] [-0.00548692 0.00377196 0.99997783 -0.1624284 ] [ 0. 0. 0. 1. ]] SLAMing on 63.206502480999994 meters 0.11024254973275457 Centerline is valid? [False, False] Translation: X:3.01, Y:0.71, Z:-0.16 [[ 0.99995452 -0.00776547 0.00553658 3.01160834] [ 0.00778391 0.99996421 -0.00331597 0.71402469] [-0.00551063 0.00335892 0.99997918 -0.16308989] [ 0. 0. 0. 1. ]] SLAMing on 63.26650248099999 meters 0.11041660547777914 Centerline is valid? [False, False] Translation: X:3.01, Y:0.71, Z:-0.16 [[ 0.99995549 -0.00765711 0.00551221 3.0118225 ] [ 0.0076754 0.99996509 -0.00330339 0.71405358] [-0.00548672 0.00334556 0.99997935 -0.1633257 ] [ 0. 0. 0. 1. ]] SLAMing on 63.32650248099999 meters 0.11040157739225534 Centerline is valid? [False, False] Translation: X:3.01, Y:0.71, Z:-0.16 [[ 0.99995772 -0.007482 0.00534654 3.01227206] [ 0.00749965 0.99996647 -0.00328926 0.71407408] [-0.00532175 0.00332922 0.9999803 -0.16351256] [ 0. 0. 0. 1. ]] SLAMing on 63.386502480999994 meters 0.11039592061883678 Centerline is valid? [False, False] Translation: X:3.01, Y:0.72, Z:-0.16 [[ 0.99995989 -0.00744157 0.00498324 3.01277672] [ 0.0074597 0.99996559 -0.00362997 0.7152297 ] [-0.00495606 0.003667 0.999981 -0.1632403 ] [ 0. 0. 0. 1. ]] SLAMing on 63.44650248099999 meters 0.11070487694198258 Centerline is valid? [False, False] Translation: X:3.02, Y:0.72, Z:-0.17 [[ 9.99967844e-01 -6.63794078e-03 4.49990227e-03 3.01501149e+00] [ 6.65051666e-03 9.99974005e-01 -2.78552335e-03 7.15123972e-01] [-4.48129516e-03 2.81536046e-03 9.99985996e-01 -1.65489385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50650248099999 meters 0.11094983698237873 Centerline is valid? [False, False] Translation: X:3.02, Y:0.72, Z:-0.16 [[ 0.99996944 -0.00685623 0.00375572 3.01532057] [ 0.00687063 0.99996904 -0.00383558 0.71729177] [-0.0037293 0.00386126 0.99998559 -0.16370739] [ 0. 0. 0. 1. ]] SLAMing on 63.56650248099999 meters 0.11132625495919997 Centerline is valid? [False, False] Translation: X:3.02, Y:0.72, Z:-0.16 [[ 0.99997256 -0.00629495 0.00390478 3.01589654] [ 0.00630728 0.99997514 -0.00315381 0.71523746] [-0.00388483 0.00317836 0.9999874 -0.1648223 ] [ 0. 0. 0. 1. ]] SLAMing on 63.62650248099999 meters 0.11163293583225914 Centerline is valid? [False, False] Translation: X:3.02, Y:0.71, Z:-0.17 [[ 9.99975775e-01 -5.89770667e-03 3.69676663e-03 3.01682202e+00] [ 5.90781035e-03 9.99978827e-01 -2.72817510e-03 7.14720071e-01] [-3.68059839e-03 2.74994880e-03 9.99989445e-01 -1.65689766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68650248099999 meters 0.1123539257653234 Centerline is valid? [False, False] Translation: X:3.02, Y:0.71, Z:-0.16 [[ 9.99980489e-01 -5.59460235e-03 2.77898340e-03 3.01786139e+00] [ 5.60257384e-03 9.99980190e-01 -2.86903610e-03 7.14985932e-01] [-2.76287723e-03 2.88454959e-03 9.99992023e-01 -1.64786904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74650248099999 meters 0.112381564716369 Centerline is valid? [False, False] Translation: X:3.02, Y:0.71, Z:-0.17 [[ 9.99982738e-01 -5.06294116e-03 2.98175722e-03 3.01814808e+00] [ 5.06847125e-03 9.99985444e-01 -1.85001660e-03 7.12335613e-01] [-2.97234729e-03 1.86509761e-03 9.99993843e-01 -1.65867662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80650248099999 meters 0.11209449186350808 Centerline is valid? [False, False] Translation: X:3.02, Y:0.71, Z:-0.17 [[ 9.99960378e-01 -8.59886446e-03 2.30258795e-03 3.02022415e+00] [ 8.61103983e-03 9.99948714e-01 -5.33103602e-03 7.11332403e-01] [-2.25662900e-03 5.35065247e-03 9.99983139e-01 -1.67221771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86650248099999 meters 0.11212132888282757 Centerline is valid? [False, False] Translation: X:3.02, Y:0.71, Z:-0.17 [[ 9.99963573e-01 -8.15223510e-03 2.52840747e-03 3.02015079e+00] [ 8.16290996e-03 9.99957690e-01 -4.24078361e-03 7.07964339e-01] [-2.49372863e-03 4.26126829e-03 9.99987811e-01 -1.67815309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92650248099999 meters 0.11219254593533601 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:-0.17 [[ 9.99967991e-01 -7.60039496e-03 2.50024157e-03 3.02059338e+00] [ 7.60792740e-03 9.99966508e-01 -3.01709554e-03 7.04757080e-01] [-2.47722671e-03 3.03602062e-03 9.99992323e-01 -1.68588732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.986502480999995 meters 0.11175448757287532 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:-0.17 [[ 9.99971940e-01 -7.13523214e-03 2.28190533e-03 3.02137204e+00] [ 7.14025865e-03 9.99972083e-01 -2.20226032e-03 7.02975405e-01] [-2.26612798e-03 2.21849192e-03 9.99994971e-01 -1.69262698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04650248099999 meters 0.11142733445071215 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:-0.17 [[ 9.99974452e-01 -6.85680643e-03 2.01995427e-03 3.02168454e+00] [ 6.86020272e-03 9.99975059e-01 -1.67926701e-03 7.01289517e-01] [-2.00838948e-03 1.69308141e-03 9.99996550e-01 -1.69070998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10650248099998 meters 0.11141611325646132 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:-0.17 [[ 9.99978020e-01 -6.32938364e-03 1.97456094e-03 3.02254755e+00] [ 6.33092152e-03 9.99979660e-01 -7.73567409e-04 6.99631174e-01] [-1.96962457e-03 7.86051196e-04 9.99997751e-01 -1.70333327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16650248099998 meters 0.11148851599982519 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:-0.17 [[ 9.99946357e-01 -1.02669133e-02 1.36904644e-03 3.02365098e+00] [ 1.02734376e-02 9.99935480e-01 -4.84695564e-03 6.99233676e-01] [-1.31919484e-03 4.86076045e-03 9.99987316e-01 -1.70319679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22650248099998 meters 0.11193107146894414 Centerline is valid? [False, False] Translation: X:3.02, Y:0.70, Z:-0.17 [[ 9.99950382e-01 -9.89994171e-03 1.10704847e-03 3.02404823e+00] [ 9.90454619e-03 9.99941984e-01 -4.23413265e-03 6.97315997e-01] [-1.06506658e-03 4.24488737e-03 9.99990423e-01 -1.70256482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28650248099999 meters 0.11189454521986447 Centerline is valid? [False, False] Translation: X:3.03, Y:0.70, Z:-0.17 [[ 9.99957637e-01 -9.17216511e-03 7.71717831e-04 3.02545671e+00] [ 9.17452648e-03 9.99953064e-01 -3.11411200e-03 6.95294361e-01] [-7.43118460e-04 3.12106023e-03 9.99994853e-01 -1.71588703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34650248099999 meters 0.11151913354754353 Centerline is valid? [False, False] Translation: X:3.03, Y:0.69, Z:-0.17 [[ 9.99964491e-01 -8.40255983e-03 6.43182091e-04 3.02657722e+00] [ 8.40367548e-03 9.99963154e-01 -1.75199965e-03 6.92467270e-01] [-6.28437111e-04 1.75734253e-03 9.99998258e-01 -1.73031398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40650248099999 meters 0.1112363893739178 Centerline is valid? [False, False] Translation: X:3.03, Y:0.69, Z:-0.17 [[ 9.99966946e-01 -8.08305656e-03 8.78690870e-04 3.02618232e+00] [ 8.08369282e-03 9.99967065e-01 -7.22977628e-04 6.89107154e-01] [-8.72818061e-04 7.30056798e-04 9.99999353e-01 -1.73083803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46650248099998 meters 0.11110499314139434 Centerline is valid? [False, False] Translation: X:3.03, Y:0.69, Z:-0.17 [[ 9.99968747e-01 -7.84835578e-03 9.53447073e-04 3.02603286e+00] [ 7.84828917e-03 9.99969199e-01 7.35821795e-05 6.86638133e-01] [-9.53995205e-04 -6.60969515e-05 9.99999543e-01 -1.73055460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52650248099998 meters 0.11037372926210876 Centerline is valid? [False, False] Translation: X:3.03, Y:0.68, Z:-0.18 [[ 9.99939456e-01 -1.09832566e-02 6.72415374e-04 3.02827189e+00] [ 1.09848772e-02 9.99936649e-01 -2.45584466e-03 6.83536686e-01] [-6.45399604e-04 2.46308237e-03 9.99996758e-01 -1.75738849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58650248099998 meters 0.11032632678684293 Centerline is valid? [False, False] Translation: X:3.03, Y:0.68, Z:-0.18 [[ 9.99940289e-01 -1.09258347e-02 2.12166785e-04 3.02885220e+00] [ 1.09263103e-02 9.99937456e-01 -2.38729388e-03 6.83849677e-01] [-1.86070337e-04 2.38946953e-03 9.99997128e-01 -1.75391911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64650248099998 meters 0.11009240454188556 Centerline is valid? [False, False] Translation: X:3.03, Y:0.68, Z:-0.18 [[ 9.99942711e-01 -1.06833879e-02 6.62844660e-04 3.02821739e+00] [ 1.06842988e-02 9.99941960e-01 -1.38624407e-03 6.80464776e-01] [-6.47996405e-04 1.39324668e-03 9.99998819e-01 -1.75579625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70650248099999 meters 0.10967794692323848 Centerline is valid? [False, False] Translation: X:3.03, Y:0.68, Z:-0.18 [[ 9.99944476e-01 -1.04809368e-02 1.09294074e-03 3.02772835e+00] [ 1.04814160e-02 9.99944974e-01 -4.33679696e-04 6.77569233e-01] [-1.08833523e-03 4.45111184e-04 9.99999309e-01 -1.75997786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76650248099999 meters 0.10942386189420994 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99950143e-01 -9.88715808e-03 1.39841435e-03 3.02824121e+00] [ 9.88591351e-03 9.99950733e-01 8.94112639e-04 6.74775510e-01] [-1.40718569e-03 -8.80243458e-04 9.99998622e-01 -1.77689088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82650248099999 meters 0.10923125562378991 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99956902e-01 -9.18377433e-03 1.36073599e-03 3.02916682e+00] [ 9.18092980e-03 9.99955687e-01 2.08213352e-03 6.72182044e-01] [-1.37979754e-03 -2.06955096e-03 9.99996907e-01 -1.79048535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88650248099998 meters 0.10933197410567261 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99955238e-01 -9.42805980e-03 7.95931969e-04 3.02923153e+00] [ 9.42688758e-03 9.99954494e-01 1.46388764e-03 6.73531362e-01] [-8.09697370e-04 -1.45631896e-03 9.99998612e-01 -1.77597514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94650248099998 meters 0.10931461897861414 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99960887e-01 -8.79290500e-03 9.54020358e-04 3.02970955e+00] [ 8.79041209e-03 9.99958018e-01 2.58652255e-03 6.70799057e-01] [-9.76723354e-04 -2.57803515e-03 9.99996200e-01 -1.78775524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00650248099998 meters 0.10914638030213461 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99964252e-01 -8.41828729e-03 7.92140756e-04 3.03036015e+00] [ 8.41570146e-03 9.99959426e-01 3.21294971e-03 6.69579854e-01] [-8.19156149e-04 -3.20616843e-03 9.99994525e-01 -1.79344902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06650248099999 meters 0.10901888444908128 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99923453e-01 -1.23637766e-02 4.75492656e-04 3.03146889e+00] [ 1.23641434e-02 9.99923260e-01 -7.76352300e-04 6.69571336e-01] [-4.65857520e-04 7.82171931e-04 9.99999586e-01 -1.80038957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12650248099999 meters 0.10899663523164772 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99923956e-01 -1.23233241e-02 4.66891731e-04 3.03166914e+00] [ 1.23236487e-02 9.99923817e-01 -6.98775461e-04 6.69715613e-01] [-4.58244925e-04 7.04476133e-04 9.99999647e-01 -1.80320174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18650248099999 meters 0.10897278766531059 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99922321e-01 -1.24614918e-02 2.49664420e-04 3.03183290e+00] [ 1.24617527e-02 9.99921774e-01 -1.07228584e-03 6.70806269e-01] [-2.36282609e-04 1.07531380e-03 9.99999394e-01 -1.79930805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24650248099998 meters 0.10903734819230096 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99929698e-01 -1.18297457e-02 8.09904046e-04 3.03240945e+00] [ 1.18296002e-02 9.99930011e-01 1.84251010e-04 6.68499493e-01] [-8.12027004e-04 -1.74657215e-04 9.99999655e-01 -1.82385146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30650248099998 meters 0.10909761342808272 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99927799e-01 -1.20112419e-02 3.56002595e-04 3.03306584e+00] [ 1.20113784e-02 9.99927787e-01 -3.84013616e-04 6.70752659e-01] [-3.51364406e-04 3.88261972e-04 9.99999863e-01 -1.82104266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36650248099998 meters 0.10941171274136867 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99928319e-01 -1.19691499e-02 3.09656561e-04 3.03305946e+00] [ 1.19693103e-02 9.99928229e-01 -5.21530054e-04 6.71032264e-01] [-3.03392065e-04 5.25199045e-04 9.99999816e-01 -1.81979170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42650248099999 meters 0.1095664602342306 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99929012e-01 -1.19151494e-02 -7.78845182e-07 3.03363181e+00] [ 1.19151456e-02 9.99928743e-01 -7.34162514e-04 6.71989676e-01] [ 9.52644571e-06 7.34101117e-04 9.99999731e-01 -1.82059481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48650248099999 meters 0.1096139926837287 Centerline is valid? [False, False] Translation: X:3.03, Y:0.67, Z:-0.18 [[ 9.99930166e-01 -1.18023114e-02 -6.07908011e-04 3.03484275e+00] [ 1.18016610e-02 9.99929793e-01 -1.06252454e-03 6.73935085e-01] [ 6.20405577e-04 1.05527601e-03 9.99999251e-01 -1.82240222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54650248099999 meters 0.1095541956980374 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.18 [[ 9.99936177e-01 -1.12946665e-02 -2.69345982e-04 3.03542503e+00] [ 1.12946211e-02 9.99936199e-01 -1.69370813e-04 6.72486555e-01] [ 2.71241784e-04 1.66317843e-04 9.99999949e-01 -1.84120531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60650248099998 meters 0.10974418691028054 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.18 [[ 9.99935793e-01 -1.13213750e-02 -4.85383879e-04 3.03596624e+00] [ 1.13212159e-02 9.99935859e-01 -3.29393396e-04 6.73766906e-01] [ 4.89081932e-04 3.23877111e-04 9.99999828e-01 -1.84342248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66650248099998 meters 0.10954561317837805 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99942666e-01 -1.07065025e-02 -1.90008519e-04 3.03664005e+00] [ 1.07066587e-02 9.99942328e-01 8.41098919e-04 6.71100334e-01] [ 1.80992333e-04 -8.43085051e-04 9.99999628e-01 -1.86173529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72650248099998 meters 0.10972190500757284 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99942277e-01 -1.07391555e-02 -3.36699726e-04 3.03672646e+00] [ 1.07394098e-02 9.99942040e-01 7.62639120e-04 6.71255857e-01] [ 3.28490111e-04 -7.66211054e-04 9.99999653e-01 -1.85909906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78650248099999 meters 0.1096853123591832 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99947963e-01 -1.01983569e-02 -2.54291535e-04 3.03767300e+00] [ 1.01987765e-02 9.99946533e-01 1.70759264e-03 6.69906551e-01] [ 2.36863299e-04 -1.71009725e-03 9.99998510e-01 -1.87652795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84650248099999 meters 0.10999989414159941 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99945821e-01 -1.04082000e-02 -1.53956552e-04 3.03699348e+00] [ 1.04084313e-02 9.99944572e-01 1.58662476e-03 6.69416091e-01] [ 1.37434111e-04 -1.58814125e-03 9.99998729e-01 -1.86843142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90650248099999 meters 0.1102507305957687 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99949360e-01 -1.00629636e-02 1.22593319e-04 3.03685655e+00] [ 1.00626321e-02 9.99946352e-01 2.45679288e-03 6.66677741e-01] [-1.47309360e-04 -2.45543486e-03 9.99996975e-01 -1.87392293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96650248099998 meters 0.11032148629437366 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99951808e-01 -9.81346263e-03 -2.79101430e-04 3.03769568e+00] [ 9.81417040e-03 9.99948305e-01 2.65894870e-03 6.66494887e-01] [ 2.52993508e-04 -2.66155971e-03 9.99996426e-01 -1.87623692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02650248099998 meters 0.11017340555929732 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99952632e-01 -9.71866027e-03 -5.30236357e-04 3.03824994e+00] [ 9.72003515e-03 9.99949234e-01 2.65511889e-03 6.66841559e-01] [ 5.04405241e-04 -2.66014704e-03 9.99996335e-01 -1.87788042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08650248099998 meters 0.11031961292630815 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99958026e-01 -9.10660270e-03 -1.00803955e-03 3.03940696e+00] [ 9.10974193e-03 9.99953529e-01 3.15469066e-03 6.65437393e-01] [ 9.79264188e-04 -3.16374122e-03 9.99994516e-01 -1.88217043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14650248099998 meters 0.10994196527948333 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99958890e-01 -8.91518269e-03 -1.65434978e-03 3.04044958e+00] [ 8.92015868e-03 9.99955638e-01 3.02522281e-03 6.66115256e-01] [ 1.62730597e-03 -3.03985551e-03 9.99994056e-01 -1.88064230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20650248099999 meters 0.10983425957307273 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99961617e-01 -8.46244463e-03 -2.26965851e-03 3.04210533e+00] [ 8.46975221e-03 9.99958916e-01 3.22962888e-03 6.66700311e-01] [ 2.24223471e-03 -3.24872837e-03 9.99992209e-01 -1.88926391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26650248099999 meters 0.10984912517622117 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99916714e-01 -1.24792193e-02 -3.29155514e-03 3.04372511e+00] [ 1.24752244e-02 9.99921423e-01 -1.23142615e-03 6.67407258e-01] [ 3.30666374e-03 1.19026070e-03 9.99993825e-01 -1.88523572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32650248099998 meters 0.10950095112963543 Centerline is valid? [False, False] Translation: X:3.04, Y:0.67, Z:-0.19 [[ 9.99922713e-01 -1.18961325e-02 -3.61248304e-03 3.04488350e+00] [ 1.18946458e-02 9.99929163e-01 -4.32738204e-04 6.65727695e-01] [ 3.61737505e-03 3.89735553e-04 9.99993381e-01 -1.89408493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38650248099998 meters 0.10957418037336505 Centerline is valid? [False, False] Translation: X:3.05, Y:0.67, Z:-0.19 [[ 9.99926681e-01 -1.13497082e-02 -4.22089973e-03 3.04665228e+00] [ 1.13496454e-02 9.99935590e-01 -3.88129283e-05 6.65917082e-01] [ 4.22106838e-03 -9.09563282e-06 9.99991091e-01 -1.90458431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44650248099998 meters 0.10994380868549615 Centerline is valid? [False, False] Translation: X:3.05, Y:0.66, Z:-0.19 [[ 0.99996434 -0.00740326 -0.00406361 3.04525521] [ 0.00741964 0.99996435 0.00403082 0.66477733] [ 0.00403363 -0.00406082 0.99998362 -0.18882716] [ 0. 0. 0. 1. ]] SLAMing on 66.50650248099998 meters 0.11007893616009365 Centerline is valid? [False, False] Translation: X:3.06, Y:0.66, Z:-0.18 [[ 0.99998122 -0.00495839 -0.00360316 3.05687733] [ 0.00494267 0.99997829 -0.00435709 0.66277208] [ 0.00362468 0.0043392 0.99998402 -0.18187765] [ 0. 0. 0. 1. ]] SLAMing on 66.56650248099999 meters 0.1097469426959456 Centerline is valid? [False, False] Translation: X:3.06, Y:0.66, Z:-0.19 [[ 9.99987373e-01 -3.84890573e-03 -3.23100965e-03 3.05826148e+00] [ 3.84173596e-03 9.99990151e-01 -2.22233058e-03 6.58310957e-01] [ 3.23953137e-03 2.20988984e-03 9.99992311e-01 -1.85161124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62650248099999 meters 0.10938019510440121 Centerline is valid? [False, False] Translation: X:3.06, Y:0.66, Z:-0.19 [[ 9.99987407e-01 -3.04461718e-03 -3.98949380e-03 3.06068030e+00] [ 3.03888588e-03 9.99994343e-01 -1.44187370e-03 6.58378947e-01] [ 3.99386119e-03 1.42973193e-03 9.99991002e-01 -1.86808490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68650248099999 meters 0.10993512992680936 Centerline is valid? [False, False] Translation: X:3.07, Y:0.66, Z:-0.18 [[ 9.99996907e-01 1.95335610e-03 -1.53967138e-03 3.07196072e+00] [-1.96378653e-03 9.99974936e-01 -6.80230220e-03 6.57591593e-01] [ 1.52634547e-03 6.80530475e-03 9.99975679e-01 -1.83301213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74650248099998 meters 0.10992290273644229 Centerline is valid? [False, False] Translation: X:3.07, Y:0.66, Z:-0.18 [[ 9.99996685e-01 1.65354057e-03 -1.97373252e-03 3.07163927e+00] [-1.66806869e-03 9.99971362e-01 -7.38192424e-03 6.58251586e-01] [ 1.96146969e-03 7.38519209e-03 9.99970805e-01 -1.81662006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80650248099998 meters 0.10963116657489462 Centerline is valid? [False, False] Translation: X:3.07, Y:0.66, Z:-0.18 [[ 9.99995296e-01 -1.87231507e-03 -2.42930424e-03 3.07333339e+00] [ 1.84606607e-03 9.99940376e-01 -1.07627708e-02 6.56843000e-01] [ 2.44931069e-03 1.07582355e-02 9.99939129e-01 -1.83084488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86650248099998 meters 0.10920668004198246 Centerline is valid? [False, False] Translation: X:3.07, Y:0.65, Z:-0.18 [[ 9.99996080e-01 -1.18985577e-03 -2.53451325e-03 3.07430532e+00] [ 1.16553944e-03 9.99953488e-01 -9.57404740e-03 6.54360904e-01] [ 2.54578711e-03 9.57105580e-03 9.99950956e-01 -1.84420392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92650248099999 meters 0.10917647679783361 Centerline is valid? [False, False] Translation: X:3.09, Y:0.65, Z:-0.18 [[ 9.99989047e-01 -4.37328638e-03 1.66714840e-03 3.08767346e+00] [ 4.38101542e-03 9.99979541e-01 -4.66097052e-03 6.52998843e-01] [-1.64673054e-03 4.66822327e-03 9.99987748e-01 -1.83901649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98650248099999 meters 0.10898606140897046 Centerline is valid? [False, False] Translation: X:3.09, Y:0.65, Z:-0.19 [[ 9.99990755e-01 -3.78678853e-03 2.03712552e-03 3.08780096e+00] [ 3.79377394e-03 9.99986900e-01 -3.43619141e-03 6.49590118e-01] [-2.02408671e-03 3.44388803e-03 9.99992021e-01 -1.85102498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04650248099999 meters 0.1087499784598867 Centerline is valid? [False, False] Translation: X:3.09, Y:0.65, Z:-0.18 [[ 9.99966177e-01 -8.09160313e-03 1.47321551e-03 3.08841241e+00] [ 8.10315492e-03 9.99935073e-01 -8.01178052e-03 6.50549220e-01] [-1.40829171e-03 8.02344723e-03 9.99966820e-01 -1.84497235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10650248099998 meters 0.10851759781149556 Centerline is valid? [False, False] Translation: X:3.09, Y:0.65, Z:-0.18 [[ 9.99967077e-01 -7.93723363e-03 1.68700929e-03 3.08788856e+00] [ 7.94926978e-03 9.99942108e-01 -7.25184651e-03 6.47984463e-01] [-1.62935203e-03 7.26501825e-03 9.99972282e-01 -1.84271080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16650248099998 meters 0.10813173180124999 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99970066e-01 -7.37702317e-03 2.33361574e-03 3.08769068e+00] [ 7.38990920e-03 9.99957224e-01 -5.56235180e-03 6.43390704e-01] [-2.29248232e-03 5.57943051e-03 9.99981807e-01 -1.85747598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22650248099998 meters 0.1080466429036624 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99972249e-01 -7.01480872e-03 2.50889906e-03 3.08792668e+00] [ 7.02605773e-03 9.99965177e-01 -4.50328956e-03 6.41212903e-01] [-2.47722197e-03 4.52079225e-03 9.99986713e-01 -1.86666738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28650248099999 meters 0.10804721868862494 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99973385e-01 -6.89926790e-03 2.37259222e-03 3.08813297e+00] [ 6.90896183e-03 9.99967719e-01 -4.10216406e-03 6.40497563e-01] [-2.34421370e-03 4.11844703e-03 9.99988771e-01 -1.86580465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34650248099999 meters 0.10855197843809783 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99934764e-01 -1.10471823e-02 2.90316242e-03 3.08746947e+00] [ 1.10689172e-02 9.99910005e-01 -7.58033815e-03 6.37722706e-01] [-2.81915978e-03 7.61197850e-03 9.99967055e-01 -1.86902712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40650248099999 meters 0.1092718075591623 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99934102e-01 -1.11358064e-02 2.79021063e-03 3.08745025e+00] [ 1.11560925e-02 9.99910656e-01 -7.36356871e-03 6.37371785e-01] [-2.70796207e-03 7.39421131e-03 9.99968996e-01 -1.86567434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46650248099998 meters 0.10999355817662625 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99935220e-01 -1.10518668e-02 2.72259685e-03 3.08778232e+00] [ 1.10711156e-02 9.99913083e-01 -7.15940763e-03 6.37146433e-01] [-2.64323539e-03 7.18908602e-03 9.99970665e-01 -1.86841273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52650248099998 meters 0.11045059530492873 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99934466e-01 -1.11217561e-02 2.71467585e-03 3.08766761e+00] [ 1.11412393e-02 9.99911502e-01 -7.27060889e-03 6.37224815e-01] [-2.63357366e-03 7.30037727e-03 9.99969884e-01 -1.86624375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58650248099998 meters 0.11077418469932244 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99971353e-01 -7.11311749e-03 2.58791551e-03 3.08803319e+00] [ 7.12215489e-03 9.99968512e-01 -3.49986034e-03 6.39803086e-01] [-2.56293910e-03 3.51819161e-03 9.99990527e-01 -1.86884570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64650248099998 meters 0.11076826308770309 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99974141e-01 -6.66417080e-03 2.70291200e-03 3.08856345e+00] [ 6.67166401e-03 9.99973900e-01 -2.77279668e-03 6.38247900e-01] [-2.68436307e-03 2.79075790e-03 9.99992503e-01 -1.88017438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70650248099999 meters 0.11059689395710441 Centerline is valid? [False, False] Translation: X:3.09, Y:0.64, Z:-0.19 [[ 9.99975694e-01 -6.63417926e-03 2.14450774e-03 3.08964729e+00] [ 6.64102819e-03 9.99972820e-01 -3.20252208e-03 6.40068945e-01] [-2.12320335e-03 3.21668598e-03 9.99992572e-01 -1.88155950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76650248099999 meters 0.11027491498094223 Centerline is valid? [False, False] Translation: X:3.10, Y:0.64, Z:-0.19 [[ 9.99991289e-01 2.92283143e-03 2.97971333e-03 3.10403246e+00] [-2.91226430e-03 9.99989477e-01 -3.54454793e-03 6.43114367e-01] [-2.99004209e-03 3.53583934e-03 9.99989279e-01 -1.86725364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82650248099998 meters 0.1097891221854346 Centerline is valid? [False, False] Translation: X:3.10, Y:0.65, Z:-0.19 [[ 9.99996815e-01 -1.36426426e-03 2.12359733e-03 3.10490851e+00] [ 1.38276683e-03 9.99960885e-01 -8.73589970e-03 6.45423320e-01] [-2.11159619e-03 8.73880831e-03 9.99959586e-01 -1.85798143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88650248099998 meters 0.10943943339596392 Centerline is valid? [False, False] Translation: X:3.12, Y:0.65, Z:-0.19 [[ 9.99989074e-01 -2.06823551e-03 4.19207994e-03 3.12218991e+00] [ 2.07796755e-03 9.99995153e-01 -2.31850490e-03 6.47088510e-01] [-4.18726441e-03 2.32719058e-03 9.99988525e-01 -1.86602843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94650248099998 meters 0.10928578058706405 Centerline is valid? [False, False] Translation: X:3.12, Y:0.65, Z:-0.19 [[ 9.99992794e-01 -1.49427468e-03 3.48997862e-03 3.12413782e+00] [ 1.50126735e-03 9.99996869e-01 -2.00188079e-03 6.47618628e-01] [-3.48697634e-03 2.00710576e-03 9.99991906e-01 -1.87743597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00650248099998 meters 0.10947411617003204 Centerline is valid? [False, False] Translation: X:3.12, Y:0.65, Z:-0.19 [[ 9.99993971e-01 -1.77758668e-03 2.98301273e-03 3.12411735e+00] [ 1.78685229e-03 9.99993579e-01 -3.10633959e-03 6.49802877e-01] [-2.97747179e-03 3.11165107e-03 9.99990726e-01 -1.86272804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06650248099999 meters 0.10965194340175105 Centerline is valid? [False, False] Translation: X:3.12, Y:0.65, Z:-0.19 [[ 9.99995123e-01 -1.60829302e-03 2.67718503e-03 3.12472706e+00] [ 1.61717836e-03 9.99993181e-01 -3.32006131e-03 6.50580662e-01] [-2.67182714e-03 3.32437460e-03 9.99990905e-01 -1.86374263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12650248099999 meters 0.10995638891318563 Centerline is valid? [False, False] Translation: X:3.13, Y:0.65, Z:-0.19 [[ 9.99996571e-01 -1.23094138e-03 2.31155413e-03 3.12570957e+00] [ 1.23800306e-03 9.99994564e-01 -3.05600872e-03 6.50430429e-01] [-2.30777980e-03 3.05885995e-03 9.99992659e-01 -1.86914677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18650248099999 meters 0.11005825709500364 Centerline is valid? [False, False] Translation: X:3.13, Y:0.65, Z:-0.19 [[ 9.99984139e-01 -5.41200225e-03 1.55917458e-03 3.12645767e+00] [ 5.42375549e-03 9.99956143e-01 -7.63517713e-03 6.51364352e-01] [-1.51778460e-03 7.64351262e-03 9.99969636e-01 -1.86053385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24650248099998 meters 0.11005902804213027 Centerline is valid? [False, False] Translation: X:3.13, Y:0.65, Z:-0.19 [[ 9.99957495e-01 -9.09615495e-03 1.50608566e-03 3.12667099e+00] [ 9.11178473e-03 9.99901042e-01 -1.07182630e-02 6.47704775e-01] [-1.40844164e-03 1.07315305e-02 9.99941424e-01 -1.86262971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30650248099998 meters 0.10994383607117744 Centerline is valid? [False, False] Translation: X:3.13, Y:0.65, Z:-0.19 [[ 9.99961307e-01 -8.66661017e-03 1.50802104e-03 3.12710485e+00] [ 8.68109814e-03 9.99913492e-01 -9.88169444e-03 6.45868288e-01] [-1.42224979e-03 9.89440337e-03 9.99950038e-01 -1.86967909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36650248099998 meters 0.10969871692000999 Centerline is valid? [False, False] Translation: X:3.13, Y:0.64, Z:-0.19 [[ 9.99965617e-01 -7.89572487e-03 2.53409470e-03 3.12686835e+00] [ 7.91568751e-03 9.99936935e-01 -7.96671743e-03 6.40028945e-01] [-2.47103187e-03 7.98650262e-03 9.99965054e-01 -1.89178952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42650248099999 meters 0.10978879923086801 Centerline is valid? [False, False] Translation: X:3.13, Y:0.64, Z:-0.19 [[ 9.99968869e-01 -7.37477924e-03 2.80599344e-03 3.12729175e+00] [ 7.39367927e-03 9.99949641e-01 -6.78591745e-03 6.37742382e-01] [-2.75580749e-03 6.80645282e-03 9.99973038e-01 -1.90614050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48650248099999 meters 0.10990755198681279 Centerline is valid? [False, False] Translation: X:3.13, Y:0.64, Z:-0.19 [[ 0.99996932 -0.00711296 0.00328231 3.12679003] [ 0.0071322 0.99995723 -0.00588821 0.63520621] [-0.00324029 0.00591144 0.99997728 -0.19113855] [ 0. 0. 0. 1. ]] SLAMing on 68.54650248099999 meters 0.11012570799903565 Centerline is valid? [False, False] Translation: X:3.13, Y:0.63, Z:-0.19 [[ 0.99997109 -0.00681165 0.00338027 3.12700165] [ 0.00682868 0.99996393 -0.00505078 0.63326236] [-0.00334574 0.00507371 0.99998153 -0.19179525] [ 0. 0. 0. 1. ]] SLAMing on 68.60650248099998 meters 0.1108267221831317 Centerline is valid? [False, False] Translation: X:3.13, Y:0.63, Z:-0.19 [[ 9.99935674e-01 -1.09259985e-02 3.04480091e-03 3.12783691e+00] [ 1.09536695e-02 9.99897458e-01 -9.22447897e-03 6.33455580e-01] [-2.94370204e-03 9.25723733e-03 9.99952818e-01 -1.92061918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66650248099998 meters 0.11133983891517614 Centerline is valid? [False, False] Translation: X:3.13, Y:0.63, Z:-0.19 [[ 0.99993631 -0.01080144 0.00327324 3.12785709] [ 0.01083019 0.99990177 -0.00889698 0.63296578] [-0.00317682 0.00893186 0.99995506 -0.19268906] [ 0. 0. 0. 1. ]] SLAMing on 68.72650248099998 meters 0.11141033354199617 Centerline is valid? [False, False] Translation: X:3.13, Y:0.63, Z:-0.19 [[ 0.99997186 -0.00661577 0.00353593 3.12758584] [ 0.0066322 0.99996716 -0.00465729 0.6333757 ] [-0.00350501 0.00468061 0.9999829 -0.19299864] [ 0. 0. 0. 1. ]] SLAMing on 68.78650248099999 meters 0.11163638625356403 Centerline is valid? [False, False] Translation: X:3.13, Y:0.63, Z:-0.19 [[ 0.99997067 -0.00677363 0.00357345 3.12735329] [ 0.00679136 0.99996456 -0.00497475 0.63399078] [-0.00353962 0.00499887 0.99998124 -0.1926977 ] [ 0. 0. 0. 1. ]] SLAMing on 68.84650248099999 meters 0.11178596900292197 Centerline is valid? [False, False] Translation: X:3.13, Y:0.63, Z:-0.19 [[ 0.99997341 -0.00645461 0.00339434 3.12847803] [ 0.00647023 0.99996843 -0.00461211 0.63419207] [-0.00336446 0.00463395 0.9999836 -0.19390028] [ 0. 0. 0. 1. ]] SLAMing on 68.90650248099999 meters 0.11150672723112283 Centerline is valid? [False, False] Translation: X:3.13, Y:0.64, Z:-0.19 [[ 9.99976681e-01 -6.15935821e-03 2.94946911e-03 3.13000738e+00] [ 6.17316221e-03 9.99969928e-01 -4.69416025e-03 6.35829133e-01] [-2.92046740e-03 4.71225834e-03 9.99984633e-01 -1.94985373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96650248099998 meters 0.11117014233249044 Centerline is valid? [False, False] Translation: X:3.13, Y:0.64, Z:-0.19 [[ 9.99978183e-01 -6.25278307e-03 2.13005917e-03 3.13118897e+00] [ 6.26470096e-03 9.99964499e-01 -5.63514314e-03 6.39113886e-01] [-2.09474822e-03 5.64836437e-03 9.99981854e-01 -1.94570516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02650248099998 meters 0.11100878702775228 Centerline is valid? [False, False] Translation: X:3.13, Y:0.64, Z:-0.19 [[ 9.99977466e-01 -6.60909987e-03 1.17811741e-03 3.13190565e+00] [ 6.61719254e-03 9.99953584e-01 -7.00297328e-03 6.42780413e-01] [-1.13177937e-03 7.01061130e-03 9.99974785e-01 -1.92983736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08650248099998 meters 0.11054720772379788 Centerline is valid? [False, False] Translation: X:3.13, Y:0.64, Z:-0.19 [[ 9.99979767e-01 -6.31424899e-03 7.71564650e-04 3.13346286e+00] [ 6.31950085e-03 9.99955494e-01 -7.00527849e-03 6.44361964e-01] [-7.27297238e-04 7.01001265e-03 9.99975165e-01 -1.94220662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14650248099998 meters 0.11022585374321324 Centerline is valid? [False, False] Translation: X:3.14, Y:0.65, Z:-0.19 [[ 9.99980326e-01 -6.27159056e-03 -1.24433713e-04 3.13501766e+00] [ 6.27043024e-03 9.99949964e-01 -7.79436320e-03 6.47601337e-01] [ 1.73310541e-04 7.79342959e-03 9.99969616e-01 -1.94129724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20650248099999 meters 0.11019734220289128 Centerline is valid? [False, False] Translation: X:3.15, Y:0.65, Z:-0.19 [[ 9.99998640e-01 3.92950611e-04 -1.60191796e-03 3.14791865e+00] [-4.09956806e-04 9.99943419e-01 -1.06296772e-02 6.48636990e-01] [ 1.59765039e-03 1.06303195e-02 9.99942220e-01 -1.89759272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26650248099999 meters 0.11030158476143831 Centerline is valid? [False, False] Translation: X:3.15, Y:0.65, Z:-0.19 [[ 0.99996712 -0.00743161 -0.0032453 3.15492628] [ 0.00741575 0.99996064 -0.00487153 0.65307295] [ 0.00328138 0.0048473 0.99998287 -0.18820284] [ 0. 0. 0. 1. ]] SLAMing on 69.32650248099998 meters 0.11013832800080975 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 0.99996784 -0.00711679 -0.00369829 3.15648223] [ 0.00709875 0.99996296 -0.00486665 0.65465085] [ 0.00373279 0.00484024 0.99998132 -0.18931998] [ 0. 0. 0. 1. ]] SLAMing on 69.38650248099998 meters 0.1103723536453659 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 0.99996945 -0.00691243 -0.00364866 3.1567257 ] [ 0.00689588 0.99996596 -0.00453054 0.65411476] [ 0.00367985 0.00450524 0.99998308 -0.18986091] [ 0. 0. 0. 1. ]] SLAMing on 69.44650248099998 meters 0.1101444952012439 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 0.99996928 -0.00684386 -0.00382148 3.15712569] [ 0.00682632 0.99996619 -0.00458438 0.65453167] [ 0.00385273 0.00455815 0.99998219 -0.18998289] [ 0. 0. 0. 1. ]] SLAMing on 69.50650248099998 meters 0.11008824887112306 Centerline is valid? [False, False] Translation: X:3.16, Y:0.66, Z:-0.19 [[ 0.99997032 -0.00662462 -0.00393269 3.15795663] [ 0.00660738 0.99996857 -0.00438166 0.65503333] [ 0.00396159 0.00435555 0.99998267 -0.19090791] [ 0. 0. 0. 1. ]] SLAMing on 69.56650248099999 meters 0.10992679056039971 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 0.99997215 -0.0063541 -0.00391455 3.15816368] [ 0.00633867 0.99997215 -0.00394081 0.65384473] [ 0.00393948 0.00391589 0.99998457 -0.19128137] [ 0. 0. 0. 1. ]] SLAMing on 69.62650248099999 meters 0.10981750978536904 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 0.99997266 -0.00622822 -0.0039859 3.15825658] [ 0.00621346 0.99997383 -0.00370638 0.65312689] [ 0.00400888 0.00368151 0.99998519 -0.19119848] [ 0. 0. 0. 1. ]] SLAMing on 69.68650248099998 meters 0.10960907253186293 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 0.99997284 -0.00595579 -0.00434232 3.15902455] [ 0.00594129 0.99997676 -0.00334403 0.65263741] [ 0.00436214 0.00331814 0.99998498 -0.19137306] [ 0. 0. 0. 1. ]] SLAMing on 69.74650248099998 meters 0.1095112829451257 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 9.99974350e-01 -5.78558492e-03 -4.22223526e-03 3.15914163e+00] [ 5.77358930e-03 9.99979278e-01 -2.84773916e-03 6.51481414e-01] [ 4.23862360e-03 2.82328866e-03 9.99987031e-01 -1.91889961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80650248099998 meters 0.10931922823215301 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 9.99977221e-01 -5.41020804e-03 -4.03560997e-03 3.15965879e+00] [ 5.40209572e-03 9.99983372e-01 -2.01838329e-03 6.49859672e-01] [ 4.04646273e-03 1.99653656e-03 9.99989820e-01 -1.93171792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86650248099998 meters 0.10922849511100584 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 9.99979349e-01 -4.92931986e-03 -4.12346702e-03 3.16056985e+00] [ 4.92408075e-03 9.99987058e-01 -1.27974847e-03 6.48665671e-01] [ 4.12972194e-03 1.25941776e-03 9.99990680e-01 -1.94319496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92650248099999 meters 0.10952833591265468 Centerline is valid? [False, False] Translation: X:3.16, Y:0.65, Z:-0.19 [[ 9.99974499e-01 -5.47815843e-03 -4.58152123e-03 3.16041598e+00] [ 5.46766924e-03 9.99982410e-01 -2.29885694e-03 6.51201901e-01] [ 4.59403414e-03 2.27374807e-03 9.99986862e-01 -1.92818440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98650248099999 meters 0.10968999880972835 Centerline is valid? [False, False] Translation: X:3.17, Y:0.65, Z:-0.19 [[ 9.99992855e-01 5.86724450e-04 -3.73450658e-03 3.17082610e+00] [-6.08855747e-04 9.99982245e-01 -5.92778816e-03 6.50575758e-01] [ 3.73096230e-03 5.93001958e-03 9.99975457e-01 -1.87733860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04650248099999 meters 0.1097778368430263 Centerline is valid? [False, False] Translation: X:3.19, Y:0.65, Z:-0.19 [[ 9.99990053e-01 -4.43468992e-03 -4.76211898e-04 3.18609557e+00] [ 4.43326817e-03 9.99985833e-01 -2.94621315e-03 6.51784845e-01] [ 4.89270693e-04 2.94407267e-03 9.99995547e-01 -1.88709259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10650248099998 meters 0.1096262144484638 Centerline is valid? [False, False] Translation: X:3.19, Y:0.65, Z:-0.19 [[ 9.99992465e-01 -3.84801583e-03 -5.11784968e-04 3.18753768e+00] [ 3.84696501e-03 9.99990522e-01 -2.03862247e-03 6.51319296e-01] [ 5.19624769e-04 2.03663829e-03 9.99997791e-01 -1.90902731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16650248099998 meters 0.10981013951845947 Centerline is valid? [False, False] Translation: X:3.20, Y:0.65, Z:-0.19 [[ 9.99998901e-01 5.68788533e-04 -1.36930694e-03 3.20279537e+00] [-5.78257265e-04 9.99975858e-01 -6.92454555e-03 6.51403483e-01] [ 1.36533528e-03 6.92532975e-03 9.99975088e-01 -1.89587825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22650248099998 meters 0.11002204068861986 Centerline is valid? [False, False] Translation: X:3.22, Y:0.65, Z:-0.19 [[ 9.99993014e-01 -2.07199045e-03 3.11102367e-03 3.21594909e+00] [ 2.08039589e-03 9.99994188e-01 -2.70102213e-03 6.54617273e-01] [-3.10540909e-03 2.70747542e-03 9.99991513e-01 -1.88244875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28650248099999 meters 0.10996498307110208 Centerline is valid? [False, False] Translation: X:3.22, Y:0.65, Z:-0.19 [[ 9.99992546e-01 -2.05456061e-03 3.26902546e-03 3.21552776e+00] [ 2.06333919e-03 9.99994269e-01 -2.68427765e-03 6.53919732e-01] [-3.26349171e-03 2.69100275e-03 9.99991054e-01 -1.87996853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34650248099999 meters 0.10990996253591764 Centerline is valid? [False, False] Translation: X:3.22, Y:0.65, Z:-0.19 [[ 9.99993218e-01 -1.85519263e-03 3.18169961e-03 3.21649699e+00] [ 1.86315715e-03 9.99995134e-01 -2.50209477e-03 6.54659309e-01] [-3.17704226e-03 2.50800581e-03 9.99991808e-01 -1.89194587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40650248099999 meters 0.10998943065262648 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:-0.19 [[ 9.99990484e-01 -4.04832861e-03 1.62594602e-03 3.22067035e+00] [ 4.05643645e-03 9.99979199e-01 -5.01458174e-03 6.57755919e-01] [-1.60561153e-03 5.02112957e-03 9.99986105e-01 -1.91830651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46650248099998 meters 0.10978279822478733 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:-0.19 [[ 9.99990922e-01 -4.05449824e-03 1.31039445e-03 3.22100798e+00] [ 4.06137239e-03 9.99977779e-01 -5.28647966e-03 6.58511986e-01] [-1.28893131e-03 5.29175367e-03 9.99985168e-01 -1.91468056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52650248099998 meters 0.11003393192712266 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:-0.19 [[ 9.99991116e-01 -4.15791664e-03 6.92528674e-04 3.22145286e+00] [ 4.16202505e-03 9.99973094e-01 -6.04061622e-03 6.60698134e-01] [-6.67393662e-04 6.04344488e-03 9.99981516e-01 -1.90443766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58650248099998 meters 0.1100754049321868 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:-0.19 [[ 9.99991797e-01 -3.99915023e-03 6.41736560e-04 3.22176256e+00] [ 4.00287415e-03 9.99974521e-01 -5.91050932e-03 6.60568170e-01] [-6.18083195e-04 5.91302963e-03 9.99982327e-01 -1.90791550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64650248099998 meters 0.1101713361230898 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:-0.19 [[ 9.99993307e-01 -3.62357147e-03 5.06067968e-04 3.22257815e+00] [ 3.62627958e-03 9.99978535e-01 -5.45700755e-03 6.60013264e-01] [-4.86283249e-04 5.45880617e-03 9.99984982e-01 -1.91676027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70650248099999 meters 0.11024138181971303 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:-0.19 [[ 9.99995653e-01 -2.89800647e-03 5.44504307e-04 3.22369861e+00] [ 2.90029316e-03 9.99986776e-01 -4.24681489e-03 6.57867304e-01] [-5.32189810e-04 4.24837565e-03 9.99990834e-01 -1.93605584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76650248099999 meters 0.11063921998692597 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:-0.19 [[ 9.99995720e-01 -2.92583662e-03 1.19905959e-05 3.22398956e+00] [ 2.92586096e-03 9.99985647e-01 -4.48841213e-03 6.58186682e-01] [ 1.14193679e-06 4.48842800e-03 9.99989927e-01 -1.92592486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82650248099998 meters 0.11077458513370217 Centerline is valid? [False, False] Translation: X:3.22, Y:0.66, Z:-0.19 [[ 9.99976408e-01 -6.86387843e-03 -2.64955148e-04 3.22477530e+00] [ 6.86140425e-03 9.99941004e-01 -8.42073053e-03 6.57377266e-01] [ 3.22738388e-04 8.41871391e-03 9.99964510e-01 -1.92993597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88650248099998 meters 0.11078400455785427 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:-0.19 [[ 9.99979125e-01 -6.45224206e-03 -3.44537812e-04 3.22555829e+00] [ 6.44938162e-03 9.99949230e-01 -7.74224179e-03 6.56299438e-01] [ 3.94475138e-04 7.73985811e-03 9.99969969e-01 -1.94039178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94650248099998 meters 0.111195915846161 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:-0.19 [[ 9.99978966e-01 -6.45130399e-03 -6.70053902e-04 3.22565767e+00] [ 6.44583859e-03 9.99948323e-01 -7.86146306e-03 6.56233516e-01] [ 7.20735964e-04 7.85697864e-03 9.99968874e-01 -1.93293208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00650248099998 meters 0.11108507847483702 Centerline is valid? [False, False] Translation: X:3.23, Y:0.65, Z:-0.20 [[ 9.99983185e-01 -5.75735010e-03 -6.94910774e-04 3.22693855e+00] [ 5.75240647e-03 9.99959525e-01 -6.91790441e-03 6.54832980e-01] [ 7.34711445e-04 6.91379067e-03 9.99975830e-01 -1.95212947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06650248099999 meters 0.11135033014369121 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:-0.19 [[ 9.99983381e-01 -5.54800393e-03 -1.56766612e-03 3.22828733e+00] [ 5.53638120e-03 9.99957856e-01 -7.32357990e-03 6.56392951e-01] [ 1.60823130e-03 7.31477899e-03 9.99971953e-01 -1.94988062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12650248099999 meters 0.11171792315790602 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:-0.20 [[ 9.99984337e-01 -5.19234651e-03 -2.08942452e-03 3.22926636e+00] [ 5.17702686e-03 9.99960159e-01 -7.27179764e-03 6.56571902e-01] [ 2.12709897e-03 7.26086674e-03 9.99971377e-01 -1.95133815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18650248099998 meters 0.11226345512848585 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:-0.20 [[ 9.99984965e-01 -4.92696840e-03 -2.40718545e-03 3.23004611e+00] [ 4.90980376e-03 9.99962846e-01 -7.08520815e-03 6.56502572e-01] [ 2.44200461e-03 7.07328282e-03 9.99972002e-01 -1.95537413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24650248099998 meters 0.11276828646260591 Centerline is valid? [False, False] Translation: X:3.23, Y:0.66, Z:-0.20 [[ 9.99986465e-01 -4.47005617e-03 -2.66254105e-03 3.23083001e+00] [ 4.45273394e-03 9.99969112e-01 -6.47667986e-03 6.55345634e-01] [ 2.69140993e-03 6.46473661e-03 9.99975481e-01 -1.96092805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30650248099998 meters 0.11268588023276958 Centerline is valid? [False, False] Translation: X:3.23, Y:0.65, Z:-0.20 [[ 9.99961593e-01 -8.21778885e-03 -3.04649949e-03 3.23218358e+00] [ 8.18672547e-03 9.99915759e-01 -1.00723903e-02 6.54162069e-01] [ 3.12901562e-03 1.00470626e-02 9.99944631e-01 -1.97151045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36650248099998 meters 0.11281944929402687 Centerline is valid? [False, False] Translation: X:3.23, Y:0.65, Z:-0.20 [[ 9.99988585e-01 -3.94424013e-03 -2.69673589e-03 3.23105190e+00] [ 3.93039362e-03 9.99979165e-01 -5.12070518e-03 6.51465953e-01] [ 2.71687699e-03 5.11004749e-03 9.99983253e-01 -1.96467832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42650248099999 meters 0.11274314204831976 Centerline is valid? [False, False] Translation: X:3.23, Y:0.65, Z:-0.20 [[ 9.99991724e-01 -3.25476405e-03 -2.44116215e-03 3.23144873e+00] [ 3.24553798e-03 9.99987612e-01 -3.77386206e-03 6.47809833e-01] [ 2.45341494e-03 3.76590795e-03 9.99989899e-01 -1.97799059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48650248099999 meters 0.11258634760482208 Centerline is valid? [False, False] Translation: X:3.23, Y:0.65, Z:-0.20 [[ 9.99970701e-01 -7.10451313e-03 -2.85026009e-03 3.23263409e+00] [ 7.08302845e-03 9.99946951e-01 -7.47837910e-03 6.46843645e-01] [ 2.90323912e-03 7.45797152e-03 9.99967974e-01 -1.98534061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54650248099999 meters 0.11243743147339158 Centerline is valid? [False, False] Translation: X:3.23, Y:0.64, Z:-0.20 [[ 9.99974730e-01 -6.51484160e-03 -2.84523696e-03 3.23330830e+00] [ 6.49648459e-03 9.99958327e-01 -6.41411394e-03 6.44466274e-01] [ 2.88690533e-03 6.39546782e-03 9.99975382e-01 -1.99641014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60650248099998 meters 0.11341139432515669 Centerline is valid? [False, False] Translation: X:3.23, Y:0.65, Z:-0.20 [[ 0.99997143 -0.00664962 -0.00359359 3.23351593] [ 0.00662479 0.9999544 -0.00687767 0.64516431] [ 0.00363916 0.00685367 0.99996989 -0.1980408 ] [ 0. 0. 0. 1. ]] SLAMing on 71.66650248099998 meters 0.11353450964024338 Centerline is valid? [False, False] Translation: X:3.23, Y:0.64, Z:-0.20 [[ 0.99997469 -0.00596337 -0.00388045 3.23485664] [ 0.0059399 0.99996417 -0.00603198 0.64377685] [ 0.00391628 0.00600878 0.99997428 -0.19934466] [ 0. 0. 0. 1. ]] SLAMing on 71.72650248099998 meters 0.11350911500662132 Centerline is valid? [False, False] Translation: X:3.24, Y:0.64, Z:-0.20 [[ 0.99997957 -0.00510979 -0.00383942 3.23626618] [ 0.00509175 0.99997602 -0.00469448 0.6414292 ] [ 0.00386331 0.00467483 0.99998161 -0.20168692] [ 0. 0. 0. 1. ]] SLAMing on 71.78650248099999 meters 0.11360818354935531 Centerline is valid? [False, False] Translation: X:3.24, Y:0.64, Z:-0.20 [[ 0.99997781 -0.00502496 -0.00437347 3.23688696] [ 0.00500416 0.99997618 -0.00475404 0.64177022] [ 0.00439726 0.00473205 0.99997914 -0.20123176] [ 0. 0. 0. 1. ]] SLAMing on 71.84650248099999 meters 0.11365581439445642 Centerline is valid? [False, False] Translation: X:3.24, Y:0.64, Z:-0.20 [[ 0.99997788 -0.00474992 -0.00465655 3.23730822] [ 0.00472996 0.99997962 -0.00428826 0.64056971] [ 0.00467682 0.00426614 0.99997996 -0.20112069] [ 0. 0. 0. 1. ]] SLAMing on 71.90650248099999 meters 0.11313943860708998 Centerline is valid? [False, False] Translation: X:3.24, Y:0.64, Z:-0.20 [[ 0.99994861 -0.00886784 -0.00491363 3.23752041] [ 0.00882753 0.99992769 -0.00816627 0.6390393 ] [ 0.00498569 0.00812248 0.99995458 -0.20073022] [ 0. 0. 0. 1. ]] SLAMing on 71.96650248099998 meters 0.11261693785169904 Centerline is valid? [False, False] Translation: X:3.24, Y:0.64, Z:-0.20 [[ 0.99995386 -0.00845883 -0.00455325 3.23729378] [ 0.00842761 0.99994115 -0.00683176 0.63526601] [ 0.00461077 0.00679307 0.9999663 -0.20142768] [ 0. 0. 0. 1. ]] SLAMing on 72.02650248099998 meters 0.11251407034197207 Centerline is valid? [False, False] Translation: X:3.24, Y:0.63, Z:-0.20 [[ 0.99996004 -0.00772438 -0.00449936 3.23816597] [ 0.00770012 0.99995585 -0.00538635 0.63214186] [ 0.00454077 0.00535149 0.99997537 -0.20299929] [ 0. 0. 0. 1. ]] SLAMing on 72.08650248099998 meters 0.11198336449950043 Centerline is valid? [False, False] Translation: X:3.24, Y:0.63, Z:-0.20 [[ 0.99996267 -0.00744295 -0.00438797 3.2380379 ] [ 0.00742348 0.9999626 -0.00443675 0.62945459] [ 0.00442083 0.00440401 0.99998053 -0.20313695] [ 0. 0. 0. 1. ]] SLAMing on 72.14650248099998 meters 0.11174260137979844 Centerline is valid? [False, False] Translation: X:3.24, Y:0.63, Z:-0.20 [[ 0.99996361 -0.00727603 -0.00445422 3.23792254] [ 0.00725863 0.99996601 -0.00391029 0.6276863 ] [ 0.00448252 0.00387782 0.99998243 -0.20273515] [ 0. 0. 0. 1. ]] SLAMing on 72.20650248099999 meters 0.11163393615230163 Centerline is valid? [False, False] Translation: X:3.24, Y:0.62, Z:-0.20 [[ 9.99968728e-01 -6.81197217e-03 -4.01751940e-03 3.23789323e+00] [ 6.80105709e-03 9.99973162e-01 -2.72430146e-03 6.24479436e-01] [ 4.03596944e-03 2.69689289e-03 9.99988219e-01 -2.03817544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26650248099999 meters 0.11114809779304868 Centerline is valid? [False, False] Translation: X:3.24, Y:0.62, Z:-0.21 [[ 0.99993742 -0.01043088 -0.00404308 3.23895458] [ 0.01040768 0.9999295 -0.0057158 0.62187328] [ 0.00410241 0.00567337 0.99997549 -0.20532037] [ 0. 0. 0. 1. ]] SLAMing on 72.32650248099998 meters 0.11084410319384766 Centerline is valid? [False, False] Translation: X:3.24, Y:0.62, Z:-0.21 [[ 0.9999435 -0.00980012 -0.00411857 3.23996183] [ 0.00978202 0.99994251 -0.00439243 0.61950586] [ 0.00416138 0.00435189 0.99998187 -0.20671484] [ 0. 0. 0. 1. ]] SLAMing on 72.38650248099998 meters 0.11074915051620937 Centerline is valid? [False, False] Translation: X:3.24, Y:0.62, Z:-0.21 [[ 0.99994531 -0.00968358 -0.00395089 3.23969418] [ 0.00966824 0.99994572 -0.00388341 0.6180037 ] [ 0.00398828 0.003845 0.99998465 -0.206683 ] [ 0. 0. 0. 1. ]] SLAMing on 72.44650248099998 meters 0.11099152971661513 Centerline is valid? [False, False] Translation: X:3.24, Y:0.62, Z:-0.21 [[ 0.99994574 -0.00973946 -0.00369485 3.23893658] [ 0.0097263 0.99994635 -0.00356347 0.61641869] [ 0.00372936 0.00352734 0.99998682 -0.20618104] [ 0. 0. 0. 1. ]] SLAMing on 72.50650248099998 meters 0.1107468978483877 Centerline is valid? [False, False] Translation: X:3.24, Y:0.62, Z:-0.21 [[ 0.99994737 -0.00950831 -0.00385337 3.23967877] [ 0.00949559 0.99994945 -0.00330622 0.61641706] [ 0.00388461 0.00326946 0.99998711 -0.20684018] [ 0. 0. 0. 1. ]] SLAMing on 72.56650248099999 meters 0.11037027007832884 Centerline is valid? [False, False] Translation: X:3.24, Y:0.62, Z:-0.21 [[ 9.99948518e-01 -9.23327328e-03 -4.20818319e-03 3.24085348e+00] [ 9.21980110e-03 9.99952346e-01 -3.20965971e-03 6.17107591e-01] [ 4.23761831e-03 3.17069586e-03 9.99985995e-01 -2.07649039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62650248099999 meters 0.110112466326471 Centerline is valid? [False, False] Translation: X:3.25, Y:0.62, Z:-0.20 [[ 9.99989429e-01 -1.08092006e-03 -4.46925412e-03 3.25422105e+00] [ 1.05692295e-03 9.99985032e-01 -5.36825878e-03 6.17414410e-01] [ 4.47498988e-03 5.36347837e-03 9.99975603e-01 -2.03728652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68650248099998 meters 0.10959377494646291 Centerline is valid? [False, False] Translation: X:3.26, Y:0.62, Z:-0.20 [[ 0.99997371 -0.00497336 -0.00527772 3.25569191] [ 0.00492215 0.99994112 -0.0096715 0.61817631] [ 0.00532551 0.00964527 0.9999393 -0.20383431] [ 0. 0. 0. 1. ]] SLAMing on 72.74650248099998 meters 0.1093687443999903 Centerline is valid? [False, False] Translation: X:3.26, Y:0.62, Z:-0.20 [[ 0.99997119 -0.00447671 -0.00612967 3.25777984] [ 0.00441801 0.99994457 -0.00955746 0.6197015 ] [ 0.00617212 0.0095301 0.99993554 -0.20476139] [ 0. 0. 0. 1. ]] SLAMing on 72.80650248099998 meters 0.10931012171936995 Centerline is valid? [False, False] Translation: X:3.26, Y:0.62, Z:-0.20 [[ 0.99996942 -0.00438616 -0.0064739 3.25820152] [ 0.00432304 0.99994329 -0.00973265 0.62041197] [ 0.00651622 0.00970436 0.99993168 -0.20449228] [ 0. 0. 0. 1. ]] SLAMing on 72.86650248099998 meters 0.10933494607396836 Centerline is valid? [False, False] Translation: X:3.26, Y:0.62, Z:-0.20 [[ 0.99997216 -0.00397884 -0.00631259 3.25817449] [ 0.0039218 0.99995161 -0.00902255 0.61822459] [ 0.00634818 0.00899754 0.99993937 -0.20493268] [ 0. 0. 0. 1. ]] SLAMing on 72.92650248099999 meters 0.109086223499777 Centerline is valid? [False, False] Translation: X:3.26, Y:0.62, Z:-0.21 [[ 0.99997012 -0.00357536 -0.00685319 3.25982985] [ 0.0035151 0.99995523 -0.00878532 0.61935153] [ 0.0068843 0.00876097 0.99993792 -0.20597224] [ 0. 0. 0. 1. ]] SLAMing on 72.98650248099999 meters 0.10887452795170058 Centerline is valid? [False, False] Translation: X:3.26, Y:0.61, Z:-0.21 [[ 9.99976651e-01 -2.54692293e-03 -6.34115256e-03 3.26045412e+00] [ 2.50233218e-03 9.99972158e-01 -7.02999475e-03 6.14852657e-01] [ 6.35888086e-03 7.01396294e-03 9.99955183e-01 -2.08219349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04650248099998 meters 0.10905633617786446 Centerline is valid? [False, False] Translation: X:3.26, Y:0.62, Z:-0.21 [[ 9.99971242e-01 -2.71420546e-03 -7.08152137e-03 3.26069942e+00] [ 2.66070706e-03 9.99967935e-01 -7.55316328e-03 6.15922264e-01] [ 7.10179514e-03 7.53410421e-03 9.99946399e-01 -2.06696970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10650248099998 meters 0.10908771018990668 Centerline is valid? [False, False] Translation: X:3.26, Y:0.62, Z:-0.21 [[ 9.99967633e-01 -2.76256716e-03 -7.55650767e-03 3.26113582e+00] [ 2.70275407e-03 9.99965029e-01 -7.91423232e-03 6.16950624e-01] [ 7.57810701e-03 7.89355278e-03 9.99940130e-01 -2.06028911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16650248099998 meters 0.10863977027430366 Centerline is valid? [False, False] Translation: X:3.26, Y:0.62, Z:-0.21 [[ 0.99995031 -0.00638576 -0.00765486 3.2621987 ] [ 0.00629845 0.99991545 -0.01137628 0.61507638] [ 0.00772686 0.0113275 0.99990599 -0.20736556] [ 0. 0. 0. 1. ]] SLAMing on 73.22650248099998 meters 0.10848786992548387 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.21 [[ 9.99956275e-01 -9.21785210e-03 -1.57442723e-03 3.26999034e+00] [ 9.21666097e-03 9.99957235e-01 -7.62133583e-04 6.13469291e-01] [ 1.58138513e-03 7.47589297e-04 9.99998470e-01 -2.11913821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28650248099999 meters 0.10826874368942413 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.21 [[ 9.99960328e-01 -8.77752618e-03 -1.51579237e-03 3.27039098e+00] [ 8.77785024e-03 9.99961452e-01 2.07269536e-04 6.11294589e-01] [ 1.51391463e-03 -2.20566712e-04 9.99998830e-01 -2.12678175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34650248099999 meters 0.1080494267889253 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.21 [[ 9.99920490e-01 -1.25463973e-02 -1.26561217e-03 3.27085235e+00] [ 1.25427197e-02 9.99917209e-01 -2.87304525e-03 6.08654412e-01] [ 1.30155376e-03 2.85694260e-03 9.99995072e-01 -2.13997064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40650248099999 meters 0.10835080771077073 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.21 [[ 9.99916893e-01 -1.28035203e-02 -1.50865140e-03 3.27043542e+00] [ 1.27987222e-02 9.99913137e-01 -3.14818202e-03 6.08932475e-01] [ 1.54882817e-03 3.12861158e-03 9.99993906e-01 -2.12657175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46650248099998 meters 0.10855144496433844 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.21 [[ 9.99922417e-01 -1.24225042e-02 -9.17044519e-04 3.27015334e+00] [ 1.24206255e-02 9.99920807e-01 -2.02662165e-03 6.05746295e-01] [ 9.42147611e-04 2.01507416e-03 9.99997526e-01 -2.13761900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52650248099998 meters 0.10859817488489983 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.21 [[ 9.99924784e-01 -1.22007068e-02 -1.25277833e-03 3.27121677e+00] [ 1.21984342e-02 9.99923966e-01 -1.80591078e-03 6.06297047e-01] [ 1.27471646e-03 1.79049302e-03 9.99997585e-01 -2.14455111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58650248099998 meters 0.10837861151156243 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.22 [[ 9.99927297e-01 -1.19550859e-02 -1.57402479e-03 3.27227098e+00] [ 1.19523261e-02 9.99927035e-01 -1.75124321e-03 6.07056834e-01] [ 1.59484620e-03 1.73230263e-03 9.99997228e-01 -2.15207389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64650248099998 meters 0.1080007565572384 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.22 [[ 9.99928136e-01 -1.18569674e-02 -1.77087542e-03 3.27268719e+00] [ 1.18538885e-02 9.99928228e-01 -1.73910867e-03 6.07205343e-01] [ 1.79136888e-03 1.71799193e-03 9.99996920e-01 -2.15331710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70650248099999 meters 0.10778808451877699 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.21 [[ 9.99968047e-01 -7.74707509e-03 -1.97174882e-03 3.27274732e+00] [ 7.75069270e-03 9.99968282e-01 1.83374455e-03 6.09003152e-01] [ 1.95748013e-03 -1.84896838e-03 9.99996375e-01 -2.14974010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76650248099999 meters 0.10733914396261252 Centerline is valid? [False, False] Translation: X:3.27, Y:0.61, Z:-0.22 [[ 9.99992018e-01 -3.27048106e-03 -2.29536733e-03 3.27387491e+00] [ 3.28377404e-03 9.99977721e-01 5.81154521e-03 6.10990197e-01] [ 2.27630965e-03 -5.81903629e-03 9.99980478e-01 -2.15943735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82650248099998 meters 0.10731805550368224 Centerline is valid? [False, False] Translation: X:3.28, Y:0.62, Z:-0.21 [[ 9.99965169e-01 -7.55648498e-03 -3.54406841e-03 3.27539663e+00] [ 7.55697667e-03 9.99971438e-01 1.25364879e-04 6.15130332e-01] [ 3.54301987e-03 -1.52142955e-04 9.99993712e-01 -2.14930642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88650248099998 meters 0.1072756925032605 Centerline is valid? [False, False] Translation: X:3.28, Y:0.62, Z:-0.22 [[ 9.99966662e-01 -7.23501631e-03 -3.78536902e-03 3.27654647e+00] [ 7.23601938e-03 9.99973788e-01 2.51357065e-04 6.16083697e-01] [ 3.78345123e-03 -2.78739689e-04 9.99992804e-01 -2.16026968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94650248099998 meters 0.10712574444055385 Centerline is valid? [False, False] Translation: X:3.28, Y:0.62, Z:-0.22 [[ 0.9999226 -0.01161427 -0.00446208 3.27720499] [ 0.01159381 0.99992228 -0.00458431 0.61751798] [ 0.00451497 0.00453223 0.99997954 -0.21515916] [ 0. 0. 0. 1. ]] SLAMing on 74.00650248099998 meters 0.10687837364726599 Centerline is valid? [False, False] Translation: X:3.28, Y:0.62, Z:-0.22 [[ 0.99992284 -0.011577 -0.0045052 3.27728106] [ 0.01155656 0.99992292 -0.00453802 0.61742415] [ 0.00455739 0.0044856 0.99997955 -0.2151646 ] [ 0. 0. 0. 1. ]] SLAMing on 74.06650248099999 meters 0.1067808788338461 Centerline is valid? [False, False] Translation: X:3.28, Y:0.62, Z:-0.22 [[ 0.99992441 -0.01140441 -0.0045959 3.27775226] [ 0.0113846 0.99992589 -0.00431372 0.61729673] [ 0.00464476 0.00426107 0.99998013 -0.21563824] [ 0. 0. 0. 1. ]] SLAMing on 74.12650248099999 meters 0.10651319918253621 Centerline is valid? [False, False] Translation: X:3.28, Y:0.62, Z:-0.22 [[ 0.99992536 -0.01148053 -0.00418033 3.27700368] [ 0.01146365 0.99992613 -0.00403956 0.61611885] [ 0.0042264 0.00399133 0.9999831 -0.21549596] [ 0. 0. 0. 1. ]] SLAMing on 74.18650248099998 meters 0.10637012319199189 Centerline is valid? [False, False] Translation: X:3.28, Y:0.61, Z:-0.22 [[ 0.99992785 -0.01138062 -0.00384303 3.27650316] [ 0.01136748 0.99992953 -0.00342404 0.61422245] [ 0.00388172 0.00338011 0.99998675 -0.21561083] [ 0. 0. 0. 1. ]] SLAMing on 74.24650248099998 meters 0.10669225620435546 Centerline is valid? [False, False] Translation: X:3.28, Y:0.61, Z:-0.22 [[ 9.99932649e-01 -1.10244342e-02 -3.62746482e-03 3.27684606e+00] [ 1.10158385e-02 9.99936489e-01 -2.38110740e-03 6.12155607e-01] [ 3.65348479e-03 2.34098746e-03 9.99990586e-01 -2.16724800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30650248099998 meters 0.10676752606572339 Centerline is valid? [False, False] Translation: X:3.28, Y:0.61, Z:-0.22 [[ 9.99940510e-01 -1.04248100e-02 -3.20923987e-03 3.27721262e+00] [ 1.04217090e-02 9.99945211e-01 -9.81462408e-04 6.09044226e-01] [ 3.21929560e-03 9.47958257e-04 9.99994369e-01 -2.18468742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36650248099998 meters 0.10724849028185458 Centerline is valid? [False, False] Translation: X:3.28, Y:0.61, Z:-0.22 [[ 9.99944169e-01 -1.00891602e-02 -3.14124894e-03 3.27768831e+00] [ 1.00883938e-02 9.99949077e-01 -2.59741774e-04 6.07833015e-01] [ 3.14370955e-03 2.28037116e-04 9.99995033e-01 -2.19409128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42650248099999 meters 0.10761399837040282 Centerline is valid? [False, False] Translation: X:3.28, Y:0.61, Z:-0.22 [[ 9.99946020e-01 -9.90208110e-03 -3.14740051e-03 3.27812858e+00] [ 9.90220394e-03 9.99950972e-01 2.34491240e-05 6.07782084e-01] [ 3.14701400e-03 -5.46140600e-05 9.99995047e-01 -2.20048956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48650248099999 meters 0.10805192632202193 Centerline is valid? [False, False] Translation: X:3.29, Y:0.61, Z:-0.22 [[ 0.99997254 -0.00637684 -0.00377641 3.29240882] [ 0.00635061 0.99995591 -0.00691753 0.60894759] [ 0.00382035 0.00689336 0.99996894 -0.21613243] [ 0. 0. 0. 1. ]] SLAMing on 74.54650248099998 meters 0.10829303744665845 Centerline is valid? [False, False] Translation: X:3.29, Y:0.61, Z:-0.22 [[ 0.99997207 -0.00642894 -0.00381135 3.29274445] [ 0.00640178 0.99995432 -0.00709764 0.60997756] [ 0.00385681 0.00707304 0.99996755 -0.21651258] [ 0. 0. 0. 1. ]] SLAMing on 74.60650248099998 meters 0.10823926005823378 Centerline is valid? [False, False] Translation: X:3.29, Y:0.61, Z:-0.22 [[ 0.99997225 -0.00625732 -0.00404305 3.29380618] [ 0.00622863 0.99995562 -0.00706902 0.61091612] [ 0.00408711 0.00704364 0.99996684 -0.21749856] [ 0. 0. 0. 1. ]] SLAMing on 74.66650248099998 meters 0.10843239210811437 Centerline is valid? [False, False] Translation: X:3.29, Y:0.61, Z:-0.22 [[ 9.99989744e-01 -2.10088302e-03 -4.01231623e-03 3.29376736e+00] [ 2.08844867e-03 9.99993012e-01 -3.10072462e-03 6.12042158e-01] [ 4.01880245e-03 3.09231330e-03 9.99987143e-01 -2.17474961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72650248099998 meters 0.10841023142146901 Centerline is valid? [False, False] Translation: X:3.29, Y:0.61, Z:-0.22 [[ 9.99990468e-01 -2.02282860e-03 -3.86945070e-03 3.29360822e+00] [ 2.01119945e-03 9.99993457e-01 -3.00690719e-03 6.11561892e-01] [ 3.87550784e-03 2.99909629e-03 9.99987993e-01 -2.17614278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78650248099999 meters 0.10841239657393995 Centerline is valid? [False, False] Translation: X:3.30, Y:0.61, Z:-0.22 [[ 9.99988102e-01 -1.92062689e-03 -4.48414632e-03 3.29518097e+00] [ 1.90595986e-03 9.99992828e-01 -3.27285042e-03 6.13744023e-01] [ 4.49040008e-03 3.26426488e-03 9.99984590e-01 -2.18277514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84650248099999 meters 0.10840528059370816 Centerline is valid? [False, False] Translation: X:3.31, Y:0.62, Z:-0.22 [[ 9.99989225e-01 3.20923336e-03 -3.35410607e-03 3.30978083e+00] [-3.22853536e-03 9.99978169e-01 -5.76525559e-03 6.16184739e-01] [ 3.33553080e-03 5.77602232e-03 9.99977756e-01 -2.20577050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90650248099999 meters 0.10825506530652824 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:-0.22 [[ 9.99997080e-01 -2.22360952e-03 9.46137897e-04 3.32425826e+00] [ 2.22750120e-03 9.99988981e-01 -4.13225269e-03 6.17979883e-01] [-9.36938955e-04 4.13434815e-03 9.99991015e-01 -2.21216779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96650248099998 meters 0.10858267029207873 Centerline is valid? [False, False] Translation: X:3.32, Y:0.62, Z:-0.22 [[ 9.99996995e-01 -2.39112901e-03 5.40295176e-04 3.32491734e+00] [ 2.39364874e-03 9.99986033e-01 -4.71211575e-03 6.20137342e-01] [-5.29020353e-04 4.71339487e-03 9.99988752e-01 -2.21057552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02650248099998 meters 0.10855939302455629 Centerline is valid? [False, False] Translation: X:3.33, Y:0.62, Z:-0.22 [[ 9.99996674e-01 -2.57538458e-03 1.38372605e-04 3.32552321e+00] [ 2.57607719e-03 9.99982832e-01 -5.26308569e-03 6.22150092e-01] [-1.24815760e-04 5.26342464e-03 9.99986140e-01 -2.20822788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08650248099998 meters 0.10911467279065533 Centerline is valid? [False, False] Translation: X:3.33, Y:0.62, Z:-0.22 [[ 9.99995300e-01 -3.06491590e-03 -7.83623227e-05 3.32509376e+00] [ 3.06437471e-03 9.99976310e-01 -6.16353389e-03 6.23940543e-01] [ 9.72511794e-05 6.16326479e-03 9.99981002e-01 -2.19506098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14650248099998 meters 0.10915872697654508 Centerline is valid? [False, False] Translation: X:3.33, Y:0.63, Z:-0.22 [[ 9.99995156e-01 -3.10115257e-03 -2.64472279e-04 3.32560703e+00] [ 3.09940058e-03 9.99974807e-01 -6.38581074e-03 6.25038072e-01] [ 2.84268990e-04 6.38496011e-03 9.99979576e-01 -2.19737671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20650248099999 meters 0.10881685679162538 Centerline is valid? [False, False] Translation: X:3.33, Y:0.63, Z:-0.22 [[ 9.99996031e-01 -2.70288052e-03 -7.95600554e-04 3.32767557e+00] [ 2.69783984e-03 9.99976704e-01 -6.27000640e-03 6.27050989e-01] [ 8.12529098e-04 6.26783511e-03 9.99980027e-01 -2.21380022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26650248099999 meters 0.10875660348260927 Centerline is valid? [False, False] Translation: X:3.33, Y:0.63, Z:-0.22 [[ 9.99995585e-01 -2.76593875e-03 -1.08584658e-03 3.32825253e+00] [ 2.75859248e-03 9.99973685e-01 -6.70966503e-03 6.28656435e-01] [ 1.10437653e-03 6.70664000e-03 9.99976900e-01 -2.21386294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32650248099998 meters 0.1088718345626431 Centerline is valid? [False, False] Translation: X:3.34, Y:0.63, Z:-0.22 [[ 9.99990706e-01 -3.60757550e-03 2.36096568e-03 3.34280357e+00] [ 3.61048192e-03 9.99992728e-01 -1.22792928e-03 6.32461674e-01] [-2.35651867e-03 1.23644209e-03 9.99996459e-01 -2.19666105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38650248099998 meters 0.10871205976991073 Centerline is valid? [False, False] Translation: X:3.36, Y:0.64, Z:-0.22 [[ 9.99996402e-01 2.43313797e-03 1.12930395e-03 3.35911965e+00] [-2.42826002e-03 9.99987803e-01 -4.30089043e-03 6.35783761e-01] [-1.13975484e-03 4.29813271e-03 9.99990113e-01 -2.19691360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44650248099998 meters 0.1088280368692163 Centerline is valid? [False, False] Translation: X:3.36, Y:0.64, Z:-0.22 [[ 9.99999731e-01 -5.99741276e-04 -4.22209412e-04 3.36251658e+00] [ 5.96271702e-04 9.99966444e-01 -8.17037724e-03 6.40574591e-01] [ 4.27095357e-04 8.17012329e-03 9.99966533e-01 -2.20926340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50650248099998 meters 0.10884135212107315 Centerline is valid? [False, False] Translation: X:3.38, Y:0.64, Z:-0.22 [[ 9.99989930e-01 -3.20912454e-03 3.13707845e-03 3.37718660e+00] [ 3.21838592e-03 9.99990465e-01 -2.95165532e-03 6.42852597e-01] [-3.12757630e-03 2.96172192e-03 9.99990723e-01 -2.21375522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56650248099999 meters 0.10899159155783678 Centerline is valid? [False, False] Translation: X:3.38, Y:0.64, Z:-0.22 [[ 9.99990630e-01 -3.09897399e-03 3.02260467e-03 3.37756589e+00] [ 3.10759371e-03 9.99991107e-01 -2.85123773e-03 6.42855220e-01] [-3.01374188e-03 2.86060404e-03 9.99991367e-01 -2.21614742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62650248099999 meters 0.10921321314497204 Centerline is valid? [False, False] Translation: X:3.38, Y:0.64, Z:-0.22 [[ 9.99989298e-01 -3.33026043e-03 3.21153103e-03 3.37693468e+00] [ 3.33970080e-03 9.99990105e-01 -2.93865395e-03 6.42680115e-01] [-3.20171277e-03 2.94934805e-03 9.99990525e-01 -2.21114092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68650248099998 meters 0.10933436981099327 Centerline is valid? [False, False] Translation: X:3.38, Y:0.65, Z:-0.22 [[ 9.99966897e-01 -7.82641773e-03 2.22537651e-03 3.37800899e+00] [ 7.84418065e-03 9.99936520e-01 -8.08855509e-03 6.45396177e-01] [-2.16193083e-03 8.10574359e-03 9.99964811e-01 -2.19928961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74650248099998 meters 0.10951140970327716 Centerline is valid? [False, False] Translation: X:3.38, Y:0.64, Z:-0.22 [[ 9.99968036e-01 -7.64117745e-03 2.35367920e-03 3.37825859e+00] [ 7.65894767e-03 9.99941516e-01 -7.63583434e-03 6.44585816e-01] [-2.29519478e-03 7.65361697e-03 9.99968077e-01 -2.20609724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80650248099998 meters 0.10973580455567009 Centerline is valid? [False, False] Translation: X:3.38, Y:0.65, Z:-0.22 [[ 9.99967313e-01 -7.82437064e-03 2.03749725e-03 3.37917528e+00] [ 7.84057473e-03 9.99936696e-01 -8.07025239e-03 6.47320323e-01] [-1.97422362e-03 8.08596375e-03 9.99965359e-01 -2.21047685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86650248099998 meters 0.10981271352974324 Centerline is valid? [False, False] Translation: X:3.38, Y:0.65, Z:-0.22 [[ 9.99966246e-01 -8.00209451e-03 1.86385276e-03 3.37945942e+00] [ 8.01760952e-03 9.99931978e-01 -8.47100256e-03 6.48856815e-01] [-1.79594021e-03 8.48566028e-03 9.99962383e-01 -2.20933588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92650248099999 meters 0.10983211973235432 Centerline is valid? [False, False] Translation: X:3.38, Y:0.65, Z:-0.22 [[ 9.99962635e-01 -8.48905422e-03 1.63230283e-03 3.37964987e+00] [ 8.50422456e-03 9.99918491e-01 -9.52305480e-03 6.52253712e-01] [-1.55132805e-03 9.53658044e-03 9.99953322e-01 -2.20465088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98650248099999 meters 0.10969695196759552 Centerline is valid? [False, False] Translation: X:3.39, Y:0.66, Z:-0.22 [[ 9.99995282e-01 1.93427353e-04 3.06563561e-03 3.39277627e+00] [-1.59744828e-04 9.99939666e-01 -1.09835651e-02 6.56649435e-01] [-3.06757517e-03 1.09830236e-02 9.99934979e-01 -2.18179626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04650248099998 meters 0.10939237211457112 Centerline is valid? [False, False] Translation: X:3.41, Y:0.66, Z:-0.22 [[ 9.99991687e-01 -1.30466108e-03 3.86309814e-03 3.41096645e+00] [ 1.32240678e-03 9.99988570e-01 -4.59465813e-03 6.61599665e-01] [-3.85705951e-03 4.59972852e-03 9.99981983e-01 -2.20360969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10650248099998 meters 0.10912284270202428 Centerline is valid? [False, False] Translation: X:3.41, Y:0.67, Z:-0.22 [[ 9.99997825e-01 3.17998181e-04 2.06108815e-03 3.41403017e+00] [-3.07252216e-04 9.99986370e-01 -5.21195516e-03 6.71079024e-01] [-2.06271745e-03 5.21131056e-03 9.99984294e-01 -2.19969447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16650248099998 meters 0.10911131391990876 Centerline is valid? [False, False] Translation: X:3.44, Y:0.68, Z:-0.22 [[ 9.99994565e-01 4.53685790e-04 -3.26566568e-03 3.43891128e+00] [-4.64422316e-04 9.99994488e-01 -3.28769206e-03 6.79737159e-01] [ 3.26415610e-03 3.28919084e-03 9.99989263e-01 -2.16903798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22650248099998 meters 0.10917222040336497 Centerline is valid? [False, False] Translation: X:3.44, Y:0.69, Z:-0.22 [[ 9.99991287e-01 3.87428127e-04 -4.15651492e-03 3.44059508e+00] [-4.04222410e-04 9.99991756e-01 -4.04039315e-03 6.86745100e-01] [ 4.15491529e-03 4.04203810e-03 9.99983199e-01 -2.17301249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28650248099999 meters 0.10952851622222637 Centerline is valid? [False, False] Translation: X:3.45, Y:0.70, Z:-0.22 [[ 9.99992996e-01 2.94849825e-03 2.30517356e-03 3.44998205e+00] [-2.92773915e-03 9.99955594e-01 -8.95753256e-03 6.95488190e-01] [-2.33148246e-03 8.95072088e-03 9.99957223e-01 -2.17874526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34650248099999 meters 0.10965148881909778 Centerline is valid? [False, False] Translation: X:3.46, Y:0.70, Z:-0.22 [[ 0.99996772 -0.00614 0.0051821 3.45631454] [ 0.0061592 0.9999742 -0.00369763 0.70251912] [-0.00515926 0.00372943 0.99997974 -0.21992785] [ 0. 0. 0. 1. ]] SLAMing on 76.40650248099998 meters 0.10978800831062835 Centerline is valid? [False, False] Translation: X:3.46, Y:0.71, Z:-0.22 [[ 0.99996599 -0.00623963 0.00539383 3.45692032] [ 0.00626094 0.99997262 -0.00394365 0.7051354 ] [-0.00536908 0.00397729 0.99997768 -0.22151745] [ 0. 0. 0. 1. ]] SLAMing on 76.46650248099998 meters 0.11019641069583747 Centerline is valid? [False, False] Translation: X:3.46, Y:0.71, Z:-0.22 [[ 9.99982116e-01 -2.50555052e-03 5.43045147e-03 3.45669762e+00] [ 2.51009181e-03 9.99996506e-01 -8.29610833e-04 7.08956978e-01] [-5.42835386e-03 8.43226928e-04 9.99984911e-01 -2.21201271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52650248099998 meters 0.11075742708077622 Centerline is valid? [False, False] Translation: X:3.47, Y:0.71, Z:-0.22 [[ 9.99988950e-01 4.16101126e-03 2.18787283e-03 3.47105904e+00] [-4.15303997e-03 9.99984768e-01 -3.63540604e-03 7.12686629e-01] [-2.20296647e-03 3.62627954e-03 9.99990998e-01 -2.16690053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58650248099998 meters 0.11108220867092881 Centerline is valid? [False, False] Translation: X:3.47, Y:0.72, Z:-0.22 [[ 9.99990714e-01 3.93986256e-03 1.74606334e-03 3.47161758e+00] [-3.93189277e-03 9.99981943e-01 -4.54459827e-03 7.15411881e-01] [-1.76393690e-03 4.53769074e-03 9.99988149e-01 -2.16151191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64650248099998 meters 0.11164072691437821 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.22 [[ 9.99989159e-01 -1.79310064e-03 4.29729888e-03 3.48722652e+00] [ 1.80488322e-03 9.99994619e-01 -2.73954927e-03 7.20319867e-01] [-4.29236346e-03 2.74727569e-03 9.99987014e-01 -2.16832978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70650248099999 meters 0.11204754863420634 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.22 [[ 9.99991537e-01 -1.86574328e-03 3.66679188e-03 3.48780289e+00] [ 1.87787885e-03 9.99992762e-01 -3.30893417e-03 7.21643427e-01] [-3.66059172e-03 3.31579196e-03 9.99987803e-01 -2.15816334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76650248099999 meters 0.11215995166958538 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.22 [[ 9.99991896e-01 -1.78555260e-03 3.60836607e-03 3.48803954e+00] [ 1.79724581e-03 9.99993136e-01 -3.23994200e-03 7.21688262e-01] [-3.60255622e-03 3.24640087e-03 9.99988241e-01 -2.16010935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82650248099998 meters 0.11172215623416257 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.22 [[ 9.99979173e-01 -5.78165580e-03 2.86800325e-03 3.48915730e+00] [ 5.80297080e-03 9.99955185e-01 -7.48020428e-03 7.21403374e-01] [-2.82462676e-03 7.49669143e-03 9.99967910e-01 -2.15569267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88650248099998 meters 0.11158013707886398 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.22 [[ 9.99981152e-01 -5.45469795e-03 2.81809576e-03 3.48949483e+00] [ 5.47388629e-03 9.99961579e-01 -6.84673249e-03 7.19811810e-01] [-2.78064063e-03 6.86202938e-03 9.99972590e-01 -2.16044173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94650248099998 meters 0.11098211029601215 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.22 [[ 9.99980668e-01 -5.29065125e-03 3.26681835e-03 3.48871573e+00] [ 5.31014812e-03 9.99967969e-01 -5.98860235e-03 7.16374564e-01] [-3.23503010e-03 6.00583387e-03 9.99976732e-01 -2.16116718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00650248099998 meters 0.11101863083137276 Centerline is valid? [False, False] Translation: X:3.49, Y:0.71, Z:-0.22 [[ 0.99997837 -0.00546876 0.00365499 3.48731876] [ 0.00548972 0.9999684 -0.00574943 0.71402005] [-0.00362343 0.00576937 0.99997679 -0.21501624] [ 0. 0. 0. 1. ]] SLAMing on 77.06650248099999 meters 0.11086967497204048 Centerline is valid? [False, False] Translation: X:3.49, Y:0.71, Z:-0.21 [[ 0.99997906 -0.00540762 0.00355497 3.48726528] [ 0.00542745 0.99996963 -0.00559383 0.71318049] [-0.00352461 0.00561301 0.99997804 -0.21463602] [ 0. 0. 0. 1. ]] SLAMing on 77.12650248099999 meters 0.11076429442799637 Centerline is valid? [False, False] Translation: X:3.49, Y:0.71, Z:-0.21 [[ 9.99980498e-01 -5.32533617e-03 3.26255054e-03 3.48790153e+00] [ 5.34368507e-03 9.99969809e-01 -5.64143527e-03 7.13793407e-01] [-3.23240950e-03 5.65875929e-03 9.99978765e-01 -2.14723691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18650248099998 meters 0.11089250620781174 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.22 [[ 9.99983868e-01 -5.03704264e-03 2.62543930e-03 3.48944386e+00] [ 5.05229916e-03 9.99970200e-01 -5.83716381e-03 7.15253407e-01] [-2.59595903e-03 5.85033414e-03 9.99979517e-01 -2.15190720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24650248099998 meters 0.11137581149744642 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.21 [[ 9.99986835e-01 -5.03047275e-03 1.01217169e-03 3.49127732e+00] [ 5.03757035e-03 9.99961847e-01 -7.13634298e-03 7.19583630e-01] [-9.76233898e-04 7.14134791e-03 9.99974024e-01 -2.13494480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30650248099998 meters 0.11221597573098516 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.21 [[ 9.99987324e-01 -5.03301781e-03 1.43866152e-04 3.49227667e+00] [ 5.03402202e-03 9.99954211e-01 -8.13844096e-03 7.22212098e-01] [-1.02898647e-04 8.13906203e-03 9.99966872e-01 -2.12376036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36650248099998 meters 0.113454860093476 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.21 [[ 9.99988043e-01 -4.82558608e-03 -7.92692187e-04 3.49349245e+00] [ 4.81851401e-03 9.99950601e-01 -8.69354782e-03 7.23686752e-01] [ 8.34604492e-04 8.68962427e-03 9.99961896e-01 -2.11487392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42650248099999 meters 0.11521688897274007 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.21 [[ 9.99988485e-01 -4.55893967e-03 -1.49831515e-03 3.49439302e+00] [ 4.54540258e-03 9.99949908e-01 -8.91739276e-03 7.24219287e-01] [ 1.53889395e-03 8.91047963e-03 9.99959117e-01 -2.10777288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48650248099999 meters 0.11507599851148564 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.21 [[ 9.99989660e-01 -4.22762606e-03 -1.67535668e-03 3.49487687e+00] [ 4.21327849e-03 9.99955195e-01 -8.47682672e-03 7.23097724e-01] [ 1.71111847e-03 8.46968033e-03 9.99962668e-01 -2.11038352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54650248099998 meters 0.11606568831054562 Centerline is valid? [False, False] Translation: X:3.49, Y:0.72, Z:-0.21 [[ 9.99992018e-01 -3.67335600e-03 -1.57203200e-03 3.49456943e+00] [ 3.66136815e-03 9.99964706e-01 -7.56182526e-03 7.18921143e-01] [ 1.59975379e-03 7.55600911e-03 9.99970173e-01 -2.10751964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60650248099998 meters 0.11552298284695971 Centerline is valid? [False, False] Translation: X:3.50, Y:0.71, Z:-0.21 [[ 9.99973748e-01 -6.97687411e-03 -1.95625544e-03 3.49543035e+00] [ 6.95633189e-03 9.99922571e-01 -1.03179910e-02 7.13846873e-01] [ 2.02809129e-03 1.03041118e-02 9.99944855e-01 -2.10919582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66650248099998 meters 0.11372322083207267 Centerline is valid? [False, False] Translation: X:3.50, Y:0.71, Z:-0.21 [[ 9.99944988e-01 -1.03227786e-02 -1.86026037e-03 3.49574322e+00] [ 1.02980765e-02 9.99864633e-01 -1.28321909e-02 7.07243156e-01] [ 1.99247242e-03 1.28123279e-02 9.99915934e-01 -2.11454586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72650248099998 meters 0.1123768640932955 Centerline is valid? [False, False] Translation: X:3.50, Y:0.70, Z:-0.21 [[ 9.99907957e-01 -1.35064364e-02 -1.28566904e-03 3.49599268e+00] [ 1.34861794e-02 9.99801875e-01 -1.46401313e-02 6.99944664e-01] [ 1.48315032e-03 1.46214450e-02 9.99892001e-01 -2.13344678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78650248099999 meters 0.11139068360987654 Centerline is valid? [False, False] Translation: X:3.49, Y:0.69, Z:-0.21 [[ 9.99903884e-01 -1.38642604e-02 7.09659882e-05 3.49364453e+00] [ 1.38639403e-02 9.99811061e-01 -1.36247193e-02 6.92442841e-01] [ 1.17944076e-04 1.36243936e-02 9.99907177e-01 -2.12998986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84650248099999 meters 0.11062979226321643 Centerline is valid? [False, False] Translation: X:3.49, Y:0.69, Z:-0.21 [[ 9.99908419e-01 -1.34826653e-02 1.17110173e-03 3.49297237e+00] [ 1.34957533e-02 9.99836948e-01 -1.19976038e-02 6.85724225e-01] [-1.00915110e-03 1.20123100e-02 9.99927340e-01 -2.14639761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90650248099998 meters 0.11042686404588416 Centerline is valid? [False, False] Translation: X:3.49, Y:0.68, Z:-0.22 [[ 9.99905408e-01 -1.35812092e-02 2.17395672e-03 3.49157472e+00] [ 1.36048181e-02 9.99844265e-01 -1.12408035e-02 6.83278251e-01] [-2.02095446e-03 1.12693165e-02 9.99934457e-01 -2.15231918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96650248099998 meters 0.11038185916536868 Centerline is valid? [False, False] Translation: X:3.49, Y:0.68, Z:-0.22 [[ 9.99951568e-01 -9.31275260e-03 3.18338029e-03 3.49061254e+00] [ 9.33238978e-03 9.99937166e-01 -6.21049034e-03 6.81500646e-01] [-3.12534351e-03 6.23989810e-03 9.99975648e-01 -2.16641078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02650248099998 meters 0.11048227179437096 Centerline is valid? [False, False] Translation: X:3.50, Y:0.68, Z:-0.21 [[ 9.99992507e-01 1.13399243e-03 3.70126795e-03 3.50226435e+00] [-1.11638032e-03 9.99988062e-01 -4.75700024e-03 6.84109094e-01] [-3.70661817e-03 4.75283257e-03 9.99981836e-01 -2.14500528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08650248099998 meters 0.11054571897807969 Centerline is valid? [False, False] Translation: X:3.50, Y:0.69, Z:-0.21 [[ 9.99995972e-01 1.11256244e-03 2.61106021e-03 3.50333521e+00] [-1.09610485e-03 9.99979579e-01 -6.29601863e-03 6.93191395e-01] [-2.61801161e-03 6.29313127e-03 9.99976771e-01 -2.13334592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14650248099998 meters 0.1107809391458106 Centerline is valid? [False, False] Translation: X:3.51, Y:0.70, Z:-0.21 [[ 0.9999647 -0.00367843 0.00755383 3.51485765] [ 0.00371225 0.99998313 -0.00446861 0.69922292] [-0.00753726 0.0044965 0.99996148 -0.21092243] [ 0. 0. 0. 1. ]] SLAMing on 78.20650248099999 meters 0.11092389417019292 Centerline is valid? [False, False] Translation: X:3.52, Y:0.71, Z:-0.21 [[ 9.99931973e-01 2.41824031e-03 1.14105740e-02 3.52431469e+00] [-2.31521218e-03 9.99956514e-01 -9.03376702e-03 7.05899221e-01] [-1.14319236e-02 9.00673458e-03 9.99894089e-01 -2.06632215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26650248099999 meters 0.11080531752245666 Centerline is valid? [False, False] Translation: X:3.52, Y:0.71, Z:-0.21 [[ 9.99932012e-01 1.58809598e-03 1.15520073e-02 3.52325307e+00] [-1.46592966e-03 9.99942997e-01 -1.05761244e-02 7.09397202e-01] [-1.15681447e-02 1.05584709e-02 9.99877341e-01 -2.05141971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32650248099998 meters 0.1114887689851068 Centerline is valid? [False, False] Translation: X:3.52, Y:0.72, Z:-0.20 [[ 9.99928862e-01 3.14212018e-04 1.19236030e-02 3.52079249e+00] [-1.58821499e-04 9.99915082e-01 -1.30308880e-02 7.16440780e-01] [-1.19266849e-02 1.30280673e-02 9.99844000e-01 -2.01883397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38650248099998 meters 0.11192908892089543 Centerline is valid? [False, False] Translation: X:3.52, Y:0.72, Z:-0.20 [[ 9.99927669e-01 -3.37190652e-04 1.20225777e-02 3.51968566e+00] [ 5.10508554e-04 9.99895955e-01 -1.44158819e-02 7.18974123e-01] [-1.20164659e-02 1.44209768e-02 9.99823804e-01 -2.00099015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44650248099998 meters 0.11305576262876912 Centerline is valid? [False, False] Translation: X:3.52, Y:0.72, Z:-0.20 [[ 9.99917441e-01 -4.04633594e-04 1.28432196e-02 3.51858938e+00] [ 5.91779157e-04 9.99893661e-01 -1.45710919e-02 7.18273811e-01] [-1.28359579e-02 1.45774893e-02 9.99811350e-01 -2.00303837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50650248099998 meters 0.11521833122080646 Centerline is valid? [False, False] Translation: X:3.52, Y:0.72, Z:-0.20 [[ 9.99905435e-01 -3.41293813e-04 1.37478882e-02 3.51693403e+00] [ 5.45024040e-04 9.99890059e-01 -1.48180001e-02 7.15440474e-01] [-1.37413194e-02 1.48240918e-02 9.99795690e-01 -1.99211426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56650248099999 meters 0.11794928797535381 Centerline is valid? [False, False] Translation: X:3.51, Y:0.70, Z:-0.20 [[ 9.99875895e-01 -1.42024109e-05 1.57541763e-02 3.51484277e+00] [ 2.39905156e-04 9.99897367e-01 -1.43247368e-02 7.04741621e-01] [-1.57523560e-02 1.43267385e-02 9.99773278e-01 -2.00015845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62650248099999 meters 0.11728153505371196 Centerline is valid? [False, False] Translation: X:3.52, Y:0.69, Z:-0.20 [[ 9.99866325e-01 -1.63521172e-03 1.62683454e-02 3.51674304e+00] [ 1.87589447e-03 9.99888858e-01 -1.47903014e-02 6.90035828e-01] [-1.62423520e-02 1.48188420e-02 9.99758265e-01 -2.03397884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68650248099998 meters 0.11919067621149776 Centerline is valid? [False, False] Translation: X:3.52, Y:0.67, Z:-0.21 [[ 9.99882905e-01 -4.53162936e-04 1.52961228e-02 3.52441707e+00] [ 6.22709416e-04 9.99938406e-01 -1.10813360e-02 6.68013689e-01] [-1.52901590e-02 1.10895634e-02 9.99821600e-01 -2.12229704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74650248099998 meters 0.1186447951546196 Centerline is valid? [False, False] Translation: X:3.53, Y:0.65, Z:-0.22 [[ 9.99898585e-01 2.65125768e-04 1.42390059e-02 3.53104081e+00] [-1.55739336e-04 9.99970475e-01 -7.68272717e-03 6.45880080e-01] [-1.42406224e-02 7.67973046e-03 9.99869105e-01 -2.19290053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80650248099998 meters 0.1183649295723072 Centerline is valid? [False, False] Translation: X:3.53, Y:0.62, Z:-0.23 [[ 0.99997467 0.00396062 0.00591294 3.53040303] [-0.00389256 0.99992655 -0.0114781 0.62357404] [-0.00595797 0.01145479 0.99991664 -0.22582528] [ 0. 0. 0. 1. ]] SLAMing on 78.86650248099998 meters 0.11634125503566174 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:-0.24 [[ 9.99990057e-01 6.52237401e-04 4.41142696e-03 3.53814708e+00] [-6.03163088e-04 9.99938027e-01 -1.11165592e-02 6.02917844e-01] [-4.41840420e-03 1.11137879e-02 9.99928478e-01 -2.35752332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92650248099999 meters 0.11487835364735399 Centerline is valid? [False, False] Translation: X:3.55, Y:0.58, Z:-0.25 [[ 9.99990035e-01 -3.15137084e-03 3.16195663e-03 3.54562144e+00] [ 3.18675565e-03 9.99931651e-01 -1.12488724e-02 5.82684187e-01] [-3.12629115e-03 1.12588367e-02 9.99931730e-01 -2.45788075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98650248099999 meters 0.11307800072965263 Centerline is valid? [False, False] Translation: X:3.56, Y:0.56, Z:-0.26 [[ 9.99982712e-01 -5.84480934e-03 6.43078969e-04 3.55561025e+00] [ 5.85130335e-03 9.99926614e-01 -1.06079956e-02 5.62872431e-01] [-5.81030064e-04 1.06115750e-02 9.99943527e-01 -2.56418897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04650248099998 meters 0.11056815337318535 Centerline is valid? [False, False] Translation: X:3.57, Y:0.54, Z:-0.27 [[ 9.99952471e-01 -9.38891218e-03 -2.62757564e-03 3.56512441e+00] [ 9.36959838e-03 9.99929686e-01 -7.26866236e-03 5.43256525e-01] [ 2.69563572e-03 7.24369756e-03 9.99970131e-01 -2.71135848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10650248099998 meters 0.10844875620514567 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:-0.29 [[ 0.99993603 -0.00416815 -0.01051514 3.56875657] [ 0.0040986 0.99996965 -0.00662648 0.52507051] [ 0.01054244 0.00658296 0.99992276 -0.28769597] [ 0. 0. 0. 1. ]] SLAMing on 79.16650248099998 meters 0.10631389871068112 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:-0.30 [[ 0.9997596 -0.0080171 -0.02040751 3.57969011] [ 0.00763096 0.9997917 -0.01892944 0.50239542] [ 0.02055502 0.01876916 0.99961253 -0.30288039] [ 0. 0. 0. 1. ]] SLAMing on 79.22650248099998 meters 0.10395055393593776 Centerline is valid? [False, False] Translation: X:3.58, Y:0.48, Z:-0.31 [[ 0.99963275 -0.01707422 -0.02104374 3.58360631] [ 0.01658256 0.99959049 -0.02332114 0.48087957] [ 0.02143331 0.02296361 0.99950652 -0.30887546] [ 0. 0. 0. 1. ]] SLAMing on 79.28650248099999 meters 0.10123588115797352 Centerline is valid? [False, False] Translation: X:3.59, Y:0.46, Z:-0.32 [[ 0.99951569 -0.0233993 -0.02051489 3.58515364] [ 0.02296599 0.99951338 -0.02110868 0.45567759] [ 0.02099883 0.02062731 0.99956669 -0.3166344 ] [ 0. 0. 0. 1. ]] SLAMing on 79.34650248099999 meters 0.09986469579568626 Centerline is valid? [False, True] Translation: X:3.59, Y:0.45, Z:-0.32 [[ 0.99946428 -0.02555208 -0.02045078 3.58745915] [ 0.02514002 0.99948067 -0.02015847 0.44586938] [ 0.02095525 0.01963354 0.99958762 -0.32200279] [ 0. 0. 0. 1. ]] SLAMing on 79.40650248099998 meters 0.09912280134160738 Centerline is valid? [True, True] Translation: X:3.65, Y:0.42, Z:-0.34 [[ 9.99282125e-01 -2.49510853e-02 -2.85075112e-02 3.64986134e+00] [ 2.49165977e-02 9.99688309e-01 -1.56441853e-03 4.17963333e-01] [ 2.85376596e-02 8.52985282e-04 9.99592354e-01 -3.41122220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46650248099998 meters 0.09792218234833754 Centerline is valid? [True, True] Translation: X:3.71, Y:0.39, Z:-0.37 [[ 9.98651940e-01 -2.75270175e-02 -4.40064242e-02 3.71059220e+00] [ 2.74470615e-02 9.99620329e-01 -2.42021623e-03 3.94514716e-01] [ 4.40563376e-02 1.20910660e-03 9.99028317e-01 -3.65897784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52650248099998 meters 0.0964287325429818 Centerline is valid? [True, True] Translation: X:3.77, Y:0.36, Z:-0.39 [[ 9.97738568e-01 -3.76728715e-02 -5.56642180e-02 3.77192646e+00] [ 3.75594809e-02 9.99289640e-01 -3.08218640e-03 3.60286490e-01] [ 5.57407912e-02 9.84497108e-04 9.98444788e-01 -3.86675437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58650248099998 meters 0.09665915964926047 Centerline is valid? [True, True] Translation: X:3.83, Y:0.33, Z:-0.42 [[ 9.97037923e-01 -4.61055511e-02 -6.15601939e-02 3.83235011e+00] [ 4.59820080e-02 9.98936404e-01 -3.42279000e-03 3.25154151e-01] [ 6.16525283e-02 5.81990108e-04 9.98097504e-01 -4.15991508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64650248099998 meters 0.09734486056813729 Centerline is valid? [True, True] Translation: X:3.89, Y:0.29, Z:-0.43 [[ 9.96644284e-01 -4.84851120e-02 -6.59497193e-02 3.89407551e+00] [ 4.83481553e-02 9.98823794e-01 -3.67205336e-03 2.93677560e-01] [ 6.60501888e-02 4.71183724e-04 9.97816191e-01 -4.25174436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70650248099999 meters 0.09779434423354334 Centerline is valid? [True, True] Translation: X:3.95, Y:0.26, Z:-0.38 [[ 9.97104392e-01 -4.79377447e-02 -5.90322243e-02 3.95438997e+00] [ 4.78269301e-02 9.98850221e-01 -3.28947129e-03 2.60332029e-01] [ 5.91220402e-02 4.56616200e-04 9.98250658e-01 -3.82042333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76650248099999 meters 0.09937006665430934 Centerline is valid? [True, True] Translation: X:4.02, Y:0.22, Z:-0.35 [[ 9.97582404e-01 -5.41521709e-02 -4.35533064e-02 4.01670680e+00] [ 5.40977532e-02 9.98532693e-01 -2.42797580e-03 2.19252400e-01] [ 4.36208805e-02 6.59699135e-05 9.99048154e-01 -3.50543921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82650248099998 meters 0.10154823434147606 Centerline is valid? [True, False] Translation: X:4.01, Y:0.19, Z:-0.34 [[ 0.99804925 -0.05349918 -0.03217979 4.01082898] [ 0.05367899 0.99854695 0.00474924 0.18775159] [ 0.03187895 -0.00646735 0.99947081 -0.33639359] [ 0. 0. 0. 1. ]] SLAMing on 79.88650248099998 meters 0.1027732787102649 Centerline is valid? [False, False] Translation: X:4.01, Y:0.16, Z:-0.33 [[ 0.99827189 -0.05409384 -0.02295848 4.01303022] [ 0.05426456 0.9985029 0.00687906 0.16345314] [ 0.022552 -0.00811301 0.99971275 -0.32936336] [ 0. 0. 0. 1. ]] SLAMing on 79.94650248099998 meters 0.10368982796901043 Centerline is valid? [False, False] Translation: X:4.01, Y:0.15, Z:-0.32 [[ 0.99838912 -0.05237076 -0.02182835 4.00878348] [ 0.05265488 0.99853263 0.01265081 0.14906294] [ 0.02113379 -0.0137798 0.99968169 -0.32434265] [ 0. 0. 0. 1. ]] SLAMing on 80.00650248099998 meters 0.1043827805643448 Centerline is valid? [False, False] Translation: X:4.01, Y:0.14, Z:-0.32 [[ 0.99889318 -0.04258393 -0.01997551 4.00729245] [ 0.04273648 0.9990599 0.00727346 0.13780382] [ 0.019647 -0.00811909 0.99977401 -0.32181624] [ 0. 0. 0. 1. ]] SLAMing on 80.06650248099999 meters 0.104758723123669 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:-0.32 [[ 9.99353696e-01 -2.89905781e-02 -2.12540922e-02 4.00856950e+00] [ 2.90577563e-02 9.99573647e-01 2.85866390e-03 1.33281736e-01] [ 2.11621561e-02 -3.47441257e-03 9.99770019e-01 -3.21896416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12650248099999 meters 0.10497941008859038 Centerline is valid? [False, False] Translation: X:4.01, Y:0.13, Z:-0.32 [[ 0.99945992 -0.02442618 -0.02198243 4.00959276] [ 0.02460152 0.99966736 0.00774149 0.13179124] [ 0.02178603 -0.00827811 0.99972838 -0.32201516] [ 0. 0. 0. 1. ]] SLAMing on 80.18650248099998 meters 0.10534179920600477 Centerline is valid? [False, False] Translation: X:4.02, Y:0.13, Z:-0.31 [[ 9.99592347e-01 -1.78374943e-02 -2.22926630e-02 4.01871380e+00] [ 1.78599324e-02 9.99840172e-01 8.07816248e-04 1.30956294e-01] [ 2.22746906e-02 -1.20563239e-03 9.99751161e-01 -3.13431819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24650248099998 meters 0.1057158248787051 Centerline is valid? [False, False] Translation: X:4.02, Y:0.13, Z:-0.31 [[ 9.99838384e-01 -8.67232270e-03 -1.57479015e-02 4.02410051e+00] [ 8.67776017e-03 9.99962309e-01 2.76980961e-04 1.30802453e-01] [ 1.57449059e-02 -4.13592709e-04 9.99875956e-01 -3.11868680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30650248099998 meters 0.10610524171552776 Centerline is valid? [False, False] Translation: X:4.03, Y:0.13, Z:-0.31 [[ 9.99961662e-01 -2.47290538e-03 -8.40000457e-03 4.02883779e+00] [ 2.44608819e-03 9.99991884e-01 -3.20129467e-03 1.32406018e-01] [ 8.40785290e-03 3.18062479e-03 9.99959595e-01 -3.10297501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36650248099998 meters 0.10668990091378446 Centerline is valid? [False, False] Translation: X:4.04, Y:0.13, Z:-0.31 [[ 9.99992805e-01 -1.97362988e-03 -3.23942207e-03 4.04183536e+00] [ 1.96715564e-03 9.99996064e-01 -2.00054987e-03 1.31934351e-01] [ 3.24335766e-03 1.99416302e-03 9.99992752e-01 -3.05404261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42650248099999 meters 0.10724781863584433 Centerline is valid? [False, False] Translation: X:4.04, Y:0.13, Z:-0.30 [[ 9.99993819e-01 1.43272735e-03 -3.21091360e-03 4.04010444e+00] [-1.42921376e-03 9.99998378e-01 1.09629209e-03 1.34133291e-01] [ 3.21247908e-03 -1.09169623e-03 9.99994244e-01 -3.02851960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48650248099999 meters 0.10741426458430346 Centerline is valid? [False, False] Translation: X:4.06, Y:0.14, Z:-0.30 [[ 9.99999615e-01 -1.64022851e-04 8.61537737e-04 4.05588958e+00] [ 1.64342793e-04 9.99999918e-01 -3.71303838e-04 1.38208798e-01] [-8.61476764e-04 3.71445283e-04 9.99999560e-01 -2.99967432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54650248099998 meters 0.1083094289181872 Centerline is valid? [False, False] Translation: X:4.07, Y:0.15, Z:-0.30 [[ 9.99983069e-01 -9.97575336e-04 5.73286279e-03 4.06985914e+00] [ 1.00470721e-03 9.99998725e-01 -1.24128897e-03 1.45754809e-01] [-5.73161720e-03 1.24702780e-03 9.99982797e-01 -2.96157472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60650248099998 meters 0.1103026011796744 Centerline is valid? [False, False] Translation: X:4.07, Y:0.16, Z:-0.29 [[ 9.99980181e-01 -1.21734992e-03 6.17701191e-03 4.06617222e+00] [ 1.23607063e-03 9.99994652e-01 -3.02779536e-03 1.56111255e-01] [-6.17329299e-03 3.03537058e-03 9.99976338e-01 -2.91392081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66650248099998 meters 0.11213984972186339 Centerline is valid? [False, False] Translation: X:4.07, Y:0.17, Z:-0.29 [[ 9.99983583e-01 -1.50788755e-03 5.52803272e-03 4.06765255e+00] [ 1.53431656e-03 9.99987400e-01 -4.77978694e-03 1.67188093e-01] [-5.52075569e-03 4.78819023e-03 9.99973297e-01 -2.91935320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72650248099998 meters 0.11453354253897823 Centerline is valid? [False, False] Translation: X:4.07, Y:0.18, Z:-0.29 [[ 9.99984611e-01 -2.37568283e-04 5.54272291e-03 4.06747932e+00] [ 2.67903194e-04 9.99984988e-01 -5.47282529e-03 1.78462565e-01] [-5.54133954e-03 5.47422598e-03 9.99969663e-01 -2.91346719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78650248099999 meters 0.11381751868396871 Centerline is valid? [False, False] Translation: X:4.07, Y:0.19, Z:-0.29 [[ 9.99985607e-01 1.48598563e-03 5.15533001e-03 4.06789170e+00] [-1.45890090e-03 9.99985136e-01 -5.25352225e-03 1.90513914e-01] [-5.16306004e-03 5.24592552e-03 9.99972911e-01 -2.90638941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84650248099999 meters 0.11405296887181142 Centerline is valid? [False, False] Translation: X:4.07, Y:0.21, Z:-0.28 [[ 9.99917601e-01 2.53046319e-03 1.25852624e-02 4.07476085e+00] [-2.50157344e-03 9.99994201e-01 -2.31073502e-03 2.05664717e-01] [-1.25910366e-02 2.27906166e-03 9.99918132e-01 -2.84761744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90650248099998 meters 0.1127298711888846 Centerline is valid? [False, False] Translation: X:4.08, Y:0.22, Z:-0.29 [[ 9.99914502e-01 4.70602711e-03 1.22000844e-02 4.07602118e+00] [-4.67841135e-03 9.99986432e-01 -2.29112339e-03 2.15054248e-01] [-1.22107010e-02 2.23385049e-03 9.99922951e-01 -2.85407746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96650248099998 meters 0.11116283352250371 Centerline is valid? [False, False] Translation: X:4.08, Y:0.22, Z:-0.29 [[ 9.99899017e-01 9.12850704e-03 1.08915236e-02 4.08025034e+00] [-9.12781912e-03 9.99958334e-01 -1.12869195e-04 2.24733355e-01] [-1.08921001e-02 1.34419399e-05 9.99940679e-01 -2.88897220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02650248099998 meters 0.1092448134537183 Centerline is valid? [False, False] Translation: X:4.10, Y:0.24, Z:-0.29 [[ 0.99988855 0.01387354 0.00551485 4.09631426] [-0.01392667 0.99985582 0.00971577 0.23861664] [-0.00537926 -0.0097915 0.99993759 -0.29296519] [ 0. 0. 0. 1. ]] SLAMing on 81.08650248099998 meters 0.10807594779877502 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:-0.30 [[ 9.99967394e-01 7.86742975e-03 -1.82062180e-03 4.11247494e+00] [-7.85531966e-03 9.99947591e-01 6.56583187e-03 2.52640854e-01] [ 1.87218260e-03 -6.55131621e-03 9.99976787e-01 -2.96093581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14650248099998 meters 0.10878784452500145 Centerline is valid? [False, False] Translation: X:4.13, Y:0.27, Z:-0.30 [[ 9.99995112e-01 3.97988949e-04 3.10109331e-03 4.12519089e+00] [-3.93495187e-04 9.99998872e-01 -1.44956490e-03 2.73876143e-01] [-3.10166672e-03 1.44833755e-03 9.99994141e-01 -2.95040773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20650248099999 meters 0.10965940800932743 Centerline is valid? [False, False] Translation: X:4.14, Y:0.29, Z:-0.29 [[ 9.99987458e-01 -4.76804515e-03 -1.53302814e-03 4.13704070e+00] [ 4.76600351e-03 9.99987755e-01 -1.33267316e-03 2.93394487e-01] [ 1.53936361e-03 1.32535003e-03 9.99997937e-01 -2.89795616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26650248099997 meters 0.10958271959295077 Centerline is valid? [False, False] Translation: X:4.15, Y:0.30, Z:-0.29 [[ 9.99999424e-01 1.03208178e-03 -2.96260421e-04 4.14629588e+00] [-1.03366014e-03 9.99985005e-01 -5.37783086e-03 2.96572621e-01] [ 2.90705617e-04 5.37813400e-03 9.99985495e-01 -2.88216374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32650248099998 meters 0.10986275174924284 Centerline is valid? [False, False] Translation: X:4.15, Y:0.31, Z:-0.29 [[ 9.99997323e-01 2.24894909e-03 -5.44464240e-04 4.14610790e+00] [-2.25306398e-03 9.99967979e-01 -7.67888010e-03 3.12006281e-01] [ 5.27177395e-04 7.68008625e-03 9.99970369e-01 -2.85932155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38650248099998 meters 0.10914620213330527 Centerline is valid? [False, False] Translation: X:4.16, Y:0.33, Z:-0.28 [[ 9.99979308e-01 -1.09889503e-03 -6.33848326e-03 4.15882789e+00] [ 1.06145828e-03 9.99981992e-01 -5.90660739e-03 3.27778708e-01] [ 6.34485986e-03 5.89975713e-03 9.99962467e-01 -2.84580604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44650248099998 meters 0.10968223739926823 Centerline is valid? [False, False] Translation: X:4.17, Y:0.34, Z:-0.28 [[ 9.99997409e-01 -2.04335059e-03 -1.00315907e-03 4.17294428e+00] [ 2.03959555e-03 9.99990963e-01 -3.73008080e-03 3.36249531e-01] [ 1.01077187e-03 3.72802510e-03 9.99992540e-01 -2.83486480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50650248099998 meters 0.10941668424565218 Centerline is valid? [False, False] Translation: X:4.17, Y:0.34, Z:-0.28 [[ 9.99994867e-01 -2.66210616e-03 -1.78284255e-03 4.17470421e+00] [ 2.65291412e-03 9.99983279e-01 -5.13850279e-03 3.43094312e-01] [ 1.79649198e-03 5.13374669e-03 9.99985209e-01 -2.84052533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56650248099999 meters 0.11004946613343736 Centerline is valid? [False, False] Translation: X:4.19, Y:0.35, Z:-0.28 [[ 9.99988305e-01 -3.31843253e-03 3.51821330e-03 4.18787426e+00] [ 3.32758000e-03 9.99991090e-01 -2.59737411e-03 3.50713713e-01] [-3.50956274e-03 2.60905087e-03 9.99990438e-01 -2.81501513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62650248099999 meters 0.10934635644819801 Centerline is valid? [False, False] Translation: X:4.19, Y:0.36, Z:-0.28 [[ 9.99993997e-01 -2.50996868e-03 2.38866029e-03 4.19111543e+00] [ 2.51713874e-03 9.99992322e-01 -3.00344977e-03 3.57918512e-01] [-2.38110338e-03 3.00944433e-03 9.99992637e-01 -2.83705963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68650248099998 meters 0.10845363875833601 Centerline is valid? [False, False] Translation: X:4.19, Y:0.37, Z:-0.29 [[ 9.99997821e-01 3.92112852e-04 2.05028422e-03 4.19270766e+00] [-3.88990392e-04 9.99998764e-01 -1.52311701e-03 3.65555714e-01] [-2.05087892e-03 1.52231615e-03 9.99996738e-01 -2.85070939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74650248099998 meters 0.10754450371189378 Centerline is valid? [False, False] Translation: X:4.19, Y:0.37, Z:-0.28 [[ 9.99992840e-01 3.20851364e-03 2.00621889e-03 4.19195861e+00] [-3.20785681e-03 9.99994800e-01 -3.30529436e-04 3.72781400e-01] [-2.00726897e-03 3.24091407e-04 9.99997933e-01 -2.83633059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80650248099998 meters 0.10633470879092195 Centerline is valid? [False, False] Translation: X:4.19, Y:0.38, Z:-0.29 [[ 9.99975829e-01 6.80279746e-03 1.43650801e-03 4.19382821e+00] [-6.80557910e-03 9.99974959e-01 1.94045725e-03 3.78925269e-01] [-1.42327150e-03 -1.95018662e-03 9.99997086e-01 -2.85049130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86650248099998 meters 0.10562280930448419 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:-0.28 [[ 9.99999661e-01 6.03623966e-04 5.59602425e-04 4.20232808e+00] [-6.07584458e-04 9.99974579e-01 7.10438406e-03 3.87705614e-01] [-5.55299823e-04 -7.10472166e-03 9.99974607e-01 -2.83720268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92650248099999 meters 0.10565404084103361 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:-0.28 [[ 9.99991336e-01 -4.15357106e-03 2.76077075e-04 4.20283927e+00] [ 4.15326935e-03 9.99990787e-01 1.08455999e-03 3.92065222e-01] [-2.80579329e-04 -1.08340397e-03 9.99999374e-01 -2.83871596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98650248099999 meters 0.10546909916986064 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:-0.28 [[ 9.99988885e-01 -4.71246196e-03 -1.52232719e-04 4.20322420e+00] [ 4.71239343e-03 9.99988797e-01 -4.47415130e-04 3.96317326e-01] [ 1.54339440e-04 4.46692776e-04 9.99999888e-01 -2.83452361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04650248099998 meters 0.10516524432012042 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:-0.28 [[ 9.99989940e-01 -4.47818042e-03 -2.57675386e-04 4.20394380e+00] [ 4.47812967e-03 9.99989954e-01 -1.97176525e-04 3.96316243e-01] [ 2.58555789e-04 1.96020637e-04 9.99999947e-01 -2.84192959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10650248099998 meters 0.10538813113361671 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.29 [[ 9.99965368e-01 -8.30397203e-03 -5.54633990e-04 4.20522118e+00] [ 8.30173703e-03 9.99957867e-01 -3.91724307e-03 3.95905683e-01] [ 5.87139299e-04 3.91250298e-03 9.99992174e-01 -2.85255630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16650248099998 meters 0.1063192519809617 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:-0.28 [[ 9.99965810e-01 -8.25701267e-03 -4.47598492e-04 4.20470666e+00] [ 8.25544696e-03 9.99960164e-01 -3.39375846e-03 3.94276683e-01] [ 4.75602968e-04 3.38994730e-03 9.99994141e-01 -2.84643213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22650248099998 meters 0.10696991881326526 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:-0.28 [[ 9.99989483e-01 -4.56414605e-03 -4.49418587e-04 4.20433656e+00] [ 4.56416151e-03 9.99989584e-01 3.33687787e-05 3.96130003e-01] [ 4.49261606e-04 -3.54196468e-05 9.99999898e-01 -2.83951834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28650248099999 meters 0.10738123477742685 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.28 [[ 9.99958427e-01 -9.08449780e-03 -7.84698895e-04 4.20562711e+00] [ 9.08022238e-03 9.99944780e-01 -5.29026062e-03 3.99790649e-01] [ 8.32714924e-04 5.28291545e-03 9.99985699e-01 -2.84936533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34650248099999 meters 0.1080758157053675 Centerline is valid? [False, False] Translation: X:4.21, Y:0.41, Z:-0.29 [[ 9.99964485e-01 -8.21118436e-03 -1.89892163e-03 4.20868418e+00] [ 8.20145493e-03 9.99953485e-01 -5.07591230e-03 4.05274129e-01] [ 1.94051255e-03 5.06015810e-03 9.99985314e-01 -2.86798521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40650248099998 meters 0.10770732916621802 Centerline is valid? [False, False] Translation: X:4.21, Y:0.41, Z:-0.29 [[ 9.99973502e-01 -6.40795095e-03 -3.45447992e-03 4.21390677e+00] [ 6.39536330e-03 9.99972915e-01 -3.64267606e-03 4.09383170e-01] [ 3.47772845e-03 3.62048688e-03 9.99987399e-01 -2.91034020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46650248099998 meters 0.10728192037622383 Centerline is valid? [False, False] Translation: X:4.21, Y:0.41, Z:-0.29 [[ 9.99990046e-01 -2.52383448e-03 -3.67940499e-03 4.21441281e+00] [ 2.52219086e-03 9.99996717e-01 -4.51278382e-04 4.12665379e-01] [ 3.68053186e-03 4.41993728e-04 9.99993129e-01 -2.91199805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52650248099998 meters 0.10696327924048793 Centerline is valid? [False, False] Translation: X:4.22, Y:0.42, Z:-0.29 [[ 9.99987453e-01 -1.20274948e-03 -4.86276480e-03 4.21668497e+00] [ 1.20231679e-03 9.99999273e-01 -9.19019831e-05 4.18649474e-01] [ 4.86287180e-03 8.60542463e-05 9.99988172e-01 -2.91812270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58650248099998 meters 0.10777876962433058 Centerline is valid? [False, False] Translation: X:4.23, Y:0.43, Z:-0.29 [[ 9.99994262e-01 1.92641307e-03 2.78650231e-03 4.22559116e+00] [-1.91432933e-03 9.99988781e-01 -4.33271315e-03 4.26601092e-01] [-2.79481764e-03 4.32735401e-03 9.99986731e-01 -2.94897682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64650248099998 meters 0.1086367514650143 Centerline is valid? [False, False] Translation: X:4.24, Y:0.43, Z:-0.30 [[ 9.99983677e-01 -2.17249652e-03 5.28458690e-03 4.24434741e+00] [ 2.18495349e-03 9.99994846e-01 -2.35259638e-03 4.29054925e-01] [-5.27944865e-03 2.36410456e-03 9.99983269e-01 -2.97491656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70650248099999 meters 0.10985923707815062 Centerline is valid? [False, False] Translation: X:4.24, Y:0.43, Z:-0.30 [[ 9.99982727e-01 -2.50153070e-03 5.31873718e-03 4.24416466e+00] [ 2.51665152e-03 9.99992806e-01 -2.83814486e-03 4.30194702e-01] [-5.31159921e-03 2.85148124e-03 9.99981828e-01 -2.97172941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76650248099997 meters 0.11023892382402202 Centerline is valid? [False, False] Translation: X:4.25, Y:0.43, Z:-0.30 [[ 9.99986315e-01 -2.52344711e-03 4.58275539e-03 4.24594966e+00] [ 2.53767751e-03 9.99991969e-01 -3.10205070e-03 4.32887582e-01] [-4.57489073e-03 3.11363781e-03 9.99984688e-01 -2.97853013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82650248099998 meters 0.11077789453762882 Centerline is valid? [False, False] Translation: X:4.25, Y:0.43, Z:-0.30 [[ 9.99986548e-01 -2.62168128e-03 4.47557332e-03 4.24638700e+00] [ 2.63697116e-03 9.99990696e-01 -3.41381871e-03 4.34059485e-01] [-4.46658174e-03 3.42557475e-03 9.99984157e-01 -2.98140279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88650248099998 meters 0.11040578879831385 Centerline is valid? [False, False] Translation: X:4.25, Y:0.44, Z:-0.30 [[ 9.99989122e-01 -2.83243695e-03 3.70584357e-03 4.24802076e+00] [ 2.84862387e-03 9.99986394e-01 -4.36998290e-03 4.38119830e-01] [-3.69341545e-03 4.38049192e-03 9.99983585e-01 -2.98604928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94650248099998 meters 0.10880906527462632 Centerline is valid? [False, False] Translation: X:4.25, Y:0.45, Z:-0.30 [[ 9.99997413e-01 -9.24737092e-04 2.07815525e-03 4.25188690e+00] [ 9.33401422e-04 9.99990861e-01 -4.17214588e-03 4.45500011e-01] [-2.07427812e-03 4.17407484e-03 9.99989137e-01 -3.00654407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00650248099998 meters 0.10725347086839522 Centerline is valid? [False, False] Translation: X:4.26, Y:0.45, Z:-0.30 [[ 9.99968691e-01 7.79507264e-03 1.36127768e-03 4.26466570e+00] [-7.78521095e-03 9.99944450e-01 -7.10539821e-03 4.52700031e-01] [-1.41658916e-03 7.09457791e-03 9.99973830e-01 -2.96924167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06650248099999 meters 0.10694975287285938 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:-0.29 [[ 9.99999328e-01 5.31813243e-04 -1.03020513e-03 4.27301492e+00] [-5.34756955e-04 9.99995769e-01 -2.85923814e-03 4.61507148e-01] [ 1.02868019e-03 2.85978713e-03 9.99995382e-01 -2.94194480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12650248099999 meters 0.10680049320123977 Centerline is valid? [False, False] Translation: X:4.27, Y:0.47, Z:-0.29 [[ 9.99990013e-01 4.23078718e-03 -1.44045407e-03 4.27325724e+00] [-4.23068607e-03 9.99991048e-01 7.32365402e-05 4.65164147e-01] [ 1.44075102e-03 -6.71416998e-05 9.99998960e-01 -2.93391598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18650248099998 meters 0.10669896608375462 Centerline is valid? [False, False] Translation: X:4.27, Y:0.47, Z:-0.29 [[ 9.99996949e-01 -1.07770758e-04 -2.46768305e-03 4.27462679e+00] [ 9.51961848e-05 9.99987015e-01 -5.09525094e-03 4.68596436e-01] [ 2.46820012e-03 5.09500049e-03 9.99983974e-01 -2.92912197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24650248099998 meters 0.10681865967809825 Centerline is valid? [False, False] Translation: X:4.28, Y:0.47, Z:-0.29 [[ 9.99995443e-01 -3.16871712e-04 -3.00212482e-03 4.27532480e+00] [ 2.99380937e-04 9.99982991e-01 -5.82479109e-03 4.70828498e-01] [ 3.00391947e-03 5.82386577e-03 9.99978529e-01 -2.92568750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30650248099998 meters 0.10682709171257679 Centerline is valid? [False, False] Translation: X:4.28, Y:0.47, Z:-0.29 [[ 9.99995373e-01 -3.68020082e-04 -3.01966731e-03 4.27576034e+00] [ 3.49528420e-04 9.99981199e-01 -6.12198575e-03 4.71892659e-01] [ 3.02186355e-03 6.12090197e-03 9.99976701e-01 -2.93165276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36650248099998 meters 0.10690366701767755 Centerline is valid? [False, False] Translation: X:4.28, Y:0.47, Z:-0.29 [[ 9.99993930e-01 -3.91669941e-04 -3.46209507e-03 4.27661895e+00] [ 3.69660126e-04 9.99979734e-01 -6.35572415e-03 4.73117242e-01] [ 3.46451425e-03 6.35440577e-03 9.99973809e-01 -2.93233162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42650248099999 meters 0.10676112981580996 Centerline is valid? [False, False] Translation: X:4.29, Y:0.47, Z:-0.29 [[ 9.99994766e-01 -3.21964076e-03 -3.17853218e-04 4.29353484e+00] [ 3.21889324e-03 9.99992117e-01 -2.32490875e-03 4.73622389e-01] [ 3.25336084e-04 2.32387345e-03 9.99997247e-01 -2.94918160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48650248099999 meters 0.10681254406524784 Centerline is valid? [False, False] Translation: X:4.29, Y:0.47, Z:-0.30 [[ 9.99995887e-01 -2.83651705e-03 -4.24161772e-04 4.29418802e+00] [ 2.83578457e-03 9.99994504e-01 -1.71762451e-03 4.72397652e-01] [ 4.29031512e-04 1.71641462e-03 9.99998435e-01 -2.95625683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54650248099998 meters 0.1067519881639314 Centerline is valid? [False, False] Translation: X:4.30, Y:0.47, Z:-0.30 [[ 9.99995316e-01 -2.90327135e-03 -9.69392385e-04 4.29503133e+00] [ 2.90134800e-03 9.99993832e-01 -1.97962897e-03 4.73962484e-01] [ 9.75133806e-04 1.97680715e-03 9.99997571e-01 -2.95407179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60650248099998 meters 0.10715180746439734 Centerline is valid? [False, False] Translation: X:4.30, Y:0.47, Z:-0.30 [[ 9.99974132e-01 -7.10666075e-03 -1.10917869e-03 4.29544330e+00] [ 7.09966919e-03 9.99955670e-01 -6.18490939e-03 4.73828019e-01] [ 1.15308357e-03 6.17687460e-03 9.99980258e-01 -2.95572588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66650248099998 meters 0.10711604845541202 Centerline is valid? [False, False] Translation: X:4.30, Y:0.48, Z:-0.30 [[ 9.99973659e-01 -7.13706604e-03 -1.32027100e-03 4.29638057e+00] [ 7.12826268e-03 9.99953099e-01 -6.55652117e-03 4.75665030e-01] [ 1.36700340e-03 6.54693722e-03 9.99977634e-01 -2.96369787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72650248099998 meters 0.10718515544211574 Centerline is valid? [False, False] Translation: X:4.30, Y:0.48, Z:-0.30 [[ 9.99994466e-01 -2.95947785e-03 -1.51954699e-03 4.29714614e+00] [ 2.95523743e-03 9.99991754e-01 -2.78528655e-03 4.78019560e-01] [ 1.52777746e-03 2.78078051e-03 9.99994967e-01 -2.96914864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78650248099999 meters 0.10721491900989068 Centerline is valid? [False, False] Translation: X:4.31, Y:0.48, Z:-0.30 [[ 9.99996027e-01 1.40795539e-03 -2.44220021e-03 4.31064182e+00] [-1.42597098e-03 9.99971671e-01 -7.39080047e-03 4.78355058e-01] [ 2.43172511e-03 7.39425361e-03 9.99969705e-01 -2.95649657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84650248099999 meters 0.10725633232411569 Centerline is valid? [False, False] Translation: X:4.32, Y:0.48, Z:-0.30 [[ 9.99989552e-01 -2.07130409e-03 4.07496428e-03 4.31969472e+00] [ 2.07135807e-03 9.99997855e-01 -9.02641624e-06 4.81089457e-01] [-4.07493684e-03 1.74670321e-05 9.99991697e-01 -2.99168834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90650248099998 meters 0.10728009469806776 Centerline is valid? [False, False] Translation: X:4.32, Y:0.48, Z:-0.30 [[ 9.99991892e-01 -2.13358098e-03 3.41536828e-03 4.32100220e+00] [ 2.13655304e-03 9.99997342e-01 -8.66787844e-04 4.84652229e-01] [-3.41350984e-03 8.74077931e-04 9.99993792e-01 -2.99407270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96650248099998 meters 0.10732412521221951 Centerline is valid? [False, False] Translation: X:4.32, Y:0.49, Z:-0.30 [[ 9.99977010e-01 -6.11958756e-03 2.92067038e-03 4.32247786e+00] [ 6.13551127e-03 9.99966191e-01 -5.47461457e-03 4.86830247e-01] [-2.88706926e-03 5.49240851e-03 9.99980749e-01 -3.00365754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02650248099998 meters 0.10738711460981738 Centerline is valid? [False, False] Translation: X:4.32, Y:0.49, Z:-0.30 [[ 9.99994051e-01 -1.91199750e-03 2.87097733e-03 4.32277079e+00] [ 1.91585062e-03 9.99997267e-01 -1.33994375e-03 4.87997911e-01] [-2.86840751e-03 1.34543614e-03 9.99994981e-01 -3.00624150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08650248099998 meters 0.10733527332708268 Centerline is valid? [False, False] Translation: X:4.32, Y:0.49, Z:-0.30 [[ 9.99981575e-01 -5.67733807e-03 2.14874964e-03 4.32490274e+00] [ 5.68907307e-03 9.99968718e-01 -5.49518731e-03 4.89514999e-01] [-2.11748439e-03 5.50731046e-03 9.99982593e-01 -3.01903743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14650248099998 meters 0.10750490429150204 Centerline is valid? [False, False] Translation: X:4.33, Y:0.49, Z:-0.30 [[ 9.99983056e-01 -5.45927978e-03 2.02082978e-03 4.32537437e+00] [ 5.46973603e-03 9.99971493e-01 -5.20538822e-03 4.88974179e-01] [-1.99235450e-03 5.21635343e-03 9.99984410e-01 -3.02287756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20650248099999 meters 0.10745068930317464 Centerline is valid? [False, False] Translation: X:4.33, Y:0.49, Z:-0.30 [[ 9.99997743e-01 -1.24787961e-03 1.71962503e-03 4.32598502e+00] [ 1.25007321e-03 9.99998406e-01 -1.27514065e-03 4.90461543e-01] [-1.71803107e-03 1.27728743e-03 9.99997708e-01 -3.02415395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26650248099997 meters 0.10755297169657212 Centerline is valid? [False, False] Translation: X:4.33, Y:0.49, Z:-0.30 [[ 9.99998912e-01 -9.47257579e-04 1.13048526e-03 4.32740867e+00] [ 9.48917565e-04 9.99998471e-01 -1.46875117e-03 4.91973504e-01] [-1.12909225e-03 1.46982231e-03 9.99998282e-01 -3.03116144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32650248099998 meters 0.10811282666196484 Centerline is valid? [False, False] Translation: X:4.33, Y:0.49, Z:-0.30 [[ 9.99999284e-01 -1.07862522e-03 5.18632991e-04 4.32777815e+00] [ 1.07989510e-03 9.99996405e-01 -2.45450061e-03 4.94503809e-01] [-5.15983640e-04 2.45505892e-03 9.99996853e-01 -3.02062182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38650248099998 meters 0.10861925108847056 Centerline is valid? [False, False] Translation: X:4.34, Y:0.49, Z:-0.30 [[ 9.99995305e-01 3.05073741e-03 -2.89211660e-04 4.34207645e+00] [-3.05267310e-03 9.99971209e-01 -6.94712152e-03 4.92390451e-01] [ 2.68009490e-04 6.94797177e-03 9.99975827e-01 -3.00644389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44650248099998 meters 0.10834493334787272 Centerline is valid? [False, False] Translation: X:4.36, Y:0.49, Z:-0.30 [[ 9.99983917e-01 -3.59571811e-03 4.38594852e-03 4.35595252e+00] [ 3.61617535e-03 9.99982579e-01 -4.66529067e-03 4.87463949e-01] [-4.36909704e-03 4.68107600e-03 9.99979499e-01 -3.02692979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50650248099998 meters 0.10833649146128 Centerline is valid? [False, False] Translation: X:4.36, Y:0.49, Z:-0.30 [[ 9.99983221e-01 -3.64767258e-03 4.50031677e-03 4.35554895e+00] [ 3.66713275e-03 9.99983929e-01 -4.32353232e-03 4.86118428e-01] [-4.48447362e-03 4.33996303e-03 9.99980527e-01 -3.02317808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56650248099999 meters 0.10795280136129017 Centerline is valid? [False, False] Translation: X:4.36, Y:0.49, Z:-0.30 [[ 9.99967923e-01 -7.00975382e-03 3.87512635e-03 4.35796358e+00] [ 7.03896970e-03 9.99946513e-01 -7.57782161e-03 4.85225019e-01] [-3.82180042e-03 7.60485543e-03 9.99963779e-01 -3.04343843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62650248099997 meters 0.10810561290131634 Centerline is valid? [False, False] Translation: X:4.36, Y:0.49, Z:-0.30 [[ 9.99970573e-01 -6.78771496e-03 3.57501113e-03 4.35877166e+00] [ 6.81451903e-03 9.99948357e-01 -7.53957763e-03 4.85622574e-01] [-3.52365001e-03 7.56371774e-03 9.99965186e-01 -3.04821000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68650248099998 meters 0.10855314526837898 Centerline is valid? [False, False] Translation: X:4.36, Y:0.49, Z:-0.31 [[ 9.99993822e-01 -2.21282606e-03 2.73121575e-03 4.36046303e+00] [ 2.22287068e-03 9.99990758e-01 -3.68017180e-03 4.87999002e-01] [-2.72304693e-03 3.68622020e-03 9.99989498e-01 -3.05259269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74650248099998 meters 0.10919171423772024 Centerline is valid? [False, False] Translation: X:4.36, Y:0.49, Z:-0.30 [[ 9.99994355e-01 -2.44895714e-03 2.30068325e-03 4.36037578e+00] [ 2.45898939e-03 9.99987437e-01 -4.36789084e-03 4.89387517e-01] [-2.28995757e-03 4.37352354e-03 9.99987814e-01 -3.03967349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80650248099998 meters 0.10904385820174498 Centerline is valid? [False, False] Translation: X:4.36, Y:0.49, Z:-0.30 [[ 9.99978691e-01 -6.28487967e-03 1.76549887e-03 4.36178144e+00] [ 6.29937264e-03 9.99945488e-01 -8.32701925e-03 4.89277462e-01] [-1.71306831e-03 8.33796335e-03 9.99963771e-01 -3.04714785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86650248099998 meters 0.10869930503170265 Centerline is valid? [False, False] Translation: X:4.36, Y:0.49, Z:-0.30 [[ 9.99979231e-01 -6.27480977e-03 1.47096328e-03 4.36166651e+00] [ 6.28644096e-03 9.99947913e-01 -8.04062521e-03 4.88378477e-01] [-1.42043327e-03 8.04970534e-03 9.99966592e-01 -3.03742100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92650248099999 meters 0.10828009925464101 Centerline is valid? [False, False] Translation: X:4.36, Y:0.48, Z:-0.30 [[ 9.99950015e-01 -9.85634443e-03 1.67938256e-03 4.36186019e+00] [ 9.87364984e-03 9.99894769e-01 -1.06283516e-02 4.83698441e-01] [-1.57444914e-03 1.06444020e-02 9.99942107e-01 -3.04575200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98650248099999 meters 0.10798719150645963 Centerline is valid? [False, False] Translation: X:4.36, Y:0.48, Z:-0.31 [[ 9.99956928e-01 -9.06438209e-03 1.99487475e-03 4.36227170e+00] [ 9.08096667e-03 9.99922913e-01 -8.46779056e-03 4.78659198e-01] [-1.91796568e-03 8.48554123e-03 9.99962158e-01 -3.06316264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04650248099998 meters 0.10790235591861416 Centerline is valid? [False, False] Translation: X:4.36, Y:0.48, Z:-0.31 [[ 9.99959425e-01 -8.79960578e-03 1.92749027e-03 4.36219640e+00] [ 8.81410233e-03 9.99931921e-01 -7.64620593e-03 4.76325065e-01] [-1.86007545e-03 7.66288478e-03 9.99968910e-01 -3.06019908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10650248099998 meters 0.10786618837645098 Centerline is valid? [False, False] Translation: X:4.36, Y:0.48, Z:-0.31 [[ 9.99961965e-01 -8.55800427e-03 1.68223519e-03 4.36287252e+00] [ 8.57018661e-03 9.99936093e-01 -7.37309837e-03 4.76087404e-01] [-1.61902867e-03 7.38723500e-03 9.99971403e-01 -3.06390971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16650248099998 meters 0.10778562717819141 Centerline is valid? [False, False] Translation: X:4.36, Y:0.47, Z:-0.31 [[ 9.99965171e-01 -8.19091251e-03 1.60205352e-03 4.36319617e+00] [ 8.20181173e-03 9.99942425e-01 -6.91933959e-03 4.74794258e-01] [-1.54528558e-03 6.93223833e-03 9.99974778e-01 -3.06731199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22650248099998 meters 0.10784166087997268 Centerline is valid? [False, False] Translation: X:4.36, Y:0.48, Z:-0.31 [[ 9.99991631e-01 -3.84555466e-03 1.39627883e-03 4.36348575e+00] [ 3.84921145e-03 9.99989144e-01 -2.62578260e-03 4.75115074e-01] [-1.38616608e-03 2.63113519e-03 9.99995578e-01 -3.06645898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28650248099999 meters 0.10764532476916074 Centerline is valid? [False, False] Translation: X:4.36, Y:0.48, Z:-0.31 [[ 9.99993458e-01 -3.48910017e-03 9.54319114e-04 4.36445742e+00] [ 3.49153714e-03 9.99990618e-01 -2.56398862e-03 4.75802708e-01] [-9.45364147e-04 2.56730388e-03 9.99996258e-01 -3.06993519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34650248099999 meters 0.10775673423871278 Centerline is valid? [False, False] Translation: X:4.36, Y:0.47, Z:-0.31 [[ 9.99994404e-01 -3.23980191e-03 8.33618748e-04 4.36474443e+00] [ 3.24162875e-03 9.99992327e-01 -2.19951917e-03 4.74867539e-01] [-8.26486345e-04 2.20220914e-03 9.99997234e-01 -3.07129402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40650248099998 meters 0.10703514189974243 Centerline is valid? [False, False] Translation: X:4.37, Y:0.47, Z:-0.31 [[ 9.99996688e-01 -2.53357306e-03 4.52367541e-04 4.36645746e+00] [ 2.53415629e-03 9.99995953e-01 -1.29339450e-03 4.74074714e-01] [-4.49088800e-04 1.29453659e-03 9.99999061e-01 -3.08696288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46650248099998 meters 0.10661188553356035 Centerline is valid? [False, False] Translation: X:4.37, Y:0.47, Z:-0.31 [[ 9.99981077e-01 -6.15029719e-03 1.40447446e-04 4.36808922e+00] [ 6.15089889e-03 9.99969634e-01 -4.78518390e-03 4.73385837e-01] [-1.11012878e-04 4.78595723e-03 9.99988541e-01 -3.10310975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52650248099998 meters 0.10651397489194936 Centerline is valid? [False, False] Translation: X:4.37, Y:0.47, Z:-0.31 [[ 9.99982116e-01 -5.97433205e-03 2.75500043e-04 4.36768815e+00] [ 5.97541604e-03 9.99973669e-01 -4.11774830e-03 4.71268701e-01] [-2.50891993e-04 4.11932089e-03 9.99991484e-01 -3.10009486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58650248099998 meters 0.10636546287559787 Centerline is valid? [False, False] Translation: X:4.37, Y:0.47, Z:-0.31 [[ 9.99983776e-01 -5.68304050e-03 3.89133769e-04 4.36773918e+00] [ 5.68431140e-03 9.99978244e-01 -3.34671032e-03 4.69348088e-01] [-3.70105813e-04 3.34886798e-03 9.99994324e-01 -3.10339408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64650248099998 meters 0.10613657528109031 Centerline is valid? [False, False] Translation: X:4.37, Y:0.47, Z:-0.31 [[ 9.99986913e-01 -5.09740508e-03 4.35562095e-04 4.36841979e+00] [ 5.09840015e-03 9.99984324e-01 -2.31484137e-03 4.67046380e-01] [-4.23755583e-04 2.31703175e-03 9.99997226e-01 -3.11500343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70650248099999 meters 0.10618754242165356 Centerline is valid? [False, False] Translation: X:4.37, Y:0.47, Z:-0.31 [[ 9.99987304e-01 -5.03330820e-03 2.39894507e-04 4.36878219e+00] [ 5.03386938e-03 9.99984452e-01 -2.39907355e-03 4.67594756e-01] [-2.27815501e-04 2.40025069e-03 9.99997093e-01 -3.11507140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76650248099997 meters 0.1063794939307702 Centerline is valid? [False, False] Translation: X:4.37, Y:0.47, Z:-0.31 [[ 9.99986244e-01 -5.24406894e-03 -1.03739704e-04 4.36872942e+00] [ 5.24375411e-03 9.99982240e-01 -2.83234780e-03 4.68596815e-01] [ 1.18590888e-04 2.83176486e-03 9.99995984e-01 -3.10498137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82650248099998 meters 0.10667307073920307 Centerline is valid? [False, False] Translation: X:4.37, Y:0.47, Z:-0.31 [[ 9.99986679e-01 -5.13754216e-03 4.98139461e-04 4.36786589e+00] [ 5.13855575e-03 9.99984685e-01 -2.05529033e-03 4.65878042e-01] [-4.87572691e-04 2.05782267e-03 9.99997764e-01 -3.10627775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88650248099998 meters 0.10684380892105429 Centerline is valid? [False, False] Translation: X:4.37, Y:0.46, Z:-0.31 [[ 9.99988964e-01 -4.64256525e-03 7.20669134e-04 4.36812796e+00] [ 4.64330257e-03 9.99988695e-01 -1.02483266e-03 4.63311788e-01] [-7.15903134e-04 1.02816764e-03 9.99999215e-01 -3.11610779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94650248099998 meters 0.10700027002341933 Centerline is valid? [False, False] Translation: X:4.37, Y:0.46, Z:-0.31 [[ 9.99991391e-01 -4.08640726e-03 7.21131540e-04 4.36906576e+00] [ 4.08648572e-03 9.99991645e-01 -1.07366002e-04 4.61944461e-01] [-7.20686773e-04 1.10311971e-04 9.99999734e-01 -3.13045175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00650248099998 meters 0.10751323139980846 Centerline is valid? [False, False] Translation: X:4.37, Y:0.46, Z:-0.31 [[ 9.99965673e-01 -8.28325488e-03 2.00317024e-04 4.36973961e+00] [ 8.28406271e-03 9.99955831e-01 -4.43962868e-03 4.62722412e-01] [-1.63533600e-04 4.44113572e-03 9.99990125e-01 -3.12681312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06650248099999 meters 0.10756415574170611 Centerline is valid? [False, False] Translation: X:4.37, Y:0.46, Z:-0.31 [[ 9.99968632e-01 -7.91779160e-03 2.10809948e-04 4.37022678e+00] [ 7.91853745e-03 9.99961390e-01 -3.80988223e-03 4.61611273e-01] [-1.80635955e-04 3.81143202e-03 9.99992720e-01 -3.13485332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12650248099997 meters 0.10726161178692556 Centerline is valid? [False, False] Translation: X:4.37, Y:0.46, Z:-0.31 [[ 9.99970219e-01 -7.70892159e-03 -3.64949557e-04 4.37174150e+00] [ 7.70733112e-03 9.99961581e-01 -4.17544481e-03 4.64150403e-01] [ 3.97123713e-04 4.17250768e-03 9.99991216e-01 -3.14313529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18650248099998 meters 0.1067377070991092 Centerline is valid? [False, False] Translation: X:4.37, Y:0.47, Z:-0.32 [[ 9.99976691e-01 -6.72519006e-03 -1.17893631e-03 4.37481868e+00] [ 6.72060056e-03 9.99969987e-01 -3.85458885e-03 4.67024393e-01] [ 1.20482377e-03 3.84657584e-03 9.99991876e-01 -3.17068284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24650248099998 meters 0.10712095616739624 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:-0.32 [[ 9.99996932e-01 2.41234760e-03 5.62186728e-04 4.38723338e+00] [-2.40944638e-03 9.99984065e-01 -5.10536830e-03 4.68630234e-01] [-5.74493692e-04 5.10399808e-03 9.99986809e-01 -3.15582652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30650248099998 meters 0.10752279500897761 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:-0.31 [[ 9.99998599e-01 -1.66493144e-03 -1.71693759e-04 4.38750769e+00] [ 1.66318609e-03 9.99951487e-01 -9.70859453e-03 4.70072388e-01] [ 1.87849574e-04 9.70829537e-03 9.99952856e-01 -3.14180501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36650248099998 meters 0.10763993428756292 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:-0.31 [[ 9.99999315e-01 -1.03731486e-03 -5.41713068e-04 4.38842930e+00] [ 1.03253058e-03 9.99961110e-01 -8.75859661e-03 4.68027476e-01] [ 5.50777423e-04 8.75803128e-03 9.99961496e-01 -3.14662011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42650248099999 meters 0.10762029285776448 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:-0.31 [[ 9.99999872e-01 -4.79166657e-04 -1.61720156e-04 4.38786558e+00] [ 4.77946492e-04 9.99972041e-01 -7.46245937e-03 4.63504702e-01] [ 1.65291397e-04 7.46238112e-03 9.99972142e-01 -3.14885598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48650248099999 meters 0.10792151750562891 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:-0.31 [[ 9.99990805e-01 -4.24814308e-03 -5.85600321e-04 4.38832663e+00] [ 4.24148525e-03 9.99931197e-01 -1.09367026e-02 4.61462101e-01] [ 6.32020707e-04 1.09341183e-02 9.99940021e-01 -3.14602599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54650248099998 meters 0.10794480237616665 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:-0.32 [[ 9.99994737e-01 -3.22562653e-03 -3.49554188e-04 4.38844339e+00] [ 3.22246980e-03 9.99957106e-01 -8.68341934e-03 4.55105394e-01] [ 3.77548662e-04 8.68224721e-03 9.99962237e-01 -3.15477424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60650248099998 meters 0.10815915970363324 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:-0.31 [[ 9.99973232e-01 -7.31097672e-03 -2.89661614e-04 4.38679835e+00] [ 7.30690963e-03 9.99899217e-01 -1.21723091e-02 4.50192121e-01] [ 3.78623889e-04 1.21698668e-02 9.99925873e-01 -3.13288328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66650248099998 meters 0.10821502192580995 Centerline is valid? [False, False] Translation: X:4.39, Y:0.44, Z:-0.31 [[ 9.99973396e-01 -7.28236668e-03 4.18219084e-04 4.38505564e+00] [ 7.28644962e-03 9.99915436e-01 -1.07716677e-02 4.41984994e-01] [-3.39740484e-04 1.07744285e-02 9.99941896e-01 -3.12360544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72650248099998 meters 0.10870478444575188 Centerline is valid? [False, False] Translation: X:4.38, Y:0.43, Z:-0.31 [[ 9.99967613e-01 -7.90724811e-03 1.49955922e-03 4.38284116e+00] [ 7.92177253e-03 9.99919211e-01 -9.94070325e-03 4.33420405e-01] [-1.42083446e-03 9.95226047e-03 9.99949466e-01 -3.11544520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78650248099999 meters 0.10946611748425875 Centerline is valid? [False, False] Translation: X:4.38, Y:0.43, Z:-0.31 [[ 9.99966389e-01 -7.85295202e-03 2.35647886e-03 4.38097846e+00] [ 7.87294950e-03 9.99932023e-01 -8.60040924e-03 4.25463660e-01] [-2.28878007e-03 8.61867261e-03 9.99960239e-01 -3.10795521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84650248099999 meters 0.11014885127958329 Centerline is valid? [False, False] Translation: X:4.38, Y:0.42, Z:-0.31 [[ 9.99936550e-01 -1.09717960e-02 2.55268649e-03 4.38129024e+00] [ 1.09978518e-02 9.99885151e-01 -1.04274801e-02 4.19150079e-01] [-2.43798513e-03 1.04548926e-02 9.99942374e-01 -3.11753366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90650248099998 meters 0.11145186200619617 Centerline is valid? [False, False] Translation: X:4.38, Y:0.41, Z:-0.31 [[ 9.99899015e-01 -1.38942158e-02 2.98517782e-03 4.38157996e+00] [ 1.39276587e-02 9.99836980e-01 -1.14905999e-02 4.11012193e-01] [-2.82503830e-03 1.15310161e-02 9.99929525e-01 -3.13383944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96650248099998 meters 0.11090383125403798 Centerline is valid? [False, False] Translation: X:4.38, Y:0.41, Z:-0.31 [[ 9.99910164e-01 -1.30626118e-02 3.00544381e-03 4.38228685e+00] [ 1.30916613e-02 9.99865705e-01 -9.85797650e-03 4.07374414e-01] [-2.87626927e-03 9.89643715e-03 9.99946892e-01 -3.14586126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02650248099998 meters 0.11350347441187386 Centerline is valid? [False, False] Translation: X:4.38, Y:0.40, Z:-0.32 [[ 9.99867351e-01 -1.58814864e-02 3.61367117e-03 4.38234330e+00] [ 1.59173125e-02 9.99822185e-01 -1.01112467e-02 3.98562232e-01] [-3.45244698e-03 1.01674253e-02 9.99942350e-01 -3.16760354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08650248099998 meters 0.1137930553133496 Centerline is valid? [False, False] Translation: X:4.38, Y:0.39, Z:-0.32 [[ 9.99876631e-01 -1.51127492e-02 4.28105208e-03 4.38217701e+00] [ 1.51441215e-02 9.99857989e-01 -7.39307346e-03 3.90951997e-01] [-4.16871445e-03 7.45699416e-03 9.99963507e-01 -3.18507738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14650248099998 meters 0.11568150818567588 Centerline is valid? [False, False] Translation: X:4.38, Y:0.39, Z:-0.32 [[ 9.99882716e-01 -1.46471606e-02 4.47385170e-03 4.38219550e+00] [ 1.46748442e-02 9.99872978e-01 -6.21902893e-03 3.88027647e-01] [-4.38219230e-03 6.28395261e-03 9.99970654e-01 -3.18998987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20650248099999 meters 0.1162086431990586 Centerline is valid? [False, False] Translation: X:4.38, Y:0.39, Z:-0.32 [[ 9.99893708e-01 -1.39343679e-02 4.29033526e-03 4.38403920e+00] [ 1.39570390e-02 9.99888547e-01 -5.30042819e-03 3.87299118e-01] [-4.21599897e-03 5.35974517e-03 9.99976749e-01 -3.21390743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26650248099997 meters 0.11622578754055238 Centerline is valid? [False, False] Translation: X:4.38, Y:0.39, Z:-0.32 [[ 9.99944159e-01 -9.61087540e-03 4.39430998e-03 4.38452659e+00] [ 9.61569300e-03 9.99953189e-01 -1.07651718e-03 3.87997586e-01] [-4.38375801e-03 1.11871141e-03 9.99989766e-01 -3.22452599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32650248099998 meters 0.11551726489658855 Centerline is valid? [False, False] Translation: X:4.39, Y:0.39, Z:-0.33 [[ 9.99966283e-01 -7.52466021e-03 3.28808706e-03 4.38804791e+00] [ 7.52354013e-03 9.99971636e-01 3.52884108e-04 3.92537768e-01] [-3.29064913e-03 -3.28134155e-04 9.99994532e-01 -3.25129489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38650248099998 meters 0.11390534862606329 Centerline is valid? [False, False] Translation: X:4.40, Y:0.40, Z:-0.33 [[ 9.99995131e-01 1.32272538e-03 2.82639524e-03 4.40105123e+00] [-1.32548299e-03 9.99998647e-01 9.74014745e-04 3.97240297e-01] [-2.82510306e-03 -9.77756341e-04 9.99995531e-01 -3.26968546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44650248099998 meters 0.11227873542500652 Centerline is valid? [False, False] Translation: X:4.40, Y:0.40, Z:-0.33 [[ 9.99983874e-01 5.10931537e-03 2.47908889e-03 4.40262992e+00] [-5.11851403e-03 9.99979987e-01 3.71845062e-03 4.02860530e-01] [-2.46004053e-03 -3.73107991e-03 9.99990014e-01 -3.28275577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50650248099998 meters 0.11044103819286971 Centerline is valid? [False, False] Translation: X:4.42, Y:0.42, Z:-0.33 [[ 9.99994503e-01 -1.14965276e-03 -3.11000322e-03 4.41648415e+00] [ 1.16806939e-03 9.99981756e-01 5.92641874e-03 4.15250676e-01] [ 3.10313316e-03 -5.93001887e-03 9.99977602e-01 -3.28029504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56650248099999 meters 0.10869291006699013 Centerline is valid? [False, False] Translation: X:4.43, Y:0.43, Z:-0.33 [[ 9.99982495e-01 5.69482373e-03 1.60552241e-03 4.43043804e+00] [-5.70096138e-03 9.99976359e-01 3.84453601e-03 4.27844243e-01] [-1.58359050e-03 -3.85362173e-03 9.99991321e-01 -3.33524862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62650248099997 meters 0.1079416283437985 Centerline is valid? [False, False] Translation: X:4.44, Y:0.44, Z:-0.33 [[ 9.99921084e-01 1.22604335e-02 -2.73992282e-03 4.43666283e+00] [-1.22398438e-02 9.99897640e-01 7.40922313e-03 4.40875653e-01] [ 2.83048265e-03 -7.37510220e-03 9.99968798e-01 -3.31306567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68650248099998 meters 0.10746912589478554 Centerline is valid? [False, False] Translation: X:4.44, Y:0.45, Z:-0.33 [[ 9.99905517e-01 1.23673989e-02 -6.00038483e-03 4.44236059e+00] [-1.23451151e-02 9.99916814e-01 3.73665443e-03 4.54464359e-01] [ 6.04609838e-03 -3.66222593e-03 9.99975016e-01 -3.30889216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74650248099998 meters 0.10736881253997042 Centerline is valid? [False, False] Translation: X:4.46, Y:0.47, Z:-0.33 [[ 9.99963304e-01 7.92167614e-03 -3.26139951e-03 4.45961496e+00] [-7.91709450e-03 9.99967658e-01 1.41532885e-03 4.70939337e-01] [ 3.27250580e-03 -1.38945611e-03 9.99993680e-01 -3.29980952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80650248099998 meters 0.10735165241309105 Centerline is valid? [False, False] Translation: X:4.47, Y:0.48, Z:-0.33 [[ 9.99992813e-01 -1.41357108e-03 -3.51794124e-03 4.46997137e+00] [ 1.42782852e-03 9.99990765e-01 4.05357157e-03 4.82250943e-01] [ 3.51217874e-03 -4.05856546e-03 9.99985596e-01 -3.30967427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86650248099998 meters 0.10757589470761257 Centerline is valid? [False, False] Translation: X:4.48, Y:0.50, Z:-0.33 [[ 9.99993181e-01 3.95939710e-04 3.67165294e-03 4.48022679e+00] [-3.90591857e-04 9.99998862e-01 -1.45712722e-03 4.97128933e-01] [-3.67222569e-03 1.45568316e-03 9.99992198e-01 -3.34634665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92650248099999 meters 0.10853483319854582 Centerline is valid? [False, False] Translation: X:4.49, Y:0.51, Z:-0.33 [[ 9.99958751e-01 -4.50173724e-03 7.88859788e-03 4.49424942e+00] [ 4.51710930e-03 9.99987932e-01 -1.93191087e-03 5.08117970e-01] [-7.87980572e-03 1.96746484e-03 9.99967018e-01 -3.32338293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98650248099997 meters 0.10933645487917437 Centerline is valid? [False, False] Translation: X:4.49, Y:0.52, Z:-0.33 [[ 9.99958850e-01 -5.40109153e-03 7.28883231e-03 4.49476391e+00] [ 5.42557090e-03 9.99979694e-01 -3.34289178e-03 5.15740234e-01] [-7.27062903e-03 3.38230030e-03 9.99967848e-01 -3.31794080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04650248099998 meters 0.10924228142671207 Centerline is valid? [False, False] Translation: X:4.50, Y:0.52, Z:-0.33 [[ 9.99964390e-01 -5.51220082e-03 6.39020174e-03 4.49671566e+00] [ 5.53816862e-03 9.99976450e-01 -4.05314112e-03 5.22317268e-01] [-6.36770952e-03 4.08838680e-03 9.99971368e-01 -3.32517261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10650248099998 meters 0.10877092906462782 Centerline is valid? [False, False] Translation: X:4.50, Y:0.53, Z:-0.33 [[ 9.99980097e-01 -1.85876988e-03 6.02911774e-03 4.49723941e+00] [ 1.86611965e-03 9.99997522e-01 -1.21364871e-03 5.27152395e-01] [-6.02684691e-03 1.22487561e-03 9.99981088e-01 -3.32226991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16650248099998 meters 0.10839384346095829 Centerline is valid? [False, False] Translation: X:4.50, Y:0.53, Z:-0.33 [[ 9.99983683e-01 1.28712466e-03 5.56575038e-03 4.49665048e+00] [-1.29030394e-03 9.99999006e-01 5.67669261e-04 5.32815745e-01] [-5.56501418e-03 -5.74841508e-04 9.99984350e-01 -3.29598360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22650248099998 meters 0.10765254628914765 Centerline is valid? [False, False] Translation: X:4.50, Y:0.54, Z:-0.33 [[ 9.99988759e-01 1.11257792e-03 4.60910984e-03 4.49827079e+00] [-1.10947748e-03 9.99999157e-01 -6.75178228e-04 5.37324521e-01] [-4.60985714e-03 6.70056935e-04 9.99989150e-01 -3.29412362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28650248099999 meters 0.1072761896663113 Centerline is valid? [False, False] Translation: X:4.50, Y:0.54, Z:-0.33 [[ 9.99992644e-01 9.54183234e-04 3.71500722e-03 4.49955961e+00] [-9.48212443e-04 9.99998257e-01 -1.60863801e-03 5.40423616e-01] [-3.71653568e-03 1.60510357e-03 9.99991805e-01 -3.28900023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34650248099999 meters 0.10697159977970147 Centerline is valid? [False, False] Translation: X:4.50, Y:0.54, Z:-0.33 [[ 9.99995113e-01 8.76987702e-04 3.00095717e-03 4.50051063e+00] [-8.70669423e-04 9.99997403e-01 -2.10608035e-03 5.42156741e-01] [-3.00279639e-03 2.10345721e-03 9.99993279e-01 -3.28341776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40650248099998 meters 0.10659385577199938 Centerline is valid? [False, False] Translation: X:4.50, Y:0.54, Z:-0.33 [[ 9.99991828e-01 -3.54162329e-03 1.94938676e-03 4.50127580e+00] [ 3.55543368e-03 9.99968280e-01 -7.12720543e-03 5.43871560e-01] [-1.92408305e-03 7.13407811e-03 9.99972701e-01 -3.26618099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46650248099998 meters 0.10625158241802368 Centerline is valid? [False, False] Translation: X:4.50, Y:0.54, Z:-0.33 [[ 9.99993358e-01 -2.99270639e-03 2.08032101e-03 4.50172454e+00] [ 3.00504774e-03 9.99977755e-01 -5.95483344e-03 5.40964300e-01] [-2.06245367e-03 5.96104535e-03 9.99980106e-01 -3.27717927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52650248099998 meters 0.10626812294671786 Centerline is valid? [False, False] Translation: X:4.50, Y:0.54, Z:-0.33 [[ 9.99994034e-01 -2.91639121e-03 1.85107359e-03 4.50172757e+00] [ 2.92697366e-03 9.99979241e-01 -5.74019918e-03 5.39958418e-01] [-1.83429450e-03 5.74558298e-03 9.99981812e-01 -3.27067265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58650248099998 meters 0.10601394141530741 Centerline is valid? [False, False] Translation: X:4.50, Y:0.54, Z:-0.33 [[ 9.99995687e-01 -2.43156445e-03 1.64696386e-03 4.50247022e+00] [ 2.43970941e-03 9.99984715e-01 -4.96161575e-03 5.38107199e-01] [-1.63487420e-03 4.96561247e-03 9.99986335e-01 -3.27697588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64650248099998 meters 0.10600581803300298 Centerline is valid? [False, False] Translation: X:4.50, Y:0.54, Z:-0.33 [[ 9.99996631e-01 -2.06785936e-03 1.56882822e-03 4.50277759e+00] [ 2.07448380e-03 9.99988890e-01 -4.23272633e-03 5.36059293e-01] [-1.56005811e-03 4.23596658e-03 9.99989811e-01 -3.27964467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70650248099999 meters 0.10643213224124663 Centerline is valid? [False, False] Translation: X:4.50, Y:0.54, Z:-0.33 [[ 9.99978714e-01 -6.45134293e-03 9.75635657e-04 4.50313277e+00] [ 6.45972447e-03 9.99940003e-01 -8.84664275e-03 5.36632926e-01] [-9.18504395e-04 8.85275678e-03 9.99960392e-01 -3.26801513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76650248099997 meters 0.1064725032127454 Centerline is valid? [False, False] Translation: X:4.50, Y:0.53, Z:-0.33 [[ 9.99980315e-01 -6.13729795e-03 1.30497579e-03 4.50278596e+00] [ 6.14731439e-03 9.99950564e-01 -7.81534341e-03 5.33584451e-01] [-1.25694619e-03 7.82321166e-03 9.99968608e-01 -3.27197524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82650248099998 meters 0.10697660449721509 Centerline is valid? [False, False] Translation: X:4.50, Y:0.53, Z:-0.33 [[ 9.99982062e-01 -5.74940562e-03 1.67906917e-03 4.50253565e+00] [ 5.76047070e-03 9.99961222e-01 -6.66125473e-03 5.30493990e-01] [-1.64070580e-03 6.67080748e-03 9.99976404e-01 -3.27878169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88650248099998 meters 0.1071709111981143 Centerline is valid? [False, False] Translation: X:4.50, Y:0.53, Z:-0.33 [[ 9.99984106e-01 -5.37939130e-03 1.68815873e-03 4.50295810e+00] [ 5.38942097e-03 9.99967513e-01 -5.99396909e-03 5.29102710e-01] [-1.65585998e-03 6.00297202e-03 9.99980611e-01 -3.28565743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94650248099998 meters 0.10708576543696655 Centerline is valid? [False, False] Translation: X:4.50, Y:0.53, Z:-0.33 [[ 9.99986596e-01 -4.81088402e-03 1.91396055e-03 4.50340590e+00] [ 4.82022462e-03 9.99976348e-01 -4.90593600e-03 5.26780669e-01] [-1.89031339e-03 4.91509596e-03 9.99986134e-01 -3.29936769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00650248099998 meters 0.10622539205247374 Centerline is valid? [False, False] Translation: X:4.50, Y:0.53, Z:-0.33 [[ 9.99989132e-01 -4.31980229e-03 1.75386812e-03 4.50431352e+00] [ 4.32729229e-03 9.99981437e-01 -4.28946931e-03 5.25836844e-01] [-1.73530590e-03 4.29701219e-03 9.99989262e-01 -3.30919700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06650248099999 meters 0.10556386226144603 Centerline is valid? [False, False] Translation: X:4.50, Y:0.53, Z:-0.33 [[ 9.99990220e-01 -4.28258755e-03 1.10461208e-03 4.50492073e+00] [ 4.28777493e-03 9.99979586e-01 -4.73728549e-03 5.27239664e-01] [-1.08430169e-03 4.74197548e-03 9.99988169e-01 -3.30067501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12650248099997 meters 0.10488608726605626 Centerline is valid? [False, False] Translation: X:4.51, Y:0.53, Z:-0.33 [[ 9.99991884e-01 -3.91215133e-03 9.62324497e-04 4.50556746e+00] [ 3.91623890e-03 9.99983159e-01 -4.28303841e-03 5.26460167e-01] [-9.45552397e-04 4.28677234e-03 9.99990365e-01 -3.30702494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18650248099998 meters 0.10472517228763471 Centerline is valid? [False, False] Translation: X:4.51, Y:0.53, Z:-0.33 [[ 9.99992599e-01 -3.76498786e-03 7.91760339e-04 4.50606925e+00] [ 3.76828994e-03 9.99984033e-01 -4.21125305e-03 5.26693747e-01] [-7.75892380e-04 4.21420546e-03 9.99990819e-01 -3.31010665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24650248099998 meters 0.10474035284283448 Centerline is valid? [False, False] Translation: X:4.51, Y:0.53, Z:-0.33 [[ 9.99994387e-01 -3.28546153e-03 6.56382795e-04 4.50687841e+00] [ 3.28770896e-03 9.99988635e-01 -3.45273903e-03 5.25360917e-01] [-6.45031494e-04 3.45487765e-03 9.99993824e-01 -3.31920242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30650248099998 meters 0.10510879644132055 Centerline is valid? [False, False] Translation: X:4.51, Y:0.53, Z:-0.33 [[ 9.99970163e-01 -7.72277228e-03 1.80494209e-04 4.50715685e+00] [ 7.72399223e-03 9.99936585e-01 -8.19544600e-03 5.26491087e-01] [-1.17191200e-04 8.19659561e-03 9.99966400e-01 -3.30958309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36650248099998 meters 0.1051745357773478 Centerline is valid? [False, False] Translation: X:4.51, Y:0.53, Z:-0.33 [[ 9.99970510e-01 -7.67828245e-03 1.55081078e-04 4.50694037e+00] [ 7.67926664e-03 9.99939424e-01 -7.88524208e-03 5.25609181e-01] [-9.45265685e-05 7.88620045e-03 9.99968899e-01 -3.30536453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42650248099999 meters 0.10548848636212807 Centerline is valid? [False, False] Translation: X:4.51, Y:0.52, Z:-0.33 [[ 9.99972446e-01 -7.39932505e-03 5.98441062e-04 4.50666221e+00] [ 7.40339617e-03 9.99947291e-01 -7.11371050e-03 5.23471287e-01] [-5.45772862e-04 7.11794498e-03 9.99974518e-01 -3.31318441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48650248099997 meters 0.10525054084472187 Centerline is valid? [False, False] Translation: X:4.51, Y:0.52, Z:-0.33 [[ 9.99972157e-01 -7.45652238e-03 2.92030890e-04 4.50680577e+00] [ 7.45845387e-03 9.99945598e-01 -7.29196227e-03 5.24047391e-01] [-2.37642323e-04 7.29393734e-03 9.99973371e-01 -3.30679666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54650248099998 meters 0.10498396976238024 Centerline is valid? [False, False] Translation: X:4.51, Y:0.52, Z:-0.33 [[ 9.99976312e-01 -6.88134010e-03 1.53048068e-04 4.50805724e+00] [ 6.88218633e-03 9.99955388e-01 -6.46977929e-03 5.23100762e-01] [-1.08520489e-04 6.47067934e-03 9.99979059e-01 -3.32254967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60650248099998 meters 0.1041903839308472 Centerline is valid? [False, False] Translation: X:4.51, Y:0.52, Z:-0.33 [[ 9.99976751e-01 -6.81572706e-03 -2.10479507e-04 4.50892608e+00] [ 6.81414233e-03 9.99953767e-01 -6.78469400e-03 5.24730448e-01] [ 2.56712399e-04 6.78310202e-03 9.99976962e-01 -3.32561301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66650248099998 meters 0.10361070123496252 Centerline is valid? [False, False] Translation: X:4.51, Y:0.53, Z:-0.33 [[ 9.99977160e-01 -6.70116935e-03 -8.79501426e-04 4.51010748e+00] [ 6.69461612e-03 9.99951282e-01 -7.25372634e-03 5.26795378e-01] [ 9.28067027e-04 7.24767274e-03 9.99973305e-01 -3.32585809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72650248099998 meters 0.10276447071526895 Centerline is valid? [False, False] Translation: X:4.52, Y:0.53, Z:-0.33 [[ 9.99995760e-01 1.93567463e-03 -2.17579974e-03 4.52244363e+00] [-1.95152698e-03 9.99971396e-01 -7.30740217e-03 5.28921051e-01] [ 2.16159275e-03 7.31161731e-03 9.99970933e-01 -3.30872346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78650248099999 meters 0.10232794062046634 Centerline is valid? [False, False] Translation: X:4.52, Y:0.53, Z:-0.33 [[ 9.99995014e-01 1.78823762e-03 -2.60282552e-03 4.52298456e+00] [-1.80961731e-03 9.99964455e-01 -8.23498300e-03 5.31567477e-01] [ 2.58800689e-03 8.23965206e-03 9.99962704e-01 -3.30415856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84650248099999 meters 0.10236287600580754 Centerline is valid? [False, False] Translation: X:4.52, Y:0.53, Z:-0.33 [[ 9.99991868e-01 -2.50997959e-03 -3.15654081e-03 4.52359813e+00] [ 2.46898580e-03 9.99913428e-01 -1.29244552e-02 5.32676332e-01] [ 3.18870766e-03 1.29165566e-02 9.99911493e-01 -3.29876021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90650248099998 meters 0.10239301786057724 Centerline is valid? [False, False] Translation: X:4.52, Y:0.53, Z:-0.33 [[ 9.99990547e-01 -2.29679377e-03 -3.69207895e-03 4.52450520e+00] [ 2.24972116e-03 9.99916775e-01 -1.27036090e-02 5.32873999e-01] [ 3.72094925e-03 1.26951828e-02 9.99912490e-01 -3.29820541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96650248099998 meters 0.10212112106721133 Centerline is valid? [False, False] Translation: X:4.53, Y:0.53, Z:-0.33 [[ 9.99993990e-01 -1.21689969e-03 -3.24630720e-03 4.52544929e+00] [ 1.18240730e-03 9.99943056e-01 -1.06059605e-02 5.28283511e-01] [ 3.25902873e-03 1.06020583e-02 9.99938486e-01 -3.32650291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02650248099998 meters 0.10230539202063284 Centerline is valid? [False, False] Translation: X:4.53, Y:0.53, Z:-0.33 [[ 9.99995018e-01 -8.79811501e-04 -3.03138131e-03 4.52544015e+00] [ 8.49895021e-04 9.99951066e-01 -9.85612094e-03 5.26449980e-01] [ 3.03990450e-03 9.85349548e-03 9.99946832e-01 -3.33246213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08650248099998 meters 0.10256283677713499 Centerline is valid? [False, False] Translation: X:4.53, Y:0.52, Z:-0.33 [[ 9.99996035e-01 -5.75953840e-04 -2.75647772e-03 4.52526626e+00] [ 5.51125863e-04 9.99959352e-01 -8.99943805e-03 5.24170601e-01] [ 2.76154894e-03 8.99788320e-03 9.99955705e-01 -3.33819955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14650248099998 meters 0.10305690485523394 Centerline is valid? [False, False] Translation: X:4.54, Y:0.52, Z:-0.34 [[ 9.99985607e-01 -4.86758746e-03 2.25646631e-03 4.53846019e+00] [ 4.87550123e-03 9.99981937e-01 -3.51501857e-03 5.19776292e-01] [-2.23931589e-03 3.52596939e-03 9.99991276e-01 -3.36854280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20650248099999 meters 0.10355373205783151 Centerline is valid? [False, False] Translation: X:4.54, Y:0.52, Z:-0.34 [[ 9.99985577e-01 -4.78001173e-03 2.44913481e-03 4.53830500e+00] [ 4.78770931e-03 9.99983588e-01 -3.14681334e-03 5.18789036e-01] [-2.43405281e-03 3.15849370e-03 9.99992050e-01 -3.37103268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26650248099997 meters 0.10411829116042738 Centerline is valid? [False, False] Translation: X:4.54, Y:0.52, Z:-0.34 [[ 9.99954541e-01 -9.32341692e-03 1.99746241e-03 4.53844078e+00] [ 9.33916876e-03 9.99924168e-01 -8.02733832e-03 5.20141176e-01] [-1.92246871e-03 8.04562804e-03 9.99965785e-01 -3.36026680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32650248099998 meters 0.10424624845044266 Centerline is valid? [False, False] Translation: X:4.54, Y:0.52, Z:-0.34 [[ 9.99960554e-01 -8.66847565e-03 1.93589230e-03 4.53977415e+00] [ 8.68190334e-03 9.99937537e-01 -7.03897218e-03 5.18944036e-01] [-1.87475422e-03 7.05550175e-03 9.99973352e-01 -3.37995096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38650248099998 meters 0.10398984785052787 Centerline is valid? [False, False] Translation: X:4.54, Y:0.52, Z:-0.34 [[ 9.99963365e-01 -8.42109575e-03 1.53392374e-03 4.54090613e+00] [ 8.43146358e-03 9.99940767e-01 -6.88284181e-03 5.19567222e-01] [-1.47587181e-03 6.89552289e-03 9.99975136e-01 -3.38636790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44650248099998 meters 0.10409026138983193 Centerline is valid? [False, False] Translation: X:4.54, Y:0.52, Z:-0.34 [[ 9.99965884e-01 -8.20293767e-03 9.71335048e-04 4.54213488e+00] [ 8.20954540e-03 9.99941756e-01 -7.00625121e-03 5.20918241e-01] [-9.13806632e-04 7.01398640e-03 9.99974984e-01 -3.38965540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50650248099998 meters 0.1041137993201021 Centerline is valid? [False, False] Translation: X:4.54, Y:0.52, Z:-0.34 [[ 9.99966332e-01 -8.18225309e-03 6.21069625e-04 4.54254801e+00] [ 8.18660330e-03 9.99939412e-01 -7.35881010e-03 5.21959175e-01] [-5.60820349e-04 7.36364679e-03 9.99972731e-01 -3.38683276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56650248099999 meters 0.1040719523617518 Centerline is valid? [False, False] Translation: X:4.54, Y:0.52, Z:-0.34 [[ 9.99993742e-01 -3.53374472e-03 1.69345099e-04 4.54408730e+00] [ 3.53423392e-03 9.99989311e-01 -2.98125240e-03 5.23313639e-01] [-1.58808304e-04 2.98183225e-03 9.99995542e-01 -3.39888241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62650248099997 meters 0.10441943716786418 Centerline is valid? [False, False] Translation: X:4.55, Y:0.52, Z:-0.34 [[ 9.99994993e-01 -3.14627025e-03 -3.37851926e-04 4.54544980e+00] [ 3.14525439e-03 9.99990654e-01 -2.96640500e-03 5.24334639e-01] [ 3.47181880e-04 2.96532752e-03 9.99995543e-01 -3.40628971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68650248099998 meters 0.1047866420081389 Centerline is valid? [False, False] Translation: X:4.55, Y:0.52, Z:-0.34 [[ 9.99995480e-01 -2.95433220e-03 -5.58750704e-04 4.54611016e+00] [ 2.95271775e-03 9.99991527e-01 -2.86847557e-03 5.24566503e-01] [ 5.67220399e-04 2.86681277e-03 9.99995730e-01 -3.41086066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74650248099998 meters 0.10505388480792796 Centerline is valid? [False, False] Translation: X:4.55, Y:0.53, Z:-0.34 [[ 9.99995260e-01 -2.92508819e-03 -9.60717063e-04 4.54679278e+00] [ 2.92210717e-03 9.99990957e-01 -3.08979521e-03 5.25852507e-01] [ 9.69746299e-04 3.08697325e-03 9.99994765e-01 -3.40991352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80650248099998 meters 0.1052305546401153 Centerline is valid? [False, False] Translation: X:4.55, Y:0.52, Z:-0.34 [[ 9.99996588e-01 -2.45062187e-03 -9.04752782e-04 4.54741956e+00] [ 2.44853094e-03 9.99994346e-01 -2.30497243e-03 5.24437633e-01] [ 9.10396282e-04 2.30274925e-03 9.99996934e-01 -3.42146163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86650248099998 meters 0.105392323018993 Centerline is valid? [False, False] Translation: X:4.55, Y:0.52, Z:-0.34 [[ 9.99980647e-01 -6.14847330e-03 -9.49358759e-04 4.54836393e+00] [ 6.14305061e-03 9.99965378e-01 -5.61295455e-03 5.22452647e-01] [ 9.83836992e-04 5.60701396e-03 9.99983797e-01 -3.43478382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92650248099999 meters 0.1058387989335345 Centerline is valid? [False, False] Translation: X:4.55, Y:0.52, Z:-0.34 [[ 9.99983032e-01 -5.77687173e-03 -7.50283386e-04 4.54858123e+00] [ 5.77331872e-03 9.99972502e-01 -4.65439992e-03 5.20513598e-01] [ 7.77150626e-04 4.64998932e-03 9.99988887e-01 -3.44394320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98650248099997 meters 0.10671770913464461 Centerline is valid? [False, False] Translation: X:4.55, Y:0.52, Z:-0.34 [[ 9.99952053e-01 -9.78028815e-03 -4.86539825e-04 4.54820095e+00] [ 9.77605710e-03 9.99919826e-01 -8.04797224e-03 5.17694441e-01] [ 5.65212305e-04 8.04282993e-03 9.99967496e-01 -3.44497184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04650248099998 meters 0.10808819993278655 Centerline is valid? [False, False] Translation: X:4.55, Y:0.52, Z:-0.34 [[ 9.99953679e-01 -9.62146490e-03 -2.58614027e-04 4.54768692e+00] [ 9.61934169e-03 9.99927543e-01 -7.23721438e-03 5.15296810e-01] [ 3.28227892e-04 7.23439145e-03 9.99973778e-01 -3.44297240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10650248099998 meters 0.10940766460892459 Centerline is valid? [False, False] Translation: X:4.55, Y:0.51, Z:-0.34 [[ 9.99955250e-01 -9.45814544e-03 2.04885225e-04 4.54688003e+00] [ 9.45927019e-03 9.99934465e-01 -6.44890643e-03 5.12497726e-01] [-1.43877103e-04 6.45055590e-03 9.99979185e-01 -3.44300710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16650248099998 meters 0.11018543841907809 Centerline is valid? [False, False] Translation: X:4.55, Y:0.51, Z:-0.35 [[ 9.99963888e-01 -8.47960881e-03 5.64599982e-04 4.54801855e+00] [ 8.48215376e-03 9.99953126e-01 -4.66900306e-03 5.08959211e-01] [-5.24982197e-04 4.67362347e-03 9.99988941e-01 -3.47153070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22650248099998 meters 0.10951444125336736 Centerline is valid? [False, False] Translation: X:4.55, Y:0.51, Z:-0.35 [[ 9.99968669e-01 -7.91058561e-03 2.90742073e-04 4.54936540e+00] [ 7.91165339e-03 9.99961191e-01 -3.87596846e-03 5.08069455e-01] [-2.60069609e-04 3.87814727e-03 9.99992446e-01 -3.48463933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28650248099999 meters 0.1094227787226064 Centerline is valid? [False, False] Translation: X:4.55, Y:0.51, Z:-0.35 [[ 9.99970982e-01 -7.61778206e-03 -6.05651866e-05 4.54977792e+00] [ 7.61752034e-03 9.99964736e-01 -3.53547128e-03 5.06921224e-01] [ 8.74955005e-05 3.53490734e-03 9.99993748e-01 -3.48161885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34650248099997 meters 0.10874906712072598 Centerline is valid? [False, False] Translation: X:4.55, Y:0.51, Z:-0.35 [[ 9.99995041e-01 -3.11197729e-03 -4.84033059e-04 4.55091717e+00] [ 3.11234177e-03 9.99994872e-01 7.54087369e-04 5.07948542e-01] [ 4.81683874e-04 -7.55590105e-04 9.99999599e-01 -3.48787118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40650248099998 meters 0.108156579293733 Centerline is valid? [False, False] Translation: X:4.55, Y:0.51, Z:-0.35 [[ 9.99975272e-01 -6.90089626e-03 -1.35385596e-03 4.55323524e+00] [ 6.89593714e-03 9.99969619e-01 -3.63406259e-03 5.10168967e-01] [ 1.37889311e-03 3.62463663e-03 9.99992480e-01 -3.50066741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46650248099998 meters 0.10799407902648557 Centerline is valid? [False, False] Translation: X:4.55, Y:0.51, Z:-0.35 [[ 9.99974875e-01 -6.85819859e-03 -1.79284363e-03 4.55398899e+00] [ 6.85094751e-03 9.99968452e-01 -4.01978311e-03 5.11437657e-01] [ 1.82035554e-03 4.00739944e-03 9.99990313e-01 -3.50037782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52650248099998 meters 0.10778039976230562 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 9.99978786e-01 -5.58953405e-03 -3.34422420e-03 4.55737037e+00] [ 5.57883063e-03 9.99979314e-01 -3.20138355e-03 5.15691432e-01] [ 3.36204926e-03 3.18265877e-03 9.99989284e-01 -3.51329451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58650248099998 meters 0.10786915299767565 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 9.99978653e-01 -5.39885570e-03 -3.68046126e-03 4.55852805e+00] [ 5.38696228e-03 9.99980261e-01 -3.23379358e-03 5.16892981e-01] [ 3.69784740e-03 3.21389805e-03 9.99987998e-01 -3.52136566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64650248099998 meters 0.108324488282034 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 9.99977558e-01 -5.59706891e-03 -3.68194997e-03 4.55823505e+00] [ 5.58401406e-03 9.99978121e-01 -3.54640957e-03 5.17423283e-01] [ 3.70171891e-03 3.52576992e-03 9.99986933e-01 -3.51616099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70650248099999 meters 0.10854522352338677 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 9.99975770e-01 -5.67744311e-03 -4.02821006e-03 4.55866272e+00] [ 5.66194123e-03 9.99976562e-01 -3.84935163e-03 5.18418436e-01] [ 4.04997012e-03 3.82645087e-03 9.99984478e-01 -3.51262986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76650248099997 meters 0.1086518833314646 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 9.99976155e-01 -5.34375926e-03 -4.37412823e-03 4.56031019e+00] [ 5.32802436e-03 9.99979322e-01 -3.60104794e-03 5.19680729e-01] [ 4.39328092e-03 3.57765661e-03 9.99983950e-01 -3.52805194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82650248099998 meters 0.10903894658114775 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 9.99943717e-01 -9.58907151e-03 -4.54005212e-03 4.56085669e+00] [ 9.55263498e-03 9.99922527e-01 -7.98036843e-03 5.20208634e-01] [ 4.61622472e-03 7.93654981e-03 9.99957850e-01 -3.53100858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88650248099998 meters 0.10935080735551542 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 9.99975380e-01 -5.31507405e-03 -4.58137468e-03 4.56072304e+00] [ 5.29837380e-03 9.99979303e-01 -3.64971185e-03 5.20210953e-01] [ 4.60067835e-03 3.62534816e-03 9.99982845e-01 -3.52796791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94650248099998 meters 0.10975136680212831 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 0.99993881 -0.00968572 -0.00534397 4.56167666] [ 0.00963955 0.99991658 -0.00859744 0.52238804] [ 0.0054268 0.0085454 0.99994876 -0.35209088] [ 0. 0. 0. 1. ]] SLAMing on 92.00650248099998 meters 0.10991812449702382 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 0.99993963 -0.0095493 -0.00543564 4.56190879] [ 0.00950314 0.99991909 -0.00845628 0.52205621] [ 0.00551595 0.00840411 0.99994947 -0.35222802] [ 0. 0. 0. 1. ]] SLAMing on 92.06650248099999 meters 0.10981718147779855 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 0.99994053 -0.00918033 -0.00588629 4.56343962] [ 0.0091319 0.99992466 -0.00820239 0.52276289] [ 0.00596114 0.00814815 0.99994903 -0.35334306] [ 0. 0. 0. 1. ]] SLAMing on 92.12650248099997 meters 0.10975105062342749 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.35 [[ 0.99994506 -0.00873741 -0.00579024 4.56427789] [ 0.0086934 0.99993346 -0.00758298 0.52209093] [ 0.00585611 0.00753222 0.99995448 -0.35492078] [ 0. 0. 0. 1. ]] SLAMing on 92.18650248099998 meters 0.11015052082749598 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.36 [[ 0.99994513 -0.00860413 -0.00597564 4.56484724] [ 0.00855934 0.99993539 -0.00748011 0.52241645] [ 0.00603962 0.00742855 0.99995417 -0.35526934] [ 0. 0. 0. 1. ]] SLAMing on 92.24650248099998 meters 0.11025391507271723 Centerline is valid? [False, False] Translation: X:4.57, Y:0.52, Z:-0.36 [[ 0.99995053 -0.0081367 -0.00572204 4.56508588] [ 0.00809975 0.99994639 -0.00645092 0.52025597] [ 0.00577422 0.00640425 0.99996282 -0.35636911] [ 0. 0. 0. 1. ]] SLAMing on 92.30650248099998 meters 0.11093255482993787 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.36 [[ 0.99995737 -0.00761884 -0.00521741 4.56484666] [ 0.0075922 0.99995814 -0.00510637 0.51670547] [ 0.0052561 0.00506654 0.99997335 -0.35749544] [ 0. 0. 0. 1. ]] SLAMing on 92.36650248099998 meters 0.111605556320217 Centerline is valid? [False, False] Translation: X:4.56, Y:0.52, Z:-0.36 [[ 0.99995562 -0.00768405 -0.00545113 4.56484197] [ 0.00765563 0.99995709 -0.00521708 0.51692992] [ 0.00549099 0.00517512 0.99997153 -0.35685746] [ 0. 0. 0. 1. ]] SLAMing on 92.42650248099999 meters 0.11136342270950521 Centerline is valid? [False, False] Translation: X:4.57, Y:0.51, Z:-0.36 [[ 9.99961946e-01 -6.89472439e-03 -5.34496512e-03 4.56603478e+00] [ 6.87292654e-03 9.99968034e-01 -4.08590007e-03 5.14753302e-01] [ 5.37296541e-03 4.04900903e-03 9.99977368e-01 -3.58964051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48650248099997 meters 0.11095190341495144 Centerline is valid? [False, False] Translation: X:4.57, Y:0.52, Z:-0.36 [[ 9.99959072e-01 -6.52316034e-03 -6.26917986e-03 4.56825434e+00] [ 6.49681249e-03 9.99970016e-01 -4.21397474e-03 5.17263586e-01] [ 6.29648032e-03 4.17307259e-03 9.99971469e-01 -3.59884087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54650248099998 meters 0.1103727145458384 Centerline is valid? [False, False] Translation: X:4.57, Y:0.52, Z:-0.36 [[ 9.99957229e-01 -6.10952728e-03 -6.94367604e-03 4.57000049e+00] [ 6.08088752e-03 9.99972949e-01 -4.13823694e-03 5.18572832e-01] [ 6.96877088e-03 4.09583623e-03 9.99967330e-01 -3.60681784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60650248099998 meters 0.11032791186810187 Centerline is valid? [False, False] Translation: X:4.57, Y:0.52, Z:-0.36 [[ 9.99956914e-01 -6.06852861e-03 -7.02440938e-03 4.57039577e+00] [ 6.03820681e-03 9.99972396e-01 -4.32982247e-03 5.19328407e-01] [ 7.05049112e-03 4.28722108e-03 9.99965955e-01 -3.61061340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66650248099998 meters 0.11024210273151244 Centerline is valid? [False, False] Translation: X:4.57, Y:0.52, Z:-0.36 [[ 0.99995178 -0.00621483 -0.00760411 4.57149061] [ 0.0061762 0.99996796 -0.00509317 0.52253503] [ 0.00763552 0.00504596 0.99995812 -0.36107508] [ 0. 0. 0. 1. ]] SLAMing on 92.72650248099998 meters 0.11019275185890232 Centerline is valid? [False, False] Translation: X:4.57, Y:0.52, Z:-0.36 [[ 0.99995001 -0.00621031 -0.00783685 4.5721801 ] [ 0.00616887 0.99996692 -0.00530048 0.52376625] [ 0.00786951 0.00525188 0.99995524 -0.36139181] [ 0. 0. 0. 1. ]] SLAMing on 92.78650248099999 meters 0.11028632080025982 Centerline is valid? [False, False] Translation: X:4.57, Y:0.52, Z:-0.36 [[ 0.99995257 -0.0059848 -0.00768398 4.5726638 ] [ 0.00594659 0.99996989 -0.00498596 0.52373254] [ 0.00771359 0.00494003 0.99995805 -0.36254065] [ 0. 0. 0. 1. ]] SLAMing on 92.84650248099997 meters 0.11043709500860784 Centerline is valid? [False, False] Translation: X:4.57, Y:0.52, Z:-0.36 [[ 0.99995272 -0.00598961 -0.00766018 4.57282146] [ 0.00595146 0.99996982 -0.00499375 0.52406523] [ 0.00768986 0.00494793 0.99995819 -0.36285716] [ 0. 0. 0. 1. ]] SLAMing on 92.90650248099998 meters 0.11077685323003547 Centerline is valid? [False, False] Translation: X:4.57, Y:0.53, Z:-0.36 [[ 0.99994775 -0.00634628 -0.00801409 4.57295731] [ 0.00630025 0.99996358 -0.00575655 0.52650895] [ 0.00805033 0.00570576 0.99995132 -0.36205096] [ 0. 0. 0. 1. ]] SLAMing on 92.96650248099998 meters 0.11059134465588523 Centerline is valid? [False, False] Translation: X:4.57, Y:0.53, Z:-0.36 [[ 0.99991301 -0.01021673 -0.00834195 4.57471145] [ 0.01013605 0.999902 -0.00965661 0.526992 ] [ 0.00843979 0.00957121 0.99991858 -0.36378346] [ 0. 0. 0. 1. ]] SLAMing on 93.02650248099998 meters 0.11102237717688512 Centerline is valid? [False, False] Translation: X:4.57, Y:0.52, Z:-0.37 [[ 9.99953843e-01 -5.52116653e-03 -7.86311129e-03 4.57483679e+00] [ 5.48723620e-03 9.99975570e-01 -4.33018452e-03 5.24876580e-01] [ 7.88682686e-03 4.28683790e-03 9.99959710e-01 -3.65505062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08650248099998 meters 0.11107074229331114 Centerline is valid? [False, False] Translation: X:4.58, Y:0.52, Z:-0.37 [[ 9.99954129e-01 -5.29671255e-03 -7.98030925e-03 4.57535187e+00] [ 5.26489588e-03 9.99978130e-01 -4.00264394e-03 5.24425366e-01] [ 8.00133557e-03 3.96044484e-03 9.99960146e-01 -3.65952783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14650248099998 meters 0.11142019146655208 Centerline is valid? [False, False] Translation: X:4.58, Y:0.52, Z:-0.37 [[ 9.99951360e-01 -5.37532626e-03 -8.26943738e-03 4.57543489e+00] [ 5.34056969e-03 9.99976837e-01 -4.21937196e-03 5.24727752e-01] [ 8.29192634e-03 4.17500323e-03 9.99956906e-01 -3.65251111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20650248099999 meters 0.11143050295251544 Centerline is valid? [False, False] Translation: X:4.58, Y:0.53, Z:-0.36 [[ 0.99994313 -0.00572085 -0.00900094 4.57622379] [ 0.00567347 0.99996996 -0.00528027 0.52834623] [ 0.00903087 0.00522891 0.99994555 -0.364418 ] [ 0. 0. 0. 1. ]] SLAMing on 93.26650248099997 meters 0.11133266647430672 Centerline is valid? [False, False] Translation: X:4.58, Y:0.53, Z:-0.36 [[ 0.99994075 -0.00562382 -0.00932046 4.57695221] [ 0.00557332 0.9999697 -0.00543518 0.52903449] [ 0.00935074 0.00538291 0.99994179 -0.36457153] [ 0. 0. 0. 1. ]] SLAMing on 93.32650248099998 meters 0.11133026453230416 Centerline is valid? [False, False] Translation: X:4.58, Y:0.53, Z:-0.37 [[ 0.99994035 -0.00529695 -0.0095517 4.57786104] [ 0.00524946 0.99997377 -0.00499017 0.52842386] [ 0.00957788 0.00493973 0.99994193 -0.3652993 ] [ 0. 0. 0. 1. ]] SLAMing on 93.38650248099998 meters 0.11113114973613662 Centerline is valid? [False, False] Translation: X:4.59, Y:0.53, Z:-0.37 [[ 9.99987923e-01 -6.62565785e-04 -4.86983233e-03 4.59027160e+00] [ 6.28084973e-04 9.99974749e-01 -7.07861466e-03 5.31193756e-01] [ 4.87439941e-03 7.07547050e-03 9.99963088e-01 -3.69092267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44650248099998 meters 0.11108799473117158 Centerline is valid? [False, False] Translation: X:4.59, Y:0.53, Z:-0.37 [[ 9.99987815e-01 -6.72960850e-04 -4.89051383e-03 4.59011648e+00] [ 6.38354166e-04 9.99974772e-01 -7.07440690e-03 5.30646099e-01] [ 4.89515125e-03 7.07119882e-03 9.99963017e-01 -3.68768855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50650248099998 meters 0.11098009447570117 Centerline is valid? [False, False] Translation: X:4.59, Y:0.53, Z:-0.37 [[ 0.99997299 -0.00480977 -0.00555686 4.59128781] [ 0.00474536 0.99992209 -0.01154524 0.53163626] [ 0.00561196 0.01151855 0.99991791 -0.36867525] [ 0. 0. 0. 1. ]] SLAMing on 93.56650248099999 meters 0.11101975458192 Centerline is valid? [False, False] Translation: X:4.59, Y:0.53, Z:-0.37 [[ 9.99971821e-01 -4.53714982e-03 -5.98098611e-03 4.59233920e+00] [ 4.46989973e-03 9.99927178e-01 -1.12097967e-02 5.31626448e-01] [ 6.03141109e-03 1.11827464e-02 9.99919281e-01 -3.69104145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62650248099997 meters 0.11144158648724604 Centerline is valid? [False, False] Translation: X:4.61, Y:0.53, Z:-0.37 [[ 9.99966981e-01 -8.03607915e-03 -1.20722415e-03 4.60637338e+00] [ 8.02955903e-03 9.99953653e-01 -5.31202166e-03 5.27607094e-01] [ 1.24985602e-03 5.30215279e-03 9.99985162e-01 -3.71738835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68650248099998 meters 0.1119705086532719 Centerline is valid? [False, False] Translation: X:4.61, Y:0.52, Z:-0.37 [[ 9.99971191e-01 -7.57630061e-03 -4.65036552e-04 4.60582303e+00] [ 7.57432462e-03 9.99962855e-01 -4.11317193e-03 5.22721944e-01] [ 4.96181905e-04 4.10953110e-03 9.99991433e-01 -3.72724867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74650248099998 meters 0.11176381788061311 Centerline is valid? [False, False] Translation: X:4.61, Y:0.52, Z:-0.37 [[ 9.99973153e-01 -7.26761031e-03 -9.35972818e-04 4.60733667e+00] [ 7.26389524e-03 9.99965961e-01 -3.91325930e-03 5.23738208e-01] [ 9.64381001e-04 3.90635543e-03 9.99991905e-01 -3.73675949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80650248099998 meters 0.11291035742402794 Centerline is valid? [False, False] Translation: X:4.61, Y:0.52, Z:-0.37 [[ 9.99974829e-01 -7.05833060e-03 -7.21883706e-04 4.60712555e+00] [ 7.05584468e-03 9.99969361e-01 -3.39009562e-03 5.21963711e-01] [ 7.45790004e-04 3.38491679e-03 9.99993993e-01 -3.73948947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86650248099998 meters 0.1133205428930596 Centerline is valid? [False, False] Translation: X:4.61, Y:0.52, Z:-0.37 [[ 9.99973700e-01 -7.21446934e-03 -7.42116565e-04 4.60675820e+00] [ 7.21189510e-03 9.99968163e-01 -3.41486389e-03 5.21859057e-01] [ 7.66729369e-04 3.40942201e-03 9.99993894e-01 -3.73334119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92650248099999 meters 0.11395187003276297 Centerline is valid? [False, False] Translation: X:4.61, Y:0.52, Z:-0.37 [[ 9.99976424e-01 -6.85260207e-03 -4.38865504e-04 4.60694243e+00] [ 6.85143098e-03 9.99973105e-01 -2.61656717e-03 5.20119543e-01] [ 4.56783995e-04 2.61349863e-03 9.99996480e-01 -3.74409894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98650248099997 meters 0.11445639376962591 Centerline is valid? [False, False] Translation: X:4.61, Y:0.52, Z:-0.37 [[ 9.99977942e-01 -6.62273689e-03 -5.05324768e-04 4.60740884e+00] [ 6.62157461e-03 9.99975505e-01 -2.26807783e-03 5.19502939e-01] [ 5.20333273e-04 2.26468175e-03 9.99997300e-01 -3.74917697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04650248099998 meters 0.11353869643637884 Centerline is valid? [False, False] Translation: X:4.61, Y:0.52, Z:-0.38 [[ 9.99978750e-01 -6.43207870e-03 -1.06190520e-03 4.60871104e+00] [ 6.42941963e-03 9.99976234e-01 -2.48876958e-03 5.21335026e-01] [ 1.07788792e-03 2.48188926e-03 9.99996339e-01 -3.75287419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10650248099998 meters 0.11240227843399223 Centerline is valid? [False, False] Translation: X:4.61, Y:0.52, Z:-0.38 [[ 9.99979334e-01 -6.19754090e-03 -1.70958942e-03 4.61005359e+00] [ 6.19255982e-03 9.99976610e-01 -2.90367650e-03 5.23331736e-01] [ 1.72754509e-03 2.89302976e-03 9.99994323e-01 -3.75530743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16650248099998 meters 0.11137956187242287 Centerline is valid? [False, False] Translation: X:4.63, Y:0.52, Z:-0.37 [[ 9.99992961e-01 3.60106635e-03 -1.05363917e-03 4.62536656e+00] [-3.60548115e-03 9.99984602e-01 -4.21859079e-03 5.23465794e-01] [ 1.03843152e-03 4.22235997e-03 9.99990547e-01 -3.73205996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22650248099998 meters 0.110861453760451 Centerline is valid? [False, False] Translation: X:4.63, Y:0.53, Z:-0.37 [[ 9.99998196e-01 -3.47541092e-04 -1.86720018e-03 4.62707170e+00] [ 3.31207963e-04 9.99961745e-01 -8.74059036e-03 5.25128099e-01] [ 1.87016647e-03 8.73995617e-03 9.99960057e-01 -3.73563679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28650248099999 meters 0.11043696779165163 Centerline is valid? [False, False] Translation: X:4.63, Y:0.53, Z:-0.38 [[ 9.99997026e-01 2.75261017e-04 -2.42322467e-03 4.62912947e+00] [-2.95234129e-04 9.99965959e-01 -8.24587371e-03 5.25497431e-01] [ 2.42087242e-03 8.24656460e-03 9.99963066e-01 -3.75114867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34650248099997 meters 0.1103791086853925 Centerline is valid? [False, False] Translation: X:4.64, Y:0.53, Z:-0.38 [[ 9.99991836e-01 -3.51906952e-03 1.98621513e-03 4.64344519e+00] [ 3.52696789e-03 9.99985831e-01 -3.98719518e-03 5.25177718e-01] [-1.97215577e-03 3.99416794e-03 9.99990079e-01 -3.76588330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40650248099998 meters 0.11045274168566944 Centerline is valid? [False, False] Translation: X:4.64, Y:0.53, Z:-0.38 [[ 9.99992460e-01 -3.55290156e-03 1.56724199e-03 4.64395103e+00] [ 3.55974827e-03 9.99984038e-01 -4.38769698e-03 5.26662417e-01] [-1.55162792e-03 4.39324288e-03 9.99989146e-01 -3.76151142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46650248099998 meters 0.11057061416501106 Centerline is valid? [False, False] Translation: X:4.64, Y:0.53, Z:-0.38 [[ 9.99968084e-01 -7.85262389e-03 1.47247032e-03 4.64412035e+00] [ 7.86534947e-03 9.99929945e-01 -8.84544642e-03 5.27018164e-01] [-1.40290720e-03 8.85674560e-03 9.99959794e-01 -3.76055854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52650248099998 meters 0.11127654021266459 Centerline is valid? [False, False] Translation: X:4.64, Y:0.53, Z:-0.38 [[ 9.99968232e-01 -7.80684116e-03 1.60872096e-03 4.64402516e+00] [ 7.82027983e-03 9.99933091e-01 -8.52390976e-03 5.26494447e-01] [-1.54206852e-03 8.53621962e-03 9.99962377e-01 -3.76339222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58650248099998 meters 0.1115315349668608 Centerline is valid? [False, False] Translation: X:4.64, Y:0.53, Z:-0.38 [[ 9.99970138e-01 -7.56967085e-03 1.55665296e-03 4.64443533e+00] [ 7.58203086e-03 9.99938500e-01 -8.09372710e-03 5.25741268e-01] [-1.49529038e-03 8.10528800e-03 9.99966034e-01 -3.76839246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64650248099998 meters 0.1121817677516288 Centerline is valid? [False, False] Translation: X:4.64, Y:0.52, Z:-0.38 [[ 9.99970590e-01 -7.21798577e-03 2.59238758e-03 4.64362476e+00] [ 7.23533530e-03 9.99951065e-01 -6.74665743e-03 5.21093629e-01] [-2.54356345e-03 6.76521580e-03 9.99973881e-01 -3.78347292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70650248099999 meters 0.11373897112991065 Centerline is valid? [False, False] Translation: X:4.66, Y:0.52, Z:-0.38 [[ 9.99907523e-01 -1.15518644e-02 7.17635893e-03 4.65713579e+00] [ 1.15643948e-02 9.99931673e-01 -1.70703451e-03 5.17965183e-01] [-7.15614916e-03 1.78986689e-03 9.99972793e-01 -3.79850051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76650248099997 meters 0.11381255782353147 Centerline is valid? [False, False] Translation: X:4.66, Y:0.52, Z:-0.38 [[ 9.99909847e-01 -1.14441896e-02 7.02348307e-03 4.65733548e+00] [ 1.14556135e-02 9.99933121e-01 -1.58845177e-03 5.17486877e-01] [-7.00483480e-03 1.66876688e-03 9.99974073e-01 -3.79703653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82650248099998 meters 0.1139939476699549 Centerline is valid? [False, False] Translation: X:4.66, Y:0.52, Z:-0.38 [[ 9.99914600e-01 -1.11488296e-02 6.81879362e-03 4.65837566e+00] [ 1.11576561e-02 9.99936960e-01 -1.25776696e-03 5.17634774e-01] [-6.80434114e-03 1.33374130e-03 9.99975961e-01 -3.80765041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88650248099998 meters 0.11306088204513581 Centerline is valid? [False, False] Translation: X:4.66, Y:0.52, Z:-0.38 [[ 9.99922982e-01 -1.06582786e-02 6.35851325e-03 4.66033410e+00] [ 1.06647089e-02 9.99942652e-01 -9.78245393e-04 5.19056437e-01] [-6.34772219e-03 1.04598174e-03 9.99979306e-01 -3.82494644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94650248099998 meters 0.11296816077658978 Centerline is valid? [False, False] Translation: X:4.66, Y:0.52, Z:-0.38 [[ 9.99925299e-01 -1.07490675e-02 5.81840222e-03 4.66073417e+00] [ 1.07580959e-02 9.99940971e-01 -1.52263869e-03 5.20116577e-01] [-5.80169181e-03 1.58511988e-03 9.99981914e-01 -3.81522615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00650248099998 meters 0.11132022611498364 Centerline is valid? [False, False] Translation: X:4.66, Y:0.52, Z:-0.38 [[ 9.99966085e-01 -6.68425773e-03 4.81134926e-03 4.66210616e+00] [ 6.67742360e-03 9.99976676e-01 1.43508332e-03 5.24594434e-01] [-4.82082950e-03 -1.40290723e-03 9.99987396e-01 -3.80824518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06650248099999 meters 0.11074478449118934 Centerline is valid? [False, False] Translation: X:4.68, Y:0.52, Z:-0.38 [[ 9.99994580e-01 -7.43484659e-04 3.20736481e-03 4.67949428e+00] [ 7.54452856e-04 9.99993868e-01 -3.41983776e-03 5.24030888e-01] [-3.20480254e-03 3.42223903e-03 9.99989009e-01 -3.78886677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12650248099997 meters 0.11018157789942601 Centerline is valid? [False, False] Translation: X:4.68, Y:0.53, Z:-0.38 [[ 9.99997269e-01 -6.79144746e-04 2.23602870e-03 4.68090045e+00] [ 6.88135507e-04 9.99991673e-01 -4.02255021e-03 5.26294010e-01] [-2.23327819e-03 4.02407792e-03 9.99989410e-01 -3.78282462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18650248099998 meters 0.11002202267471486 Centerline is valid? [False, False] Translation: X:4.68, Y:0.53, Z:-0.38 [[ 9.99998513e-01 -5.92141929e-04 1.61961925e-03 4.68177887e+00] [ 5.99079271e-04 9.99990635e-01 -4.28619067e-03 5.27187465e-01] [-1.61706605e-03 4.28715458e-03 9.99989503e-01 -3.77849326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24650248099998 meters 0.10964932838653325 Centerline is valid? [False, False] Translation: X:4.68, Y:0.53, Z:-0.38 [[ 9.99989102e-01 -4.61015372e-03 7.36359551e-04 4.68329849e+00] [ 4.61653376e-03 9.99949637e-01 -8.91128612e-03 5.28636884e-01] [-6.95240067e-04 8.91458843e-03 9.99960023e-01 -3.77695416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30650248099998 meters 0.11004702884392929 Centerline is valid? [False, False] Translation: X:4.68, Y:0.53, Z:-0.38 [[ 9.99988207e-01 -4.85188301e-03 -2.10440855e-04 4.68344653e+00] [ 4.84959750e-03 9.99940585e-01 -9.76253222e-03 5.30659668e-01] [ 2.57795016e-04 9.76139654e-03 9.99952323e-01 -3.75355239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36650248099998 meters 0.11001271792641083 Centerline is valid? [False, False] Translation: X:4.68, Y:0.53, Z:-0.38 [[ 9.99990461e-01 -4.36759910e-03 -3.22834654e-05 4.68344378e+00] [ 4.36714886e-03 9.99952112e-01 -8.75795006e-03 5.27512680e-01] [ 7.05331342e-05 8.75772554e-03 9.99961648e-01 -3.75875616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42650248099999 meters 0.11025463641785009 Centerline is valid? [False, False] Translation: X:4.68, Y:0.52, Z:-0.38 [[ 9.99991959e-01 -3.98869259e-03 4.14004168e-04 4.68288795e+00] [ 3.99168730e-03 9.99963877e-01 -7.50400880e-03 5.23663013e-01] [-3.84058029e-04 7.50560104e-03 9.99971759e-01 -3.76343943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48650248099997 meters 0.11030812992832138 Centerline is valid? [False, False] Translation: X:4.68, Y:0.52, Z:-0.38 [[ 9.99972079e-01 -7.46882388e-03 2.38619384e-04 4.68447509e+00] [ 7.47092352e-03 9.99916588e-01 -1.05357644e-02 5.21632421e-01] [-1.59909711e-04 1.05372529e-02 9.99944469e-01 -3.78375287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54650248099998 meters 0.11011371455066508 Centerline is valid? [False, False] Translation: X:4.68, Y:0.52, Z:-0.38 [[ 9.99976034e-01 -6.91870662e-03 2.50117153e-04 4.68494459e+00] [ 6.92078251e-03 9.99930311e-01 -9.56427113e-03 5.19244062e-01] [-1.83927337e-04 9.56577293e-03 9.99954230e-01 -3.79204328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60650248099998 meters 0.1099333137371564 Centerline is valid? [False, False] Translation: X:4.70, Y:0.52, Z:-0.38 [[ 9.99998605e-01 7.79446981e-04 -1.47728443e-03 4.69910339e+00] [-7.94962874e-04 9.99944225e-01 -1.05316607e-02 5.17288331e-01] [ 1.46899316e-03 1.05328204e-02 9.99943449e-01 -3.76867277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66650248099998 meters 0.10983493976165096 Centerline is valid? [False, False] Translation: X:4.70, Y:0.52, Z:-0.38 [[ 9.99996879e-01 8.82698865e-04 -2.33714606e-03 4.69996810e+00] [-9.08883555e-04 9.99936568e-01 -1.12264462e-02 5.19238796e-01] [ 2.32708824e-03 1.12285354e-02 9.99934250e-01 -3.75758926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72650248099998 meters 0.10986838492946142 Centerline is valid? [False, False] Translation: X:4.70, Y:0.52, Z:-0.38 [[ 9.99995925e-01 1.30006707e-03 -2.54155911e-03 4.70058218e+00] [-1.32757918e-03 9.99940219e-01 -1.08533446e-02 5.18073753e-01] [ 2.52729710e-03 1.08566745e-02 9.99937871e-01 -3.76119975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78650248099999 meters 0.1095466034513763 Centerline is valid? [False, False] Translation: X:4.72, Y:0.52, Z:-0.38 [[ 9.99995459e-01 -2.98772532e-03 -3.93820841e-04 4.71760050e+00] [ 2.98505595e-03 9.99973679e-01 -6.61288111e-03 5.18216737e-01] [ 4.13567947e-04 6.61167551e-03 9.99978057e-01 -3.78590634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84650248099997 meters 0.10923321511771072 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.38 [[ 9.99980318e-01 -6.27094755e-03 -1.94870482e-04 4.71872025e+00] [ 6.26894182e-03 9.99939917e-01 -8.99233017e-03 5.14106158e-01] [ 2.51249204e-04 8.99093155e-03 9.99959549e-01 -3.81017560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90650248099998 meters 0.10949421717494848 Centerline is valid? [False, False] Translation: X:4.72, Y:0.51, Z:-0.38 [[ 9.99982370e-01 -5.93155698e-03 2.76293938e-04 4.71770549e+00] [ 5.93350747e-03 9.99952795e-01 -7.69427561e-03 5.08962433e-01] [-2.30641861e-04 7.69577935e-03 9.99970360e-01 -3.80766149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96650248099998 meters 0.10968562642289084 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.38 [[ 9.99985420e-01 -5.33706907e-03 8.21711630e-04 4.71731240e+00] [ 5.34170663e-03 9.99969207e-01 -5.74900718e-03 5.03310873e-01] [-7.91003479e-04 5.75331270e-03 9.99983137e-01 -3.81812728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02650248099998 meters 0.10998622855338575 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.38 [[ 9.99958646e-01 -9.04201192e-03 9.74228343e-04 4.71768220e+00] [ 9.05025133e-03 9.99920202e-01 -8.81382463e-03 5.00087185e-01] [-8.94455894e-04 8.82227715e-03 9.99960683e-01 -3.82829140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08650248099998 meters 0.11029803889598545 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.38 [[ 9.99959388e-01 -8.92363410e-03 1.26108177e-03 4.71709559e+00] [ 8.93361027e-03 9.99926963e-01 -8.13992301e-03 4.97785495e-01] [-1.18835197e-03 8.15085845e-03 9.99966075e-01 -3.82774207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14650248099998 meters 0.11075678433301665 Centerline is valid? [False, False] Translation: X:4.72, Y:0.50, Z:-0.38 [[ 9.99961705e-01 -8.63819355e-03 1.40380368e-03 4.71680603e+00] [ 8.64834583e-03 9.99935262e-01 -7.39441774e-03 4.95122050e-01] [-1.33983839e-03 7.40627515e-03 9.99971676e-01 -3.82761627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20650248099997 meters 0.11052924459498145 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.38 [[ 9.99964601e-01 -8.34905972e-03 1.04373393e-03 4.71769571e+00] [ 8.35628134e-03 9.99939755e-01 -7.11752547e-03 4.94847272e-01] [-9.84246406e-04 7.12599525e-03 9.99974125e-01 -3.83177460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26650248099997 meters 0.1099347458681272 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.38 [[ 9.99993029e-01 -3.65579510e-03 7.60195265e-04 4.71868243e+00] [ 3.65760684e-03 9.99990441e-01 -2.39567176e-03 4.94503421e-01] [-7.51429914e-04 2.39843556e-03 9.99996841e-01 -3.83965641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32650248099998 meters 0.10939774827369676 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.38 [[ 9.99995608e-01 -2.96291421e-03 6.63324729e-05 4.72014634e+00] [ 2.96303234e-03 9.99993884e-01 -1.85787333e-03 4.93068236e-01] [-6.08273480e-05 1.85806171e-03 9.99998272e-01 -3.84277470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38650248099998 meters 0.10930197871507184 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.39 [[ 9.99996868e-01 -2.49446109e-03 -2.03382744e-04 4.72111733e+00] [ 2.49420879e-03 9.99996131e-01 -1.23145576e-03 4.91920096e-01] [ 2.06453775e-04 1.23094462e-03 9.99999221e-01 -3.85068474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44650248099998 meters 0.10928884325659624 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.39 [[ 9.99979287e-01 -6.35397162e-03 -1.02622449e-03 4.72259055e+00] [ 6.34849924e-03 9.99966064e-01 -5.25055259e-03 4.92036732e-01] [ 1.05955152e-03 5.24392884e-03 9.99985689e-01 -3.85096495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50650248099998 meters 0.1092317335852011 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.39 [[ 9.99981620e-01 -5.94723527e-03 -1.17901797e-03 4.72318963e+00] [ 5.94177521e-03 9.99971851e-01 -4.58166373e-03 4.90512812e-01] [ 1.20623302e-03 4.57457406e-03 9.99988809e-01 -3.85627889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56650248099999 meters 0.10930528994452222 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.39 [[ 9.99985036e-01 -5.41546889e-03 -7.74391629e-04 4.72303241e+00] [ 5.41291347e-03 9.99980021e-01 -3.26478289e-03 4.86537669e-01] [ 7.92056487e-04 3.26054232e-03 9.99994371e-01 -3.86499037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62650248099997 meters 0.10985199777243568 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.39 [[ 9.99950553e-01 -9.84936749e-03 -1.37170225e-03 4.72359468e+00] [ 9.83837886e-03 9.99921183e-01 -7.79965409e-03 4.87642126e-01] [ 1.44841579e-03 7.78577309e-03 9.99968641e-01 -3.85704790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68650248099998 meters 0.11065642936835596 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-0.39 [[ 9.99954742e-01 -9.48243701e-03 -7.72912708e-04 4.72349393e+00] [ 9.47731688e-03 9.99934744e-01 -6.37880715e-03 4.83454177e-01] [ 8.33348908e-04 6.37119332e-03 9.99979356e-01 -3.87148053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74650248099998 meters 0.11271413635203407 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-0.39 [[ 9.99953288e-01 -9.66393949e-03 -1.71141703e-04 4.72237690e+00] [ 9.66277664e-03 9.99936292e-01 -5.83461719e-03 4.81440476e-01] [ 2.27516187e-04 5.83269094e-03 9.99982964e-01 -3.86986636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80650248099998 meters 0.11433452420698649 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-0.39 [[ 9.99949962e-01 -1.00015471e-02 -2.08330040e-04 4.72196237e+00] [ 1.00000533e-02 9.99930542e-01 -6.23786068e-03 4.82208807e-01] [ 2.70703827e-04 6.23546523e-03 9.99980523e-01 -3.86203331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86650248099998 meters 0.11453557310871575 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-0.39 [[ 9.99949444e-01 -1.00537256e-02 -1.78432476e-04 4.72192760e+00] [ 1.00524024e-02 9.99929634e-01 -6.29888857e-03 4.82361270e-01] [ 2.41747218e-04 6.29677644e-03 9.99980146e-01 -3.86193939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92650248099999 meters 0.11502456017479878 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-0.39 [[ 9.99983050e-01 -5.82186241e-03 -8.02057583e-05 4.72180616e+00] [ 5.82168960e-03 9.99981037e-01 -2.00842483e-03 4.82569264e-01] [ 9.18970104e-05 2.00792385e-03 9.99997980e-01 -3.86310188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98650248099997 meters 0.11395275613631933 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-0.39 [[ 9.99985676e-01 -5.33200476e-03 -4.66696777e-04 4.72343813e+00] [ 5.33127256e-03 9.99984578e-01 -1.55633017e-03 4.82940943e-01] [ 4.74987940e-04 1.55381979e-03 9.99998680e-01 -3.87767124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04650248099998 meters 0.11346852307608062 Centerline is valid? [False, False] Translation: X:4.72, Y:0.49, Z:-0.39 [[ 9.99983883e-01 -5.47864350e-03 -1.48913495e-03 4.72473692e+00] [ 5.47474563e-03 9.99981610e-01 -2.60913689e-03 4.86292995e-01] [ 1.50340209e-03 2.60094221e-03 9.99995487e-01 -3.86951556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10650248099998 meters 0.11253098028929528 Centerline is valid? [False, False] Translation: X:4.73, Y:0.49, Z:-0.39 [[ 9.99985632e-01 -4.39568489e-03 -3.06825651e-03 4.72798689e+00] [ 4.38882187e-03 9.99987860e-01 -2.23994182e-03 4.90994954e-01] [ 3.07806534e-03 2.22644360e-03 9.99992784e-01 -3.87912860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16650248099998 meters 0.11168592472206265 Centerline is valid? [False, False] Translation: X:4.74, Y:0.49, Z:-0.39 [[ 9.99984188e-01 -1.37198550e-03 -5.45361250e-03 4.74037742e+00] [ 1.33951607e-03 9.99981384e-01 -5.95294778e-03 4.90780195e-01] [ 5.46167833e-03 5.94554845e-03 9.99967410e-01 -3.87786871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22650248099998 meters 0.11018232918774327 Centerline is valid? [False, False] Translation: X:4.74, Y:0.50, Z:-0.39 [[ 9.99976041e-01 2.50097153e-03 -6.45458824e-03 4.74141157e+00] [-2.52182262e-03 9.99991622e-01 -3.22431440e-03 4.95467917e-01] [ 6.44647024e-03 3.24051448e-03 9.99973971e-01 -3.86516581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28650248099999 meters 0.10922884752577154 Centerline is valid? [False, False] Translation: X:4.76, Y:0.50, Z:-0.39 [[ 9.99989002e-01 -2.28122416e-03 -4.09774734e-03 4.75980322e+00] [ 2.27322390e-03 9.99995503e-01 -1.95595280e-03 4.99221804e-01] [ 4.10219088e-03 1.94661619e-03 9.99989691e-01 -3.88453457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34650248099997 meters 0.10937977169437225 Centerline is valid? [False, False] Translation: X:4.76, Y:0.51, Z:-0.39 [[ 9.99984030e-01 -2.43748983e-03 -5.09880370e-03 4.75980554e+00] [ 2.41979306e-03 9.99991038e-01 -3.47406409e-03 5.05009978e-01] [ 5.10722600e-03 3.46167056e-03 9.99980966e-01 -3.85699133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40650248099998 meters 0.10932235447731008 Centerline is valid? [False, False] Translation: X:4.77, Y:0.51, Z:-0.38 [[ 9.99997480e-01 9.56372984e-04 -2.03131375e-03 4.77023457e+00] [-9.75755823e-04 9.99953802e-01 -9.56256107e-03 5.05295724e-01] [ 2.02207453e-03 9.56451904e-03 9.99952214e-01 -3.83600203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46650248099998 meters 0.10966826314150896 Centerline is valid? [False, False] Translation: X:4.77, Y:0.50, Z:-0.38 [[ 9.99993268e-01 -3.04454142e-03 -2.04817553e-03 4.77040125e+00] [ 3.01728664e-03 9.99908576e-01 -1.31808765e-02 5.03381422e-01] [ 2.08811800e-03 1.31746079e-02 9.99911031e-01 -3.83867525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52650248099998 meters 0.11053160599281737 Centerline is valid? [False, False] Translation: X:4.78, Y:0.50, Z:-0.39 [[ 9.99968097e-01 -7.55499992e-03 2.59366432e-03 4.78361286e+00] [ 7.57348310e-03 9.99945457e-01 -7.19200053e-03 4.97659582e-01] [-2.53918729e-03 7.21141416e-03 9.99970774e-01 -3.86820076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58650248099998 meters 0.11169936222021798 Centerline is valid? [False, False] Translation: X:4.78, Y:0.49, Z:-0.39 [[ 9.99969592e-01 -7.17797316e-03 3.04818013e-03 4.78321160e+00] [ 7.19557479e-03 9.99957272e-01 -5.80331029e-03 4.94136170e-01] [-3.00639388e-03 5.82506723e-03 9.99978515e-01 -3.87591450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64650248099998 meters 0.1130301749580447 Centerline is valid? [False, False] Translation: X:4.78, Y:0.49, Z:-0.39 [[ 9.99971012e-01 -6.79276294e-03 3.44012209e-03 4.78314825e+00] [ 6.80881479e-03 9.99965887e-01 -4.67605565e-03 4.91505102e-01] [-3.40824140e-03 4.69934325e-03 9.99983150e-01 -3.88703146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70650248099997 meters 0.11337703693799545 Centerline is valid? [False, False] Translation: X:4.78, Y:0.49, Z:-0.39 [[ 9.99972287e-01 -6.75140665e-03 3.13738569e-03 4.78358494e+00] [ 6.76627807e-03 9.99965808e-01 -4.75387993e-03 4.91803710e-01] [-3.10518304e-03 4.77497661e-03 9.99983779e-01 -3.88495846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76650248099997 meters 0.11246347111380256 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.39 [[ 9.99977658e-01 -6.21270594e-03 2.46709815e-03 4.78540698e+00] [ 6.22377201e-03 9.99970492e-01 -4.50340658e-03 4.92187484e-01] [-2.43904701e-03 4.51866062e-03 9.99986816e-01 -3.89468464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82650248099998 meters 0.11188403244990308 Centerline is valid? [False, False] Translation: X:4.79, Y:0.49, Z:-0.39 [[ 9.99996105e-01 -1.99976568e-03 1.94679684e-03 4.78641045e+00] [ 2.00146775e-03 9.99997616e-01 -8.72735506e-04 4.94792011e-01] [-1.94504693e-03 8.76628559e-04 9.99997724e-01 -3.89566342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88650248099998 meters 0.11123090112744322 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:-0.39 [[ 9.99993744e-01 3.53112909e-03 -2.09521026e-04 4.80167302e+00] [-3.53200702e-03 9.99984304e-01 -4.34922678e-03 4.96452715e-01] [ 1.94160056e-04 4.34993960e-03 9.99990520e-01 -3.88568690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94650248099998 meters 0.1110376712423881 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:-0.39 [[ 9.99993603e-01 3.36575143e-03 -1.21083094e-03 4.80296954e+00] [-3.37237825e-03 9.99979116e-01 -5.51318038e-03 5.00196740e-01] [ 1.19224966e-03 5.51722849e-03 9.99984069e-01 -3.87737235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00650248099998 meters 0.11130718325497929 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99979797e-01 -6.32355743e-03 6.46270085e-04 4.81194746e+00] [ 6.32432484e-03 9.99979290e-01 -1.19237861e-03 5.02211665e-01] [-6.38716627e-04 1.19644174e-03 9.99999080e-01 -3.90232558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06650248099999 meters 0.1114577909230769 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99942800e-01 -1.06939057e-02 -1.92210151e-04 4.81270819e+00] [ 1.06925345e-02 9.99924226e-01 -6.10008973e-03 5.03877711e-01] [ 2.57429372e-04 6.09768559e-03 9.99981376e-01 -3.88971001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12650248099997 meters 0.11190289472415835 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99944977e-01 -1.04894729e-02 -1.14140762e-04 4.81264579e+00] [ 1.04886849e-02 9.99929811e-01 -5.50996322e-03 5.02165904e-01] [ 1.71929361e-04 5.50846287e-03 9.99984814e-01 -3.89140756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18650248099998 meters 0.11224502893852824 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99947386e-01 -1.02531345e-02 3.14197424e-04 4.81208189e+00] [ 1.02544551e-02 9.99937126e-01 -4.53765240e-03 4.99115385e-01] [-2.67652509e-04 4.54063558e-03 9.99989655e-01 -3.89407933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24650248099998 meters 0.11264881918883193 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99950801e-01 -9.89261502e-03 7.29787528e-04 4.81223977e+00] [ 9.89520674e-03 9.99944425e-01 -3.63759583e-03 4.97133171e-01] [-6.93761635e-04 3.64463826e-03 9.99993118e-01 -3.90817709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30650248099998 meters 0.1130650545668764 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99949288e-01 -1.00637448e-02 3.76332400e-04 4.81266076e+00] [ 1.00652032e-02 9.99940947e-01 -4.09816971e-03 4.98878854e-01] [-3.35067243e-04 4.10174974e-03 9.99991532e-01 -3.90443536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36650248099998 meters 0.11327260386236306 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99952456e-01 -9.72547639e-03 7.08009305e-04 4.81258903e+00] [ 9.72779082e-03 9.99947098e-01 -3.34235929e-03 4.96509193e-01] [-6.75465813e-04 3.34908774e-03 9.99994164e-01 -3.91179548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42650248099999 meters 0.11345824968682626 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99951701e-01 -9.80358487e-03 6.96915755e-04 4.81243974e+00] [ 9.80593642e-03 9.99945952e-01 -3.45492484e-03 4.96599758e-01] [-6.63007439e-04 3.46159188e-03 9.99993789e-01 -3.90885006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48650248099997 meters 0.11392357122938582 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99955002e-01 -9.48333790e-03 2.46783334e-04 4.81380195e+00] [ 9.48408628e-03 9.99949801e-01 -3.23228542e-03 4.97225151e-01] [-2.16118091e-04 3.23448049e-03 9.99994746e-01 -3.91669761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54650248099998 meters 0.11291542533642762 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:-0.39 [[ 9.99956361e-01 -9.34067837e-03 -1.66589990e-04 4.81447423e+00] [ 9.34005869e-03 9.99950610e-01 -3.39715901e-03 4.97993505e-01] [ 1.98313531e-04 3.39545480e-03 9.99994216e-01 -3.91497049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60650248099998 meters 0.11236975715826393 Centerline is valid? [False, False] Translation: X:4.82, Y:0.50, Z:-0.39 [[ 9.99957237e-01 -9.20993308e-03 -8.36864820e-04 4.81564293e+00] [ 9.20669461e-03 9.99950418e-01 -3.79454674e-03 5.00358798e-01] [ 8.71770848e-04 3.78667971e-03 9.99992451e-01 -3.91487672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66650248099998 meters 0.11216650868075505 Centerline is valid? [False, False] Translation: X:4.83, Y:0.50, Z:-0.39 [[ 9.99996964e-01 -1.66188810e-03 -1.81941947e-03 4.82627100e+00] [ 1.65369012e-03 9.99988516e-01 -4.49809156e-03 5.00528194e-01] [ 1.82687390e-03 4.49506914e-03 9.99988228e-01 -3.88456088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72650248099998 meters 0.11159644544299949 Centerline is valid? [False, False] Translation: X:4.84, Y:0.50, Z:-0.39 [[ 9.99989620e-01 2.60678339e-03 -3.73687607e-03 4.84074234e+00] [-2.63262976e-03 9.99972533e-01 -6.92842151e-03 4.99842057e-01] [ 3.71871253e-03 6.93818740e-03 9.99969016e-01 -3.90584242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78650248099999 meters 0.11121319926477848 Centerline is valid? [False, False] Translation: X:4.84, Y:0.50, Z:-0.39 [[ 9.99985673e-01 3.19762558e-03 -4.29294865e-03 4.84288412e+00] [-3.22601843e-03 9.99972862e-01 -6.62328000e-03 5.01107372e-01] [ 4.27165338e-03 6.63703424e-03 9.99968851e-01 -3.92271907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84650248099997 meters 0.11135765682439627 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:-0.39 [[ 9.99998156e-01 -1.89649784e-03 -3.03298831e-04 4.85751494e+00] [ 1.89484476e-03 9.99983836e-01 -5.36078128e-03 5.02764733e-01] [ 3.13460639e-04 5.36019668e-03 9.99985585e-01 -3.91435841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90650248099998 meters 0.11138514361774425 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:-0.39 [[ 9.99998123e-01 -1.77563904e-03 -7.75421368e-04 4.85821247e+00] [ 1.77126989e-03 9.99982755e-01 -5.59935740e-03 5.03512520e-01] [ 7.85350433e-04 5.59797341e-03 9.99984023e-01 -3.91172164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96650248099998 meters 0.1116447144926964 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:-0.39 [[ 9.99997041e-01 -2.01076729e-03 -1.36936947e-03 4.85802015e+00] [ 2.00217720e-03 9.99978491e-01 -6.24577387e-03 5.04194168e-01] [ 1.38189882e-03 6.24301367e-03 9.99979557e-01 -3.89209192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02650248099998 meters 0.11144001355475915 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:-0.39 [[ 9.99981740e-01 -5.81208293e-03 -1.65514962e-03 4.85874342e+00] [ 5.79557149e-03 9.99935069e-01 -9.81172563e-03 5.02061733e-01] [ 1.71206871e-03 9.80195393e-03 9.99950494e-01 -3.89518926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08650248099998 meters 0.11153713818254687 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:-0.39 [[ 9.99983988e-01 -5.48079890e-03 -1.40843680e-03 4.85832040e+00] [ 5.46829620e-03 9.99946918e-01 -8.73260770e-03 4.98474297e-01] [ 1.45622370e-03 8.72476612e-03 9.99960878e-01 -3.89616090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14650248099998 meters 0.11158142474699939 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:-0.39 [[ 9.99987836e-01 -4.84483311e-03 -9.25339339e-04 4.85784258e+00] [ 4.83803521e-03 9.99962286e-01 -7.21252740e-03 4.93216607e-01] [ 9.60247932e-04 7.20796284e-03 9.99973561e-01 -3.90191712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20650248099997 meters 0.11166959610301677 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:-0.39 [[ 9.99990351e-01 -4.35092750e-03 -6.05701232e-04 4.85698300e+00] [ 4.34711932e-03 9.99971623e-01 -6.15264167e-03 4.87496200e-01] [ 6.32453742e-04 6.14994925e-03 9.99980889e-01 -3.89654320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26650248099997 meters 0.11124028284786261 Centerline is valid? [False, False] Translation: X:4.86, Y:0.48, Z:-0.39 [[ 9.99994110e-01 -3.36314524e-03 -6.84998234e-04 4.85786755e+00] [ 3.36014252e-03 9.99984943e-01 -4.33850769e-03 4.82879879e-01] [ 6.99578951e-04 4.33618044e-03 9.99990354e-01 -3.90949056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32650248099998 meters 0.11083648845115135 Centerline is valid? [False, False] Translation: X:4.86, Y:0.48, Z:-0.39 [[ 9.99996895e-01 -2.35806211e-03 -8.06507635e-04 4.85897812e+00] [ 2.35575259e-03 9.99993156e-01 -2.85267805e-03 4.78923376e-01] [ 8.13228908e-04 2.85076926e-03 9.99995606e-01 -3.92270412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38650248099998 meters 0.11072913272157917 Centerline is valid? [False, False] Translation: X:4.86, Y:0.48, Z:-0.39 [[ 9.99979023e-01 -6.32248881e-03 -1.40689866e-03 4.85960683e+00] [ 6.31224818e-03 9.99954387e-01 -7.16799809e-03 4.79281543e-01] [ 1.45215407e-03 7.15896703e-03 9.99973320e-01 -3.91645899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44650248099998 meters 0.11067252975076243 Centerline is valid? [False, False] Translation: X:4.86, Y:0.48, Z:-0.39 [[ 9.99984427e-01 -5.35255350e-03 -1.57966070e-03 4.86089976e+00] [ 5.34353970e-03 9.99969726e-01 -5.65625670e-03 4.76056364e-01] [ 1.60988830e-03 5.64772764e-03 9.99982756e-01 -3.93240729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50650248099998 meters 0.1108118859926266 Centerline is valid? [False, False] Translation: X:4.86, Y:0.47, Z:-0.39 [[ 9.99988391e-01 -4.63287290e-03 -1.32416488e-03 4.86102031e+00] [ 4.62727158e-03 9.99980464e-01 -4.20228954e-03 4.71984259e-01] [ 1.34360769e-03 4.19611349e-03 9.99990294e-01 -3.94228205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56650248099997 meters 0.11078410738485017 Centerline is valid? [False, False] Translation: X:4.86, Y:0.47, Z:-0.40 [[ 9.99965206e-01 -8.25041532e-03 -1.23152482e-03 4.86140370e+00] [ 8.24151771e-03 9.99941093e-01 -7.06307968e-03 4.68414676e-01] [ 1.28972562e-03 7.05268429e-03 9.99974298e-01 -3.95149541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62650248099997 meters 0.1108960912529137 Centerline is valid? [False, False] Translation: X:4.86, Y:0.46, Z:-0.40 [[ 9.99931184e-01 -1.17144537e-02 -6.31040647e-04 4.86137059e+00] [ 1.17082360e-02 9.99890135e-01 -9.09043581e-03 4.63014622e-01] [ 7.37460807e-04 9.08242188e-03 9.99958482e-01 -3.96910501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68650248099998 meters 0.11187986232724952 Centerline is valid? [False, False] Translation: X:4.86, Y:0.46, Z:-0.40 [[ 9.99882525e-01 -1.53269322e-02 1.48775183e-04 4.86099572e+00] [ 1.53276391e-02 9.99820796e-01 -1.11103399e-02 4.57615897e-01] [ 2.15389049e-05 1.11113151e-02 9.99938267e-01 -3.98710166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74650248099998 meters 0.11246862174060847 Centerline is valid? [False, False] Translation: X:4.86, Y:0.45, Z:-0.40 [[ 9.99887037e-01 -1.49911209e-02 1.08596371e-03 4.85984038e+00] [ 1.50007297e-02 9.99842744e-01 -9.45866071e-03 4.52507583e-01] [-9.43997007e-04 9.47388248e-03 9.99954676e-01 -3.99450604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80650248099998 meters 0.11274517629602797 Centerline is valid? [False, False] Translation: X:4.86, Y:0.45, Z:-0.40 [[ 9.99894655e-01 -1.44488391e-02 1.38173680e-03 4.86012326e+00] [ 1.44596855e-02 9.99861899e-01 -8.19154152e-03 4.49690601e-01] [-1.26318772e-03 8.21065806e-03 9.99965494e-01 -4.00808914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86650248099998 meters 0.11260511425362094 Centerline is valid? [False, False] Translation: X:4.86, Y:0.45, Z:-0.40 [[ 9.99951566e-01 -9.69252623e-03 1.70917807e-03 4.86043709e+00] [ 9.69752388e-03 9.99948655e-01 -2.94037114e-03 4.47812593e-01] [-1.68059068e-03 2.95680352e-03 9.99994216e-01 -4.02322925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92650248099999 meters 0.11209680896000389 Centerline is valid? [False, False] Translation: X:4.86, Y:0.45, Z:-0.40 [[ 9.99957511e-01 -9.09215883e-03 1.51936994e-03 4.86157496e+00] [ 9.09549704e-03 9.99956204e-01 -2.20482513e-03 4.46761713e-01] [-1.49925677e-03 2.21855087e-03 9.99996415e-01 -4.03624763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98650248099997 meters 0.11186565570640655 Centerline is valid? [False, False] Translation: X:4.86, Y:0.45, Z:-0.40 [[ 9.99961751e-01 -8.71577773e-03 7.29853376e-04 4.86333620e+00] [ 8.71742725e-03 9.99959384e-01 -2.28824313e-03 4.48788010e-01] [-7.09879914e-04 2.29451805e-03 9.99997116e-01 -4.04328326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04650248099998 meters 0.11139516560249423 Centerline is valid? [False, False] Translation: X:4.86, Y:0.45, Z:-0.41 [[ 9.99967995e-01 -7.98650238e-03 4.73659069e-04 4.86485659e+00] [ 7.98713964e-03 9.99967179e-01 -1.35912188e-03 4.47770636e-01] [-4.62788893e-04 1.36286157e-03 9.99998964e-01 -4.06063165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10650248099998 meters 0.11132094393660674 Centerline is valid? [False, False] Translation: X:4.87, Y:0.45, Z:-0.41 [[ 9.99971921e-01 -7.47861594e-03 4.77264180e-04 4.86548894e+00] [ 7.47886015e-03 9.99971902e-01 -5.11962000e-04 4.46069448e-01] [-4.73422003e-04 5.15517016e-04 9.99999755e-01 -4.07130862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16650248099998 meters 0.11089397290967544 Centerline is valid? [False, False] Translation: X:4.87, Y:0.44, Z:-0.41 [[ 9.99976638e-01 -6.83005230e-03 2.72448906e-04 4.86672860e+00] [ 6.82992300e-03 9.99976564e-01 4.72719939e-04 4.44602208e-01] [-2.75671222e-04 -4.70848091e-04 9.99999851e-01 -4.08538494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22650248099998 meters 0.11092318698536663 Centerline is valid? [False, False] Translation: X:4.87, Y:0.44, Z:-0.41 [[ 9.99979614e-01 -6.38514327e-03 -3.01346242e-05 4.86785726e+00] [ 6.38517194e-03 9.99979038e-01 1.07378076e-03 4.43897254e-01] [ 2.32777485e-05 -1.07395129e-03 9.99999423e-01 -4.09489199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28650248099999 meters 0.11092814420490005 Centerline is valid? [False, False] Translation: X:4.87, Y:0.44, Z:-0.41 [[ 9.99981569e-01 -6.07095199e-03 -7.77820583e-05 4.86791499e+00] [ 6.07107685e-03 9.99980091e-01 1.72052904e-03 4.41822340e-01] [ 6.73352605e-05 -1.72096955e-03 9.99998517e-01 -4.09466469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34650248099997 meters 0.11091391473719203 Centerline is valid? [False, False] Translation: X:4.87, Y:0.44, Z:-0.41 [[ 9.99983015e-01 -5.82207147e-03 -2.71104566e-04 4.86840155e+00] [ 5.82262534e-03 9.99980866e-01 2.08910849e-03 4.41105771e-01] [ 2.58936439e-04 -2.09065155e-03 9.99997781e-01 -4.09714739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40650248099998 meters 0.11074265519885772 Centerline is valid? [False, False] Translation: X:4.87, Y:0.44, Z:-0.41 [[ 9.99953562e-01 -9.59517947e-03 -8.97466947e-04 4.86985893e+00] [ 9.59375643e-03 9.99952736e-01 -1.57671263e-03 4.40179162e-01] [ 9.12553370e-04 1.56802933e-03 9.99998354e-01 -4.10279377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46650248099998 meters 0.11091426512396599 Centerline is valid? [False, False] Translation: X:4.87, Y:0.44, Z:-0.41 [[ 9.99958375e-01 -9.07760261e-03 -9.19472091e-04 4.87026719e+00] [ 9.07713868e-03 9.99958673e-01 -5.07486151e-04 4.37702818e-01] [ 9.24040850e-04 4.99118851e-04 9.99999449e-01 -4.10866755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52650248099998 meters 0.11131327897664649 Centerline is valid? [False, False] Translation: X:4.87, Y:0.43, Z:-0.41 [[ 9.99964098e-01 -8.43498953e-03 -8.07907804e-04 4.87046135e+00] [ 8.43568457e-03 9.99964048e-01 8.60785759e-04 4.33928276e-01] [ 8.00618039e-04 -8.67570110e-04 9.99999303e-01 -4.11495816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58650248099998 meters 0.11109710519453701 Centerline is valid? [False, False] Translation: X:4.87, Y:0.43, Z:-0.41 [[ 9.99967564e-01 -7.98544944e-03 -1.05027805e-03 4.87128531e+00] [ 7.98705562e-03 9.99966926e-01 1.53409156e-03 4.32761944e-01] [ 1.03799290e-03 -1.54243043e-03 9.99998272e-01 -4.12130560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64650248099998 meters 0.11135695525524704 Centerline is valid? [False, False] Translation: X:4.87, Y:0.43, Z:-0.41 [[ 9.99970186e-01 -7.63213046e-03 -1.17391475e-03 4.87172206e+00] [ 7.63454719e-03 9.99968718e-01 2.06817730e-03 4.31597504e-01] [ 1.15809343e-03 -2.07707795e-03 9.99997172e-01 -4.12479835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70650248099997 meters 0.1113844060592856 Centerline is valid? [False, False] Translation: X:4.87, Y:0.43, Z:-0.41 [[ 9.99934105e-01 -1.13625328e-02 -1.63652608e-03 4.87298905e+00] [ 1.13599618e-02 9.99934238e-01 -1.57178878e-03 4.30657227e-01] [ 1.65427796e-03 1.55309434e-03 9.99997426e-01 -4.13155267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76650248099997 meters 0.11124377638391571 Centerline is valid? [False, False] Translation: X:4.87, Y:0.43, Z:-0.41 [[ 9.99976141e-01 -6.74243923e-03 -1.50256411e-03 4.87302668e+00] [ 6.74755003e-03 9.99971378e-01 3.42268011e-03 4.28919318e-01] [ 1.47944389e-03 -3.43273707e-03 9.99993014e-01 -4.13625265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82650248099998 meters 0.1111664280031718 Centerline is valid? [False, False] Translation: X:4.87, Y:0.43, Z:-0.41 [[ 9.99943130e-01 -1.04860895e-02 -1.94365715e-03 4.87445410e+00] [ 1.04852497e-02 9.99944931e-01 -4.41800749e-04 4.28708685e-01] [ 1.94818287e-03 4.21395893e-04 9.99998014e-01 -4.14638312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88650248099998 meters 0.11105760862519067 Centerline is valid? [False, False] Translation: X:4.88, Y:0.43, Z:-0.42 [[ 9.99949140e-01 -9.84325263e-03 -2.19721155e-03 4.87604223e+00] [ 9.84376852e-03 9.99951524e-01 2.24102351e-04 4.28653522e-01] [ 2.19489914e-03 -2.45719795e-04 9.99997561e-01 -4.16389990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94650248099998 meters 0.11133738887498053 Centerline is valid? [False, False] Translation: X:4.88, Y:0.43, Z:-0.42 [[ 9.99952096e-01 -9.54938287e-03 -2.14804348e-03 4.87619747e+00] [ 9.55107049e-03 9.99954086e-01 7.76774237e-04 4.27302271e-01] [ 2.14052714e-03 -7.97253141e-04 9.99997391e-01 -4.16794425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00650248099998 meters 0.1113649069848347 Centerline is valid? [False, False] Translation: X:4.88, Y:0.43, Z:-0.42 [[ 9.99954673e-01 -9.23149843e-03 -2.33072029e-03 4.87688800e+00] [ 9.23444850e-03 9.99956570e-01 1.25816062e-03 4.26662403e-01] [ 2.31900436e-03 -1.27962651e-03 9.99996492e-01 -4.17358659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06650248099997 meters 0.11201886272135948 Centerline is valid? [False, False] Translation: X:4.88, Y:0.42, Z:-0.42 [[ 9.99959032e-01 -8.80808089e-03 -2.08597922e-03 4.87715560e+00] [ 8.81260715e-03 9.99958812e-01 2.17068916e-03 4.24710480e-01] [ 2.06677370e-03 -2.18898314e-03 9.99995468e-01 -4.18367734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12650248099997 meters 0.11211231988103317 Centerline is valid? [False, False] Translation: X:4.88, Y:0.42, Z:-0.42 [[ 9.99915923e-01 -1.27685349e-02 -2.26080919e-03 4.87792528e+00] [ 1.27647478e-02 9.99917113e-01 -1.68169310e-03 4.23938386e-01] [ 2.28209455e-03 1.65269305e-03 9.99996030e-01 -4.18995947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18650248099998 meters 0.11279145647193332 Centerline is valid? [False, False] Translation: X:4.88, Y:0.42, Z:-0.42 [[ 9.99961405e-01 -8.53293100e-03 -2.09222255e-03 4.87719698e+00] [ 8.53905050e-03 9.99959238e-01 2.93360222e-03 4.22744697e-01] [ 2.06710505e-03 -2.95135460e-03 9.99993508e-01 -4.18282373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24650248099998 meters 0.11262141377549799 Centerline is valid? [False, False] Translation: X:4.88, Y:0.42, Z:-0.42 [[ 9.99969096e-01 -7.62011427e-03 -1.93427542e-03 4.87824503e+00] [ 7.62885356e-03 9.99960541e-01 4.55168758e-03 4.19498599e-01] [ 1.89951472e-03 -4.56630322e-03 9.99987770e-01 -4.20370018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30650248099998 meters 0.11258232537401282 Centerline is valid? [False, False] Translation: X:4.88, Y:0.42, Z:-0.42 [[ 9.99970389e-01 -7.39033865e-03 -2.14586574e-03 4.87912356e+00] [ 7.40046344e-03 9.99961338e-01 4.74930893e-03 4.19793156e-01] [ 2.11068378e-03 -4.76504870e-03 9.99986420e-01 -4.21123811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36650248099998 meters 0.11256763384774954 Centerline is valid? [False, False] Translation: X:4.88, Y:0.42, Z:-0.42 [[ 9.99929783e-01 -1.14881752e-02 -2.90715124e-03 4.88088574e+00] [ 1.14883675e-02 9.99934005e-01 4.94549488e-05 4.22364295e-01] [ 2.90639124e-03 -8.28498980e-05 9.99995773e-01 -4.21765891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42650248099999 meters 0.11236738453839194 Centerline is valid? [False, False] Translation: X:4.88, Y:0.42, Z:-0.42 [[ 9.99929121e-01 -1.14866289e-02 -3.13208350e-03 4.88129259e+00] [ 1.14863363e-02 9.99934024e-01 -1.11364778e-04 4.22937120e-01] [ 3.13315606e-03 7.53807200e-05 9.99995089e-01 -4.21793348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48650248099997 meters 0.11233301310291746 Centerline is valid? [False, False] Translation: X:4.88, Y:0.43, Z:-0.42 [[ 9.99927112e-01 -1.14862572e-02 -3.71978383e-03 4.88269532e+00] [ 1.14836781e-02 9.99933806e-01 -7.13955836e-04 4.25857943e-01] [ 3.72773828e-03 6.71186997e-04 9.99992827e-01 -4.22348064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54650248099998 meters 0.11168248847135219 Centerline is valid? [False, False] Translation: X:4.88, Y:0.43, Z:-0.42 [[ 9.99926020e-01 -1.14760918e-02 -4.03161471e-03 4.88335339e+00] [ 1.14720277e-02 9.99933664e-01 -1.02973961e-03 4.27094552e-01] [ 4.04316465e-03 9.83412635e-04 9.99991343e-01 -4.22520170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60650248099998 meters 0.112021828499191 Centerline is valid? [False, False] Translation: X:4.88, Y:0.43, Z:-0.42 [[ 9.99966444e-01 -7.07167230e-03 -4.13557115e-03 4.88345400e+00] [ 7.08580149e-03 9.99969075e-01 3.41188970e-03 4.26812901e-01] [ 4.11131549e-03 -3.44107905e-03 9.99985628e-01 -4.22493479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66650248099998 meters 0.11181533872852108 Centerline is valid? [False, False] Translation: X:4.88, Y:0.43, Z:-0.42 [[ 9.99925958e-01 -1.12130270e-02 -4.72730344e-03 4.88475305e+00] [ 1.12076527e-02 9.99936517e-01 -1.16181771e-03 4.28416598e-01] [ 4.74003083e-03 1.10874971e-03 9.99988151e-01 -4.22840971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72650248099998 meters 0.11177850174802452 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.42 [[ 9.99931359e-01 -1.07522900e-02 -4.65464096e-03 4.88571971e+00] [ 1.07502705e-02 9.99942109e-01 -4.58667443e-04 4.27700010e-01] [ 4.65930323e-03 4.08597310e-04 9.99989062e-01 -4.24516409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78650248099999 meters 0.1124336779253849 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99934868e-01 -1.04841419e-02 -4.51021782e-03 4.88608445e+00] [ 1.04847344e-02 9.99945028e-01 1.07748613e-04 4.26747561e-01] [ 4.50884024e-03 -1.55030031e-04 9.99989823e-01 -4.25450288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84650248099997 meters 0.11267553215194055 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99933457e-01 -1.05264750e-02 -4.71972186e-03 4.88654987e+00] [ 1.05260188e-02 9.99944593e-01 -1.21491782e-04 4.27720713e-01] [ 4.72073923e-03 7.18038163e-05 9.99988855e-01 -4.25547830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90650248099998 meters 0.1134412644800397 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99932199e-01 -1.05594485e-02 -4.90865081e-03 4.88703910e+00] [ 1.05581167e-02 9.99944217e-01 -2.97145875e-04 4.28677881e-01] [ 4.91151469e-03 2.45299620e-04 9.99987908e-01 -4.25734996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96650248099998 meters 0.11305041222455052 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99932051e-01 -1.05129613e-02 -5.03688575e-03 4.88723948e+00] [ 1.05115717e-02 9.99944706e-01 -3.02283353e-04 4.28604976e-01] [ 5.03978514e-03 2.49317228e-04 9.99987269e-01 -4.25683034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02650248099998 meters 0.11384793606672534 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99927839e-01 -1.07349653e-02 -5.39240146e-03 4.88755002e+00] [ 1.07301245e-02 9.99942002e-01 -9.25830830e-04 4.30376749e-01] [ 5.40202747e-03 8.67902882e-04 9.99985032e-01 -4.25161514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08650248099998 meters 0.11257485010451793 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99925612e-01 -1.06630701e-02 -5.92190399e-03 4.88850497e+00] [ 1.06556763e-02 9.99942409e-01 -1.27870817e-03 4.31916223e-01] [ 5.93519789e-03 1.21551115e-03 9.99981648e-01 -4.25229287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14650248099998 meters 0.11162654741728402 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99925423e-01 -1.05478919e-02 -6.15548415e-03 4.88902266e+00] [ 1.05400757e-02 9.99943606e-01 -1.30085875e-03 4.32336314e-01] [ 6.16885833e-03 1.23588247e-03 9.99980209e-01 -4.25426963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20650248099997 meters 0.11171061480889867 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99922438e-01 -1.05377731e-02 -6.63873073e-03 4.88980828e+00] [ 1.05272441e-02 9.99943276e-01 -1.61894201e-03 4.33701362e-01] [ 6.65541420e-03 1.54892890e-03 9.99976653e-01 -4.25304861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26650248099997 meters 0.11038305260541678 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99930094e-01 -9.52005895e-03 -7.01247435e-03 4.89217842e+00] [ 9.51711420e-03 9.99954609e-01 -4.53181938e-04 4.32829179e-01] [ 7.01647037e-03 3.86411739e-04 9.99975310e-01 -4.27969069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32650248099998 meters 0.11017242694800224 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99927068e-01 -9.50214248e-03 -7.45439412e-03 4.89298401e+00] [ 9.49664412e-03 9.99954607e-01 -7.72649883e-04 4.34284069e-01] [ 7.46139758e-03 7.01801804e-04 9.99971917e-01 -4.27977521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38650248099998 meters 0.1099802107925591 Centerline is valid? [False, False] Translation: X:4.89, Y:0.43, Z:-0.43 [[ 9.99924222e-01 -9.64925034e-03 -7.64469258e-03 4.89286606e+00] [ 9.64108789e-03 9.99952914e-01 -1.10386260e-03 4.34774896e-01] [ 7.65498408e-03 1.03007579e-03 9.99970170e-01 -4.27276536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44650248099998 meters 0.10977004338659888 Centerline is valid? [False, False] Translation: X:4.89, Y:0.44, Z:-0.43 [[ 9.99919497e-01 -9.67796043e-03 -8.20593246e-03 4.89408994e+00] [ 9.66533469e-03 9.99952046e-01 -1.57687598e-03 4.37111940e-01] [ 8.22079990e-03 1.49743595e-03 9.99965087e-01 -4.27571816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50650248099998 meters 0.10979732306616917 Centerline is valid? [False, False] Translation: X:4.89, Y:0.44, Z:-0.43 [[ 9.99923020e-01 -9.45986169e-03 -8.02900241e-03 4.89421729e+00] [ 9.45053542e-03 9.99954624e-01 -1.19871902e-03 4.36273736e-01] [ 8.03997780e-03 1.12274837e-03 9.99967049e-01 -4.28215431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56650248099997 meters 0.11028228198994512 Centerline is valid? [False, False] Translation: X:4.89, Y:0.44, Z:-0.43 [[ 9.99924598e-01 -9.34106570e-03 -7.97141795e-03 4.89429208e+00] [ 9.33378368e-03 9.99955988e-01 -9.50230548e-04 4.35711480e-01] [ 7.97994328e-03 8.75755408e-04 9.99967776e-01 -4.28444298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62650248099997 meters 0.11066021343770707 Centerline is valid? [False, False] Translation: X:4.89, Y:0.44, Z:-0.43 [[ 9.99920027e-01 -9.56438195e-03 -8.27423786e-03 4.89451333e+00] [ 9.55339492e-03 9.99953432e-01 -1.36636821e-03 4.37079308e-01] [ 8.28692101e-03 1.28721187e-03 9.99964834e-01 -4.27928276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68650248099998 meters 0.11064315188616572 Centerline is valid? [False, False] Translation: X:4.89, Y:0.44, Z:-0.43 [[ 9.99918016e-01 -9.55313295e-03 -8.52641812e-03 4.89469008e+00] [ 9.54136230e-03 9.99953472e-01 -1.42010447e-03 4.37086912e-01] [ 8.53958784e-03 1.33863440e-03 9.99962641e-01 -4.27512413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74650248099998 meters 0.11051180115926362 Centerline is valid? [False, False] Translation: X:4.90, Y:0.44, Z:-0.43 [[ 9.99918434e-01 -9.34351325e-03 -8.70769166e-03 4.89565138e+00] [ 9.33251262e-03 9.99955602e-01 -1.30310242e-03 4.37763517e-01] [ 8.71948061e-03 1.22173149e-03 9.99961238e-01 -4.28437459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80650248099998 meters 0.11115367842856443 Centerline is valid? [False, False] Translation: X:4.90, Y:0.44, Z:-0.43 [[ 9.99920737e-01 -9.04888656e-03 -8.75426726e-03 4.89654132e+00] [ 9.04033687e-03 9.99958619e-01 -1.01571098e-03 4.37875406e-01] [ 8.76309606e-03 9.36488945e-04 9.99961165e-01 -4.29625416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86650248099998 meters 0.1116627803952898 Centerline is valid? [False, False] Translation: X:4.90, Y:0.44, Z:-0.43 [[ 9.99916104e-01 -9.25380044e-03 -9.06377306e-03 4.89662823e+00] [ 9.24043947e-03 9.99956159e-01 -1.51487689e-03 4.39038249e-01] [ 9.07739407e-03 1.43099656e-03 9.99957776e-01 -4.28922768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92650248099997 meters 0.11143154429660954 Centerline is valid? [False, False] Translation: X:4.90, Y:0.44, Z:-0.43 [[ 9.99909809e-01 -9.41111485e-03 -9.58147682e-03 4.89764881e+00] [ 9.39150744e-03 9.99953716e-01 -2.08932802e-03 4.41859359e-01] [ 9.60069626e-03 1.99915507e-03 9.99951914e-01 -4.29018563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98650248099997 meters 0.11214025385734241 Centerline is valid? [False, False] Translation: X:4.90, Y:0.44, Z:-0.43 [[ 9.99916385e-01 -9.00714058e-03 -9.27869465e-03 4.89800444e+00] [ 8.99457957e-03 9.99958575e-01 -1.39458952e-03 4.40460971e-01] [ 9.29087154e-03 1.31101495e-03 9.99955980e-01 -4.30332807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04650248099998 meters 0.11235058170061438 Centerline is valid? [False, False] Translation: X:4.90, Y:0.44, Z:-0.43 [[ 9.99917232e-01 -8.92095737e-03 -9.27066970e-03 4.89817485e+00] [ 8.90951783e-03 9.99959497e-01 -1.27451833e-03 4.40326298e-01] [ 9.28166414e-03 1.19181565e-03 9.99956214e-01 -4.30593718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10650248099998 meters 0.11205322604514442 Centerline is valid? [False, False] Translation: X:4.90, Y:0.44, Z:-0.43 [[ 9.99915363e-01 -8.80463460e-03 -9.57841003e-03 4.89888980e+00] [ 8.79265238e-03 9.99960509e-01 -1.29235523e-03 4.41013338e-01] [ 9.58941048e-03 1.20802622e-03 9.99953291e-01 -4.30830014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16650248099998 meters 0.11126850568100068 Centerline is valid? [False, False] Translation: X:4.90, Y:0.44, Z:-0.43 [[ 9.99915897e-01 -8.48173691e-03 -9.81115659e-03 4.89990675e+00] [ 8.47166568e-03 9.99963545e-01 -1.06761314e-03 4.41340456e-01] [ 9.81985414e-03 9.84406514e-04 9.99951300e-01 -4.31792955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22650248099998 meters 0.11108047217891964 Centerline is valid? [False, False] Translation: X:4.90, Y:0.44, Z:-0.43 [[ 9.99916023e-01 -8.15529524e-03 -1.00716624e-02 4.90104688e+00] [ 8.14642925e-03 9.99966393e-01 -9.21003223e-04 4.41995369e-01] [ 1.00788350e-02 8.38877794e-04 9.99948855e-01 -4.32836653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28650248099999 meters 0.11129093693942099 Centerline is valid? [False, False] Translation: X:4.91, Y:0.44, Z:-0.43 [[ 9.99967301e-01 -2.19941003e-03 -7.78194439e-03 4.90981498e+00] [ 2.16517809e-03 9.99987956e-01 -4.40458681e-03 4.41837635e-01] [ 7.79153816e-03 4.38759349e-03 9.99960020e-01 -4.29009692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34650248099997 meters 0.11081081486835472 Centerline is valid? [False, False] Translation: X:4.91, Y:0.44, Z:-0.43 [[ 0.99994641 -0.00594343 -0.00847698 4.91206503] [ 0.00587164 0.9999469 -0.00846881 0.44307772] [ 0.00852686 0.00841859 0.99992821 -0.43059088] [ 0. 0. 0. 1. ]] SLAMing on 103.40650248099998 meters 0.11069078348602159 Centerline is valid? [False, False] Translation: X:4.91, Y:0.44, Z:-0.43 [[ 9.99964528e-01 -1.25907544e-03 -8.32807867e-03 4.91275070e+00] [ 1.22884941e-03 9.99992644e-01 -3.63353352e-03 4.42533831e-01] [ 8.33259230e-03 3.62317068e-03 9.99958719e-01 -4.32003582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46650248099998 meters 0.11113144666811277 Centerline is valid? [False, False] Translation: X:4.92, Y:0.44, Z:-0.43 [[ 9.99995235e-01 2.80900189e-03 -1.28059036e-03 4.92078780e+00] [-2.81847256e-03 9.99968241e-01 -7.45472421e-03 4.44939248e-01] [ 1.25960936e-03 7.45829800e-03 9.99971393e-01 -4.33317000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52650248099998 meters 0.11103202903277007 Centerline is valid? [False, False] Translation: X:4.94, Y:0.45, Z:-0.43 [[ 9.99994976e-01 -1.84477475e-03 2.57772864e-03 4.93655368e+00] [ 1.85760386e-03 9.99985857e-01 -4.98340825e-03 4.45895709e-01] [-2.56849892e-03 4.98817162e-03 9.99984260e-01 -4.34823029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58650248099998 meters 0.11172122602629737 Centerline is valid? [False, False] Translation: X:4.94, Y:0.45, Z:-0.44 [[ 9.99995485e-01 -1.68286025e-03 2.48937553e-03 4.93706860e+00] [ 1.69477939e-03 9.99987074e-01 -4.79367137e-03 4.45804386e-01] [-2.48127627e-03 4.79786867e-03 9.99985412e-01 -4.35345401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64650248099998 meters 0.11133889648645946 Centerline is valid? [False, False] Translation: X:4.96, Y:0.45, Z:-0.43 [[ 9.99987758e-01 -3.26008071e-03 -3.72229492e-03 4.96459009e+00] [ 3.24780608e-03 9.99989284e-01 -3.29889529e-03 4.48254960e-01] [ 3.73300969e-03 3.28676561e-03 9.99987631e-01 -4.33957939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70650248099997 meters 0.1113543747478187 Centerline is valid? [False, False] Translation: X:4.97, Y:0.45, Z:-0.43 [[ 9.99982893e-01 -3.32359670e-03 -4.81316247e-03 4.96630161e+00] [ 3.30392949e-03 9.99986185e-01 -4.08833247e-03 4.52900241e-01] [ 4.82668395e-03 4.07236018e-03 9.99980059e-01 -4.33691500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76650248099997 meters 0.11181278108399755 Centerline is valid? [False, False] Translation: X:4.98, Y:0.45, Z:-0.43 [[ 9.99993386e-01 1.31397379e-03 -3.39133428e-03 4.97801069e+00] [-1.34259005e-03 9.99963400e-01 -8.44961438e-03 4.53064141e-01] [ 3.38010758e-03 8.45411167e-03 9.99958551e-01 -4.32916947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82650248099998 meters 0.11199249546564843 Centerline is valid? [False, False] Translation: X:4.99, Y:0.45, Z:-0.44 [[ 9.99993914e-01 -3.24607356e-03 1.27848181e-03 4.99327672e+00] [ 3.25176349e-03 9.99984705e-01 -4.47388777e-03 4.52716524e-01] [-1.26393969e-03 4.47801786e-03 9.99989175e-01 -4.36769074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88650248099998 meters 0.11214933495323212 Centerline is valid? [False, False] Translation: X:4.99, Y:0.45, Z:-0.44 [[ 9.99994568e-01 -3.15816139e-03 9.43322874e-04 4.99440879e+00] [ 3.16241465e-03 9.99984685e-01 -4.54186509e-03 4.54207897e-01] [-9.28964485e-04 4.54482360e-03 9.99989241e-01 -4.37495448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94650248099998 meters 0.11229709693523852 Centerline is valid? [False, False] Translation: X:4.99, Y:0.46, Z:-0.44 [[ 9.99994465e-01 -3.17193293e-03 1.00452581e-03 4.99464634e+00] [ 3.17655535e-03 9.99984218e-01 -4.63392197e-03 4.55009017e-01] [-9.89811467e-04 4.63708726e-03 9.99988759e-01 -4.37977479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00650248099998 meters 0.11320957925067529 Centerline is valid? [False, False] Translation: X:5.01, Y:0.46, Z:-0.44 [[ 9.99955217e-01 -7.82757690e-03 5.31920852e-03 5.00859822e+00] [ 7.84064746e-03 9.99966283e-01 -2.44084236e-03 4.55898565e-01] [-5.29992329e-03 2.48243909e-03 9.99982874e-01 -4.36785854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06650248099997 meters 0.11384035629751514 Centerline is valid? [False, False] Translation: X:5.01, Y:0.46, Z:-0.44 [[ 9.99955669e-01 -7.70300643e-03 5.41509726e-03 5.00896383e+00] [ 7.71511931e-03 9.99967775e-01 -2.21955293e-03 4.55988823e-01] [-5.39782553e-03 2.26123266e-03 9.99982875e-01 -4.37594544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12650248099997 meters 0.11399850431157132 Centerline is valid? [False, False] Translation: X:5.01, Y:0.46, Z:-0.44 [[ 9.99957233e-01 -7.59954609e-03 5.27051756e-03 5.00942624e+00] [ 7.61092231e-03 9.99968743e-01 -2.14177529e-03 4.56168801e-01] [-5.25407630e-03 2.18179719e-03 9.99983817e-01 -4.37872534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18650248099998 meters 0.11411564558361306 Centerline is valid? [False, False] Translation: X:5.01, Y:0.46, Z:-0.44 [[ 9.99960056e-01 -7.35726858e-03 5.07508718e-03 5.01015089e+00] [ 7.36664708e-03 9.99971188e-01 -1.83173588e-03 4.55991451e-01] [-5.06146439e-03 1.86904909e-03 9.99985444e-01 -4.38422417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24650248099998 meters 0.11411398557757256 Centerline is valid? [False, False] Translation: X:5.01, Y:0.46, Z:-0.44 [[ 9.99962488e-01 -7.20931646e-03 4.80076781e-03 5.01074977e+00] [ 7.21799441e-03 9.99972343e-01 -1.79275075e-03 4.56079605e-01] [-4.78771053e-03 1.82733541e-03 9.99986869e-01 -4.38546661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30650248099998 meters 0.11345995110953938 Centerline is valid? [False, False] Translation: X:5.01, Y:0.46, Z:-0.44 [[ 9.99967848e-01 -6.88410109e-03 4.11235205e-03 5.01229530e+00] [ 6.89142601e-03 9.99974688e-01 -1.76969494e-03 4.57033936e-01] [-4.10006520e-03 1.79797801e-03 9.99989978e-01 -4.39087913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36650248099998 meters 0.11278983979960401 Centerline is valid? [False, False] Translation: X:5.01, Y:0.46, Z:-0.44 [[ 9.99970258e-01 -6.95663224e-03 3.32991475e-03 5.01310794e+00] [ 6.96499796e-03 9.99972601e-01 -2.50732342e-03 4.59165576e-01] [-3.31238099e-03 2.53044169e-03 9.99991312e-01 -4.38176038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42650248099997 meters 0.11226148024255793 Centerline is valid? [False, False] Translation: X:5.01, Y:0.46, Z:-0.44 [[ 9.99973780e-01 -6.72484821e-03 2.68631638e-03 5.01405709e+00] [ 6.73178803e-03 9.99974006e-01 -2.58276505e-03 4.59680723e-01] [-2.66887785e-03 2.60078104e-03 9.99993056e-01 -4.37927373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48650248099997 meters 0.1117838199814366 Centerline is valid? [False, False] Translation: X:5.02, Y:0.46, Z:-0.44 [[ 9.99977167e-01 -6.40694299e-03 2.14839136e-03 5.01529301e+00] [ 6.41224294e-03 9.99976393e-01 -2.46919141e-03 4.60206944e-01] [-2.13252068e-03 2.48291104e-03 9.99994644e-01 -4.38416632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54650248099998 meters 0.11166857030852462 Centerline is valid? [False, False] Translation: X:5.02, Y:0.46, Z:-0.44 [[ 9.99978856e-01 -6.18354446e-03 2.01301587e-03 5.01582637e+00] [ 6.18808294e-03 9.99978308e-01 -2.25619879e-03 4.59943659e-01] [-1.99902090e-03 2.26860779e-03 9.99995429e-01 -4.38857564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60650248099998 meters 0.11166575640539197 Centerline is valid? [False, False] Translation: X:5.02, Y:0.46, Z:-0.44 [[ 9.99981551e-01 -5.71578313e-03 2.05630629e-03 5.01617608e+00] [ 5.71870026e-03 9.99982646e-01 -1.41555468e-03 4.57688509e-01] [-2.04817961e-03 1.42728796e-03 9.99996884e-01 -4.39558016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66650248099998 meters 0.11165873741362929 Centerline is valid? [False, False] Translation: X:5.02, Y:0.46, Z:-0.44 [[ 9.99983692e-01 -5.44794137e-03 1.71358254e-03 5.01701137e+00] [ 5.44987631e-03 9.99984515e-01 -1.12654227e-03 4.57457043e-01] [-1.70741867e-03 1.13586271e-03 9.99997897e-01 -4.39900749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72650248099998 meters 0.11175707665572739 Centerline is valid? [False, False] Translation: X:5.02, Y:0.46, Z:-0.44 [[ 9.99983939e-01 -5.42085463e-03 1.65415385e-03 5.01694079e+00] [ 5.42266519e-03 9.99984701e-01 -1.09203664e-03 4.57117566e-01] [-1.64820877e-03 1.10098902e-03 9.99998036e-01 -4.39613813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78650248099999 meters 0.11168946446480327 Centerline is valid? [False, False] Translation: X:5.02, Y:0.46, Z:-0.44 [[ 9.99954683e-01 -9.42230357e-03 1.36127316e-03 5.01794153e+00] [ 9.42914473e-03 9.99942489e-01 -5.10972786e-03 4.57102958e-01] [-1.31304947e-03 5.12233194e-03 9.99986019e-01 -4.40299391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84650248099997 meters 0.11187062304538226 Centerline is valid? [False, False] Translation: X:5.02, Y:0.46, Z:-0.44 [[ 9.99957895e-01 -9.06195906e-03 1.44522380e-03 5.01819490e+00] [ 9.06807281e-03 9.99949719e-01 -4.28140398e-03 4.55161476e-01] [-1.40635323e-03 4.29432910e-03 9.99989790e-01 -4.40936282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90650248099998 meters 0.11211240776751259 Centerline is valid? [False, False] Translation: X:5.02, Y:0.45, Z:-0.44 [[ 9.99962235e-01 -8.56885403e-03 1.45052575e-03 5.01854690e+00] [ 8.57346928e-03 9.99958108e-01 -3.20603706e-03 4.52312288e-01] [-1.42299292e-03 3.21835202e-03 9.99993809e-01 -4.41509700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96650248099998 meters 0.11163928517837439 Centerline is valid? [False, False] Translation: X:5.02, Y:0.45, Z:-0.44 [[ 9.99963811e-01 -8.47509332e-03 7.41298239e-04 5.01929851e+00] [ 8.47753239e-03 9.99958449e-01 -3.35144354e-03 4.52761728e-01] [-7.12863640e-04 3.35760663e-03 9.99994109e-01 -4.40739921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02650248099998 meters 0.11110377427216983 Centerline is valid? [False, False] Translation: X:5.04, Y:0.45, Z:-0.44 [[ 9.99999083e-01 7.51575440e-04 -1.12623707e-03 5.03680143e+00] [-7.57087424e-04 9.99987700e-01 -4.90175195e-03 4.50113480e-01] [ 1.12253918e-03 4.90260011e-03 9.99987352e-01 -4.38448922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08650248099998 meters 0.11077614595327392 Centerline is valid? [False, False] Translation: X:5.04, Y:0.45, Z:-0.44 [[ 9.99998865e-01 6.13047899e-04 -1.37661820e-03 5.03676968e+00] [-6.20237415e-04 9.99986140e-01 -5.22825362e-03 4.50551148e-01] [ 1.37339395e-03 5.22910151e-03 9.99985385e-01 -4.37717279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14650248099998 meters 0.11041690828345316 Centerline is valid? [False, False] Translation: X:5.04, Y:0.45, Z:-0.44 [[ 9.99991811e-01 -3.20339934e-03 -2.47289089e-03 5.03863729e+00] [ 3.18013614e-03 9.99951188e-01 -9.35458873e-03 4.51411766e-01] [ 2.50273666e-03 9.34664800e-03 9.99953187e-01 -4.37708502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20650248099997 meters 0.11051168033061977 Centerline is valid? [False, False] Translation: X:5.04, Y:0.45, Z:-0.44 [[ 9.99993025e-01 -2.70575394e-03 -2.57457789e-03 5.03918963e+00] [ 2.68397329e-03 9.99960898e-01 -8.42606979e-03 4.49267562e-01] [ 2.59727609e-03 8.41910092e-03 9.99961186e-01 -4.38345820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26650248099997 meters 0.1103770825428466 Centerline is valid? [False, False] Translation: X:5.04, Y:0.45, Z:-0.44 [[ 9.99995372e-01 -2.15769437e-03 -2.14472037e-03 5.03907780e+00] [ 2.14241087e-03 9.99972478e-01 -7.10303771e-03 4.45454526e-01] [ 2.15998753e-03 7.09840997e-03 9.99972473e-01 -4.39382907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32650248099998 meters 0.11061212478843893 Centerline is valid? [False, False] Translation: X:5.04, Y:0.44, Z:-0.44 [[ 9.99996937e-01 -1.67742461e-03 -1.81976033e-03 5.03894340e+00] [ 1.66682098e-03 9.99981716e-01 -5.81288734e-03 4.41936474e-01] [ 1.82947774e-03 5.80983632e-03 9.99981449e-01 -4.40154165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38650248099998 meters 0.1104027098224037 Centerline is valid? [False, False] Translation: X:5.04, Y:0.44, Z:-0.44 [[ 9.99997496e-01 -1.29206551e-03 -1.82693133e-03 5.03949588e+00] [ 1.28275395e-03 9.99986229e-01 -5.08885346e-03 4.40622322e-01] [ 1.83348131e-03 5.08649722e-03 9.99985383e-01 -4.40986208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44650248099998 meters 0.11034072482185901 Centerline is valid? [False, False] Translation: X:5.04, Y:0.44, Z:-0.44 [[ 9.99997976e-01 -9.97374976e-04 -1.74754836e-03 5.03945759e+00] [ 9.89503721e-04 9.99989389e-01 -4.49926008e-03 4.38733704e-01] [ 1.75201727e-03 4.49752177e-03 9.99988351e-01 -4.41175762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50650248099998 meters 0.10989323389439866 Centerline is valid? [False, False] Translation: X:5.04, Y:0.44, Z:-0.44 [[ 9.99997453e-01 -9.90203145e-04 -2.02814554e-03 5.03962643e+00] [ 9.80731049e-04 9.99988633e-01 -4.66600545e-03 4.39010119e-01] [ 2.03274278e-03 4.66400450e-03 9.99987057e-01 -4.40664927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56650248099997 meters 0.1093555307820487 Centerline is valid? [False, False] Translation: X:5.04, Y:0.44, Z:-0.44 [[ 9.99996692e-01 -3.85182059e-04 -2.54332605e-03 5.04093738e+00] [ 3.75127533e-04 9.99992118e-01 -3.95259257e-03 4.37902017e-01] [ 2.54482847e-03 3.95162542e-03 9.99988954e-01 -4.41313039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62650248099997 meters 0.10918303639848308 Centerline is valid? [False, False] Translation: X:5.04, Y:0.44, Z:-0.44 [[ 9.99996151e-01 -5.26531206e-05 -2.77408406e-03 5.04144304e+00] [ 4.29897696e-05 9.99993932e-01 -3.48338292e-03 4.36929481e-01] [ 2.77425064e-03 3.48325025e-03 9.99990085e-01 -4.41471254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68650248099998 meters 0.10904467014285353 Centerline is valid? [False, False] Translation: X:5.04, Y:0.44, Z:-0.44 [[ 9.99985189e-01 -4.28707525e-03 -3.35287541e-03 5.04195008e+00] [ 4.26040187e-03 9.99959541e-01 -7.92246104e-03 4.37578550e-01] [ 3.38670395e-03 7.90805910e-03 9.99962996e-01 -4.40736684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74650248099998 meters 0.10900903525858278 Centerline is valid? [False, False] Translation: X:5.04, Y:0.43, Z:-0.44 [[ 9.99989356e-01 -3.53227852e-03 -2.96821033e-03 5.04225207e+00] [ 3.51375073e-03 9.99974456e-01 -6.22427284e-03 4.33377487e-01] [ 2.99012037e-03 6.21377704e-03 9.99976224e-01 -4.42300970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80650248099998 meters 0.10966582634608484 Centerline is valid? [False, False] Translation: X:5.04, Y:0.43, Z:-0.44 [[ 9.99968308e-01 -7.35228833e-03 -3.05385819e-03 5.04308659e+00] [ 7.32271670e-03 9.99927258e-01 -9.58422713e-03 4.31795204e-01] [ 3.12410205e-03 9.56156085e-03 9.99949407e-01 -4.43302990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86650248099998 meters 0.11031969849556664 Centerline is valid? [False, False] Translation: X:5.04, Y:0.43, Z:-0.44 [[ 9.99973931e-01 -6.86357812e-03 -2.24229234e-03 5.04264315e+00] [ 6.84547860e-03 9.99944710e-01 -7.98222836e-03 4.27356227e-01] [ 2.29695501e-03 7.96667071e-03 9.99965627e-01 -4.44831474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92650248099997 meters 0.11153227093940771 Centerline is valid? [False, False] Translation: X:5.04, Y:0.42, Z:-0.44 [[ 9.99975961e-01 -6.76876266e-03 -1.50406788e-03 5.04134138e+00] [ 6.75806655e-03 9.99952619e-01 -7.00623762e-03 4.23748786e-01] [ 1.55142017e-03 6.99590461e-03 9.99974325e-01 -4.44744839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98650248099997 meters 0.11271109356762152 Centerline is valid? [False, False] Translation: X:5.04, Y:0.42, Z:-0.44 [[ 9.99976802e-01 -6.67135380e-03 -1.37391779e-03 5.04122194e+00] [ 6.66221851e-03 9.99956357e-01 -6.54965378e-03 4.22807148e-01] [ 1.41755288e-03 6.54034850e-03 9.99977607e-01 -4.44870710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04650248099998 meters 0.11302972912060821 Centerline is valid? [False, False] Translation: X:5.04, Y:0.42, Z:-0.45 [[ 9.99982582e-01 -5.83871558e-03 -8.63054332e-04 5.04158081e+00] [ 5.83444285e-03 9.99971106e-01 -4.87298840e-03 4.18555845e-01] [ 8.91481388e-04 4.86786808e-03 9.99987754e-01 -4.46810663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10650248099998 meters 0.11342026965042595 Centerline is valid? [False, False] Translation: X:5.04, Y:0.41, Z:-0.45 [[ 9.99985965e-01 -5.26421864e-03 -5.97670516e-04 5.04154980e+00] [ 5.26199222e-03 9.99979430e-01 -3.66755421e-03 4.14971599e-01] [ 6.16965029e-04 3.66435780e-03 9.99993096e-01 -4.47593642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16650248099998 meters 0.11234721965844628 Centerline is valid? [False, False] Translation: X:5.04, Y:0.42, Z:-0.45 [[ 9.99986290e-01 -4.94538214e-03 -1.72134924e-03 5.04295562e+00] [ 4.93851231e-03 9.99979915e-01 -3.97258109e-03 4.17311997e-01] [ 1.74096059e-03 3.96402572e-03 9.99990628e-01 -4.46987415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22650248099998 meters 0.11031694606992339 Centerline is valid? [False, False] Translation: X:5.04, Y:0.42, Z:-0.45 [[ 9.99988586e-01 -4.21911535e-03 -2.24228873e-03 5.04451459e+00] [ 4.21157827e-03 9.99985502e-01 -3.35549307e-03 4.16532476e-01] [ 2.25641343e-03 3.34601119e-03 9.99991856e-01 -4.48164658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28650248099997 meters 0.10906401829459457 Centerline is valid? [False, False] Translation: X:5.05, Y:0.42, Z:-0.45 [[ 9.99989920e-01 -3.39131317e-03 -2.94270761e-03 5.04651642e+00] [ 3.38342398e-03 9.99990680e-01 -2.68177748e-03 4.16129236e-01] [ 2.95177494e-03 2.67179402e-03 9.99992074e-01 -4.49491486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34650248099997 meters 0.10853881548383672 Centerline is valid? [False, False] Translation: X:5.05, Y:0.42, Z:-0.45 [[ 9.99988381e-01 -3.01411321e-03 -3.76191791e-03 5.04812043e+00] [ 3.00389812e-03 9.99991794e-01 -2.71809683e-03 4.17430772e-01] [ 3.77007969e-03 2.70676483e-03 9.99989230e-01 -4.49796970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40650248099998 meters 0.1079180930671962 Centerline is valid? [False, False] Translation: X:5.05, Y:0.42, Z:-0.45 [[ 9.99966288e-01 -6.89646668e-03 -4.45672070e-03 5.04976846e+00] [ 6.86534971e-03 9.99952211e-01 -6.96001530e-03 4.18417811e-01] [ 4.50450723e-03 6.92918372e-03 9.99965847e-01 -4.50505297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46650248099998 meters 0.10794730170704714 Centerline is valid? [False, False] Translation: X:5.05, Y:0.42, Z:-0.45 [[ 9.99965339e-01 -6.87100048e-03 -4.70214482e-03 5.05046452e+00] [ 6.83732009e-03 9.99951122e-01 -7.14175000e-03 4.19652572e-01] [ 4.75098596e-03 7.10935239e-03 9.99963442e-01 -4.50863250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52650248099998 meters 0.10816334179813449 Centerline is valid? [False, False] Translation: X:5.05, Y:0.42, Z:-0.45 [[ 9.99965497e-01 -6.79260280e-03 -4.78174990e-03 5.05051462e+00] [ 6.75900118e-03 9.99952597e-01 -7.00848830e-03 4.19299457e-01] [ 4.82912911e-03 6.97592664e-03 9.99964007e-01 -4.50688253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58650248099998 meters 0.10851185624138616 Centerline is valid? [False, False] Translation: X:5.05, Y:0.42, Z:-0.45 [[ 9.99968502e-01 -6.50891316e-03 -4.54182829e-03 5.05042226e+00] [ 6.48025155e-03 9.99959176e-01 -6.29702491e-03 4.17296697e-01] [ 4.58262966e-03 6.26739438e-03 9.99969859e-01 -4.51177629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64650248099998 meters 0.108760289635764 Centerline is valid? [False, False] Translation: X:5.05, Y:0.42, Z:-0.45 [[ 9.99967170e-01 -6.60275127e-03 -4.69708038e-03 5.05058967e+00] [ 6.57229862e-03 9.99957474e-01 -6.46947362e-03 4.18048618e-01] [ 4.73959696e-03 6.43839061e-03 9.99968041e-01 -4.50939915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70650248099997 meters 0.10928467957559798 Centerline is valid? [False, False] Translation: X:5.05, Y:0.42, Z:-0.45 [[ 9.99971543e-01 -6.32374706e-03 -4.11376831e-03 5.05014783e+00] [ 6.30130308e-03 9.99965316e-01 -5.44609286e-03 4.15081207e-01] [ 4.14806535e-03 5.42001578e-03 9.99976708e-01 -4.51771393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76650248099997 meters 0.10966550371024533 Centerline is valid? [False, False] Translation: X:5.05, Y:0.41, Z:-0.45 [[ 9.99974859e-01 -5.87357362e-03 -3.97266009e-03 5.05081488e+00] [ 5.85569880e-03 9.99972747e-01 -4.49622285e-03 4.13491209e-01] [ 3.99896072e-03 4.47284711e-03 9.99982001e-01 -4.53190673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82650248099998 meters 0.1105326016867454 Centerline is valid? [False, False] Translation: X:5.05, Y:0.41, Z:-0.45 [[ 9.99978862e-01 -5.29831123e-03 -3.76870936e-03 5.05155346e+00] [ 5.28571535e-03 9.99980438e-01 -3.34436959e-03 4.11488933e-01] [ 3.78635514e-03 3.32437857e-03 9.99987306e-01 -4.54888717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88650248099998 meters 0.11024391064628622 Centerline is valid? [False, False] Translation: X:5.05, Y:0.41, Z:-0.46 [[ 9.99979532e-01 -5.14956830e-03 -3.79697363e-03 5.05181396e+00] [ 5.13758783e-03 9.99981815e-01 -3.15830085e-03 4.11297302e-01] [ 3.81316847e-03 3.13872892e-03 9.99987804e-01 -4.55152419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94650248099998 meters 0.10971755735304577 Centerline is valid? [False, False] Translation: X:5.05, Y:0.41, Z:-0.46 [[ 9.99978056e-01 -5.03482032e-03 -4.30565333e-03 5.05313053e+00] [ 5.01953339e-03 9.99981087e-01 -3.55389939e-03 4.13726933e-01] [ 4.32346514e-03 3.53220903e-03 9.99984415e-01 -4.55765072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00650248099998 meters 0.10949236415549245 Centerline is valid? [False, False] Translation: X:5.05, Y:0.42, Z:-0.46 [[ 9.99973407e-01 -5.20609227e-03 -5.10706033e-03 5.05423945e+00] [ 5.18207994e-03 9.99975510e-01 -4.70380776e-03 4.17932800e-01] [ 5.13142371e-03 4.67721748e-03 9.99975896e-01 -4.55351825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06650248099997 meters 0.10854402989254533 Centerline is valid? [False, False] Translation: X:5.06, Y:0.42, Z:-0.46 [[ 9.99974635e-01 -4.76157883e-03 -5.29681450e-03 5.05576974e+00] [ 4.73777182e-03 9.99978660e-01 -4.49809309e-03 4.18832024e-01] [ 5.31811949e-03 4.47288390e-03 9.99975855e-01 -4.57113923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12650248099997 meters 0.10839614750327776 Centerline is valid? [False, False] Translation: X:5.06, Y:0.42, Z:-0.46 [[ 9.99970370e-01 -3.64312076e-03 -6.78132636e-03 5.05877254e+00] [ 3.61723778e-03 9.99986142e-01 -3.82516272e-03 4.23148249e-01] [ 6.79516791e-03 3.80051971e-03 9.99969690e-01 -4.58004196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18650248099998 meters 0.10848150630621996 Centerline is valid? [False, False] Translation: X:5.06, Y:0.42, Z:-0.46 [[ 9.99968790e-01 -3.46185508e-03 -7.10169004e-03 5.05960657e+00] [ 3.43483347e-03 9.99986829e-01 -3.81362913e-03 4.23836151e-01] [ 7.11479873e-03 3.78911699e-03 9.99967511e-01 -4.58424100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24650248099998 meters 0.1084586474506553 Centerline is valid? [False, False] Translation: X:5.07, Y:0.42, Z:-0.46 [[ 9.99995620e-01 1.27006560e-03 -2.67325764e-03 5.06893392e+00] [-1.29098913e-03 9.99968434e-01 -7.83986147e-03 4.24701457e-01] [ 2.66321612e-03 7.84327828e-03 9.99965695e-01 -4.58300080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30650248099998 meters 0.10841300305860693 Centerline is valid? [False, False] Translation: X:5.08, Y:0.42, Z:-0.46 [[ 9.99992958e-01 -3.16339254e-03 2.01910317e-03 5.08344712e+00] [ 3.17157757e-03 9.99986714e-01 -4.06354930e-03 4.22719070e-01] [-2.00622174e-03 4.06992443e-03 9.99989705e-01 -4.60664446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36650248099998 meters 0.10899559859503778 Centerline is valid? [False, False] Translation: X:5.08, Y:0.42, Z:-0.46 [[ 9.99993864e-01 -2.99143310e-03 1.82324712e-03 5.08353812e+00] [ 2.99806165e-03 9.99988867e-01 -3.64374908e-03 4.21345515e-01] [-1.81232679e-03 3.64919293e-03 9.99991699e-01 -4.60343080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42650248099997 meters 0.10847328058591334 Centerline is valid? [False, False] Translation: X:5.08, Y:0.42, Z:-0.46 [[ 9.99994703e-01 -2.80141680e-03 1.65722599e-03 5.08382702e+00] [ 2.80701499e-03 9.99990330e-01 -3.38542286e-03 4.20604840e-01] [-1.64772599e-03 3.39005679e-03 9.99992896e-01 -4.60339200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48650248099997 meters 0.10821959449473383 Centerline is valid? [False, False] Translation: X:5.08, Y:0.42, Z:-0.46 [[ 9.99996227e-01 -2.29842531e-03 1.50465311e-03 5.08477883e+00] [ 2.30246827e-03 9.99993729e-01 -2.69077617e-03 4.19453018e-01] [-1.49845912e-03 2.69423043e-03 9.99995248e-01 -4.61410000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54650248099998 meters 0.10785929753891549 Centerline is valid? [False, False] Translation: X:5.09, Y:0.42, Z:-0.46 [[ 9.99997721e-01 -1.74389336e-03 1.23172596e-03 5.08611395e+00] [ 1.74637703e-03 9.99996438e-01 -2.01823255e-03 4.18852908e-01] [-1.22820199e-03 2.02037901e-03 9.99997205e-01 -4.62705507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60650248099998 meters 0.10771556600055787 Centerline is valid? [False, False] Translation: X:5.09, Y:0.42, Z:-0.46 [[ 9.99983685e-01 -5.69579857e-03 4.32172416e-04 5.08750875e+00] [ 5.69845827e-03 9.99963122e-01 -6.42516545e-03 4.19937921e-01] [-3.95560030e-04 6.42752334e-03 9.99979265e-01 -4.62774760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66650248099998 meters 0.10787976038395568 Centerline is valid? [False, False] Translation: X:5.09, Y:0.42, Z:-0.46 [[ 9.99984092e-01 -5.63948225e-03 1.05346446e-04 5.08773244e+00] [ 5.64004443e-03 9.99963295e-01 -6.44976338e-03 4.19886307e-01] [-6.89692532e-05 6.45025494e-03 9.99979195e-01 -4.62282765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72650248099998 meters 0.10772040858873416 Centerline is valid? [False, False] Translation: X:5.09, Y:0.42, Z:-0.46 [[ 9.99987739e-01 -4.94347501e-03 2.88575287e-04 5.08818854e+00] [ 4.94488709e-03 9.99974683e-01 -5.11687871e-03 4.16739900e-01] [-2.63272819e-04 5.11824295e-03 9.99986867e-01 -4.63537595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78650248099997 meters 0.10803415107674895 Centerline is valid? [False, False] Translation: X:5.09, Y:0.41, Z:-0.46 [[ 9.99961628e-01 -8.75500161e-03 3.02986627e-04 5.08828006e+00] [ 8.75722645e-03 9.99926798e-01 -8.34918514e-03 4.13696848e-01] [-2.29867319e-04 8.35151809e-03 9.99965099e-01 -4.63739492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84650248099997 meters 0.10920811402074972 Centerline is valid? [False, False] Translation: X:5.09, Y:0.41, Z:-0.47 [[ 9.99925083e-01 -1.22181912e-02 7.37993333e-04 5.08857353e+00] [ 1.22252454e-02 9.99870551e-01 -1.04606463e-02 4.08642204e-01] [-6.10087623e-04 1.04688848e-02 9.99945014e-01 -4.65504907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90650248099998 meters 0.10995097354835354 Centerline is valid? [False, False] Translation: X:5.09, Y:0.40, Z:-0.47 [[ 9.99931867e-01 -1.15917635e-02 1.37543755e-03 5.08818543e+00] [ 1.16030617e-02 9.99896450e-01 -8.51219928e-03 4.03348747e-01] [-1.27662372e-03 8.52757861e-03 9.99962825e-01 -4.66721197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96650248099998 meters 0.1105969821743951 Centerline is valid? [False, False] Translation: X:5.09, Y:0.40, Z:-0.47 [[ 9.99937719e-01 -1.10685658e-02 1.43008203e-03 5.08863313e+00] [ 1.10790220e-02 9.99910324e-01 -7.52321201e-03 4.01090031e-01] [-1.34668262e-03 7.53858737e-03 9.99970678e-01 -4.67621274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02650248099998 meters 0.11057498179006828 Centerline is valid? [False, False] Translation: X:5.09, Y:0.40, Z:-0.47 [[ 9.99978088e-01 -6.32134645e-03 1.96582243e-03 5.08821094e+00] [ 6.32503521e-03 9.99978237e-01 -1.87592315e-03 3.97157791e-01] [-1.95392129e-03 1.88831594e-03 9.99996308e-01 -4.68527670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08650248099998 meters 0.11045968806935634 Centerline is valid? [False, False] Translation: X:5.09, Y:0.40, Z:-0.47 [[ 9.99979744e-01 -6.11891447e-03 1.75207826e-03 5.08860938e+00] [ 6.12173783e-03 9.99979965e-01 -1.61062936e-03 3.96659114e-01] [-1.74218786e-03 1.62132250e-03 9.99997168e-01 -4.68557632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14650248099998 meters 0.1102242950111151 Centerline is valid? [False, False] Translation: X:5.09, Y:0.40, Z:-0.47 [[ 9.99982763e-01 -5.67410542e-03 1.50921810e-03 5.08929418e+00] [ 5.67562667e-03 9.99983388e-01 -1.00560891e-03 3.95201222e-01] [-1.50348710e-03 1.01415734e-03 9.99998356e-01 -4.68995706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20650248099997 meters 0.10942197721039634 Centerline is valid? [False, False] Translation: X:5.09, Y:0.40, Z:-0.47 [[ 9.99985046e-01 -5.39572333e-03 8.90589850e-04 5.09049308e+00] [ 5.39653738e-03 9.99985021e-01 -9.14203828e-04 3.95841695e-01] [-8.85643719e-04 9.18996259e-04 9.99999186e-01 -4.69262103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26650248099997 meters 0.10826203158219606 Centerline is valid? [False, False] Translation: X:5.09, Y:0.40, Z:-0.47 [[ 9.99988903e-01 -4.69485397e-03 3.89339306e-04 5.09219973e+00] [ 4.69494218e-03 9.99988953e-01 -2.25947910e-04 3.95357735e-01] [-3.88274213e-04 2.27773329e-04 9.99999899e-01 -4.70619470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32650248099998 meters 0.10796324098052487 Centerline is valid? [False, False] Translation: X:5.09, Y:0.40, Z:-0.47 [[ 9.99989657e-01 -4.54805005e-03 1.21037046e-05 5.09277657e+00] [ 4.54805259e-03 9.99989634e-01 -2.18973936e-04 3.95630554e-01] [-1.11076747e-05 2.19026720e-04 9.99999976e-01 -4.70523803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38650248099998 meters 0.10797853181530721 Centerline is valid? [False, False] Translation: X:5.09, Y:0.39, Z:-0.47 [[ 9.99991433e-01 -4.13644607e-03 -1.55123101e-04 5.09357518e+00] [ 4.13649832e-03 9.99991388e-01 3.38049043e-04 3.94838647e-01] [ 1.53723443e-04 -3.38687814e-04 9.99999931e-01 -4.71335522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44650248099998 meters 0.10767560008667994 Centerline is valid? [False, False] Translation: X:5.09, Y:0.40, Z:-0.47 [[ 9.99992337e-01 -3.88599987e-03 -4.74363613e-04 5.09446103e+00] [ 3.88625060e-03 9.99992309e-01 5.28777308e-04 3.95128769e-01] [ 4.72305136e-04 -5.30616752e-04 9.99999748e-01 -4.71841474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50650248099998 meters 0.10796122064330038 Centerline is valid? [False, False] Translation: X:5.10, Y:0.39, Z:-0.47 [[ 9.99993310e-01 -3.59351035e-03 -6.83583754e-04 5.09505770e+00] [ 3.59411431e-03 9.99993150e-01 8.84348366e-04 3.94572028e-01] [ 6.80401157e-04 -8.86799327e-04 9.99999375e-01 -4.72214276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56650248099997 meters 0.10837187988832474 Centerline is valid? [False, False] Translation: X:5.10, Y:0.40, Z:-0.47 [[ 9.99969416e-01 -7.70847425e-03 -1.32169042e-03 5.09612404e+00] [ 7.70376749e-03 9.99964095e-01 -3.53002447e-03 3.95710998e-01] [ 1.34885406e-03 3.51973451e-03 9.99992896e-01 -4.72166777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62650248099997 meters 0.1083224764991949 Centerline is valid? [False, False] Translation: X:5.10, Y:0.40, Z:-0.47 [[ 9.99972346e-01 -7.31521566e-03 -1.34004407e-03 5.09690797e+00] [ 7.31113868e-03 9.99968705e-01 -3.02246607e-03 3.95222276e-01] [ 1.36211212e-03 3.01258524e-03 9.99994534e-01 -4.73348357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68650248099998 meters 0.10841648011468376 Centerline is valid? [False, False] Translation: X:5.10, Y:0.40, Z:-0.47 [[ 9.99974608e-01 -6.94724160e-03 -1.58717572e-03 5.09806393e+00] [ 6.94308411e-03 9.99972490e-01 -2.61009041e-03 3.95368138e-01] [ 1.60526498e-03 2.59900424e-03 9.99995334e-01 -4.74381325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74650248099998 meters 0.108708956839591 Centerline is valid? [False, False] Translation: X:5.10, Y:0.39, Z:-0.48 [[ 9.99977893e-01 -6.48253607e-03 -1.48026864e-03 5.09856282e+00] [ 6.47997662e-03 9.99977513e-01 -1.72734439e-03 3.93644982e-01] [ 1.49143293e-03 1.71771410e-03 9.99997413e-01 -4.75441127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80650248099998 meters 0.10949208749671013 Centerline is valid? [False, False] Translation: X:5.10, Y:0.39, Z:-0.48 [[ 9.99980522e-01 -6.13407965e-03 -1.15258230e-03 5.09850584e+00] [ 6.13311678e-03 9.99980842e-01 -8.37088872e-04 3.91466868e-01] [ 1.15769499e-03 8.30003645e-04 9.99998985e-01 -4.76190009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86650248099998 meters 0.11028582458861179 Centerline is valid? [False, False] Translation: X:5.10, Y:0.39, Z:-0.48 [[ 9.99982854e-01 -5.76772881e-03 -1.01213799e-03 5.09894454e+00] [ 5.76763122e-03 9.99983362e-01 -9.93078261e-05 3.90204907e-01] [ 1.01269393e-03 9.34684848e-05 9.99999483e-01 -4.77210083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92650248099997 meters 0.1105839721415578 Centerline is valid? [False, False] Translation: X:5.10, Y:0.39, Z:-0.48 [[ 9.99949512e-01 -9.95890044e-03 -1.33954278e-03 5.09980833e+00] [ 9.95292555e-03 9.99940808e-01 -4.39546430e-03 3.91047859e-01] [ 1.38323748e-03 4.38191001e-03 9.99989443e-01 -4.77525463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98650248099997 meters 0.11155736910413382 Centerline is valid? [False, False] Translation: X:5.10, Y:0.39, Z:-0.48 [[ 9.99949885e-01 -9.91782185e-03 -1.36525372e-03 5.09985067e+00] [ 9.91193807e-03 9.99941840e-01 -4.25099637e-03 3.90863588e-01] [ 1.40733494e-03 4.23725102e-03 9.99990033e-01 -4.77455062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04650248099998 meters 0.11230618320731786 Centerline is valid? [False, False] Translation: X:5.10, Y:0.39, Z:-0.48 [[ 9.99949919e-01 -9.89171906e-03 -1.52070690e-03 5.10010652e+00] [ 9.88524409e-03 9.99942286e-01 -4.20799641e-03 3.91087839e-01] [ 1.56224345e-03 4.19275311e-03 9.99989990e-01 -4.77353573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10650248099998 meters 0.1126937416229421 Centerline is valid? [False, False] Translation: X:5.10, Y:0.39, Z:-0.48 [[ 9.99955480e-01 -9.28975712e-03 -1.65501076e-03 5.10132607e+00] [ 9.28417125e-03 9.99951285e-01 -3.35142989e-03 3.89818062e-01] [ 1.68606411e-03 3.33591528e-03 9.99993014e-01 -4.78854397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16650248099998 meters 0.11151727279447458 Centerline is valid? [False, False] Translation: X:5.11, Y:0.39, Z:-0.48 [[ 9.99970126e-01 -6.99891605e-03 -3.28044027e-03 5.10557074e+00] [ 6.99406213e-03 9.99974433e-01 -1.48879816e-03 3.93162711e-01] [ 3.29077637e-03 1.46581008e-03 9.99993511e-01 -4.81329794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22650248099998 meters 0.10980151456501407 Centerline is valid? [False, False] Translation: X:5.11, Y:0.40, Z:-0.48 [[ 9.99989392e-01 -2.95305668e-03 -3.53497816e-03 5.10586148e+00] [ 2.96029119e-03 9.99993531e-01 2.04306870e-03 3.95372916e-01] [ 3.52892200e-03 -2.05351159e-03 9.99991665e-01 -4.81070770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28650248099997 meters 0.10903670321239751 Centerline is valid? [False, False] Translation: X:5.11, Y:0.40, Z:-0.48 [[ 9.99985681e-01 -2.97212729e-03 -4.45012600e-03 5.10725108e+00] [ 2.97752860e-03 9.99994838e-01 1.20760967e-03 3.98229877e-01] [ 4.44651386e-03 -1.22084276e-03 9.99989369e-01 -4.80760131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34650248099997 meters 0.10861537182381036 Centerline is valid? [False, False] Translation: X:5.12, Y:0.40, Z:-0.48 [[ 9.99992757e-01 2.39937707e-03 -2.95430887e-03 5.12020650e+00] [-2.40791048e-03 9.99992930e-01 -2.88830371e-03 3.99307895e-01] [ 2.94735785e-03 2.89539651e-03 9.99991465e-01 -4.80273370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40650248099998 meters 0.10881476486025067 Centerline is valid? [False, False] Translation: X:5.13, Y:0.40, Z:-0.48 [[ 9.99996261e-01 -1.54903996e-03 2.25354862e-03 5.13258981e+00] [ 1.55170659e-03 9.99998097e-01 -1.18203642e-03 4.01748296e-01] [-2.25171331e-03 1.18552885e-03 9.99996762e-01 -4.77695122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46650248099998 meters 0.10860295948982837 Centerline is valid? [False, False] Translation: X:5.13, Y:0.40, Z:-0.48 [[ 9.99983081e-01 -5.66980198e-03 1.30061405e-03 5.13443991e+00] [ 5.67729280e-03 9.99966890e-01 -5.82993498e-03 4.04174552e-01] [-1.26751641e-03 5.83722031e-03 9.99982160e-01 -4.77923602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52650248099998 meters 0.10883221976507414 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99985827e-01 -5.17167786e-03 1.26504536e-03 5.13553382e+00] [ 5.17812067e-03 9.99973364e-01 -5.14382819e-03 4.03543083e-01] [-1.23840944e-03 5.15030584e-03 9.99985970e-01 -4.79503225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58650248099998 meters 0.10932604272591433 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99985181e-01 -5.37762113e-03 8.47829991e-04 5.13555780e+00] [ 5.38226728e-03 9.99969967e-01 -5.57647406e-03 4.04604953e-01] [-8.17816364e-04 5.58095467e-03 9.99984092e-01 -4.78360338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64650248099998 meters 0.1092034911421577 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99986448e-01 -5.10813157e-03 1.00517129e-03 5.13594064e+00] [ 5.11319481e-03 9.99973918e-01 -5.10079857e-03 4.03791145e-01] [-9.79089521e-04 5.10586908e-03 9.99986486e-01 -4.79318073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70650248099997 meters 0.10941554920260896 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99988410e-01 -4.75689373e-03 7.42213596e-04 5.13683126e+00] [ 4.76027297e-03 9.99977999e-01 -4.61960313e-03 4.03316599e-01] [-7.20222306e-04 4.62308273e-03 9.99989054e-01 -4.79971575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76650248099997 meters 0.10949830460628468 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99989361e-01 -4.57770950e-03 5.68289446e-04 5.13714904e+00] [ 4.58013757e-03 9.99980061e-01 -4.34747182e-03 4.02875586e-01] [-5.48376651e-04 4.35002841e-03 9.99990388e-01 -4.79968078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82650248099998 meters 0.1095044548646176 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99989898e-01 -4.47409199e-03 4.31204066e-04 5.13744235e+00] [ 4.47588484e-03 9.99980949e-01 -4.25060427e-03 4.02790031e-01] [-4.12178256e-04 4.25249135e-03 9.99990873e-01 -4.80014516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88650248099998 meters 0.10979829719756454 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99991492e-01 -4.08476720e-03 5.75399161e-04 5.13765775e+00] [ 4.08679703e-03 9.99985270e-01 -3.57182748e-03 4.01063658e-01] [-5.60800602e-04 3.57414863e-03 9.99993455e-01 -4.80755199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94650248099998 meters 0.10993342618245062 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99992132e-01 -3.96471394e-03 1.28611649e-04 5.13843747e+00] [ 3.96515446e-03 9.99985558e-01 -3.62783097e-03 4.01827673e-01] [-1.14226480e-04 3.62831239e-03 9.99993411e-01 -4.80718013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00650248099998 meters 0.109253244822931 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99993585e-01 -3.57976647e-03 -1.25515852e-04 5.13928995e+00] [ 3.57933472e-03 9.99988195e-01 -3.28607183e-03 4.01535434e-01] [ 1.37277740e-04 3.28560149e-03 9.99994593e-01 -4.81389798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06650248099997 meters 0.10863222587395684 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99995289e-01 -3.02237622e-03 -5.36465611e-04 5.14082001e+00] [ 3.02082110e-03 9.99991301e-01 -2.87633972e-03 4.01692998e-01] [ 5.45154324e-04 2.87470560e-03 9.99995719e-01 -4.82692407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12650248099997 meters 0.10832835908483666 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99996272e-01 -2.65103013e-03 -6.54903117e-04 5.14146234e+00] [ 2.64942290e-03 9.99993506e-01 -2.44293707e-03 4.00997126e-01] [ 6.61375164e-04 2.44119285e-03 9.99996802e-01 -4.83370376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18650248099998 meters 0.10810184677332445 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99997114e-01 -2.34915501e-03 -5.03043301e-04 5.14131554e+00] [ 2.34824459e-03 9.99995618e-01 -1.80283653e-03 3.99090561e-01] [ 5.07276239e-04 1.80165006e-03 9.99998248e-01 -4.83643367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24650248099998 meters 0.10810242382934317 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.48 [[ 9.99980055e-01 -6.16637189e-03 -1.36561938e-03 5.14305626e+00] [ 6.15824636e-03 9.99963771e-01 -5.87642334e-03 3.99699679e-01] [ 1.40180612e-03 5.86789632e-03 9.99981801e-01 -4.84052487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30650248099998 meters 0.10789748637920536 Centerline is valid? [False, False] Translation: X:5.14, Y:0.40, Z:-0.49 [[ 9.99984563e-01 -5.44753667e-03 -1.09478476e-03 5.14338230e+00] [ 5.44269533e-03 9.99975607e-01 -4.37755320e-03 3.96135826e-01] [ 1.11860494e-03 4.37152704e-03 9.99989819e-01 -4.85405501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36650248099998 meters 0.10818545771094895 Centerline is valid? [False, False] Translation: X:5.14, Y:0.39, Z:-0.49 [[ 9.99987230e-01 -4.93952075e-03 -1.06802093e-03 5.14388996e+00] [ 4.93596127e-03 9.99982340e-01 -3.31012362e-03 3.93959127e-01] [ 1.08435250e-03 3.30480964e-03 9.99993951e-01 -4.86320060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42650248099997 meters 0.10875172672960992 Centerline is valid? [False, False] Translation: X:5.14, Y:0.39, Z:-0.49 [[ 9.99959949e-01 -8.90097029e-03 -9.33968404e-04 5.14402136e+00] [ 8.89437712e-03 9.99937045e-01 -6.84074038e-03 3.92094267e-01] [ 9.94798834e-04 6.83215933e-03 9.99976166e-01 -4.86815702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48650248099997 meters 0.10937602316772659 Centerline is valid? [False, False] Translation: X:5.14, Y:0.39, Z:-0.49 [[ 9.99962152e-01 -8.68164013e-03 -5.68819403e-04 5.14356210e+00] [ 8.67809721e-03 9.99944582e-01 -5.96015611e-03 3.89619886e-01] [ 6.20531811e-04 5.95499426e-03 9.99982076e-01 -4.87085580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54650248099998 meters 0.11015270045944293 Centerline is valid? [False, False] Translation: X:5.14, Y:0.39, Z:-0.49 [[ 9.99966324e-01 -8.20041540e-03 -3.21926961e-04 5.14387289e+00] [ 8.19876902e-03 9.99954774e-01 -4.81976303e-03 3.87117798e-01] [ 3.61436460e-04 4.81696132e-03 9.99988333e-01 -4.88290559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60650248099998 meters 0.1116045493793215 Centerline is valid? [False, False] Translation: X:5.14, Y:0.39, Z:-0.49 [[ 9.99965944e-01 -8.25013747e-03 -2.14744942e-04 5.14340944e+00] [ 8.24906017e-03 9.99955352e-01 -4.60951911e-03 3.86176633e-01] [ 2.52764520e-04 4.60759068e-03 9.99989353e-01 -4.87820387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66650248099998 meters 0.11147024748590756 Centerline is valid? [False, False] Translation: X:5.14, Y:0.38, Z:-0.49 [[ 9.99969979e-01 -7.74849803e-03 -4.85826161e-05 5.14406766e+00] [ 7.74826751e-03 9.99963245e-01 -3.67068231e-03 3.84430641e-01] [ 7.70231050e-05 3.67019568e-03 9.99993262e-01 -4.89329307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72650248099998 meters 0.11134885823354805 Centerline is valid? [False, False] Translation: X:5.14, Y:0.39, Z:-0.49 [[ 9.99970252e-01 -7.69746185e-03 -4.94300945e-04 5.14486929e+00] [ 7.69552173e-03 9.99963116e-01 -3.81375705e-03 3.85319114e-01] [ 5.23638963e-04 3.80983970e-03 9.99992605e-01 -4.89345804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78650248099997 meters 0.11026271582259599 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99973177e-01 -7.27026787e-03 -8.87628273e-04 5.14624098e+00] [ 7.26710836e-03 9.99967426e-01 -3.51230269e-03 3.85552034e-01] [ 9.13134741e-04 3.50575799e-03 9.99993438e-01 -4.90474469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84650248099997 meters 0.10868826889439542 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99974854e-01 -6.94233878e-03 -1.44732465e-03 5.14759316e+00] [ 6.93718207e-03 9.99969679e-01 -3.53801038e-03 3.86440776e-01] [ 1.47184283e-03 3.52788106e-03 9.99992694e-01 -4.91183190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90650248099998 meters 0.10705517269775468 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99978096e-01 -6.18613420e-03 -2.35342025e-03 5.14924801e+00] [ 6.17779400e-03 9.99974670e-01 -3.53477831e-03 3.90961879e-01] [ 2.37522725e-03 3.52016194e-03 9.99990983e-01 -4.91509671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96650248099998 meters 0.1066730178360529 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99976672e-01 -6.31136782e-03 -2.61182354e-03 5.14934454e+00] [ 6.30022799e-03 9.99971115e-01 -4.25162749e-03 3.92748838e-01] [ 2.63858168e-03 4.23507323e-03 9.99987551e-01 -4.90964290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02650248099998 meters 0.10671799370692106 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99974506e-01 -6.50413831e-03 -2.94673307e-03 5.14953612e+00] [ 6.48970063e-03 9.99967020e-01 -4.88290579e-03 3.94555242e-01] [ 2.97839498e-03 4.86365790e-03 9.99983737e-01 -4.90353568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08650248099998 meters 0.10645463828023655 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99979156e-01 -5.85344150e-03 -2.72500562e-03 5.15030703e+00] [ 5.84335375e-03 9.99976100e-01 -3.69527668e-03 3.92108851e-01] [ 2.74657058e-03 3.67927648e-03 9.99989460e-01 -4.92178979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14650248099997 meters 0.10701885386796228 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99981351e-01 -5.56757790e-03 -2.50972764e-03 5.15013709e+00] [ 5.56025263e-03 9.99980289e-01 -2.91633865e-03 3.89865179e-01] [ 2.52591512e-03 2.90232955e-03 9.99992598e-01 -4.92485758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20650248099997 meters 0.10721707333971192 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99982830e-01 -5.26912691e-03 -2.56420959e-03 5.15060130e+00] [ 5.26315178e-03 9.99983432e-01 -2.33140014e-03 3.88764712e-01] [ 2.57645155e-03 2.31786429e-03 9.99993995e-01 -4.93023860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26650248099997 meters 0.10706901351321402 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99983747e-01 -5.08878080e-03 -2.57099630e-03 5.15079690e+00] [ 5.08360689e-03 9.99985048e-01 -2.01495865e-03 3.88101438e-01] [ 2.58121154e-03 2.00185597e-03 9.99994665e-01 -4.93270743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32650248099998 meters 0.10704877045177276 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99986549e-01 -4.52632489e-03 -2.53279856e-03 5.15172119e+00] [ 4.52355144e-03 9.99989164e-01 -1.09967287e-03 3.86449221e-01] [ 2.53774859e-03 1.08820083e-03 9.99996188e-01 -4.94846174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38650248099998 meters 0.10742186482833747 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.50 [[ 9.99985504e-01 -4.48919576e-03 -2.97293386e-03 5.15276820e+00] [ 4.48529416e-03 9.99989073e-01 -1.31774081e-03 3.87984969e-01] [ 2.97881697e-03 1.30438722e-03 9.99994713e-01 -4.95184088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44650248099998 meters 0.10751950695796303 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99954381e-01 -8.97186107e-03 -3.27736848e-03 5.15298733e+00] [ 8.95139868e-03 9.99940679e-01 -6.20574854e-03 3.89532151e-01] [ 3.33285117e-03 6.17612841e-03 9.99975373e-01 -4.94631554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50650248099998 meters 0.1077131465244686 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.49 [[ 9.99952656e-01 -9.05897793e-03 -3.55259338e-03 5.15314383e+00] [ 9.03616525e-03 9.99938783e-01 -6.38573809e-03 3.90114723e-01] [ 3.61022416e-03 6.35333394e-03 9.99973300e-01 -4.94093647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56650248099997 meters 0.10792077980887327 Centerline is valid? [False, False] Translation: X:5.15, Y:0.39, Z:-0.50 [[ 9.99956651e-01 -8.53053454e-03 -3.73169993e-03 5.15420914e+00] [ 8.50983698e-03 9.99948513e-01 -5.52757034e-03 3.88840514e-01] [ 3.77866093e-03 5.49557457e-03 9.99977760e-01 -4.95265482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62650248099997 meters 0.1082065109393131 Centerline is valid? [False, False] Translation: X:5.16, Y:0.38, Z:-0.50 [[ 9.99965419e-01 -7.53150920e-03 -3.52670660e-03 5.15548609e+00] [ 7.51894295e-03 9.99965385e-01 -3.56297221e-03 3.84924551e-01] [ 3.55341908e-03 3.53633189e-03 9.99987434e-01 -4.97939734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68650248099998 meters 0.10891461345893963 Centerline is valid? [False, False] Translation: X:5.16, Y:0.38, Z:-0.50 [[ 9.99970768e-01 -7.02295025e-03 -3.02339821e-03 5.15510421e+00] [ 7.01634391e-03 9.99972987e-01 -2.19016129e-03 3.81132836e-01] [ 3.03869793e-03 2.16888406e-03 9.99993031e-01 -4.98688889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74650248099998 meters 0.10912586639158044 Centerline is valid? [False, False] Translation: X:5.16, Y:0.38, Z:-0.50 [[ 9.99972966e-01 -6.64914846e-03 -3.13957316e-03 5.15548179e+00] [ 6.64454026e-03 9.99976836e-01 -1.47593501e-03 3.79474882e-01] [ 3.14931414e-03 1.45503409e-03 9.99993982e-01 -4.98987705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80650248099998 meters 0.10916719471514823 Centerline is valid? [False, False] Translation: X:5.16, Y:0.38, Z:-0.50 [[ 9.99975080e-01 -6.22696003e-03 -3.32626464e-03 5.15598920e+00] [ 6.22452225e-03 9.99980352e-01 -7.42739075e-04 3.77784239e-01] [ 3.33082429e-03 7.22016158e-04 9.99994192e-01 -4.99293236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86650248099998 meters 0.10860657031803303 Centerline is valid? [False, False] Translation: X:5.16, Y:0.37, Z:-0.50 [[ 9.99981738e-01 -5.17431873e-03 -3.12266610e-03 5.15699219e+00] [ 5.17810571e-03 9.99985866e-01 1.20587282e-03 3.73159358e-01] [ 3.11638240e-03 -1.22202030e-03 9.99994397e-01 -5.01414916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92650248099997 meters 0.10794531531099551 Centerline is valid? [False, False] Translation: X:5.16, Y:0.37, Z:-0.50 [[ 9.99984217e-01 -4.61830678e-03 -3.19941215e-03 5.15758344e+00] [ 4.62517562e-03 9.99987008e-01 2.14284447e-03 3.71162729e-01] [ 3.18947427e-03 -2.15760850e-03 9.99992586e-01 -5.02162698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98650248099997 meters 0.10818529237929013 Centerline is valid? [False, False] Translation: X:5.17, Y:0.37, Z:-0.50 [[ 9.99997539e-01 2.24944181e-04 -2.20702327e-03 5.16851765e+00] [-2.32234004e-04 9.99994517e-01 -3.30331128e-03 3.70180966e-01] [ 2.20626811e-03 3.30381570e-03 9.99992109e-01 -4.98571701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04650248099998 meters 0.10778670155288916 Centerline is valid? [False, False] Translation: X:5.17, Y:0.37, Z:-0.50 [[ 9.99997362e-01 2.19713795e-04 -2.28659392e-03 5.16851898e+00] [-2.27519769e-04 9.99994146e-01 -3.41409961e-03 3.70398069e-01] [ 2.28583041e-03 3.41461085e-03 9.99991558e-01 -4.98401632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10650248099998 meters 0.10717374520656227 Centerline is valid? [False, False] Translation: X:5.17, Y:0.37, Z:-0.50 [[ 9.99988386e-01 -3.84429643e-03 -2.90670357e-03 5.16928354e+00] [ 3.82128256e-03 9.99961635e-01 -7.88204258e-03 3.71307492e-01] [ 2.93689297e-03 7.87084370e-03 9.99964712e-01 -4.98012969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16650248099998 meters 0.10718475238461668 Centerline is valid? [False, False] Translation: X:5.17, Y:0.37, Z:-0.50 [[ 9.99989112e-01 -3.57341851e-03 -3.00096826e-03 5.16951607e+00] [ 3.55106754e-03 9.99966162e-01 -7.42051100e-03 3.70255658e-01] [ 3.02738330e-03 7.40977357e-03 9.99967965e-01 -4.98149249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22650248099998 meters 0.10734009636457438 Centerline is valid? [False, False] Translation: X:5.17, Y:0.37, Z:-0.50 [[ 9.99991856e-01 -2.79623350e-03 -2.91026182e-03 5.17039081e+00] [ 2.77853318e-03 9.99977727e-01 -6.06841386e-03 3.67515357e-01] [ 2.92716570e-03 6.06027818e-03 9.99977352e-01 -4.99775284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28650248099997 meters 0.10752488362779254 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:-0.50 [[ 9.99977468e-01 -5.90761933e-03 -3.18795013e-03 5.17236257e+00] [ 5.88065772e-03 9.99947415e-01 -8.40146706e-03 3.64003194e-01] [ 3.23741516e-03 8.38253051e-03 9.99959625e-01 -5.02147445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34650248099997 meters 0.10814007893407546 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:-0.50 [[ 9.99980329e-01 -5.49599219e-03 -3.02264119e-03 5.17225663e+00] [ 5.47363617e-03 9.99957968e-01 -7.35538386e-03 3.61252311e-01] [ 3.06293927e-03 7.33869433e-03 9.99968380e-01 -5.02407505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40650248099998 meters 0.10961851212720865 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:-0.50 [[ 9.99985013e-01 -4.79354508e-03 -2.64489186e-03 5.17241881e+00] [ 4.77829764e-03 9.99972102e-01 -5.74137681e-03 3.56847349e-01] [ 2.67233963e-03 5.72865269e-03 9.99980020e-01 -5.03625478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46650248099998 meters 0.10990528830761864 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:-0.50 [[ 9.99985863e-01 -4.55333554e-03 -2.74618215e-03 5.17270235e+00] [ 4.53882183e-03 9.99975822e-01 -5.26832888e-03 3.55658943e-01] [ 2.77010422e-03 5.25578997e-03 9.99982351e-01 -5.03785337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52650248099998 meters 0.11059870103389094 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:-0.50 [[ 9.99986448e-01 -4.32337049e-03 -2.90023792e-03 5.17322359e+00] [ 4.30893545e-03 9.99978390e-01 -4.96511231e-03 3.55217764e-01] [ 2.92164127e-03 4.95254808e-03 9.99983468e-01 -5.04143886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58650248099998 meters 0.11066540887430076 Centerline is valid? [False, False] Translation: X:5.17, Y:0.35, Z:-0.50 [[ 9.99986873e-01 -4.09533605e-03 -3.07939408e-03 5.17387209e+00] [ 4.08097308e-03 9.99980833e-01 -4.65612454e-03 3.54927556e-01] [ 3.09840345e-03 4.64349650e-03 9.99984419e-01 -5.04655590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64650248099997 meters 0.10965200379566888 Centerline is valid? [False, False] Translation: X:5.17, Y:0.36, Z:-0.50 [[ 9.99985718e-01 -4.11723472e-03 -3.40755131e-03 5.17434199e+00] [ 4.10068264e-03 9.99979829e-01 -4.85028671e-03 3.55721133e-01] [ 3.42745235e-03 4.83624415e-03 9.99982432e-01 -5.04470369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70650248099997 meters 0.11092416438391478 Centerline is valid? [False, False] Translation: X:5.18, Y:0.36, Z:-0.51 [[ 9.99986446e-01 -3.82799811e-03 -3.52919757e-03 5.17512488e+00] [ 3.81197292e-03 9.99982445e-01 -4.53634469e-03 3.55615437e-01] [ 3.54650073e-03 4.52283000e-03 9.99983483e-01 -5.05307158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76650248099997 meters 0.1091601947629464 Centerline is valid? [False, False] Translation: X:5.18, Y:0.36, Z:-0.51 [[ 9.99986427e-01 -3.63122862e-03 -3.73620881e-03 5.17586427e+00] [ 3.61476096e-03 9.99983765e-01 -4.40493801e-03 3.55821592e-01] [ 3.75214349e-03 4.39137272e-03 9.99983318e-01 -5.05909317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82650248099998 meters 0.10895079688825722 Centerline is valid? [False, False] Translation: X:5.18, Y:0.36, Z:-0.51 [[ 9.99984687e-01 -3.66302089e-03 -4.14829992e-03 5.17662561e+00] [ 3.64335994e-03 9.99982142e-01 -4.73720037e-03 3.57312528e-01] [ 4.16557830e-03 4.72201408e-03 9.99980175e-01 -5.05933399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88650248099998 meters 0.10824486521193571 Centerline is valid? [False, False] Translation: X:5.18, Y:0.36, Z:-0.51 [[ 9.99985155e-01 -3.22709993e-03 -4.39037706e-03 5.17802472e+00] [ 3.20826756e-03 9.99985652e-01 -4.28976568e-03 3.57361849e-01] [ 4.40415758e-03 4.27561650e-03 9.99981161e-01 -5.07403290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94650248099998 meters 0.10871625881905143 Centerline is valid? [False, False] Translation: X:5.18, Y:0.36, Z:-0.51 [[ 9.99983017e-01 -3.41793039e-03 -4.72057380e-03 5.17844141e+00] [ 3.39559823e-03 9.99983045e-01 -4.73075309e-03 3.58767283e-01] [ 4.73666315e-03 4.71464357e-03 9.99977668e-01 -5.07107974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00650248099998 meters 0.10936622693867445 Centerline is valid? [False, False] Translation: X:5.18, Y:0.36, Z:-0.51 [[ 9.99981156e-01 -3.67516897e-03 -4.91742282e-03 5.17876506e+00] [ 3.64927042e-03 9.99979479e-01 -5.26533991e-03 3.60611798e-01] [ 4.93667293e-03 5.24729568e-03 9.99974047e-01 -5.06967921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06650248099997 meters 0.11061625102844937 Centerline is valid? [False, False] Translation: X:5.19, Y:0.36, Z:-0.51 [[ 9.99976477e-01 -6.85167699e-03 -3.15399425e-04 5.19300887e+00] [ 6.85102725e-03 9.99974497e-01 -2.01699783e-03 3.61033895e-01] [ 3.29211199e-04 2.01478958e-03 9.99997916e-01 -5.06577229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12650248099997 meters 0.11062304102382196 Centerline is valid? [False, False] Translation: X:5.19, Y:0.36, Z:-0.51 [[ 9.99975078e-01 -7.00878562e-03 -8.48933891e-04 5.19424314e+00] [ 7.00648204e-03 9.99971845e-01 -2.68674019e-03 3.64109329e-01] [ 8.67740775e-04 2.68072520e-03 9.99996030e-01 -5.06965300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18650248099998 meters 0.11093902193062319 Centerline is valid? [False, False] Translation: X:5.19, Y:0.37, Z:-0.51 [[ 9.99971823e-01 -7.40692719e-03 -1.22127893e-03 5.19446527e+00] [ 7.40245056e-03 9.99966012e-01 -3.63018609e-03 3.66824785e-01] [ 1.24812594e-03 3.62104334e-03 9.99992665e-01 -5.06266293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24650248099998 meters 0.10979520175802711 Centerline is valid? [False, False] Translation: X:5.20, Y:0.37, Z:-0.51 [[ 9.99971212e-01 -7.42995327e-03 -1.53949849e-03 5.19510474e+00] [ 7.42377928e-03 9.99964531e-01 -3.97802409e-03 3.68402589e-01] [ 1.56900042e-03 3.96648067e-03 9.99990903e-01 -5.06416722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30650248099998 meters 0.10963325580586931 Centerline is valid? [False, False] Translation: X:5.20, Y:0.37, Z:-0.51 [[ 9.99968059e-01 -7.66980061e-03 -2.24815151e-03 5.19604032e+00] [ 7.65859801e-03 9.99958421e-01 -4.94998363e-03 3.71944147e-01] [ 2.28602343e-03 4.93260783e-03 9.99985222e-01 -5.06005082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36650248099998 meters 0.10963189161010768 Centerline is valid? [False, False] Translation: X:5.20, Y:0.37, Z:-0.51 [[ 9.99966226e-01 -7.80125430e-03 -2.58598439e-03 5.19636181e+00] [ 7.78701713e-03 9.99954716e-01 -5.47060568e-03 3.73555768e-01] [ 2.62854488e-03 5.45028381e-03 9.99981692e-01 -5.05643295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42650248099997 meters 0.1091188280501572 Centerline is valid? [False, False] Translation: X:5.20, Y:0.38, Z:-0.51 [[ 9.99965372e-01 -7.72367386e-03 -3.09820666e-03 5.19778111e+00] [ 7.70558793e-03 9.99953447e-01 -5.80761386e-03 3.75823277e-01] [ 3.14291854e-03 5.78353925e-03 9.99978336e-01 -5.06400338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48650248099997 meters 0.10888416150895233 Centerline is valid? [False, False] Translation: X:5.20, Y:0.38, Z:-0.51 [[ 9.99960846e-01 -8.07099871e-03 -3.62846983e-03 5.19864124e+00] [ 8.04596049e-03 9.99944080e-01 -6.86292749e-03 3.79507385e-01] [ 3.68365761e-03 6.83346425e-03 9.99969867e-01 -5.06192957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54650248099998 meters 0.1093763808786589 Centerline is valid? [False, False] Translation: X:5.20, Y:0.38, Z:-0.51 [[ 9.99963103e-01 -7.86540145e-03 -3.45384853e-03 5.19892307e+00] [ 7.84279286e-03 9.99948045e-01 -6.51138015e-03 3.78915350e-01] [ 3.50488371e-03 6.48405207e-03 9.99972836e-01 -5.07086934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60650248099998 meters 0.11043817755684658 Centerline is valid? [False, False] Translation: X:5.20, Y:0.38, Z:-0.51 [[ 9.99957861e-01 -8.35425989e-03 -3.80569133e-03 5.19931258e+00] [ 8.32549187e-03 9.99937116e-01 -7.51335141e-03 3.82395916e-01] [ 3.86822050e-03 7.48135055e-03 9.99964533e-01 -5.06640797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66650248099998 meters 0.11154515902187426 Centerline is valid? [False, False] Translation: X:5.20, Y:0.38, Z:-0.51 [[ 9.99954365e-01 -8.66007779e-03 -4.03370225e-03 5.19943807e+00] [ 8.62697455e-03 9.99929549e-01 -8.15301198e-03 3.84278890e-01] [ 4.10402379e-03 8.11784127e-03 9.99958628e-01 -5.06097777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72650248099998 meters 0.11252201834969495 Centerline is valid? [False, False] Translation: X:5.20, Y:0.39, Z:-0.51 [[ 9.99952723e-01 -8.83008146e-03 -4.07215138e-03 5.19964444e+00] [ 8.79489427e-03 9.99924519e-01 -8.57936953e-03 3.85602634e-01] [ 4.14760054e-03 8.54314977e-03 9.99954905e-01 -5.06193536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78650248099997 meters 0.1121902758911739 Centerline is valid? [False, False] Translation: X:5.20, Y:0.39, Z:-0.51 [[ 9.99950814e-01 -9.03193773e-03 -4.09809941e-03 5.19990272e+00] [ 8.99460879e-03 9.99918706e-01 -9.03762913e-03 3.87214843e-01] [ 4.17939356e-03 9.00032381e-03 9.99950762e-01 -5.06387893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84650248099997 meters 0.1128584736443644 Centerline is valid? [False, False] Translation: X:5.20, Y:0.39, Z:-0.51 [[ 9.99979706e-01 -4.89872116e-03 -4.07301376e-03 5.19975007e+00] [ 4.87825790e-03 9.99975506e-01 -5.01895396e-03 3.87975021e-01] [ 4.09750045e-03 4.99898289e-03 9.99979110e-01 -5.06206479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90650248099998 meters 0.11251689949723793 Centerline is valid? [False, False] Translation: X:5.20, Y:0.39, Z:-0.51 [[ 9.99977556e-01 -4.56233588e-03 -4.90634193e-03 5.20206317e+00] [ 4.53692924e-03 9.99976307e-01 -5.17704864e-03 3.91618788e-01] [ 4.92984512e-03 5.15467272e-03 9.99974563e-01 -5.07481015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96650248099998 meters 0.11195433028186899 Centerline is valid? [False, False] Translation: X:5.20, Y:0.39, Z:-0.51 [[ 9.99973792e-01 -4.72164506e-03 -5.48821064e-03 5.20273991e+00] [ 4.68887017e-03 9.99971190e-01 -5.96947570e-03 3.94049410e-01] [ 5.51623826e-03 5.94358575e-03 9.99967122e-01 -5.06902384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02650248099998 meters 0.11014569755993153 Centerline is valid? [False, False] Translation: X:5.20, Y:0.40, Z:-0.51 [[ 9.99983970e-01 -6.32723914e-04 -5.62667302e-03 5.20322274e+00] [ 6.18625683e-04 9.99996666e-01 -2.50699447e-03 3.96687450e-01] [ 5.62824049e-03 2.50347348e-03 9.99981028e-01 -5.07174351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08650248099998 meters 0.10925814234398822 Centerline is valid? [False, False] Translation: X:5.22, Y:0.40, Z:-0.51 [[ 9.99981869e-01 4.55149413e-03 -3.94266069e-03 5.21622693e+00] [-4.57892864e-03 9.99965173e-01 -6.97752280e-03 4.00392501e-01] [ 3.91076522e-03 6.99544945e-03 9.99967884e-01 -5.06780351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14650248099997 meters 0.10854570197899333 Centerline is valid? [False, False] Translation: X:5.22, Y:0.40, Z:-0.50 [[ 9.99951422e-01 -4.82327101e-03 -8.59594042e-03 5.22476080e+00] [ 4.78335270e-03 9.99977709e-01 -4.65837992e-03 4.03806134e-01] [ 8.61821744e-03 4.61703621e-03 9.99952204e-01 -5.03140279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20650248099997 meters 0.10792291553138061 Centerline is valid? [False, False] Translation: X:5.23, Y:0.41, Z:-0.50 [[ 9.99947289e-01 -4.67097479e-03 -9.14333778e-03 5.22593546e+00] [ 4.62573250e-03 9.99976985e-01 -4.96302449e-03 4.05420412e-01] [ 9.16630951e-03 4.92046825e-03 9.99945882e-01 -5.03480065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26650248099997 meters 0.10744480492291086 Centerline is valid? [False, False] Translation: X:5.24, Y:0.41, Z:-0.51 [[ 9.99992681e-01 2.53016023e-04 -3.81753916e-03 5.23632619e+00] [-2.84491906e-04 9.99965954e-01 -8.24678246e-03 4.08853887e-01] [ 3.81532262e-03 8.24780817e-03 9.99958708e-01 -5.05159792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32650248099998 meters 0.10717484107263056 Centerline is valid? [False, False] Translation: X:5.24, Y:0.41, Z:-0.51 [[ 9.99991837e-01 3.59491257e-04 -4.02440529e-03 5.23666459e+00] [-3.92665560e-04 9.99965928e-01 -8.24552817e-03 4.08854522e-01] [ 4.02130398e-03 8.24704111e-03 9.99957907e-01 -5.05113039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38650248099998 meters 0.10718201449995801 Centerline is valid? [False, False] Translation: X:5.24, Y:0.41, Z:-0.51 [[ 9.99990945e-01 4.76297108e-04 -4.22882496e-03 5.23699867e+00] [-5.10578492e-04 9.99966989e-01 -8.10922272e-03 4.08586875e-01] [ 4.22482297e-03 8.11130844e-03 9.99958178e-01 -5.05033231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44650248099998 meters 0.10722317018948889 Centerline is valid? [False, False] Translation: X:5.25, Y:0.40, Z:-0.51 [[ 9.99990606e-01 -4.27639749e-03 7.07406635e-04 5.25084244e+00] [ 4.27911313e-03 9.99983306e-01 -3.88296366e-03 4.04219935e-01] [-6.90789730e-04 3.88595425e-03 9.99992211e-01 -5.07584668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50650248099997 meters 0.10767738611523334 Centerline is valid? [False, False] Translation: X:5.25, Y:0.40, Z:-0.51 [[ 9.99992904e-01 -3.64491040e-03 9.52488939e-04 5.25137335e+00] [ 3.64732173e-03 9.99990117e-01 -2.54225642e-03 4.01292794e-01] [-9.43213229e-04 2.54571241e-03 9.99996315e-01 -5.09165398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56650248099997 meters 0.10808345125906862 Centerline is valid? [False, False] Translation: X:5.25, Y:0.40, Z:-0.51 [[ 9.99993394e-01 -3.44136851e-03 1.17017739e-03 5.25122814e+00] [ 3.44364314e-03 9.99992174e-01 -1.94741234e-03 3.99687518e-01] [-1.16346647e-03 1.95142915e-03 9.99997419e-01 -5.09536166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62650248099997 meters 0.10850299818268966 Centerline is valid? [False, False] Translation: X:5.25, Y:0.40, Z:-0.51 [[ 9.99970368e-01 -7.63790844e-03 9.62205507e-04 5.25122911e+00] [ 7.64357348e-03 9.99952617e-01 -6.02829132e-03 3.98695046e-01] [-9.16116377e-04 6.03546738e-03 9.99981367e-01 -5.08982392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68650248099998 meters 0.10815377170327498 Centerline is valid? [False, False] Translation: X:5.25, Y:0.40, Z:-0.51 [[ 9.99973056e-01 -7.30434046e-03 7.30736591e-04 5.25192626e+00] [ 7.30829421e-03 9.99957821e-01 -5.56277096e-03 3.97914904e-01] [-6.90073396e-04 5.56796152e-03 9.99984261e-01 -5.09477664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74650248099998 meters 0.10747581354919385 Centerline is valid? [False, False] Translation: X:5.25, Y:0.40, Z:-0.51 [[ 9.99976998e-01 -6.78192822e-03 -9.41205066e-05 5.25400736e+00] [ 6.78131488e-03 9.99962167e-01 -5.44771771e-03 3.99515539e-01] [ 1.31062976e-04 5.44695414e-03 9.99985157e-01 -5.10565847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80650248099998 meters 0.10722248818660478 Centerline is valid? [False, False] Translation: X:5.25, Y:0.40, Z:-0.51 [[ 9.99980920e-01 -6.17704567e-03 -5.27031881e-05 5.25487488e+00] [ 6.17673666e-03 9.99970274e-01 -4.61513058e-03 3.97956804e-01] [ 8.12094938e-05 4.61471699e-03 9.99989349e-01 -5.12041609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86650248099998 meters 0.10693212640756863 Centerline is valid? [False, False] Translation: X:5.26, Y:0.40, Z:-0.51 [[ 9.99981196e-01 -6.12159660e-03 -3.65837969e-04 5.25513999e+00] [ 6.11983474e-03 9.99970521e-01 -4.63725126e-03 3.98174811e-01] [ 3.94214566e-04 4.63492519e-03 9.99989181e-01 -5.11687583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92650248099997 meters 0.10686812517987081 Centerline is valid? [False, False] Translation: X:5.26, Y:0.40, Z:-0.51 [[ 9.99984766e-01 -5.51161059e-03 -2.99089088e-04 5.25598831e+00] [ 5.51049734e-03 9.99978325e-01 -3.60338918e-03 3.96347348e-01] [ 3.18943083e-04 3.60168615e-03 9.99993463e-01 -5.13221202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98650248099997 meters 0.10706032087880073 Centerline is valid? [False, False] Translation: X:5.26, Y:0.39, Z:-0.51 [[ 9.99958805e-01 -9.06835347e-03 -3.91785051e-04 5.25674429e+00] [ 9.06558302e-03 9.99937301e-01 -6.57332703e-03 3.93096355e-01] [ 4.51369740e-04 6.56950448e-03 9.99978319e-01 -5.14156702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04650248099998 meters 0.10775776041254703 Centerline is valid? [False, False] Translation: X:5.26, Y:0.39, Z:-0.51 [[ 9.99961258e-01 -8.79359452e-03 -3.93813233e-04 5.25648035e+00] [ 8.79120283e-03 9.99945048e-01 -5.71094960e-03 3.90602118e-01] [ 4.44011367e-04 5.70726625e-03 9.99983615e-01 -5.13855712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10650248099998 meters 0.10814032779251186 Centerline is valid? [False, False] Translation: X:5.26, Y:0.38, Z:-0.51 [[ 9.99965063e-01 -8.35090161e-03 3.69049459e-04 5.25547203e+00] [ 8.35244766e-03 9.99955403e-01 -4.40770017e-03 3.84680014e-01] [-3.32224730e-04 4.41062864e-03 9.99990218e-01 -5.14220817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16650248099998 meters 0.10870952972775537 Centerline is valid? [False, False] Translation: X:5.26, Y:0.38, Z:-0.52 [[ 9.99973087e-01 -7.30291804e-03 7.01299742e-04 5.25630548e+00] [ 7.30442246e-03 9.99970974e-01 -2.16712847e-03 3.79544655e-01] [-6.85453025e-04 2.17219274e-03 9.99997406e-01 -5.16614753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22650248099998 meters 0.10962796317973386 Centerline is valid? [False, False] Translation: X:5.26, Y:0.38, Z:-0.52 [[ 9.99974814e-01 -7.05952473e-03 7.30690357e-04 5.25611923e+00] [ 7.06057657e-03 9.99974027e-01 -1.44708795e-03 3.77385010e-01] [-7.20455626e-04 1.45221060e-03 9.99998686e-01 -5.16436011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28650248099997 meters 0.10977123530169816 Centerline is valid? [False, False] Translation: X:5.26, Y:0.37, Z:-0.52 [[ 9.99979054e-01 -6.40690405e-03 9.18461579e-04 5.25623125e+00] [ 6.40685929e-03 9.99979475e-01 5.16738715e-05 3.73174714e-01] [-9.18773797e-04 -4.57883351e-05 9.99999577e-01 -5.17199564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34650248099997 meters 0.10972463890474031 Centerline is valid? [False, False] Translation: X:5.26, Y:0.37, Z:-0.52 [[ 9.99982734e-01 -5.84102045e-03 6.43959094e-04 5.25709934e+00] [ 5.84042885e-03 9.99982524e-01 9.16777156e-04 3.71354910e-01] [-6.49302755e-04 -9.13000329e-04 9.99999372e-01 -5.17855985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40650248099998 meters 0.10946087184081002 Centerline is valid? [False, False] Translation: X:5.26, Y:0.37, Z:-0.52 [[ 9.99986984e-01 -5.10005181e-03 1.43915995e-04 5.25866352e+00] [ 5.09979189e-03 9.99985461e-01 1.75208217e-03 3.70097351e-01] [-1.52849612e-04 -1.75132542e-03 9.99998455e-01 -5.19018273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46650248099998 meters 0.10905826175535499 Centerline is valid? [False, False] Translation: X:5.26, Y:0.37, Z:-0.52 [[ 9.99988470e-01 -4.78220811e-03 -4.37092859e-04 5.25958063e+00] [ 4.78299929e-03 9.99986892e-01 1.82735632e-03 3.70196383e-01] [ 4.28348331e-04 -1.82942586e-03 9.99998235e-01 -5.18972326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52650248099998 meters 0.10927175578736652 Centerline is valid? [False, False] Translation: X:5.26, Y:0.37, Z:-0.52 [[ 9.99989749e-01 -4.45749476e-03 -7.95169119e-04 5.26037248e+00] [ 4.45919418e-03 9.99987750e-01 2.14837498e-03 3.69836287e-01] [ 7.85583008e-04 -2.15189877e-03 9.99997376e-01 -5.19290055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58650248099998 meters 0.10919607974073463 Centerline is valid? [False, False] Translation: X:5.26, Y:0.37, Z:-0.52 [[ 9.99990637e-01 -4.18846218e-03 -1.08735377e-03 5.26092810e+00] [ 4.19117245e-03 9.99988086e-01 2.50233808e-03 3.69059355e-01] [ 1.07685987e-03 -2.50687193e-03 9.99996278e-01 -5.19383926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64650248099997 meters 0.10903012359162217 Centerline is valid? [False, False] Translation: X:5.26, Y:0.37, Z:-0.52 [[ 9.99969323e-01 -7.68206406e-03 -1.52966792e-03 5.26274438e+00] [ 7.68084020e-03 9.99970178e-01 -8.04354470e-04 3.67905021e-01] [ 1.53580140e-03 7.92580660e-04 9.99998507e-01 -5.20941129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70650248099997 meters 0.10963726114503768 Centerline is valid? [False, False] Translation: X:5.26, Y:0.37, Z:-0.52 [[ 9.99972264e-01 -7.34586701e-03 -1.22876835e-03 5.26262609e+00] [ 7.34614396e-03 9.99972992e-01 2.21029415e-04 3.65384113e-01] [ 1.22711151e-03 -2.30049994e-04 9.99999221e-01 -5.21511283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76650248099997 meters 0.11013815839659442 Centerline is valid? [False, False] Translation: X:5.26, Y:0.36, Z:-0.52 [[ 9.99974713e-01 -7.04161848e-03 -9.94753629e-04 5.26250798e+00] [ 7.04262543e-03 9.99974688e-01 1.01240729e-03 3.63163062e-01] [ 9.87599464e-04 -1.01938737e-03 9.99998993e-01 -5.21917959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82650248099998 meters 0.11077109702086035 Centerline is valid? [False, False] Translation: X:5.26, Y:0.36, Z:-0.52 [[ 9.99937178e-01 -1.11428194e-02 -1.21533012e-03 5.26328400e+00] [ 1.11390533e-02 9.99933268e-01 -3.06275848e-03 3.63277706e-01] [ 1.24937679e-03 3.04902845e-03 9.99994571e-01 -5.22407328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88650248099998 meters 0.111432276255608 Centerline is valid? [False, False] Translation: X:5.26, Y:0.36, Z:-0.52 [[ 9.99933807e-01 -1.14241519e-02 -1.36788338e-03 5.26302902e+00] [ 1.14192736e-02 9.99928594e-01 -3.52248155e-03 3.64466415e-01] [ 1.40802707e-03 3.50662815e-03 9.99992860e-01 -5.21549793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94650248099998 meters 0.11162631987778081 Centerline is valid? [False, False] Translation: X:5.26, Y:0.36, Z:-0.52 [[ 9.99940555e-01 -1.08468092e-02 -1.11070707e-03 5.26357497e+00] [ 1.08439463e-02 9.99937946e-01 -2.55189613e-03 3.62404750e-01] [ 1.13831808e-03 2.53969999e-03 9.99996127e-01 -5.23071297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00650248099997 meters 0.1109967471511192 Centerline is valid? [False, False] Translation: X:5.26, Y:0.36, Z:-0.52 [[ 9.99943813e-01 -1.05263845e-02 -1.25161145e-03 5.26447534e+00] [ 1.05235920e-02 9.99942167e-01 -2.21715110e-03 3.62479722e-01] [ 1.27487765e-03 2.20385507e-03 9.99996759e-01 -5.24064033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06650248099997 meters 0.11077677641189647 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.52 [[ 9.99947236e-01 -1.01537489e-02 -1.55798499e-03 5.26553721e+00] [ 1.01508686e-02 9.99946775e-01 -1.84562041e-03 3.62423399e-01] [ 1.57664204e-03 1.82970813e-03 9.99997083e-01 -5.24867651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12650248099997 meters 0.11009805901214581 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99953135e-01 -9.47675749e-03 -1.97964322e-03 5.26726080e+00] [ 9.47455585e-03 9.99954490e-01 -1.11857202e-03 3.61924066e-01] [ 1.99015356e-03 1.09976335e-03 9.99997415e-01 -5.26391405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18650248099998 meters 0.10988092834068076 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99953722e-01 -9.32970656e-03 -2.34733030e-03 5.26817465e+00] [ 9.32692296e-03 9.99955790e-01 -1.19402315e-03 3.62947269e-01] [ 2.35836641e-03 1.17207452e-03 9.99996532e-01 -5.26770288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24650248099998 meters 0.10937362677336282 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99956468e-01 -8.97557775e-03 -2.54959032e-03 5.26897484e+00] [ 8.97363269e-03 9.99959437e-01 -7.73309310e-04 3.62461686e-01] [ 2.55642780e-03 7.50396560e-04 9.99996451e-01 -5.27462553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30650248099998 meters 0.10926532379434196 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99956482e-01 -8.83823776e-03 -2.98666990e-03 5.26995606e+00] [ 8.83570095e-03 9.99960593e-01 -8.61506785e-04 3.63593120e-01] [ 2.99416641e-03 8.35079972e-04 9.99995169e-01 -5.27775233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36650248099998 meters 0.1087881059633945 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99958925e-01 -8.49690117e-03 -3.15459483e-03 5.27091987e+00] [ 8.49538325e-03 9.99963791e-01 -4.94266422e-04 3.63586719e-01] [ 3.15868034e-03 4.67446628e-04 9.99994902e-01 -5.28769916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42650248099997 meters 0.10889627209549796 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99964002e-01 -7.98579856e-03 -2.86729871e-03 5.27119026e+00] [ 7.98709383e-03 9.99968006e-01 4.40570464e-04 3.61333922e-01] [ 2.86368866e-03 -4.63455988e-04 9.99995792e-01 -5.29921229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48650248099997 meters 0.10892056808491087 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99965976e-01 -7.70200263e-03 -2.95410256e-03 5.27195980e+00] [ 7.70448278e-03 9.99969976e-01 8.29101825e-04 3.61248578e-01] [ 2.94762812e-03 -8.51833448e-04 9.99995293e-01 -5.30788070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54650248099998 meters 0.10896668982242264 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99967614e-01 -7.52351360e-03 -2.85808777e-03 5.27200443e+00] [ 7.52674541e-03 9.99971045e-01 1.12168874e-03 3.60306290e-01] [ 2.84956597e-03 -1.14316452e-03 9.99995287e-01 -5.31047782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60650248099998 meters 0.10886284615059065 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99969168e-01 -7.20940138e-03 -3.11236345e-03 5.27300534e+00] [ 7.21383108e-03 9.99972980e-01 1.41438576e-03 3.60456499e-01] [ 3.10208248e-03 -1.43679422e-03 9.99994156e-01 -5.31855728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66650248099998 meters 0.10893541337559602 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99970009e-01 -7.05318877e-03 -3.19908953e-03 5.27364813e+00] [ 7.05793946e-03 9.99974003e-01 1.47616073e-03 3.61218851e-01] [ 3.18859472e-03 -1.49869544e-03 9.99993793e-01 -5.32546036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72650248099998 meters 0.10907246193717207 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99969901e-01 -7.02839528e-03 -3.28628900e-03 5.27373469e+00] [ 7.03324138e-03 9.99974193e-01 1.46541767e-03 3.61484428e-01] [ 3.27590466e-03 -1.48848683e-03 9.99993526e-01 -5.32399150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78650248099997 meters 0.10927767050382552 Centerline is valid? [False, False] Translation: X:5.27, Y:0.36, Z:-0.53 [[ 9.99973432e-01 -6.52839366e-03 -3.24287869e-03 5.27465278e+00] [ 6.53562389e-03 9.99976169e-01 2.22399823e-03 3.60501462e-01] [ 3.22828227e-03 -2.24513338e-03 9.99992269e-01 -5.33873720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84650248099997 meters 0.1095914700948117 Centerline is valid? [False, False] Translation: X:5.28, Y:0.36, Z:-0.54 [[ 9.99976457e-01 -6.11463132e-03 -3.11400158e-03 5.27537803e+00] [ 6.12364846e-03 9.99977061e-01 2.89442147e-03 3.59746275e-01] [ 3.09623183e-03 -2.91342238e-03 9.99990963e-01 -5.35276883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90650248099998 meters 0.10991473334085973 Centerline is valid? [False, False] Translation: X:5.28, Y:0.36, Z:-0.54 [[ 9.99973681e-01 -6.25059617e-03 -3.68326120e-03 5.27643128e+00] [ 6.25929677e-03 9.99977636e-01 2.35542773e-03 3.62229797e-01] [ 3.66845601e-03 -2.37842036e-03 9.99990443e-01 -5.35256333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96650248099998 meters 0.11049711524431077 Centerline is valid? [False, False] Translation: X:5.28, Y:0.36, Z:-0.54 [[ 9.99972702e-01 -6.34024871e-03 -3.79419822e-03 5.27669603e+00] [ 6.34805221e-03 9.99977753e-01 2.04819616e-03 3.63382156e-01] [ 3.78112774e-03 -2.07222602e-03 9.99990704e-01 -5.35290606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02650248099998 meters 0.11074477161003937 Centerline is valid? [False, False] Translation: X:5.29, Y:0.36, Z:-0.53 [[ 9.99993883e-01 -1.88418112e-03 -2.94689415e-03 5.29026983e+00] [ 1.87445294e-03 9.99992797e-01 -3.30044889e-03 3.64704103e-01] [ 2.95309157e-03 3.29490489e-03 9.99990211e-01 -5.34301608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08650248099998 meters 0.11022623108500676 Centerline is valid? [False, False] Translation: X:5.29, Y:0.37, Z:-0.53 [[ 9.99992777e-01 -2.03155440e-03 -3.21226571e-03 5.29083632e+00] [ 2.01938078e-03 9.99990785e-01 -3.78844496e-03 3.66566601e-01] [ 3.21993254e-03 3.78193081e-03 9.99987664e-01 -5.34336881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14650248099997 meters 0.11014676144592979 Centerline is valid? [False, False] Translation: X:5.29, Y:0.37, Z:-0.53 [[ 9.99990212e-01 -2.16122701e-03 -3.86076451e-03 5.29211202e+00] [ 2.14418924e-03 9.99987969e-01 -4.41175661e-03 3.69766571e-01] [ 3.87025287e-03 4.40343522e-03 9.99982815e-01 -5.34419591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20650248099997 meters 0.11043252521266794 Centerline is valid? [False, False] Translation: X:5.29, Y:0.37, Z:-0.54 [[ 9.99990419e-01 -1.97121184e-03 -3.90844029e-03 5.29270166e+00] [ 1.95492893e-03 9.99989413e-01 -4.16554234e-03 3.69863757e-01] [ 3.91661008e-03 4.15786171e-03 9.99983686e-01 -5.35154417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26650248099997 meters 0.11059013661386086 Centerline is valid? [False, False] Translation: X:5.29, Y:0.37, Z:-0.53 [[ 9.99987300e-01 -2.22929178e-03 -4.52005214e-03 5.29324164e+00] [ 2.20739508e-03 9.99985834e-01 -4.84356399e-03 3.71930761e-01] [ 4.53078582e-03 4.83352493e-03 9.99978054e-01 -5.34278807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32650248099998 meters 0.10962855578255566 Centerline is valid? [False, False] Translation: X:5.29, Y:0.37, Z:-0.53 [[ 9.99983521e-01 -2.12574713e-03 -5.33274894e-03 5.29484208e+00] [ 2.09772635e-03 9.99983994e-01 -5.25457267e-03 3.74311677e-01] [ 5.34383348e-03 5.24329944e-03 9.99971975e-01 -5.34505405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38650248099998 meters 0.10907717110916819 Centerline is valid? [False, False] Translation: X:5.30, Y:0.38, Z:-0.54 [[ 9.99980645e-01 -1.71461510e-03 -5.98079171e-03 5.29672903e+00] [ 1.68450201e-03 9.99985899e-01 -5.03637557e-03 3.75396968e-01] [ 5.98934282e-03 5.02620344e-03 9.99969432e-01 -5.35611097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44650248099998 meters 0.10882176923558619 Centerline is valid? [False, False] Translation: X:5.30, Y:0.38, Z:-0.54 [[ 9.99979040e-01 -1.72548768e-03 -6.24032642e-03 5.29709282e+00] [ 1.69320434e-03 9.99985176e-01 -5.17492903e-03 3.75964829e-01] [ 6.24916319e-03 5.16425441e-03 9.99967139e-01 -5.35435641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50650248099997 meters 0.10852811382845155 Centerline is valid? [False, False] Translation: X:5.30, Y:0.38, Z:-0.53 [[ 9.99972693e-01 -1.76498153e-03 -7.17616567e-03 5.29843364e+00] [ 1.72445902e-03 9.99982557e-01 -5.64909159e-03 3.78379813e-01] [ 7.18601104e-03 5.63656233e-03 9.99958294e-01 -5.34935055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56650248099997 meters 0.10864727722455611 Centerline is valid? [False, False] Translation: X:5.30, Y:0.38, Z:-0.54 [[ 9.99982034e-01 -6.67749490e-04 5.95696787e-03 5.30264393e+00] [ 7.07259928e-04 9.99977751e-01 -6.63300333e-03 3.78037933e-01] [-5.95240615e-03 6.63709728e-03 9.99960258e-01 -5.41475844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62650248099997 meters 0.10866973387084065 Centerline is valid? [False, False] Translation: X:5.30, Y:0.38, Z:-0.54 [[ 9.99984481e-01 -4.91493997e-04 5.54948871e-03 5.30310705e+00] [ 5.26554824e-04 9.99979902e-01 -6.31815571e-03 3.77253751e-01] [-5.54627184e-03 6.32097976e-03 9.99964641e-01 -5.41132664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68650248099998 meters 0.10881693116474067 Centerline is valid? [False, False] Translation: X:5.30, Y:0.38, Z:-0.54 [[ 9.99978972e-01 -4.48605156e-03 4.68294205e-03 5.30439116e+00] [ 4.53427648e-03 9.99936274e-01 -1.03386833e-02 3.77213482e-01] [-4.63626376e-03 1.03596997e-02 9.99935589e-01 -5.40822147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74650248099998 meters 0.10907632130727384 Centerline is valid? [False, False] Translation: X:5.31, Y:0.37, Z:-0.54 [[ 9.99983523e-01 -3.82719611e-03 4.27860905e-03 5.30553155e+00] [ 3.86622267e-03 9.99950659e-01 -9.15056610e-03 3.74623307e-01] [-4.24337693e-03 9.16695738e-03 9.99948979e-01 -5.41636175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80650248099998 meters 0.1098184810203693 Centerline is valid? [False, False] Translation: X:5.31, Y:0.38, Z:-0.54 [[ 9.99986144e-01 -4.11949593e-03 3.27749164e-03 5.30540323e+00] [ 4.15092857e-03 9.99944898e-01 -9.64216532e-03 3.75045821e-01] [-3.23759018e-03 9.65563635e-03 9.99948142e-01 -5.38924024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86650248099997 meters 0.10995685625059379 Centerline is valid? [False, False] Translation: X:5.31, Y:0.38, Z:-0.54 [[ 9.99988378e-01 -4.31974414e-03 2.14105517e-03 5.30581444e+00] [ 4.34118569e-03 9.99939438e-01 -1.01131024e-02 3.75914492e-01] [-2.09723949e-03 1.01222795e-02 9.99946569e-01 -5.36630132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92650248099997 meters 0.11029152485145671 Centerline is valid? [False, False] Translation: X:5.32, Y:0.37, Z:-0.54 [[ 9.99962375e-01 -6.64449052e-03 5.57658983e-03 5.32227198e+00] [ 6.66828280e-03 9.99968698e-01 -4.25876304e-03 3.72684858e-01] [-5.54811796e-03 4.29578908e-03 9.99975382e-01 -5.38824254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98650248099997 meters 0.11061539235729195 Centerline is valid? [False, False] Translation: X:5.32, Y:0.37, Z:-0.54 [[ 9.99968314e-01 -6.50112313e-03 4.59422831e-03 5.32345137e+00] [ 6.52090117e-03 9.99969480e-01 -4.30318885e-03 3.73118056e-01] [-4.56611253e-03 4.33301101e-03 9.99980188e-01 -5.38053647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04650248099998 meters 0.1106081819132778 Centerline is valid? [False, False] Translation: X:5.32, Y:0.37, Z:-0.54 [[ 9.99972803e-01 -6.63266783e-03 3.22492971e-03 5.32449722e+00] [ 6.64869971e-03 9.99965466e-01 -4.98618880e-03 3.74888409e-01] [-3.19174660e-03 5.00749478e-03 9.99982369e-01 -5.36042436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10650248099998 meters 0.1108575123645283 Centerline is valid? [False, False] Translation: X:5.33, Y:0.38, Z:-0.53 [[ 9.99974433e-01 -6.92561497e-03 1.77999576e-03 5.32523566e+00] [ 6.93625014e-03 9.99957704e-01 -6.03976472e-03 3.77468778e-01] [-1.73809138e-03 6.05195680e-03 9.99980176e-01 -5.33348919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16650248099998 meters 0.11112581546883127 Centerline is valid? [False, False] Translation: X:5.33, Y:0.38, Z:-0.53 [[ 9.99973989e-01 -7.17501778e-03 7.35466968e-04 5.32556438e+00] [ 7.17984084e-03 9.99951243e-01 -6.77954683e-03 3.78705604e-01] [-6.86787739e-04 6.78465102e-03 9.99976748e-01 -5.31134847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22650248099998 meters 0.11167733541059291 Centerline is valid? [False, False] Translation: X:5.33, Y:0.38, Z:-0.53 [[ 9.99970557e-01 -7.61760127e-03 -9.25432402e-04 5.32657041e+00] [ 7.60980091e-03 9.99937762e-01 -8.15867656e-03 3.82366798e-01] [ 9.87524349e-04 8.15139399e-03 9.99966289e-01 -5.28263713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28650248099997 meters 0.1117581902703664 Centerline is valid? [False, False] Translation: X:5.33, Y:0.38, Z:-0.53 [[ 9.99965100e-01 -8.04884936e-03 -2.23955620e-03 5.32684076e+00] [ 8.02772586e-03 9.99924657e-01 -9.28632894e-03 3.84537048e-01] [ 2.31413173e-03 9.26802630e-03 9.99954373e-01 -5.25274523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34650248099997 meters 0.1121658771235573 Centerline is valid? [False, False] Translation: X:5.33, Y:0.39, Z:-0.52 [[ 9.99983520e-01 -4.38105659e-03 -3.71025150e-03 5.32661522e+00] [ 4.35686313e-03 9.99969358e-01 -6.50387563e-03 3.87194198e-01] [ 3.73863166e-03 6.48760339e-03 9.99971966e-01 -5.21176084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40650248099998 meters 0.11231417947786779 Centerline is valid? [False, False] Translation: X:5.33, Y:0.39, Z:-0.52 [[ 9.99976663e-01 -4.76728758e-03 -4.89351728e-03 5.32683267e+00] [ 4.72974431e-03 9.99959513e-01 -7.65515597e-03 3.89246831e-01] [ 4.92981348e-03 7.63183223e-03 9.99958725e-01 -5.18441223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46650248099998 meters 0.11282584293340298 Centerline is valid? [False, False] Translation: X:5.33, Y:0.39, Z:-0.52 [[ 9.99965719e-01 -5.22001964e-03 -6.42740662e-03 5.32717744e+00] [ 5.16316731e-03 9.99947682e-01 -8.83034560e-03 3.91441902e-01] [ 6.47316493e-03 8.79685712e-03 9.99940355e-01 -5.15072808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52650248099998 meters 0.11371019806591551 Centerline is valid? [False, False] Translation: X:5.33, Y:0.39, Z:-0.51 [[ 0.9999569 -0.00544285 -0.00752166 5.32700904] [ 0.00537298 0.99994252 -0.00927799 0.39130393] [ 0.00757172 0.00923717 0.99992867 -0.51217685] [ 0. 0. 0. 1. ]] SLAMing on 118.58650248099998 meters 0.1152274762147314 Centerline is valid? [False, False] Translation: X:5.34, Y:0.39, Z:-0.51 [[ 9.99972670e-01 -6.98605076e-03 -2.41942322e-03 5.33791414e+00] [ 6.98016116e-03 9.99972676e-01 -2.43424805e-03 3.86381754e-01] [ 2.43636289e-03 2.41729356e-03 9.99994110e-01 -5.10085755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64650248099997 meters 0.11710700017541124 Centerline is valid? [False, False] Translation: X:5.34, Y:0.39, Z:-0.50 [[ 9.99963345e-01 -6.57791196e-03 -5.48085492e-03 5.33689794e+00] [ 6.55765434e-03 9.99971631e-01 -3.70587972e-03 3.87048083e-01] [ 5.50507638e-03 3.66980233e-03 9.99978113e-01 -5.00406692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70650248099997 meters 0.11841133087210573 Centerline is valid? [False, False] Translation: X:5.33, Y:0.38, Z:-0.49 [[ 0.9999318 -0.00947681 -0.00682504 5.33439263] [ 0.0094323 0.99993422 -0.00652582 0.38490519] [ 0.00688643 0.006461 0.99995542 -0.49408326] [ 0. 0. 0. 1. ]] SLAMing on 118.76650248099997 meters 0.12259556273956926 Centerline is valid? [False, False] Translation: X:5.33, Y:0.38, Z:-0.48 [[ 0.999907 -0.00918983 -0.01007627 5.33377319] [ 0.00911079 0.99992759 -0.00786203 0.38435179] [ 0.01014779 0.0077695 0.99991833 -0.48465948] [ 0. 0. 0. 1. ]] SLAMing on 118.82650248099998 meters 0.12347709370776036 Centerline is valid? [False, False] Translation: X:5.33, Y:0.39, Z:-0.48 [[ 0.99991137 -0.00602461 -0.0118726 5.33202126] [ 0.00595408 0.99996447 -0.00596672 0.38517188] [ 0.01190813 0.0058955 0.99991172 -0.47736966] [ 0. 0. 0. 1. ]] SLAMing on 118.88650248099998 meters 0.12511822775460804 Centerline is valid? [False, False] Translation: X:5.33, Y:0.39, Z:-0.47 [[ 0.99989132 -0.00651784 -0.01322374 5.33194654] [ 0.00642519 0.9999546 -0.00703716 0.38630552] [ 0.01326901 0.00695143 0.9998878 -0.47403736] [ 0. 0. 0. 1. ]] SLAMing on 118.94650248099998 meters 0.12692684508921928 Centerline is valid? [False, False] Translation: X:5.34, Y:0.39, Z:-0.47 [[ 9.99937239e-01 -7.87244640e-03 -7.97134305e-03 5.34108689e+00] [ 7.85180646e-03 9.99965749e-01 -2.61726071e-03 3.88539495e-01] [ 7.99167427e-03 2.55450701e-03 9.99964803e-01 -4.67365533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00650248099997 meters 0.12934114351816264 Centerline is valid? [False, False] Translation: X:5.34, Y:0.39, Z:-0.46 [[ 9.99934298e-01 -4.54528649e-03 -1.05232780e-02 5.34092105e+00] [ 4.52176510e-03 9.99987228e-01 -2.25789178e-03 3.92988524e-01] [ 1.05334063e-02 2.21015964e-03 9.99942080e-01 -4.59139686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06650248099997 meters 0.1285839188853612 Centerline is valid? [False, False] Translation: X:5.34, Y:0.40, Z:-0.45 [[ 9.99916366e-01 -1.17509794e-03 -1.28794652e-02 5.34090673e+00] [ 1.15493983e-03 9.99998097e-01 -1.57246139e-03 3.97411586e-01] [ 1.28812884e-02 1.55745488e-03 9.99915820e-01 -4.51934700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12650248099997 meters 0.13054851512081517 Centerline is valid? [False, False] Translation: X:5.35, Y:0.40, Z:-0.44 [[ 9.99957044e-01 -1.06378280e-03 -9.20754690e-03 5.35190251e+00] [ 1.09448806e-03 9.99993855e-01 3.33039611e-03 4.04374847e-01] [ 9.20394751e-03 -3.34033060e-03 9.99952064e-01 -4.44567834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18650248099998 meters 0.13180978600753585 Centerline is valid? [False, False] Translation: X:5.35, Y:0.41, Z:-0.43 [[ 9.99908920e-01 -2.14204106e-03 -1.33252645e-02 5.35187783e+00] [ 2.09179201e-03 9.99990654e-01 -3.78375624e-03 4.13829421e-01] [ 1.33332449e-02 3.75553793e-03 9.99904056e-01 -4.30452256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24650248099998 meters 0.13270128113144058 Centerline is valid? [False, False] Translation: X:5.36, Y:0.42, Z:-0.42 [[ 9.99962906e-01 -3.94321521e-03 -7.65755106e-03 5.36005484e+00] [ 3.94600320e-03 9.99992154e-01 3.49009295e-04 4.19498229e-01] [ 7.65611476e-03 -3.79213070e-04 9.99970620e-01 -4.23948752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30650248099998 meters 0.13503331156155046 Centerline is valid? [False, False] Translation: X:5.37, Y:0.42, Z:-0.41 [[ 9.99961675e-01 3.89862943e-04 -8.74626401e-03 5.36968282e+00] [-4.41496259e-04 9.99982484e-01 -5.90231720e-03 4.24749536e-01] [ 8.74380971e-03 5.90595244e-03 9.99944331e-01 -4.13981063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36650248099997 meters 0.13836378252863687 Centerline is valid? [False, False] Translation: X:5.38, Y:0.43, Z:-0.41 [[ 9.99988539e-01 -3.23450944e-03 -3.52975996e-03 5.38187054e+00] [ 3.22787710e-03 9.99993017e-01 -1.88305775e-03 4.27129680e-01] [ 3.53582608e-03 1.87164254e-03 9.99991997e-01 -4.13539752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42650248099997 meters 0.13537992940022486 Centerline is valid? [False, False] Translation: X:5.38, Y:0.43, Z:-0.41 [[ 9.99978323e-01 -4.21309164e-03 -5.06002014e-03 5.38142138e+00] [ 4.19193890e-03 9.99982462e-01 -4.18372149e-03 4.31385111e-01] [ 5.07755780e-03 4.16241951e-03 9.99978446e-01 -4.08955102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48650248099997 meters 0.13884477049881913 Centerline is valid? [False, False] Translation: X:5.39, Y:0.44, Z:-0.39 [[ 9.99985126e-01 1.95995467e-03 -5.08986337e-03 5.38548917e+00] [-2.00623799e-03 9.99956544e-01 -9.10410474e-03 4.39542061e-01] [ 5.07179855e-03 9.11418080e-03 9.99945603e-01 -3.94596576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54650248099998 meters 0.1404084164695916 Centerline is valid? [False, False] Translation: X:5.40, Y:0.45, Z:-0.39 [[ 9.99998798e-01 -5.73008477e-04 1.44044792e-03 5.39510678e+00] [ 5.80519957e-04 9.99986209e-01 -5.21968543e-03 4.48208283e-01] [-1.43743713e-03 5.22051537e-03 9.99985340e-01 -3.91449635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60650248099998 meters 0.14156019529909067 Centerline is valid? [False, False] Translation: X:5.41, Y:0.45, Z:-0.39 [[ 9.99987874e-01 4.66419103e-03 1.58051322e-03 5.40566440e+00] [-4.64838753e-03 9.99940591e-01 -9.85931201e-03 4.52785655e-01] [-1.62640504e-03 9.85184562e-03 9.99950147e-01 -3.85213858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66650248099998 meters 0.1402277094018281 Centerline is valid? [False, False] Translation: X:5.41, Y:0.46, Z:-0.38 [[ 9.99960852e-01 3.54027868e-03 8.10934384e-03 5.41185358e+00] [-3.50475781e-03 9.99984221e-01 -4.39027095e-03 4.61676997e-01] [-8.12475866e-03 4.36167780e-03 9.99957481e-01 -3.78907438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72650248099998 meters 0.13946114637586504 Centerline is valid? [False, False] Translation: X:5.42, Y:0.47, Z:-0.37 [[ 9.99896527e-01 -6.47603418e-04 1.43706812e-02 5.41632645e+00] [ 6.87092782e-04 9.99996002e-01 -2.74314467e-03 4.72908808e-01] [-1.43688473e-02 2.75273482e-03 9.99892974e-01 -3.69553841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78650248099997 meters 0.1415294931047632 Centerline is valid? [False, False] Translation: X:5.42, Y:0.48, Z:-0.37 [[ 9.99914116e-01 -1.45406309e-03 1.30248037e-02 5.41616183e+00] [ 1.51970548e-03 9.99986188e-01 -5.03132017e-03 4.77784090e-01] [-1.30173079e-02 5.05068193e-03 9.99902515e-01 -3.65646772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84650248099997 meters 0.13583361652976092 Centerline is valid? [False, False] Translation: X:5.44, Y:0.49, Z:-0.36 [[ 9.99980747e-01 -3.47727612e-03 5.13949184e-03 5.43541690e+00] [ 3.49744685e-03 9.99986197e-01 -3.92089300e-03 4.85880439e-01] [-5.12578687e-03 3.93879261e-03 9.99979106e-01 -3.58851411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90650248099998 meters 0.13648292482632313 Centerline is valid? [False, False] Translation: X:5.44, Y:0.50, Z:-0.35 [[ 9.99953225e-01 2.10549318e-03 9.44005662e-03 5.44089118e+00] [-2.03555172e-03 9.99970455e-01 -7.41250454e-03 4.95130026e-01] [-9.45538469e-03 7.39294210e-03 9.99927967e-01 -3.54027890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96650248099998 meters 0.13492730344853832 Centerline is valid? [False, False] Translation: X:5.45, Y:0.51, Z:-0.35 [[ 9.99995188e-01 -2.06041728e-03 2.31897889e-03 5.45275648e+00] [ 2.07227920e-03 9.99984723e-01 -5.12442067e-03 5.05379742e-01] [-2.30838502e-03 5.12920158e-03 9.99984181e-01 -3.46749492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02650248099998 meters 0.13233766675591457 Centerline is valid? [False, False] Translation: X:5.47, Y:0.52, Z:-0.34 [[ 9.99972072e-01 -5.66540447e-03 -4.87420040e-03 5.47303617e+00] [ 5.63504723e-03 9.99964781e-01 -6.21949895e-03 5.15127403e-01] [ 4.90926472e-03 6.19185890e-03 9.99968780e-01 -3.40457288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08650248099998 meters 0.1345126466139846 Centerline is valid? [False, False] Translation: X:5.47, Y:0.52, Z:-0.34 [[ 0.99996508 -0.00627019 -0.00552512 5.47283842] [ 0.00622772 0.99995119 -0.00767053 0.51930299] [ 0.00557294 0.00763585 0.99995532 -0.33854668] [ 0. 0. 0. 1. ]] SLAMing on 120.14650248099997 meters 0.13098864411768038 Centerline is valid? [False, False] Translation: X:5.47, Y:0.52, Z:-0.33 [[ 9.99981403e-01 -3.53974535e-03 -4.96631826e-03 5.46984192e+00] [ 3.50983278e-03 9.99975726e-01 -6.01892906e-03 5.23337593e-01] [ 4.98750319e-03 6.00138618e-03 9.99969554e-01 -3.34786624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20650248099997 meters 0.1286761045580149 Centerline is valid? [False, False] Translation: X:5.47, Y:0.52, Z:-0.33 [[ 9.99978947e-01 -3.91823028e-03 -5.17227470e-03 5.46900696e+00] [ 3.88266802e-03 9.99968879e-01 -6.86778409e-03 5.23322562e-01] [ 5.19902329e-03 6.84755728e-03 9.99963040e-01 -3.32754004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26650248099997 meters 0.1267343318882418 Centerline is valid? [False, False] Translation: X:5.47, Y:0.52, Z:-0.33 [[ 9.99979595e-01 -3.90643756e-03 -5.05462954e-03 5.46890894e+00] [ 3.87014645e-03 9.99966808e-01 -7.16974757e-03 5.21624656e-01] [ 5.08246993e-03 7.15003911e-03 9.99961522e-01 -3.32270493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32650248099998 meters 0.12584674239969412 Centerline is valid? [False, False] Translation: X:5.47, Y:0.52, Z:-0.33 [[ 9.99973167e-01 -3.79642926e-03 -6.26511236e-03 5.46973854e+00] [ 3.74814907e-03 9.99963330e-01 -7.70002904e-03 5.22743336e-01] [ 6.29411523e-03 7.67633985e-03 9.99950728e-01 -3.30708614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38650248099998 meters 0.12455382669655207 Centerline is valid? [False, False] Translation: X:5.47, Y:0.52, Z:-0.33 [[ 9.99964349e-01 -3.67885743e-03 -7.60037750e-03 5.47051431e+00] [ 3.61465649e-03 9.99957819e-01 -8.44360990e-03 5.24178873e-01] [ 7.63111975e-03 8.41583612e-03 9.99935468e-01 -3.28769847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44650248099998 meters 0.1237802620337378 Centerline is valid? [False, False] Translation: X:5.47, Y:0.53, Z:-0.33 [[ 9.99956528e-01 -3.51377194e-03 -8.63687834e-03 5.47145553e+00] [ 3.43753423e-03 9.99955141e-01 -8.82604949e-03 5.25264388e-01] [ 8.66750363e-03 8.79597623e-03 9.99923750e-01 -3.27806200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50650248099997 meters 0.12306978741919185 Centerline is valid? [False, False] Translation: X:5.47, Y:0.53, Z:-0.33 [[ 9.99946726e-01 -3.40556010e-03 -9.74404419e-03 5.47236860e+00] [ 3.31301617e-03 9.99949405e-01 -9.49791637e-03 5.27179833e-01] [ 9.77589692e-03 9.46512820e-03 9.99907417e-01 -3.26631377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56650248099997 meters 0.12205607657199127 Centerline is valid? [False, False] Translation: X:5.48, Y:0.53, Z:-0.32 [[ 9.99971056e-01 3.40174160e-03 -6.80547825e-03 5.47960964e+00] [-3.48009527e-03 9.99927416e-01 -1.15348028e-02 5.28416391e-01] [ 6.76574586e-03 1.15581527e-02 9.99910313e-01 -3.22224736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62650248099997 meters 0.12104558066943091 Centerline is valid? [False, False] Translation: X:5.49, Y:0.53, Z:-0.32 [[ 9.99995269e-01 -2.80368795e-03 -1.26504981e-03 5.48800415e+00] [ 2.79345572e-03 9.99963946e-01 -8.01894168e-03 5.30677397e-01] [ 1.28748681e-03 8.01536989e-03 9.99967048e-01 -3.21821614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68650248099998 meters 0.12121067704221516 Centerline is valid? [False, False] Translation: X:5.49, Y:0.53, Z:-0.32 [[ 9.99996077e-01 -2.80071056e-03 -4.67490278e-05 5.48700125e+00] [ 2.80027004e-03 9.99966713e-01 -7.66368626e-03 5.26856743e-01] [ 6.82112387e-05 7.66352529e-03 9.99970632e-01 -3.22626872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74650248099998 meters 0.12038029304478134 Centerline is valid? [False, False] Translation: X:5.49, Y:0.53, Z:-0.32 [[ 9.99995773e-01 -2.90703592e-03 5.77900214e-05 5.48642749e+00] [ 2.90739426e-03 9.99966229e-01 -7.68680570e-03 5.25914163e-01] [-3.54422496e-05 7.68694122e-03 9.99970454e-01 -3.22014972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80650248099998 meters 0.11963177643435632 Centerline is valid? [False, False] Translation: X:5.49, Y:0.53, Z:-0.32 [[ 9.99995204e-01 -3.05771639e-03 -4.92026306e-04 5.48621258e+00] [ 3.05359516e-03 9.99961967e-01 -8.16943189e-03 5.26563018e-01] [ 5.16987399e-04 8.16789026e-03 9.99966509e-01 -3.20484062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86650248099997 meters 0.11916349210144256 Centerline is valid? [False, False] Translation: X:5.49, Y:0.53, Z:-0.32 [[ 9.99995702e-01 -2.93175685e-03 -4.06768452e-06 5.48612302e+00] [ 2.93163509e-03 9.99965038e-01 -7.83120332e-03 5.25985258e-01] [ 2.70267262e-05 7.83115773e-03 9.99969336e-01 -3.21399988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92650248099997 meters 0.11906303737493498 Centerline is valid? [False, False] Translation: X:5.49, Y:0.53, Z:-0.32 [[ 9.99996485e-01 -2.65128832e-03 3.17101597e-05 5.48678921e+00] [ 2.65145188e-03 9.99968170e-01 -7.52522996e-03 5.26393462e-01] [-1.17575960e-05 7.52528759e-03 9.99971685e-01 -3.22438710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98650248099997 meters 0.11938254462772967 Centerline is valid? [False, False] Translation: X:5.49, Y:0.53, Z:-0.32 [[ 9.99997815e-01 -1.96430073e-03 -7.15439912e-04 5.48857270e+00] [ 1.95916485e-03 9.99972805e-01 -7.10995277e-03 5.29404102e-01] [ 7.29386541e-04 7.10853556e-03 9.99974468e-01 -3.23649907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04650248099998 meters 0.11936469919070415 Centerline is valid? [False, False] Translation: X:5.49, Y:0.53, Z:-0.32 [[ 9.99998070e-01 -1.67799976e-03 -1.02156176e-03 5.48921481e+00] [ 1.67085092e-03 9.99974390e-01 -6.95903841e-03 5.29749641e-01] [ 1.03321286e-03 6.95731810e-03 9.99975264e-01 -3.23879510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10650248099998 meters 0.11936089712496074 Centerline is valid? [False, False] Translation: X:5.49, Y:0.53, Z:-0.32 [[ 9.99998505e-01 -1.49217815e-03 -8.73785199e-04 5.48939226e+00] [ 1.48631837e-03 9.99976658e-01 -6.66889110e-03 5.29387194e-01] [ 8.83715976e-04 6.66758241e-03 9.99977381e-01 -3.24452643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16650248099998 meters 0.11939830840316086 Centerline is valid? [False, False] Translation: X:5.50, Y:0.53, Z:-0.32 [[ 9.99997295e-01 2.31712768e-03 -2.00580560e-04 5.50272757e+00] [-2.31923151e-03 9.99934420e-01 -1.12150492e-02 5.27869991e-01] [ 1.74580705e-04 1.12154841e-02 9.99937089e-01 -3.23825197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22650248099997 meters 0.11957589374618027 Centerline is valid? [False, False] Translation: X:5.51, Y:0.53, Z:-0.32 [[ 9.99967602e-01 -7.89848766e-03 1.55219244e-03 5.50732473e+00] [ 7.90827062e-03 9.99948242e-01 -6.40098074e-03 5.31036031e-01] [-1.50155403e-03 6.41304852e-03 9.99978309e-01 -3.24590023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28650248099997 meters 0.11986387016342645 Centerline is valid? [False, False] Translation: X:5.51, Y:0.53, Z:-0.33 [[ 9.99971751e-01 -7.29184552e-03 1.82370240e-03 5.50848208e+00] [ 7.30171300e-03 9.99958415e-01 -5.46385400e-03 5.30141300e-01] [-1.78378498e-03 5.47701581e-03 9.99983410e-01 -3.26814555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34650248099997 meters 0.11989805431537282 Centerline is valid? [False, False] Translation: X:5.51, Y:0.53, Z:-0.33 [[ 9.99974708e-01 -6.84041876e-03 1.94721541e-03 5.50931670e+00] [ 6.84990513e-03 9.99964497e-01 -4.90751429e-03 5.29517105e-01] [-1.91357683e-03 4.92072841e-03 9.99986062e-01 -3.28158639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40650248099998 meters 0.11939767914281359 Centerline is valid? [False, False] Translation: X:5.52, Y:0.53, Z:-0.32 [[ 9.99999171e-01 -8.16805129e-04 9.94992365e-04 5.52115302e+00] [ 8.24359507e-04 9.99970660e-01 -7.61579710e-03 5.29137548e-01] [-9.88742550e-04 7.61661102e-03 9.99970504e-01 -3.23532012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46650248099998 meters 0.11976202971764029 Centerline is valid? [False, False] Translation: X:5.52, Y:0.53, Z:-0.32 [[ 9.99989230e-01 -4.64073789e-03 6.19141051e-05 5.52277664e+00] [ 4.64114629e-03 9.99918026e-01 -1.19331591e-02 5.30631749e-01] [-6.53036609e-06 1.19333180e-02 9.99928795e-01 -3.23828178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52650248099998 meters 0.12074870660034867 Centerline is valid? [False, False] Translation: X:5.52, Y:0.53, Z:-0.33 [[ 9.99991186e-01 -4.19004324e-03 -2.68536533e-04 5.52408610e+00] [ 4.18666107e-03 9.99924486e-01 -1.15540014e-02 5.31143999e-01] [ 3.16928020e-04 1.15527753e-02 9.99933214e-01 -3.25000419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58650248099998 meters 0.12041564279979394 Centerline is valid? [False, False] Translation: X:5.53, Y:0.53, Z:-0.33 [[ 9.99992379e-01 -3.86220700e-03 -5.69885622e-04 5.52509506e+00] [ 3.85556298e-03 9.99929484e-01 -1.12321884e-02 5.31467015e-01] [ 6.13226473e-04 1.12299056e-02 9.99936755e-01 -3.25802780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64650248099997 meters 0.12040295453349155 Centerline is valid? [False, False] Translation: X:5.53, Y:0.53, Z:-0.33 [[ 9.99992105e-01 -3.80611086e-03 -1.14140040e-03 5.52560265e+00] [ 3.79269613e-03 9.99926296e-01 -1.15333327e-02 5.32597266e-01] [ 1.18521342e-03 1.15289127e-02 9.99932837e-01 -3.25223337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70650248099997 meters 0.12031890524123147 Centerline is valid? [False, False] Translation: X:5.53, Y:0.53, Z:-0.33 [[ 9.99992555e-01 -3.73084454e-03 -9.85227890e-04 5.52568340e+00] [ 3.71945278e-03 9.99928989e-01 -1.13217625e-02 5.31861199e-01] [ 1.02739766e-03 1.13180137e-02 9.99935421e-01 -3.25622729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76650248099997 meters 0.11905026233210676 Centerline is valid? [False, False] Translation: X:5.53, Y:0.53, Z:-0.33 [[ 9.99992817e-01 -3.74307378e-03 -5.95432906e-04 5.52533745e+00] [ 3.73633148e-03 9.99933090e-01 -1.09478118e-02 5.29055611e-01] [ 6.36371533e-04 1.09455084e-02 9.99939894e-01 -3.25858463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82650248099998 meters 0.11891264132295785 Centerline is valid? [False, False] Translation: X:5.53, Y:0.53, Z:-0.33 [[ 9.99993479e-01 -3.52681081e-03 -7.76779192e-04 5.52578189e+00] [ 3.51841620e-03 9.99938100e-01 -1.05554290e-02 5.27987700e-01] [ 8.13958111e-04 1.05526271e-02 9.99943988e-01 -3.26109775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88650248099998 meters 0.11813085598290127 Centerline is valid? [False, False] Translation: X:5.53, Y:0.53, Z:-0.33 [[ 9.99994728e-01 -3.14398232e-03 -8.11979761e-04 5.52653456e+00] [ 3.13592751e-03 9.99947670e-01 -9.73771006e-03 5.26036078e-01] [ 8.42552459e-04 9.73511241e-03 9.99952258e-01 -3.27127591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94650248099998 meters 0.11732989827130309 Centerline is valid? [False, False] Translation: X:5.54, Y:0.52, Z:-0.33 [[ 9.99956652e-01 -9.05092765e-03 2.18509782e-03 5.53904106e+00] [ 9.05975528e-03 9.99950700e-01 -4.06440485e-03 5.23235443e-01] [-2.14820346e-03 4.08402511e-03 9.99989353e-01 -3.30285577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00650248099997 meters 0.11694194880053659 Centerline is valid? [False, False] Translation: X:5.54, Y:0.52, Z:-0.33 [[ 9.99958934e-01 -8.84573604e-03 1.97080606e-03 5.53959393e+00] [ 8.85310358e-03 9.99953736e-01 -3.76151575e-03 5.22274000e-01] [-1.93744151e-03 3.77880902e-03 9.99990983e-01 -3.30536161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06650248099997 meters 0.11628084546213271 Centerline is valid? [False, False] Translation: X:5.54, Y:0.52, Z:-0.33 [[ 9.99959943e-01 -8.90939086e-03 8.56911775e-04 5.53999713e+00] [ 8.91292325e-03 9.99951413e-01 -4.21075676e-03 5.23252351e-01] [-8.19354862e-04 4.21822568e-03 9.99990768e-01 -3.28753440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12650248099997 meters 0.11600303603195895 Centerline is valid? [False, False] Translation: X:5.54, Y:0.52, Z:-0.33 [[ 9.99959759e-01 -8.94777365e-03 6.46732806e-04 5.53999232e+00] [ 8.95049335e-03 9.99950558e-01 -4.33241195e-03 5.22830936e-01] [-6.07935388e-04 4.33802619e-03 9.99990406e-01 -3.28168022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18650248099998 meters 0.11566524475988373 Centerline is valid? [False, False] Translation: X:5.54, Y:0.52, Z:-0.33 [[ 9.99962669e-01 -8.61067597e-03 7.18371131e-04 5.54053092e+00] [ 8.61336137e-03 9.99955597e-01 -3.82280266e-03 5.21242160e-01] [-6.85422318e-04 3.82884754e-03 9.99992435e-01 -3.28895676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24650248099998 meters 0.1159091397558295 Centerline is valid? [False, False] Translation: X:5.54, Y:0.52, Z:-0.33 [[ 9.99991005e-01 -4.15765037e-03 8.39536799e-04 5.54071252e+00] [ 4.15706232e-03 9.99991114e-01 7.00973558e-04 5.20195958e-01] [-8.42443741e-04 -6.97477246e-04 9.99999402e-01 -3.29300721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30650248099998 meters 0.11648162415955834 Centerline is valid? [False, False] Translation: X:5.54, Y:0.52, Z:-0.33 [[ 9.99993258e-01 -3.67167801e-03 -4.19809528e-05 5.54217640e+00] [ 3.67171106e-03 9.99992926e-01 8.16317591e-04 5.21211521e-01] [ 3.89834004e-05 -8.16466229e-04 9.99999666e-01 -3.29469707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36650248099997 meters 0.11686239895240445 Centerline is valid? [False, False] Translation: X:5.54, Y:0.52, Z:-0.33 [[ 9.99974731e-01 -6.96679307e-03 -1.41474159e-03 5.54476773e+00] [ 6.96246120e-03 9.99971128e-01 -3.04413693e-03 5.23517136e-01] [ 1.43590861e-03 3.03420992e-03 9.99994366e-01 -3.30317563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42650248099997 meters 0.1170756957609379 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99974488e-01 -6.71562275e-03 -2.43386889e-03 5.54556189e+00] [ 6.70779539e-03 9.99972350e-01 -3.21003548e-03 5.24288331e-01] [ 2.45535898e-03 3.19362769e-03 9.99991886e-01 -3.29284192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48650248099997 meters 0.11722927410118575 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99973500e-01 -6.71668901e-03 -2.80817709e-03 5.54529296e+00] [ 6.70729151e-03 9.99971919e-01 -3.34260676e-03 5.22978978e-01] [ 2.83054948e-03 3.32368292e-03 9.99990471e-01 -3.27996366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54650248099998 meters 0.11698405466488698 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99976246e-01 -6.26076876e-03 -2.88267022e-03 5.54558759e+00] [ 6.25299740e-03 9.99976813e-01 -2.69705562e-03 5.19608443e-01] [ 2.89948902e-03 2.67896623e-03 9.99992208e-01 -3.28000681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60650248099998 meters 0.11702842174758993 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99977195e-01 -5.90063525e-03 -3.28524454e-03 5.54592855e+00] [ 5.89316105e-03 9.99980036e-01 -2.28013211e-03 5.17111454e-01] [ 3.29863318e-03 2.26071963e-03 9.99992004e-01 -3.27473142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66650248099998 meters 0.11727826240640543 Centerline is valid? [False, False] Translation: X:5.55, Y:0.51, Z:-0.33 [[ 9.99980431e-01 -5.33702633e-03 -3.26398934e-03 5.54660506e+00] [ 5.33265282e-03 9.99984874e-01 -1.34716444e-03 5.14344009e-01] [ 3.27112982e-03 1.32973236e-03 9.99993766e-01 -3.28371249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72650248099997 meters 0.1180862131601233 Centerline is valid? [False, False] Translation: X:5.55, Y:0.51, Z:-0.33 [[ 9.99983785e-01 -4.62305688e-03 -3.32519431e-03 5.54781769e+00] [ 4.62209403e-03 9.99989274e-01 -2.97186146e-04 5.12381602e-01] [ 3.32653256e-03 2.81811966e-04 9.99994427e-01 -3.29924043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78650248099997 meters 0.11850009000633101 Centerline is valid? [False, False] Translation: X:5.55, Y:0.51, Z:-0.33 [[ 9.99986554e-01 -3.99581792e-03 -3.30545051e-03 5.54899382e+00] [ 3.99794802e-03 9.99991805e-01 6.38064398e-04 5.11359085e-01] [ 3.30287383e-03 -6.51270838e-04 9.99994333e-01 -3.31669824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84650248099997 meters 0.11885577890169055 Centerline is valid? [False, False] Translation: X:5.55, Y:0.51, Z:-0.33 [[ 9.99983517e-01 -4.14050330e-03 -3.97780079e-03 5.54911654e+00] [ 4.14034578e-03 9.99991428e-01 -4.78332936e-05 5.13405176e-01] [ 3.97796474e-03 3.13630344e-05 9.99992087e-01 -3.30419677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90650248099998 meters 0.11913687337912475 Centerline is valid? [False, False] Translation: X:5.55, Y:0.51, Z:-0.33 [[ 9.99984756e-01 -3.87740216e-03 -3.93105688e-03 5.55005493e+00] [ 3.87789538e-03 9.99992474e-01 1.17853880e-04 5.14671337e-01] [ 3.93057033e-03 -1.33096311e-04 9.99992266e-01 -3.31809700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96650248099998 meters 0.11963942765547982 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99980607e-01 -3.69950888e-03 -5.00982219e-03 5.55121251e+00] [ 3.69773895e-03 9.99993098e-01 -3.62508302e-04 5.18861142e-01] [ 5.01112871e-03 3.43976257e-04 9.99987385e-01 -3.31339286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02650248099998 meters 0.1206775528117014 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99979458e-01 -3.30796885e-03 -5.48998429e-03 5.55263241e+00] [ 3.30629068e-03 9.99994485e-01 -3.14725232e-04 5.21798101e-01] [ 5.49099511e-03 2.96567283e-04 9.99984880e-01 -3.32380578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08650248099998 meters 0.12080896144904357 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99976166e-01 -3.50883172e-03 -5.94601484e-03 5.55282915e+00] [ 3.50293435e-03 9.99993363e-01 -1.00194320e-03 5.23810631e-01] [ 5.94949102e-03 9.81090822e-04 9.99981820e-01 -3.31642284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14650248099997 meters 0.12035362070514259 Centerline is valid? [False, False] Translation: X:5.55, Y:0.53, Z:-0.33 [[ 9.99975508e-01 -3.35607529e-03 -6.14160515e-03 5.55358608e+00] [ 3.34991156e-03 9.99993875e-01 -1.01361491e-03 5.25034685e-01] [ 6.14496930e-03 9.93016252e-04 9.99980626e-01 -3.32262182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20650248099997 meters 0.11996279603336574 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99975903e-01 -3.11406155e-03 -6.20458838e-03 5.55414918e+00] [ 3.10988806e-03 9.99994932e-01 -6.82180390e-04 5.24772681e-01] [ 6.20668129e-03 6.62868376e-04 9.99980519e-01 -3.32915617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26650248099997 meters 0.12044088293151399 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99976642e-01 -2.89721839e-03 -6.19037354e-03 5.55454970e+00] [ 2.89591782e-03 9.99995783e-01 -2.19048919e-04 5.23773205e-01] [ 6.19098207e-03 2.01116990e-04 9.99980815e-01 -3.33512422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32650248099998 meters 0.11910662449485823 Centerline is valid? [False, False] Translation: X:5.55, Y:0.52, Z:-0.33 [[ 9.99977207e-01 -2.74986072e-03 -6.16631837e-03 5.55474755e+00] [ 2.75140710e-03 9.99996186e-01 2.42309894e-04 5.22436182e-01] [ 6.16562853e-03 -2.59270423e-04 9.99980959e-01 -3.33852282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38650248099998 meters 0.11843376378672718 Centerline is valid? [False, False] Translation: X:5.56, Y:0.52, Z:-0.33 [[ 9.99943469e-01 -7.14562479e-03 -7.87387152e-03 5.55535286e+00] [ 7.10777927e-03 9.99963103e-01 -4.82401464e-03 5.23952306e-01] [ 7.90805160e-03 4.76777620e-03 9.99957365e-01 -3.31158879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44650248099998 meters 0.11783689860328568 Centerline is valid? [False, False] Translation: X:5.56, Y:0.52, Z:-0.33 [[ 9.99940962e-01 -7.08323573e-03 -8.24016291e-03 5.55561978e+00] [ 7.04398694e-03 9.99963755e-01 -4.78242019e-03 5.23107528e-01] [ 8.27373925e-03 4.72409425e-03 9.99954613e-01 -3.30649338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50650248099997 meters 0.11808591022918873 Centerline is valid? [False, False] Translation: X:5.56, Y:0.52, Z:-0.33 [[ 9.99934724e-01 -7.04342853e-03 -8.99651947e-03 5.55634103e+00] [ 6.99832823e-03 9.99962837e-01 -5.03476565e-03 5.24178321e-01] [ 9.03164714e-03 4.97147641e-03 9.99946855e-01 -3.30037715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56650248099997 meters 0.11801438999379685 Centerline is valid? [False, False] Translation: X:5.56, Y:0.52, Z:-0.33 [[ 9.99934726e-01 -6.82514151e-03 -9.16306816e-03 5.55714310e+00] [ 6.78024858e-03 9.99964903e-01 -4.92149185e-03 5.24618424e-01] [ 9.19633644e-03 4.85904273e-03 9.99945907e-01 -3.30706568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62650248099997 meters 0.11860910173057822 Centerline is valid? [False, False] Translation: X:5.56, Y:0.53, Z:-0.33 [[ 9.99952865e-01 -2.32167358e-03 -9.42752791e-03 5.55786110e+00] [ 2.31560912e-03 9.99997105e-01 -6.54135670e-04 5.25456634e-01] [ 9.42901930e-03 6.32274368e-04 9.99955346e-01 -3.31087255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68650248099998 meters 0.11934776554849412 Centerline is valid? [False, False] Translation: X:5.56, Y:0.53, Z:-0.33 [[ 9.99933505e-01 -2.04726147e-03 -1.13487176e-02 5.55930418e+00] [ 2.02858035e-03 9.99996569e-01 -1.65736690e-03 5.29202870e-01] [ 1.13520718e-02 1.63423491e-03 9.99934228e-01 -3.29176093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74650248099998 meters 0.11979970536334801 Centerline is valid? [False, False] Translation: X:5.56, Y:0.53, Z:-0.33 [[ 9.99922805e-01 -1.85778413e-03 -1.22854676e-02 5.56022501e+00] [ 1.83189470e-03 9.99996079e-01 -2.11823944e-03 5.30627105e-01] [ 1.22893546e-02 2.09557024e-03 9.99922287e-01 -3.28354736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80650248099998 meters 0.12053764209053267 Centerline is valid? [False, False] Translation: X:5.56, Y:0.53, Z:-0.33 [[ 0.9998876 -0.00568348 -0.01387423 5.56202493] [ 0.00559168 0.99996227 -0.00664707 0.53246952] [ 0.01391149 0.00656874 0.99988165 -0.32764842] [ 0. 0. 0. 1. ]] SLAMing on 123.86650248099997 meters 0.12112140808753687 Centerline is valid? [False, False] Translation: X:5.56, Y:0.53, Z:-0.33 [[ 9.99892506e-01 -5.14194764e-03 -1.37308976e-02 5.56278654e+00] [ 5.06177118e-03 9.99969975e-01 -5.86751044e-03 5.30859488e-01] [ 1.37606557e-02 5.79737705e-03 9.99888511e-01 -3.28879418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92650248099997 meters 0.12207078307341862 Centerline is valid? [False, False] Translation: X:5.56, Y:0.53, Z:-0.33 [[ 9.99877427e-01 -4.55622428e-03 -1.49790190e-02 5.56412732e+00] [ 4.47102674e-03 9.99973666e-01 -5.71636753e-03 5.30723525e-01] [ 1.50046696e-02 5.64869526e-03 9.99871468e-01 -3.28095984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98650248099997 meters 0.12237122682835617 Centerline is valid? [False, False] Translation: X:5.56, Y:0.53, Z:-0.33 [[ 9.99868338e-01 -4.40925308e-03 -1.56162127e-02 5.56470585e+00] [ 4.31769485e-03 9.99973321e-01 -5.89189413e-03 5.31209274e-01] [ 1.56417749e-02 5.82369235e-03 9.99860700e-01 -3.27508934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04650248099998 meters 0.12318686354321186 Centerline is valid? [False, False] Translation: X:5.57, Y:0.53, Z:-0.33 [[ 0.99984575 -0.00804221 -0.01561437 5.56594023] [ 0.00789771 0.99992562 -0.00929406 0.52924759] [ 0.01568796 0.00916931 0.99983489 -0.32896018] [ 0. 0. 0. 1. ]] SLAMing on 124.10650248099998 meters 0.1234489140540463 Centerline is valid? [False, False] Translation: X:5.57, Y:0.53, Z:-0.33 [[ 9.99880766e-01 -3.58482904e-03 -1.50200500e-02 5.56550200e+00] [ 3.52046610e-03 9.99984518e-01 -4.30938619e-03 5.26501408e-01] [ 1.50352659e-02 4.25599479e-03 9.99877906e-01 -3.29508260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16650248099998 meters 0.1204841326859625 Centerline is valid? [False, False] Translation: X:5.57, Y:0.52, Z:-0.33 [[ 9.99883213e-01 -3.53241711e-03 -1.48688702e-02 5.56508743e+00] [ 3.47397935e-03 9.99986148e-01 -3.95420436e-03 5.24490011e-01] [ 1.48826321e-02 3.90208841e-03 9.99881633e-01 -3.29161952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22650248099997 meters 0.119112525990811 Centerline is valid? [False, False] Translation: X:5.56, Y:0.52, Z:-0.33 [[ 0.99986561 -0.00781002 -0.01441429 5.56479113] [ 0.00769946 0.99994063 -0.00771008 0.52265831] [ 0.01447365 0.00759806 0.99986638 -0.32963102] [ 0. 0. 0. 1. ]] SLAMing on 124.28650248099997 meters 0.11733493519319468 Centerline is valid? [False, False] Translation: X:5.56, Y:0.52, Z:-0.33 [[ 0.99985824 -0.00905078 -0.01419781 5.56438262] [ 0.00893607 0.99992709 -0.00812202 0.51819872] [ 0.01427028 0.00799399 0.99986622 -0.32950919] [ 0. 0. 0. 1. ]] SLAMing on 124.34650248099997 meters 0.11527974234958213 Centerline is valid? [False, False] Translation: X:5.56, Y:0.51, Z:-0.33 [[ 0.99986531 -0.00894704 -0.01375918 5.56411025] [ 0.00884663 0.99993392 -0.0073414 0.51452282] [ 0.01382396 0.00721869 0.99987839 -0.32989073] [ 0. 0. 0. 1. ]] SLAMing on 124.40650248099998 meters 0.11427042367727358 Centerline is valid? [False, False] Translation: X:5.56, Y:0.51, Z:-0.33 [[ 0.99987688 -0.00869532 -0.01306164 5.56421225] [ 0.00861301 0.99994278 -0.00634509 0.5121584 ] [ 0.01311606 0.00623181 0.99989456 -0.33145795] [ 0. 0. 0. 1. ]] SLAMing on 124.46650248099998 meters 0.11334197295639525 Centerline is valid? [False, False] Translation: X:5.56, Y:0.51, Z:-0.33 [[ 0.99988184 -0.00884179 -0.01257488 5.5637895 ] [ 0.00876305 0.99994174 -0.00630328 0.51209149] [ 0.01262988 0.00619234 0.99990107 -0.33184419] [ 0. 0. 0. 1. ]] SLAMing on 124.52650248099998 meters 0.11328033974005802 Centerline is valid? [False, False] Translation: X:5.56, Y:0.51, Z:-0.33 [[ 0.99988734 -0.00879608 -0.01216313 5.56402845] [ 0.00872182 0.99994308 -0.00614481 0.5128544 ] [ 0.01221649 0.00603804 0.99990715 -0.33304688] [ 0. 0. 0. 1. ]] SLAMing on 124.58650248099998 meters 0.11282089971050982 Centerline is valid? [False, False] Translation: X:5.56, Y:0.52, Z:-0.33 [[ 0.99987494 -0.00914301 -0.01290372 5.56420655] [ 0.00905222 0.99993399 -0.00707674 0.5162757 ] [ 0.01296757 0.00695905 0.9998917 -0.3318354 ] [ 0. 0. 0. 1. ]] SLAMing on 124.64650248099997 meters 0.11244580354684418 Centerline is valid? [False, False] Translation: X:5.56, Y:0.52, Z:-0.33 [[ 9.99918132e-01 -4.85120677e-03 -1.18403676e-02 5.56369782e+00] [ 4.82120255e-03 9.99985098e-01 -2.56129075e-03 5.15915417e-01] [ 1.18526165e-02 2.50399626e-03 9.99926620e-01 -3.33282466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70650248099997 meters 0.11258137827580687 Centerline is valid? [False, False] Translation: X:5.57, Y:0.52, Z:-0.33 [[ 9.99915392e-01 -4.40577746e-03 -1.22392354e-02 5.56503482e+00] [ 4.37841954e-03 9.99987858e-01 -2.26116099e-03 5.16558173e-01] [ 1.22490490e-02 2.20738117e-03 9.99922541e-01 -3.34276963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76650248099997 meters 0.11341066968242042 Centerline is valid? [False, False] Translation: X:5.57, Y:0.52, Z:-0.34 [[ 9.99912865e-01 -3.54203937e-03 -1.27167752e-02 5.56740196e+00] [ 3.52285224e-03 9.99992623e-01 -1.53088890e-03 5.17894637e-01] [ 1.27221038e-02 1.48595618e-03 9.99917967e-01 -3.36621864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82650248099998 meters 0.11413936609415594 Centerline is valid? [False, False] Translation: X:5.57, Y:0.52, Z:-0.34 [[ 9.99900797e-01 -3.15452838e-03 -1.37275308e-02 5.56909864e+00] [ 3.13059691e-03 9.99993543e-01 -1.76445897e-03 5.19646750e-01] [ 1.37330082e-02 1.72130857e-03 9.99904216e-01 -3.36823048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88650248099998 meters 0.11517216106028744 Centerline is valid? [False, False] Translation: X:5.57, Y:0.52, Z:-0.34 [[ 9.99885232e-01 -3.11639059e-03 -1.48260443e-02 5.57004749e+00] [ 3.07611445e-03 9.99991519e-01 -2.73861005e-03 5.22522397e-01] [ 1.48344531e-02 2.69268913e-03 9.99886338e-01 -3.35727390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94650248099998 meters 0.11494157528624054 Centerline is valid? [False, False] Translation: X:5.58, Y:0.52, Z:-0.33 [[ 9.99887047e-01 3.00564097e-03 -1.47261316e-02 5.58025082e+00] [-3.10029673e-03 9.99974655e-01 -6.40913384e-03 5.24506521e-01] [ 1.47064948e-02 6.45406529e-03 9.99871024e-01 -3.29581586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00650248099997 meters 0.11529032169850983 Centerline is valid? [False, False] Translation: X:5.58, Y:0.52, Z:-0.33 [[ 9.99883756e-01 2.59663190e-03 -1.50243716e-02 5.57948464e+00] [-2.70466468e-03 9.99970604e-01 -7.17465671e-03 5.24845505e-01] [ 1.50053000e-02 7.21445859e-03 9.99861387e-01 -3.27755327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06650248099997 meters 0.11558371873539926 Centerline is valid? [False, False] Translation: X:5.58, Y:0.53, Z:-0.33 [[ 9.99864385e-01 -1.51571271e-03 -1.63986035e-02 5.58060427e+00] [ 1.32056003e-03 9.99928263e-01 -1.19048577e-02 5.26346588e-01] [ 1.64154715e-02 1.18815878e-02 9.99794659e-01 -3.26475316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12650248099997 meters 0.11596584982264037 Centerline is valid? [False, False] Translation: X:5.58, Y:0.52, Z:-0.33 [[ 9.99871052e-01 -8.16956833e-04 -1.60377986e-02 5.58141813e+00] [ 6.47112989e-04 9.99943688e-01 -1.05925562e-02 5.23033427e-01] [ 1.60455492e-02 1.05808120e-02 9.99815276e-01 -3.28294118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18650248099998 meters 0.11566887097442372 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99820324e-01 -1.03275884e-02 -1.58953183e-02 5.58791929e+00] [ 1.02637293e-02 9.99938946e-01 -4.09382976e-03 5.22973186e-01] [ 1.59366273e-02 3.92994896e-03 9.99865281e-01 -3.31037317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24650248099998 meters 0.11603480836259106 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99825927e-01 -9.75532202e-03 -1.59043599e-02 5.58904302e+00] [ 9.70565464e-03 9.99947788e-01 -3.19708084e-03 5.21583380e-01] [ 1.59347180e-02 3.04216209e-03 9.99868406e-01 -3.32596057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30650248099998 meters 0.11604426397394148 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99820987e-01 -9.35474574e-03 -1.64463605e-02 5.59029001e+00] [ 9.30864929e-03 9.99952534e-01 -2.87715881e-03 5.22123379e-01] [ 1.64724950e-02 2.72355036e-03 9.99860610e-01 -3.33262121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36650248099997 meters 0.11585052235412799 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99806099e-01 -9.63341648e-03 -1.71744442e-02 5.59031189e+00] [ 9.57141828e-03 9.99947390e-01 -3.68846275e-03 5.23988128e-01] [ 1.72090731e-02 3.52336377e-03 9.99845705e-01 -3.31766688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42650248099997 meters 0.11641366546667431 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99801880e-01 -9.75475335e-03 -1.73506521e-02 5.59015189e+00] [ 9.68640286e-03 9.99945009e-01 -4.01904979e-03 5.24590137e-01] [ 1.73889029e-02 3.85018813e-03 9.99841388e-01 -3.31130393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48650248099997 meters 0.11558702698916477 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99800522e-01 -9.87165389e-03 -1.73628188e-02 5.58967107e+00] [ 9.80413051e-03 9.99944058e-01 -3.96979662e-03 5.23468353e-01] [ 1.74010359e-02 3.79877739e-03 9.99841374e-01 -3.30463097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54650248099998 meters 0.11564998133235571 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99805664e-01 -9.61768082e-03 -1.72085535e-02 5.59044453e+00] [ 9.55652913e-03 9.99947738e-01 -3.63227709e-03 5.24171955e-01] [ 1.72425883e-02 3.46711717e-03 9.99845324e-01 -3.31889509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60650248099998 meters 0.11498328690500002 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99811046e-01 -9.08985430e-03 -1.71827726e-02 5.59081001e+00] [ 9.04627876e-03 9.99955670e-01 -2.61203042e-03 5.20057892e-01] [ 1.72057539e-02 2.45609672e-03 9.99848953e-01 -3.32330059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66650248099998 meters 0.11488620092143355 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 0.99976602 -0.01288539 -0.01737471 5.59162674] [ 0.01278263 0.99990022 -0.0060125 0.5175999 ] [ 0.01745045 0.005789 0.99983097 -0.33293938] [ 0. 0. 0. 1. ]] SLAMing on 125.72650248099997 meters 0.11529213614629907 Centerline is valid? [False, False] Translation: X:5.59, Y:0.51, Z:-0.33 [[ 9.99834209e-01 -8.43264852e-03 -1.61383124e-02 5.59144554e+00] [ 8.41600272e-03 9.99963981e-01 -1.09908394e-03 5.13454707e-01] [ 1.61469993e-02 9.63081644e-04 9.99869165e-01 -3.34877788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78650248099997 meters 0.11642711975150963 Centerline is valid? [False, False] Translation: X:5.59, Y:0.51, Z:-0.34 [[ 9.99853153e-01 -3.80336178e-03 -1.67094692e-02 5.59250629e+00] [ 3.85557566e-03 9.99987782e-01 3.09370529e-03 5.14549913e-01] [ 1.66974986e-02 -3.15767561e-03 9.99855601e-01 -3.35114431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84650248099997 meters 0.11661391676315856 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99844134e-01 -3.90300000e-03 -1.72184305e-02 5.59292099e+00] [ 3.94477821e-03 9.99989356e-01 2.39306913e-03 5.16538524e-01] [ 1.72089071e-02 -2.46061902e-03 9.99848888e-01 -3.34492070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90650248099998 meters 0.11706173740674294 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99789319e-01 -8.33686096e-03 -1.87567221e-02 5.59353167e+00] [ 8.28627269e-03 9.99961823e-01 -2.77317884e-03 5.18670221e-01] [ 1.87791257e-02 2.61717127e-03 9.99820231e-01 -3.32116749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96650248099998 meters 0.11583633020420396 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99787006e-01 -8.39335087e-03 -1.88545815e-02 5.59346113e+00] [ 8.34031325e-03 9.99961043e-01 -2.88985871e-03 5.18557119e-01] [ 1.88781026e-02 2.73199007e-03 9.99818060e-01 -3.31758220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02650248099998 meters 0.11602186874849667 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99783612e-01 -8.37852930e-03 -1.90402049e-02 5.59375773e+00] [ 8.32345529e-03 9.99960949e-01 -2.96992144e-03 5.19030494e-01] [ 1.90643449e-02 2.81079849e-03 9.99814308e-01 -3.31738343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08650248099997 meters 0.1151365386881854 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99770488e-01 -8.45048753e-03 -1.96865717e-02 5.59369144e+00] [ 8.38955488e-03 9.99959764e-01 -3.17567473e-03 5.18185181e-01] [ 1.97126156e-02 3.00978430e-03 9.99801157e-01 -3.30246891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14650248099997 meters 0.11479471220625412 Centerline is valid? [False, False] Translation: X:5.59, Y:0.52, Z:-0.33 [[ 9.99780857e-01 -8.05716077e-03 -1.93214745e-02 5.59411525e+00] [ 8.01244250e-03 9.99965042e-01 -2.39073231e-03 5.15912811e-01] [ 1.93400616e-02 2.23539620e-03 9.99810465e-01 -3.31423009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20650248099997 meters 0.11496819799716711 Centerline is valid? [False, False] Translation: X:5.60, Y:0.51, Z:-0.33 [[ 9.99768752e-01 -7.45462857e-03 -2.01710307e-02 5.59576016e+00] [ 7.41856512e-03 9.99970748e-01 -1.86212221e-03 5.14855270e-01] [ 2.01843220e-02 1.71205149e-03 9.99794810e-01 -3.31766307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26650248099997 meters 0.11578419148217653 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99757622e-01 -7.22437448e-03 -2.07967466e-02 5.59665747e+00] [ 7.18602302e-03 9.99972340e-01 -1.91825066e-03 5.15458539e-01] [ 2.08100295e-02 1.76833982e-03 9.99781884e-01 -3.31638151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32650248099998 meters 0.11652776280089126 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99723676e-01 -7.37460162e-03 -2.23200868e-02 5.59705010e+00] [ 7.30240517e-03 9.99967844e-01 -3.31437555e-03 5.18078861e-01] [ 2.23438113e-02 3.15046939e-03 9.99745382e-01 -3.28872158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38650248099998 meters 0.118252468114177 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99702752e-01 -6.92053840e-03 -2.33776547e-02 5.59871731e+00] [ 6.84014488e-03 9.99970421e-01 -3.51712063e-03 5.20033724e-01] [ 2.34013035e-02 3.35616862e-03 9.99720519e-01 -3.28918688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44650248099998 meters 0.11808125422447642 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99678286e-01 -6.78409570e-03 -2.44397233e-02 5.59973154e+00] [ 6.68827551e-03 9.99969632e-01 -4.00028576e-03 5.21192249e-01] [ 2.44661195e-02 3.83553921e-03 9.99693302e-01 -3.27960921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50650248099997 meters 0.11868104745166003 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99672001e-01 -6.26159170e-03 -2.48331010e-02 5.60107447e+00] [ 6.18004440e-03 9.99975261e-01 -3.35920378e-03 5.20273269e-01] [ 2.48535206e-02 3.20463230e-03 9.99685967e-01 -3.28971023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56650248099997 meters 0.11973055022914703 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99661672e-01 -5.91421219e-03 -2.53290917e-02 5.60200578e+00] [ 5.83970066e-03 9.99978405e-01 -3.01469733e-03 5.19673788e-01] [ 2.53463743e-02 2.86576306e-03 9.99674621e-01 -3.29172177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62650248099997 meters 0.11964891842989972 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99658169e-01 -5.94013345e-03 -2.54609517e-02 5.60201129e+00] [ 5.86133927e-03 9.99977803e-01 -3.16822093e-03 5.19339597e-01] [ 2.54792062e-02 3.01790266e-03 9.99670797e-01 -3.28760413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68650248099998 meters 0.11831278566465664 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99642573e-01 -6.58986027e-03 -2.59094498e-02 5.60080033e+00] [ 6.47904124e-03 9.99969511e-01 -4.35879188e-03 5.19946349e-01] [ 2.59373837e-02 4.18936554e-03 9.99654791e-01 -3.25950521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74650248099998 meters 0.1186895372942279 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99643361e-01 -6.69082303e-03 -2.58531002e-02 5.60028938e+00] [ 6.57758572e-03 9.99968410e-01 -4.46258941e-03 5.18858724e-01] [ 2.58821418e-02 4.29094689e-03 9.99655792e-01 -3.25213798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80650248099998 meters 0.11802225981619151 Centerline is valid? [False, False] Translation: X:5.60, Y:0.52, Z:-0.33 [[ 9.99661811e-01 -6.46739418e-03 -2.51880267e-02 5.60017306e+00] [ 6.37521857e-03 9.99972691e-01 -3.73808643e-03 5.16637873e-01] [ 2.52115145e-02 3.57624307e-03 9.99675742e-01 -3.26308660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86650248099997 meters 0.11722239715834522 Centerline is valid? [False, False] Translation: X:5.60, Y:0.51, Z:-0.33 [[ 9.99680365e-01 -6.15569775e-03 -2.45209030e-02 5.60015954e+00] [ 6.08705922e-03 9.99977347e-01 -2.87284373e-03 5.14094330e-01] [ 2.45380318e-02 2.72266528e-03 9.99695190e-01 -3.27540096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92650248099997 meters 0.11764394287798464 Centerline is valid? [False, False] Translation: X:5.60, Y:0.51, Z:-0.33 [[ 9.99710471e-01 -5.43351852e-03 -2.34403851e-02 5.60081102e+00] [ 5.40351939e-03 9.99984499e-01 -1.34295510e-03 5.10900916e-01] [ 2.34473188e-02 1.21590570e-03 9.99724334e-01 -3.30508263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98650248099997 meters 0.11713266126498074 Centerline is valid? [False, False] Translation: X:5.60, Y:0.51, Z:-0.33 [[ 9.99709346e-01 -5.09052175e-03 -2.35650021e-02 5.60145895e+00] [ 5.07161531e-03 9.99986768e-01 -8.62005340e-04 5.10164422e-01] [ 2.35690784e-02 7.42242170e-04 9.99721935e-01 -3.31118974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04650248099998 meters 0.11673677866526047 Centerline is valid? [False, False] Translation: X:5.60, Y:0.51, Z:-0.33 [[ 9.99715455e-01 -5.08103506e-03 -2.33064840e-02 5.60098691e+00] [ 5.06762170e-03 9.99986958e-01 -6.34547081e-04 5.08870454e-01] [ 2.33094042e-02 5.16258080e-04 9.99728166e-01 -3.30995056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10650248099998 meters 0.11655204976696906 Centerline is valid? [False, False] Translation: X:5.60, Y:0.51, Z:-0.33 [[ 9.99729959e-01 -5.35356961e-03 -2.26130002e-02 5.59958623e+00] [ 5.34070584e-03 9.99985540e-01 -6.29220547e-04 5.07035519e-01] [ 2.26160418e-02 5.08281250e-04 9.99744095e-01 -3.30408219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16650248099998 meters 0.11535505794404839 Centerline is valid? [False, False] Translation: X:5.60, Y:0.50, Z:-0.33 [[ 9.99750887e-01 -5.14822514e-03 -2.17177322e-02 5.59905555e+00] [ 5.15284884e-03 9.99986712e-01 1.56944375e-04 5.03983248e-01] [ 2.17166356e-02 -2.68813469e-04 9.99764130e-01 -3.31362530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22650248099997 meters 0.11563160878182825 Centerline is valid? [False, False] Translation: X:5.60, Y:0.50, Z:-0.33 [[ 9.99763290e-01 -4.48189809e-03 -2.12902764e-02 5.59998019e+00] [ 4.51105229e-03 9.99988952e-01 1.32153799e-03 5.02296901e-01] [ 2.12841182e-02 -1.41726672e-03 9.99772463e-01 -3.33490633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28650248099997 meters 0.1157649184167266 Centerline is valid? [False, False] Translation: X:5.60, Y:0.50, Z:-0.33 [[ 9.99764605e-01 -4.01588550e-03 -2.13215397e-02 5.60091670e+00] [ 4.05578520e-03 9.99990104e-01 1.82841994e-03 5.02129376e-01] [ 2.13139860e-02 -1.91446512e-03 9.99770998e-01 -3.34643579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34650248099997 meters 0.11712345184404756 Centerline is valid? [False, False] Translation: X:5.60, Y:0.50, Z:-0.33 [[ 9.99740432e-01 -3.75548324e-03 -2.24714304e-02 5.60184582e+00] [ 3.78814292e-03 9.99991829e-01 1.41099543e-03 5.03909929e-01] [ 2.24659479e-02 -1.49575417e-03 9.99746490e-01 -3.33587709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40650248099998 meters 0.11838974609359164 Centerline is valid? [False, False] Translation: X:5.60, Y:0.51, Z:-0.34 [[ 9.99696193e-01 -6.60797242e-03 -2.37456599e-02 5.60491172e+00] [ 6.56205612e-03 9.99976447e-01 -2.01107348e-03 5.06913486e-01] [ 2.37583898e-02 1.85464215e-03 9.99716009e-01 -3.35276669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46650248099998 meters 0.11916343186900354 Centerline is valid? [False, False] Translation: X:5.61, Y:0.51, Z:-0.34 [[ 9.99681665e-01 -5.69249250e-03 -2.45797514e-02 5.60731555e+00] [ 5.66320653e-03 9.99983169e-01 -1.26091405e-03 5.07725051e-01] [ 2.45865155e-02 1.12131245e-03 9.99697077e-01 -3.36874842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52650248099998 meters 0.12124034065292567 Centerline is valid? [False, False] Translation: X:5.61, Y:0.51, Z:-0.34 [[ 9.99662978e-01 -5.13919347e-03 -2.54464070e-02 5.60886688e+00] [ 5.11554013e-03 9.99986421e-01 -9.94545077e-04 5.07892237e-01] [ 2.54511726e-02 8.64037777e-04 9.99675693e-01 -3.37136780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58650248099997 meters 0.12103176433025391 Centerline is valid? [False, False] Translation: X:5.61, Y:0.51, Z:-0.34 [[ 9.99664687e-01 -4.81550498e-03 -2.54425784e-02 5.60923592e+00] [ 4.80174462e-03 9.99988290e-01 -6.01906643e-04 5.06429759e-01] [ 2.54451789e-02 4.79536052e-04 9.99676104e-01 -3.37516923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64650248099997 meters 0.12176223904367739 Centerline is valid? [False, False] Translation: X:5.61, Y:0.51, Z:-0.34 [[ 9.99649858e-01 -4.69225840e-03 -2.60412158e-02 5.60944428e+00] [ 4.67805330e-03 9.99988874e-01 -6.06380267e-04 5.05216019e-01] [ 2.60437713e-02 4.84345752e-04 9.99660686e-01 -3.36499947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70650248099997 meters 0.12213811456963389 Centerline is valid? [False, False] Translation: X:5.61, Y:0.50, Z:-0.34 [[ 9.99629843e-01 -4.51425754e-03 -2.68290637e-02 5.60970023e+00] [ 4.50040280e-03 9.99989707e-01 -5.76767502e-04 5.03752836e-01] [ 2.68313913e-02 4.55812414e-04 9.99639869e-01 -3.35187750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76650248099997 meters 0.12116666676087612 Centerline is valid? [False, False] Translation: X:5.61, Y:0.50, Z:-0.34 [[ 9.99575279e-01 -8.11134492e-03 -2.79905046e-02 5.61172770e+00] [ 7.99980422e-03 9.99959618e-01 -4.09463247e-03 5.02859280e-01] [ 2.80225873e-02 3.86897484e-03 9.99599803e-01 -3.35588224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82650248099998 meters 0.12211983960227606 Centerline is valid? [False, False] Translation: X:5.61, Y:0.50, Z:-0.34 [[ 9.99582480e-01 -7.39062736e-03 -2.79328661e-02 5.61271589e+00] [ 7.31552372e-03 9.99969349e-01 -2.78995689e-03 4.99179112e-01] [ 2.79526294e-02 2.58444849e-03 9.99605908e-01 -3.37001983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88650248099998 meters 0.12224265256893539 Centerline is valid? [False, False] Translation: X:5.61, Y:0.50, Z:-0.34 [[ 9.99587903e-01 -7.07497114e-03 -2.78202919e-02 5.61296935e+00] [ 7.01871626e-03 9.99973123e-01 -2.11921272e-03 4.96113466e-01] [ 2.78345375e-02 1.92307667e-03 9.99610694e-01 -3.37469309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94650248099998 meters 0.1214896769755159 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:-0.34 [[ 9.99568236e-01 -6.95086707e-03 -2.85486638e-02 5.61321910e+00] [ 6.89404153e-03 9.99974055e-01 -2.08842692e-03 4.94848074e-01] [ 2.85624395e-02 1.89070954e-03 9.99590222e-01 -3.36275382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00650248099998 meters 0.12082214925140217 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:-0.33 [[ 9.99545656e-01 -6.95162315e-03 -2.93284249e-02 5.61295719e+00] [ 6.89160494e-03 9.99973948e-01 -2.14700476e-03 4.90982445e-01] [ 2.93425860e-02 1.94390937e-03 9.99567523e-01 -3.34129764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.066502481 meters 0.12161990792832958 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:-0.33 [[ 9.99528945e-01 -6.76340708e-03 -2.99356564e-02 5.61311944e+00] [ 6.70871732e-03 9.99975640e-01 -1.92697221e-03 4.87873837e-01] [ 2.99479600e-02 1.72523465e-03 9.99549970e-01 -3.32957875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.126502481 meters 0.12175937515777452 Centerline is valid? [False, False] Translation: X:5.61, Y:0.49, Z:-0.33 [[ 9.99521695e-01 -6.16095378e-03 -3.03055116e-02 5.61420406e+00] [ 6.13064849e-03 9.99980610e-01 -1.09280953e-03 4.85992469e-01] [ 3.03116567e-02 9.06494391e-04 9.99540085e-01 -3.33635999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18650248099996 meters 0.12239849107661127 Centerline is valid? [False, False] Translation: X:5.62, Y:0.48, Z:-0.33 [[ 9.99507116e-01 -5.48431511e-03 -3.09103265e-02 5.61550170e+00] [ 5.47868602e-03 9.99984956e-01 -2.66802300e-04 4.83918452e-01] [ 3.09113248e-02 9.73228235e-05 9.99522126e-01 -3.34088553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24650248099996 meters 0.12195486194380588 Centerline is valid? [False, False] Translation: X:5.62, Y:0.48, Z:-0.33 [[ 9.99485164e-01 -5.16597561e-03 -3.16657523e-02 5.61603643e+00] [ 5.16863765e-03 9.99986643e-01 2.21191017e-06 4.82286355e-01] [ 3.16653179e-02 -1.65879571e-04 9.99498514e-01 -3.33225181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30650248099997 meters 0.12288399142569598 Centerline is valid? [False, False] Translation: X:5.62, Y:0.48, Z:-0.33 [[ 9.99455026e-01 -4.54854675e-03 -3.26949809e-02 5.61751559e+00] [ 4.56681937e-03 9.99989455e-01 4.84226820e-04 4.81384905e-01] [ 3.26924336e-02 -6.33275001e-04 9.99465259e-01 -3.33107559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36650248099997 meters 0.12271373189279978 Centerline is valid? [False, False] Translation: X:5.62, Y:0.48, Z:-0.33 [[ 9.99437590e-01 -4.29825578e-03 -3.32570241e-02 5.61785497e+00] [ 4.32443557e-03 9.99990394e-01 7.15306710e-04 4.79847466e-01] [ 3.32536300e-02 -8.58722272e-04 9.99446576e-01 -3.32357852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42650248099997 meters 0.12200110831930024 Centerline is valid? [False, False] Translation: X:5.62, Y:0.48, Z:-0.33 [[ 9.99413526e-01 -4.17495267e-03 -3.39878560e-02 5.61786911e+00] [ 4.20331613e-03 9.99990875e-01 7.63108339e-04 4.78063579e-01] [ 3.39843599e-02 -9.05522499e-04 9.99421955e-01 -3.30851713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48650248099997 meters 0.12170466188376927 Centerline is valid? [False, False] Translation: X:5.62, Y:0.48, Z:-0.33 [[ 9.99389600e-01 -4.08180728e-03 -3.46953486e-02 5.61777888e+00] [ 4.11243739e-03 9.99991215e-01 8.11513397e-04 4.75800946e-01] [ 3.46917313e-02 -9.53700497e-04 9.99397606e-01 -3.29231584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54650248099998 meters 0.12120146689221353 Centerline is valid? [False, False] Translation: X:5.62, Y:0.47, Z:-0.33 [[ 9.99337090e-01 -7.86221334e-03 -3.55466634e-02 5.61897843e+00] [ 7.76827093e-03 9.99965962e-01 -2.78013314e-03 4.73655482e-01] [ 3.55673114e-02 2.50215406e-03 9.99364151e-01 -3.29022178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60650248099998 meters 0.12124042699630237 Centerline is valid? [False, False] Translation: X:5.62, Y:0.47, Z:-0.33 [[ 9.99328049e-01 -8.17684539e-03 -3.57293890e-02 5.61789675e+00] [ 8.07442259e-03 9.99962871e-01 -3.00998201e-03 4.69563952e-01] [ 3.57526745e-02 2.71946527e-03 9.99356969e-01 -3.27054739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66650248099998 meters 0.12076490456792988 Centerline is valid? [False, False] Translation: X:5.62, Y:0.47, Z:-0.33 [[ 9.99321079e-01 -8.17521368e-03 -3.59241822e-02 5.61716110e+00] [ 8.07671987e-03 9.99963218e-01 -2.88598253e-03 4.66178661e-01] [ 3.59464543e-02 2.59387362e-03 9.99350351e-01 -3.25587092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72650248099998 meters 0.12059127158289035 Centerline is valid? [False, False] Translation: X:5.62, Y:0.46, Z:-0.33 [[ 9.99348746e-01 -7.72886015e-03 -3.52469554e-02 5.61702059e+00] [ 7.66521838e-03 9.99968739e-01 -1.94037083e-03 4.61354530e-01] [ 3.52608504e-02 1.66893155e-03 9.99376749e-01 -3.26384994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78650248099999 meters 0.11940789196463933 Centerline is valid? [False, False] Translation: X:5.62, Y:0.46, Z:-0.33 [[ 9.99311415e-01 -1.14521270e-02 -3.52922852e-02 5.61774080e+00] [ 1.12785983e-02 9.99923327e-01 -5.11207593e-03 4.58231565e-01] [ 3.53481234e-02 4.71050832e-03 9.99363958e-01 -3.27100943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.846502481 meters 0.11886150264939585 Centerline is valid? [False, False] Translation: X:5.62, Y:0.45, Z:-0.33 [[ 9.99341620e-01 -1.12710537e-02 -3.44860878e-02 5.61704154e+00] [ 1.11313888e-02 9.99929058e-01 -4.23921722e-03 4.53926965e-01] [ 3.45314218e-02 3.85254815e-03 9.99396187e-01 -3.27568512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90650248099996 meters 0.11834275274727592 Centerline is valid? [False, False] Translation: X:5.62, Y:0.45, Z:-0.33 [[ 9.99344511e-01 -1.10163046e-02 -3.44846359e-02 5.61716510e+00] [ 1.08918233e-02 9.99933479e-01 -3.79554220e-03 4.52576221e-01] [ 3.45241548e-02 3.41745370e-03 9.99398021e-01 -3.27699085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96650248099996 meters 0.11779796937343093 Centerline is valid? [False, False] Translation: X:5.62, Y:0.45, Z:-0.33 [[ 9.99366282e-01 -1.13179385e-02 -3.37481576e-02 5.61595880e+00] [ 1.12057718e-02 9.99931050e-01 -3.51093704e-03 4.48493173e-01] [ 3.37855672e-02 3.13053795e-03 9.99424202e-01 -3.27306924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02650248099997 meters 0.11626212091314045 Centerline is valid? [False, False] Translation: X:5.62, Y:0.44, Z:-0.33 [[ 9.99365709e-01 -1.27162362e-02 -3.32637634e-02 5.61522511e+00] [ 1.25874574e-02 9.99912459e-01 -4.07800365e-03 4.44553238e-01] [ 3.33127084e-02 3.65671081e-03 9.99438288e-01 -3.27276978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08650248099997 meters 0.1152363511607801 Centerline is valid? [False, False] Translation: X:5.62, Y:0.44, Z:-0.33 [[ 0.9993048 -0.01690868 -0.03322676 5.61518385] [ 0.01666761 0.99983281 -0.00751893 0.44203974] [ 0.03334834 0.0069599 0.99941956 -0.3272076 ] [ 0. 0. 0. 1. ]] SLAMing on 129.14650248099997 meters 0.11462754196584643 Centerline is valid? [False, False] Translation: X:5.61, Y:0.44, Z:-0.33 [[ 0.99931887 -0.01690762 -0.03280141 5.6145959 ] [ 0.01669088 0.99983709 -0.00687011 0.43956421] [ 0.03291223 0.00631795 0.99943828 -0.32716823] [ 0. 0. 0. 1. ]] SLAMing on 129.20650248099997 meters 0.11413053134047857 Centerline is valid? [False, False] Translation: X:5.61, Y:0.44, Z:-0.33 [[ 0.99923846 -0.02139582 -0.03263011 5.61407148] [ 0.0210513 0.99971935 -0.01086539 0.43801235] [ 0.03285342 0.01017021 0.99940843 -0.32666763] [ 0. 0. 0. 1. ]] SLAMing on 129.26650248099997 meters 0.11438983276906901 Centerline is valid? [False, False] Translation: X:5.61, Y:0.44, Z:-0.33 [[ 9.99359235e-01 -1.69957599e-02 -3.15002099e-02 5.61333417e+00] [ 1.68171689e-02 9.99841021e-01 -5.92583158e-03 4.35487150e-01] [ 3.15959160e-02 5.39229017e-03 9.99486179e-01 -3.27841533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32650248099998 meters 0.11436046212845588 Centerline is valid? [False, False] Translation: X:5.61, Y:0.44, Z:-0.33 [[ 9.99352298e-01 -1.71136511e-02 -3.16560808e-02 5.61307190e+00] [ 1.69276866e-02 9.99837905e-01 -6.13324594e-03 4.35249527e-01] [ 3.17559117e-02 5.59340921e-03 9.99480003e-01 -3.27183175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38650248099998 meters 0.11448565202839912 Centerline is valid? [False, False] Translation: X:5.61, Y:0.43, Z:-0.33 [[ 9.99367014e-01 -1.64364055e-02 -3.15502100e-02 5.61417395e+00] [ 1.62809782e-02 9.99854054e-01 -5.17695643e-03 4.33733844e-01] [ 3.16306959e-02 4.66001121e-03 9.99488761e-01 -3.28798719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44650248099998 meters 0.11460778443904321 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99472201e-01 -1.12401812e-02 -3.04791496e-02 5.61507441e+00] [ 1.12632508e-02 9.99936396e-01 5.85310968e-04 4.30845268e-01] [ 3.04706320e-02 -9.28296348e-04 9.99535231e-01 -3.32032234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50650248099998 meters 0.11505057252477334 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99467191e-01 -1.10280324e-02 -3.07199748e-02 5.61542150e+00] [ 1.10528386e-02 9.99938712e-01 6.37793642e-04 4.30576727e-01] [ 3.07110584e-02 -9.76996743e-04 9.99527827e-01 -3.31983741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.566502481 meters 0.11496277666341218 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99439393e-01 -1.06645897e-02 -3.17358747e-02 5.61651862e+00] [ 1.06878766e-02 9.99942724e-01 5.64221702e-04 4.31085246e-01] [ 3.17280398e-02 -9.03094508e-04 9.99496131e-01 -3.31453949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.626502481 meters 0.11496995297700786 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99432923e-01 -1.06314071e-02 -3.19500419e-02 5.61655514e+00] [ 1.06514619e-02 9.99943167e-01 4.57551280e-04 4.31388219e-01] [ 3.19433617e-02 -7.97606466e-04 9.99489362e-01 -3.31133811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68650248099996 meters 0.11451888398026758 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99428955e-01 -1.04588032e-02 -3.21306331e-02 5.61681154e+00] [ 1.04817656e-02 9.99944916e-01 5.46297217e-04 4.30812657e-01] [ 3.21231496e-02 -8.82771021e-04 9.99483529e-01 -3.31043709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74650248099996 meters 0.11434699997412316 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99439905e-01 -1.03710316e-02 -3.18169485e-02 5.61670042e+00] [ 1.04022360e-02 9.99945563e-01 8.15374451e-04 4.29859453e-01] [ 3.18067602e-02 -1.14588517e-03 9.99493380e-01 -3.31465279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80650248099997 meters 0.11368008287808112 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99462669e-01 -9.75529486e-03 -3.12923038e-02 5.61724227e+00] [ 9.82223269e-03 9.99949788e-01 1.98610719e-03 4.26661054e-01] [ 3.12713575e-02 -2.29240028e-03 9.99508303e-01 -3.33016642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86650248099997 meters 0.11311618918301565 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99475702e-01 -9.29854105e-03 -3.10138408e-02 5.61751233e+00] [ 9.39524384e-03 9.99951442e-01 2.97378208e-03 4.23920319e-01] [ 3.09846830e-02 -3.26360552e-03 9.99514531e-01 -3.33831890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92650248099997 meters 0.11230797131754973 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99479171e-01 -9.50456232e-03 -3.08390956e-02 5.61688010e+00] [ 9.60539253e-03 9.99948990e-01 3.12305770e-03 4.20913249e-01] [ 3.08078392e-02 -3.41765274e-03 9.99519483e-01 -3.33195549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98650248099997 meters 0.11171153374475731 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99486523e-01 -9.26638563e-03 -3.06728738e-02 5.61734150e+00] [ 9.38875768e-03 9.99948521e-01 3.84796553e-03 4.18497870e-01] [ 3.06356381e-02 -4.13396987e-03 9.99522070e-01 -3.34035077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04650248099998 meters 0.11132529451974477 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99488060e-01 -8.96187020e-03 -3.07132225e-02 5.61788918e+00] [ 9.10119883e-03 9.99948904e-01 4.39964498e-03 4.17254684e-01] [ 3.06722241e-02 -4.67691977e-03 9.99518555e-01 -3.34652874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10650248099998 meters 0.11071258475755638 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99491124e-01 -9.24626841e-03 -3.05286644e-02 5.61728786e+00] [ 9.38193501e-03 9.99946727e-01 4.30365788e-03 4.16155795e-01] [ 3.04872453e-02 -4.58788580e-03 9.99524627e-01 -3.34114763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16650248099998 meters 0.11068613381190874 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99475206e-01 -9.31070645e-03 -3.10261645e-02 5.61758661e+00] [ 9.44241148e-03 9.99947009e-01 4.10115467e-03 4.16449796e-01] [ 3.09863357e-02 -4.39196422e-03 9.99510159e-01 -3.33512999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22650248099998 meters 0.11055938700057028 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99454723e-01 -9.35640384e-03 -3.16656588e-02 5.61796951e+00] [ 9.48189668e-03 9.99947768e-01 3.81521480e-03 4.17145964e-01] [ 3.16283081e-02 -4.11338496e-03 9.99491236e-01 -3.32777657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28650248099999 meters 0.11051729525300784 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99429801e-01 -9.53039674e-03 -3.23920486e-02 5.61831930e+00] [ 9.64010437e-03 9.99948309e-01 3.23238246e-03 4.18379487e-01] [ 3.23595683e-02 -3.54280209e-03 9.99470013e-01 -3.31798224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.346502481 meters 0.11057348027714102 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99401510e-01 -9.46043955e-03 -3.32734414e-02 5.61907179e+00] [ 9.56618827e-03 9.99949681e-01 3.02041148e-03 4.19316636e-01] [ 3.32431927e-02 -3.33690380e-03 9.99441722e-01 -3.31091640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40650248099996 meters 0.11079341181704198 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99341313e-01 -1.29616236e-02 -3.38959693e-02 5.62152674e+00] [ 1.29524184e-02 9.99915993e-01 -4.91145879e-04 4.20396487e-01] [ 3.38994879e-02 5.17875895e-05 9.99425246e-01 -3.33098866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46650248099996 meters 0.11124582293959218 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99394492e-01 -8.37559605e-03 -3.37712799e-02 5.62172395e+00] [ 8.51690216e-03 9.99955559e-01 4.04252568e-03 4.19906760e-01] [ 3.37359206e-02 -4.32770459e-03 9.99421412e-01 -3.33593192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52650248099997 meters 0.11134917548250499 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99378892e-01 -8.55940004e-03 -3.41843082e-02 5.62185301e+00] [ 8.68294803e-03 9.99956291e-01 3.46735308e-03 4.21593421e-01] [ 3.41531356e-02 -3.76202005e-03 9.99409531e-01 -3.32982813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58650248099997 meters 0.11152547138498244 Centerline is valid? [False, False] Translation: X:5.62, Y:0.42, Z:-0.33 [[ 9.99343132e-01 -9.12987289e-03 -3.50706280e-02 5.62120992e+00] [ 9.20833053e-03 9.99955447e-01 2.07626030e-03 4.23918471e-01] [ 3.50501095e-02 -2.39783841e-03 9.99382680e-01 -3.30323387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64650248099997 meters 0.112117820188736 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99331616e-01 -9.26372673e-03 -3.53624732e-02 5.62144841e+00] [ 9.32658249e-03 9.99955206e-01 1.61292388e-03 4.25102200e-01] [ 3.53459475e-02 -1.94165686e-03 9.99373251e-01 -3.30030454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70650248099997 meters 0.11281001451257089 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99302494e-01 -9.34367731e-03 -3.61555077e-02 5.62212587e+00] [ 9.38071311e-03 9.99955635e-01 8.54841880e-04 4.27632855e-01] [ 3.61459162e-02 -1.19341007e-03 9.99345810e-01 -3.29381986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76650248099997 meters 0.11353843963879871 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99334992e-01 -4.66742053e-03 -3.61633554e-02 5.62330723e+00] [ 4.85766676e-03 9.99974813e-01 5.17466932e-03 4.29240435e-01] [ 3.61382922e-02 -5.34689765e-03 9.99332494e-01 -3.30892757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82650248099998 meters 0.11358874498432589 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99318247e-01 -4.69838474e-03 -3.66191989e-02 5.62364525e+00] [ 4.88098635e-03 9.99976089e-01 4.89869624e-03 4.29872386e-01] [ 3.65953073e-02 -5.07409435e-03 9.99317285e-01 -3.30408131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88650248099998 meters 0.1135206635522822 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99341274e-01 -5.15812885e-03 -3.59223019e-02 5.62283073e+00] [ 5.31925345e-03 9.99976211e-01 4.39123783e-03 4.30436647e-01] [ 3.58987968e-02 -4.57942504e-03 9.99344938e-01 -3.30554039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94650248099998 meters 0.11341658919193398 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99341131e-01 -5.65720231e-03 -3.58510938e-02 5.62231701e+00] [ 5.79132333e-03 9.99976611e-01 3.63831587e-03 4.31919943e-01] [ 3.58296726e-02 -3.84354397e-03 9.99350520e-01 -3.29943338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00650248099998 meters 0.11308120291089734 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99346310e-01 -5.98487924e-03 -3.56529698e-02 5.62192438e+00] [ 6.10210201e-03 9.99976326e-01 3.17997550e-03 4.32934627e-01] [ 3.56330940e-02 -3.39545484e-03 9.99359171e-01 -3.29731399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.066502481 meters 0.112298622794876 Centerline is valid? [False, False] Translation: X:5.62, Y:0.43, Z:-0.33 [[ 9.99285617e-01 -1.07763868e-02 -3.62232596e-02 5.62164494e+00] [ 1.07179108e-02 9.99940927e-01 -1.80812499e-03 4.34496295e-01] [ 3.62406048e-02 1.41859563e-03 9.99342087e-01 -3.28224707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12650248099996 meters 0.11225715925287277 Centerline is valid? [False, False] Translation: X:5.62, Y:0.44, Z:-0.33 [[ 9.99298646e-01 -1.05927529e-02 -3.59167056e-02 5.62226956e+00] [ 1.05460094e-02 9.99943278e-01 -1.49064673e-03 4.35227487e-01] [ 3.59304584e-02 1.11082334e-03 9.99353675e-01 -3.29629752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18650248099996 meters 0.11201273481622823 Centerline is valid? [False, False] Translation: X:5.62, Y:0.44, Z:-0.33 [[ 9.99303659e-01 -1.06356953e-02 -3.57642129e-02 5.62270343e+00] [ 1.05820354e-02 9.99942582e-01 -1.68933868e-03 4.36803164e-01] [ 3.57801267e-02 1.30970416e-03 9.99358828e-01 -3.30431762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24650248099996 meters 0.11197231102687513 Centerline is valid? [False, False] Translation: X:5.62, Y:0.44, Z:-0.33 [[ 9.99323795e-01 -6.75365704e-03 -3.61433394e-02 5.62262531e+00] [ 6.80951583e-03 9.99975803e-01 1.42260184e-03 4.40093904e-01] [ 3.61328571e-02 -1.66775851e-03 9.99345603e-01 -3.29567177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30650248099997 meters 0.11204341855692788 Centerline is valid? [False, False] Translation: X:5.62, Y:0.45, Z:-0.33 [[ 9.99285077e-01 -6.06141364e-03 -3.73174797e-02 5.62462190e+00] [ 6.10465001e-03 9.99980821e-01 1.04477228e-03 4.46154001e-01] [ 3.73104312e-02 -1.27183550e-03 9.99302914e-01 -3.30021505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36650248099997 meters 0.11255020809041466 Centerline is valid? [False, False] Translation: X:5.63, Y:0.45, Z:-0.33 [[ 9.99244344e-01 -5.25903293e-03 -3.85108208e-02 5.62701418e+00] [ 5.28834343e-03 9.99985799e-01 6.59269634e-04 4.52907566e-01] [ 3.85068068e-02 -8.62429899e-04 9.99257966e-01 -3.31053522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42650248099997 meters 0.11292281245394088 Centerline is valid? [False, False] Translation: X:5.63, Y:0.46, Z:-0.33 [[ 9.99185083e-01 -4.31314500e-03 -4.01318679e-02 5.62954727e+00] [ 4.32448998e-03 9.99990630e-01 1.95886415e-04 4.59687738e-01] [ 4.01306470e-02 -3.69276644e-04 9.99194373e-01 -3.31389695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48650248099997 meters 0.11349130812634672 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99183831e-01 -2.89739011e-03 -4.02899236e-02 5.63023810e+00] [ 2.92779775e-03 9.99995472e-01 6.95736679e-04 4.65008362e-01] [ 4.02877253e-02 -8.13129587e-04 9.99187789e-01 -3.31750595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54650248099998 meters 0.1137274354577816 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99150292e-01 -3.51935675e-03 -4.10646835e-02 5.62994554e+00] [ 3.49259685e-03 9.99993639e-01 -7.23375853e-04 4.68219761e-01] [ 4.10669682e-02 5.79338810e-04 9.99156228e-01 -3.29756179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60650248099998 meters 0.11314480262995003 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99180026e-01 -4.12657324e-03 -4.02771165e-02 5.62861121e+00] [ 4.07785526e-03 9.99990851e-01 -1.29165056e-03 4.68798520e-01] [ 4.02820781e-02 1.12634719e-03 9.99187713e-01 -3.29516537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66650248099998 meters 0.1128428703376365 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99130947e-01 -8.55386346e-03 -4.07943862e-02 5.62938065e+00] [ 8.32925295e-03 9.99949221e-01 -5.67270963e-03 4.70269318e-01] [ 4.08408383e-02 5.32799298e-03 9.99151459e-01 -3.29577638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72650248099998 meters 0.1126571512465463 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99146464e-01 -8.53790026e-03 -4.04159423e-02 5.62937992e+00] [ 8.32240926e-03 9.99950259e-01 -5.49708323e-03 4.70297579e-01] [ 4.04608655e-02 5.15603326e-03 9.99167821e-01 -3.30283338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78650248099999 meters 0.11250538569488061 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99158687e-01 -8.69116977e-03 -4.00796803e-02 5.62883348e+00] [ 8.47674471e-03 9.99948853e-01 -5.51681347e-03 4.70154359e-01] [ 4.01255779e-02 5.17242689e-03 9.99181257e-01 -3.30233451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.846502481 meters 0.11254879698481238 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99151873e-01 -8.72862521e-03 -4.02410926e-02 5.62884734e+00] [ 8.51085029e-03 9.99948214e-01 -5.57989765e-03 4.70462002e-01] [ 4.02877135e-02 5.23267928e-03 9.99174419e-01 -3.29960632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90650248099996 meters 0.11242781989526453 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99187558e-01 -8.93058233e-03 -3.92997215e-02 5.62831121e+00] [ 8.72140608e-03 9.99946893e-01 -5.49081763e-03 4.70951532e-01] [ 3.93466706e-02 5.14360783e-03 9.99212381e-01 -3.31167175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96650248099996 meters 0.11270480117476452 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99200246e-01 -8.72861946e-03 -3.90215181e-02 5.62884649e+00] [ 8.53573351e-03 9.99950529e-01 -5.10694200e-03 4.71089362e-01] [ 3.90641642e-02 4.76978043e-03 9.99225320e-01 -3.32446369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02650248099997 meters 0.1132689062028744 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.33 [[ 9.99201635e-01 -8.16412585e-03 -3.91080588e-02 5.63057220e+00] [ 7.99981594e-03 9.99958513e-01 -4.35608377e-03 4.73196185e-01] [ 3.91419999e-02 4.03974875e-03 9.99225492e-01 -3.34666034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08650248099997 meters 0.11345249180309189 Centerline is valid? [False, False] Translation: X:5.63, Y:0.47, Z:-0.34 [[ 9.99202588e-01 -7.83422056e-03 -3.91511513e-02 5.63168179e+00] [ 7.68473323e-03 9.99962602e-01 -3.96724591e-03 4.73931521e-01] [ 3.91807674e-02 3.66321623e-03 9.99225424e-01 -3.36056930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14650248099997 meters 0.11374616412213907 Centerline is valid? [False, False] Translation: X:5.63, Y:0.48, Z:-0.34 [[ 9.99209514e-01 -7.56963758e-03 -3.90262331e-02 5.63280466e+00] [ 7.43311817e-03 9.99965741e-01 -3.64205938e-03 4.75422995e-01] [ 3.90524652e-02 3.34909378e-03 9.99231549e-01 -3.37790942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20650248099997 meters 0.11407785665569017 Centerline is valid? [False, False] Translation: X:5.63, Y:0.48, Z:-0.34 [[ 9.99201456e-01 -7.38893915e-03 -3.92664414e-02 5.63379838e+00] [ 7.25386362e-03 9.99967277e-01 -3.58133477e-03 4.76829536e-01] [ 3.92916187e-02 3.29364151e-03 9.99222358e-01 -3.38603183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26650248099997 meters 0.11419879392389201 Centerline is valid? [False, False] Translation: X:5.63, Y:0.48, Z:-0.34 [[ 9.99169992e-01 -7.35478604e-03 -4.00653866e-02 5.63458973e+00] [ 7.20432443e-03 9.99966449e-01 -3.89848978e-03 4.78283768e-01] [ 4.00927149e-02 3.60660996e-03 9.99189455e-01 -3.38020498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32650248099998 meters 0.11444171152119195 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 9.99173673e-01 -6.99538687e-03 -4.00379214e-02 5.63543617e+00] [ 6.86427353e-03 9.99970622e-01 -3.41126502e-03 4.77942136e-01] [ 4.00606083e-02 3.13361496e-03 9.99192338e-01 -3.39122152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38650248099998 meters 0.1144833944508269 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 9.99153861e-01 -7.08224994e-03 -4.05142311e-02 5.63569937e+00] [ 6.93410772e-03 9.99968754e-01 -3.79590426e-03 4.78965288e-01] [ 4.05398488e-02 3.51176236e-03 9.99171751e-01 -3.38457643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44650248099998 meters 0.11467042416662349 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 9.99141093e-01 -6.98262037e-03 -4.08450592e-02 5.63615927e+00] [ 6.83159303e-03 9.99969307e-01 -3.83597739e-03 4.79530425e-01] [ 4.08705907e-02 3.55364582e-03 9.99158129e-01 -3.38388322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50650248099998 meters 0.11503215591620924 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 9.99123631e-01 -6.92931042e-03 -4.12789929e-02 5.63657422e+00] [ 6.76634417e-03 9.99968759e-01 -4.08632995e-03 4.80278247e-01] [ 4.13060188e-02 3.80344094e-03 9.99139303e-01 -3.37991606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.566502481 meters 0.11538748372737502 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 9.99104994e-01 -6.51902101e-03 -4.17936980e-02 5.63789678e+00] [ 6.35918883e-03 9.99971955e-01 -3.95611940e-03 4.81556807e-01] [ 4.18183159e-02 3.68680463e-03 9.99118429e-01 -3.38679592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62650248099996 meters 0.11630045036620594 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 9.99091331e-01 -5.32084821e-03 -4.22871305e-02 5.64034268e+00] [ 5.20025892e-03 9.99982094e-01 -2.96116894e-03 4.83452255e-01] [ 4.23021292e-02 2.73857419e-03 9.99101111e-01 -3.40912182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68650248099996 meters 0.11653685934965508 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 9.99081118e-01 -5.14130414e-03 -4.25498121e-02 5.64087488e+00] [ 5.02414444e-03 9.99983289e-01 -2.85995101e-03 4.83456533e-01] [ 4.25638050e-02 2.64354665e-03 9.99090253e-01 -3.41038820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74650248099996 meters 0.11694236397558164 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 9.99051901e-01 -5.15013967e-03 -4.32293394e-02 5.64098669e+00] [ 5.01680155e-03 9.99982320e-01 -3.19235732e-03 4.83756963e-01] [ 4.32450161e-02 2.97245763e-03 9.99060075e-01 -3.39813032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80650248099997 meters 0.11692066211688906 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 0.99900127 -0.00937177 -0.04368798 5.64161095] [ 0.00905997 0.9999321 -0.00732938 0.48346419] [ 0.04375371 0.00692625 0.99901834 -0.33963084] [ 0. 0. 0. 1. ]] SLAMing on 132.86650248099997 meters 0.11664565993055495 Centerline is valid? [False, False] Translation: X:5.64, Y:0.48, Z:-0.34 [[ 0.99903328 -0.00916664 -0.042994 5.64140102] [ 0.00889326 0.99993903 -0.00654548 0.48043682] [ 0.04305138 0.0061568 0.99905389 -0.3406419 ] [ 0. 0. 0. 1. ]] SLAMing on 132.92650248099997 meters 0.11646065439784388 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.34 [[ 9.99000093e-01 -1.85188146e-02 -4.06923631e-02 5.64673355e+00] [ 1.85167894e-02 9.99828459e-01 -4.26702990e-04 4.81300305e-01] [ 4.06932847e-02 -3.27215592e-04 9.99171632e-01 -3.42666259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98650248099997 meters 0.11635686429666658 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.34 [[ 9.99030328e-01 -1.83176061e-02 -4.00358421e-02 5.64668677e+00] [ 1.83510463e-02 9.99831496e-01 4.67890057e-04 4.78997149e-01] [ 4.00205253e-02 -1.20213595e-03 9.99198135e-01 -3.43954966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04650248099998 meters 0.1163422776550836 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.35 [[ 9.99064132e-01 -1.83063423e-02 -3.91884823e-02 5.64622162e+00] [ 1.83630082e-02 9.99830795e-01 1.08649570e-03 4.77141882e-01] [ 3.91619617e-02 -1.80509730e-03 9.99231246e-01 -3.45017110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10650248099998 meters 0.11634367991287718 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.35 [[ 9.99065242e-01 -1.81826962e-02 -3.92177410e-02 5.64659669e+00] [ 1.82469475e-02 9.99832690e-01 1.28097681e-03 4.77237740e-01] [ 3.91878878e-02 -1.99538347e-03 9.99229867e-01 -3.45505149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16650248099998 meters 0.11662011759533349 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.35 [[ 9.99069132e-01 -1.77033627e-02 -3.93377750e-02 5.64770380e+00] [ 1.77905880e-02 9.99839989e-01 1.86836594e-03 4.76862989e-01] [ 3.92984042e-02 -2.56646888e-03 9.99224223e-01 -3.46716429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22650248099998 meters 0.11682051674423179 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.35 [[ 9.99062904e-01 -1.71126052e-02 -3.97551647e-02 5.64932293e+00] [ 1.72177223e-02 9.99849111e-01 2.30321187e-03 4.77874194e-01] [ 3.97097522e-02 -2.98554693e-03 9.99206796e-01 -3.48075171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28650248099999 meters 0.11768611589424359 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.35 [[ 0.99914497 -0.01243009 -0.03943131 5.64994547] [ 0.01270951 0.99989581 0.00684351 0.47851231] [ 0.03934214 -0.00733881 0.99919885 -0.34966187] [ 0. 0. 0. 1. ]] SLAMing on 133.346502481 meters 0.1189418980315275 Centerline is valid? [False, False] Translation: X:5.65, Y:0.48, Z:-0.35 [[ 9.99127761e-01 -6.66236492e-04 -4.17525235e-02 5.64916268e+00] [ 7.68949040e-04 9.99996718e-01 2.44402061e-03 4.80437709e-01] [ 4.17507581e-02 -2.47399440e-03 9.99124994e-01 -3.51160873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40650248099996 meters 0.12064308216329678 Centerline is valid? [False, False] Translation: X:5.66, Y:0.48, Z:-0.35 [[ 9.99115552e-01 6.85084519e-03 -4.14870977e-02 5.66021600e+00] [-6.80725006e-03 9.99976120e-01 1.19198960e-03 4.83591861e-01] [ 4.14942731e-02 -9.08522296e-04 9.99138329e-01 -3.47712578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46650248099996 meters 0.12084997954592021 Centerline is valid? [False, False] Translation: X:5.66, Y:0.49, Z:-0.35 [[ 9.99078770e-01 3.63425668e-03 -4.27598447e-02 5.66254742e+00] [-3.74743091e-03 9.99989684e-01 -2.56688198e-03 4.86848930e-01] [ 4.27500749e-02 2.72475686e-03 9.99082082e-01 -3.48397203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52650248099997 meters 0.12101091966428981 Centerline is valid? [False, False] Translation: X:5.67, Y:0.49, Z:-0.35 [[ 9.99231555e-01 -2.23581277e-03 -3.91318414e-02 5.67273498e+00] [ 2.34023712e-03 9.99993822e-01 2.62292336e-03 4.87383335e-01] [ 3.91257353e-02 -2.71248558e-03 9.99230614e-01 -3.49639250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58650248099997 meters 0.12099604895814486 Centerline is valid? [False, False] Translation: X:5.67, Y:0.48, Z:-0.35 [[ 9.99242902e-01 -1.64352199e-03 -3.88705815e-02 5.67333028e+00] [ 1.78628216e-03 9.99991786e-01 3.63826006e-03 4.84631975e-01] [ 3.88642827e-02 -3.70493937e-03 9.99237630e-01 -3.50862103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64650248099997 meters 0.11982691678296602 Centerline is valid? [False, False] Translation: X:5.67, Y:0.48, Z:-0.35 [[ 9.99196085e-01 -5.85839103e-03 -3.96593373e-02 5.67401028e+00] [ 5.83900765e-03 9.99982770e-01 -6.04561598e-04 4.84202615e-01] [ 3.96621957e-02 3.72504408e-04 9.99213076e-01 -3.50097495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70650248099997 meters 0.11943080800563007 Centerline is valid? [False, False] Translation: X:5.68, Y:0.48, Z:-0.35 [[ 9.99145265e-01 -9.65189337e-03 -4.01942854e-02 5.67532359e+00] [ 9.49577323e-03 9.99946618e-01 -4.07324764e-03 4.82570551e-01] [ 4.02314543e-02 3.68809028e-03 9.99183581e-01 -3.50678015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76650248099997 meters 0.11833910052553864 Centerline is valid? [False, False] Translation: X:5.67, Y:0.48, Z:-0.35 [[ 9.99197628e-01 -9.82058756e-03 -3.88285484e-02 5.67460704e+00] [ 9.71120245e-03 9.99948331e-01 -3.00473985e-03 4.76034193e-01] [ 3.88560505e-02 2.62525704e-03 9.99241370e-01 -3.52166178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82650248099998 meters 0.11685403714768695 Centerline is valid? [False, False] Translation: X:5.67, Y:0.47, Z:-0.35 [[ 9.99193705e-01 -1.08850217e-02 -3.86452653e-02 5.67397723e+00] [ 1.07763288e-02 9.99937374e-01 -3.01977733e-03 4.70091545e-01] [ 3.86757154e-02 2.60088841e-03 9.99248430e-01 -3.51712872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88650248099998 meters 0.11564361744954213 Centerline is valid? [False, False] Translation: X:5.67, Y:0.46, Z:-0.35 [[ 9.99162236e-01 -1.49677938e-02 -3.80892435e-02 5.67386468e+00] [ 1.47440832e-02 9.99872402e-01 -6.14747751e-03 4.64453993e-01] [ 3.81763976e-02 5.58073640e-03 9.99255432e-01 -3.52352000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94650248099998 meters 0.11492244609999805 Centerline is valid? [False, False] Translation: X:5.67, Y:0.46, Z:-0.35 [[ 9.99193140e-01 -1.51860209e-02 -3.71813557e-02 5.67301271e+00] [ 1.49990547e-02 9.99873449e-01 -5.30229370e-03 4.58345317e-01] [ 3.72571711e-02 4.74033030e-03 9.99294467e-01 -3.52753154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00650248099998 meters 0.11455502957001744 Centerline is valid? [False, False] Translation: X:5.67, Y:0.45, Z:-0.35 [[ 9.99216182e-01 -1.48379494e-02 -3.66995586e-02 5.67284847e+00] [ 1.46887736e-02 9.99882734e-01 -4.33109165e-03 4.54125547e-01] [ 3.67595195e-02 3.78862535e-03 9.99316959e-01 -3.53344725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.066502481 meters 0.11431681360778861 Centerline is valid? [False, False] Translation: X:5.67, Y:0.45, Z:-0.35 [[ 9.99236654e-01 -1.42139475e-02 -3.63878155e-02 5.67326280e+00] [ 1.41089945e-02 9.99895535e-01 -3.13946467e-03 4.50444245e-01] [ 3.64286384e-02 2.62367268e-03 9.99332813e-01 -3.54428199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12650248099996 meters 0.11452920811945232 Centerline is valid? [False, False] Translation: X:5.67, Y:0.45, Z:-0.36 [[ 9.99253036e-01 -1.32631823e-02 -3.62967998e-02 5.67474541e+00] [ 1.32070904e-02 9.99911190e-01 -1.78470926e-03 4.47351910e-01] [ 3.63172472e-02 1.30400103e-03 9.99339460e-01 -3.56420358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18650248099996 meters 0.11510631205376554 Centerline is valid? [False, False] Translation: X:5.68, Y:0.44, Z:-0.36 [[ 9.99319674e-01 -7.88651734e-03 -3.60276424e-02 5.67626596e+00] [ 8.03083631e-03 9.99960291e-01 3.86282707e-03 4.44322251e-01] [ 3.59957475e-02 -4.14953119e-03 9.99343328e-01 -3.58889282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24650248099996 meters 0.11555669146136649 Centerline is valid? [False, False] Translation: X:5.68, Y:0.44, Z:-0.36 [[ 9.99300820e-01 -7.59538495e-03 -3.66084963e-02 5.67718247e+00] [ 7.74599685e-03 9.99962103e-01 3.97404757e-03 4.44298346e-01] [ 3.65769245e-02 -4.25483829e-03 9.99321782e-01 -3.58994756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30650248099997 meters 0.11704443332158353 Centerline is valid? [False, False] Translation: X:5.68, Y:0.44, Z:-0.36 [[ 9.99157411e-01 3.96105797e-03 -4.08506720e-02 5.67553370e+00] [-3.98179330e-03 9.99991982e-01 -4.26237296e-04 4.43900729e-01] [ 4.08486561e-02 5.88537085e-04 9.99165172e-01 -3.58066807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36650248099997 meters 0.11790846872569985 Centerline is valid? [False, False] Translation: X:5.68, Y:0.44, Z:-0.36 [[ 9.99113466e-01 4.19925084e-03 -4.18885340e-02 5.67654613e+00] [-4.22854237e-03 9.99990873e-01 -6.10694715e-04 4.44579767e-01] [ 4.18855872e-02 7.87280754e-04 9.99122104e-01 -3.57363039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42650248099997 meters 0.11901099007216231 Centerline is valid? [False, False] Translation: X:5.68, Y:0.45, Z:-0.36 [[ 9.99046841e-01 7.66433459e-05 -4.36509240e-02 5.67761565e+00] [-3.05290145e-04 9.99986269e-01 -5.23143248e-03 4.45111218e-01] [ 4.36499236e-02 5.23977229e-03 9.99033147e-01 -3.55405860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48650248099997 meters 0.11970998319021323 Centerline is valid? [False, False] Translation: X:5.69, Y:0.44, Z:-0.36 [[ 9.99170146e-01 -5.01296838e-03 -4.04214097e-02 5.68883910e+00] [ 5.01986598e-03 9.99987398e-01 6.91469432e-05 4.42154319e-01] [ 4.04205537e-02 -2.71999621e-04 9.99182718e-01 -3.55538751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54650248099998 meters 0.11965741136776421 Centerline is valid? [False, False] Translation: X:5.69, Y:0.44, Z:-0.36 [[ 9.99137488e-01 -8.35528888e-03 -4.06751616e-02 5.69030902e+00] [ 8.25960562e-03 9.99962714e-01 -2.51986040e-03 4.37534342e-01] [ 4.06946992e-02 2.18172619e-03 9.99169246e-01 -3.56854498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60650248099998 meters 0.11965676370492878 Centerline is valid? [False, False] Translation: X:5.69, Y:0.43, Z:-0.36 [[ 9.99147458e-01 -7.61430321e-03 -4.05756090e-02 5.69128195e+00] [ 7.56913500e-03 9.99970551e-01 -1.26669669e-03 4.34940079e-01] [ 4.05840592e-02 9.58494519e-04 9.99175668e-01 -3.58325361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66650248099998 meters 0.11892125339662168 Centerline is valid? [False, False] Translation: X:5.69, Y:0.43, Z:-0.36 [[ 9.99120764e-01 -1.17586109e-02 -4.02422013e-02 5.69085579e+00] [ 1.15975500e-02 9.99923785e-01 -4.23340966e-03 4.27192910e-01] [ 4.02889132e-02 3.76297655e-03 9.99180986e-01 -3.58298667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72650248099998 meters 0.1184980473253563 Centerline is valid? [False, False] Translation: X:5.69, Y:0.42, Z:-0.36 [[ 9.99149015e-01 -1.20891273e-02 -3.94347429e-02 5.68951314e+00] [ 1.19600535e-02 9.99922325e-01 -3.50737955e-03 4.20445348e-01] [ 3.94740809e-02 3.03275319e-03 9.99215992e-01 -3.58019838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78650248099999 meters 0.1177790629968005 Centerline is valid? [False, False] Translation: X:5.69, Y:0.42, Z:-0.36 [[ 9.99164556e-01 -1.22912933e-02 -3.89758030e-02 5.68811106e+00] [ 1.21792141e-02 9.99920989e-01 -3.11175434e-03 4.15645306e-01] [ 3.90109709e-02 2.63446000e-03 9.99235310e-01 -3.56988221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.846502481 meters 0.11755058136188216 Centerline is valid? [False, False] Translation: X:5.69, Y:0.41, Z:-0.36 [[ 9.99186886e-01 -1.18749002e-02 -3.85299123e-02 5.68790681e+00] [ 1.18005611e-02 9.99928046e-01 -2.15624531e-03 4.12199010e-01] [ 3.85527451e-02 1.69981745e-03 9.99255121e-01 -3.57459695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90650248099996 meters 0.11687534508795208 Centerline is valid? [False, False] Translation: X:5.69, Y:0.41, Z:-0.36 [[ 9.99228256e-01 -1.16543376e-02 -3.75109159e-02 5.68723626e+00] [ 1.16216712e-02 9.99931873e-01 -1.08878709e-03 4.06510468e-01] [ 3.75210495e-02 6.52007295e-04 9.99295625e-01 -3.58384490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96650248099996 meters 0.11643210459409661 Centerline is valid? [False, False] Translation: X:5.69, Y:0.40, Z:-0.36 [[ 9.99247441e-01 -1.10053514e-02 -3.71945421e-02 5.68753688e+00] [ 1.10184501e-02 9.99939284e-01 1.47196772e-04 4.02899194e-01] [ 3.71906638e-02 -5.56912205e-04 9.99308033e-01 -3.59293206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02650248099997 meters 0.11646450206050779 Centerline is valid? [False, False] Translation: X:5.69, Y:0.40, Z:-0.36 [[ 9.99283609e-01 -1.01213824e-02 -3.64667929e-02 5.68825507e+00] [ 1.01915324e-02 9.99946554e-01 1.73828786e-03 3.98597439e-01] [ 3.64472500e-02 -2.10869506e-03 9.99333353e-01 -3.61492609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08650248099997 meters 0.11643514098366939 Centerline is valid? [False, False] Translation: X:5.69, Y:0.40, Z:-0.36 [[ 9.99290220e-01 -9.20918533e-03 -3.65273355e-02 5.68964303e+00] [ 9.32589374e-03 9.99951934e-01 3.02600007e-03 3.96417097e-01] [ 3.64977128e-02 -3.36450233e-03 9.99328073e-01 -3.63143310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14650248099997 meters 0.11668497532335137 Centerline is valid? [False, False] Translation: X:5.69, Y:0.39, Z:-0.36 [[ 9.99275075e-01 -8.40269825e-03 -3.71311174e-02 5.69100365e+00] [ 8.55290538e-03 9.99955863e-01 3.88832302e-03 3.94567159e-01] [ 3.70968061e-02 -4.20308321e-03 9.99302838e-01 -3.63663401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20650248099997 meters 0.11713956686952726 Centerline is valid? [False, False] Translation: X:5.69, Y:0.39, Z:-0.36 [[ 9.99298138e-01 -3.91962233e-03 -3.72541130e-02 5.69038332e+00] [ 4.22784545e-03 9.99957455e-01 8.19835687e-03 3.91678891e-01] [ 3.72203936e-02 -8.35010738e-03 9.99272194e-01 -3.62525252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26650248099997 meters 0.11762535590869265 Centerline is valid? [False, False] Translation: X:5.69, Y:0.39, Z:-0.36 [[ 9.99283452e-01 -3.22194425e-03 -3.77120889e-02 5.69133281e+00] [ 3.56372906e-03 9.99953155e-01 8.99929367e-03 3.89399254e-01] [ 3.76813270e-02 -9.12724091e-03 9.99248123e-01 -3.62784238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32650248099998 meters 0.11755462720037373 Centerline is valid? [False, False] Translation: X:5.69, Y:0.39, Z:-0.36 [[ 9.99283704e-01 -2.86233194e-03 -3.77344138e-02 5.69133213e+00] [ 3.22504389e-03 9.99949150e-01 9.55486983e-03 3.87013849e-01] [ 3.77051459e-02 -9.66972085e-03 9.99242122e-01 -3.62668552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38650248099998 meters 0.11755205399062112 Centerline is valid? [False, False] Translation: X:5.69, Y:0.38, Z:-0.36 [[ 9.99289655e-01 -2.54155530e-03 -3.75995336e-02 5.69114707e+00] [ 2.92545604e-03 9.99944119e-01 1.01587613e-02 3.84021970e-01] [ 3.75716135e-02 -1.02615409e-02 9.99241249e-01 -3.62614324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44650248099998 meters 0.11699794034092419 Centerline is valid? [False, False] Translation: X:5.69, Y:0.38, Z:-0.36 [[ 0.9992544 -0.00634675 -0.03808364 5.69177291] [ 0.00661162 0.9999548 0.00683303 0.38105864] [ 0.03803855 -0.00707973 0.99925119 -0.36246236] [ 0. 0. 0. 1. ]] SLAMing on 135.50650248099998 meters 0.11613299613301803 Centerline is valid? [False, False] Translation: X:5.69, Y:0.38, Z:-0.36 [[ 9.99230985e-01 -1.05323813e-02 -3.77691294e-02 5.69128100e+00] [ 1.06690342e-02 9.99937241e-01 3.41837993e-03 3.76350849e-01] [ 3.77307554e-02 -3.81871128e-03 9.99280645e-01 -3.62265011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.566502481 meters 0.11498154198103792 Centerline is valid? [False, False] Translation: X:5.69, Y:0.37, Z:-0.36 [[ 9.99197928e-01 -1.44129743e-02 -3.73599694e-02 5.69098692e+00] [ 1.44469523e-02 9.99895433e-01 6.39656752e-04 3.70990843e-01] [ 3.73468434e-02 -1.17888140e-03 9.99301668e-01 -3.62441389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62650248099996 meters 0.11465967776926082 Centerline is valid? [False, False] Translation: X:5.69, Y:0.37, Z:-0.36 [[ 9.99145294e-01 -1.83436642e-02 -3.70431016e-02 5.69102926e+00] [ 1.82646304e-02 9.99830135e-01 -2.47086899e-03 3.67569968e-01] [ 3.70821340e-02 1.79217856e-03 9.99310614e-01 -3.62913041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68650248099996 meters 0.1133415406151575 Centerline is valid? [False, False] Translation: X:5.69, Y:0.36, Z:-0.36 [[ 9.99204271e-01 -1.97845738e-02 -3.46322919e-02 5.68755895e+00] [ 1.97173936e-02 9.99802993e-01 -2.28030599e-03 3.60629855e-01] [ 3.46705840e-02 1.59563295e-03 9.99397521e-01 -3.62388773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74650248099996 meters 0.11308686942584686 Centerline is valid? [False, False] Translation: X:5.69, Y:0.36, Z:-0.36 [[ 9.99229665e-01 -1.93414864e-02 -3.41464944e-02 5.68763563e+00] [ 1.93071056e-02 9.99812707e-01 -1.33633756e-03 3.58289514e-01] [ 3.41659458e-02 6.76038159e-04 9.99415945e-01 -3.63320803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80650248099997 meters 0.11274266950837909 Centerline is valid? [False, False] Translation: X:5.69, Y:0.36, Z:-0.37 [[ 9.99274804e-01 -1.88248834e-02 -3.30981958e-02 5.68761562e+00] [ 1.88313169e-02 9.99822668e-01 -1.17366442e-04 3.55154544e-01] [ 3.30945358e-02 -5.06001285e-04 9.99452098e-01 -3.65126689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86650248099997 meters 0.11255628424291869 Centerline is valid? [False, False] Translation: X:5.69, Y:0.35, Z:-0.37 [[ 9.99303501e-01 -1.82438176e-02 -3.25526605e-02 5.68808978e+00] [ 1.82841881e-02 9.99832386e-01 9.42887204e-04 3.53208874e-01] [ 3.25300023e-02 -1.53742945e-03 9.99469577e-01 -3.66722312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92650248099997 meters 0.11232357038573729 Centerline is valid? [False, False] Translation: X:5.69, Y:0.35, Z:-0.37 [[ 9.99324548e-01 -1.73356091e-02 -3.24025406e-02 5.68969870e+00] [ 1.74154017e-02 9.99845960e-01 2.18191712e-03 3.51915888e-01] [ 3.23597244e-02 -2.74474660e-03 9.99472518e-01 -3.69049587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98650248099997 meters 0.11211967435217324 Centerline is valid? [False, False] Translation: X:5.69, Y:0.35, Z:-0.37 [[ 9.99329055e-01 -1.67367419e-02 -3.25779282e-02 5.69120373e+00] [ 1.68340889e-02 9.99854607e-01 2.71612107e-03 3.52614162e-01] [ 3.25277326e-02 -3.26271844e-03 9.99465508e-01 -3.70686717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04650248099998 meters 0.11206587857259079 Centerline is valid? [False, False] Translation: X:5.69, Y:0.35, Z:-0.37 [[ 0.99941325 -0.01228663 -0.03197191 5.69134365] [ 0.01251626 0.99989722 0.00699214 0.35302371] [ 0.03188271 -0.0073882 0.99946431 -0.37201378] [ 0. 0. 0. 1. ]] SLAMing on 136.10650248099998 meters 0.1121424873847946 Centerline is valid? [False, False] Translation: X:5.69, Y:0.36, Z:-0.38 [[ 9.99768050e-01 -4.49451278e-03 -2.10629064e-02 5.68761054e+00] [ 4.55869604e-03 9.99985108e-01 3.00019372e-03 3.55761228e-01] [ 2.10491084e-02 -3.09551721e-03 9.99773651e-01 -3.75154026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16650248099998 meters 0.11236594955781382 Centerline is valid? [False, False] Translation: X:5.70, Y:0.36, Z:-0.38 [[ 9.99859924e-01 -3.09846859e-05 -1.67371423e-02 5.69742990e+00] [ 2.54359704e-05 9.99999945e-01 -3.31733857e-04 3.59508229e-01] [ 1.67371516e-02 3.31261663e-04 9.99859869e-01 -3.75586599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22650248099998 meters 0.1132515415356044 Centerline is valid? [False, False] Translation: X:5.71, Y:0.36, Z:-0.38 [[ 9.99921722e-01 3.74221473e-03 -1.19392277e-02 5.70758644e+00] [-3.79168160e-03 9.99984311e-01 -4.12328036e-03 3.64910331e-01] [ 1.19236102e-02 4.16822735e-03 9.99920224e-01 -3.76524750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28650248099999 meters 0.11432601180595069 Centerline is valid? [False, False] Translation: X:5.71, Y:0.37, Z:-0.38 [[ 9.99915357e-01 3.57184252e-03 -1.25108234e-02 5.70814746e+00] [-3.63436953e-03 9.99981002e-01 -4.97866841e-03 3.67436077e-01] [ 1.24928027e-02 5.02371596e-03 9.99909342e-01 -3.76186787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.346502481 meters 0.11515689273834355 Centerline is valid? [False, False] Translation: X:5.72, Y:0.37, Z:-0.38 [[ 9.99903632e-01 -3.83588360e-03 -1.33421040e-02 5.71670873e+00] [ 3.84204059e-03 9.99992524e-01 4.35869486e-04 3.71017897e-01] [ 1.33403323e-02 -4.87088387e-04 9.99910895e-01 -3.76317777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40650248099996 meters 0.11533108888921569 Centerline is valid? [False, False] Translation: X:5.72, Y:0.37, Z:-0.38 [[ 9.99891797e-01 -3.44752157e-03 -1.43006929e-02 5.71813827e+00] [ 3.45397589e-03 9.99993944e-01 4.26655343e-04 3.72403930e-01] [ 1.42991354e-02 -4.76003426e-04 9.99897649e-01 -3.76429726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46650248099996 meters 0.1157817918329108 Centerline is valid? [False, False] Translation: X:5.72, Y:0.37, Z:-0.38 [[ 9.99849800e-01 -7.43824363e-03 -1.56540708e-02 5.71942947e+00] [ 7.37889175e-03 9.99965380e-01 -3.84581671e-03 3.72928714e-01] [ 1.56821350e-02 3.72972938e-03 9.99870071e-01 -3.75638149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52650248099997 meters 0.11605620355492048 Centerline is valid? [False, False] Translation: X:5.72, Y:0.37, Z:-0.38 [[ 9.99847672e-01 -7.02947544e-03 -1.59755864e-02 5.72013551e+00] [ 6.97745804e-03 9.99970181e-01 -3.30946540e-03 3.71939461e-01] [ 1.59983738e-02 3.19749229e-03 9.99866905e-01 -3.76007766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58650248099997 meters 0.11617599837248861 Centerline is valid? [False, False] Translation: X:5.72, Y:0.37, Z:-0.38 [[ 9.99845026e-01 -6.45554617e-03 -1.63783088e-02 5.72099364e+00] [ 6.41605509e-03 9.99976385e-01 -2.46258296e-03 3.70197334e-01] [ 1.63938193e-02 2.35711719e-03 9.99862834e-01 -3.76437498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64650248099997 meters 0.11589474117698484 Centerline is valid? [False, False] Translation: X:5.72, Y:0.37, Z:-0.38 [[ 9.99843277e-01 -6.31938571e-03 -1.65374473e-02 5.72049463e+00] [ 6.28750338e-03 9.99978275e-01 -1.97917095e-03 3.67083619e-01] [ 1.65495952e-02 1.87488151e-03 9.99861288e-01 -3.75464808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70650248099997 meters 0.11570130381325916 Centerline is valid? [False, False] Translation: X:5.72, Y:0.36, Z:-0.37 [[ 9.99843921e-01 -6.41135674e-03 -1.64629581e-02 5.71948760e+00] [ 6.38512686e-03 9.99978261e-01 -1.64533606e-03 3.63127005e-01] [ 1.64731490e-02 1.53996119e-03 9.99863123e-01 -3.74273439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76650248099997 meters 0.1157692207285792 Centerline is valid? [False, False] Translation: X:5.72, Y:0.36, Z:-0.37 [[ 9.99845928e-01 -6.06576938e-03 -1.64719749e-02 5.71911695e+00] [ 6.05243789e-03 9.99981315e-01 -8.59074545e-04 3.59640372e-01] [ 1.64768780e-02 7.59246582e-04 9.99863959e-01 -3.73752067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82650248099998 meters 0.11565120219404462 Centerline is valid? [False, False] Translation: X:5.72, Y:0.36, Z:-0.37 [[ 9.99850752e-01 -6.45582390e-03 -1.60248338e-02 5.71778634e+00] [ 6.44389573e-03 9.99978921e-01 -7.95878547e-04 3.55809986e-01] [ 1.60296341e-02 6.92497406e-04 9.99871277e-01 -3.72825704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88650248099998 meters 0.11592748116586785 Centerline is valid? [False, False] Translation: X:5.72, Y:0.35, Z:-0.37 [[ 9.99817302e-01 -1.01436215e-02 -1.62009136e-02 5.71857107e+00] [ 1.00796962e-02 9.99941108e-01 -4.02258218e-03 3.53395229e-01] [ 1.62407631e-02 3.85854698e-03 9.99860665e-01 -3.73517922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94650248099998 meters 0.11565526329188264 Centerline is valid? [False, False] Translation: X:5.72, Y:0.35, Z:-0.37 [[ 9.99822555e-01 -9.64528222e-03 -1.61810598e-02 5.71907649e+00] [ 9.59598386e-03 9.99949085e-01 -3.12155251e-03 3.51313366e-01] [ 1.62103442e-02 2.96572541e-03 9.99864205e-01 -3.74264813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00650248099998 meters 0.11678046426930554 Centerline is valid? [False, False] Translation: X:5.72, Y:0.35, Z:-0.38 [[ 9.99828297e-01 -8.92891058e-03 -1.62373095e-02 5.72004998e+00] [ 8.89732747e-03 9.99958385e-01 -2.01629662e-03 3.49242767e-01] [ 1.62546372e-02 1.87148176e-03 9.99866133e-01 -3.75524258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.066502481 meters 0.11656712575972435 Centerline is valid? [False, False] Translation: X:5.72, Y:0.35, Z:-0.38 [[ 9.99841334e-01 -8.17911255e-03 -1.58243200e-02 5.72063870e+00] [ 8.16948378e-03 9.99966403e-01 -6.73026851e-04 3.45676702e-01] [ 1.58292931e-02 5.43643538e-04 9.99874561e-01 -3.77071274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12650248099996 meters 0.11684552596655912 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:-0.38 [[ 9.99840304e-01 -7.87682549e-03 -1.60412844e-02 5.72070987e+00] [ 7.87654948e-03 9.99968976e-01 -8.03864562e-05 3.43914367e-01] [ 1.60414199e-02 -4.59763513e-05 9.99871327e-01 -3.76765577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18650248099996 meters 0.11679326715837114 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:-0.38 [[ 9.99801136e-01 -1.18551695e-02 -1.60357219e-02 5.72102248e+00] [ 1.17963139e-02 9.99923352e-01 -3.75990256e-03 3.42386437e-01] [ 1.60790671e-02 3.56999244e-03 9.99864350e-01 -3.77160512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24650248099996 meters 0.11650416002416054 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:-0.38 [[ 9.99812127e-01 -1.15305455e-02 -1.55806450e-02 5.72070284e+00] [ 1.14863296e-02 9.99929754e-01 -2.92438752e-03 3.39622594e-01] [ 1.56132703e-02 2.74487368e-03 9.99874338e-01 -3.77542698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30650248099997 meters 0.11637445766806521 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:-0.38 [[ 9.99815302e-01 -1.12747686e-02 -1.55641327e-02 5.72071563e+00] [ 1.12392998e-02 9.99934042e-01 -2.36447535e-03 3.38202733e-01] [ 1.55897651e-02 2.18910868e-03 9.99876076e-01 -3.77573851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36650248099997 meters 0.11605497195411199 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:-0.38 [[ 9.99822894e-01 -1.22385770e-02 -1.42967606e-02 5.71960308e+00] [ 1.22069115e-02 9.99922848e-01 -2.30004094e-03 3.33089191e-01] [ 1.43238068e-02 2.12511430e-03 9.99895151e-01 -3.78248218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42650248099997 meters 0.11569425329048566 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:-0.38 [[ 9.99836015e-01 -1.18396944e-02 -1.37027636e-02 5.71963400e+00] [ 1.18219354e-02 9.99929171e-01 -1.37629857e-03 3.30629715e-01] [ 1.37180881e-02 1.21407969e-03 9.99905166e-01 -3.79341727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48650248099997 meters 0.11563546448301464 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:-0.38 [[ 9.99839896e-01 -1.15705695e-02 -1.36493647e-02 5.72009556e+00] [ 1.15584760e-02 9.99932733e-01 -9.64572363e-04 3.30319938e-01] [ 1.36596072e-02 8.06652077e-04 9.99906378e-01 -3.80051755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54650248099998 meters 0.11571510682979098 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:-0.38 [[ 9.99848306e-01 -1.09779180e-02 -1.35222434e-02 5.72125638e+00] [ 1.09753647e-02 9.99939734e-01 -2.63015754e-04 3.29856775e-01] [ 1.35243159e-02 1.14564302e-04 9.99908536e-01 -3.81832151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60650248099998 meters 0.11592144609630717 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:-0.38 [[ 9.99848994e-01 -1.08007663e-02 -1.36136864e-02 5.72182670e+00] [ 1.07976435e-02 9.99941658e-01 -3.02873185e-04 3.30777864e-01] [ 1.36161634e-02 1.55831717e-04 9.99907284e-01 -3.82494223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66650248099998 meters 0.11642559298957891 Centerline is valid? [False, False] Translation: X:5.73, Y:0.33, Z:-0.38 [[ 9.99954861e-01 -2.73118472e-03 -9.10031074e-03 5.72905048e+00] [ 2.72695770e-03 9.99996168e-01 -4.76867434e-04 3.33485671e-01] [ 9.10157828e-03 4.52029746e-04 9.99958478e-01 -3.81123015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72650248099998 meters 0.11730962333422584 Centerline is valid? [False, False] Translation: X:5.73, Y:0.34, Z:-0.38 [[ 9.99949639e-01 -2.71207546e-03 -9.66248570e-03 5.72953313e+00] [ 2.70035700e-03 9.99995603e-01 -1.22561916e-03 3.36219312e-01] [ 9.66576718e-03 1.19946527e-03 9.99952566e-01 -3.80794073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78650248099999 meters 0.11806418628978756 Centerline is valid? [False, False] Translation: X:5.73, Y:0.34, Z:-0.38 [[ 9.99949230e-01 -2.65113013e-03 -9.72155681e-03 5.73013149e+00] [ 2.63543444e-03 9.99995204e-01 -1.62697980e-03 3.37961024e-01] [ 9.72582352e-03 1.60127667e-03 9.99951421e-01 -3.81542603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84650248099996 meters 0.11848631597047576 Centerline is valid? [False, False] Translation: X:5.73, Y:0.34, Z:-0.38 [[ 9.99942486e-01 -2.37569155e-03 -1.04585617e-02 5.73133509e+00] [ 2.35643678e-03 9.99995507e-01 -1.85299223e-03 3.39762039e-01] [ 1.04629169e-02 1.82824072e-03 9.99943591e-01 -3.81853579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90650248099996 meters 0.11863235792958421 Centerline is valid? [False, False] Translation: X:5.73, Y:0.34, Z:-0.38 [[ 9.99944448e-01 -1.86564195e-03 -1.03740674e-02 5.73221378e+00] [ 1.85343991e-03 9.99997579e-01 -1.18569646e-03 3.38980810e-01] [ 1.03762544e-02 1.16640288e-03 9.99945485e-01 -3.83184361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96650248099996 meters 0.11780683132753292 Centerline is valid? [False, False] Translation: X:5.74, Y:0.34, Z:-0.38 [[ 9.99973543e-01 9.21436107e-04 -7.21551390e-03 5.73994183e+00] [-9.67985977e-04 9.99978727e-01 -6.45052639e-03 3.38043783e-01] [ 7.20941666e-03 6.45734024e-03 9.99953162e-01 -3.81233789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02650248099997 meters 0.11700781716012143 Centerline is valid? [False, False] Translation: X:5.74, Y:0.34, Z:-0.38 [[ 9.99965999e-01 -2.84500967e-03 -7.73991063e-03 5.74127390e+00] [ 2.76713734e-03 9.99945635e-01 -1.00533145e-02 3.37341203e-01] [ 7.76809163e-03 1.00315553e-02 9.99919509e-01 -3.82036963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08650248099997 meters 0.11670383197460711 Centerline is valid? [False, False] Translation: X:5.75, Y:0.34, Z:-0.38 [[ 9.99924906e-01 -1.07537096e-02 -5.87713785e-03 5.74935935e+00] [ 1.07291832e-02 9.99933667e-01 -4.18890071e-03 3.36275554e-01] [ 5.92179422e-03 4.12552926e-03 9.99973956e-01 -3.83707628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14650248099997 meters 0.1164304207580606 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:-0.38 [[ 9.99924380e-01 -1.07647941e-02 -5.94582331e-03 5.74891062e+00] [ 1.07414794e-02 9.99934549e-01 -3.93931368e-03 3.34937822e-01] [ 5.98784005e-03 3.87514885e-03 9.99974564e-01 -3.82899139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20650248099997 meters 0.11600441795307603 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:-0.38 [[ 9.99929203e-01 -1.02554000e-02 -6.03455337e-03 5.74957446e+00] [ 1.02366229e-02 9.99942692e-01 -3.13429460e-03 3.33204877e-01] [ 6.06635099e-03 3.07229925e-03 9.99976880e-01 -3.83582574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26650248099997 meters 0.11574480637823473 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:-0.38 [[ 9.99936024e-01 -9.76235296e-03 -5.71347258e-03 5.74976154e+00] [ 9.75022747e-03 9.99950162e-01 -2.14628487e-03 3.30255965e-01] [ 5.73414062e-03 2.09043991e-03 9.99981375e-01 -3.84346095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32650248099998 meters 0.11601430378808439 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:-0.39 [[ 9.99941968e-01 -9.10538528e-03 -5.75790642e-03 5.75066926e+00] [ 9.09879291e-03 9.99957921e-01 -1.17008722e-03 3.28477390e-01] [ 5.76831823e-03 1.11762932e-03 9.99982739e-01 -3.85485044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38650248099998 meters 0.11608811310132756 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:-0.39 [[ 9.99946569e-01 -8.57901442e-03 -5.76713514e-03 5.75130022e+00] [ 8.57701730e-03 9.99963148e-01 -3.70937577e-04 3.26906565e-01] [ 5.77010488e-03 3.21452940e-04 9.99983301e-01 -3.86301898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44650248099998 meters 0.11644728067318869 Centerline is valid? [False, False] Translation: X:5.75, Y:0.33, Z:-0.39 [[ 9.99948410e-01 -8.26064971e-03 -5.91089745e-03 5.75170746e+00] [ 8.26143401e-03 9.99965868e-01 1.08283258e-04 3.25985061e-01] [ 5.90980121e-03 -1.57110161e-04 9.99982525e-01 -3.86579896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50650248099998 meters 0.11684066235598568 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:-0.39 [[ 9.99953790e-01 -7.68744849e-03 -5.77238445e-03 5.75198491e+00] [ 7.69413730e-03 9.99969753e-01 1.13744978e-03 3.22974273e-01] [ 5.76346577e-03 -1.18181074e-03 9.99982693e-01 -3.87114701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.566502481 meters 0.11667180103035746 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:-0.39 [[ 9.99960418e-01 -6.88801435e-03 -5.63188232e-03 5.75267596e+00] [ 6.90215135e-03 9.99973068e-01 2.49460239e-03 3.19807232e-01] [ 5.61454779e-03 -2.53337575e-03 9.99981029e-01 -3.88263414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62650248099996 meters 0.11672354156672175 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:-0.39 [[ 9.99962434e-01 -6.50457992e-03 -5.72894669e-03 5.75303082e+00] [ 6.52266626e-03 9.99973785e-01 3.14400483e-03 3.18273537e-01] [ 5.70834607e-03 -3.18125473e-03 9.99978647e-01 -3.88541616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68650248099996 meters 0.11713720907002732 Centerline is valid? [False, False] Translation: X:5.75, Y:0.32, Z:-0.39 [[ 9.99930288e-01 -1.00779280e-02 -6.15256736e-03 5.75431332e+00] [ 1.00763621e-02 9.99949191e-01 -2.85450842e-04 3.17137291e-01] [ 6.15513151e-03 2.23435446e-04 9.99981032e-01 -3.89433747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74650248099996 meters 0.11698882819161661 Centerline is valid? [False, False] Translation: X:5.75, Y:0.31, Z:-0.39 [[ 9.99939209e-01 -9.41586313e-03 -5.73749311e-03 5.75455174e+00] [ 9.42217399e-03 9.99955034e-01 1.07389869e-03 3.13441778e-01] [ 5.72712343e-03 -1.12789307e-03 9.99982964e-01 -3.90430409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80650248099997 meters 0.11735204412910241 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:-0.39 [[ 9.99944442e-01 -8.81560024e-03 -5.77913859e-03 5.75506136e+00] [ 8.82839194e-03 9.99958627e-01 2.19166471e-03 3.10898267e-01] [ 5.75957865e-03 -2.24256344e-03 9.99980899e-01 -3.91013082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86650248099997 meters 0.11756346883372078 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:-0.39 [[ 9.99905433e-01 -1.24212060e-02 -5.90237507e-03 5.75587644e+00] [ 1.24156560e-02 9.99922446e-01 -9.76021735e-04 3.08765807e-01] [ 5.91404069e-03 9.02647577e-04 9.99982105e-01 -3.91836922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92650248099997 meters 0.11750589425058394 Centerline is valid? [False, False] Translation: X:5.76, Y:0.31, Z:-0.39 [[ 9.99915751e-01 -1.17700907e-02 -5.47312685e-03 5.75610635e+00] [ 1.17724317e-02 9.99930624e-01 3.95718294e-04 3.05000733e-01] [ 5.46808951e-03 -4.60116967e-04 9.99984944e-01 -3.92852638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98650248099997 meters 0.11797226303247574 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:-0.39 [[ 9.99917746e-01 -1.14137890e-02 -5.85042519e-03 5.75648170e+00] [ 1.14194817e-02 9.99934353e-01 9.40561918e-04 3.03674527e-01] [ 5.83930576e-03 -1.00729338e-03 9.99982444e-01 -3.92675100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04650248099998 meters 0.1187510750400331 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:-0.39 [[ 9.99917688e-01 -1.10074436e-02 -6.59186861e-03 5.75726165e+00] [ 1.10157658e-02 9.99938571e-01 1.22750778e-03 3.03615602e-01] [ 6.57795196e-03 -1.30002122e-03 9.99977520e-01 -3.92459122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10650248099998 meters 0.11932419900401334 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:-0.39 [[ 9.99918749e-01 -1.06780596e-02 -6.96231864e-03 5.75787404e+00] [ 1.06888487e-02 9.99941726e-01 1.51428313e-03 3.03252227e-01] [ 6.94574332e-03 -1.58857926e-03 9.99974616e-01 -3.92634202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16650248099998 meters 0.11996265533507251 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:-0.39 [[ 9.99923255e-01 -1.00384162e-02 -7.26041359e-03 5.75892821e+00] [ 1.00561155e-02 9.99946543e-01 2.40540519e-03 3.01749422e-01] [ 7.23587901e-03 -2.47823214e-03 9.99970750e-01 -3.93529409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22650248099998 meters 0.1202926821757948 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:-0.39 [[ 9.99997102e-01 -1.50906563e-03 1.87599406e-03 5.75546304e+00] [ 1.51427522e-03 9.99994993e-01 -2.77866268e-03 2.98444958e-01] [-1.87179148e-03 2.78149539e-03 9.99994380e-01 -3.94248966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28650248099999 meters 0.11951651301769266 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:-0.39 [[ 9.99984338e-01 -5.37476515e-03 1.56047885e-03 5.75599999e+00] [ 5.38467079e-03 9.99964929e-01 -6.41457781e-03 2.97232456e-01] [-1.52594727e-03 6.42288001e-03 9.99978209e-01 -3.94378125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34650248099996 meters 0.11902197643940818 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:-0.40 [[ 9.99986241e-01 -4.93007261e-03 1.79250221e-03 5.75625919e+00] [ 4.93966109e-03 9.99973302e-01 -5.38472744e-03 2.95082870e-01] [-1.76590725e-03 5.39350771e-03 9.99983896e-01 -3.95081179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40650248099996 meters 0.11798291857256173 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:-0.39 [[ 9.99978184e-01 -5.95433627e-03 2.85965833e-03 5.75469105e+00] [ 5.97040487e-03 9.99966250e-01 -5.64378535e-03 2.90765873e-01] [-2.82595682e-03 5.66073554e-03 9.99979985e-01 -3.94700371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46650248099996 meters 0.11718241273121116 Centerline is valid? [False, False] Translation: X:5.75, Y:0.29, Z:-0.40 [[ 9.99977348e-01 -5.63914047e-03 3.67484299e-03 5.75474939e+00] [ 5.65571739e-03 9.99973808e-01 -4.51624760e-03 2.87784328e-01] [-3.64927898e-03 4.53692917e-03 9.99983049e-01 -3.96208601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52650248099997 meters 0.11660266383140887 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:-0.40 [[ 9.99979648e-01 -5.04151402e-03 3.90990775e-03 5.75547857e+00] [ 5.05443329e-03 9.99981776e-01 -3.30142849e-03 2.85724898e-01] [-3.89319230e-03 3.32112367e-03 9.99986907e-01 -3.97650940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58650248099997 meters 0.11615139080326099 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:-0.40 [[ 9.99953344e-01 -8.83151226e-03 3.91337870e-03 5.75639429e+00] [ 8.85835014e-03 9.99936995e-01 -6.89455509e-03 2.85058008e-01] [-3.85224279e-03 6.92889949e-03 9.99968575e-01 -3.98851741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64650248099997 meters 0.1159269965234947 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:-0.40 [[ 9.99955722e-01 -8.67329967e-03 3.65082454e-03 5.75692237e+00] [ 8.69787092e-03 9.99939261e-01 -6.76913674e-03 2.85659321e-01] [-3.59189204e-03 6.80059142e-03 9.99970425e-01 -3.99056899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70650248099997 meters 0.11583154453117138 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:-0.40 [[ 9.99982999e-01 -4.28751917e-03 3.95199083e-03 5.75712465e+00] [ 4.29692029e-03 9.99987952e-01 -2.37341776e-03 2.85703588e-01] [-3.94176714e-03 2.39035880e-03 9.99989374e-01 -3.99836979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76650248099997 meters 0.11573661597479419 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:-0.40 [[ 9.99982536e-01 -4.48949856e-03 3.84343418e-03 5.75719208e+00] [ 4.50115807e-03 9.99985278e-01 -3.03036202e-03 2.87665882e-01] [-3.82977279e-03 3.04760900e-03 9.99988022e-01 -3.99644531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82650248099998 meters 0.11577683392422593 Centerline is valid? [False, False] Translation: X:5.76, Y:0.29, Z:-0.40 [[ 9.99988553e-01 -3.87686982e-03 2.80437698e-03 5.75910742e+00] [ 3.88554498e-03 9.99987663e-01 -3.09462850e-03 2.91907568e-01] [-2.79234491e-03 3.10548961e-03 9.99991279e-01 -4.00273244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88650248099998 meters 0.11581761332690559 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:-0.40 [[ 9.99994415e-01 -2.65275742e-03 2.03286672e-03 5.76188078e+00] [ 2.65784907e-03 9.99993328e-01 -2.50606701e-03 2.95471772e-01] [-2.02620517e-03 2.51145607e-03 9.99994794e-01 -4.02612012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94650248099998 meters 0.11593925479556116 Centerline is valid? [False, False] Translation: X:5.76, Y:0.30, Z:-0.40 [[ 9.99997737e-01 -1.76576946e-03 1.18676444e-03 5.76447443e+00] [ 1.76825390e-03 9.99996241e-01 -2.09567871e-03 2.98438308e-01] [-1.18305949e-03 2.09777247e-03 9.99997100e-01 -4.04538734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00650248099998 meters 0.11592731700003799 Centerline is valid? [False, False] Translation: X:5.77, Y:0.30, Z:-0.41 [[ 9.99999861e-01 -5.13614146e-04 -1.16968261e-04 5.76731345e+00] [ 5.13431226e-04 9.99998654e-01 -1.55854187e-03 3.02954864e-01] [ 1.17768592e-04 1.55848159e-03 9.99998779e-01 -4.06011374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.066502481 meters 0.11608032673991928 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:-0.41 [[ 9.99999358e-01 -7.00880038e-04 -8.90082144e-04 5.76822853e+00] [ 6.98598397e-04 9.99996476e-01 -2.56113419e-03 3.06740828e-01] [ 8.91874056e-04 2.56051074e-03 9.99996324e-01 -4.05726903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12650248099996 meters 0.11615293662561509 Centerline is valid? [False, False] Translation: X:5.77, Y:0.31, Z:-0.41 [[ 9.99998460e-01 -2.81751136e-04 -1.73250407e-03 5.76985547e+00] [ 2.76782420e-04 9.99995850e-01 -2.86751026e-03 3.10894589e-01] [ 1.73330480e-03 2.86702631e-03 9.99994388e-01 -4.06286583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18650248099996 meters 0.11627854164508898 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:-0.41 [[ 9.99996032e-01 5.65945278e-04 -2.75960249e-03 5.77207284e+00] [-5.73274561e-04 9.99996309e-01 -2.65585232e-03 3.15023484e-01] [ 2.75808924e-03 2.65742379e-03 9.99992665e-01 -4.07369405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24650248099996 meters 0.1161455358855136 Centerline is valid? [False, False] Translation: X:5.77, Y:0.32, Z:-0.41 [[ 9.99995106e-01 4.65957822e-04 -3.09377268e-03 5.77256329e+00] [-4.75804532e-04 9.99994822e-01 -3.18277890e-03 3.17131247e-01] [ 3.09227362e-03 3.18423535e-03 9.99990149e-01 -4.07322948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30650248099997 meters 0.11588827336626686 Centerline is valid? [False, False] Translation: X:5.79, Y:0.32, Z:-0.41 [[ 9.99986747e-01 -4.68238956e-03 -2.14049795e-03 5.78800979e+00] [ 4.67942242e-03 9.99988087e-01 -1.38910645e-03 3.17992510e-01] [ 2.14697678e-03 1.37907174e-03 9.99996744e-01 -4.06545432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36650248099997 meters 0.11560692749019766 Centerline is valid? [False, False] Translation: X:5.79, Y:0.32, Z:-0.41 [[ 9.99988196e-01 -4.49034141e-03 -1.85578915e-03 5.78836013e+00] [ 4.48828774e-03 9.99989312e-01 -1.10932060e-03 3.17925642e-01] [ 1.86075054e-03 1.10097819e-03 9.99997663e-01 -4.07466595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42650248099997 meters 0.11566088480140983 Centerline is valid? [False, False] Translation: X:5.79, Y:0.32, Z:-0.41 [[ 9.99988550e-01 -4.52890300e-03 -1.54562658e-03 5.78851541e+00] [ 4.52697948e-03 9.99988977e-01 -1.24573251e-03 3.18833108e-01] [ 1.55125135e-03 1.23872123e-03 9.99998030e-01 -4.08138956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48650248099997 meters 0.11568029526794778 Centerline is valid? [False, False] Translation: X:5.79, Y:0.32, Z:-0.41 [[ 9.99988368e-01 -4.66915242e-03 -1.20946174e-03 5.78876430e+00] [ 4.66716329e-03 9.99987760e-01 -1.64227493e-03 3.20659097e-01] [ 1.21711497e-03 1.63661108e-03 9.99997920e-01 -4.08968370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54650248099998 meters 0.1157935786005768 Centerline is valid? [False, False] Translation: X:5.80, Y:0.32, Z:-0.41 [[ 9.99994350e-01 -8.17971632e-04 -3.26040785e-03 5.80300485e+00] [ 8.05110189e-04 9.99991898e-01 -3.94409687e-03 3.22479341e-01] [ 3.26360759e-03 3.94144960e-03 9.99986907e-01 -4.12192075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60650248099998 meters 0.11571676033779354 Centerline is valid? [False, False] Translation: X:5.80, Y:0.33, Z:-0.41 [[ 9.99995918e-01 -1.04279267e-03 -2.66011345e-03 5.80297364e+00] [ 1.03074764e-03 9.99989229e-01 -4.52537090e-03 3.25513164e-01] [ 2.66480382e-03 4.52261053e-03 9.99986222e-01 -4.13143685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66650248099998 meters 0.11552725108159692 Centerline is valid? [False, False] Translation: X:5.81, Y:0.33, Z:-0.41 [[ 9.99991326e-01 3.47307722e-03 2.29892547e-03 5.81202377e+00] [-3.45413609e-03 9.99960476e-01 -8.19244362e-03 3.30754149e-01] [-2.32728760e-03 8.18443176e-03 9.99963799e-01 -4.14466478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72650248099998 meters 0.11583957044128206 Centerline is valid? [False, False] Translation: X:5.81, Y:0.34, Z:-0.42 [[ 9.99989230e-01 3.49826443e-03 3.04977111e-03 5.81251372e+00] [-3.47106570e-03 9.99954562e-01 -8.87842296e-03 3.35752092e-01] [-3.08069160e-03 8.86774139e-03 9.99955935e-01 -4.16414097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78650248099999 meters 0.1157824861687606 Centerline is valid? [False, False] Translation: X:5.82, Y:0.34, Z:-0.42 [[ 9.99976400e-01 -4.25374346e-03 5.39498969e-03 5.82264066e+00] [ 4.27591960e-03 9.99982430e-01 -4.10565543e-03 3.40801334e-01] [-5.37743050e-03 4.12862708e-03 9.99977019e-01 -4.21233152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84650248099996 meters 0.11580380921402939 Centerline is valid? [False, False] Translation: X:5.82, Y:0.34, Z:-0.43 [[ 9.99966027e-01 -3.47151414e-03 7.47617423e-03 5.82348103e+00] [ 3.49262650e-03 9.99989945e-01 -2.81274956e-03 3.40260353e-01] [-7.46633456e-03 2.83876549e-03 9.99968097e-01 -4.26343797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90650248099996 meters 0.11591940620619115 Centerline is valid? [False, False] Translation: X:5.82, Y:0.34, Z:-0.43 [[ 9.99954930e-01 -2.68447787e-03 9.10670862e-03 5.82448147e+00] [ 2.70009537e-03 9.99994904e-01 -1.70308356e-03 3.41013445e-01] [-9.10209032e-03 1.72759579e-03 9.99957083e-01 -4.30889806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96650248099996 meters 0.1160562369651413 Centerline is valid? [False, False] Translation: X:5.84, Y:0.34, Z:-0.43 [[ 9.99966436e-01 1.02787892e-03 8.12830771e-03 5.83710729e+00] [-9.94269179e-04 9.99990945e-01 -4.13786043e-03 3.41949640e-01] [-8.13248733e-03 4.12963983e-03 9.99958403e-01 -4.34073967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02650248099997 meters 0.11630831413481017 Centerline is valid? [False, False] Translation: X:5.84, Y:0.34, Z:-0.44 [[ 9.99957248e-01 -1.95072563e-03 9.03868447e-03 5.83924998e+00] [ 2.01289490e-03 9.99974347e-01 -6.87414777e-03 3.42786317e-01] [-9.02504302e-03 6.89204781e-03 9.99935522e-01 -4.38969297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08650248099997 meters 0.11649187944732071 Centerline is valid? [False, False] Translation: X:5.84, Y:0.34, Z:-0.44 [[ 9.99934649e-01 -1.39569967e-03 1.13467758e-02 5.83965341e+00] [ 1.45961173e-03 9.99983107e-01 -5.62628987e-03 3.41568981e-01] [-1.13387315e-02 5.64248407e-03 9.99919795e-01 -4.44191811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14650248099997 meters 0.11662793627138983 Centerline is valid? [False, False] Translation: X:5.84, Y:0.34, Z:-0.45 [[ 9.99920208e-01 -3.88247086e-03 1.20209878e-02 5.84227341e+00] [ 3.97850099e-03 9.99960285e-01 -7.97495763e-03 3.43356348e-01] [-1.19895479e-02 8.02214680e-03 9.99895943e-01 -4.49317272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20650248099997 meters 0.11699193950195903 Centerline is valid? [False, False] Translation: X:5.84, Y:0.34, Z:-0.46 [[ 9.99897148e-01 -2.67161382e-03 1.40909891e-02 5.84374954e+00] [ 2.75249477e-03 9.99979832e-01 -5.72363867e-03 3.41948249e-01] [-1.40754135e-02 5.76183536e-03 9.99884335e-01 -4.55962520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26650248099997 meters 0.11706270350853996 Centerline is valid? [False, False] Translation: X:5.85, Y:0.34, Z:-0.46 [[ 9.99881055e-01 -1.19362700e-03 1.53769637e-02 5.84609401e+00] [ 1.25158121e-03 9.99992149e-01 -3.75982613e-03 3.42264486e-01] [-1.53723552e-02 3.77862444e-03 9.99874698e-01 -4.62086883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32650248099998 meters 0.11814582697671035 Centerline is valid? [False, False] Translation: X:5.85, Y:0.34, Z:-0.47 [[ 9.99866199e-01 -2.59272285e-03 1.61512266e-02 5.84963287e+00] [ 2.67758414e-03 9.99982714e-01 -5.23476306e-03 3.44127205e-01] [-1.61373752e-02 5.27730891e-03 9.99855857e-01 -4.68704118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38650248099998 meters 0.11892683902485522 Centerline is valid? [False, False] Translation: X:5.86, Y:0.34, Z:-0.47 [[ 9.99890278e-01 9.05646712e-04 1.47855462e-02 5.86178066e+00] [-8.14417983e-04 9.99980603e-01 -6.17498474e-03 3.44649216e-01] [-1.47908518e-02 6.16226559e-03 9.99871620e-01 -4.74593086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44650248099998 meters 0.11978204780901291 Centerline is valid? [False, False] Translation: X:5.87, Y:0.35, Z:-0.48 [[ 9.99884202e-01 -4.70138243e-04 1.52105521e-02 5.86630233e+00] [ 5.81723835e-04 9.99972948e-01 -7.33247206e-03 3.45816340e-01] [-1.52066933e-02 7.34047132e-03 9.99857427e-01 -4.82112551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50650248099998 meters 0.12013864057174112 Centerline is valid? [False, False] Translation: X:5.87, Y:0.35, Z:-0.49 [[ 9.99881289e-01 -1.95819699e-03 1.52830806e-02 5.87116984e+00] [ 2.08917909e-03 9.99961187e-01 -8.55914445e-03 3.46884778e-01] [-1.52657269e-02 8.59005748e-03 9.99846572e-01 -4.89454327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.566502481 meters 0.12041022883480189 Centerline is valid? [False, False] Translation: X:5.87, Y:0.35, Z:-0.50 [[ 9.99852849e-01 -2.47855181e-03 1.69746076e-02 5.87400341e+00] [ 2.62634383e-03 9.99958793e-01 -8.68990243e-03 3.48185478e-01] [-1.69523697e-02 8.73320486e-03 9.99818158e-01 -4.96941276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62650248099996 meters 0.12105532968929898 Centerline is valid? [False, False] Translation: X:5.88, Y:0.35, Z:-0.50 [[ 9.99828141e-01 -4.88251836e-03 1.78843171e-02 5.87685910e+00] [ 5.06828636e-03 9.99933524e-01 -1.03566464e-02 3.47723822e-01] [-1.78325617e-02 1.04455094e-02 9.99786423e-01 -5.03336222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68650248099996 meters 0.12103676418614084 Centerline is valid? [False, False] Translation: X:5.88, Y:0.34, Z:-0.51 [[ 9.99785935e-01 -3.56592396e-03 2.03805941e-02 5.87823226e+00] [ 3.70465460e-03 9.99970199e-01 -6.77329981e-03 3.44075692e-01] [-2.03558337e-02 6.84735294e-03 9.99769350e-01 -5.12106809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74650248099996 meters 0.12115281483948924 Centerline is valid? [False, False] Translation: X:5.88, Y:0.34, Z:-0.52 [[ 9.99757534e-01 -5.26027915e-03 2.13823002e-02 5.88217467e+00] [ 5.39427705e-03 9.99966144e-01 -6.21392725e-03 3.41640644e-01] [-2.13488892e-02 6.32776263e-03 9.99752061e-01 -5.21931588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80650248099997 meters 0.12170388487935742 Centerline is valid? [False, False] Translation: X:5.89, Y:0.34, Z:-0.53 [[ 9.99738368e-01 -2.96055621e-03 2.26810854e-02 5.88569189e+00] [ 3.00296088e-03 9.99993806e-01 -1.83577325e-03 3.38716314e-01] [-2.26755100e-02 1.90340336e-03 9.99741066e-01 -5.31368934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86650248099997 meters 0.12291505279097005 Centerline is valid? [False, False] Translation: X:5.89, Y:0.34, Z:-0.54 [[ 9.99733666e-01 -3.45555420e-03 2.28178707e-02 5.89152220e+00] [ 3.49716920e-03 9.99992293e-01 -1.78413762e-03 3.38986807e-01] [-2.28115297e-02 1.86346040e-03 9.99738047e-01 -5.40592889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92650248099997 meters 0.1237735527883311 Centerline is valid? [False, False] Translation: X:5.90, Y:0.34, Z:-0.55 [[ 9.99774953e-01 8.84787132e-04 2.11957774e-02 5.90484610e+00] [-8.48850249e-04 9.99998187e-01 -1.70441075e-03 3.39431674e-01] [-2.11972470e-02 1.68603514e-03 9.99773891e-01 -5.48563689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98650248099997 meters 0.1250344636923367 Centerline is valid? [False, False] Translation: X:5.91, Y:0.34, Z:-0.55 [[ 9.99793307e-01 -7.44517256e-04 2.03172304e-02 5.90938587e+00] [ 8.21951160e-04 9.99992430e-01 -3.80315851e-03 3.41613618e-01] [-2.03142451e-02 3.81907219e-03 9.99786350e-01 -5.53377338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04650248099998 meters 0.12660418607075166 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:-0.57 [[ 9.99784990e-01 -6.03606116e-04 2.07270433e-02 5.91615229e+00] [ 6.45294725e-04 9.99997782e-01 -2.00468545e-03 3.39732386e-01] [-2.07257873e-02 2.01762947e-03 9.99783162e-01 -5.65382539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10650248099998 meters 0.12673344527557331 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:-0.57 [[ 9.99798239e-01 -2.61632174e-03 1.99157186e-02 5.92072162e+00] [ 2.69648437e-03 9.99988367e-01 -3.99930443e-03 3.40689828e-01] [-1.99050234e-02 4.05219995e-03 9.99793664e-01 -5.70381537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16650248099998 meters 0.12875893619011092 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:-0.58 [[ 9.99802544e-01 -3.80419787e-03 1.95038531e-02 5.92688198e+00] [ 3.87076594e-03 9.99986808e-01 -3.37645881e-03 3.38297522e-01] [-1.94907511e-02 3.45128696e-03 9.99804080e-01 -5.80014590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22650248099998 meters 0.12676942280729278 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:-0.58 [[ 9.99790206e-01 -6.49067051e-03 1.94271731e-02 5.93004962e+00] [ 6.59769882e-03 9.99963382e-01 -5.45019201e-03 3.36934788e-01] [-1.93910864e-02 5.57722323e-03 9.99796419e-01 -5.84674807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28650248099999 meters 0.1253963699518719 Centerline is valid? [False, False] Translation: X:5.93, Y:0.33, Z:-0.59 [[ 9.99776939e-01 -8.15503729e-03 1.94824826e-02 5.93476935e+00] [ 8.25263118e-03 9.99953773e-01 -4.93417783e-03 3.32588026e-01] [-1.94413436e-02 5.09385895e-03 9.99798023e-01 -5.93324308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34650248099996 meters 0.13034318910680534 Centerline is valid? [False, False] Translation: X:5.94, Y:0.33, Z:-0.60 [[ 9.99762317e-01 -9.93266238e-03 1.94074918e-02 5.93941117e+00] [ 1.00224869e-02 9.99939483e-01 -4.53656944e-03 3.28773960e-01] [-1.93612571e-02 4.73000251e-03 9.99801365e-01 -6.01703322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40650248099996 meters 0.12467032037853523 Centerline is valid? [False, False] Translation: X:5.94, Y:0.32, Z:-0.61 [[ 9.99774824e-01 -8.19098017e-03 1.95757124e-02 5.94300843e+00] [ 8.20855060e-03 9.99965975e-01 -8.17378008e-04 3.24082810e-01] [-1.95683512e-02 9.77882180e-04 9.99808043e-01 -6.08651858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46650248099996 meters 0.12537770165775317 Centerline is valid? [False, False] Translation: X:5.95, Y:0.32, Z:-0.61 [[ 9.99763125e-01 -1.03063711e-02 1.91695668e-02 5.94756736e+00] [ 1.03454561e-02 9.99944601e-01 -1.94085792e-03 3.22118661e-01] [-1.91485017e-02 2.13871609e-03 9.99814363e-01 -6.14868914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52650248099997 meters 0.12613711246773124 Centerline is valid? [False, False] Translation: X:5.95, Y:0.32, Z:-0.62 [[ 9.99754278e-01 -1.23933138e-02 1.83790441e-02 5.95250199e+00] [ 1.24572342e-02 9.99916735e-01 -3.36749529e-03 3.20536902e-01] [-1.83357793e-02 3.59561988e-03 9.99825420e-01 -6.20415707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58650248099997 meters 0.12618475529796636 Centerline is valid? [False, False] Translation: X:5.96, Y:0.32, Z:-0.62 [[ 9.99775168e-01 -1.14144768e-02 1.78696097e-02 5.95535911e+00] [ 1.14537420e-02 9.99932206e-01 -2.09651682e-03 3.20217729e-01] [-1.78444676e-02 2.30071936e-03 9.99838128e-01 -6.23499632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64650248099997 meters 0.12657022178965718 Centerline is valid? [False, False] Translation: X:5.97, Y:0.32, Z:-0.63 [[ 9.99870138e-01 -7.24788046e-03 1.43935653e-02 5.97205906e+00] [ 7.27932593e-03 9.99971229e-01 -2.13350101e-03 3.16338711e-01] [-1.43776878e-02 2.23799940e-03 9.99894131e-01 -6.30618451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70650248099997 meters 0.1264449006224736 Centerline is valid? [False, False] Translation: X:5.98, Y:0.32, Z:-0.64 [[ 9.99899032e-01 -5.21183198e-03 1.32198021e-02 5.97714780e+00] [ 5.20824506e-03 9.99986390e-01 3.05742563e-04 3.15723046e-01] [-1.32212157e-02 -2.36859723e-04 9.99912568e-01 -6.35350342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76650248099997 meters 0.12578590607296733 Centerline is valid? [False, False] Translation: X:5.98, Y:0.32, Z:-0.64 [[ 9.99906558e-01 -7.29695321e-03 1.15597914e-02 5.98272285e+00] [ 7.31920507e-03 9.99971440e-01 -1.88380044e-03 3.16679239e-01] [-1.15457153e-02 1.96823290e-03 9.99931409e-01 -6.39514833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82650248099998 meters 0.12439859850161065 Centerline is valid? [False, False] Translation: X:5.99, Y:0.32, Z:-0.64 [[ 9.99926406e-01 -5.95476696e-03 1.05699258e-02 5.98640984e+00] [ 5.95803094e-03 9.99982212e-01 -2.77336338e-04 3.15144318e-01] [-1.05680863e-02 3.40291872e-04 9.99944098e-01 -6.42585098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88650248099998 meters 0.12421462293471809 Centerline is valid? [False, False] Translation: X:5.99, Y:0.31, Z:-0.64 [[ 9.99944118e-01 -4.91348477e-03 9.36045965e-03 5.98998975e+00] [ 4.90635208e-03 9.99987656e-01 7.84813091e-04 3.14910889e-01] [-9.36420027e-03 -7.38843524e-04 9.99955882e-01 -6.44956022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94650248099998 meters 0.123930356808717 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:-0.65 [[ 9.99950306e-01 -6.92084704e-03 7.17548500e-03 5.99592117e+00] [ 6.93303299e-03 9.99974564e-01 -1.67479367e-03 3.17449215e-01] [-7.16371149e-03 1.72445832e-03 9.99972853e-01 -6.48527856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00650248099998 meters 0.12201595235783701 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:-0.65 [[ 9.99965090e-01 -5.92608117e-03 5.89073123e-03 5.99953929e+00] [ 5.93193256e-03 9.99981929e-01 -9.76346700e-04 3.19037496e-01] [-5.88483887e-03 1.01125604e-03 9.99982173e-01 -6.50685415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.066502481 meters 0.1227464755477801 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:-0.65 [[ 9.99974231e-01 -5.26625319e-03 4.87901377e-03 6.00218084e+00] [ 5.26931124e-03 9.99985929e-01 -6.14133084e-04 3.19735093e-01] [-4.87571093e-03 6.39826300e-04 9.99987909e-01 -6.52097352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12650248099996 meters 0.12109887498595102 Centerline is valid? [False, False] Translation: X:6.00, Y:0.32, Z:-0.65 [[ 9.99979439e-01 -4.67533918e-03 4.38901536e-03 6.00398793e+00] [ 4.67492815e-03 9.99989067e-01 1.03902595e-04 3.18864076e-01] [-4.38945315e-03 -8.33821266e-05 9.99990363e-01 -6.53657360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18650248099996 meters 0.12079470652239019 Centerline is valid? [False, False] Translation: X:6.01, Y:0.32, Z:-0.65 [[ 9.99959995e-01 -8.26174862e-03 3.42808959e-03 6.00643645e+00] [ 8.27357895e-03 9.99959817e-01 -3.45128811e-03 3.18761549e-01] [-3.39943817e-03 3.47951261e-03 9.99988168e-01 -6.54844760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24650248099996 meters 0.11931538094121509 Centerline is valid? [False, False] Translation: X:6.01, Y:0.32, Z:-0.66 [[ 9.99967644e-01 -7.42318657e-03 3.09951896e-03 6.00793935e+00] [ 7.42910695e-03 9.99970593e-01 -1.90297060e-03 3.16009557e-01] [-3.08530170e-03 1.92593568e-03 9.99993386e-01 -6.56425953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30650248099997 meters 0.11794113003675619 Centerline is valid? [False, False] Translation: X:6.01, Y:0.31, Z:-0.66 [[ 9.99934349e-01 -1.11504761e-02 2.63910749e-03 6.00933033e+00] [ 1.11643648e-02 9.99923589e-01 -5.30776522e-03 3.14592407e-01] [-2.57972173e-03 5.33688072e-03 9.99982431e-01 -6.57303573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36650248099997 meters 0.1176724762871868 Centerline is valid? [False, False] Translation: X:6.01, Y:0.31, Z:-0.66 [[ 9.99935964e-01 -1.10461949e-02 2.45951877e-03 6.01075623e+00] [ 1.10559014e-02 9.99931007e-01 -3.96847761e-03 3.10031568e-01] [-2.41551250e-03 3.99541568e-03 9.99989101e-01 -6.59557911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42650248099997 meters 0.11752377290344872 Centerline is valid? [False, False] Translation: X:6.01, Y:0.31, Z:-0.66 [[ 9.99942827e-01 -1.04506971e-02 2.26377237e-03 6.01191896e+00] [ 1.04570312e-02 9.99941391e-01 -2.80450485e-03 3.07882278e-01] [-2.23433066e-03 2.82801684e-03 9.99993505e-01 -6.60899405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48650248099997 meters 0.11793063178096322 Centerline is valid? [False, False] Translation: X:6.01, Y:0.31, Z:-0.66 [[ 9.99897240e-01 -1.42234755e-02 1.78919010e-03 6.01323635e+00] [ 1.42340859e-02 9.99880300e-01 -6.06437079e-03 3.06130763e-01] [-1.70271950e-03 6.08921510e-03 9.99980011e-01 -6.61681617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54650248099998 meters 0.1179144158217696 Centerline is valid? [False, False] Translation: X:6.01, Y:0.30, Z:-0.66 [[ 9.99902763e-01 -1.38449985e-02 1.66766680e-03 6.01411845e+00] [ 1.38533460e-02 9.99891019e-01 -5.10249530e-03 3.04189395e-01] [-1.59684102e-03 5.12510192e-03 9.99985592e-01 -6.62805486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60650248099998 meters 0.11843399225725273 Centerline is valid? [False, False] Translation: X:6.02, Y:0.30, Z:-0.66 [[ 9.99909352e-01 -1.33675559e-02 1.61143784e-03 6.01513068e+00] [ 1.33743098e-02 9.99901502e-01 -4.25597527e-03 3.02883660e-01] [-1.55438713e-03 4.27714135e-03 9.99989645e-01 -6.64237193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66650248099998 meters 0.11819437898174007 Centerline is valid? [False, False] Translation: X:6.02, Y:0.30, Z:-0.67 [[ 9.99914787e-01 -1.29802763e-02 1.38962356e-03 6.01649097e+00] [ 1.29854201e-02 9.99908621e-01 -3.75888758e-03 3.02864752e-01] [-1.34070518e-03 3.77661212e-03 9.99991970e-01 -6.65791147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72650248099998 meters 0.11767003952772526 Centerline is valid? [False, False] Translation: X:6.02, Y:0.31, Z:-0.66 [[ 9.99911130e-01 -1.33117048e-02 7.27985994e-04 6.01701906e+00] [ 1.33149688e-02 9.99900402e-01 -4.67939285e-03 3.05431535e-01] [-6.65622792e-04 4.68867010e-03 9.99988787e-01 -6.64654629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78650248099999 meters 0.11741305680738488 Centerline is valid? [False, False] Translation: X:6.02, Y:0.30, Z:-0.67 [[ 9.99962464e-01 -8.61732059e-03 9.00797841e-04 6.01741166e+00] [ 8.61698393e-03 9.99962802e-01 3.76947463e-04 3.03771442e-01] [-9.04012611e-04 -3.69171153e-04 9.99999523e-01 -6.65819936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84650248099996 meters 0.11685607537205502 Centerline is valid? [False, False] Translation: X:6.02, Y:0.30, Z:-0.67 [[ 9.99969995e-01 -7.73881029e-03 3.46870193e-04 6.02028645e+00] [ 7.73840299e-03 9.99969385e-01 1.16057134e-03 3.04956156e-01] [-3.55841015e-04 -1.15785230e-03 9.99999266e-01 -6.68821100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90650248099996 meters 0.11549400738637924 Centerline is valid? [False, False] Translation: X:6.02, Y:0.31, Z:-0.67 [[ 9.99978246e-01 -6.47916693e-03 -1.23599126e-03 6.02352698e+00] [ 6.48131580e-03 9.99977478e-01 1.74256573e-03 3.10029759e-01] [ 1.22467305e-03 -1.75053867e-03 9.99997718e-01 -6.69812550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96650248099996 meters 0.11421093441769542 Centerline is valid? [False, False] Translation: X:6.03, Y:0.31, Z:-0.67 [[ 9.99977026e-01 -6.46589967e-03 -2.03484497e-03 6.02503647e+00] [ 6.46777812e-03 9.99978662e-01 9.17920038e-04 3.13042055e-01] [ 2.02886637e-03 -9.31059875e-04 9.99997508e-01 -6.70003739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02650248099997 meters 0.11313118887985386 Centerline is valid? [False, False] Translation: X:6.03, Y:0.32, Z:-0.67 [[ 9.99974821e-01 -6.38124537e-03 -3.10436998e-03 6.02701581e+00] [ 6.38114662e-03 9.99979639e-01 -4.17135577e-05 3.16676350e-01] [ 3.10457296e-03 2.19030674e-05 9.99995181e-01 -6.70156290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08650248099997 meters 0.11164020359416972 Centerline is valid? [False, False] Translation: X:6.03, Y:0.32, Z:-0.67 [[ 9.99969905e-01 -6.34238386e-03 -4.46805765e-03 6.02922508e+00] [ 6.33531522e-03 9.99978661e-01 -1.59442001e-03 3.21680280e-01] [ 4.47807472e-03 1.56606547e-03 9.99988747e-01 -6.69841734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14650248099997 meters 0.11127532193040623 Centerline is valid? [False, False] Translation: X:6.03, Y:0.32, Z:-0.67 [[ 9.99968195e-01 -6.16707298e-03 -5.05722039e-03 6.03055644e+00] [ 6.15798506e-03 9.99979400e-01 -1.81062497e-03 3.23005704e-01] [ 5.06828246e-03 1.77942510e-03 9.99985573e-01 -6.70295513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20650248099997 meters 0.11185500268265523 Centerline is valid? [False, False] Translation: X:6.05, Y:0.33, Z:-0.67 [[ 9.99967024e-01 4.99122972e-03 -6.40610224e-03 6.04890777e+00] [-5.00809374e-03 9.99984029e-01 -2.61915667e-03 3.26129441e-01] [ 6.39292712e-03 2.65115266e-03 9.99976051e-01 -6.68847370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26650248099997 meters 0.11263047796541047 Centerline is valid? [False, False] Translation: X:6.05, Y:0.33, Z:-0.67 [[ 9.99960020e-01 4.62969974e-03 -7.65014335e-03 6.05004375e+00] [-4.66594532e-03 9.99977943e-01 -4.72686034e-03 3.31113830e-01] [ 7.62809066e-03 4.76236651e-03 9.99959565e-01 -6.66881022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32650248099998 meters 0.11398234756675056 Centerline is valid? [False, False] Translation: X:6.05, Y:0.33, Z:-0.66 [[ 9.99963690e-01 2.89766713e-04 -8.51676391e-03 6.05047711e+00] [-3.77706207e-04 9.99946618e-01 -1.03256646e-02 3.34764054e-01] [ 8.51331723e-03 1.03285065e-02 9.99910419e-01 -6.64969392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38650248099998 meters 0.11465098357509299 Centerline is valid? [False, False] Translation: X:6.05, Y:0.33, Z:-0.67 [[ 9.99961570e-01 7.89817428e-04 -8.73122070e-03 6.05136250e+00] [-8.74103581e-04 9.99953019e-01 -9.65382401e-03 3.33426173e-01] [ 8.72318574e-03 9.66108501e-03 9.99915281e-01 -6.65816207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44650248099998 meters 0.11426384804403036 Centerline is valid? [False, False] Translation: X:6.05, Y:0.33, Z:-0.67 [[ 9.99962826e-01 1.05766382e-03 -8.55730481e-03 6.05092762e+00] [-1.13255962e-03 9.99961058e-01 -8.75215794e-03 3.30700178e-01] [ 8.54771472e-03 8.76152425e-03 9.99925083e-01 -6.65717762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50650248099998 meters 0.11236891396833813 Centerline is valid? [False, False] Translation: X:6.07, Y:0.32, Z:-0.67 [[ 9.99972215e-01 -6.36729121e-03 -3.87640462e-03 6.06509981e+00] [ 6.34324149e-03 9.99960753e-01 -6.18513041e-03 3.24246127e-01] [ 3.91563501e-03 6.16036959e-03 9.99973358e-01 -6.68954558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.566502481 meters 0.11197280677073067 Centerline is valid? [False, False] Translation: X:6.07, Y:0.32, Z:-0.67 [[ 9.99976321e-01 -5.82503311e-03 -3.66413100e-03 6.06533944e+00] [ 5.80729281e-03 9.99971455e-01 -4.83376015e-03 3.20963767e-01] [ 3.69218321e-03 4.81236701e-03 9.99981604e-01 -6.70023399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62650248099996 meters 0.11159585878433886 Centerline is valid? [False, False] Translation: X:6.07, Y:0.32, Z:-0.67 [[ 9.99979672e-01 -5.38559682e-03 -3.41330512e-03 6.06534447e+00] [ 5.37310807e-03 9.99978876e-01 -3.65751106e-03 3.17884341e-01] [ 3.43293090e-03 3.63909666e-03 9.99987486e-01 -6.70788010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68650248099996 meters 0.11113665945785856 Centerline is valid? [False, False] Translation: X:6.07, Y:0.32, Z:-0.67 [[ 9.99981076e-01 -5.03641334e-03 -3.53307970e-03 6.06582770e+00] [ 5.02592764e-03 9.99982958e-01 -2.97048956e-03 3.16349509e-01] [ 3.54798010e-03 2.95267634e-03 9.99989347e-01 -6.71200778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74650248099996 meters 0.11115229723275391 Centerline is valid? [False, False] Translation: X:6.07, Y:0.32, Z:-0.67 [[ 9.99982488e-01 -4.86899886e-03 -3.36408377e-03 6.06564147e+00] [ 4.86049058e-03 9.99984980e-01 -2.53271727e-03 3.15023863e-01] [ 3.37636504e-03 2.51632182e-03 9.99991134e-01 -6.71391314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80650248099997 meters 0.11096375765803536 Centerline is valid? [False, False] Translation: X:6.07, Y:0.31, Z:-0.67 [[ 9.99984863e-01 -4.47859753e-03 -3.19636717e-03 6.06574180e+00] [ 4.47346334e-03 9.99988695e-01 -1.61160424e-03 3.12730192e-01] [ 3.20354877e-03 1.59728101e-03 9.99993593e-01 -6.72076399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86650248099997 meters 0.11076660025030759 Centerline is valid? [False, False] Translation: X:6.07, Y:0.31, Z:-0.67 [[ 9.99987919e-01 -4.06298722e-03 -2.76667340e-03 6.06557544e+00] [ 4.06141401e-03 9.99991588e-01 -5.74006919e-04 3.09651882e-01] [ 2.76898231e-03 5.62763378e-04 9.99996008e-01 -6.73010320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92650248099997 meters 0.11069812317166013 Centerline is valid? [False, False] Translation: X:6.07, Y:0.31, Z:-0.67 [[ 9.99989670e-01 -3.60209300e-03 -2.77198962e-03 6.06610404e+00] [ 3.60302141e-03 9.99993455e-01 3.30002330e-04 3.07715987e-01] [ 2.77078277e-03 -3.39986459e-04 9.99996104e-01 -6.73884870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98650248099997 meters 0.11052386131703151 Centerline is valid? [False, False] Translation: X:6.07, Y:0.31, Z:-0.67 [[ 9.99965450e-01 -7.57825106e-03 -3.41609717e-03 6.06723544e+00] [ 7.56577843e-03 9.99964720e-01 -3.64938987e-03 3.07625792e-01] [ 3.44363264e-03 3.62341835e-03 9.99987506e-01 -6.73866490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04650248099998 meters 0.11011061487594286 Centerline is valid? [False, False] Translation: X:6.07, Y:0.30, Z:-0.68 [[ 9.99970524e-01 -6.86399645e-03 -3.44057862e-03 6.06823459e+00] [ 6.85587002e-03 9.99973694e-01 -2.36819293e-03 3.04992580e-01] [ 3.45674338e-03 2.34453497e-03 9.99991277e-01 -6.75444841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10650248099998 meters 0.11006671620994367 Centerline is valid? [False, False] Translation: X:6.07, Y:0.31, Z:-0.68 [[ 9.99970635e-01 -6.62245629e-03 -3.85654039e-03 6.06922258e+00] [ 6.61401180e-03 9.99975711e-01 -2.19830527e-03 3.05186251e-01] [ 3.87100489e-03 2.17273351e-03 9.99990147e-01 -6.75827077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16650248099998 meters 0.10995160356757974 Centerline is valid? [False, False] Translation: X:6.07, Y:0.30, Z:-0.68 [[ 9.99971499e-01 -6.36977600e-03 -4.05312825e-03 6.06992534e+00] [ 6.36214281e-03 9.99977969e-01 -1.89339928e-03 3.04857644e-01] [ 4.06509949e-03 1.86755873e-03 9.99989994e-01 -6.76346318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22650248099998 meters 0.11008425411712269 Centerline is valid? [False, False] Translation: X:6.07, Y:0.30, Z:-0.68 [[ 9.99971878e-01 -6.28678674e-03 -4.08898267e-03 6.06978302e+00] [ 6.28010373e-03 9.99978927e-01 -1.64518476e-03 3.03836615e-01] [ 4.09923943e-03 1.61945926e-03 9.99990287e-01 -6.76045864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28650248099999 meters 0.10996242459989182 Centerline is valid? [False, False] Translation: X:6.07, Y:0.30, Z:-0.68 [[ 9.99969957e-01 -6.31739251e-03 -4.49173629e-03 6.07012809e+00] [ 6.30906118e-03 9.99978356e-01 -1.86656959e-03 3.04509527e-01] [ 4.50343092e-03 1.83817487e-03 9.99988170e-01 -6.75418742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34650248099996 meters 0.11006398113524775 Centerline is valid? [False, False] Translation: X:6.07, Y:0.30, Z:-0.68 [[ 9.99969807e-01 -6.17089015e-03 -4.72276850e-03 6.07043094e+00] [ 6.16294474e-03 9.99979572e-01 -1.69507128e-03 3.04051181e-01] [ 4.73313212e-03 1.66591394e-03 9.99987411e-01 -6.75260602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40650248099996 meters 0.10990104152653629 Centerline is valid? [False, False] Translation: X:6.07, Y:0.31, Z:-0.67 [[ 9.99966398e-01 -6.14451338e-03 -5.42657559e-03 6.07110342e+00] [ 6.13336256e-03 9.99979050e-01 -2.06911055e-03 3.05186928e-01] [ 5.43917558e-03 2.03575787e-03 9.99983135e-01 -6.74293745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46650248099996 meters 0.10976717311968202 Centerline is valid? [False, False] Translation: X:6.07, Y:0.30, Z:-0.68 [[ 9.99967038e-01 -5.55596069e-03 -5.92059018e-03 6.07255657e+00] [ 5.54731973e-03 9.99983526e-01 -1.47490057e-03 3.04431547e-01] [ 5.92868714e-03 1.44200855e-03 9.99981385e-01 -6.75207926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52650248099997 meters 0.10947763326544216 Centerline is valid? [False, False] Translation: X:6.07, Y:0.30, Z:-0.68 [[ 9.99966203e-01 -5.05465816e-03 -6.48403430e-03 6.07396072e+00] [ 5.04808769e-03 9.99986729e-01 -1.02929650e-03 3.04034481e-01] [ 6.48915099e-03 9.96529741e-04 9.99978449e-01 -6.75866017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58650248099997 meters 0.10927948857312358 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.68 [[ 9.99967493e-01 -4.42630260e-03 -6.73956102e-03 6.07523846e+00] [ 4.42519193e-03 9.99990193e-01 -1.79701105e-04 3.02776060e-01] [ 6.74029033e-03 1.49871412e-04 9.99977273e-01 -6.77170518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64650248099997 meters 0.10899130051077166 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.68 [[ 9.99967481e-01 -4.25319121e-03 -6.85181426e-03 6.07524023e+00] [ 4.25463015e-03 9.99990930e-01 1.95447458e-04 3.01506296e-01] [ 6.85092083e-03 -2.24593037e-04 9.99976507e-01 -6.76886581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70650248099997 meters 0.10894910889726091 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.68 [[ 9.99932147e-01 -8.58433810e-03 -7.87471722e-03 6.07584781e+00] [ 8.54970734e-03 9.99953678e-01 -4.42088820e-03 3.02431323e-01] [ 7.91230285e-03 4.35326170e-03 9.99959221e-01 -6.75012246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76650248099997 meters 0.10893577978616786 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.68 [[ 9.99934874e-01 -8.17741311e-03 -7.96101713e-03 6.07627164e+00] [ 8.14937619e-03 9.99960499e-01 -3.54786913e-03 3.00305336e-01] [ 7.98971505e-03 3.48276075e-03 9.99962017e-01 -6.75475574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82650248099998 meters 0.10865165254548041 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.68 [[ 9.99938964e-01 -7.70084228e-03 -7.92242230e-03 6.07646042e+00] [ 7.68165955e-03 9.99967497e-01 -2.44890789e-03 2.97338717e-01] [ 7.94102345e-03 2.38790106e-03 9.99965618e-01 -6.75890466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88650248099998 meters 0.10862195374942411 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.68 [[ 9.99938125e-01 -7.38753795e-03 -8.31688569e-03 6.07741026e+00] [ 7.37061084e-03 9.99970706e-01 -2.06408547e-03 2.97002352e-01] [ 8.33189057e-03 2.00265723e-03 9.99963284e-01 -6.76273970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94650248099998 meters 0.10877086356410648 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.67 [[ 9.99930132e-01 -7.56238925e-03 -9.08523468e-03 6.07763639e+00] [ 7.53854946e-03 9.99968059e-01 -2.65540134e-03 2.98118741e-01] [ 9.10502567e-03 2.58672632e-03 9.99955203e-01 -6.74534912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00650248099998 meters 0.10886023238473601 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.67 [[ 9.99922841e-01 -7.74508516e-03 -9.71217753e-03 6.07780510e+00] [ 7.71387035e-03 9.99964975e-01 -3.24733910e-03 2.99208260e-01] [ 9.73698828e-03 3.17217006e-03 9.99947563e-01 -6.73046100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06650248099996 meters 0.10891004553739124 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.67 [[ 9.99922372e-01 -7.57473534e-03 -9.89313730e-03 6.07806685e+00] [ 7.54519370e-03 9.99966974e-01 -3.01999282e-03 2.98694590e-01] [ 9.91568622e-03 2.94511275e-03 9.99946501e-01 -6.72932846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12650248099996 meters 0.10853318941665985 Centerline is valid? [False, False] Translation: X:6.08, Y:0.30, Z:-0.67 [[ 9.99928009e-01 -6.90227734e-03 -9.81510206e-03 6.07878043e+00] [ 6.88536566e-03 9.99974754e-01 -1.75577505e-03 2.96066059e-01] [ 9.82697312e-03 1.68806808e-03 9.99950289e-01 -6.74304069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18650248099996 meters 0.10824944699865045 Centerline is valid? [False, False] Translation: X:6.08, Y:0.29, Z:-0.67 [[ 9.99931993e-01 -6.37629550e-03 -9.76481498e-03 6.07903389e+00] [ 6.36991828e-03 9.99979478e-01 -6.84043182e-04 2.93607420e-01] [ 9.76897624e-03 6.21795589e-04 9.99952089e-01 -6.74847680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24650248099996 meters 0.10817395213067836 Centerline is valid? [False, False] Translation: X:6.08, Y:0.29, Z:-0.68 [[ 9.99936154e-01 -5.82366185e-03 -9.68364285e-03 6.07925095e+00] [ 5.82861559e-03 9.99982897e-01 4.83414460e-04 2.90808360e-01] [ 9.68066198e-03 -5.39825827e-04 9.99952996e-01 -6.75461146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30650248099997 meters 0.10813253292846463 Centerline is valid? [False, False] Translation: X:6.08, Y:0.29, Z:-0.68 [[ 9.99937883e-01 -5.40233787e-03 -9.74913080e-03 6.07977367e+00] [ 5.41446570e-03 9.99984600e-01 1.21802565e-03 2.89304093e-01] [ 9.74240048e-03 -1.27073632e-03 9.99951734e-01 -6.76098572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36650248099997 meters 0.10792730931829377 Centerline is valid? [False, False] Translation: X:6.08, Y:0.29, Z:-0.68 [[ 9.99904729e-01 -9.29103872e-03 -1.02082932e-02 6.08129800e+00] [ 9.26437776e-03 9.99953558e-01 -2.65588865e-03 2.89389304e-01] [ 1.02324951e-02 2.56106213e-03 9.99944367e-01 -6.77117032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42650248099997 meters 0.10804725169387726 Centerline is valid? [False, False] Translation: X:6.08, Y:0.29, Z:-0.68 [[ 9.99905823e-01 -8.98644086e-03 -1.03724847e-02 6.08188409e+00] [ 8.96391158e-03 9.99957367e-01 -2.21647556e-03 2.88708123e-01] [ 1.03919607e-02 2.12328878e-03 9.99943748e-01 -6.77581666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48650248099997 meters 0.10844437330577637 Centerline is valid? [False, False] Translation: X:6.09, Y:0.29, Z:-0.67 [[ 9.99968803e-01 -2.89949664e-03 -7.34757136e-03 6.08961798e+00] [ 2.85911429e-03 9.99980784e-01 -5.50056968e-03 2.87333203e-01] [ 7.36337906e-03 5.47939053e-03 9.99957878e-01 -6.73783468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54650248099998 meters 0.10850541196565648 Centerline is valid? [False, False] Translation: X:6.10, Y:0.29, Z:-0.67 [[ 9.99984331e-01 2.47244890e-03 -5.02232802e-03 6.10112971e+00] [-2.51734456e-03 9.99956756e-01 -8.95264868e-03 2.86302946e-01] [ 4.99997587e-03 8.96515133e-03 9.99947312e-01 -6.74031155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60650248099998 meters 0.10874378254266179 Centerline is valid? [False, False] Translation: X:6.12, Y:0.29, Z:-0.68 [[ 9.99999268e-01 -7.26063429e-04 -9.68126697e-04 6.11714922e+00] [ 7.21163955e-04 9.99986981e-01 -5.05155947e-03 2.85292156e-01] [ 9.71781845e-04 5.05085759e-03 9.99986772e-01 -6.76225560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66650248099998 meters 0.10869694311379556 Centerline is valid? [False, False] Translation: X:6.12, Y:0.28, Z:-0.68 [[ 9.99999367e-01 -3.90547153e-04 -1.05486278e-03 6.11745840e+00] [ 3.85752160e-04 9.99989611e-01 -4.54199272e-03 2.84031409e-01] [ 1.05662569e-03 4.54158293e-03 9.99989129e-01 -6.76517450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72650248099998 meters 0.10907191702890043 Centerline is valid? [False, False] Translation: X:6.12, Y:0.28, Z:-0.68 [[ 9.99999609e-01 -1.92018347e-04 -8.63000107e-04 6.11676947e+00] [ 1.88633975e-04 9.99992299e-01 -3.92000818e-03 2.81671543e-01] [ 8.63746175e-04 3.91984385e-03 9.99991944e-01 -6.76067988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78650248099999 meters 0.10931028933757976 Centerline is valid? [False, False] Translation: X:6.12, Y:0.28, Z:-0.68 [[ 9.99991524e-01 -3.99691700e-03 -9.88155265e-04 6.11707923e+00] [ 3.98958233e-03 9.99965277e-01 -7.31635050e-03 2.79413395e-01] [ 1.01736380e-03 7.31234616e-03 9.99972747e-01 -6.76299477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84650248099996 meters 0.10902567978649567 Centerline is valid? [False, False] Translation: X:6.12, Y:0.28, Z:-0.68 [[ 9.99994798e-01 -3.07470128e-03 -9.74558025e-04 6.11836386e+00] [ 3.06913146e-03 9.99979238e-01 -5.66610978e-03 2.76264062e-01] [ 9.91959386e-04 5.66308926e-03 9.99983473e-01 -6.78473425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90650248099996 meters 0.10962557309394062 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99996770e-01 -2.45629671e-03 -6.53010269e-04 6.11845124e+00] [ 2.45349055e-03 9.99987900e-01 -4.26388759e-03 2.73125692e-01] [ 6.63475741e-04 4.26227166e-03 9.99990696e-01 -6.79565759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96650248099996 meters 0.10991382916719732 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99997165e-01 -2.31306160e-03 -5.65141016e-04 6.11802563e+00] [ 2.31090917e-03 9.99990185e-01 -3.78009035e-03 2.71417404e-01] [ 5.73879051e-04 3.77877364e-03 9.99992696e-01 -6.79182566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02650248099997 meters 0.1101899776793222 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99996745e-01 -2.53507802e-03 -2.89482886e-04 6.11675995e+00] [ 2.53398403e-03 9.99989874e-01 -3.71891362e-03 2.69916083e-01] [ 2.98907691e-04 3.71816797e-03 9.99993043e-01 -6.78025313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08650248099997 meters 0.11030395312397062 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99979398e-01 -6.36391008e-03 -8.38962503e-04 6.11855208e+00] [ 6.35736438e-03 9.99951012e-01 -7.58665795e-03 2.70281809e-01] [ 8.87202213e-04 7.58116806e-03 9.99970869e-01 -6.79275535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14650248099997 meters 0.1102289997144464 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99983356e-01 -5.67780362e-03 -1.02477982e-03 6.11979420e+00] [ 5.67102695e-03 9.99962802e-01 -6.49881209e-03 2.68323482e-01] [ 1.06164067e-03 6.49289237e-03 9.99978357e-01 -6.80805351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20650248099997 meters 0.11085220225581247 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99982101e-01 -5.79910315e-03 -1.47256704e-03 6.11975379e+00] [ 5.78894813e-03 9.99960061e-01 -6.80921634e-03 2.68970833e-01] [ 1.51199557e-03 6.80056984e-03 9.99975733e-01 -6.79549343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26650248099997 meters 0.11096047907087338 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99982646e-01 -5.67356779e-03 -1.58712365e-03 6.11961660e+00] [ 5.66312504e-03 9.99962783e-01 -6.50855550e-03 2.67968189e-01] [ 1.62399132e-03 6.49945446e-03 9.99977560e-01 -6.79036203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32650248099998 meters 0.11130603155905068 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99985557e-01 -5.15869245e-03 -1.50819647e-03 6.12003115e+00] [ 5.15038187e-03 9.99971813e-01 -5.46319313e-03 2.65630908e-01] [ 1.53633689e-03 5.45534643e-03 9.99983939e-01 -6.79969478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38650248099998 meters 0.11161729061036098 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99987135e-01 -4.76038178e-03 -1.75146562e-03 6.12124020e+00] [ 4.75163647e-03 9.99976391e-01 -4.96386681e-03 2.65619392e-01] [ 1.77505417e-03 4.95548062e-03 9.99986146e-01 -6.81148352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44650248099998 meters 0.11222211474967449 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99987198e-01 -4.62908469e-03 -2.04352934e-03 6.12185749e+00] [ 4.61894163e-03 9.99977128e-01 -4.94062979e-03 2.65968103e-01] [ 2.06635320e-03 4.93112759e-03 9.99985707e-01 -6.81271380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50650248099998 meters 0.11356373724137085 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99986456e-01 -4.65375487e-03 -2.33048879e-03 6.12238209e+00] [ 4.64146765e-03 9.99975445e-01 -5.25032109e-03 2.67169106e-01] [ 2.35486527e-03 5.23943309e-03 9.99983501e-01 -6.81253746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56650248099996 meters 0.11476622497764906 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99985745e-01 -4.69829858e-03 -2.53702071e-03 6.12279436e+00] [ 4.68407599e-03 9.99973444e-01 -5.58315771e-03 2.68453056e-01] [ 2.56318468e-03 5.57119453e-03 9.99981196e-01 -6.81272186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62650248099996 meters 0.11579199361134361 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99987085e-01 -4.24264418e-03 -2.79801091e-03 6.12413341e+00] [ 4.22843685e-03 9.99978237e-01 -5.06417242e-03 2.68230555e-01] [ 2.81943550e-03 5.05227580e-03 9.99983263e-01 -6.82623218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68650248099996 meters 0.11710703840898443 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99987807e-01 -4.10324854e-03 -2.74747298e-03 6.12434814e+00] [ 4.08995778e-03 9.99979992e-01 -4.82571830e-03 2.68030505e-01] [ 2.76721913e-03 4.81442241e-03 9.99984582e-01 -6.83045340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74650248099996 meters 0.11805822549051273 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99988352e-01 -3.99101047e-03 -2.71447430e-03 6.12439801e+00] [ 3.97832261e-03 9.99981212e-01 -4.66359779e-03 2.67818171e-01] [ 2.73303577e-03 4.65274441e-03 9.99985441e-01 -6.83172985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80650248099997 meters 0.12131263175812887 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99989971e-01 -3.78914607e-03 -2.38760221e-03 6.12401147e+00] [ 3.77926182e-03 9.99984327e-01 -4.13082350e-03 2.66426777e-01] [ 2.40321708e-03 4.12175869e-03 9.99988618e-01 -6.83475433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86650248099997 meters 0.12251368358246685 Centerline is valid? [False, False] Translation: X:6.12, Y:0.27, Z:-0.68 [[ 9.99991352e-01 -3.35591970e-03 -2.45650206e-03 6.12467487e+00] [ 3.34741688e-03 9.99988421e-01 -3.45731628e-03 2.65124018e-01] [ 2.46807609e-03 3.44906344e-03 9.99991006e-01 -6.84312562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92650248099997 meters 0.12384314147718248 Centerline is valid? [False, False] Translation: X:6.13, Y:0.26, Z:-0.69 [[ 9.99993179e-01 -2.59589833e-03 -2.62730986e-03 6.12630583e+00] [ 2.58950937e-03 9.99993689e-01 -2.43223618e-03 2.63694667e-01] [ 2.63360712e-03 2.42541614e-03 9.99993591e-01 -6.86271244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98650248099997 meters 0.1257851628817295 Centerline is valid? [False, False] Translation: X:6.13, Y:0.26, Z:-0.69 [[ 9.99993435e-01 -2.32601792e-03 -2.77854177e-03 6.12715067e+00] [ 2.31995954e-03 9.99994929e-01 -2.18165487e-03 2.63875348e-01] [ 2.78360225e-03 2.17519444e-03 9.99993760e-01 -6.87063406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04650248099998 meters 0.12779174943677513 Centerline is valid? [False, False] Translation: X:6.14, Y:0.27, Z:-0.69 [[ 9.99993081e-01 2.99959195e-03 2.20016979e-03 6.13869052e+00] [-2.98801808e-03 9.99981781e-01 -5.24499805e-03 2.66961108e-01] [-2.21586256e-03 5.23838761e-03 9.99983824e-01 -6.89987473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10650248099998 meters 0.1290216912101233 Centerline is valid? [False, False] Translation: X:6.14, Y:0.27, Z:-0.69 [[ 9.99994454e-01 3.00798425e-03 1.42977091e-03 6.14030072e+00] [-2.99918490e-03 9.99976792e-01 -6.11718363e-03 2.70346953e-01] [-1.44813812e-03 6.11286155e-03 9.99980268e-01 -6.90244759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16650248099998 meters 0.13065384183823658 Centerline is valid? [False, False] Translation: X:6.15, Y:0.28, Z:-0.69 [[ 9.99989840e-01 -4.37363021e-03 1.09140551e-03 6.14981259e+00] [ 4.37471005e-03 9.99989942e-01 -9.88992910e-04 2.75590679e-01] [-1.08706904e-03 9.93757444e-04 9.99998915e-01 -6.90443549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22650248099998 meters 0.13256483082809237 Centerline is valid? [False, False] Translation: X:6.15, Y:0.28, Z:-0.69 [[ 9.99991294e-01 -4.15000741e-03 4.35181946e-04 6.15137428e+00] [ 4.15054568e-03 9.99990613e-01 -1.24336494e-03 2.77599627e-01] [-4.30017888e-04 1.24516036e-03 9.99999132e-01 -6.90934349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28650248099999 meters 0.12929896677514588 Centerline is valid? [False, False] Translation: X:6.15, Y:0.28, Z:-0.69 [[ 9.99992556e-01 -3.85543431e-03 1.52906148e-04 6.15216715e+00] [ 3.85556353e-03 9.99992203e-01 -8.54002602e-04 2.77157560e-01] [-1.49612405e-04 8.54585784e-04 9.99999624e-01 -6.91387109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34650248099996 meters 0.13005009196040226 Centerline is valid? [False, False] Translation: X:6.15, Y:0.28, Z:-0.69 [[ 9.99983950e-01 -5.62143574e-03 -7.06182182e-04 6.15482270e+00] [ 5.61966536e-03 9.99981123e-01 -2.48442026e-03 2.77828595e-01] [ 7.20134861e-04 2.48041188e-03 9.99996664e-01 -6.93042871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40650248099996 meters 0.130544391050037 Centerline is valid? [False, False] Translation: X:6.16, Y:0.28, Z:-0.69 [[ 9.99986215e-01 -5.19583670e-03 -7.56530590e-04 6.15536055e+00] [ 5.19456172e-03 9.99985101e-01 -1.67762376e-03 2.76090793e-01] [ 7.65235978e-04 1.67367079e-03 9.99998307e-01 -6.93772954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46650248099996 meters 0.13025018749248968 Centerline is valid? [False, False] Translation: X:6.16, Y:0.27, Z:-0.69 [[ 9.99988758e-01 -4.62893513e-03 -1.02803026e-03 6.15625992e+00] [ 4.62835566e-03 9.99989129e-01 -5.65337558e-04 2.73525636e-01] [ 1.03063599e-03 5.60573113e-04 9.99999312e-01 -6.94482853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52650248099997 meters 0.13092753320222825 Centerline is valid? [False, False] Translation: X:6.16, Y:0.27, Z:-0.69 [[ 9.99961202e-01 -8.67733918e-03 -1.51620730e-03 6.15702353e+00] [ 8.67044616e-03 9.99952307e-01 -4.49514406e-03 2.73295542e-01] [ 1.55514088e-03 4.48182346e-03 9.99988747e-01 -6.94248133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58650248099997 meters 0.12844768610134996 Centerline is valid? [False, False] Translation: X:6.16, Y:0.27, Z:-0.69 [[ 9.99963651e-01 -8.40064812e-03 -1.45778117e-03 6.15694765e+00] [ 8.39520546e-03 9.99957913e-01 -3.70032419e-03 2.71097282e-01] [ 1.48880493e-03 3.68795131e-03 9.99992091e-01 -6.94267359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64650248099997 meters 0.12765925108565812 Centerline is valid? [False, False] Translation: X:6.16, Y:0.27, Z:-0.69 [[ 9.99965331e-01 -8.14887782e-03 -1.71268461e-03 6.15738833e+00] [ 8.14314130e-03 9.99961299e-01 -3.33013467e-03 2.70410292e-01] [ 1.73975518e-03 3.31607258e-03 9.99992988e-01 -6.94214438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70650248099997 meters 0.12691416950453385 Centerline is valid? [False, False] Translation: X:6.16, Y:0.27, Z:-0.69 [[ 9.99968645e-01 -7.68036211e-03 -1.92878677e-03 6.15806134e+00] [ 7.67520539e-03 9.99966989e-01 -2.66687979e-03 2.68769677e-01] [ 1.94920570e-03 2.65199234e-03 9.99994584e-01 -6.94671374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76650248099997 meters 0.1253806865893355 Centerline is valid? [False, False] Translation: X:6.16, Y:0.27, Z:-0.69 [[ 9.99970737e-01 -7.33604667e-03 -2.16987853e-03 6.15863232e+00] [ 7.33124710e-03 9.99970680e-01 -2.21165268e-03 2.67890857e-01] [ 2.18603969e-03 2.19568004e-03 9.99995200e-01 -6.94915772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82650248099998 meters 0.12559339446174878 Centerline is valid? [False, False] Translation: X:6.16, Y:0.27, Z:-0.70 [[ 9.99973760e-01 -6.82030994e-03 -2.44189757e-03 6.15962987e+00] [ 6.81656454e-03 9.99975583e-01 -1.53885731e-03 2.66930669e-01] [ 2.45233343e-03 1.52217158e-03 9.99995835e-01 -6.95763865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88650248099998 meters 0.12492980686331134 Centerline is valid? [False, False] Translation: X:6.16, Y:0.26, Z:-0.70 [[ 9.99977619e-01 -6.27561170e-03 -2.31905099e-03 6.15966955e+00] [ 6.27455969e-03 9.99980209e-01 -4.60635911e-04 2.63818699e-01] [ 2.32189587e-03 4.46074578e-04 9.99997205e-01 -6.96262399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94650248099998 meters 0.12457695808339982 Centerline is valid? [False, False] Translation: X:6.16, Y:0.26, Z:-0.70 [[ 9.99947731e-01 -9.89257301e-03 -2.58299509e-03 6.16103961e+00] [ 9.88296484e-03 9.99944293e-01 -3.70641867e-03 2.62189377e-01] [ 2.61951721e-03 3.68069729e-03 9.99989795e-01 -6.97660542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00650248099998 meters 0.1236991611615482 Centerline is valid? [False, False] Translation: X:6.16, Y:0.26, Z:-0.70 [[ 9.99950764e-01 -9.59571686e-03 -2.52837873e-03 6.16113079e+00] [ 9.58845217e-03 9.99949911e-01 -2.86988255e-03 2.60458901e-01] [ 2.55579066e-03 2.84549800e-03 9.99992686e-01 -6.97935828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06650248099996 meters 0.12352428408108473 Centerline is valid? [False, False] Translation: X:6.16, Y:0.26, Z:-0.70 [[ 9.99907252e-01 -1.34061246e-02 -2.40086621e-03 6.16156910e+00] [ 1.33917462e-02 9.99892873e-01 -5.90799809e-03 2.57702031e-01] [ 2.47981237e-03 5.87529834e-03 9.99979665e-01 -6.98883936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12650248099996 meters 0.126042333699949 Centerline is valid? [False, False] Translation: X:6.16, Y:0.25, Z:-0.70 [[ 9.99901438e-01 -1.39112806e-02 -1.89462675e-03 6.16043113e+00] [ 1.39008794e-02 9.99888815e-01 -5.39661494e-03 2.54666908e-01] [ 1.96948992e-03 5.36974606e-03 9.99983643e-01 -6.98535441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18650248099996 meters 0.12808970808344877 Centerline is valid? [False, False] Translation: X:6.16, Y:0.25, Z:-0.70 [[ 9.99899420e-01 -1.41288952e-02 -1.23444909e-03 6.15916957e+00] [ 1.41230527e-02 9.99889592e-01 -4.61985097e-03 2.51308055e-01] [ 1.29958619e-03 4.60195212e-03 9.99988566e-01 -6.98341139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24650248099996 meters 0.1259871647140922 Centerline is valid? [False, False] Translation: X:6.16, Y:0.25, Z:-0.70 [[ 9.99901036e-01 -1.40291428e-02 -1.04985354e-03 6.15896261e+00] [ 1.40247034e-02 9.99893149e-01 -4.12284831e-03 2.50121295e-01] [ 1.10758139e-03 4.10771641e-03 9.99990950e-01 -6.98446258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30650248099997 meters 0.12633154415353093 Centerline is valid? [False, False] Translation: X:6.16, Y:0.25, Z:-0.70 [[ 9.99906779e-01 -1.36151740e-02 -1.03003874e-03 6.15956912e+00] [ 1.36117103e-02 9.99901917e-01 -3.29813411e-03 2.48554518e-01] [ 1.07484238e-03 3.28380606e-03 9.99994031e-01 -6.99441395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36650248099997 meters 0.12609692230455102 Centerline is valid? [False, False] Translation: X:6.16, Y:0.25, Z:-0.70 [[ 9.99910435e-01 -1.33489331e-02 -9.63460424e-04 6.15973020e+00] [ 1.33462234e-02 9.99907109e-01 -2.76612695e-03 2.47310560e-01] [ 1.00029577e-03 2.75302065e-03 9.99995710e-01 -6.99876413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42650248099997 meters 0.12557165299936954 Centerline is valid? [False, False] Translation: X:6.16, Y:0.25, Z:-0.70 [[ 9.99913298e-01 -1.30689230e-02 -1.61242775e-03 6.16145485e+00] [ 1.30643770e-02 9.99910742e-01 -2.79839713e-03 2.48884688e-01] [ 1.64885586e-03 2.77708914e-03 9.99994785e-01 -7.00654298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48650248099997 meters 0.12331946105412361 Centerline is valid? [False, False] Translation: X:6.17, Y:0.25, Z:-0.70 [[ 9.99935706e-01 -1.09581234e-02 -2.91615770e-03 6.16597151e+00] [ 1.09557446e-02 9.99939639e-01 -8.30460231e-04 2.50966812e-01] [ 2.92508196e-03 7.98458158e-04 9.99995403e-01 -7.04133260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54650248099998 meters 0.12191985981853995 Centerline is valid? [False, False] Translation: X:6.17, Y:0.25, Z:-0.70 [[ 9.99935717e-01 -1.07940372e-02 -3.47150375e-03 6.16731415e+00] [ 1.07903074e-02 9.99941187e-01 -1.09135167e-03 2.52495097e-01] [ 3.48307967e-03 1.05382292e-03 9.99993379e-01 -7.04618527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60650248099998 meters 0.12073849119457199 Centerline is valid? [False, False] Translation: X:6.18, Y:0.25, Z:-0.70 [[ 9.99997532e-01 -2.12013780e-03 -6.64595449e-04 6.17916711e+00] [ 2.11862022e-03 9.99995166e-01 -2.27590669e-03 2.53757235e-01] [ 6.69417472e-04 2.27449305e-03 9.99997189e-01 -7.04402588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66650248099998 meters 0.12033571053249395 Centerline is valid? [False, False] Translation: X:6.18, Y:0.26, Z:-0.71 [[ 9.99996941e-01 -1.95280812e-03 -1.51802690e-03 6.18122248e+00] [ 1.94846945e-03 9.99994028e-01 -2.85434133e-03 2.56738540e-01] [ 1.52359181e-03 2.85137477e-03 9.99994774e-01 -7.05119778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72650248099998 meters 0.11869151193019524 Centerline is valid? [False, False] Translation: X:6.18, Y:0.26, Z:-0.71 [[ 9.99995232e-01 -2.02379132e-03 -2.33239389e-03 6.18286869e+00] [ 2.01491278e-03 9.99990740e-01 -3.80270396e-03 2.60504115e-01] [ 2.34006817e-03 3.79798626e-03 9.99990050e-01 -7.05267222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78650248099999 meters 0.11737679834075367 Centerline is valid? [False, False] Translation: X:6.19, Y:0.27, Z:-0.71 [[ 9.99989060e-01 2.90915597e-03 3.66294200e-03 6.19356133e+00] [-2.88256301e-03 9.99969604e-01 -7.24446726e-03 2.65046046e-01] [-3.68390594e-03 7.23382934e-03 9.99967050e-01 -7.08596708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84650248099996 meters 0.1174583407488512 Centerline is valid? [False, False] Translation: X:6.19, Y:0.27, Z:-0.71 [[ 9.99989517e-01 3.03446067e-03 3.42890162e-03 6.19417659e+00] [-3.00982423e-03 9.99969784e-01 -7.16739716e-03 2.65175682e-01] [-3.45054720e-03 7.15700164e-03 9.99968435e-01 -7.08847403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90650248099996 meters 0.11662423469467617 Centerline is valid? [False, False] Translation: X:6.20, Y:0.27, Z:-0.71 [[ 9.99987121e-01 -5.06592096e-03 3.06776149e-04 6.20318058e+00] [ 5.06683725e-03 9.99982471e-01 -3.06358947e-03 2.67998638e-01] [-2.91250869e-04 3.06510440e-03 9.99995260e-01 -7.06218149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96650248099996 meters 0.11676626341090439 Centerline is valid? [False, False] Translation: X:6.20, Y:0.27, Z:-0.71 [[ 9.99986507e-01 -5.19460634e-03 5.12110890e-05 6.20382939e+00] [ 5.19475354e-03 9.99980406e-01 -3.49308149e-03 2.69834532e-01] [-3.30649023e-05 3.49330038e-03 9.99993898e-01 -7.06365352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02650248099997 meters 0.11778185955704384 Centerline is valid? [False, False] Translation: X:6.21, Y:0.27, Z:-0.71 [[ 9.99956255e-01 -9.34203259e-03 -4.64001433e-04 6.20504145e+00] [ 9.33808658e-03 9.99925339e-01 -7.88146075e-03 2.70960956e-01] [ 5.37595653e-04 7.87678309e-03 9.99968833e-01 -7.06646261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08650248099997 meters 0.11813693642117759 Centerline is valid? [False, False] Translation: X:6.21, Y:0.27, Z:-0.71 [[ 9.99956182e-01 -9.33970272e-03 -6.35645495e-04 6.20544132e+00] [ 9.33430721e-03 9.99924279e-01 -8.01912337e-03 2.71663483e-01] [ 7.10493592e-04 8.01283868e-03 9.99967644e-01 -7.06756006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14650248099997 meters 0.11742559670758766 Centerline is valid? [False, False] Translation: X:6.22, Y:0.27, Z:-0.71 [[ 9.99999438e-01 -2.49020871e-04 -1.03063383e-03 6.21891894e+00] [ 2.42030465e-04 9.99977005e-01 -6.77720408e-03 2.71033048e-01] [ 1.03229779e-03 6.77695082e-03 9.99976503e-01 -7.07800861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20650248099997 meters 0.11540346239702348 Centerline is valid? [False, False] Translation: X:6.22, Y:0.27, Z:-0.71 [[ 9.99998750e-01 -7.76423054e-05 -1.57909307e-03 6.22025085e+00] [ 6.62061365e-05 9.99973781e-01 -7.24100188e-03 2.72828087e-01] [ 1.57961388e-03 7.24088829e-03 9.99972537e-01 -7.08331312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26650248099997 meters 0.11448475691709467 Centerline is valid? [False, False] Translation: X:6.22, Y:0.28, Z:-0.71 [[ 9.99996829e-01 2.07699258e-04 -2.50993869e-03 6.22245387e+00] [-2.27018692e-04 9.99970334e-01 -7.69934169e-03 2.75349216e-01] [ 2.50826508e-03 7.69988707e-03 9.99967210e-01 -7.09071810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32650248099998 meters 0.11402702023366879 Centerline is valid? [False, False] Translation: X:6.22, Y:0.28, Z:-0.71 [[ 9.99994334e-01 3.38656974e-04 -3.34921709e-03 6.22423126e+00] [-3.66465848e-04 9.99965438e-01 -8.30597171e-03 2.78259190e-01] [ 3.34628846e-03 8.30715203e-03 9.99959896e-01 -7.09363856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38650248099998 meters 0.11356659017937018 Centerline is valid? [False, False] Translation: X:6.22, Y:0.28, Z:-0.71 [[ 9.99993267e-01 6.00537159e-04 -3.62022875e-03 6.22493298e+00] [-6.29825367e-04 9.99967041e-01 -8.09444967e-03 2.77903292e-01] [ 3.61524841e-03 8.09667528e-03 9.99960686e-01 -7.09692712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44650248099998 meters 0.11428697519028692 Centerline is valid? [False, False] Translation: X:6.24, Y:0.28, Z:-0.71 [[ 9.99995751e-01 -2.22473518e-03 1.88360754e-03 6.23881370e+00] [ 2.23168802e-03 9.99990675e-01 -3.69721562e-03 2.75691225e-01] [-1.87536465e-03 3.70140353e-03 9.99991391e-01 -7.10512254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50650248099998 meters 0.11495613220332536 Centerline is valid? [False, False] Translation: X:6.24, Y:0.27, Z:-0.71 [[ 9.99995584e-01 -2.05791167e-03 2.14423713e-03 6.23844437e+00] [ 2.06429081e-03 9.99993438e-01 -2.97706204e-03 2.73245619e-01] [-2.13809653e-03 2.98147522e-03 9.99993270e-01 -7.10755217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56650248099996 meters 0.11495312326704574 Centerline is valid? [False, False] Translation: X:6.24, Y:0.27, Z:-0.71 [[ 9.99980157e-01 -6.04298472e-03 1.77965181e-03 6.23973170e+00] [ 6.05524249e-03 9.99957412e-01 -6.96482970e-03 2.73522532e-01] [-1.73748766e-03 6.97546772e-03 9.99974162e-01 -7.11620990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62650248099996 meters 0.11474937340062667 Centerline is valid? [False, False] Translation: X:6.24, Y:0.27, Z:-0.71 [[ 9.99982134e-01 -5.72366918e-03 1.72354784e-03 6.24013850e+00] [ 5.73449397e-03 9.99963444e-01 -6.34248753e-03 2.72171658e-01] [-1.68718253e-03 6.35225789e-03 9.99978401e-01 -7.12133106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68650248099996 meters 0.1138831655519593 Centerline is valid? [False, False] Translation: X:6.24, Y:0.27, Z:-0.71 [[ 9.99983042e-01 -5.65274291e-03 1.40060002e-03 6.24070464e+00] [ 5.66161280e-03 9.99963415e-01 -6.41202819e-03 2.72677184e-01] [-1.36430324e-03 6.41984911e-03 9.99978462e-01 -7.12036748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74650248099996 meters 0.11303896518745424 Centerline is valid? [False, False] Translation: X:6.24, Y:0.27, Z:-0.71 [[ 9.99983593e-01 -5.64411468e-03 9.78256176e-04 6.24153297e+00] [ 5.65061582e-03 9.99961081e-01 -6.77541836e-03 2.74047616e-01] [-9.39976865e-04 6.78083495e-03 9.99976568e-01 -7.12070283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80650248099997 meters 0.11137752640836156 Centerline is valid? [False, False] Translation: X:6.24, Y:0.28, Z:-0.71 [[ 9.99998061e-01 -1.90270978e-03 5.07985727e-04 6.24190723e+00] [ 1.90470450e-03 9.99990363e-01 -3.95553628e-03 2.77859839e-01] [-5.00454594e-04 3.95649618e-03 9.99992048e-01 -7.11126567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86650248099997 meters 0.11114993245040525 Centerline is valid? [False, False] Translation: X:6.24, Y:0.28, Z:-0.71 [[ 9.99998475e-01 -1.74317118e-03 1.02340742e-04 6.24309999e+00] [ 1.74357429e-03 9.99990154e-01 -4.08064363e-03 2.78978474e-01] [-9.52264743e-05 4.08081585e-03 9.99991669e-01 -7.11746485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92650248099997 meters 0.11127825803020171 Centerline is valid? [False, False] Translation: X:6.26, Y:0.28, Z:-0.71 [[ 9.99985499e-01 -2.48005197e-03 4.78022565e-03 6.25901041e+00] [ 2.47706194e-03 9.99996733e-01 6.31319406e-04 2.83098734e-01] [-4.78177573e-03 -6.19469337e-04 9.99988375e-01 -7.12060233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98650248099997 meters 0.11206488224569881 Centerline is valid? [False, False] Translation: X:6.26, Y:0.28, Z:-0.71 [[ 9.99986870e-01 -2.42360767e-03 4.51512663e-03 6.25975596e+00] [ 2.42138258e-03 9.99996944e-01 4.98208499e-04 2.84181843e-01] [-4.51632029e-03 -4.87269109e-04 9.99989683e-01 -7.12351719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04650248099998 meters 0.11290235022462713 Centerline is valid? [False, False] Translation: X:6.26, Y:0.29, Z:-0.71 [[ 9.99970991e-01 -6.58633179e-03 3.82591722e-03 6.26141002e+00] [ 6.60200568e-03 9.99969807e-01 -4.09868850e-03 2.86432952e-01] [-3.79880638e-03 4.12382833e-03 9.99984281e-01 -7.12780689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10650248099998 meters 0.11655169206376573 Centerline is valid? [False, False] Translation: X:6.26, Y:0.28, Z:-0.71 [[ 9.99969258e-01 -6.71940308e-03 4.04147436e-03 6.26139372e+00] [ 6.73369037e-03 9.99971091e-01 -3.53201009e-03 2.84889434e-01] [-4.01762452e-03 3.55911555e-03 9.99985596e-01 -7.13526983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16650248099998 meters 0.11957933231792213 Centerline is valid? [False, False] Translation: X:6.26, Y:0.28, Z:-0.71 [[ 9.99968043e-01 -6.66010613e-03 4.42224303e-03 6.26086836e+00] [ 6.67332385e-03 9.99973290e-01 -2.98091951e-03 2.83167118e-01] [-4.40227167e-03 3.01033531e-03 9.99985779e-01 -7.13797515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22650248099998 meters 0.11811991094938394 Centerline is valid? [False, False] Translation: X:6.26, Y:0.28, Z:-0.71 [[ 9.99966853e-01 -6.83590814e-03 4.42299646e-03 6.26048302e+00] [ 6.84876050e-03 9.99972350e-01 -2.89721197e-03 2.82798686e-01] [-4.40306909e-03 2.92740798e-03 9.99986022e-01 -7.13191979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28650248099999 meters 0.12040327548379726 Centerline is valid? [False, False] Translation: X:6.26, Y:0.28, Z:-0.71 [[ 9.99964277e-01 -7.09655543e-03 4.59179629e-03 6.26018143e+00] [ 7.10959394e-03 9.99970723e-01 -2.82945758e-03 2.82168692e-01] [-4.57158245e-03 2.86200230e-03 9.99985455e-01 -7.13218976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34650248099996 meters 0.12150676975958946 Centerline is valid? [False, False] Translation: X:6.26, Y:0.28, Z:-0.71 [[ 9.99965663e-01 -6.90834395e-03 4.57680251e-03 6.26066707e+00] [ 6.91988466e-03 9.99972906e-01 -2.51054682e-03 2.81754091e-01] [-4.55933479e-03 2.54213156e-03 9.99986375e-01 -7.13898216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40650248099996 meters 0.12195525942296494 Centerline is valid? [False, False] Translation: X:6.26, Y:0.29, Z:-0.71 [[ 9.99967763e-01 -7.20207893e-03 3.54999327e-03 6.26185074e+00] [ 7.21524737e-03 9.99967085e-01 -3.71068303e-03 2.85762012e-01] [-3.52315179e-03 3.73617749e-03 9.99986814e-01 -7.12690497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46650248099996 meters 0.12036281877464891 Centerline is valid? [False, False] Translation: X:6.26, Y:0.29, Z:-0.71 [[ 9.99990993e-01 -3.17165655e-03 2.82046702e-03 6.26243692e+00] [ 3.17315808e-03 9.99994826e-01 -5.28053923e-04 2.88312059e-01] [-2.81877762e-03 5.36998954e-04 9.99995883e-01 -7.11290882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52650248099997 meters 0.120748398515253 Centerline is valid? [False, False] Translation: X:6.26, Y:0.29, Z:-0.71 [[ 9.99994872e-01 -2.84597122e-03 1.46844085e-03 6.26493542e+00] [ 2.84805667e-03 9.99994936e-01 -1.42004662e-03 2.91520072e-01] [-1.46439201e-03 1.42422154e-03 9.99997914e-01 -7.11335214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58650248099997 meters 0.11921287088231179 Centerline is valid? [False, False] Translation: X:6.27, Y:0.30, Z:-0.71 [[ 9.99999022e-01 1.34794987e-03 3.72507687e-04 6.26663552e+00] [-1.34857858e-03 9.99997658e-01 1.69269493e-03 2.95437010e-01] [-3.70225147e-04 -1.69319564e-03 9.99998498e-01 -7.10648264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64650248099997 meters 0.11897860342887369 Centerline is valid? [False, False] Translation: X:6.27, Y:0.30, Z:-0.71 [[ 9.99999316e-01 1.05542991e-03 -5.03708650e-04 6.26767912e+00] [-1.05534656e-03 9.99999429e-01 1.65715987e-04 2.99510522e-01] [ 5.03883264e-04 -1.65184287e-04 9.99999859e-01 -7.09587016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70650248099997 meters 0.11961500680243355 Centerline is valid? [False, False] Translation: X:6.28, Y:0.30, Z:-0.71 [[ 9.99963408e-01 8.23794609e-03 -2.30619280e-03 6.28017368e+00] [-8.24387167e-03 9.99962711e-01 -2.57181389e-03 3.03066405e-01] [ 2.28492034e-03 2.59073174e-03 9.99994034e-01 -7.05390289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76650248099997 meters 0.12012467471478623 Centerline is valid? [False, False] Translation: X:6.29, Y:0.31, Z:-0.71 [[ 9.99996476e-01 -2.57700557e-03 -6.37897037e-04 6.28768775e+00] [ 2.57719632e-03 9.99996635e-01 2.98392639e-04 3.07411280e-01] [ 6.37125931e-04 -3.00035573e-04 9.99999752e-01 -7.05945837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82650248099998 meters 0.11904136016307358 Centerline is valid? [False, False] Translation: X:6.29, Y:0.31, Z:-0.71 [[ 9.99995486e-01 -2.75213152e-03 -1.20585259e-03 6.28833364e+00] [ 2.75156375e-03 9.99996103e-01 -4.72252622e-04 3.09725297e-01] [ 1.20714760e-03 4.68932510e-04 9.99999161e-01 -7.05225556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88650248099998 meters 0.1181639497016846 Centerline is valid? [False, False] Translation: X:6.29, Y:0.31, Z:-0.71 [[ 9.99995680e-01 -2.83209010e-03 -7.87550835e-04 6.28764198e+00] [ 2.83180726e-03 9.99995926e-01 -3.60032294e-04 3.09022518e-01] [ 7.88567270e-04 3.57800546e-04 9.99999625e-01 -7.05307208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94650248099998 meters 0.11764258538646098 Centerline is valid? [False, False] Translation: X:6.29, Y:0.31, Z:-0.71 [[ 9.99996214e-01 -2.70961526e-03 -4.78514174e-04 6.28720205e+00] [ 2.70970867e-03 9.99996310e-01 1.94678031e-04 3.07384181e-01] [ 4.77984905e-04 -1.95973928e-04 9.99999867e-01 -7.05477078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00650248099998 meters 0.11735443978473076 Centerline is valid? [False, False] Translation: X:6.29, Y:0.31, Z:-0.71 [[ 9.99976809e-01 -6.76511265e-03 -7.83995163e-04 6.28774463e+00] [ 6.76215174e-03 9.99970218e-01 -3.71973727e-03 3.06781398e-01] [ 8.09136256e-04 3.71434951e-03 9.99992774e-01 -7.05451600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06650248099996 meters 0.11692398270936658 Centerline is valid? [False, False] Translation: X:6.29, Y:0.30, Z:-0.71 [[ 9.99979321e-01 -6.43000162e-03 1.14382576e-04 6.28669808e+00] [ 6.43024940e-03 9.99976642e-01 -2.31680453e-03 3.01899579e-01] [-9.94828475e-05 2.31749212e-03 9.99997310e-01 -7.06354517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12650248099996 meters 0.11697924024258657 Centerline is valid? [False, False] Translation: X:6.29, Y:0.30, Z:-0.71 [[ 9.99980998e-01 -6.15954550e-03 2.54051718e-04 6.28651048e+00] [ 6.15992747e-03 9.99979855e-01 -1.53119161e-03 2.99720804e-01] [-2.44615156e-04 1.53272746e-03 9.99998795e-01 -7.06533330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18650248099996 meters 0.11586539806610624 Centerline is valid? [False, False] Translation: X:6.29, Y:0.30, Z:-0.71 [[ 9.99984006e-01 -5.65363874e-03 -1.53955049e-04 6.28768558e+00] [ 5.65349296e-03 9.99983585e-01 -9.31426502e-04 2.98820994e-01] [ 1.59218471e-04 9.30541222e-04 9.99999554e-01 -7.07288723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24650248099996 meters 0.1152826385485507 Centerline is valid? [False, False] Translation: X:6.29, Y:0.30, Z:-0.71 [[ 9.99984091e-01 -5.61760248e-03 -5.10398200e-04 6.28768697e+00] [ 5.61709126e-03 9.99983726e-01 -9.97575283e-04 2.98114990e-01] [ 5.15993876e-04 9.94692460e-04 9.99999372e-01 -7.06342019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30650248099997 meters 0.1154937640333779 Centerline is valid? [False, False] Translation: X:6.29, Y:0.30, Z:-0.71 [[ 9.99985179e-01 -5.36424115e-03 -9.30694654e-04 6.28843434e+00] [ 5.36345981e-03 9.99985264e-01 -8.39993935e-04 2.97829475e-01] [ 9.35186869e-04 8.34989742e-04 9.99999214e-01 -7.06369886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36650248099997 meters 0.11455846690268685 Centerline is valid? [False, False] Translation: X:6.29, Y:0.30, Z:-0.71 [[ 9.99987953e-01 -4.75552606e-03 -1.21624930e-03 6.28968456e+00] [ 4.75541368e-03 9.99988688e-01 -9.52683675e-05 2.96400239e-01] [ 1.21668859e-03 8.94834512e-05 9.99999256e-01 -7.07544359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42650248099997 meters 0.11428850738409056 Centerline is valid? [False, False] Translation: X:6.29, Y:0.30, Z:-0.71 [[ 9.99987912e-01 -4.61399451e-03 -1.69908593e-03 6.29016248e+00] [ 4.61400651e-03 9.99989355e-01 3.14095489e-06 2.95984561e-01] [ 1.69905335e-03 -1.09805105e-05 9.99998557e-01 -7.06966679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48650248099997 meters 0.11413407137330292 Centerline is valid? [False, False] Translation: X:6.29, Y:0.29, Z:-0.71 [[ 9.99988103e-01 -4.68456194e-03 -1.35935931e-03 6.28892820e+00] [ 4.68505932e-03 9.99988959e-01 3.62940352e-04 2.93329133e-01] [ 1.35764409e-03 -3.69304713e-04 9.99999010e-01 -7.06049425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54650248099998 meters 0.11375807151586628 Centerline is valid? [False, False] Translation: X:6.29, Y:0.29, Z:-0.71 [[ 9.99961646e-01 -8.58112588e-03 -1.75220739e-03 6.28972723e+00] [ 8.57523323e-03 9.99957643e-01 -3.34325113e-03 2.92004205e-01] [ 1.78082203e-03 3.32809731e-03 9.99992876e-01 -7.06207087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60650248099998 meters 0.11370305943675804 Centerline is valid? [False, False] Translation: X:6.29, Y:0.29, Z:-0.71 [[ 9.99968309e-01 -7.83375888e-03 -1.41900810e-03 6.29008450e+00] [ 7.83156342e-03 9.99968137e-01 -1.54618099e-03 2.87576945e-01] [ 1.43107530e-03 1.53501894e-03 9.99997798e-01 -7.07798266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66650248099998 meters 0.11344916546442417 Centerline is valid? [False, False] Translation: X:6.29, Y:0.28, Z:-0.71 [[ 9.99974452e-01 -7.07229364e-03 -1.03816790e-03 6.29026522e+00] [ 7.07253310e-03 9.99974964e-01 2.27174449e-04 2.83100630e-01] [ 1.03653526e-03 -2.34511122e-04 9.99999435e-01 -7.09249271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72650248099998 meters 0.113665822634139 Centerline is valid? [False, False] Translation: X:6.29, Y:0.28, Z:-0.71 [[ 9.99974992e-01 -6.90478063e-03 -1.52953370e-03 6.29073256e+00] [ 6.90538290e-03 9.99976082e-01 3.88827638e-04 2.82705689e-01] [ 1.52681235e-03 -3.99379930e-04 9.99998755e-01 -7.08689442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78650248099996 meters 0.11365668082829229 Centerline is valid? [False, False] Translation: X:6.29, Y:0.28, Z:-0.71 [[ 9.99975874e-01 -6.68638517e-03 -1.88220507e-03 6.29130579e+00] [ 6.68746888e-03 9.99977476e-01 5.70061096e-04 2.82416867e-01] [ 1.87835103e-03 -5.82634531e-04 9.99998066e-01 -7.08662121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84650248099996 meters 0.11360238017096144 Centerline is valid? [False, False] Translation: X:6.29, Y:0.28, Z:-0.71 [[ 9.99938746e-01 -1.07130558e-02 -2.78101048e-03 6.29293823e+00] [ 1.07020413e-02 9.99934947e-01 -3.94571264e-03 2.83983020e-01] [ 2.82310021e-03 3.91570846e-03 9.99988349e-01 -7.08787886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90650248099996 meters 0.11357819604238724 Centerline is valid? [False, False] Translation: X:6.29, Y:0.28, Z:-0.71 [[ 9.99940634e-01 -1.04376449e-02 -3.12801842e-03 6.29397864e+00] [ 1.04260063e-02 9.99938750e-01 -3.71424243e-03 2.84255640e-01] [ 3.16659477e-03 3.68140919e-03 9.99988210e-01 -7.09466569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96650248099996 meters 0.1136497826585033 Centerline is valid? [False, False] Translation: X:6.29, Y:0.28, Z:-0.71 [[ 9.99941309e-01 -1.02304137e-02 -3.56614590e-03 6.29494884e+00] [ 1.02175570e-02 9.99941301e-01 -3.60497033e-03 2.84690470e-01] [ 3.60281691e-03 3.56832145e-03 9.99987143e-01 -7.09724103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02650248099997 meters 0.11375900434417996 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.71 [[ 9.99943491e-01 -1.00225182e-02 -3.54444636e-03 6.29507001e+00] [ 1.00114821e-02 9.99945023e-01 -3.11778738e-03 2.83551976e-01] [ 3.57549958e-03 3.08212604e-03 9.99988858e-01 -7.09906938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08650248099997 meters 0.11378621464607466 Centerline is valid? [False, False] Translation: X:6.29, Y:0.28, Z:-0.71 [[ 9.99948499e-01 -9.61770742e-03 -3.24021752e-03 6.29490723e+00] [ 9.61161526e-03 9.99952020e-01 -1.89052446e-03 2.80362857e-01] [ 3.25824456e-03 1.85928337e-03 9.99992963e-01 -7.10435538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14650248099997 meters 0.11393989736229361 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.71 [[ 9.99953364e-01 -9.18997319e-03 -2.96878469e-03 6.29519562e+00] [ 9.18762681e-03 9.99957470e-01 -8.03025299e-04 2.78107687e-01] [ 2.97603821e-03 7.75711763e-04 9.99995271e-01 -7.11578540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20650248099997 meters 0.11402256127990394 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.71 [[ 9.99955600e-01 -8.99432415e-03 -2.81088790e-03 6.29524081e+00] [ 8.99340171e-03 9.99959501e-01 -3.40635169e-04 2.77093768e-01] [ 2.81383784e-03 3.15340600e-04 9.99995991e-01 -7.11999250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26650248099997 meters 0.11393962283751531 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.71 [[ 9.99957320e-01 -8.83126624e-03 -2.71402575e-03 6.29580309e+00] [ 8.83090717e-03 9.99960996e-01 -1.44254819e-04 2.77411550e-01] [ 2.71519384e-03 1.20281353e-04 9.99996307e-01 -7.12998890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32650248099998 meters 0.11348617818817137 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.71 [[ 9.99957777e-01 -8.72355023e-03 -2.88850897e-03 6.29663926e+00] [ 8.72285121e-03 9.99961923e-01 -2.54511783e-04 2.78703710e-01] [ 2.89061923e-03 2.29305003e-04 9.99995796e-01 -7.13747130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38650248099998 meters 0.11292873637206144 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.71 [[ 9.99957728e-01 -8.58768546e-03 -3.28551497e-03 6.29795951e+00] [ 8.58583863e-03 9.99962975e-01 -5.75802919e-04 2.80968125e-01] [ 3.29033814e-03 5.47569677e-04 9.99994437e-01 -7.14641019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44650248099998 meters 0.1126332164238632 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99985964e-01 -4.37662426e-03 -2.98609250e-03 6.29795878e+00] [ 4.38695670e-03 9.99984383e-01 3.46245758e-03 2.82219546e-01] [ 2.97089199e-03 -3.47550884e-03 9.99989547e-01 -7.15423182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50650248099998 meters 0.1123167148345377 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99986434e-01 -4.15880784e-03 -3.13640124e-03 6.29880966e+00] [ 4.16998925e-03 9.99984944e-01 3.56697105e-03 2.82752433e-01] [ 3.12151967e-03 -3.58000142e-03 9.99988720e-01 -7.16306295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56650248099996 meters 0.11218267944413646 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99960573e-01 -8.11720699e-03 -3.60053034e-03 6.30041059e+00] [ 8.11460046e-03 9.99966804e-01 -7.37949397e-04 2.84376339e-01] [ 3.60640091e-03 7.08703437e-04 9.99993246e-01 -7.17468564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62650248099996 meters 0.11221580248592251 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99964473e-01 -7.68410486e-03 -3.46506536e-03 6.30112571e+00] [ 7.68416523e-03 9.99970476e-01 4.11033986e-06 2.83443960e-01] [ 3.46493147e-03 -3.07363286e-05 9.99993997e-01 -7.19005230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68650248099996 meters 0.11231734463746863 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99964626e-01 -7.56198574e-03 -3.68292944e-03 6.30160492e+00] [ 7.56250031e-03 9.99971396e-01 1.25810066e-04 2.83430408e-01] [ 3.68187272e-03 -1.53657770e-04 9.99993210e-01 -7.19124034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74650248099996 meters 0.11243163809458122 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99968667e-01 -7.07004666e-03 -3.56077847e-03 6.30200635e+00] [ 7.07414586e-03 9.99974328e-01 1.13993314e-03 2.81293754e-01] [ 3.55262767e-03 -1.16508689e-03 9.99993011e-01 -7.20156215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80650248099997 meters 0.11281774525817403 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99971629e-01 -6.75058346e-03 -3.34236338e-03 6.30191702e+00] [ 6.75732499e-03 9.99975149e-01 2.00982710e-03 2.78853251e-01] [ 3.32871281e-03 -2.03235552e-03 9.99992395e-01 -7.20676370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86650248099997 meters 0.11302370790822269 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99936080e-01 -1.05780873e-02 -3.99245940e-03 6.30396087e+00] [ 1.05703513e-02 9.99942223e-01 -1.95381020e-03 2.79813389e-01] [ 4.01289631e-03 1.91148361e-03 9.99990121e-01 -7.21978158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92650248099997 meters 0.11318569965553285 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99941213e-01 -1.00971009e-02 -3.95209544e-03 6.30451008e+00] [ 1.00929527e-02 9.99948494e-01 -1.06814416e-03 2.78043790e-01] [ 3.96267704e-03 1.02819305e-03 9.99991620e-01 -7.22976313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98650248099997 meters 0.11324630013799802 Centerline is valid? [False, False] Translation: X:6.30, Y:0.28, Z:-0.72 [[ 9.99944734e-01 -9.77278750e-03 -3.87577411e-03 6.30445092e+00] [ 9.77179188e-03 9.99952217e-01 -2.75736581e-04 2.75894062e-01] [ 3.87828363e-03 2.37848084e-04 9.99992451e-01 -7.23157025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04650248099998 meters 0.11342191932545216 Centerline is valid? [False, False] Translation: X:6.30, Y:0.27, Z:-0.72 [[ 9.99947679e-01 -9.37513880e-03 -4.09229395e-03 6.30485780e+00] [ 9.37695601e-03 9.99955945e-01 4.25096094e-04 2.73944264e-01] [ 4.08812833e-03 -4.63447113e-04 9.99991536e-01 -7.23250717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10650248099998 meters 0.11261360822140253 Centerline is valid? [False, False] Translation: X:6.31, Y:0.27, Z:-0.73 [[ 9.99953478e-01 -8.52296490e-03 -4.51671860e-03 6.30676817e+00] [ 8.52986154e-03 9.99962480e-01 1.50985638e-03 2.72364695e-01] [ 4.50368069e-03 -1.54831313e-03 9.99988660e-01 -7.25151366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16650248099998 meters 0.11199068602050086 Centerline is valid? [False, False] Translation: X:6.31, Y:0.27, Z:-0.73 [[ 9.99958099e-01 -7.25054172e-03 -5.58842795e-03 6.31041876e+00] [ 7.26530102e-03 9.99970161e-01 2.62528535e-03 2.73258676e-01] [ 5.56922645e-03 -2.66577696e-03 9.99980938e-01 -7.28041351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22650248099998 meters 0.11191063477259429 Centerline is valid? [False, False] Translation: X:6.32, Y:0.28, Z:-0.72 [[ 9.99994407e-01 1.79795921e-03 -2.82014437e-03 6.32102115e+00] [-1.79688990e-03 9.99998313e-01 3.81654425e-04 2.75226450e-01] [ 2.82082581e-03 -3.76584801e-04 9.99995951e-01 -7.24314507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28650248099996 meters 0.11177092612531946 Centerline is valid? [False, False] Translation: X:6.32, Y:0.28, Z:-0.72 [[ 9.99990280e-01 -2.51812627e-03 -3.61917288e-03 6.32183707e+00] [ 2.50133582e-03 9.99986124e-01 -4.63636892e-03 2.77408070e-01] [ 3.63079762e-03 4.62727109e-03 9.99982703e-01 -7.23431664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34650248099996 meters 0.11147226603487313 Centerline is valid? [False, False] Translation: X:6.32, Y:0.28, Z:-0.73 [[ 9.99990816e-01 -1.80765944e-03 -3.88585873e-03 6.32340164e+00] [ 1.79351403e-03 9.99991765e-01 -3.64063575e-03 2.76093791e-01] [ 3.89240775e-03 3.63363298e-03 9.99985823e-01 -7.25163787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40650248099996 meters 0.11130223211343265 Centerline is valid? [False, False] Translation: X:6.32, Y:0.27, Z:-0.73 [[ 9.99976384e-01 -5.43405155e-03 -4.20734299e-03 6.32474493e+00] [ 5.40491201e-03 9.99961543e-01 -6.90654305e-03 2.74282920e-01] [ 4.24471170e-03 6.88363963e-03 9.99967298e-01 -7.26379238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46650248099996 meters 0.11158398366029622 Centerline is valid? [False, False] Translation: X:6.32, Y:0.27, Z:-0.73 [[ 9.99982232e-01 -4.68839211e-03 -3.68179738e-03 6.32452044e+00] [ 4.67061190e-03 9.99977461e-01 -4.82306003e-03 2.68927336e-01] [ 3.70432680e-03 4.80577809e-03 9.99981591e-01 -7.27664784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52650248099997 meters 0.11135571390669947 Centerline is valid? [False, False] Translation: X:6.33, Y:0.27, Z:-0.73 [[ 9.99957281e-01 -8.44818915e-03 -3.75024708e-03 6.32509831e+00] [ 8.41785673e-03 9.99932315e-01 -8.03152639e-03 2.66435435e-01] [ 3.81784510e-03 7.99961425e-03 9.99960714e-01 -7.28379476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58650248099997 meters 0.11158361298775435 Centerline is valid? [False, False] Translation: X:6.32, Y:0.26, Z:-0.73 [[ 9.99965042e-01 -7.83073339e-03 -2.93144906e-03 6.32454409e+00] [ 7.81227326e-03 9.99949910e-01 -6.25662749e-03 2.59726625e-01] [ 2.98029621e-03 6.23350749e-03 9.99976130e-01 -7.29673596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64650248099997 meters 0.11159259631827276 Centerline is valid? [False, False] Translation: X:6.32, Y:0.26, Z:-0.73 [[ 9.99969969e-01 -7.24021542e-03 -2.76416882e-03 6.32470751e+00] [ 7.22688838e-03 9.99962359e-01 -4.80128074e-03 2.56198333e-01] [ 2.79882708e-03 4.78116021e-03 9.99984653e-01 -7.30496610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70650248099997 meters 0.11215831176722335 Centerline is valid? [False, False] Translation: X:6.32, Y:0.25, Z:-0.73 [[ 9.99974578e-01 -6.66876739e-03 -2.52424723e-03 6.32462719e+00] [ 6.66027944e-03 9.99972188e-01 -3.35616982e-03 2.52391790e-01] [ 2.54655854e-03 3.33927230e-03 9.99991182e-01 -7.31135385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76650248099997 meters 0.11280984587389419 Centerline is valid? [False, False] Translation: X:6.32, Y:0.25, Z:-0.73 [[ 9.99977639e-01 -6.36243133e-03 -2.05917115e-03 6.32399067e+00] [ 6.35777980e-03 9.99977241e-01 -2.25765025e-03 2.48876549e-01] [ 2.07348843e-03 2.24450801e-03 9.99995331e-01 -7.31458580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82650248099998 meters 0.11324220219659918 Centerline is valid? [False, False] Translation: X:6.32, Y:0.25, Z:-0.73 [[ 9.99980110e-01 -6.02539430e-03 -1.86371538e-03 6.32378843e+00] [ 6.02297195e-03 9.99981013e-01 -1.30263609e-03 2.46175882e-01] [ 1.87152889e-03 1.29138507e-03 9.99997415e-01 -7.31739603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88650248099998 meters 0.1136446318286395 Centerline is valid? [False, False] Translation: X:6.32, Y:0.24, Z:-0.73 [[ 9.99982140e-01 -5.63503709e-03 -1.99156067e-03 6.32419445e+00] [ 5.63403653e-03 9.99984000e-01 -5.07656291e-04 2.44239669e-01] [ 1.99438947e-03 4.96426699e-04 9.99997888e-01 -7.32066570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94650248099998 meters 0.11389679408044491 Centerline is valid? [False, False] Translation: X:6.32, Y:0.24, Z:-0.73 [[ 9.99984485e-01 -5.20280470e-03 -1.99002023e-03 6.32447425e+00] [ 5.20367532e-03 9.99986367e-01 4.32569330e-04 2.41967604e-01] [ 1.98774253e-03 -4.42918038e-04 9.99997926e-01 -7.32547611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00650248099998 meters 0.11422992385231867 Centerline is valid? [False, False] Translation: X:6.33, Y:0.24, Z:-0.73 [[ 9.99955829e-01 -9.11079647e-03 -2.30951444e-03 6.32525040e+00] [ 9.10321235e-03 9.99953207e-01 -3.27336967e-03 2.40812829e-01] [ 2.33922938e-03 3.25220108e-03 9.99991976e-01 -7.32849428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06650248099996 meters 0.11357134510368258 Centerline is valid? [False, False] Translation: X:6.33, Y:0.24, Z:-0.73 [[ 9.99960750e-01 -8.54041560e-03 -2.35800886e-03 6.32574857e+00] [ 8.53513582e-03 9.99961066e-01 -2.24014029e-03 2.38376499e-01] [ 2.37704878e-03 2.21992644e-03 9.99994711e-01 -7.33540958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12650248099996 meters 0.11328971904271182 Centerline is valid? [False, False] Translation: X:6.33, Y:0.24, Z:-0.73 [[ 9.99964709e-01 -7.96259327e-03 -2.67920900e-03 6.32693759e+00] [ 7.95891302e-03 9.99967373e-01 -1.38150331e-03 2.36822087e-01] [ 2.69012194e-03 1.36013097e-03 9.99995457e-01 -7.34570537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18650248099996 meters 0.1122316473317158 Centerline is valid? [False, False] Translation: X:6.33, Y:0.24, Z:-0.73 [[ 9.99965362e-01 -7.66463804e-03 -3.24463514e-03 6.32811497e+00] [ 7.66088294e-03 9.99969973e-01 -1.16817703e-03 2.37036249e-01] [ 3.25349137e-03 1.14327979e-03 9.99994054e-01 -7.34877393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24650248099996 meters 0.11199432848198267 Centerline is valid? [False, False] Translation: X:6.33, Y:0.24, Z:-0.73 [[ 9.99962765e-01 -7.69152786e-03 -3.91277476e-03 6.32863955e+00] [ 7.68586779e-03 9.99969398e-01 -1.45954895e-03 2.37654575e-01] [ 3.92388118e-03 1.42942153e-03 9.99991280e-01 -7.33900343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30650248099997 meters 0.11168415230428945 Centerline is valid? [False, False] Translation: X:6.33, Y:0.24, Z:-0.73 [[ 9.99961797e-01 -7.61370503e-03 -4.29373928e-03 6.32901517e+00] [ 7.60736595e-03 9.99969952e-01 -1.49075934e-03 2.37722230e-01] [ 4.30496047e-03 1.45803834e-03 9.99989671e-01 -7.33471308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36650248099997 meters 0.11149927069932886 Centerline is valid? [False, False] Translation: X:6.33, Y:0.24, Z:-0.73 [[ 9.99963041e-01 -7.22966210e-03 -4.65282071e-03 6.32976331e+00] [ 7.22532494e-03 9.99973447e-01 -9.48292113e-04 2.36516099e-01] [ 4.65955300e-03 9.14638924e-04 9.99988726e-01 -7.33666547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42650248099997 meters 0.11138787474341683 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:-0.73 [[ 9.99968090e-01 -6.43315409e-03 -4.73643184e-03 6.33055024e+00] [ 6.43574763e-03 9.99979149e-01 5.32533932e-04 2.33086435e-01] [ 4.73290721e-03 -5.62999419e-04 9.99988641e-01 -7.34710843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48650248099997 meters 0.1110717268764125 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:-0.73 [[ 9.99972153e-01 -5.97745372e-03 -4.46811419e-03 6.32984757e+00] [ 5.98533798e-03 9.99980551e-01 1.75327643e-03 2.28849004e-01] [ 4.45754716e-03 -1.77997078e-03 9.99988481e-01 -7.34369114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54650248099998 meters 0.11119264401233867 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:-0.73 [[ 9.99972896e-01 -5.74184299e-03 -4.60849705e-03 6.33010968e+00] [ 5.75183609e-03 9.99981129e-01 2.15809003e-03 2.27850628e-01] [ 4.59601867e-03 -2.18453886e-03 9.99987052e-01 -7.34397469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60650248099998 meters 0.11129654712632245 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:-0.73 [[ 9.99939317e-01 -9.71841250e-03 -5.18797079e-03 6.33120010e+00] [ 9.70934419e-03 9.99951296e-01 -1.77028354e-03 2.27741922e-01] [ 5.20492246e-03 1.71980432e-03 9.99984975e-01 -7.34491738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66650248099998 meters 0.11174124496198723 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:-0.74 [[ 9.99943669e-01 -9.30715954e-03 -5.10250510e-03 6.33145602e+00] [ 9.30246233e-03 9.99956286e-01 -9.43532330e-04 2.25813115e-01] [ 5.11106365e-03 8.96013318e-04 9.99986537e-01 -7.35110173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72650248099998 meters 0.11236775009369898 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:-0.74 [[ 9.99944202e-01 -9.20588827e-03 -5.18112114e-03 6.33160863e+00] [ 9.20206374e-03 9.99957370e-01 -7.61521904e-04 2.25616790e-01] [ 5.18791075e-03 7.13802406e-04 9.99986288e-01 -7.35109623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78650248099996 meters 0.1129277878030751 Centerline is valid? [False, False] Translation: X:6.33, Y:0.22, Z:-0.74 [[ 9.99947486e-01 -8.90337607e-03 -5.07502181e-03 6.33196191e+00] [ 8.90259517e-03 9.99960356e-01 -1.76441566e-04 2.24354071e-01] [ 5.07639154e-03 1.31251436e-04 9.99987106e-01 -7.35900268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84650248099996 meters 0.11356713622287996 Centerline is valid? [False, False] Translation: X:6.33, Y:0.22, Z:-0.74 [[ 9.99951412e-01 -8.38045942e-03 -5.19049573e-03 6.33317105e+00] [ 8.38358615e-03 9.99964688e-01 5.80931048e-04 2.23586811e-01] [ 5.18544398e-03 -6.24417790e-04 9.99986361e-01 -7.37408421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90650248099996 meters 0.11441148418605232 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:-0.74 [[ 9.99948897e-01 -8.52690450e-03 -5.43090014e-03 6.33381786e+00] [ 8.52780331e-03 9.99963627e-01 1.42362805e-04 2.25762686e-01] [ 5.42948869e-03 -1.88669179e-04 9.99985242e-01 -7.37641977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96650248099996 meters 0.11607660056998897 Centerline is valid? [False, False] Translation: X:6.33, Y:0.23, Z:-0.74 [[ 9.99947141e-01 -8.72857328e-03 -5.43381850e-03 6.33353933e+00] [ 8.72768041e-03 9.99961895e-01 -1.88009489e-04 2.26427696e-01] [ 5.43525250e-03 1.40574920e-04 9.99985219e-01 -7.37139449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02650248099997 meters 0.11715558775969888 Centerline is valid? [False, False] Translation: X:6.35, Y:0.23, Z:-0.74 [[ 9.99985875e-01 -2.61266442e-03 -4.62857523e-03 6.34612576e+00] [ 2.60140965e-03 9.99993649e-01 -2.43593916e-03 2.26061817e-01] [ 4.63491013e-03 2.42386393e-03 9.99986321e-01 -7.38234607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08650248099997 meters 0.11503131836791572 Centerline is valid? [False, False] Translation: X:6.35, Y:0.23, Z:-0.74 [[ 9.99980946e-01 -1.02783851e-03 -6.08698082e-03 6.35039673e+00] [ 1.01900184e-03 9.99998423e-01 -1.45465554e-03 2.31046155e-01] [ 6.08846637e-03 1.44842518e-03 9.99980416e-01 -7.40846737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14650248099997 meters 0.11610655245392656 Centerline is valid? [False, False] Translation: X:6.35, Y:0.23, Z:-0.74 [[ 9.99977687e-01 -1.07847063e-03 -6.59259417e-03 6.35147913e+00] [ 1.06510033e-03 9.99997370e-01 -2.03125343e-03 2.33484720e-01] [ 6.59476748e-03 2.02418634e-03 9.99976206e-01 -7.41089237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20650248099997 meters 0.1137881667439831 Centerline is valid? [False, False] Translation: X:6.36, Y:0.24, Z:-0.74 [[ 9.99992365e-01 3.76524686e-03 1.04570305e-03 6.36042739e+00] [-3.75987908e-03 9.99979985e-01 -5.08856208e-03 2.41200008e-01] [-1.06484181e-03 5.08459151e-03 9.99986506e-01 -7.44035976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26650248099997 meters 0.1124189432343794 Centerline is valid? [False, False] Translation: X:6.37, Y:0.25, Z:-0.74 [[ 9.99984986e-01 -4.70137072e-03 -2.81506887e-03 6.37222755e+00] [ 4.69476668e-03 9.99986223e-01 -2.34799069e-03 2.49153030e-01] [ 2.82606886e-03 2.33473935e-03 9.99993281e-01 -7.43384089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32650248099998 meters 0.1113347432072288 Centerline is valid? [False, False] Translation: X:6.38, Y:0.25, Z:-0.75 [[ 9.99985345e-01 -3.73160673e-03 -3.92242727e-03 6.37515902e+00] [ 3.72196859e-03 9.99990044e-01 -2.46162129e-03 2.54472578e-01] [ 3.93157402e-03 2.44698606e-03 9.99989277e-01 -7.45021283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38650248099998 meters 0.11128739397077862 Centerline is valid? [False, False] Translation: X:6.38, Y:0.26, Z:-0.74 [[ 9.99982767e-01 -3.80221458e-03 -4.47310351e-03 6.37605791e+00] [ 3.78898302e-03 9.99988433e-01 -2.96279276e-03 2.56627099e-01] [ 4.48431694e-03 2.94579319e-03 9.99985606e-01 -7.44880006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44650248099998 meters 0.11161589848539918 Centerline is valid? [False, False] Translation: X:6.38, Y:0.26, Z:-0.74 [[ 9.99984119e-01 -3.62117653e-03 -4.31848436e-03 6.37581241e+00] [ 3.61030512e-03 9.99990301e-01 -2.52255756e-03 2.55238514e-01] [ 4.32757710e-03 2.50692646e-03 9.99987494e-01 -7.44903381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50650248099998 meters 0.11220185329531937 Centerline is valid? [False, False] Translation: X:6.38, Y:0.25, Z:-0.75 [[ 9.99961143e-01 -7.55525394e-03 -4.54216592e-03 6.37647363e+00] [ 7.52707785e-03 9.99952521e-01 -6.18864391e-03 2.54110379e-01] [ 4.58870704e-03 6.15421420e-03 9.99970534e-01 -7.45290216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56650248099996 meters 0.11199296547827356 Centerline is valid? [False, False] Translation: X:6.38, Y:0.25, Z:-0.75 [[ 9.99965365e-01 -6.93581325e-03 -4.60027922e-03 6.37737465e+00] [ 6.91229616e-03 9.99963061e-01 -5.10844981e-03 2.52303737e-01] [ 4.63554054e-03 5.07647439e-03 9.99976370e-01 -7.46510068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62650248099996 meters 0.11211235209396903 Centerline is valid? [False, False] Translation: X:6.38, Y:0.25, Z:-0.75 [[ 9.99971279e-01 -6.34161764e-03 -4.15028397e-03 6.37736486e+00] [ 6.32610863e-03 9.99972998e-01 -3.73937673e-03 2.48737586e-01] [ 4.17388560e-03 3.71301419e-03 9.99984396e-01 -7.47782364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68650248099996 meters 0.11239032782900256 Centerline is valid? [False, False] Translation: X:6.38, Y:0.25, Z:-0.75 [[ 9.99969981e-01 -6.33560789e-03 -4.46071735e-03 6.37773189e+00] [ 6.31831483e-03 9.99972511e-01 -3.88022211e-03 2.49342347e-01] [ 4.48517829e-03 3.85192141e-03 9.99982523e-01 -7.47494005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74650248099996 meters 0.11168401101405191 Centerline is valid? [False, False] Translation: X:6.39, Y:0.25, Z:-0.74 [[ 9.99990793e-01 1.22429633e-03 -4.11268551e-03 6.39043169e+00] [-1.25091379e-03 9.99978250e-01 -6.47571229e-03 2.49971622e-01] [ 4.10466787e-03 6.48079729e-03 9.99970575e-01 -7.44943762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80650248099997 meters 0.11086588808095771 Centerline is valid? [False, False] Translation: X:6.39, Y:0.25, Z:-0.74 [[ 9.99989543e-01 9.33192232e-04 -4.47703757e-03 6.39039719e+00] [-9.65600460e-04 9.99973310e-01 -7.24207416e-03 2.51195405e-01] [ 4.47015982e-03 7.24632146e-03 9.99963754e-01 -7.43879228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86650248099997 meters 0.11082180622568187 Centerline is valid? [False, False] Translation: X:6.41, Y:0.25, Z:-0.74 [[ 9.99998304e-01 -1.81629479e-03 -3.05445356e-04 6.40595278e+00] [ 1.81517561e-03 9.99991781e-01 -3.62529573e-03 2.51644903e-01] [ 3.12027451e-04 3.62473514e-03 9.99993382e-01 -7.44638937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92650248099997 meters 0.1109785462309681 Centerline is valid? [False, False] Translation: X:6.41, Y:0.25, Z:-0.75 [[ 9.99998656e-01 -1.52370255e-03 -6.05248761e-04 6.40681320e+00] [ 1.52165176e-03 9.99993149e-01 -3.37447666e-03 2.51686182e-01] [ 6.10386313e-04 3.37355114e-03 9.99994123e-01 -7.45152778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98650248099997 meters 0.11006109993135611 Centerline is valid? [False, False] Translation: X:6.41, Y:0.25, Z:-0.75 [[ 9.99998845e-01 -1.47313918e-03 -3.74022566e-04 6.40646971e+00] [ 1.47195962e-03 9.99994004e-01 -3.13464390e-03 2.50462384e-01] [ 3.78638090e-04 3.13408973e-03 9.99995017e-01 -7.45314951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04650248099998 meters 0.1098976118024656 Centerline is valid? [False, False] Translation: X:6.41, Y:0.25, Z:-0.75 [[ 9.99985232e-01 -5.29104129e-03 -1.24154620e-03 6.40863193e+00] [ 5.28193676e-03 9.99959947e-01 -7.22535528e-03 2.52135300e-01] [ 1.27972612e-03 7.21869080e-03 9.99973126e-01 -7.46301343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10650248099998 meters 0.11030981732872071 Centerline is valid? [False, False] Translation: X:6.41, Y:0.25, Z:-0.75 [[ 9.99986658e-01 -5.05744710e-03 -1.05128926e-03 6.40865398e+00] [ 5.05033594e-03 9.99965067e-01 -6.66026626e-03 2.50920877e-01] [ 1.08493648e-03 6.65486804e-03 9.99977268e-01 -7.46828020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16650248099998 meters 0.11114471621924554 Centerline is valid? [False, False] Translation: X:6.41, Y:0.25, Z:-0.75 [[ 9.99988331e-01 -4.77937307e-03 -7.03249223e-04 6.40865771e+00] [ 4.77515887e-03 9.99971330e-01 -5.87685290e-03 2.49157742e-01] [ 7.31316733e-04 5.87342620e-03 9.99982484e-01 -7.47759979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22650248099998 meters 0.11219566263984883 Centerline is valid? [False, False] Translation: X:6.41, Y:0.25, Z:-0.75 [[ 9.99987213e-01 -5.03549069e-03 -4.66298749e-04 6.40795117e+00] [ 5.03258982e-03 9.99969178e-01 -6.02621183e-03 2.49096879e-01] [ 4.96629310e-04 6.02378809e-03 9.99981734e-01 -7.47158115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28650248099996 meters 0.11383193581388035 Centerline is valid? [False, False] Translation: X:6.41, Y:0.25, Z:-0.75 [[ 9.99956343e-01 -9.31842699e-03 -6.92469395e-04 6.40857328e+00] [ 9.31073786e-03 9.99902754e-01 -1.03823099e-02 2.49792510e-01] [ 7.89148852e-04 1.03754093e-02 9.99945863e-01 -7.47350664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34650248099996 meters 0.11333966317731699 Centerline is valid? [False, False] Translation: X:6.41, Y:0.25, Z:-0.75 [[ 9.99987208e-01 -5.05424764e-03 -1.97224285e-04 6.40808199e+00] [ 5.05301991e-03 9.99970440e-01 -5.79528857e-03 2.48890667e-01] [ 2.26509279e-04 5.79421786e-03 9.99983188e-01 -7.47878705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40650248099996 meters 0.11426181524338566 Centerline is valid? [False, False] Translation: X:6.42, Y:0.25, Z:-0.75 [[ 9.99964528e-01 -7.63706978e-03 3.55213067e-03 6.42382393e+00] [ 7.64241230e-03 9.99969682e-01 -1.49289772e-03 2.49226576e-01] [-3.54062161e-03 1.51999161e-03 9.99992577e-01 -7.48590897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46650248099996 meters 0.11375785495696027 Centerline is valid? [False, False] Translation: X:6.42, Y:0.25, Z:-0.75 [[ 9.99965570e-01 -7.61679389e-03 3.29283667e-03 6.42442693e+00] [ 7.62208599e-03 9.99969675e-01 -1.59760570e-03 2.50030699e-01] [-3.28056818e-03 1.62264898e-03 9.99993302e-01 -7.48739727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52650248099997 meters 0.1158947581870401 Centerline is valid? [False, False] Translation: X:6.43, Y:0.25, Z:-0.75 [[ 9.99968776e-01 -7.30087526e-03 3.02399212e-03 6.42549906e+00] [ 7.30474245e-03 9.99972514e-01 -1.26976961e-03 2.50167133e-01] [-3.01463858e-03 1.29181944e-03 9.99994622e-01 -7.49684854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58650248099997 meters 0.11267670753530726 Centerline is valid? [False, False] Translation: X:6.43, Y:0.25, Z:-0.75 [[ 9.99974608e-01 -6.86833884e-03 1.89971277e-03 6.42796435e+00] [ 6.87106511e-03 9.99975368e-01 -1.43231304e-03 2.54366680e-01] [-1.88982836e-03 1.44532972e-03 9.99997170e-01 -7.50586774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64650248099997 meters 0.11138710367466506 Centerline is valid? [False, False] Translation: X:6.44, Y:0.26, Z:-0.75 [[ 9.99996671e-01 2.06487496e-03 1.54749520e-03 6.44219073e+00] [-2.06080867e-03 9.99994432e-01 -2.62465694e-03 2.56429567e-01] [-1.55290617e-03 2.62145911e-03 9.99995358e-01 -7.49322884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70650248099997 meters 0.11063464008359068 Centerline is valid? [False, False] Translation: X:6.44, Y:0.26, Z:-0.75 [[ 9.99997718e-01 2.09889966e-03 3.98664745e-04 6.44408559e+00] [-2.09737576e-03 9.99990637e-01 -3.78521778e-03 2.61008452e-01] [-4.06605804e-04 3.78437299e-03 9.99992757e-01 -7.49165655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76650248099997 meters 0.10954315497039953 Centerline is valid? [False, False] Translation: X:6.45, Y:0.26, Z:-0.75 [[ 9.99997784e-01 2.06054484e-03 -4.32456877e-04 6.44554720e+00] [-2.06262031e-03 9.99986087e-01 -4.85497773e-03 2.64801287e-01] [ 4.22446961e-04 4.85585897e-03 9.99988121e-01 -7.49216750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82650248099998 meters 0.1090483753633984 Centerline is valid? [False, False] Translation: X:6.46, Y:0.27, Z:-0.75 [[ 9.99995030e-01 -1.78912329e-03 2.59582422e-03 6.46206667e+00] [ 1.79905831e-03 9.99991047e-01 -3.83003306e-03 2.68896297e-01] [-2.58894858e-03 3.83468407e-03 9.99989296e-01 -7.48497989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88650248099998 meters 0.1089861702907861 Centerline is valid? [False, False] Translation: X:6.46, Y:0.27, Z:-0.75 [[ 9.99996504e-01 -1.79409026e-03 1.94231439e-03 6.46290171e+00] [ 1.80256133e-03 9.99988834e-01 -4.36839664e-03 2.70712328e-01] [-1.93445540e-03 4.37188251e-03 9.99988572e-01 -7.48026917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94650248099998 meters 0.10884822786735818 Centerline is valid? [False, False] Translation: X:6.46, Y:0.27, Z:-0.75 [[ 9.99996727e-01 -1.43183889e-03 2.12047181e-03 6.46296856e+00] [ 1.43960597e-03 9.99992244e-01 -3.66591791e-03 2.68792873e-01] [-2.11520636e-03 3.66895856e-03 9.99991032e-01 -7.48665579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00650248099998 meters 0.10894436281187224 Centerline is valid? [False, False] Translation: X:6.46, Y:0.27, Z:-0.75 [[ 9.99983243e-01 -5.60720483e-03 1.43943862e-03 6.46400769e+00] [ 5.61871347e-03 9.99951249e-01 -8.11972707e-03 2.70205240e-01] [-1.39383947e-03 8.12767881e-03 9.99965998e-01 -7.48442011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06650248099996 meters 0.10892938577782164 Centerline is valid? [False, False] Translation: X:6.46, Y:0.27, Z:-0.75 [[ 9.99985183e-01 -5.11711054e-03 1.85709321e-03 6.46377316e+00] [ 5.12957835e-03 9.99963912e-01 -6.77212994e-03 2.66530460e-01] [-1.82237246e-03 6.78155570e-03 9.99975344e-01 -7.49278610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12650248099996 meters 0.10938481691582362 Centerline is valid? [False, False] Translation: X:6.46, Y:0.26, Z:-0.75 [[ 9.99985994e-01 -4.86788286e-03 2.07725162e-03 6.46351124e+00] [ 4.88011335e-03 9.99970545e-01 -5.92394421e-03 2.64228180e-01] [-2.04835337e-03 5.93399846e-03 9.99980296e-01 -7.49457606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18650248099996 meters 0.10981285604409259 Centerline is valid? [False, False] Translation: X:6.46, Y:0.26, Z:-0.75 [[ 9.99958400e-01 -8.89042718e-03 2.03943970e-03 6.46383230e+00] [ 8.90973571e-03 9.99913624e-01 -9.66236186e-03 2.62869649e-01] [-1.95336102e-03 9.68013077e-03 9.99951239e-01 -7.49784895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24650248099996 meters 0.1103231498009428 Centerline is valid? [False, False] Translation: X:6.46, Y:0.26, Z:-0.75 [[ 9.99960908e-01 -8.58287212e-03 2.12528599e-03 6.46431287e+00] [ 8.60168036e-03 9.99922461e-01 -9.00466432e-03 2.61813222e-01] [-2.04783531e-03 9.02259334e-03 9.99957199e-01 -7.50749669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30650248099997 meters 0.1107717019854166 Centerline is valid? [False, False] Translation: X:6.46, Y:0.26, Z:-0.75 [[ 9.99960919e-01 -8.59299237e-03 2.07877726e-03 6.46430092e+00] [ 8.61127023e-03 9.99922873e-01 -8.94952821e-03 2.61620460e-01] [-2.00171370e-03 8.96707937e-03 9.99957791e-01 -7.50573220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36650248099997 meters 0.11095939010088264 Centerline is valid? [False, False] Translation: X:6.46, Y:0.26, Z:-0.75 [[ 9.99962086e-01 -8.49329295e-03 1.92093169e-03 6.46468710e+00] [ 8.50995422e-03 9.99924729e-01 -8.83838390e-03 2.61560310e-01] [-1.84572011e-03 8.85439585e-03 9.99959096e-01 -7.50736100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42650248099997 meters 0.11099211621730179 Centerline is valid? [False, False] Translation: X:6.47, Y:0.26, Z:-0.75 [[ 9.99963142e-01 -8.45570775e-03 1.48838207e-03 6.46572993e+00] [ 8.46885897e-03 9.99923065e-01 -9.06327520e-03 2.63194191e-01] [-1.41163115e-03 9.07554605e-03 9.99957820e-01 -7.51113804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48650248099997 meters 0.11050765761743196 Centerline is valid? [False, False] Translation: X:6.47, Y:0.26, Z:-0.75 [[ 9.99991058e-01 -3.78002371e-03 1.89589164e-03 6.46569093e+00] [ 3.78744594e-03 9.99985118e-01 -3.92671260e-03 2.60875866e-01] [-1.88102036e-03 3.93385808e-03 9.99990493e-01 -7.52191717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54650248099998 meters 0.1110697079742563 Centerline is valid? [False, False] Translation: X:6.47, Y:0.26, Z:-0.75 [[ 9.99992137e-01 -3.65434926e-03 1.54028736e-03 6.46647051e+00] [ 3.66038651e-03 9.99985558e-01 -3.93513453e-03 2.61507582e-01] [-1.52588476e-03 3.94074163e-03 9.99991071e-01 -7.52437094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60650248099998 meters 0.1102909248946756 Centerline is valid? [False, False] Translation: X:6.47, Y:0.26, Z:-0.75 [[ 9.99993043e-01 -3.55416280e-03 1.13227124e-03 6.46755780e+00] [ 3.55882224e-03 9.99985097e-01 -4.14003620e-03 2.63191825e-01] [-1.11754000e-03 4.14403695e-03 9.99990789e-01 -7.53005005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66650248099998 meters 0.11045853861439305 Centerline is valid? [False, False] Translation: X:6.47, Y:0.26, Z:-0.75 [[ 9.99993673e-01 -3.41193275e-03 1.00652074e-03 6.46807694e+00] [ 3.41596174e-03 9.99986050e-01 -4.02870016e-03 2.63446278e-01] [-9.92761049e-04 4.03211290e-03 9.99991378e-01 -7.53475712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72650248099998 meters 0.11106056902016448 Centerline is valid? [False, False] Translation: X:6.47, Y:0.26, Z:-0.75 [[ 9.99993624e-01 -3.44266132e-03 9.48568519e-04 6.46804746e+00] [ 3.44651550e-03 9.99985689e-01 -4.09192366e-03 2.63506777e-01] [-9.34467836e-04 4.09516683e-03 9.99991178e-01 -7.53276384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78650248099996 meters 0.11112180983057555 Centerline is valid? [False, False] Translation: X:6.47, Y:0.26, Z:-0.75 [[ 9.99994262e-01 -3.33281512e-03 6.06934950e-04 6.46874684e+00] [ 3.33529511e-03 9.99985901e-01 -4.13196576e-03 2.64111496e-01] [-5.93155315e-04 4.13396636e-03 9.99991279e-01 -7.53419674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84650248099996 meters 0.11104379677850788 Centerline is valid? [False, False] Translation: X:6.47, Y:0.26, Z:-0.75 [[ 9.99995172e-01 -3.08676225e-03 3.57157039e-04 6.46954459e+00] [ 3.08815880e-03 9.99987319e-01 -3.97803042e-03 2.64264343e-01] [-3.44873276e-04 3.97911417e-03 9.99992024e-01 -7.53970191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90650248099996 meters 0.1109767635654062 Centerline is valid? [False, False] Translation: X:6.47, Y:0.27, Z:-0.75 [[ 9.99995166e-01 -3.10363828e-03 -1.90237885e-04 6.47013751e+00] [ 3.10277859e-03 9.99985664e-01 -4.36397796e-03 2.65616450e-01] [ 2.03779367e-04 4.36336660e-03 9.99990460e-01 -7.53440638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96650248099996 meters 0.11053212970989143 Centerline is valid? [False, False] Translation: X:6.47, Y:0.27, Z:-0.75 [[ 9.99995929e-01 -2.79142141e-03 -5.92145260e-04 6.47113406e+00] [ 2.78894604e-03 9.99987538e-01 -4.14078326e-03 2.65641773e-01] [ 6.03696552e-04 4.13911494e-03 9.99991252e-01 -7.53897076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02650248099997 meters 0.11036896257527147 Centerline is valid? [False, False] Translation: X:6.47, Y:0.26, Z:-0.75 [[ 9.99997198e-01 -2.26427372e-03 -6.91104924e-04 6.47184818e+00] [ 2.26194212e-03 9.99991810e-01 -3.35606863e-03 2.63880484e-01] [ 6.98698322e-04 3.35449599e-03 9.99994130e-01 -7.54778809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08650248099997 meters 0.11022506159682055 Centerline is valid? [False, False] Translation: X:6.49, Y:0.26, Z:-0.75 [[ 9.99995409e-01 2.89320413e-03 -9.00720155e-04 6.48636388e+00] [-2.89931596e-03 9.99972268e-01 -6.85978673e-03 2.61785165e-01] [ 8.80848414e-04 6.86236671e-03 9.99976066e-01 -7.54827755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14650248099997 meters 0.11011104878824167 Centerline is valid? [False, False] Translation: X:6.49, Y:0.26, Z:-0.76 [[ 9.99998004e-01 -6.35630164e-04 -1.89440522e-03 6.48864457e+00] [ 6.15631106e-04 9.99944275e-01 -1.05388577e-02 2.62073658e-01] [ 1.90099847e-03 1.05376704e-02 9.99942670e-01 -7.55761586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20650248099997 meters 0.11015347419794973 Centerline is valid? [False, False] Translation: X:6.49, Y:0.26, Z:-0.76 [[ 9.99998185e-01 1.49648994e-04 -1.89958500e-03 6.48942133e+00] [-1.67002654e-04 9.99958228e-01 -9.13863159e-03 2.58823349e-01] [ 1.89813806e-03 9.13893223e-03 9.99956438e-01 -7.57009873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26650248099997 meters 0.11009197031753479 Centerline is valid? [False, False] Translation: X:6.49, Y:0.26, Z:-0.76 [[ 9.99990907e-01 -3.68036033e-03 -2.15428566e-03 6.49063252e+00] [ 3.65250943e-03 9.99911503e-01 -1.27923690e-02 2.58100930e-01] [ 2.20117554e-03 1.27843841e-02 9.99915854e-01 -7.58103955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32650248099998 meters 0.11047895208687003 Centerline is valid? [False, False] Translation: X:6.49, Y:0.26, Z:-0.76 [[ 9.99991928e-01 -3.44281600e-03 -2.07123131e-03 6.49064840e+00] [ 3.41735122e-03 9.99920043e-01 -1.21749251e-02 2.56357805e-01] [ 2.11298173e-03 1.21677487e-02 9.99923738e-01 -7.58295983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38650248099998 meters 0.11058939116692658 Centerline is valid? [False, False] Translation: X:6.49, Y:0.26, Z:-0.76 [[ 9.99992257e-01 -3.23698619e-03 -2.23794164e-03 6.49111267e+00] [ 3.21018712e-03 9.99924319e-01 -1.18765175e-02 2.55802808e-01] [ 2.27621639e-03 1.18692413e-02 9.99926967e-01 -7.58521174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44650248099998 meters 0.11080499524564452 Centerline is valid? [False, False] Translation: X:6.50, Y:0.25, Z:-0.76 [[ 9.99983742e-01 -4.61163335e-03 3.35375688e-03 6.50444966e+00] [ 4.62625992e-03 9.99979765e-01 -4.36664864e-03 2.51966307e-01] [-3.33355163e-03 4.38209300e-03 9.99984842e-01 -7.61322733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50650248099998 meters 0.11117305035544449 Centerline is valid? [False, False] Translation: X:6.50, Y:0.25, Z:-0.76 [[ 9.99984478e-01 -4.32067243e-03 3.51781053e-03 6.50452883e+00] [ 4.33372206e-03 9.99983726e-01 -3.71045526e-03 2.50244262e-01] [-3.50172162e-03 3.72564288e-03 9.99986929e-01 -7.61827380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56650248099996 meters 0.11148327484738776 Centerline is valid? [False, False] Translation: X:6.50, Y:0.25, Z:-0.76 [[ 9.99985892e-01 -3.89700221e-03 3.60968635e-03 6.50495704e+00] [ 3.90728207e-03 9.99988319e-01 -2.84519308e-03 2.48435580e-01] [-3.59855646e-03 2.85925700e-03 9.99989437e-01 -7.62720460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62650248099996 meters 0.11196527176887348 Centerline is valid? [False, False] Translation: X:6.51, Y:0.25, Z:-0.76 [[ 9.99966176e-01 -7.58775900e-03 3.17389890e-03 6.50662634e+00] [ 7.60797712e-03 9.99950531e-01 -6.40730597e-03 2.48125283e-01] [-3.12512480e-03 6.43123620e-03 9.99974436e-01 -7.64046365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68650248099996 meters 0.11217557236135155 Centerline is valid? [False, False] Translation: X:6.51, Y:0.25, Z:-0.77 [[ 9.99969542e-01 -7.06589931e-03 3.31486852e-03 6.50727991e+00] [ 7.08412885e-03 9.99959670e-01 -5.52020133e-03 2.46561979e-01] [-3.27572964e-03 5.54351615e-03 9.99979269e-01 -7.65434688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74650248099996 meters 0.11230118603678821 Centerline is valid? [False, False] Translation: X:6.51, Y:0.25, Z:-0.77 [[ 9.99972398e-01 -6.65975390e-03 3.29416082e-03 6.50776617e+00] [ 6.67569482e-03 9.99965946e-01 -4.85205435e-03 2.45183767e-01] [-3.26173516e-03 4.87391123e-03 9.99982803e-01 -7.66126017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80650248099997 meters 0.1125065809033658 Centerline is valid? [False, False] Translation: X:6.51, Y:0.24, Z:-0.77 [[ 9.99975175e-01 -6.21414420e-03 3.32184912e-03 6.50835882e+00] [ 6.22785564e-03 9.99972064e-01 -4.13337125e-03 2.43864907e-01] [-3.29607096e-03 4.15395663e-03 9.99985940e-01 -7.67126810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86650248099997 meters 0.1120251199318643 Centerline is valid? [False, False] Translation: X:6.51, Y:0.24, Z:-0.77 [[ 9.99979216e-01 -5.84712411e-03 2.71655745e-03 6.50981639e+00] [ 5.85788151e-03 9.99974966e-01 -3.96900409e-03 2.44626883e-01] [-2.69328218e-03 3.98483487e-03 9.99988434e-01 -7.67740701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92650248099997 meters 0.11121807109416003 Centerline is valid? [False, False] Translation: X:6.51, Y:0.25, Z:-0.77 [[ 9.99982896e-01 -5.43595180e-03 2.15844179e-03 6.51116092e+00] [ 5.44416149e-03 9.99977899e-01 -3.81604537e-03 2.45137395e-01] [-2.13765025e-03 3.82773101e-03 9.99990389e-01 -7.68336051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98650248099997 meters 0.11072768111567105 Centerline is valid? [False, False] Translation: X:6.51, Y:0.25, Z:-0.77 [[ 9.99984751e-01 -5.30484083e-03 1.53514814e-03 6.51185411e+00] [ 5.31180202e-03 9.99975465e-01 -4.56655671e-03 2.47489899e-01] [-1.51088562e-03 4.57464148e-03 9.99988395e-01 -7.67700337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04650248099998 meters 0.11060712461759245 Centerline is valid? [False, False] Translation: X:6.53, Y:0.25, Z:-0.77 [[ 9.99988550e-01 4.38635708e-03 1.91298357e-03 6.52590499e+00] [-4.37534989e-03 9.99974065e-01 -5.72065900e-03 2.48047033e-01] [-1.93802681e-03 5.71222353e-03 9.99981807e-01 -7.65676114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10650248099998 meters 0.11070166758651535 Centerline is valid? [False, False] Translation: X:6.53, Y:0.25, Z:-0.77 [[ 9.99998992e-01 7.95630041e-04 1.17585398e-03 6.52720577e+00] [-7.83781477e-04 9.99949262e-01 -1.00429005e-02 2.49853380e-01] [-1.18378475e-03 1.00419687e-02 9.99948877e-01 -7.65734042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16650248099998 meters 0.1105652117610692 Centerline is valid? [False, False] Translation: X:6.53, Y:0.25, Z:-0.77 [[ 9.99998573e-01 1.47487502e-03 8.23323304e-04 6.52861026e+00] [-1.46723488e-03 9.99956562e-01 -9.20436737e-03 2.48799326e-01] [-8.36862832e-04 9.20314623e-03 9.99957300e-01 -7.67019817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22650248099998 meters 0.1102495290269043 Centerline is valid? [False, False] Translation: X:6.53, Y:0.25, Z:-0.77 [[ 9.99997523e-01 2.06993401e-03 8.17825319e-04 6.52926802e+00] [-2.06315319e-03 9.99964194e-01 -8.20690006e-03 2.46647629e-01] [-8.34783778e-04 8.20519243e-03 9.99965988e-01 -7.68068380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28650248099996 meters 0.1101857294347382 Centerline is valid? [False, False] Translation: X:6.53, Y:0.25, Z:-0.77 [[ 9.99998213e-01 -1.80358527e-03 5.67068825e-04 6.53001338e+00] [ 1.81019961e-03 9.99927692e-01 -1.18883577e-02 2.45504984e-01] [-5.45586155e-04 1.18893629e-02 9.99929170e-01 -7.68575368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34650248099996 meters 0.10973344898666142 Centerline is valid? [False, False] Translation: X:6.53, Y:0.24, Z:-0.77 [[ 9.99998838e-01 -1.21705426e-03 9.18202389e-04 6.53023406e+00] [ 1.22645896e-03 9.99946073e-01 -1.03124444e-02 2.41628262e-01] [-9.05602069e-04 1.03135585e-02 9.99946404e-01 -7.69966893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40650248099996 meters 0.10966015011931109 Centerline is valid? [False, False] Translation: X:6.53, Y:0.24, Z:-0.77 [[ 9.99997372e-01 -1.64081738e-03 1.60087003e-03 6.52833184e+00] [ 1.65684005e-03 9.99948032e-01 -1.00592701e-02 2.36608194e-01] [-1.58428141e-03 1.00618961e-02 9.99948123e-01 -7.68777776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46650248099996 meters 0.10959195185633425 Centerline is valid? [False, False] Translation: X:6.53, Y:0.24, Z:-0.77 [[ 9.99998283e-01 -1.14668122e-03 1.45564794e-03 6.52912656e+00] [ 1.16013486e-03 9.99956309e-01 -9.27541973e-03 2.35228782e-01] [-1.44494839e-03 9.27709256e-03 9.99955923e-01 -7.69664374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52650248099997 meters 0.109478766155437 Centerline is valid? [False, False] Translation: X:6.53, Y:0.23, Z:-0.77 [[ 9.99998937e-01 -7.57995034e-04 1.24590093e-03 6.52983449e+00] [ 7.68846700e-04 9.99961574e-01 -8.73261677e-03 2.34335543e-01] [-1.23923377e-03 8.73356539e-03 9.99961094e-01 -7.70233419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58650248099997 meters 0.10923558774790616 Centerline is valid? [False, False] Translation: X:6.53, Y:0.23, Z:-0.77 [[ 9.99999595e-01 -1.38387759e-04 8.88876144e-04 6.53092232e+00] [ 1.45459348e-04 9.99968304e-01 -7.96052043e-03 2.32926918e-01] [-8.87746332e-04 7.96064651e-03 9.99967919e-01 -7.71064779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64650248099997 meters 0.10900858397217737 Centerline is valid? [False, False] Translation: X:6.53, Y:0.23, Z:-0.77 [[ 9.99999746e-01 5.56995362e-04 4.44040969e-04 6.53152386e+00] [-5.53915174e-04 9.99975994e-01 -6.90692189e-03 2.29807402e-01] [-4.47877433e-04 6.90667418e-03 9.99976048e-01 -7.70953298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70650248099997 meters 0.10895877475856788 Centerline is valid? [False, False] Translation: X:6.53, Y:0.23, Z:-0.77 [[ 9.99999318e-01 1.08375208e-03 4.34228764e-04 6.53178646e+00] [-1.08118738e-03 9.99982224e-01 -5.86366340e-03 2.27021646e-01] [-4.40575803e-04 5.86318992e-03 9.99982714e-01 -7.71417730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76650248099997 meters 0.10852443531887297 Centerline is valid? [False, False] Translation: X:6.53, Y:0.22, Z:-0.77 [[ 9.99997705e-01 -2.13428114e-03 1.86797005e-04 6.53304284e+00] [ 2.13575838e-03 9.99963258e-01 -8.30181989e-03 2.22890507e-01] [-1.69071725e-04 8.30219979e-03 9.99965522e-01 -7.72867539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82650248099998 meters 0.10825752682067444 Centerline is valid? [False, False] Translation: X:6.53, Y:0.22, Z:-0.77 [[ 9.99997451e-01 -2.04653052e-03 9.53822062e-04 6.53161507e+00] [ 2.05348234e-03 9.99970914e-01 -7.34530461e-03 2.17151355e-01] [-9.38761929e-04 7.34724454e-03 9.99972568e-01 -7.72725701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88650248099998 meters 0.10816278301013904 Centerline is valid? [False, False] Translation: X:6.53, Y:0.21, Z:-0.77 [[ 9.99982731e-01 -5.78797256e-03 1.01873761e-03 6.53130622e+00] [ 5.79802689e-03 9.99931578e-01 -1.01598532e-02 2.12898819e-01] [-9.59862956e-04 1.01655844e-02 9.99947868e-01 -7.72504093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94650248099998 meters 0.10871932252172938 Centerline is valid? [False, False] Translation: X:6.53, Y:0.21, Z:-0.77 [[ 9.99955481e-01 -9.31013854e-03 1.53507129e-03 6.53057268e+00] [ 9.32795538e-03 9.99884014e-01 -1.20394514e-02 2.06240289e-01] [-1.42280428e-03 1.20532345e-02 9.99926345e-01 -7.72754913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00650248099996 meters 0.10911042791947385 Centerline is valid? [False, False] Translation: X:6.53, Y:0.20, Z:-0.77 [[ 9.99959726e-01 -8.78229720e-03 1.84878390e-03 6.53052960e+00] [ 8.80150860e-03 9.99904517e-01 -1.06532162e-02 2.02578845e-01] [-1.75504766e-03 1.06690592e-02 9.99941544e-01 -7.73536953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06650248099996 meters 0.10972073451635057 Centerline is valid? [False, False] Translation: X:6.53, Y:0.20, Z:-0.77 [[ 9.99964182e-01 -8.13222019e-03 2.34569583e-03 6.53047049e+00] [ 8.15291343e-03 9.99926698e-01 -8.95142777e-03 1.98342882e-01] [-2.27272890e-03 8.97023140e-03 9.99957184e-01 -7.74770341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12650248099996 meters 0.11025135872098304 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:-0.78 [[ 9.99967294e-01 -7.62527274e-03 2.69548040e-03 6.53017529e+00] [ 7.64561755e-03 9.99941740e-01 -7.61979106e-03 1.94740707e-01] [-2.63722038e-03 7.64015046e-03 9.99967336e-01 -7.75226744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18650248099996 meters 0.11105348499952529 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:-0.77 [[ 9.99967992e-01 -7.32569654e-03 3.21699423e-03 6.52916154e+00] [ 7.34642704e-03 9.99952017e-01 -6.48023064e-03 1.90609876e-01] [-3.16936767e-03 6.50365663e-03 9.99973828e-01 -7.74963861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24650248099996 meters 0.11160286135698141 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:-0.78 [[ 9.99972319e-01 -6.57432564e-03 3.48415029e-03 6.52977344e+00] [ 6.59162844e-03 9.99965884e-01 -4.97815144e-03 1.87495988e-01] [-3.45130344e-03 5.00097986e-03 9.99981539e-01 -7.76625761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30650248099997 meters 0.11147796324781138 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:-0.78 [[ 9.99975261e-01 -6.11899665e-03 3.46924617e-03 6.53041368e+00] [ 6.13374747e-03 9.99972126e-01 -4.25730336e-03 1.86159199e-01] [-3.44309904e-03 4.27847752e-03 9.99984920e-01 -7.77548336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36650248099997 meters 0.11086990097350047 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:-0.78 [[ 9.99977952e-01 -5.80904388e-03 3.21733465e-03 6.53135189e+00] [ 5.82177912e-03 9.99975200e-01 -3.96320196e-03 1.86284445e-01] [-3.19423244e-03 3.98184519e-03 9.99986971e-01 -7.78300639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42650248099997 meters 0.10989314839020238 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:-0.78 [[ 9.99979760e-01 -5.69527533e-03 2.83625780e-03 6.53224232e+00] [ 5.70701630e-03 9.99975108e-01 -4.14885186e-03 1.87699838e-01] [-2.81255835e-03 4.16495445e-03 9.99987371e-01 -7.78670116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48650248099997 meters 0.10913916529976708 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:-0.78 [[ 9.99980560e-01 -5.79580488e-03 2.29983425e-03 6.53314908e+00] [ 5.80683433e-03 9.99971531e-01 -4.81841558e-03 1.90359752e-01] [-2.27184218e-03 4.83167666e-03 9.99985747e-01 -7.78654695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54650248099998 meters 0.10819412777602137 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:-0.78 [[ 9.99984122e-01 -5.37524239e-03 1.69165239e-03 6.53487200e+00] [ 5.38329067e-03 9.99974040e-01 -4.78961012e-03 1.91916261e-01] [-1.66586316e-03 4.79864073e-03 9.99987099e-01 -7.79773532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60650248099998 meters 0.10725813560609021 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:-0.78 [[ 9.99985960e-01 -5.16888372e-03 1.16717203e-03 6.53597478e+00] [ 5.17445536e-03 9.99974986e-01 -4.82215959e-03 1.92943690e-01] [-1.14221765e-03 4.82813137e-03 9.99987692e-01 -7.80152923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66650248099998 meters 0.10678538182813857 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:-0.78 [[ 9.99987278e-01 -5.00300329e-03 6.42655068e-04 6.53696561e+00] [ 5.00609017e-03 9.99975488e-01 -4.89504889e-03 1.94128398e-01] [-6.18149370e-04 4.89820381e-03 9.99987813e-01 -7.80332108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72650248099998 meters 0.10680441733861867 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:-0.78 [[ 9.99988749e-01 -4.71161749e-03 5.50883367e-04 6.53683941e+00] [ 4.71394836e-03 9.99979604e-01 -4.30931486e-03 1.92064494e-01] [-5.30568288e-04 4.31186321e-03 9.99990563e-01 -7.79978143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78650248099996 meters 0.10683562295659974 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:-0.78 [[ 9.99990832e-01 -4.23707800e-03 6.19701440e-04 6.53691618e+00] [ 4.23913572e-03 9.99985377e-01 -3.35776926e-03 1.89509431e-01] [-6.05465248e-04 3.36036548e-03 9.99994171e-01 -7.80286892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84650248099996 meters 0.10726169403249988 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:-0.78 [[ 9.99968012e-01 -7.98766933e-03 4.14246252e-04 6.53770157e+00] [ 7.99028467e-03 9.99945285e-01 -6.75152008e-03 1.87632184e-01] [-3.60294677e-04 6.75461406e-03 9.99977122e-01 -7.80908162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90650248099996 meters 0.10751220084648126 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.78 [[ 9.99972182e-01 -7.44399144e-03 4.72418370e-04 6.53801509e+00] [ 7.44648269e-03 9.99957088e-01 -5.51108562e-03 1.84876548e-01] [-4.31373624e-04 5.51445017e-03 9.99984702e-01 -7.81494445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96650248099996 meters 0.10848209196700721 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.78 [[ 9.99975970e-01 -6.89529010e-03 7.16930089e-04 6.53808681e+00] [ 6.89797043e-03 9.99968966e-01 -3.80588529e-03 1.79799155e-01] [-6.90665156e-04 3.81073920e-03 9.99992501e-01 -7.82211445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02650248099997 meters 0.10954491379776896 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.78 [[ 9.99978229e-01 -6.52423977e-03 9.87624598e-04 6.53797508e+00] [ 6.52690271e-03 9.99975007e-01 -2.71753297e-03 1.76815243e-01] [-9.69870078e-04 2.72391993e-03 9.99995820e-01 -7.82695942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08650248099997 meters 0.11021900923272168 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.78 [[ 9.99979976e-01 -6.25066310e-03 9.87860358e-04 6.53837365e+00] [ 6.25285888e-03 9.99977952e-01 -2.23553369e-03 1.75963863e-01] [-9.73865009e-04 2.24166587e-03 9.99997013e-01 -7.83256352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14650248099997 meters 0.11052254027017129 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.78 [[ 9.99981402e-01 -6.05702721e-03 7.12262099e-04 6.53929767e+00] [ 6.05848439e-03 9.99979522e-01 -2.06179855e-03 1.76355445e-01] [-6.99759143e-04 2.06607543e-03 9.99997621e-01 -7.83863425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20650248099997 meters 0.1105870353349845 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.78 [[ 9.99982397e-01 -5.92472306e-03 3.20836357e-04 6.54024544e+00] [ 5.92538334e-03 9.99980245e-01 -2.09769714e-03 1.77210507e-01] [-3.08401744e-04 2.09956129e-03 9.99997748e-01 -7.84261791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26650248099997 meters 0.11064381472873362 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.78 [[ 9.99981615e-01 -6.06305218e-03 -9.09011862e-05 6.54083603e+00] [ 6.06280107e-03 9.99978379e-01 -2.54654006e-03 1.79040774e-01] [ 1.06339026e-04 2.54594213e-03 9.99996753e-01 -7.84059699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32650248099998 meters 0.11080609027907734 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.78 [[ 9.99982874e-01 -5.85223245e-03 -5.07126722e-05 6.54134668e+00] [ 5.85209946e-03 9.99980199e-01 -2.31384463e-03 1.78990803e-01] [ 6.42528247e-05 2.31350823e-03 9.99997322e-01 -7.84851510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38650248099998 meters 0.11193316860009199 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.79 [[ 9.99984339e-01 -5.58794155e-03 -3.11393289e-04 6.54297495e+00] [ 5.58722768e-03 9.99981864e-01 -2.24805155e-03 1.81227746e-01] [ 3.23949622e-04 2.24627652e-03 9.99997425e-01 -7.86382061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44650248099998 meters 0.11225892005232818 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:-0.79 [[ 9.99984033e-01 -5.62347210e-03 -5.56342700e-04 6.54409992e+00] [ 5.62195730e-03 9.99980584e-01 -2.68786905e-03 1.83948552e-01] [ 5.71447055e-04 2.68469840e-03 9.99996233e-01 -7.87308158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50650248099996 meters 0.11203220520534786 Centerline is valid? [False, False] Translation: X:6.55, Y:0.19, Z:-0.79 [[ 9.99991688e-01 -3.81542873e-03 -1.43738542e-03 6.54772102e+00] [ 3.81314112e-03 9.99991464e-01 -1.59089832e-03 1.89754767e-01] [ 1.44344311e-03 1.58540414e-03 9.99997701e-01 -7.90122693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56650248099996 meters 0.11197782171872614 Centerline is valid? [False, False] Translation: X:6.56, Y:0.20, Z:-0.79 [[ 9.99992051e-01 5.67063065e-04 3.94679321e-03 6.55931158e+00] [-5.45105883e-04 9.99984383e-01 -5.56215071e-03 1.98871995e-01] [-3.94988566e-03 5.55995508e-03 9.99976742e-01 -7.93911276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62650248099996 meters 0.11190182285502115 Centerline is valid? [False, False] Translation: X:6.57, Y:0.21, Z:-0.79 [[ 9.99993859e-01 -2.41551499e-03 -2.53913923e-03 6.57265598e+00] [ 2.41095651e-03 9.99995479e-01 -1.79681638e-03 2.10317675e-01] [ 2.54346799e-03 1.79068359e-03 9.99995162e-01 -7.92342377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68650248099996 meters 0.11162394173598088 Centerline is valid? [False, False] Translation: X:6.58, Y:0.22, Z:-0.80 [[ 9.99984756e-01 3.00300452e-03 4.63360922e-03 6.58262968e+00] [-2.98234321e-03 9.99985609e-01 -4.45949526e-03 2.20762195e-01] [-4.64693442e-03 4.44560827e-03 9.99979321e-01 -7.96629613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74650248099996 meters 0.1108373017523069 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:-0.80 [[ 9.99997319e-01 2.17175324e-03 8.03249223e-04 6.60758869e+00] [-2.16925430e-03 9.99992845e-01 -3.09894373e-03 2.30559540e-01] [-8.09973617e-04 3.09719297e-03 9.99994876e-01 -7.98025891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80650248099997 meters 0.11118500385098604 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:-0.80 [[ 9.99995238e-01 3.04897969e-03 -4.77018303e-04 6.61102576e+00] [-3.05059775e-03 9.99989468e-01 -3.42890563e-03 2.39631333e-01] [ 4.66558616e-04 3.43034449e-03 9.99994008e-01 -7.99761911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86650248099997 meters 0.11200351359884879 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:-0.80 [[ 9.99991688e-01 -1.27892491e-03 3.87147360e-03 6.62670786e+00] [ 1.28647969e-03 9.99997272e-01 -1.94953711e-03 2.45620524e-01] [-3.86896973e-03 1.95450148e-03 9.99990605e-01 -8.00668367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92650248099997 meters 0.11315728418241043 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:-0.80 [[ 9.99988153e-01 -4.09908250e-03 2.62529482e-03 6.63004150e+00] [ 4.11256208e-03 9.99978283e-01 -5.14984771e-03 2.51227104e-01] [-2.60412816e-03 5.16058338e-03 9.99983293e-01 -8.02516802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98650248099997 meters 0.11438978677427562 Centerline is valid? [False, False] Translation: X:6.63, Y:0.25, Z:-0.80 [[ 9.99988425e-01 -4.08623430e-03 2.54036372e-03 6.63125945e+00] [ 4.09958991e-03 9.99977686e-01 -5.27457517e-03 2.53967876e-01] [-2.51875389e-03 5.28492856e-03 9.99982863e-01 -8.04008859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04650248099998 meters 0.11473260720220133 Centerline is valid? [False, False] Translation: X:6.63, Y:0.26, Z:-0.81 [[ 9.99988671e-01 -4.19044734e-03 2.25774079e-03 6.63250478e+00] [ 4.20335191e-03 9.99974683e-01 -5.74160017e-03 2.57381900e-01] [-2.23362376e-03 5.75102520e-03 9.99980968e-01 -8.05030921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10650248099998 meters 0.11423068135963321 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:-0.80 [[ 9.99995646e-01 2.91280532e-03 4.72287466e-04 6.64596014e+00] [-2.90967287e-03 9.99974623e-01 -6.50282569e-03 2.59437904e-01] [-4.91216946e-04 6.50142318e-03 9.99978745e-01 -8.04944976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16650248099998 meters 0.11376299970059925 Centerline is valid? [False, False] Translation: X:6.66, Y:0.26, Z:-0.81 [[ 9.99994671e-01 -5.42485887e-04 3.21933201e-03 6.66340525e+00] [ 5.57671829e-04 9.99988714e-01 -4.71808814e-03 2.64017869e-01] [-3.21673618e-03 4.71985832e-03 9.99983688e-01 -8.05058887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22650248099998 meters 0.11272262336435722 Centerline is valid? [False, False] Translation: X:6.66, Y:0.27, Z:-0.81 [[ 9.99990074e-01 3.59214872e-03 2.63599823e-03 6.66474032e+00] [-3.58828609e-03 9.99992484e-01 -1.46861103e-03 2.68105511e-01] [-2.64125388e-03 1.45913773e-03 9.99995447e-01 -8.05390286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28650248099996 meters 0.11192090952894061 Centerline is valid? [False, False] Translation: X:6.67, Y:0.27, Z:-0.81 [[ 9.99992219e-01 3.52656389e-03 1.76757966e-03 6.66641961e+00] [-3.52174671e-03 9.99990097e-01 -2.72104136e-03 2.72850546e-01] [-1.77715808e-03 2.71479522e-03 9.99994736e-01 -8.05599486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34650248099996 meters 0.11168090004576978 Centerline is valid? [False, False] Translation: X:6.68, Y:0.28, Z:-0.81 [[ 9.99990594e-01 -1.00037937e-03 4.22020805e-03 6.68363410e+00] [ 1.00778435e-03 9.99997956e-01 -1.75288694e-03 2.76394915e-01] [-4.21844587e-03 1.75712352e-03 9.99989559e-01 -8.05302140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40650248099996 meters 0.1118402612065711 Centerline is valid? [False, False] Translation: X:6.69, Y:0.28, Z:-0.81 [[ 9.99987889e-01 -4.06843518e-03 2.76943813e-03 6.68678074e+00] [ 4.08263242e-03 9.99978455e-01 -5.14019261e-03 2.79334580e-01] [-2.74846593e-03 5.15143695e-03 9.99982954e-01 -8.06470740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46650248099996 meters 0.11205014559710835 Centerline is valid? [False, False] Translation: X:6.69, Y:0.28, Z:-0.81 [[ 9.99989486e-01 -3.67128723e-03 2.74750552e-03 6.68720716e+00] [ 3.68356361e-03 9.99983196e-01 -4.47654988e-03 2.77802892e-01] [-2.73102465e-03 4.48662343e-03 9.99986206e-01 -8.07059115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52650248099997 meters 0.11214280602627925 Centerline is valid? [False, False] Translation: X:6.69, Y:0.28, Z:-0.81 [[ 9.99990553e-01 -3.23395829e-03 2.90430501e-03 6.68747462e+00] [ 3.24452741e-03 9.99988105e-01 -3.64181575e-03 2.75660273e-01] [-2.89249299e-03 3.65120445e-03 9.99989151e-01 -8.07919890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58650248099997 meters 0.11273468233270975 Centerline is valid? [False, False] Translation: X:6.69, Y:0.27, Z:-0.81 [[ 9.99989703e-01 -3.00373348e-03 3.40169603e-03 6.68703808e+00] [ 3.01343952e-03 9.99991393e-01 -2.85177139e-03 2.72988747e-01] [-3.39310079e-03 2.86199283e-03 9.99990148e-01 -8.08551018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64650248099997 meters 0.11292010487401556 Centerline is valid? [False, False] Translation: X:6.69, Y:0.27, Z:-0.81 [[ 9.99989690e-01 -2.72070971e-03 3.63547183e-03 6.68697764e+00] [ 2.72867506e-03 9.99993884e-01 -2.18784992e-03 2.70788461e-01] [-3.62949709e-03 2.19774739e-03 9.99990998e-01 -8.09063493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70650248099997 meters 0.11338736931799868 Centerline is valid? [False, False] Translation: X:6.69, Y:0.27, Z:-0.81 [[ 9.99972028e-01 -6.92398149e-03 2.82884162e-03 6.68831612e+00] [ 6.94317859e-03 9.99952545e-01 -6.83370205e-03 2.72846864e-01] [-2.78139095e-03 6.85315205e-03 9.99972649e-01 -8.08989291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76650248099997 meters 0.11318212955008182 Centerline is valid? [False, False] Translation: X:6.69, Y:0.27, Z:-0.81 [[ 9.99973290e-01 -6.85514598e-03 2.53507592e-03 6.68898852e+00] [ 6.87247665e-03 9.99952633e-01 -6.89202361e-03 2.73606277e-01] [-2.48771002e-03 6.90926177e-03 9.99973036e-01 -8.09171583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82650248099998 meters 0.11277582564468329 Centerline is valid? [False, False] Translation: X:6.69, Y:0.27, Z:-0.81 [[ 9.99976910e-01 -6.32048918e-03 2.49620122e-03 6.68969716e+00] [ 6.33567537e-03 9.99961181e-01 -6.12340663e-03 2.71799433e-01] [-2.45740139e-03 6.13908036e-03 9.99978136e-01 -8.10184885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88650248099998 meters 0.11246475242143954 Centerline is valid? [False, False] Translation: X:6.69, Y:0.27, Z:-0.81 [[ 9.99979288e-01 -6.08529335e-03 2.09568242e-03 6.69055957e+00] [ 6.09769357e-03 9.99963633e-01 -5.96236772e-03 2.72043647e-01] [-2.05932345e-03 5.97502306e-03 9.99980029e-01 -8.10477471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94650248099998 meters 0.11209217089953034 Centerline is valid? [False, False] Translation: X:6.69, Y:0.27, Z:-0.81 [[ 9.99983343e-01 -5.56733556e-03 1.52233793e-03 6.69208356e+00] [ 5.57563731e-03 9.99969306e-01 -5.50453709e-03 2.72187432e-01] [-1.49164559e-03 5.51293341e-03 9.99983691e-01 -8.11343057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00650248099996 meters 0.11180572444351622 Centerline is valid? [False, False] Translation: X:6.69, Y:0.27, Z:-0.81 [[ 9.99987299e-01 -4.88336176e-03 1.24666913e-03 6.69346879e+00] [ 4.88905436e-03 9.99977446e-01 -4.60478017e-03 2.70944792e-01] [-1.22415420e-03 4.61081672e-03 9.99988621e-01 -8.12758226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06650248099996 meters 0.11175420458453464 Centerline is valid? [False, False] Translation: X:6.69, Y:0.27, Z:-0.81 [[ 9.99989323e-01 -4.48960529e-03 1.09425038e-03 6.69421241e+00] [ 4.49393226e-03 9.99981964e-01 -3.98442439e-03 2.69792297e-01] [-1.07634215e-03 3.98929934e-03 9.99991463e-01 -8.13509988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12650248099996 meters 0.11152623498856908 Centerline is valid? [False, False] Translation: X:6.70, Y:0.27, Z:-0.81 [[ 9.99992275e-01 -3.77932346e-03 1.08035794e-03 6.69510928e+00] [ 3.78229077e-03 9.99989044e-01 -2.75787974e-03 2.66954114e-01] [-1.06992319e-03 2.76194467e-03 9.99995613e-01 -8.14851262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18650248099996 meters 0.1113627588352379 Centerline is valid? [False, False] Translation: X:6.70, Y:0.27, Z:-0.81 [[ 9.99993465e-01 -3.58128100e-03 4.93948834e-04 6.69619466e+00] [ 3.58259087e-03 9.99989999e-01 -2.67695804e-03 2.67516396e-01] [-4.84356955e-04 2.67871016e-03 9.99996295e-01 -8.14940175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24650248099996 meters 0.1113590169936748 Centerline is valid? [False, False] Translation: X:6.71, Y:0.27, Z:-0.81 [[ 9.99992487e-01 3.63200240e-03 -1.35463050e-03 6.70952410e+00] [-3.63780178e-03 9.99984123e-01 -4.30354145e-03 2.66200464e-01] [ 1.33897852e-03 4.30843699e-03 9.99989822e-01 -8.12155965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30650248099997 meters 0.1112167711486709 Centerline is valid? [False, False] Translation: X:6.71, Y:0.27, Z:-0.81 [[ 9.99995987e-01 -1.79946288e-04 -2.82717773e-03 6.71204089e+00] [ 1.54742392e-04 9.99960270e-01 -8.91255146e-03 2.69923915e-01] [ 2.82866919e-03 8.91207821e-03 9.99956286e-01 -8.12213117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36650248099997 meters 0.11099078843717915 Centerline is valid? [False, False] Translation: X:6.73, Y:0.27, Z:-0.82 [[ 9.99997117e-01 -2.38451111e-03 2.81719899e-04 6.72972854e+00] [ 2.38543614e-03 9.99991610e-01 -3.33009964e-03 2.68951901e-01] [-2.73776876e-04 3.33076206e-03 9.99994416e-01 -8.15563066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42650248099997 meters 0.11109348266618065 Centerline is valid? [False, False] Translation: X:6.73, Y:0.27, Z:-0.82 [[ 9.99979596e-01 -6.36387519e-03 -5.55212169e-04 6.73126449e+00] [ 6.35945330e-03 9.99950651e-01 -7.63239058e-03 2.70030215e-01] [ 6.03756351e-04 7.62870400e-03 9.99970719e-01 -8.15634007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48650248099997 meters 0.11123715563094873 Centerline is valid? [False, False] Translation: X:6.73, Y:0.27, Z:-0.82 [[ 9.99982198e-01 -5.93578166e-03 -6.09100855e-04 6.73161964e+00] [ 5.93147423e-03 9.99958978e-01 -6.84538561e-03 2.67944136e-01] [ 6.49708583e-04 6.84165088e-03 9.99976385e-01 -8.16062266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54650248099998 meters 0.1113876479848431 Centerline is valid? [False, False] Translation: X:6.73, Y:0.27, Z:-0.82 [[ 9.99983914e-01 -5.61478076e-03 -8.03365366e-04 6.73220152e+00] [ 5.60959862e-03 9.99964335e-01 -6.31359541e-03 2.67111867e-01] [ 8.38786168e-04 6.30898729e-03 9.99979746e-01 -8.16387777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60650248099998 meters 0.11147949104612903 Centerline is valid? [False, False] Translation: X:6.73, Y:0.26, Z:-0.82 [[ 9.99986281e-01 -5.23802449e-03 2.11860231e-05 6.73149818e+00] [ 5.23806499e-03 9.99973826e-01 -4.99094985e-03 2.62737580e-01] [ 4.95724889e-06 4.99099235e-03 9.99987545e-01 -8.17469536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66650248099998 meters 0.11208258554572205 Centerline is valid? [False, False] Translation: X:6.73, Y:0.26, Z:-0.82 [[ 9.99957966e-01 -9.16871692e-03 1.87503340e-05 6.73209909e+00] [ 9.16854116e-03 9.99921280e-01 -8.56571883e-03 2.61554865e-01] [ 5.97877932e-05 8.56553070e-03 9.99963313e-01 -8.18281884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72650248099998 meters 0.11257863497841117 Centerline is valid? [False, False] Translation: X:6.73, Y:0.26, Z:-0.82 [[ 9.99961399e-01 -8.77522031e-03 4.42599971e-04 6.73206107e+00] [ 8.77832076e-03 9.99932802e-01 -7.57177474e-03 2.59321565e-01] [-3.76126238e-04 7.57536775e-03 9.99971236e-01 -8.19334945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78650248099996 meters 0.11286688597167996 Centerline is valid? [False, False] Translation: X:6.73, Y:0.26, Z:-0.82 [[ 9.99961961e-01 -8.71591902e-03 3.31509536e-04 6.73211121e+00] [ 8.71816080e-03 9.99933864e-01 -7.50076677e-03 2.58955973e-01] [-2.66111536e-04 7.50337160e-03 9.99971814e-01 -8.19088616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84650248099996 meters 0.11337449367889343 Centerline is valid? [False, False] Translation: X:6.73, Y:0.26, Z:-0.82 [[ 9.99963606e-01 -8.53016100e-03 1.51128607e-04 6.73274385e+00] [ 8.53104022e-03 9.99936699e-01 -7.33621219e-03 2.59209040e-01] [-8.85399693e-05 7.33723448e-03 9.99973078e-01 -8.19508154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90650248099996 meters 0.1136942793040278 Centerline is valid? [False, False] Translation: X:6.73, Y:0.26, Z:-0.82 [[ 9.99966696e-01 -8.14586003e-03 5.02570208e-04 6.73270465e+00] [ 8.14893629e-03 9.99945949e-01 -6.45712459e-03 2.57011397e-01] [-4.49944210e-04 6.46100495e-03 9.99979026e-01 -8.20367011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96650248099996 meters 0.1140675230768999 Centerline is valid? [False, False] Translation: X:6.73, Y:0.26, Z:-0.82 [[ 9.99969871e-01 -7.74064018e-03 5.82940066e-04 6.73297096e+00] [ 7.74380894e-03 9.99954081e-01 -5.64532474e-03 2.55201297e-01] [-5.39214871e-04 5.64966883e-03 9.99983895e-01 -8.20987167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02650248099997 meters 0.11403032217852174 Centerline is valid? [False, False] Translation: X:6.73, Y:0.25, Z:-0.82 [[ 9.99972776e-01 -7.37332303e-03 2.84977891e-04 6.73381429e+00] [ 7.37471430e-03 9.99959099e-01 -5.23574616e-03 2.54757607e-01] [-2.46361387e-04 5.23770525e-03 9.99986253e-01 -8.21473342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08650248099997 meters 0.11355539887634164 Centerline is valid? [False, False] Translation: X:6.74, Y:0.26, Z:-0.82 [[ 9.99976172e-01 -6.89902067e-03 -2.41569892e-04 6.73542334e+00] [ 6.89776116e-03 9.99964325e-01 -4.87538000e-03 2.55150856e-01] [ 2.75196622e-04 4.87359753e-03 9.99988086e-01 -8.22543251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14650248099997 meters 0.11313167789506669 Centerline is valid? [False, False] Translation: X:6.74, Y:0.26, Z:-0.82 [[ 9.99978382e-01 -6.51541873e-03 -8.86221872e-04 6.73702164e+00] [ 6.51100668e-03 9.99966830e-01 -4.89345810e-03 2.56788844e-01] [ 9.18075405e-04 4.88758212e-03 9.99987634e-01 -8.23302260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20650248099997 meters 0.11302993894289004 Centerline is valid? [False, False] Translation: X:6.74, Y:0.26, Z:-0.82 [[ 9.99979218e-01 -6.33778364e-03 -1.18145835e-03 6.73762510e+00] [ 6.33196019e-03 9.99968098e-01 -4.86928301e-03 2.57272907e-01] [ 1.21228112e-03 4.86170087e-03 9.99987447e-01 -8.23450047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26650248099997 meters 0.11325260053724084 Centerline is valid? [False, False] Translation: X:6.74, Y:0.26, Z:-0.82 [[ 9.99979494e-01 -6.25959176e-03 -1.35252841e-03 6.73773934e+00] [ 6.25292089e-03 9.99968536e-01 -4.88133639e-03 2.57046408e-01] [ 1.38304102e-03 4.87277904e-03 9.99987172e-01 -8.23213559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32650248099998 meters 0.11253298273682116 Centerline is valid? [False, False] Translation: X:6.74, Y:0.26, Z:-0.82 [[ 9.99981320e-01 -5.81609150e-03 -1.87934411e-03 6.73934443e+00] [ 5.80735654e-03 9.99972463e-01 -4.62038066e-03 2.57780831e-01] [ 1.90616492e-03 4.60938033e-03 9.99987560e-01 -8.24280064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38650248099998 meters 0.11220575080671975 Centerline is valid? [False, False] Translation: X:6.74, Y:0.26, Z:-0.83 [[ 9.99983229e-01 -5.23971142e-03 -2.46740163e-03 6.74112629e+00] [ 5.22923469e-03 9.99977366e-01 -4.23353479e-03 2.58336740e-01] [ 2.48952828e-03 4.22056117e-03 9.99987994e-01 -8.25437933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44650248099998 meters 0.11221390119920199 Centerline is valid? [False, False] Translation: X:6.74, Y:0.26, Z:-0.83 [[ 9.99984586e-01 -4.91622196e-03 -2.58060126e-03 6.74112049e+00] [ 4.90672538e-03 9.99981215e-01 -3.67350954e-03 2.56412203e-01] [ 2.59861257e-03 3.66079061e-03 9.99989923e-01 -8.25188132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50650248099996 meters 0.11220340935926702 Centerline is valid? [False, False] Translation: X:6.74, Y:0.25, Z:-0.83 [[ 9.99988257e-01 -4.27444216e-03 -2.28349047e-03 6.74124706e+00] [ 4.26914049e-03 9.99988192e-01 -2.32158747e-03 2.52761093e-01] [ 2.29338700e-03 2.31181167e-03 9.99994698e-01 -8.26228665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56650248099996 meters 0.11220383673334178 Centerline is valid? [False, False] Translation: X:6.74, Y:0.25, Z:-0.83 [[ 9.99991679e-01 -3.52577094e-03 -2.05210461e-03 6.74156552e+00] [ 3.52399216e-03 9.99993412e-01 -8.69779468e-04 2.48810911e-01] [ 2.05515773e-03 8.62540630e-04 9.99997516e-01 -8.27410183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62650248099996 meters 0.11206350629336104 Centerline is valid? [False, False] Translation: X:6.74, Y:0.25, Z:-0.83 [[ 9.99970224e-01 -7.13796405e-03 -2.93275276e-03 6.74394383e+00] [ 7.12445522e-03 9.99964081e-01 -4.59110713e-03 2.49828484e-01] [ 2.96541858e-03 4.57007615e-03 9.99985160e-01 -8.28683066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68650248099996 meters 0.11200551596303356 Centerline is valid? [False, False] Translation: X:6.74, Y:0.25, Z:-0.83 [[ 9.99973728e-01 -6.64636268e-03 -2.89309073e-03 6.74437248e+00] [ 6.63560386e-03 9.99971092e-01 -3.71264802e-03 2.47778604e-01] [ 2.91768270e-03 3.69335307e-03 9.99988923e-01 -8.29470101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74650248099996 meters 0.11207781853176188 Centerline is valid? [False, False] Translation: X:6.74, Y:0.25, Z:-0.83 [[ 9.99974535e-01 -6.60187588e-03 -2.71026112e-03 6.74409619e+00] [ 6.59249913e-03 9.99972303e-01 -3.45419995e-03 2.47076275e-01] [ 2.73299026e-03 3.43624459e-03 9.99990361e-01 -8.29472153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80650248099997 meters 0.1122281703691213 Centerline is valid? [False, False] Translation: X:6.74, Y:0.25, Z:-0.83 [[ 9.99974522e-01 -6.61931126e-03 -2.67227525e-03 6.74396801e+00] [ 6.60992272e-03 9.99972005e-01 -3.50699126e-03 2.47040598e-01] [ 2.69541430e-03 3.48923837e-03 9.99990280e-01 -8.29340085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86650248099997 meters 0.11212761206840627 Centerline is valid? [False, False] Translation: X:6.74, Y:0.25, Z:-0.83 [[ 9.99975054e-01 -6.50201702e-03 -2.75966617e-03 6.74439421e+00] [ 6.49266756e-03 9.99973198e-01 -3.38344081e-03 2.47130088e-01] [ 2.78159140e-03 3.36543881e-03 9.99990468e-01 -8.29749396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92650248099997 meters 0.11218295710302689 Centerline is valid? [False, False] Translation: X:6.74, Y:0.25, Z:-0.83 [[ 9.99976791e-01 -6.25185242e-03 -2.70774029e-03 6.74480186e+00] [ 6.24391332e-03 9.99976212e-01 -2.93059691e-03 2.46636734e-01] [ 2.72599754e-03 2.91362200e-03 9.99992040e-01 -8.30447728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98650248099997 meters 0.11208185708643638 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.83 [[ 9.99944059e-01 -1.01433595e-02 -2.99855455e-03 6.74601772e+00] [ 1.01230822e-02 9.99926301e-01 -6.70190159e-03 2.46433101e-01] [ 3.06631336e-03 6.67117206e-03 9.99973046e-01 -8.31429190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04650248099998 meters 0.11236583700218063 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.83 [[ 9.99947223e-01 -9.81516254e-03 -3.03527520e-03 6.74643630e+00] [ 9.79652772e-03 9.99933440e-01 -6.09452119e-03 2.45107548e-01] [ 3.09489189e-03 6.06446438e-03 9.99976822e-01 -8.31942736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10650248099998 meters 0.11235708829397044 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.83 [[ 9.99949037e-01 -9.59556700e-03 -3.13816391e-03 6.74705821e+00] [ 9.57714087e-03 9.99937114e-01 -5.83487074e-03 2.45283367e-01] [ 3.19395545e-03 5.80451874e-03 9.99978053e-01 -8.32540875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16650248099998 meters 0.11200666199520026 Centerline is valid? [False, False] Translation: X:6.75, Y:0.24, Z:-0.83 [[ 9.99952907e-01 -9.26167922e-03 -2.89906724e-03 6.74729512e+00] [ 9.24625069e-03 9.99943255e-01 -5.29080688e-03 2.44016847e-01] [ 2.94790449e-03 5.26375222e-03 9.99981801e-01 -8.33517945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22650248099998 meters 0.11218353566883196 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.83 [[ 9.99951837e-01 -9.23454405e-03 -3.32362607e-03 6.74827312e+00] [ 9.21601684e-03 9.99942145e-01 -5.54719945e-03 2.45815283e-01] [ 3.37465964e-03 5.51630168e-03 9.99979091e-01 -8.33811909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28650248099996 meters 0.11168221991042944 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.83 [[ 9.99953878e-01 -8.94208096e-03 -3.50454231e-03 6.74929917e+00] [ 8.92345427e-03 9.99946166e-01 -5.29508890e-03 2.46414542e-01] [ 3.55170276e-03 5.26357206e-03 9.99979840e-01 -8.34873364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34650248099996 meters 0.11178253482650266 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.84 [[ 9.99957462e-01 -8.59289324e-03 -3.35202709e-03 6.74985222e+00] [ 8.57700870e-03 9.99952055e-01 -4.72472306e-03 2.45638923e-01] [ 3.39246542e-03 4.69577172e-03 9.99983220e-01 -8.36135329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40650248099996 meters 0.11181290337863202 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.84 [[ 9.99958183e-01 -8.44198463e-03 -3.51633998e-03 6.75047768e+00] [ 8.42583677e-03 9.99954004e-01 -4.58201132e-03 2.46001918e-01] [ 3.55485951e-03 4.55219161e-03 9.99983320e-01 -8.36614259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46650248099996 meters 0.11189558810424045 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.84 [[ 9.99958103e-01 -8.35765535e-03 -3.73391359e-03 6.75074860e+00] [ 8.34075103e-03 9.99954999e-01 -4.52010374e-03 2.46007158e-01] [ 3.77152303e-03 4.48877072e-03 9.99982813e-01 -8.36454124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52650248099997 meters 0.11099617007399042 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.84 [[ 9.99958026e-01 -8.17756946e-03 -4.13203704e-03 6.75129194e+00] [ 8.15946348e-03 9.99957119e-01 -4.37987409e-03 2.45863159e-01] [ 4.16767658e-03 4.34597505e-03 9.99981871e-01 -8.36243369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58650248099997 meters 0.11056198853265728 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.84 [[ 9.99959362e-01 -7.61631954e-03 -4.82348869e-03 6.75321621e+00] [ 7.59720954e-03 9.99963269e-01 -3.96787043e-03 2.46481050e-01] [ 4.85353208e-03 3.93106413e-03 9.99980495e-01 -8.37360033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64650248099997 meters 0.11007433616946011 Centerline is valid? [False, False] Translation: X:6.75, Y:0.25, Z:-0.84 [[ 9.99962119e-01 -6.97739544e-03 -5.20342353e-03 6.75485904e+00] [ 6.96068519e-03 9.99970581e-01 -3.22262112e-03 2.46062884e-01] [ 5.22575595e-03 3.18627965e-03 9.99981269e-01 -8.38848043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70650248099997 meters 0.10987683355164246 Centerline is valid? [False, False] Translation: X:6.76, Y:0.24, Z:-0.84 [[ 9.99965929e-01 -6.24195545e-03 -5.40178370e-03 6.75642372e+00] [ 6.23009168e-03 9.99978150e-01 -2.21031708e-03 2.44890420e-01] [ 5.41546237e-03 2.17658817e-03 9.99982967e-01 -8.40718937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76650248099997 meters 0.10999741311134104 Centerline is valid? [False, False] Translation: X:6.76, Y:0.24, Z:-0.84 [[ 9.99966853e-01 -5.82644765e-03 -5.68725835e-03 6.75750583e+00] [ 5.81695225e-03 9.99981662e-01 -1.68470868e-03 2.44359757e-01] [ 5.69696992e-03 1.65157033e-03 9.99982408e-01 -8.41611645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82650248099998 meters 0.11022653372610976 Centerline is valid? [False, False] Translation: X:6.76, Y:0.25, Z:-0.84 [[ 9.99964174e-01 -5.82987074e-03 -6.13709122e-03 6.75820630e+00] [ 5.81820269e-03 9.99981236e-01 -1.91737446e-03 2.45657578e-01] [ 6.14815411e-03 1.88159893e-03 9.99979330e-01 -8.41410274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88650248099998 meters 0.11065009690539683 Centerline is valid? [False, False] Translation: X:6.76, Y:0.24, Z:-0.84 [[ 9.99966257e-01 -5.60999239e-03 -6.00102726e-03 6.75810170e+00] [ 5.60144482e-03 9.99983275e-01 -1.44021184e-03 2.44231924e-01] [ 6.00900647e-03 1.40654882e-03 9.99980957e-01 -8.41641018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94650248099998 meters 0.1111861887203895 Centerline is valid? [False, False] Translation: X:6.76, Y:0.24, Z:-0.84 [[ 9.99969856e-01 -5.20815223e-03 -5.75860699e-03 6.75800074e+00] [ 5.20551100e-03 9.99986339e-01 -4.73551517e-04 2.41640229e-01] [ 5.76099465e-03 4.43560750e-04 9.99983307e-01 -8.42186978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00650248099996 meters 0.11135343620851956 Centerline is valid? [False, False] Translation: X:6.76, Y:0.24, Z:-0.84 [[ 9.99937034e-01 -9.36778577e-03 -6.17840503e-03 6.75867859e+00] [ 9.33921630e-03 9.99945638e-01 -4.63683931e-03 2.41678101e-01] [ 6.22150607e-03 4.57884589e-03 9.99970163e-01 -8.42051794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06650248099996 meters 0.1117198564396855 Centerline is valid? [False, False] Translation: X:6.76, Y:0.24, Z:-0.84 [[ 9.99946631e-01 -8.59572857e-03 -5.73145707e-03 6.75885888e+00] [ 8.57868703e-03 9.99958728e-01 -2.99131863e-03 2.37566786e-01] [ 5.75693308e-03 2.94199061e-03 9.99979101e-01 -8.43620766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12650248099996 meters 0.1116823371916885 Centerline is valid? [False, False] Translation: X:6.76, Y:0.24, Z:-0.84 [[ 9.99952144e-01 -7.84671840e-03 -5.84283476e-03 6.75989084e+00] [ 7.83598883e-03 9.99967574e-01 -1.85699839e-03 2.35320899e-01] [ 5.85721664e-03 1.81112513e-03 9.99981206e-01 -8.44952369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18650248099996 meters 0.11106220966578108 Centerline is valid? [False, False] Translation: X:6.76, Y:0.23, Z:-0.85 [[ 9.99955320e-01 -6.97780954e-03 -6.37722190e-03 6.76177072e+00] [ 6.97255860e-03 9.99975334e-01 -8.45252851e-04 2.34186138e-01] [ 6.38296262e-03 8.00749532e-04 9.99979308e-01 -8.46490840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24650248099996 meters 0.11068303245276201 Centerline is valid? [False, False] Translation: X:6.76, Y:0.23, Z:-0.85 [[ 9.99955040e-01 -6.52392543e-03 -6.88155642e-03 6.76288061e+00] [ 6.52124742e-03 9.99978652e-01 -4.11524302e-04 2.33802764e-01] [ 6.88409426e-03 3.66629468e-04 9.99976237e-01 -8.46921639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30650248099997 meters 0.11040990044589243 Centerline is valid? [False, False] Translation: X:6.76, Y:0.23, Z:-0.85 [[ 9.99955941e-01 -6.02062416e-03 -7.20199737e-03 6.76388871e+00] [ 6.02229003e-03 9.99981844e-01 2.09642337e-04 2.32662783e-01] [ 7.20060443e-03 -2.53005618e-04 9.99974043e-01 -8.47643887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36650248099997 meters 0.11029194581706536 Centerline is valid? [False, False] Translation: X:6.76, Y:0.23, Z:-0.85 [[ 9.99956187e-01 -5.67856144e-03 -7.44157581e-03 6.76450475e+00] [ 5.68312933e-03 9.99983675e-01 5.92830812e-04 2.31762241e-01] [ 7.43808790e-03 -6.35096277e-04 9.99972135e-01 -8.47989751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42650248099997 meters 0.11022429534573396 Centerline is valid? [False, False] Translation: X:6.77, Y:0.23, Z:-0.85 [[ 9.99953555e-01 -5.39989260e-03 -7.98306081e-03 6.76538589e+00] [ 5.40603644e-03 9.99985107e-01 7.48230267e-04 2.31636737e-01] [ 7.97890156e-03 -7.91352233e-04 9.99967855e-01 -8.47943439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48650248099997 meters 0.10995167825863623 Centerline is valid? [False, False] Translation: X:6.77, Y:0.23, Z:-0.85 [[ 9.99952472e-01 -4.90242584e-03 -8.42730556e-03 6.76636520e+00] [ 4.91355069e-03 9.99987084e-01 1.29989908e-03 2.30559598e-01] [ 8.42082405e-03 -1.34124529e-03 9.99963645e-01 -8.48351569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54650248099998 meters 0.10961191727630869 Centerline is valid? [False, False] Translation: X:6.77, Y:0.23, Z:-0.85 [[ 9.99953389e-01 -4.34257653e-03 -8.62332886e-03 6.76745953e+00] [ 4.36007895e-03 9.99988471e-01 2.01189766e-03 2.29385446e-01] [ 8.61449262e-03 -2.04940228e-03 9.99960794e-01 -8.49531043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60650248099998 meters 0.10980903624728029 Centerline is valid? [False, False] Translation: X:6.77, Y:0.23, Z:-0.85 [[ 9.99924452e-01 -8.19029015e-03 -9.16571267e-03 6.76850712e+00] [ 8.17420617e-03 9.99964987e-01 -1.79088862e-03 2.28688832e-01] [ 9.18005965e-03 1.71583090e-03 9.99956390e-01 -8.49719669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66650248099998 meters 0.10975968288922272 Centerline is valid? [False, False] Translation: X:6.77, Y:0.22, Z:-0.85 [[ 9.99932543e-01 -7.58950498e-03 -8.79255724e-03 6.76819509e+00] [ 7.58678830e-03 9.99971161e-01 -3.42288161e-04 2.24065647e-01] [ 8.79490147e-03 2.75557801e-04 9.99961286e-01 -8.50245229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72650248099995 meters 0.10985324002429438 Centerline is valid? [False, False] Translation: X:6.77, Y:0.22, Z:-0.85 [[ 9.99900471e-01 -1.11019109e-02 -8.70602909e-03 6.76889687e+00] [ 1.10754575e-02 9.99933919e-01 -3.08086080e-03 2.20451768e-01] [ 8.73965723e-03 2.98413091e-03 9.99957356e-01 -8.51515303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78650248099996 meters 0.11046489392455085 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:-0.85 [[ 9.99909968e-01 -1.07839829e-02 -7.98511626e-03 6.76839004e+00] [ 1.07731551e-02 9.99940991e-01 -1.39777351e-03 2.14478848e-01] [ 7.99971863e-03 1.31162277e-03 9.99967142e-01 -8.52658800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84650248099996 meters 0.11164100435549765 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:-0.85 [[ 9.99865329e-01 -1.45068479e-02 -7.67296809e-03 6.76872700e+00] [ 1.44741944e-02 9.99886022e-01 -4.29419332e-03 2.11323869e-01] [ 7.73438876e-03 4.18255499e-03 9.99961342e-01 -8.53855268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90650248099996 meters 0.11330220288696669 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:-0.85 [[ 9.99869529e-01 -1.45727077e-02 -6.96860974e-03 6.76746893e+00] [ 1.45485125e-02 9.99888003e-01 -3.51021295e-03 2.07841451e-01] [ 7.01898259e-03 3.40837206e-03 9.99969558e-01 -8.53612686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96650248099996 meters 0.11360632923045426 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:-0.85 [[ 9.99873237e-01 -1.43839768e-02 -6.82725977e-03 6.76760152e+00] [ 1.43630458e-02 9.99892025e-01 -3.10498452e-03 2.06877221e-01] [ 6.87118462e-03 3.00653068e-03 9.99971873e-01 -8.54125888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02650248099997 meters 0.11383911457024308 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:-0.85 [[ 9.99873003e-01 -1.42806598e-02 -7.07396243e-03 6.76819551e+00] [ 1.42591529e-02 9.99893585e-01 -3.08145363e-03 2.07241985e-01] [ 7.11721485e-03 2.98019358e-03 9.99970231e-01 -8.54369796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08650248099997 meters 0.1126909481937702 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:-0.86 [[ 9.99877038e-01 -1.37407024e-02 -7.55663446e-03 6.76990289e+00] [ 1.37215668e-02 9.99902531e-01 -2.57833904e-03 2.07441207e-01] [ 7.59132611e-03 2.47433314e-03 9.99968124e-01 -8.55702446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14650248099997 meters 0.11190581792906107 Centerline is valid? [False, False] Translation: X:6.78, Y:0.20, Z:-0.85 [[ 9.99973343e-01 -4.17367509e-03 -5.99119826e-03 6.77964289e+00] [ 4.16439986e-03 9.99990112e-01 -1.55978401e-03 2.04737464e-01] [ 5.99764905e-03 1.53479269e-03 9.99980836e-01 -8.54832000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20650248099997 meters 0.11165082131828019 Centerline is valid? [False, False] Translation: X:6.78, Y:0.21, Z:-0.86 [[ 9.99971506e-01 -3.98002947e-03 -6.41458073e-03 6.78049365e+00] [ 3.97067559e-03 9.99991036e-01 -1.47029794e-03 2.05123774e-01] [ 6.42037506e-03 1.44478582e-03 9.99978345e-01 -8.55007934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26650248099997 meters 0.11132761939740057 Centerline is valid? [False, False] Translation: X:6.78, Y:0.20, Z:-0.86 [[ 9.99971661e-01 -3.44945812e-03 -6.69165332e-03 6.78199895e+00] [ 3.44356829e-03 9.99993674e-01 -8.91496932e-04 2.04887108e-01] [ 6.69468617e-03 8.68428502e-04 9.99977213e-01 -8.56498248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32650248099998 meters 0.11160046470007051 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-0.86 [[ 9.99948862e-01 -6.48089679e-03 -7.76346476e-03 6.78529534e+00] [ 6.45044972e-03 9.99971432e-01 -3.94048065e-03 2.07787201e-01] [ 7.78878082e-03 3.89020131e-03 9.99962100e-01 -8.58654183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38650248099998 meters 0.11231584461864512 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-0.86 [[ 9.99951369e-01 -6.33719841e-03 -7.55639909e-03 6.78529484e+00] [ 6.31050821e-03 9.99973784e-01 -3.55075822e-03 2.06847074e-01] [ 7.57870286e-03 3.50290082e-03 9.99965146e-01 -8.59139745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44650248099998 meters 0.11256894070357751 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-0.86 [[ 9.99948217e-01 -6.50395987e-03 -7.82705179e-03 6.78585192e+00] [ 6.47246830e-03 9.99970884e-01 -4.04205367e-03 2.08894688e-01] [ 7.85311326e-03 3.99118402e-03 9.99961199e-01 -8.59187378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50650248099996 meters 0.1125955297253758 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-0.86 [[ 9.99943293e-01 -6.57270191e-03 -8.37913293e-03 6.78689400e+00] [ 6.53398978e-03 9.99967892e-01 -4.63909856e-03 2.11507302e-01] [ 8.40935531e-03 4.58408632e-03 9.99954133e-01 -8.59266726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56650248099996 meters 0.11208944927716058 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-0.86 [[ 9.99940520e-01 -6.49055472e-03 -8.76520934e-03 6.78757576e+00] [ 6.44878514e-03 9.99967757e-01 -4.78526844e-03 2.12330840e-01] [ 8.79598576e-03 4.72845886e-03 9.99950135e-01 -8.59322798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62650248099996 meters 0.11216393508342373 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-0.86 [[ 9.99935524e-01 -6.49906104e-03 -9.31182573e-03 6.78854536e+00] [ 6.45072485e-03 9.99965614e-01 -5.21150498e-03 2.14447958e-01] [ 9.34537541e-03 5.15110094e-03 9.99943063e-01 -8.59348211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68650248099996 meters 0.11170768271330868 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-0.86 [[ 9.99933277e-01 -6.18115926e-03 -9.75887873e-03 6.78955170e+00] [ 6.13241048e-03 9.99968609e-01 -5.01737200e-03 2.14746167e-01] [ 9.78958556e-03 4.95719178e-03 9.99939793e-01 -8.59764684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74650248099996 meters 0.11162384418507094 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-0.86 [[ 9.99933055e-01 -5.64135975e-03 -1.01024594e-02 6.79094820e+00] [ 5.59695122e-03 9.99974574e-01 -4.41870344e-03 2.14497311e-01] [ 1.01271300e-02 4.36186466e-03 9.99939206e-01 -8.61007127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80650248099997 meters 0.11058860364446532 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-0.86 [[ 9.99928987e-01 -4.67708383e-03 -1.09610758e-02 6.79397322e+00] [ 4.63809933e-03 9.99982838e-01 -3.57935624e-03 2.16723146e-01] [ 1.09776287e-02 3.52826350e-03 9.99933519e-01 -8.63260416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86650248099997 meters 0.11082498532775678 Centerline is valid? [False, False] Translation: X:6.81, Y:0.22, Z:-0.86 [[ 9.99956096e-01 -2.02925584e-04 -9.36832467e-03 6.80530254e+00] [ 1.26705188e-04 9.99966895e-01 -8.13584539e-03 2.16912673e-01] [ 9.36966550e-03 8.13430117e-03 9.99923018e-01 -8.62853799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92650248099997 meters 0.1109961324108022 Centerline is valid? [False, False] Translation: X:6.82, Y:0.22, Z:-0.86 [[ 9.99987302e-01 -1.75668018e-03 -4.72335449e-03 6.81970370e+00] [ 1.74372663e-03 9.99994712e-01 -2.74516710e-03 2.17212125e-01] [ 4.72815189e-03 2.73689601e-03 9.99985077e-01 -8.63553532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98650248099997 meters 0.11084059541596109 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-0.86 [[ 9.99989988e-01 3.16717573e-03 -3.16125509e-03 6.83201006e+00] [-3.18857802e-03 9.99971876e-01 -6.78826364e-03 2.19413250e-01] [ 3.13966656e-03 6.79827558e-03 9.99971963e-01 -8.63601591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04650248099998 meters 0.11103528259273449 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-0.86 [[ 9.99990836e-01 -1.18938142e-03 -4.11256271e-03 6.83332760e+00] [ 1.14008539e-03 9.99927727e-01 -1.19683337e-02 2.22489356e-01] [ 4.12650039e-03 1.19635354e-02 9.99919920e-01 -8.63118594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10650248099998 meters 0.11084900643689577 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-0.87 [[ 9.99982064e-01 -5.96613957e-03 5.25330503e-04 6.84275091e+00] [ 5.96806722e-03 9.99975168e-01 -3.74765495e-03 2.22918638e-01] [-5.02958426e-04 3.75072294e-03 9.99992840e-01 -8.67439899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16650248099998 meters 0.11116289772986308 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-0.87 [[ 9.99983622e-01 -5.70616255e-03 4.41913654e-04 6.84302698e+00] [ 5.70760371e-03 9.99978161e-01 -3.33164538e-03 2.21920282e-01] [-4.22893093e-04 3.33411308e-03 9.99994352e-01 -8.67620069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22650248099995 meters 0.11132824188601745 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-0.87 [[ 9.99985363e-01 -5.38068697e-03 5.66879109e-04 6.84284447e+00] [ 5.38212531e-03 9.99982221e-01 -2.56707871e-03 2.19227257e-01] [-5.53056384e-04 2.57009215e-03 9.99996544e-01 -8.67720734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28650248099996 meters 0.1112226806385618 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-0.87 [[ 9.99986816e-01 -5.13025731e-03 2.17519068e-04 6.84362604e+00] [ 5.13073328e-03 9.99984313e-01 -2.24715677e-03 2.19064280e-01] [-2.05987163e-04 2.24824318e-03 9.99997451e-01 -8.67979418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34650248099996 meters 0.11081915286282754 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-0.87 [[ 9.99990315e-01 -4.40097477e-03 -3.61411367e-05 6.84489918e+00] [ 4.40092815e-03 9.99989593e-01 -1.20206753e-03 2.17221464e-01] [ 4.14310294e-05 1.20189683e-03 9.99999277e-01 -8.69293270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40650248099996 meters 0.11081518522760804 Centerline is valid? [False, False] Translation: X:6.85, Y:0.22, Z:-0.87 [[ 9.99990991e-01 -4.22779855e-03 -3.79327300e-04 6.84529125e+00] [ 4.22741358e-03 9.99990554e-01 -1.01000818e-03 2.16563187e-01] [ 3.83593828e-04 1.00839551e-03 9.99999418e-01 -8.69013290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46650248099996 meters 0.111192993183257 Centerline is valid? [False, False] Translation: X:6.85, Y:0.22, Z:-0.87 [[ 9.99990802e-01 -4.23860203e-03 -6.55653698e-04 6.84542581e+00] [ 4.23792170e-03 9.99990484e-01 -1.03556653e-03 2.16529124e-01] [ 6.60036813e-04 1.03277839e-03 9.99999249e-01 -8.68483494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52650248099997 meters 0.11128145604957922 Centerline is valid? [False, False] Translation: X:6.85, Y:0.22, Z:-0.87 [[ 9.99991499e-01 -4.02855341e-03 -8.79515384e-04 6.84610001e+00] [ 4.02781298e-03 9.99991534e-01 -8.42008904e-04 2.16416998e-01] [ 8.82900016e-04 8.38459222e-04 9.99999259e-01 -8.68929333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58650248099997 meters 0.11067802256213817 Centerline is valid? [False, False] Translation: X:6.85, Y:0.22, Z:-0.87 [[ 9.99990193e-01 -4.05974564e-03 -1.76992722e-03 6.84722439e+00] [ 4.05687201e-03 9.99990452e-01 -1.62416662e-03 2.19033367e-01] [ 1.77650402e-03 1.61697033e-03 9.99997115e-01 -8.68330124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64650248099997 meters 0.11053907815629996 Centerline is valid? [False, False] Translation: X:6.85, Y:0.22, Z:-0.87 [[ 9.99986949e-01 -4.37147948e-03 -2.64430815e-03 6.84752728e+00] [ 4.36421981e-03 9.99986709e-01 -2.74496445e-03 2.21545942e-01] [ 2.65627256e-03 2.73338829e-03 9.99992736e-01 -8.66478972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70650248099997 meters 0.11050925172034563 Centerline is valid? [False, False] Translation: X:6.85, Y:0.22, Z:-0.87 [[ 9.99987404e-01 -3.96110089e-03 -3.08235351e-03 6.84836219e+00] [ 3.95436627e-03 9.99989788e-01 -2.18793107e-03 2.20446096e-01] [ 3.09098865e-03 2.17571476e-03 9.99992856e-01 -8.66669306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76650248099997 meters 0.11059592178065583 Centerline is valid? [False, False] Translation: X:6.85, Y:0.22, Z:-0.87 [[ 9.99989969e-01 -3.53073586e-03 -2.75595823e-03 6.84794497e+00] [ 3.52782112e-03 9.99993214e-01 -1.06175836e-03 2.16762159e-01] [ 2.75968831e-03 1.05202518e-03 9.99995639e-01 -8.66923622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82650248099998 meters 0.11091222715363996 Centerline is valid? [False, False] Translation: X:6.85, Y:0.21, Z:-0.87 [[ 9.99969962e-01 -7.19110271e-03 -2.89189640e-03 6.84870862e+00] [ 7.17898009e-03 9.99965491e-01 -4.18068525e-03 2.14128471e-01] [ 2.92186034e-03 4.15979880e-03 9.99987079e-01 -8.67731307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88650248099998 meters 0.11152125890467453 Centerline is valid? [False, False] Translation: X:6.85, Y:0.21, Z:-0.87 [[ 9.99976098e-01 -6.48447693e-03 -2.39893808e-03 6.84854613e+00] [ 6.47903798e-03 9.99976439e-01 -2.26810015e-03 2.08735522e-01] [ 2.41358900e-03 2.25250312e-03 9.99994550e-01 -8.68857595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94650248099998 meters 0.11219472544903192 Centerline is valid? [False, False] Translation: X:6.85, Y:0.20, Z:-0.87 [[ 9.99980619e-01 -5.88092974e-03 -2.04345914e-03 6.84839345e+00] [ 5.87960270e-03 9.99982501e-01 -6.54807911e-04 2.04457367e-01] [ 2.04727426e-03 6.42780492e-04 9.99997698e-01 -8.69654682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00650248099996 meters 0.112615906657976 Centerline is valid? [False, False] Translation: X:6.85, Y:0.20, Z:-0.87 [[ 9.99981267e-01 -5.84912457e-03 -1.80374918e-03 6.84758221e+00] [ 5.84874706e-03 9.99982873e-01 -2.14499319e-04 2.02558944e-01] [ 1.80497292e-03 2.03945628e-04 9.99998350e-01 -8.69070084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06650248099996 meters 0.1129884099928817 Centerline is valid? [False, False] Translation: X:6.85, Y:0.20, Z:-0.87 [[ 9.99981532e-01 -5.83075632e-03 -1.71394566e-03 6.84712604e+00] [ 5.83073027e-03 9.99983001e-01 -2.01937885e-05 2.01377911e-01] [ 1.71403427e-03 1.01998607e-05 9.99998531e-01 -8.68656328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12650248099996 meters 0.11280778235305933 Centerline is valid? [False, False] Translation: X:6.86, Y:0.20, Z:-0.87 [[ 9.99998692e-01 -8.01236050e-04 -1.40488431e-03 6.85932134e+00] [ 7.94758316e-04 9.99989079e-01 -4.60537833e-03 2.02668920e-01] [ 1.40855896e-03 4.60425577e-03 9.99988408e-01 -8.67052711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18650248099996 meters 0.11159106127043224 Centerline is valid? [False, False] Translation: X:6.86, Y:0.20, Z:-0.87 [[ 9.99997822e-01 -9.64792638e-04 -1.85092684e-03 6.85965258e+00] [ 9.54669904e-04 9.99984627e-01 -5.46211838e-03 2.04879628e-01] [ 1.85616819e-03 5.46033946e-03 9.99983370e-01 -8.66498658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24650248099996 meters 0.11108584619874877 Centerline is valid? [False, False] Translation: X:6.86, Y:0.21, Z:-0.87 [[ 9.99996695e-01 -5.64438988e-04 -2.50811631e-03 6.86078934e+00] [ 5.50759838e-04 9.99984990e-01 -5.45130122e-03 2.06112362e-01] [ 2.51115559e-03 5.44990184e-03 9.99981996e-01 -8.66738976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30650248099997 meters 0.11081276489181249 Centerline is valid? [False, False] Translation: X:6.86, Y:0.20, Z:-0.87 [[ 9.99995842e-01 1.97416797e-04 -2.87698905e-03 6.86226461e+00] [-2.10330321e-04 9.99989903e-01 -4.48894410e-03 2.04858811e-01] [ 2.87607381e-03 4.48953055e-03 9.99985786e-01 -8.68092374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36650248099997 meters 0.1111440781834827 Centerline is valid? [False, False] Translation: X:6.86, Y:0.20, Z:-0.87 [[ 9.99990139e-01 -3.46075508e-03 -2.78297940e-03 6.86239638e+00] [ 3.43999444e-03 9.99966477e-01 -7.43036526e-03 2.01191834e-01] [ 2.80860078e-03 7.42071856e-03 9.99968522e-01 -8.68647395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42650248099997 meters 0.11128436348784729 Centerline is valid? [False, False] Translation: X:6.86, Y:0.20, Z:-0.87 [[ 9.99993513e-01 -2.78414627e-03 -2.28516797e-03 6.86270436e+00] [ 2.77131111e-03 9.99980475e-01 -5.60080500e-03 1.96634977e-01] [ 2.30071681e-03 5.59443576e-03 9.99981704e-01 -8.70407286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48650248099997 meters 0.11239019965526656 Centerline is valid? [False, False] Translation: X:6.88, Y:0.19, Z:-0.87 [[ 9.99944086e-01 -1.02207014e-02 2.71344673e-03 6.87678628e+00] [ 1.02312619e-02 9.99940027e-01 -3.90696558e-03 1.90396118e-01] [-2.67335206e-03 3.93450911e-03 9.99988686e-01 -8.73361971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54650248099998 meters 0.11371059625180241 Centerline is valid? [False, False] Translation: X:6.88, Y:0.19, Z:-0.87 [[ 9.99943353e-01 -1.01569822e-02 3.18236746e-03 6.87621460e+00] [ 1.01666350e-02 9.99943722e-01 -3.03185065e-03 1.87880331e-01] [-3.15139391e-03 3.06403288e-03 9.99990340e-01 -8.73504797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60650248099998 meters 0.11610402400335074 Centerline is valid? [False, False] Translation: X:6.88, Y:0.18, Z:-0.87 [[ 9.99935945e-01 -1.07521336e-02 3.53512435e-03 6.87565160e+00] [ 1.07620331e-02 9.99938186e-01 -2.79332243e-03 1.84385837e-01] [-3.50487166e-03 2.83118862e-03 9.99989850e-01 -8.73513782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66650248099998 meters 0.11791463446391036 Centerline is valid? [False, False] Translation: X:6.88, Y:0.18, Z:-0.87 [[ 9.99934581e-01 -1.06089645e-02 4.27588511e-03 6.87507241e+00] [ 1.06175277e-02 9.99941662e-01 -1.98497362e-03 1.81711847e-01] [-4.25457715e-03 2.03024310e-03 9.99988888e-01 -8.74364215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72650248099995 meters 0.119285976145501 Centerline is valid? [False, False] Translation: X:6.88, Y:0.18, Z:-0.88 [[ 9.99936779e-01 -1.03814175e-02 4.32024112e-03 6.87577027e+00] [ 1.03888911e-02 9.99944570e-01 -1.71108652e-03 1.82019711e-01] [-4.30223814e-03 1.75586086e-03 9.99989204e-01 -8.75435028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78650248099996 meters 0.11959644552461295 Centerline is valid? [False, False] Translation: X:6.88, Y:0.18, Z:-0.88 [[ 9.99939336e-01 -1.01574774e-02 4.26028577e-03 6.87621086e+00] [ 1.01636807e-02 9.99947316e-01 -1.43696106e-03 1.81780437e-01] [-4.24546543e-03 1.48017407e-03 9.99989893e-01 -8.75937588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84650248099996 meters 0.11726935809841063 Centerline is valid? [False, False] Translation: X:6.88, Y:0.18, Z:-0.88 [[ 9.99944898e-01 -9.74521143e-03 3.90269511e-03 6.87724245e+00] [ 9.74950584e-03 9.99951886e-01 -1.08286134e-03 1.81698836e-01] [-3.89195462e-03 1.12085102e-03 9.99991798e-01 -8.76641673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90650248099996 meters 0.11622328701815898 Centerline is valid? [False, False] Translation: X:6.88, Y:0.18, Z:-0.88 [[ 9.99979018e-01 -5.03860315e-03 4.07136603e-03 6.87780032e+00] [ 5.02296855e-03 9.99980007e-01 3.84128007e-03 1.80736984e-01] [-4.09063931e-03 -3.82074913e-03 9.99984334e-01 -8.77983439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96650248099996 meters 0.11516862865815727 Centerline is valid? [False, False] Translation: X:6.88, Y:0.18, Z:-0.88 [[ 9.99985321e-01 -4.21745986e-03 3.40148820e-03 6.88036131e+00] [ 4.20246098e-03 9.99981469e-01 4.40466318e-03 1.81744415e-01] [-3.42000166e-03 -4.39030391e-03 9.99984514e-01 -8.80209311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02650248099997 meters 0.11416108850686475 Centerline is valid? [False, False] Translation: X:6.88, Y:0.18, Z:-0.88 [[ 9.99973748e-01 -6.87455753e-03 2.28994495e-03 6.88384703e+00] [ 6.87164620e-03 9.99975575e-01 1.27680507e-03 1.83496852e-01] [-2.29866648e-03 -1.26103586e-03 9.99996563e-01 -8.82716124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08650248099997 meters 0.11272697844689156 Centerline is valid? [False, False] Translation: X:6.89, Y:0.19, Z:-0.88 [[ 9.99976543e-01 -6.67714208e-03 1.52622531e-03 6.88520176e+00] [ 6.67578910e-03 9.99977321e-01 8.89871424e-04 1.85682543e-01] [-1.53213250e-03 -8.79661792e-04 9.99998439e-01 -8.82945189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14650248099997 meters 0.11178608222783482 Centerline is valid? [False, False] Translation: X:6.89, Y:0.19, Z:-0.88 [[ 9.99978032e-01 -6.60771291e-03 5.22434214e-04 6.88658599e+00] [ 6.60769972e-03 9.99978169e-01 2.69676894e-05 1.88767635e-01] [-5.22601003e-04 -2.35150086e-05 9.99999863e-01 -8.82588626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20650248099997 meters 0.11132718009857427 Centerline is valid? [False, False] Translation: X:6.90, Y:0.19, Z:-0.88 [[ 9.99998039e-01 -1.86072566e-03 -6.77279562e-04 6.89952825e+00] [ 1.85878192e-03 9.99994185e-01 -2.85933250e-03 1.87399338e-01] [ 6.82596057e-04 2.85806798e-03 9.99995683e-01 -8.83287475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26650248099997 meters 0.11120315583248386 Centerline is valid? [False, False] Translation: X:6.90, Y:0.19, Z:-0.88 [[ 9.99997784e-01 -1.99623405e-03 -6.68014469e-04 6.89929807e+00] [ 1.99419410e-03 9.99993389e-01 -3.04059798e-03 1.87499112e-01] [ 6.74079798e-04 3.03925910e-03 9.99995154e-01 -8.82931087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32650248099998 meters 0.11144264166453642 Centerline is valid? [False, False] Translation: X:6.90, Y:0.19, Z:-0.88 [[ 9.99981676e-01 -5.94586061e-03 -1.13755046e-03 6.90029804e+00] [ 5.93776089e-03 9.99957899e-01 -6.99590521e-03 1.87269048e-01] [ 1.17909924e-03 6.98902251e-03 9.99974881e-01 -8.83204937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38650248099998 meters 0.11205710961354848 Centerline is valid? [False, False] Translation: X:6.90, Y:0.18, Z:-0.88 [[ 9.99986240e-01 -5.21099699e-03 -6.04809671e-04 6.90049941e+00] [ 5.20774774e-03 9.99972632e-01 -5.25502951e-03 1.82966409e-01] [ 6.32177061e-04 5.25180750e-03 9.99986009e-01 -8.84875611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44650248099998 meters 0.11205622419676257 Centerline is valid? [False, False] Translation: X:6.90, Y:0.18, Z:-0.89 [[ 9.99989084e-01 -4.65622422e-03 -3.87914596e-04 6.90093818e+00] [ 4.65457922e-03 9.99980603e-01 -4.13875411e-03 1.80639655e-01] [ 4.07178039e-04 4.13690336e-03 9.99991360e-01 -8.86080531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50650248099996 meters 0.11234935549228303 Centerline is valid? [False, False] Translation: X:6.90, Y:0.18, Z:-0.89 [[ 9.99961810e-01 -8.71144258e-03 -6.99286313e-04 6.90174860e+00] [ 8.70544604e-03 9.99928784e-01 -8.16348351e-03 1.80662727e-01] [ 7.70352231e-04 8.15708415e-03 9.99966434e-01 -8.86413522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56650248099996 meters 0.11260073231214253 Centerline is valid? [False, False] Translation: X:6.90, Y:0.18, Z:-0.89 [[ 9.99965334e-01 -8.30245277e-03 -6.32048226e-04 6.90234002e+00] [ 8.29746741e-03 9.99937305e-01 -7.51916755e-03 1.79673539e-01] [ 6.94436133e-04 7.51366249e-03 9.99971531e-01 -8.87476327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62650248099996 meters 0.11229725538571701 Centerline is valid? [False, False] Translation: X:6.90, Y:0.18, Z:-0.89 [[ 9.99990707e-01 -4.30699655e-03 1.91140805e-04 6.90092064e+00] [ 4.30759551e-03 9.99985433e-01 -3.25239033e-03 1.78359965e-01] [-1.77129987e-04 3.25318346e-03 9.99994693e-01 -8.87393963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68650248099996 meters 0.1123961155626623 Centerline is valid? [False, False] Translation: X:6.90, Y:0.18, Z:-0.89 [[ 9.99977152e-01 -6.66172173e-03 -1.14760899e-03 6.90484860e+00] [ 6.65477998e-03 9.99960154e-01 -5.95007574e-03 1.81301409e-01] [ 1.18720101e-03 5.94230271e-03 9.99981640e-01 -8.90075919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74650248099996 meters 0.11204153140188597 Centerline is valid? [False, False] Translation: X:6.91, Y:0.18, Z:-0.89 [[ 9.99978952e-01 -6.28072288e-03 -1.62754805e-03 6.90665800e+00] [ 6.27113733e-03 9.99963346e-01 -5.82922226e-03 1.82963912e-01] [ 1.66410012e-03 5.81889299e-03 9.99981685e-01 -8.91507444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80650248099997 meters 0.11163353021527854 Centerline is valid? [False, False] Translation: X:6.91, Y:0.18, Z:-0.89 [[ 9.99978546e-01 -6.23611655e-03 -2.00461588e-03 6.90742149e+00] [ 6.22381086e-03 9.99962103e-01 -6.08739452e-03 1.84452221e-01] [ 2.04250162e-03 6.07478757e-03 9.99979462e-01 -8.91674696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86650248099997 meters 0.11163173655905288 Centerline is valid? [False, False] Translation: X:6.91, Y:0.18, Z:-0.89 [[ 9.99979828e-01 -5.98183156e-03 -2.13553086e-03 6.90811860e+00] [ 5.96929060e-03 9.99965181e-01 -5.83138061e-03 1.84538332e-01] [ 2.17033884e-03 5.81851538e-03 9.99980717e-01 -8.92398423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92650248099997 meters 0.1112212197210517 Centerline is valid? [False, False] Translation: X:6.91, Y:0.18, Z:-0.89 [[ 9.99982965e-01 -5.34107275e-03 -2.35419442e-03 6.90950684e+00] [ 5.32922630e-03 9.99973250e-01 -5.00993029e-03 1.83703418e-01] [ 2.38088985e-03 4.99729891e-03 9.99984679e-01 -8.93954869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98650248099997 meters 0.11061164866898705 Centerline is valid? [False, False] Translation: X:6.91, Y:0.18, Z:-0.90 [[ 9.99984909e-01 -4.80729104e-03 -2.65910708e-03 6.91093987e+00] [ 4.79542954e-03 9.99978604e-01 -4.44924009e-03 1.83645209e-01] [ 2.68043898e-03 4.43642139e-03 9.99986567e-01 -8.95315415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04650248099998 meters 0.10984265557481876 Centerline is valid? [False, False] Translation: X:6.91, Y:0.18, Z:-0.90 [[ 9.99984732e-01 -4.60112629e-03 -3.06013803e-03 6.91207206e+00] [ 4.58747107e-03 9.99979556e-01 -4.45443886e-03 1.84684617e-01] [ 3.08057090e-03 4.44033256e-03 9.99985397e-01 -8.95980909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10650248099998 meters 0.10948557253203811 Centerline is valid? [False, False] Translation: X:6.91, Y:0.19, Z:-0.90 [[ 9.99985028e-01 -4.18012437e-03 -3.53127203e-03 6.91353208e+00] [ 4.16545801e-03 9.99982711e-01 -4.15047625e-03 1.85140707e-01] [ 3.54856048e-03 4.13570475e-03 9.99985152e-01 -8.96974304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16650248099998 meters 0.10891368157565069 Centerline is valid? [False, False] Translation: X:6.91, Y:0.19, Z:-0.90 [[ 9.99982571e-01 -4.12867936e-03 -4.22027324e-03 6.91494579e+00] [ 4.10912466e-03 9.99980831e-01 -4.63173141e-03 1.87650870e-01] [ 4.23931528e-03 4.61430906e-03 9.99980368e-01 -8.97346195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22650248099995 meters 0.10890702756039963 Centerline is valid? [False, False] Translation: X:6.92, Y:0.19, Z:-0.90 [[ 9.99984098e-01 -3.57378725e-03 -4.36251857e-03 6.91603535e+00] [ 3.55683540e-03 9.99986118e-01 -3.88738746e-03 1.86594492e-01] [ 4.37635071e-03 3.87180888e-03 9.99982928e-01 -8.98588988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28650248099996 meters 0.10942764870986516 Centerline is valid? [False, False] Translation: X:6.92, Y:0.19, Z:-0.90 [[ 9.99985279e-01 -3.23531574e-03 -4.35599432e-03 6.91638155e+00] [ 3.22122460e-03 9.99989569e-01 -3.23802389e-03 1.85214810e-01] [ 4.36642492e-03 3.22394459e-03 9.99985270e-01 -8.99097614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34650248099996 meters 0.10936813695742997 Centerline is valid? [False, False] Translation: X:6.92, Y:0.18, Z:-0.90 [[ 9.99986543e-01 -2.67888335e-03 -4.44260481e-03 6.91737243e+00] [ 2.66832303e-03 9.99993605e-01 -2.38128292e-03 1.83913851e-01] [ 4.44895558e-03 2.36939657e-03 9.99987296e-01 -9.00353592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40650248099996 meters 0.11013280553347278 Centerline is valid? [False, False] Translation: X:6.92, Y:0.18, Z:-0.90 [[ 9.99966852e-01 -6.61696011e-03 -4.74454532e-03 6.91841713e+00] [ 6.58768577e-03 9.99959331e-01 -6.15941112e-03 1.83468052e-01] [ 4.78510894e-03 6.12795138e-03 9.99969775e-01 -9.01062590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46650248099996 meters 0.11218005996784065 Centerline is valid? [False, False] Translation: X:6.92, Y:0.18, Z:-0.90 [[ 9.99969302e-01 -6.33320827e-03 -4.61354306e-03 6.91811981e+00] [ 6.30904500e-03 9.99966404e-01 -5.23332381e-03 1.80765969e-01] [ 4.64653180e-03 5.20405611e-03 9.99975663e-01 -9.00876020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52650248099997 meters 0.1131243132718435 Centerline is valid? [False, False] Translation: X:6.92, Y:0.18, Z:-0.90 [[ 9.99974035e-01 -5.77850730e-03 -4.30556414e-03 6.91821038e+00] [ 5.76267126e-03 9.99976619e-01 -3.68141300e-03 1.76902272e-01] [ 4.32673654e-03 3.65650586e-03 9.99983955e-01 -9.01863419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58650248099997 meters 0.11377121295884947 Centerline is valid? [False, False] Translation: X:6.92, Y:0.18, Z:-0.90 [[ 9.99976763e-01 -5.39107129e-03 -4.17257724e-03 6.91857182e+00] [ 5.37879755e-03 9.99981191e-01 -2.94717937e-03 1.75400513e-01] [ 4.18838721e-03 2.92466744e-03 9.99986952e-01 -9.02740866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64650248099997 meters 0.1141016696622739 Centerline is valid? [False, False] Translation: X:6.92, Y:0.17, Z:-0.90 [[ 9.99978598e-01 -5.06006518e-03 -4.14711369e-03 6.91916096e+00] [ 5.05001083e-03 9.99984293e-01 -2.43131611e-03 1.74810305e-01] [ 4.15935116e-03 2.41032111e-03 9.99988445e-01 -9.03664686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70650248099997 meters 0.11447035565150541 Centerline is valid? [False, False] Translation: X:6.92, Y:0.17, Z:-0.90 [[ 9.99979560e-01 -4.72900605e-03 -4.30308601e-03 6.91991450e+00] [ 4.72046803e-03 9.99986874e-01 -1.99215982e-03 1.74331754e-01] [ 4.31245046e-03 1.97180652e-03 9.99988757e-01 -9.04411548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76650248099997 meters 0.11392856618856763 Centerline is valid? [False, False] Translation: X:6.92, Y:0.18, Z:-0.90 [[ 9.99979086e-01 -4.65784192e-03 -4.48696404e-03 6.92058226e+00] [ 4.64855434e-03 9.99987036e-01 -2.07811357e-03 1.75293241e-01] [ 4.49658540e-03 2.05721221e-03 9.99987774e-01 -9.04886847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82650248099998 meters 0.11395063562819821 Centerline is valid? [False, False] Translation: X:6.92, Y:0.18, Z:-0.90 [[ 9.99977042e-01 -4.74292107e-03 -4.83948252e-03 6.92098403e+00] [ 4.73117187e-03 9.99985840e-01 -2.43634682e-03 1.76414970e-01] [ 4.85096940e-03 2.41339447e-03 9.99985322e-01 -9.04569331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88650248099998 meters 0.11282819314480107 Centerline is valid? [False, False] Translation: X:6.92, Y:0.18, Z:-0.90 [[ 9.99972205e-01 -4.73162621e-03 -5.76196245e-03 6.92250488e+00] [ 4.71280616e-03 9.99983530e-01 -3.27546630e-03 1.79848584e-01] [ 5.77736584e-03 3.24822025e-03 9.99978035e-01 -9.04478274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94650248099998 meters 0.11182110178153973 Centerline is valid? [False, False] Translation: X:6.93, Y:0.18, Z:-0.91 [[ 9.99999471e-01 1.02722601e-03 -5.36412751e-05 6.93368476e+00] [-1.02752696e-03 9.99981775e-01 -5.94923863e-03 1.84768335e-01] [ 4.75290848e-05 5.94929060e-03 9.99982302e-01 -9.07672756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00650248099996 meters 0.11085699890930427 Centerline is valid? [False, False] Translation: X:6.93, Y:0.19, Z:-0.91 [[ 9.99999264e-01 8.96478052e-04 -8.17828772e-04 6.93493466e+00] [-9.02278948e-04 9.99974242e-01 -7.12046784e-03 1.88558151e-01] [ 8.11424363e-04 7.12120050e-03 9.99974315e-01 -9.07526478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06650248099996 meters 0.11034035412199446 Centerline is valid? [False, False] Translation: X:6.95, Y:0.19, Z:-0.91 [[ 9.99994262e-01 -2.32091053e-03 2.46746730e-03 6.95152835e+00] [ 2.33155684e-03 9.99987948e-01 -4.32058579e-03 1.89203133e-01] [-2.45740987e-03 4.32631404e-03 9.99987622e-01 -9.08107713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12650248099996 meters 0.10938031943561577 Centerline is valid? [False, False] Translation: X:6.95, Y:0.19, Z:-0.91 [[ 9.99995732e-01 -2.14571834e-03 1.98282744e-03 6.95269143e+00] [ 2.15462193e-03 9.99987557e-01 -4.49917620e-03 1.90563327e-01] [-1.97314880e-03 4.50342924e-03 9.99987913e-01 -9.08616593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18650248099996 meters 0.10933083489139254 Centerline is valid? [False, False] Translation: X:6.95, Y:0.19, Z:-0.91 [[ 9.99997075e-01 -1.68683447e-03 1.73323592e-03 6.95384427e+00] [ 1.69369463e-03 9.99990708e-01 -3.96419130e-03 1.90299272e-01] [-1.72653288e-03 3.96711528e-03 9.99990640e-01 -9.09712029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24650248099996 meters 0.1100887665078483 Centerline is valid? [False, False] Translation: X:6.95, Y:0.19, Z:-0.91 [[ 9.99982727e-01 -5.70522315e-03 1.41296330e-03 6.95394106e+00] [ 5.71593617e-03 9.99954036e-01 -7.69766944e-03 1.88624472e-01] [-1.36898144e-03 7.70561288e-03 9.99969374e-01 -9.09055735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30650248099997 meters 0.11083255812753917 Centerline is valid? [False, False] Translation: X:6.95, Y:0.19, Z:-0.91 [[ 9.99984591e-01 -5.30227701e-03 1.64398665e-03 6.95362533e+00] [ 5.31290589e-03 9.99964567e-01 -6.52979524e-03 1.85272747e-01] [-1.60930561e-03 6.53842897e-03 9.99977329e-01 -9.09199869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36650248099997 meters 0.11182080544388932 Centerline is valid? [False, False] Translation: X:6.95, Y:0.18, Z:-0.91 [[ 9.99987372e-01 -4.71685034e-03 1.73392894e-03 6.95394160e+00] [ 4.72601416e-03 9.99974684e-01 -5.31945140e-03 1.82371164e-01] [-1.70879399e-03 5.32757880e-03 9.99984348e-01 -9.09988203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42650248099997 meters 0.11232161441608297 Centerline is valid? [False, False] Translation: X:6.95, Y:0.18, Z:-0.91 [[ 9.99989271e-01 -4.27177977e-03 1.79174447e-03 6.95417280e+00] [ 4.27963479e-03 9.99981148e-01 -4.40332642e-03 1.80112572e-01] [-1.77290065e-03 4.41094718e-03 9.99988700e-01 -9.10520349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48650248099997 meters 0.11297876591185087 Centerline is valid? [False, False] Translation: X:6.95, Y:0.18, Z:-0.91 [[ 9.99990453e-01 -3.93807979e-03 1.89372669e-03 6.95444328e+00] [ 3.94509098e-03 9.99985325e-01 -3.71295703e-03 1.78752074e-01] [-1.87907698e-03 3.72039250e-03 9.99991314e-01 -9.11186912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54650248099998 meters 0.11424826484324317 Centerline is valid? [False, False] Translation: X:6.95, Y:0.18, Z:-0.91 [[ 9.99964833e-01 -8.17396087e-03 1.87602769e-03 6.95462777e+00] [ 8.18852453e-03 9.99935336e-01 -7.89127255e-03 1.78594060e-01] [-1.81140342e-03 7.90635694e-03 9.99967104e-01 -9.11302820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60650248099998 meters 0.1158199384547274 Centerline is valid? [False, False] Translation: X:6.96, Y:0.18, Z:-0.91 [[ 9.99966225e-01 -8.02243903e-03 1.78574430e-03 6.95515969e+00] [ 8.03598215e-03 9.99937983e-01 -7.71063834e-03 1.78671667e-01] [-1.72377543e-03 7.72472813e-03 9.99968678e-01 -9.11823449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66650248099998 meters 0.11526382440645044 Centerline is valid? [False, False] Translation: X:6.96, Y:0.18, Z:-0.91 [[ 9.99965729e-01 -8.14453023e-03 1.48585268e-03 6.95571456e+00] [ 8.15634296e-03 9.99933725e-01 -8.12529444e-03 1.80423505e-01] [-1.41957749e-03 8.13713510e-03 9.99965885e-01 -9.11776688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72650248099995 meters 0.11425671698577841 Centerline is valid? [False, False] Translation: X:6.96, Y:0.18, Z:-0.91 [[ 9.99991691e-01 -3.72051580e-03 1.66617173e-03 6.95574817e+00] [ 3.72648490e-03 9.99986599e-01 -3.59386951e-03 1.80128141e-01] [-1.65277836e-03 3.60004861e-03 9.99992154e-01 -9.12315933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78650248099996 meters 0.11360527864293053 Centerline is valid? [False, False] Translation: X:6.96, Y:0.18, Z:-0.91 [[ 9.99994538e-01 -3.24060418e-03 6.49268795e-04 6.95810254e+00] [ 3.24305603e-03 9.99987477e-01 -3.81154478e-03 1.84616177e-01] [-6.36908956e-04 3.81362957e-03 9.99992525e-01 -9.13291849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84650248099996 meters 0.1123090619093847 Centerline is valid? [False, False] Translation: X:6.96, Y:0.19, Z:-0.91 [[ 9.99998187e-01 -1.74586455e-03 -7.60671287e-04 6.96133843e+00] [ 1.74336363e-03 9.99993114e-01 -3.27612747e-03 1.89722635e-01] [ 7.66385724e-04 3.27479540e-03 9.99994344e-01 -9.14676761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90650248099996 meters 0.11090024349283732 Centerline is valid? [False, False] Translation: X:6.96, Y:0.19, Z:-0.92 [[ 9.99997661e-01 -1.26566555e-03 -1.75388784e-03 6.96365210e+00] [ 1.25935509e-03 9.99992747e-01 -3.59442859e-03 1.93854822e-01] [ 1.75842446e-03 3.59221142e-03 9.99992002e-01 -9.15680802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96650248099996 meters 0.10979458377625514 Centerline is valid? [False, False] Translation: X:6.97, Y:0.20, Z:-0.92 [[ 9.99996077e-01 -1.01324559e-03 -2.61119673e-03 6.96564206e+00] [ 1.00235710e-03 9.99990812e-01 -4.16786328e-03 1.97358042e-01] [ 2.61539580e-03 4.16522958e-03 9.99987905e-01 -9.16479975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02650248099997 meters 0.10976329744045019 Centerline is valid? [False, False] Translation: X:6.97, Y:0.20, Z:-0.92 [[ 9.99994462e-01 -1.07008102e-03 -3.15130768e-03 6.96633087e+00] [ 1.05532833e-03 9.99988495e-01 -4.67939641e-03 1.99035948e-01] [ 3.15627876e-03 4.67604483e-03 9.99984086e-01 -9.16080863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08650248099997 meters 0.10944806096881651 Centerline is valid? [False, False] Translation: X:6.97, Y:0.20, Z:-0.92 [[ 9.99994690e-01 -7.21692561e-04 -3.17804568e-03 6.96683096e+00] [ 7.08381998e-04 9.99990982e-01 -4.18742136e-03 1.98145272e-01] [ 3.18103906e-03 4.18514786e-03 9.99986183e-01 -9.16799715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14650248099997 meters 0.10953326547304357 Centerline is valid? [False, False] Translation: X:6.98, Y:0.20, Z:-0.92 [[ 9.99996473e-01 2.49347033e-03 9.14582909e-04 6.97628889e+00] [-2.48470250e-03 9.99952112e-01 -9.46572423e-03 1.97087246e-01] [-9.38141614e-04 9.46341838e-03 9.99954781e-01 -9.16693217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20650248099997 meters 0.10971313678701002 Centerline is valid? [False, False] Translation: X:6.98, Y:0.20, Z:-0.92 [[ 9.99998810e-01 -1.42031685e-03 6.01638318e-04 6.97686504e+00] [ 1.42810124e-03 9.99912619e-01 -1.31421075e-02 1.95760515e-01] [-5.82919789e-04 1.31429511e-02 9.99913458e-01 -9.16774036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26650248099997 meters 0.110680000826452 Centerline is valid? [False, False] Translation: X:6.98, Y:0.19, Z:-0.92 [[ 9.99931459e-01 -1.14010637e-02 2.66336218e-03 6.98157061e+00] [ 1.14190411e-02 9.99911439e-01 -6.83513128e-03 1.88658927e-01] [-2.58519854e-03 6.86507583e-03 9.99973093e-01 -9.17444279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32650248099998 meters 0.11169385561607906 Centerline is valid? [False, False] Translation: X:6.98, Y:0.19, Z:-0.92 [[ 9.99935223e-01 -1.10061140e-02 2.90074231e-03 6.98146104e+00] [ 1.10223281e-02 9.99923379e-01 -5.63422881e-03 1.85511644e-01] [-2.83850909e-03 5.66583677e-03 9.99979920e-01 -9.17912251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38650248099998 meters 0.11335236708130275 Centerline is valid? [False, False] Translation: X:6.98, Y:0.18, Z:-0.92 [[ 9.99938288e-01 -1.06015548e-02 3.32072852e-03 6.98139158e+00] [ 1.06163734e-02 9.99933622e-01 -4.47706035e-03 1.82449930e-01] [-3.27304430e-03 4.51203816e-03 9.99984464e-01 -9.18903120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44650248099998 meters 0.11365060467837433 Centerline is valid? [False, False] Translation: X:6.98, Y:0.18, Z:-0.92 [[ 9.99939440e-01 -1.04628715e-02 3.41241250e-03 6.98144919e+00] [ 1.04768901e-02 9.99936643e-01 -4.11645681e-03 1.81540084e-01] [-3.36912635e-03 4.15195899e-03 9.99985705e-01 -9.19183179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50650248099996 meters 0.1147709121802618 Centerline is valid? [False, False] Translation: X:6.98, Y:0.18, Z:-0.92 [[ 9.99940835e-01 -1.03259852e-02 3.42064800e-03 6.98179020e+00] [ 1.03392301e-02 9.99939032e-01 -3.87725155e-03 1.81380812e-01] [-3.38040301e-03 3.91238902e-03 9.99986633e-01 -9.19655437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56650248099996 meters 0.11601887359499796 Centerline is valid? [False, False] Translation: X:6.98, Y:0.18, Z:-0.92 [[ 9.99939817e-01 -1.04557103e-02 3.32265834e-03 6.98165433e+00] [ 1.04692624e-02 9.99936840e-01 -4.08781636e-03 1.81764610e-01] [-3.27970746e-03 4.12235613e-03 9.99986125e-01 -9.19134671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62650248099996 meters 0.11549985903490795 Centerline is valid? [False, False] Translation: X:6.98, Y:0.18, Z:-0.92 [[ 9.99942215e-01 -1.02770784e-02 3.15414320e-03 6.98223661e+00] [ 1.02893742e-02 9.99939430e-01 -3.90715500e-03 1.81752931e-01] [-3.11379801e-03 3.93938339e-03 9.99987393e-01 -9.19592600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68650248099996 meters 0.11607477127108884 Centerline is valid? [False, False] Translation: X:6.98, Y:0.18, Z:-0.92 [[ 9.99944376e-01 -1.02050458e-02 2.66491721e-03 6.98321380e+00] [ 1.02161644e-02 9.99939025e-01 -4.19246194e-03 1.83335445e-01] [-2.62197045e-03 4.21945397e-03 9.99987661e-01 -9.19792170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74650248099996 meters 0.11394984313433122 Centerline is valid? [False, False] Translation: X:6.99, Y:0.19, Z:-0.92 [[ 9.99950445e-01 -9.77835534e-03 1.86861370e-03 6.98521181e+00] [ 9.78638585e-03 9.99942703e-01 -4.33787264e-03 1.85605482e-01] [-1.82608938e-03 4.35594465e-03 9.99988846e-01 -9.20883178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80650248099997 meters 0.11147691261676047 Centerline is valid? [False, False] Translation: X:7.00, Y:0.19, Z:-0.92 [[ 9.99999870e-01 2.75974643e-04 4.28522238e-04 6.99921039e+00] [-2.73732784e-04 9.99986323e-01 -5.22287940e-03 1.89911546e-01] [-4.29957759e-04 5.22276142e-03 9.99986269e-01 -9.18081917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86650248099997 meters 0.1101414776721668 Centerline is valid? [False, False] Translation: X:7.00, Y:0.19, Z:-0.92 [[ 9.99999778e-01 2.02570649e-04 -6.35219524e-04 7.00064313e+00] [-2.06784369e-04 9.99977931e-01 -6.64045226e-03 1.94493801e-01] [ 6.33860344e-04 6.64058213e-03 9.99977750e-01 -9.17465504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92650248099997 meters 0.1095617406874844 Centerline is valid? [False, False] Translation: X:7.00, Y:0.20, Z:-0.92 [[ 9.99999328e-01 2.44946435e-04 -1.13306957e-03 7.00151511e+00] [-2.52990608e-04 9.99974729e-01 -7.10476472e-03 1.96153950e-01] [ 1.13130065e-03 7.10504660e-03 9.99974119e-01 -9.17538033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98650248099997 meters 0.10926988180145968 Centerline is valid? [False, False] Translation: X:7.00, Y:0.20, Z:-0.92 [[ 9.99990779e-01 -3.87080988e-03 -1.85970782e-03 7.00290662e+00] [ 3.84893699e-03 9.99925026e-01 -1.16244973e-02 1.97855852e-01] [ 1.90456461e-03 1.16172322e-02 9.99930704e-01 -9.17770316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04650248099998 meters 0.11011014971112051 Centerline is valid? [False, False] Translation: X:7.00, Y:0.20, Z:-0.92 [[ 9.99992007e-01 -3.75839962e-03 -1.36377393e-03 7.00215131e+00] [ 3.74330446e-03 9.99933506e-01 -1.09073591e-02 1.95554888e-01] [ 1.40467746e-03 1.09021669e-02 9.99939583e-01 -9.17881677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10650248099998 meters 0.11100464562839348 Centerline is valid? [False, False] Translation: X:7.01, Y:0.19, Z:-0.92 [[ 9.99960958e-01 -7.94718692e-03 3.86335777e-03 7.01449519e+00] [ 7.97120043e-03 9.99948756e-01 -6.24056601e-03 1.89821638e-01] [-3.81356485e-03 6.27111796e-03 9.99973065e-01 -9.18513588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16650248099998 meters 0.11305026870796446 Centerline is valid? [False, False] Translation: X:7.01, Y:0.19, Z:-0.92 [[ 9.99919633e-01 -1.19607275e-02 4.20339796e-03 7.01410460e+00] [ 1.19997487e-02 9.99883967e-01 -9.38397256e-03 1.86976176e-01] [-4.09067109e-03 9.43365812e-03 9.99947135e-01 -9.18696160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22650248099995 meters 0.11539658596430125 Centerline is valid? [False, False] Translation: X:7.01, Y:0.18, Z:-0.92 [[ 9.99920068e-01 -1.16506201e-02 4.91124690e-03 7.01391133e+00] [ 1.16888495e-02 9.99901037e-01 -7.82857683e-03 1.82935178e-01] [-4.81955310e-03 7.88535790e-03 9.99957296e-01 -9.20475464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28650248099996 meters 0.11804238410046058 Centerline is valid? [False, False] Translation: X:7.01, Y:0.18, Z:-0.92 [[ 9.99915426e-01 -1.18092365e-02 5.44824206e-03 7.01288386e+00] [ 1.18492639e-02 9.99902605e-01 -7.37400632e-03 1.81120036e-01] [-5.36063004e-03 7.43794033e-03 9.99957969e-01 -9.20142958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34650248099996 meters 0.11854919325421989 Centerline is valid? [False, False] Translation: X:7.01, Y:0.18, Z:-0.92 [[ 9.99920471e-01 -1.12737216e-02 5.65283854e-03 7.01359409e+00] [ 1.13086313e-02 9.99916945e-01 -6.18214021e-03 1.78987042e-01] [-5.58267331e-03 6.24557442e-03 9.99964913e-01 -9.21877583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40650248099996 meters 0.12267381634130564 Centerline is valid? [False, False] Translation: X:7.01, Y:0.18, Z:-0.92 [[ 9.99921163e-01 -1.10161084e-02 6.02612116e-03 7.01390187e+00] [ 1.10502756e-02 9.99922890e-01 -5.66624125e-03 1.78266776e-01] [-5.96323655e-03 5.73238483e-03 9.99965789e-01 -9.23327956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46650248099996 meters 0.1209183485362364 Centerline is valid? [False, False] Translation: X:7.01, Y:0.18, Z:-0.92 [[ 9.99958082e-01 -6.70351336e-03 6.23669420e-03 7.01385601e+00] [ 6.71152906e-03 9.99976677e-01 -1.26520686e-03 1.78136494e-01] [-6.22806741e-03 1.30701158e-03 9.99979751e-01 -9.23885356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52650248099997 meters 0.11771903813411855 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:-0.92 [[ 9.99963285e-01 -6.61405333e-03 5.44827452e-03 7.01541694e+00] [ 6.62453041e-03 9.99976239e-01 -1.90721084e-03 1.81232364e-01] [-5.43553067e-03 1.94323308e-03 9.99983339e-01 -9.24234708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58650248099997 meters 0.11641270992981533 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:-0.93 [[ 9.99970582e-01 -6.23125228e-03 4.47298751e-03 7.01752331e+00] [ 6.24144286e-03 9.99977950e-01 -2.26791805e-03 1.84633969e-01] [-4.45875692e-03 2.29576923e-03 9.99987424e-01 -9.25014223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64650248099997 meters 0.11443114975168936 Centerline is valid? [False, False] Translation: X:7.02, Y:0.19, Z:-0.93 [[ 9.99980907e-01 -5.26378185e-03 3.23714792e-03 7.02011198e+00] [ 5.27033750e-03 9.99984072e-01 -2.01994510e-03 1.88549814e-01] [-3.22646380e-03 2.03696740e-03 9.99992720e-01 -9.26023768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70650248099997 meters 0.11218214159179311 Centerline is valid? [False, False] Translation: X:7.02, Y:0.19, Z:-0.93 [[ 9.99987188e-01 -4.57771834e-03 2.16059903e-03 7.02263393e+00] [ 4.58285686e-03 9.99986668e-01 -2.37935824e-03 1.93180715e-01] [-2.14967819e-03 2.38922947e-03 9.99994835e-01 -9.27271038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76650248099997 meters 0.11041397316688743 Centerline is valid? [False, False] Translation: X:7.02, Y:0.20, Z:-0.93 [[ 9.99998485e-01 -6.01305467e-04 1.63349096e-03 7.02338831e+00] [ 6.00941233e-04 9.99999794e-01 2.23460735e-04 1.97791458e-01] [-1.63362500e-03 -2.22478764e-04 9.99998641e-01 -9.27011458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82650248099998 meters 0.10989714783860521 Centerline is valid? [False, False] Translation: X:7.02, Y:0.20, Z:-0.93 [[ 9.99999178e-01 -7.59663103e-04 1.03255208e-03 7.02407545e+00] [ 7.60325717e-04 9.99999505e-01 -6.41483289e-04 2.00216176e-01] [-1.03206425e-03 6.42267837e-04 9.99999261e-01 -9.26557502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88650248099998 meters 0.10954863004265057 Centerline is valid? [False, False] Translation: X:7.03, Y:0.20, Z:-0.93 [[ 9.99999735e-01 -6.62338421e-04 3.03053151e-04 7.02533320e+00] [ 6.62657444e-04 9.99999225e-01 -1.05381018e-03 2.01999696e-01] [-3.02354937e-04 1.05401072e-03 9.99999399e-01 -9.26617373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94650248099995 meters 0.10963423545866154 Centerline is valid? [False, False] Translation: X:7.03, Y:0.20, Z:-0.93 [[ 9.99988800e-01 -4.69679505e-03 -5.83603015e-04 7.02698623e+00] [ 4.69346059e-03 9.99973365e-01 -5.58929472e-03 2.03750036e-01] [ 6.09839242e-04 5.58649301e-03 9.99984209e-01 -9.26859246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00650248099996 meters 0.10997879255116946 Centerline is valid? [False, False] Translation: X:7.03, Y:0.20, Z:-0.93 [[ 9.99990306e-01 -4.38596836e-03 -3.89613370e-04 7.02708347e+00] [ 4.38411250e-03 9.99979611e-01 -4.64291682e-03 2.01429083e-01] [ 4.09969112e-04 4.64116370e-03 9.99989146e-01 -9.27479014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06650248099996 meters 0.11071169313844798 Centerline is valid? [False, False] Translation: X:7.03, Y:0.20, Z:-0.93 [[ 9.99965916e-01 -8.24987580e-03 -3.26685037e-04 7.02754035e+00] [ 8.24697715e-03 9.99933548e-01 -8.05521680e-03 1.99407700e-01] [ 3.93117866e-04 8.05224808e-03 9.99967503e-01 -9.28311642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12650248099996 meters 0.11111041859558608 Centerline is valid? [False, False] Translation: X:7.03, Y:0.20, Z:-0.93 [[ 9.99968165e-01 -7.97725408e-03 -1.78097898e-04 7.02759175e+00] [ 7.97575166e-03 9.99941858e-01 -7.25726160e-03 1.97440233e-01] [ 2.35980563e-04 7.25561011e-03 9.99973650e-01 -9.28771986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18650248099996 meters 0.11158996215168192 Centerline is valid? [False, False] Translation: X:7.03, Y:0.20, Z:-0.93 [[ 9.99970600e-01 -7.66373389e-03 -2.56198462e-04 7.02787018e+00] [ 7.66185087e-03 9.99948315e-01 -6.68303751e-03 1.96048195e-01] [ 3.07402242e-04 6.68087808e-03 9.99977635e-01 -9.28988543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24650248099996 meters 0.11091376595259159 Centerline is valid? [False, False] Translation: X:7.03, Y:0.19, Z:-0.93 [[ 9.99975631e-01 -6.97638292e-03 -2.60356945e-04 7.02861109e+00] [ 6.97483456e-03 9.99960344e-01 -5.53731142e-03 1.93413526e-01] [ 2.98977026e-04 5.53536053e-03 9.99984635e-01 -9.30180166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30650248099997 meters 0.11056345515840996 Centerline is valid? [False, False] Translation: X:7.03, Y:0.19, Z:-0.93 [[ 9.99978046e-01 -6.57614245e-03 -8.12954732e-04 7.02932116e+00] [ 6.57183740e-03 9.99964940e-01 -5.18942369e-03 1.92650614e-01] [ 8.47052619e-04 5.18396716e-03 9.99986204e-01 -9.29883409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36650248099997 meters 0.10988354379167588 Centerline is valid? [False, False] Translation: X:7.03, Y:0.19, Z:-0.93 [[ 9.99982345e-01 -5.82372149e-03 -1.18045711e-03 7.03052206e+00] [ 5.81873249e-03 9.99974307e-01 -4.18659788e-03 1.90462134e-01] [ 1.20480836e-03 4.17965521e-03 9.99990539e-01 -9.30816246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42650248099997 meters 0.10956754136153196 Centerline is valid? [False, False] Translation: X:7.03, Y:0.19, Z:-0.93 [[ 9.99987417e-01 -4.85326439e-03 -1.26987135e-03 7.03164302e+00] [ 4.85004179e-03 9.99985041e-01 -2.52863253e-03 1.86851153e-01] [ 1.28212448e-03 2.52244178e-03 9.99995997e-01 -9.32427134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48650248099997 meters 0.11000373845595342 Centerline is valid? [False, False] Translation: X:7.03, Y:0.18, Z:-0.93 [[ 9.99989237e-01 -4.47157025e-03 -1.23706814e-03 7.03132049e+00] [ 4.46974473e-03 9.99988924e-01 -1.47452702e-03 1.83483388e-01] [ 1.24364789e-03 1.46898178e-03 9.99998148e-01 -9.32096932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54650248099998 meters 0.11000125373613391 Centerline is valid? [False, False] Translation: X:7.03, Y:0.18, Z:-0.93 [[ 9.99991314e-01 -3.98328484e-03 -1.22653085e-03 7.03172822e+00] [ 3.98258174e-03 9.99991904e-01 -5.75146559e-04 1.81480929e-01] [ 1.22881190e-03 5.70256804e-04 9.99999082e-01 -9.32823264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60650248099998 meters 0.11032330116594558 Centerline is valid? [False, False] Translation: X:7.03, Y:0.18, Z:-0.93 [[ 9.99971090e-01 -7.50105157e-03 -1.24623579e-03 7.03195059e+00] [ 7.49698973e-03 9.99966672e-01 -3.23260364e-03 1.76783246e-01] [ 1.27044218e-03 3.22316717e-03 9.99993999e-01 -9.33143112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66650248099998 meters 0.11101418671453485 Centerline is valid? [False, False] Translation: X:7.03, Y:0.17, Z:-0.93 [[ 9.99976372e-01 -6.83444164e-03 -7.38736767e-04 7.03168314e+00] [ 6.83342136e-03 9.99975707e-01 -1.37493346e-03 1.71725910e-01] [ 7.48115723e-04 1.36985287e-03 9.99998782e-01 -9.34144723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72650248099995 meters 0.11207696813128548 Centerline is valid? [False, False] Translation: X:7.03, Y:0.17, Z:-0.93 [[ 9.99943001e-01 -1.06391072e-02 -8.96974377e-04 7.03206713e+00] [ 1.06347672e-02 9.99932347e-01 -4.71193520e-03 1.69170040e-01] [ 9.47044478e-04 4.70212751e-03 9.99988496e-01 -9.34249531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78650248099996 meters 0.11172987159198194 Centerline is valid? [False, False] Translation: X:7.03, Y:0.17, Z:-0.94 [[ 9.99951128e-01 -9.85697674e-03 -7.63147038e-04 7.03257136e+00] [ 9.85451933e-03 9.99946451e-01 -3.15954268e-03 1.65493269e-01] [ 7.94249712e-04 3.15186782e-03 9.99994717e-01 -9.35470326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84650248099996 meters 0.11120000217334092 Centerline is valid? [False, False] Translation: X:7.03, Y:0.16, Z:-0.94 [[ 9.99956798e-01 -9.25358217e-03 -8.79696130e-04 7.03340561e+00] [ 9.25162561e-03 9.99954777e-01 -2.20277964e-03 1.63610776e-01] [ 9.00039950e-04 2.19454585e-03 9.99997187e-01 -9.36485758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90650248099996 meters 0.10968680903141906 Centerline is valid? [False, False] Translation: X:7.03, Y:0.16, Z:-0.94 [[ 9.99959822e-01 -8.84246371e-03 -1.47166547e-03 7.03426538e+00] [ 8.83952770e-03 9.99958951e-01 -1.98971264e-03 1.63253002e-01] [ 1.48919902e-03 1.97662387e-03 9.99996938e-01 -9.36375877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96650248099996 meters 0.10888229788868234 Centerline is valid? [False, False] Translation: X:7.04, Y:0.16, Z:-0.94 [[ 9.99962221e-01 -8.45913516e-03 -1.99993305e-03 7.03542435e+00] [ 8.45541113e-03 9.99962516e-01 -1.86325715e-03 1.63700564e-01] [ 2.01561963e-03 1.84627650e-03 9.99996264e-01 -9.36898414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02650248099997 meters 0.10818485150715651 Centerline is valid? [False, False] Translation: X:7.04, Y:0.16, Z:-0.94 [[ 9.99964808e-01 -8.14096475e-03 -2.02655493e-03 7.03577334e+00] [ 8.13819761e-03 9.99965946e-01 -1.36996474e-03 1.62618021e-01] [ 2.03763875e-03 1.35342403e-03 9.99997008e-01 -9.37439518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08650248099997 meters 0.10815185702060465 Centerline is valid? [False, False] Translation: X:7.04, Y:0.16, Z:-0.94 [[ 9.99970815e-01 -7.43248865e-03 -1.76853684e-03 7.03582390e+00] [ 7.43280431e-03 9.99972362e-01 1.71983963e-04 1.58572729e-01] [ 1.76720970e-03 -1.85124132e-04 9.99998421e-01 -9.38250903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14650248099997 meters 0.1082879605648627 Centerline is valid? [False, False] Translation: X:7.04, Y:0.16, Z:-0.94 [[ 9.99975895e-01 -6.77476545e-03 -1.52053909e-03 7.03609737e+00] [ 6.77735402e-03 9.99975582e-01 1.70375737e-03 1.55027428e-01] [ 1.50895941e-03 -1.71402154e-03 9.99997393e-01 -9.39328342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20650248099997 meters 0.10836221257564521 Centerline is valid? [False, False] Translation: X:7.04, Y:0.15, Z:-0.94 [[ 9.99944630e-01 -1.04112130e-02 -1.53091637e-03 7.03702852e+00] [ 1.04090609e-02 9.99944834e-01 -1.40708009e-03 1.52692062e-01] [ 1.54548132e-03 1.39106678e-03 9.99997838e-01 -9.40621857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26650248099997 meters 0.10888463054913015 Centerline is valid? [False, False] Translation: X:7.04, Y:0.15, Z:-0.94 [[ 9.99949074e-01 -1.00141146e-02 -1.25190498e-03 7.03684359e+00] [ 1.00136412e-02 9.99949789e-01 -3.83894002e-04 1.49886631e-01] [ 1.25568648e-03 3.71338324e-04 9.99999143e-01 -9.41062195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32650248099998 meters 0.10889475917554742 Centerline is valid? [False, False] Translation: X:7.04, Y:0.15, Z:-0.94 [[ 9.99950041e-01 -9.87333707e-03 -1.55960721e-03 7.03730002e+00] [ 9.87302436e-03 9.99951239e-01 -2.08082828e-04 1.49624258e-01] [ 1.56158563e-03 1.92674393e-04 9.99998762e-01 -9.40955956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38650248099998 meters 0.10850785034899861 Centerline is valid? [False, False] Translation: X:7.04, Y:0.15, Z:-0.94 [[ 9.99954645e-01 -9.36857505e-03 -1.71392290e-03 7.03806662e+00] [ 9.36962996e-03 9.99955919e-01 6.08503814e-04 1.47971890e-01] [ 1.70814653e-03 -6.24535039e-04 9.99998346e-01 -9.41785006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44650248099995 meters 0.10768448442259963 Centerline is valid? [False, False] Translation: X:7.04, Y:0.15, Z:-0.94 [[ 9.99959941e-01 -8.74474754e-03 -1.90963269e-03 7.03929911e+00] [ 8.74768423e-03 9.99960560e-01 1.53492705e-03 1.46597570e-01] [ 1.89613483e-03 -1.55157042e-03 9.99996999e-01 -9.43145299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50650248099996 meters 0.10889667003047224 Centerline is valid? [False, False] Translation: X:7.04, Y:0.14, Z:-0.94 [[ 9.99964071e-01 -8.26413529e-03 -1.88718909e-03 7.03975435e+00] [ 8.26871519e-03 9.99962856e-01 2.43206756e-03 1.44666650e-01] [ 1.86702005e-03 -2.44758481e-03 9.99995262e-01 -9.43880978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56650248099996 meters 0.10821627580521652 Centerline is valid? [False, False] Translation: X:7.04, Y:0.14, Z:-0.95 [[ 9.99969542e-01 -7.60124987e-03 -1.77066798e-03 7.04046359e+00] [ 7.60776770e-03 9.99964201e-01 3.70381990e-03 1.42081109e-01] [ 1.74245093e-03 -3.71717793e-03 9.99991573e-01 -9.45286872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62650248099996 meters 0.10919660401679139 Centerline is valid? [False, False] Translation: X:7.04, Y:0.14, Z:-0.95 [[ 9.99931017e-01 -1.15991940e-02 -1.84949542e-03 7.04116484e+00] [ 1.15991924e-02 9.99932727e-01 -1.16034445e-05 1.41298199e-01] [ 1.84950559e-03 -9.85000918e-06 9.99998290e-01 -9.45937008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68650248099996 meters 0.11011284452265213 Centerline is valid? [False, False] Translation: X:7.04, Y:0.14, Z:-0.95 [[ 9.99934619e-01 -1.12736031e-02 -1.91398971e-03 7.04174143e+00] [ 1.12747409e-02 9.99936267e-01 5.84724272e-04 1.40281303e-01] [ 1.90727578e-03 -6.06265780e-04 9.99997997e-01 -9.46609633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74650248099996 meters 0.11056456055324118 Centerline is valid? [False, False] Translation: X:7.04, Y:0.14, Z:-0.95 [[ 9.99938307e-01 -1.09058512e-02 -2.10817767e-03 7.04271069e+00] [ 1.09081703e-02 9.99939908e-01 1.09171818e-03 1.39817955e-01] [ 2.09614487e-03 -1.11464719e-03 9.99997182e-01 -9.47558712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80650248099997 meters 0.1100872743505183 Centerline is valid? [False, False] Translation: X:7.05, Y:0.14, Z:-0.95 [[ 9.99947545e-01 -9.68948413e-03 -3.31987204e-03 7.04601000e+00] [ 9.69651415e-03 9.99950766e-01 2.10804542e-03 1.43199950e-01] [ 3.29928271e-03 -2.14012603e-03 9.99992267e-01 -9.49463764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86650248099997 meters 0.10966883046878909 Centerline is valid? [False, False] Translation: X:7.05, Y:0.15, Z:-0.95 [[ 9.99945857e-01 -9.68201159e-03 -3.81332945e-03 7.04693084e+00] [ 9.68830278e-03 9.99951731e-01 1.63478651e-03 1.45018630e-01] [ 3.79731736e-03 -1.67164269e-03 9.99991393e-01 -9.49659835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92650248099997 meters 0.10811729772963717 Centerline is valid? [False, False] Translation: X:7.05, Y:0.15, Z:-0.95 [[ 9.99941842e-01 -9.66510738e-03 -4.78513310e-03 7.04833279e+00] [ 9.66891315e-03 9.99952956e-01 7.72836553e-04 1.47896399e-01] [ 4.77743844e-03 -8.19058643e-04 9.99988253e-01 -9.49481053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98650248099997 meters 0.1076796816069405 Centerline is valid? [False, False] Translation: X:7.05, Y:0.15, Z:-0.95 [[ 9.99944328e-01 -9.27363986e-03 -5.03396427e-03 7.04921525e+00] [ 9.27996690e-03 9.99956178e-01 1.23497151e-03 1.47368706e-01] [ 5.02229099e-03 -1.28161778e-03 9.99986567e-01 -9.50223647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04650248099998 meters 0.10807748110241586 Centerline is valid? [False, False] Translation: X:7.05, Y:0.15, Z:-0.95 [[ 9.99944309e-01 -9.19503689e-03 -5.17979636e-03 7.04939991e+00] [ 9.20224762e-03 9.99956720e-01 1.36997931e-03 1.47202738e-01] [ 5.16697517e-03 -1.41756878e-03 9.99985646e-01 -9.50110941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10650248099998 meters 0.10873350221699621 Centerline is valid? [False, False] Translation: X:7.05, Y:0.15, Z:-0.95 [[ 9.99947432e-01 -9.00405069e-03 -4.90516942e-03 7.04892782e+00] [ 9.01457490e-03 9.99957104e-01 2.12766562e-03 1.45016343e-01] [ 4.88580140e-03 -2.17177179e-03 9.99985706e-01 -9.49981765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16650248099998 meters 0.1100708323269346 Centerline is valid? [False, False] Translation: X:7.05, Y:0.14, Z:-0.95 [[ 9.99904640e-01 -1.29212932e-02 -4.87346184e-03 7.04940294e+00] [ 1.29144887e-02 9.99915589e-01 -1.42512629e-03 1.43373746e-01] [ 4.89146494e-03 1.36205212e-03 9.99987109e-01 -9.50678315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22650248099995 meters 0.11046809997534207 Centerline is valid? [False, False] Translation: X:7.05, Y:0.14, Z:-0.95 [[ 9.99906892e-01 -1.27197395e-02 -4.94126038e-03 7.05006065e+00] [ 1.27140474e-02 9.99918475e-01 -1.18164505e-03 1.43499827e-01] [ 4.95588776e-03 1.11871161e-03 9.99987094e-01 -9.51464617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28650248099996 meters 0.11132989597875267 Centerline is valid? [False, False] Translation: X:7.05, Y:0.14, Z:-0.95 [[ 9.99951868e-01 -8.66970590e-03 -4.59326683e-03 7.04913038e+00] [ 8.68332619e-03 9.99957937e-01 2.95367386e-03 1.43344996e-01] [ 4.56746614e-03 -2.99341652e-03 9.99985089e-01 -9.50908538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34650248099996 meters 0.1113016342469394 Centerline is valid? [False, False] Translation: X:7.05, Y:0.14, Z:-0.95 [[ 9.99949675e-01 -8.80236190e-03 -4.81303546e-03 7.04938765e+00] [ 8.81483231e-03 9.99957831e-01 2.57591884e-03 1.44422845e-01] [ 4.79015833e-03 -2.61821531e-03 9.99985100e-01 -9.50737785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40650248099996 meters 0.11141074984237694 Centerline is valid? [False, False] Translation: X:7.05, Y:0.15, Z:-0.95 [[ 9.99945170e-01 -9.06111470e-03 -5.24906007e-03 7.04984470e+00] [ 9.07082938e-03 9.99957185e-01 1.82990553e-03 1.46582035e-01] [ 5.23225435e-03 -1.87741852e-03 9.99984549e-01 -9.50265616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46650248099996 meters 0.11026143841625105 Centerline is valid? [False, False] Translation: X:7.06, Y:0.15, Z:-0.95 [[ 9.99995566e-01 -1.22620631e-03 -2.71372097e-03 7.06016799e+00] [ 1.22681113e-03 9.99999223e-01 2.21221011e-04 1.48273914e-01] [ 2.71344760e-03 -2.24549254e-04 9.99996293e-01 -9.49593925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52650248099997 meters 0.10916696471024782 Centerline is valid? [False, False] Translation: X:7.06, Y:0.15, Z:-0.95 [[ 9.99991348e-01 7.28846033e-04 -4.09536267e-03 7.06380784e+00] [-7.23367173e-04 9.99998842e-01 1.33914246e-03 1.52347461e-01] [ 4.09633396e-03 -1.33616842e-03 9.99990717e-01 -9.51750759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58650248099997 meters 0.10829729189969008 Centerline is valid? [False, False] Translation: X:7.07, Y:0.16, Z:-0.96 [[ 9.99987826e-01 3.07011644e-03 3.86300193e-03 7.07312670e+00] [-3.05543227e-03 9.99988107e-01 -3.80140976e-03 1.58825236e-01] [-3.87462675e-03 3.78956034e-03 9.99985313e-01 -9.55703764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64650248099997 meters 0.10779737751135825 Centerline is valid? [False, False] Translation: X:7.07, Y:0.16, Z:-0.96 [[ 9.99989065e-01 3.05024221e-03 3.54471869e-03 7.07387564e+00] [-3.03564097e-03 9.99986916e-01 -4.11725826e-03 1.60272414e-01] [-3.55723095e-03 4.10645274e-03 9.99985241e-01 -9.55946837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70650248099997 meters 0.10813379103432826 Centerline is valid? [False, False] Translation: X:7.08, Y:0.16, Z:-0.96 [[ 9.99995581e-01 -1.12575228e-03 2.75163209e-03 7.07536862e+00] [ 1.14993267e-03 9.99960601e-01 -8.80192611e-03 1.62712636e-01] [-2.74161489e-03 8.80505140e-03 9.99957476e-01 -9.56113914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76650248099997 meters 0.1087512873504168 Centerline is valid? [False, False] Translation: X:7.08, Y:0.16, Z:-0.96 [[ 9.99995554e-01 -8.32616321e-04 2.86343564e-03 7.07560706e+00] [ 8.55998452e-04 9.99966224e-01 -8.17425304e-03 1.61297647e-01] [-2.85653291e-03 8.17666779e-03 9.99962490e-01 -9.56677648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82650248099998 meters 0.1097897826533126 Centerline is valid? [False, False] Translation: X:7.08, Y:0.16, Z:-0.96 [[ 9.99994962e-01 -5.32776556e-04 3.12934419e-03 7.07566529e+00] [ 5.56274947e-04 9.99971622e-01 -7.51298211e-03 1.59760710e-01] [-3.12525265e-03 7.51468504e-03 9.99966881e-01 -9.57379443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88650248099998 meters 0.11031543660582908 Centerline is valid? [False, False] Translation: X:7.08, Y:0.16, Z:-0.96 [[ 9.99994622e-01 -5.72763123e-04 3.22926717e-03 7.07563942e+00] [ 5.97170812e-04 9.99971226e-01 -7.56238387e-03 1.60182531e-01] [-3.22484280e-03 7.56427162e-03 9.99966191e-01 -9.57494961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94650248099995 meters 0.11085986484927166 Centerline is valid? [False, False] Translation: X:7.08, Y:0.16, Z:-0.96 [[ 9.99994120e-01 -3.86742402e-04 3.40744169e-03 7.07567888e+00] [ 4.11377311e-04 9.99973764e-01 -7.23200541e-03 1.59512451e-01] [-3.40455537e-03 7.23336463e-03 9.99968043e-01 -9.57969570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00650248099996 meters 0.11126898979948177 Centerline is valid? [False, False] Translation: X:7.08, Y:0.16, Z:-0.96 [[ 9.99993981e-01 -2.98443824e-04 3.45678045e-03 7.07596038e+00] [ 3.23336672e-04 9.99974007e-01 -7.20284653e-03 1.59861323e-01] [-3.45454096e-03 7.20392088e-03 9.99968084e-01 -9.58535514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06650248099996 meters 0.11079081095942422 Centerline is valid? [False, False] Translation: X:7.08, Y:0.16, Z:-0.96 [[ 9.99995490e-01 -2.37961655e-04 2.99375677e-03 7.07690313e+00] [ 2.60909180e-04 9.99970574e-01 -7.66707254e-03 1.61991928e-01] [-2.99184421e-03 7.66781906e-03 9.99966126e-01 -9.58781613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12650248099996 meters 0.1099871196141162 Centerline is valid? [False, False] Translation: X:7.08, Y:0.16, Z:-0.96 [[ 9.99996190e-01 -1.04997610e-04 2.75846637e-03 7.07747606e+00] [ 1.26991592e-04 9.99968197e-01 -7.97429956e-03 1.63301100e-01] [-2.75754136e-03 7.97461948e-03 9.99964400e-01 -9.59139954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18650248099996 meters 0.10912499912116262 Centerline is valid? [False, False] Translation: X:7.08, Y:0.16, Z:-0.96 [[ 9.99997216e-01 7.45022636e-05 2.35834966e-03 7.07841097e+00] [-5.52401731e-05 9.99966651e-01 -8.16662603e-03 1.64521537e-01] [-2.35887944e-03 8.16647302e-03 9.99963872e-01 -9.59586280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24650248099996 meters 0.10940333320562973 Centerline is valid? [False, False] Translation: X:7.10, Y:0.16, Z:-0.96 [[ 9.99981838e-01 -2.78935294e-03 5.34255222e-03 7.09566947e+00] [ 2.81219852e-03 9.99986915e-01 -4.27342582e-03 1.63846345e-01] [-5.33056222e-03 4.28837253e-03 9.99976597e-01 -9.61248119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30650248099997 meters 0.10980706093538266 Centerline is valid? [False, False] Translation: X:7.10, Y:0.16, Z:-0.96 [[ 9.99981453e-01 -2.60985065e-03 5.50302090e-03 7.09558876e+00] [ 2.63105725e-03 9.99989128e-01 -3.84991610e-03 1.62462966e-01] [-5.49291336e-03 3.86432346e-03 9.99977447e-01 -9.61620488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36650248099997 meters 0.11006968271037215 Centerline is valid? [False, False] Translation: X:7.10, Y:0.16, Z:-0.96 [[ 9.99963450e-01 -6.77015614e-03 5.22153683e-03 7.09651655e+00] [ 6.81269053e-03 9.99943404e-01 -8.17164502e-03 1.63426390e-01] [-5.16591800e-03 8.20691905e-03 9.99952979e-01 -9.62168270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42650248099997 meters 0.11044685693113379 Centerline is valid? [False, False] Translation: X:7.10, Y:0.16, Z:-0.96 [[ 9.99966123e-01 -6.37256854e-03 5.21000070e-03 7.09709230e+00] [ 6.41133790e-03 9.99951629e-01 -7.45881014e-03 1.62095247e-01] [-5.16221691e-03 7.49196053e-03 9.99958610e-01 -9.63022137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48650248099997 meters 0.11024256660365096 Centerline is valid? [False, False] Translation: X:7.10, Y:0.16, Z:-0.96 [[ 9.99968072e-01 -6.17368542e-03 5.07344730e-03 7.09775763e+00] [ 6.21055086e-03 9.99954192e-01 -7.28300738e-03 1.62173798e-01] [-5.02825190e-03 7.31428375e-03 9.99960608e-01 -9.63672073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54650248099998 meters 0.11049367801740481 Centerline is valid? [False, False] Translation: X:7.10, Y:0.16, Z:-0.96 [[ 9.99985502e-01 -2.09126968e-03 4.96206431e-03 7.09792376e+00] [ 2.10849124e-03 9.99991764e-01 -3.46795553e-03 1.63713902e-01] [-4.95477102e-03 3.47836772e-03 9.99981675e-01 -9.63573197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60650248099998 meters 0.1103728614729667 Centerline is valid? [False, False] Translation: X:7.10, Y:0.16, Z:-0.96 [[ 9.99986502e-01 -1.95183976e-03 4.81517821e-03 7.09888368e+00] [ 1.96885010e-03 9.99991830e-01 -3.53044375e-03 1.64762681e-01] [-4.80824801e-03 3.53987647e-03 9.99982175e-01 -9.64588243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66650248099998 meters 0.11097130490929509 Centerline is valid? [False, False] Translation: X:7.10, Y:0.17, Z:-0.96 [[ 9.99987914e-01 -2.12855026e-03 4.43181262e-03 7.09978296e+00] [ 2.14673357e-03 9.99989282e-01 -4.10220064e-03 1.67180661e-01] [-4.42303337e-03 4.11166498e-03 9.99981765e-01 -9.64813808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72650248099995 meters 0.11068186999474651 Centerline is valid? [False, False] Translation: X:7.10, Y:0.17, Z:-0.97 [[ 9.99994236e-01 -7.70514950e-04 3.30683035e-03 7.10369117e+00] [ 7.80329888e-04 9.99995292e-01 -2.96781708e-03 1.70685899e-01] [-3.30452804e-03 2.97038039e-03 9.99990128e-01 -9.67689600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78650248099996 meters 0.11061382726955717 Centerline is valid? [False, False] Translation: X:7.11, Y:0.17, Z:-0.97 [[ 9.99996262e-01 -8.44317800e-04 2.60041951e-03 7.10535241e+00] [ 8.53806696e-04 9.99992974e-01 -3.65004077e-03 1.74647486e-01] [-2.59731945e-03 3.65224738e-03 9.99989957e-01 -9.68235045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84650248099996 meters 0.11069987140597985 Centerline is valid? [False, False] Translation: X:7.11, Y:0.18, Z:-0.97 [[ 9.99997733e-01 -7.96056047e-04 1.97498837e-03 7.10704811e+00] [ 8.04223296e-04 9.99991115e-01 -4.13799823e-03 1.78226851e-01] [-1.97167674e-03 4.13957718e-03 9.99989488e-01 -9.69081557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90650248099996 meters 0.11110600030692933 Centerline is valid? [False, False] Translation: X:7.12, Y:0.18, Z:-0.97 [[ 9.99991016e-01 3.74611783e-03 1.98380493e-03 7.12038454e+00] [-3.72980681e-03 9.99959727e-01 -8.16293194e-03 1.80243589e-01] [-2.01430434e-03 8.15545940e-03 9.99964715e-01 -9.69482538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96650248099996 meters 0.11104793558001003 Centerline is valid? [False, False] Translation: X:7.12, Y:0.18, Z:-0.97 [[ 9.99991693e-01 3.62286935e-03 1.86761492e-03 7.12091514e+00] [-3.60681455e-03 9.99957120e-01 -8.52927994e-03 1.81810294e-01] [-1.89843530e-03 8.52247295e-03 9.99961881e-01 -9.69899070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02650248099997 meters 0.11093881777808022 Centerline is valid? [False, False] Translation: X:7.12, Y:0.19, Z:-0.97 [[ 9.99999584e-01 6.74770407e-04 6.13610563e-04 7.12449047e+00] [-6.67524259e-04 9.99930937e-01 -1.17335390e-02 1.85426920e-01] [-6.21485630e-04 1.17331245e-02 9.99930971e-01 -9.72143886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08650248099997 meters 0.11109526289497368 Centerline is valid? [False, False] Translation: X:7.13, Y:0.18, Z:-0.98 [[ 9.99969919e-01 -5.61664224e-03 5.34925893e-03 7.13362918e+00] [ 5.64269016e-03 9.99972236e-01 -4.86686525e-03 1.84203816e-01] [-5.32177498e-03 4.89690306e-03 9.99973849e-01 -9.76487134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14650248099997 meters 0.11138883177960228 Centerline is valid? [False, False] Translation: X:7.13, Y:0.18, Z:-0.98 [[ 9.99970343e-01 -5.53632755e-03 5.35364526e-03 7.13371770e+00] [ 5.56148051e-03 9.99973514e-01 -4.69486745e-03 1.83877331e-01] [-5.32751114e-03 4.72450241e-03 9.99974648e-01 -9.76587154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20650248099997 meters 0.11148943085843697 Centerline is valid? [False, False] Translation: X:7.13, Y:0.18, Z:-0.98 [[ 9.99973362e-01 -5.15546334e-03 5.16680093e-03 7.13447797e+00] [ 5.17701375e-03 9.99977920e-01 -4.16628015e-03 1.83014925e-01] [-5.14520774e-03 4.19291777e-03 9.99977973e-01 -9.77263558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26650248099997 meters 0.11144514119208528 Centerline is valid? [False, False] Translation: X:7.13, Y:0.18, Z:-0.98 [[ 9.99975501e-01 -4.61939143e-03 5.25908578e-03 7.13490278e+00] [ 4.63640889e-03 9.99984041e-01 -3.22824066e-03 1.80821095e-01] [-5.24408934e-03 3.25254484e-03 9.99980960e-01 -9.78203123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32650248099998 meters 0.11149279624947997 Centerline is valid? [False, False] Translation: X:7.14, Y:0.18, Z:-0.98 [[ 9.99977415e-01 -4.25765669e-03 5.20017862e-03 7.13544474e+00] [ 4.27150134e-03 9.99987355e-01 -2.65414357e-03 1.79708366e-01] [-5.18881243e-03 2.67629620e-03 9.99982957e-01 -9.78895501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38650248099998 meters 0.11130478843313094 Centerline is valid? [False, False] Translation: X:7.14, Y:0.18, Z:-0.98 [[ 9.99979314e-01 -3.87428059e-03 5.13433966e-03 7.13577382e+00] [ 3.88452955e-03 9.99990480e-01 -1.98769255e-03 1.77965376e-01] [-5.12658990e-03 2.00759593e-03 9.99984844e-01 -9.79233959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44650248099995 meters 0.11133124319379294 Centerline is valid? [False, False] Translation: X:7.14, Y:0.18, Z:-0.98 [[ 9.99981474e-01 -3.47273800e-03 4.99916117e-03 7.13622084e+00] [ 3.47964955e-03 9.99993001e-01 -1.37450825e-03 1.76502691e-01] [-4.99435287e-03 1.39187811e-03 9.99986559e-01 -9.79588200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50650248099996 meters 0.11126511437838507 Centerline is valid? [False, False] Translation: X:7.14, Y:0.18, Z:-0.98 [[ 9.99962608e-01 -7.36841012e-03 4.52654361e-03 7.13738619e+00] [ 7.39251171e-03 9.99958464e-01 -5.33104662e-03 1.76501738e-01] [-4.48707426e-03 5.36430980e-03 9.99975545e-01 -9.80096042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56650248099996 meters 0.11139927354989439 Centerline is valid? [False, False] Translation: X:7.14, Y:0.17, Z:-0.98 [[ 9.99964622e-01 -6.87014554e-03 4.85339430e-03 7.13734889e+00] [ 6.89032344e-03 9.99967637e-01 -4.15306633e-03 1.73296265e-01] [-4.82470506e-03 4.18636086e-03 9.99979598e-01 -9.80917659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62650248099996 meters 0.11144372890649469 Centerline is valid? [False, False] Translation: X:7.14, Y:0.17, Z:-0.98 [[ 9.99968438e-01 -6.14778217e-03 5.03263641e-03 7.13792421e+00] [ 6.16177741e-03 9.99977179e-01 -2.77013067e-03 1.70092776e-01] [-5.01549140e-03 2.80105323e-03 9.99983499e-01 -9.82308275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68650248099996 meters 0.11148794335439242 Centerline is valid? [False, False] Translation: X:7.14, Y:0.17, Z:-0.98 [[ 9.99972438e-01 -5.49857931e-03 4.98880205e-03 7.13841165e+00] [ 5.50688701e-03 9.99983471e-01 -1.65306358e-03 1.67326194e-01] [-4.97963009e-03 1.68049079e-03 9.99986190e-01 -9.82984019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74650248099996 meters 0.11194301639775106 Centerline is valid? [False, False] Translation: X:7.14, Y:0.16, Z:-0.98 [[ 9.99973714e-01 -4.83034396e-03 5.40737785e-03 7.13826109e+00] [ 4.83125417e-03 9.99988317e-01 -1.55276808e-04 1.63057427e-01] [-5.40656463e-03 1.81397143e-04 9.99985368e-01 -9.83891199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80650248099997 meters 0.11263295614407928 Centerline is valid? [False, False] Translation: X:7.14, Y:0.16, Z:-0.98 [[ 9.99949813e-01 -8.51672786e-03 5.27604827e-03 7.13910570e+00] [ 8.53487590e-03 9.99957706e-01 -3.42678938e-03 1.61080034e-01] [-5.24664009e-03 3.47164781e-03 9.99980210e-01 -9.84743084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86650248099997 meters 0.11372858770349166 Centerline is valid? [False, False] Translation: X:7.14, Y:0.16, Z:-0.99 [[ 9.99914654e-01 -1.19006492e-02 5.39059709e-03 7.14023576e+00] [ 1.19333561e-02 9.99910332e-01 -6.07642336e-03 1.57827320e-01] [-5.31780035e-03 6.14023268e-03 9.99967009e-01 -9.86730475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92650248099997 meters 0.11486748053310408 Centerline is valid? [False, False] Translation: X:7.14, Y:0.15, Z:-0.99 [[ 9.99915571e-01 -1.15678034e-02 5.91917350e-03 7.13979985e+00] [ 1.15974948e-02 9.99920213e-01 -5.00665078e-03 1.54678657e-01] [-5.86078527e-03 5.07487566e-03 9.99969948e-01 -9.87387958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98650248099997 meters 0.11556177228563515 Centerline is valid? [False, False] Translation: X:7.14, Y:0.15, Z:-0.99 [[ 9.99917940e-01 -1.13623400e-02 5.91688424e-03 7.14007953e+00] [ 1.13898497e-02 9.99924384e-01 -4.63659350e-03 1.54004865e-01] [-5.86375428e-03 4.70360545e-03 9.99971746e-01 -9.87729721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04650248099998 meters 0.11510841422421374 Centerline is valid? [False, False] Translation: X:7.14, Y:0.15, Z:-0.99 [[ 9.99922851e-01 -1.11148704e-02 5.54535015e-03 7.14123430e+00] [ 1.11400708e-02 9.99927666e-01 -4.53442403e-03 1.54700716e-01] [-5.49454950e-03 4.59584979e-03 9.99974344e-01 -9.88438136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10650248099998 meters 0.11436627292913869 Centerline is valid? [False, False] Translation: X:7.14, Y:0.15, Z:-0.99 [[ 9.99963791e-01 -6.41661157e-03 5.58960486e-03 7.14171720e+00] [ 6.41475795e-03 9.99979364e-01 3.49484579e-04 1.53325572e-01] [-5.59173202e-03 -3.13615963e-04 9.99984317e-01 -9.89335004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16650248099998 meters 0.1130052929196597 Centerline is valid? [False, False] Translation: X:7.14, Y:0.16, Z:-0.99 [[ 9.99968134e-01 -6.39996709e-03 4.77201316e-03 7.14310414e+00] [ 6.40190944e-03 9.99979431e-01 -3.91866405e-04 1.56282416e-01] [-4.76940707e-03 4.22403914e-04 9.99988537e-01 -9.89314667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22650248099995 meters 0.111884110471039 Centerline is valid? [False, False] Translation: X:7.16, Y:0.16, Z:-0.99 [[ 9.99996131e-01 -2.21445922e-04 2.77283396e-03 7.15840134e+00] [ 2.26154544e-04 9.99998533e-01 -1.69792784e-03 1.56014348e-01] [-2.77245389e-03 1.69854836e-03 9.99994714e-01 -9.91470822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28650248099996 meters 0.11100546337054937 Centerline is valid? [False, False] Translation: X:7.16, Y:0.16, Z:-0.99 [[ 9.99998077e-01 1.79316325e-04 1.95275676e-03 7.16043064e+00] [-1.75552880e-04 9.99998127e-01 -1.92724837e-03 1.58614490e-01] [-1.95309869e-03 1.92690185e-03 9.99996236e-01 -9.92412104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34650248099996 meters 0.11054468938735941 Centerline is valid? [False, False] Translation: X:7.16, Y:0.16, Z:-0.99 [[ 9.99998638e-01 1.53607206e-04 1.64348332e-03 7.16093111e+00] [-1.49924660e-04 9.99997479e-01 -2.24058397e-03 1.59772644e-01] [-1.64382335e-03 2.24033452e-03 9.99996139e-01 -9.92358023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40650248099996 meters 0.11019770019357548 Centerline is valid? [False, False] Translation: X:7.16, Y:0.16, Z:-0.99 [[ 9.99993002e-01 -3.64994334e-03 8.20318710e-04 7.16305729e+00] [ 3.65516325e-03 9.99972489e-01 -6.45450071e-03 1.61935335e-01] [-7.96737581e-04 6.45745394e-03 9.99978833e-01 -9.93437890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46650248099996 meters 0.11057208179308073 Centerline is valid? [False, False] Translation: X:7.16, Y:0.16, Z:-0.99 [[ 9.99994386e-01 -3.24635406e-03 8.29713703e-04 7.16381545e+00] [ 3.25115049e-03 9.99977625e-01 -5.84637534e-03 1.61194975e-01] [-8.10715734e-04 5.84904005e-03 9.99982566e-01 -9.94535364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52650248099997 meters 0.11125418529486045 Centerline is valid? [False, False] Translation: X:7.16, Y:0.16, Z:-0.99 [[ 9.99971681e-01 -7.49630020e-03 6.65848104e-04 7.16427303e+00] [ 7.50268349e-03 9.99920175e-01 -1.01662979e-02 1.61797960e-01] [-5.89585332e-04 1.01710056e-02 9.99948100e-01 -9.94657090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58650248099997 meters 0.11133134560617244 Centerline is valid? [False, False] Translation: X:7.16, Y:0.16, Z:-0.99 [[ 9.99969254e-01 -7.80223537e-03 7.84950067e-04 7.16346085e+00] [ 7.81001874e-03 9.99914830e-01 -1.04564035e-02 1.61857562e-01] [-7.03299892e-04 1.04622125e-02 9.99945022e-01 -9.93658815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64650248099997 meters 0.11077593333650927 Centerline is valid? [False, False] Translation: X:7.17, Y:0.16, Z:-0.99 [[ 9.99971856e-01 -7.49764594e-03 2.70189564e-04 7.16514603e+00] [ 7.50006497e-03 9.99917011e-01 -1.04747256e-02 1.63868060e-01] [-1.91631357e-04 1.04764573e-02 9.99945102e-01 -9.94736667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70650248099997 meters 0.11065461296672839 Centerline is valid? [False, False] Translation: X:7.17, Y:0.16, Z:-1.00 [[ 9.99995563e-01 -2.86552022e-03 8.13689612e-04 7.16512159e+00] [ 2.86992576e-03 9.99980944e-01 -5.46573887e-03 1.62086186e-01] [-7.98011922e-04 5.46804985e-03 9.99984732e-01 -9.96064869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76650248099997 meters 0.11019617916767767 Centerline is valid? [False, False] Translation: X:7.17, Y:0.16, Z:-1.00 [[ 9.99995263e-01 -3.00920773e-03 6.46721184e-04 7.16553195e+00] [ 3.01294831e-03 9.99978274e-01 -5.86293475e-03 1.63794753e-01] [-6.29064345e-04 5.86485552e-03 9.99982604e-01 -9.96155114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82650248099998 meters 0.1095562315754928 Centerline is valid? [False, False] Translation: X:7.17, Y:0.17, Z:-1.00 [[ 9.99994999e-01 -3.14554595e-03 3.26690930e-04 7.16642320e+00] [ 3.14758513e-03 9.99974302e-01 -6.44119734e-03 1.66555609e-01] [-3.06421452e-04 6.44219342e-03 9.99979202e-01 -9.96580987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88650248099998 meters 0.10904098204780922 Centerline is valid? [False, False] Translation: X:7.17, Y:0.17, Z:-1.00 [[ 9.99995941e-01 -2.84699996e-03 -1.15504055e-04 7.16799341e+00] [ 2.84618779e-03 9.99974763e-01 -6.50949880e-03 1.68315476e-01] [ 1.34033682e-04 6.50914363e-03 9.99978806e-01 -9.97780021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94650248099995 meters 0.10774455522579829 Centerline is valid? [False, False] Translation: X:7.17, Y:0.17, Z:-1.00 [[ 9.99996492e-01 -2.39188946e-03 -1.13783939e-03 7.17034929e+00] [ 2.38422419e-03 9.99974773e-01 -6.69100865e-03 1.72697686e-01] [ 1.15381484e-03 6.68827232e-03 9.99976968e-01 -9.98710316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00650248099996 meters 0.1067701420666944 Centerline is valid? [False, False] Translation: X:7.17, Y:0.18, Z:-1.00 [[ 9.99996015e-01 -1.67323808e-03 -2.27362758e-03 7.17290619e+00] [ 1.65837472e-03 9.99977346e-01 -6.52352449e-03 1.76752574e-01] [ 2.28449148e-03 6.51972797e-03 9.99976137e-01 -9.99671275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06650248099996 meters 0.10647984891771368 Centerline is valid? [False, False] Translation: X:7.17, Y:0.18, Z:-1.00 [[ 9.99994981e-01 -1.68087985e-03 -2.68544991e-03 7.17368355e+00] [ 1.66238778e-03 9.99974996e-01 -6.87348114e-03 1.78505742e-01] [ 2.69693626e-03 6.86898239e-03 9.99972771e-01 -9.99725140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12650248099996 meters 0.10631631359739617 Centerline is valid? [False, False] Translation: X:7.17, Y:0.18, Z:-1.00 [[ 9.99995121e-01 -1.52458886e-03 -2.72646629e-03 7.17416525e+00] [ 1.50623789e-03 9.99976285e-01 -6.72011392e-03 1.78800549e-01] [ 2.73664704e-03 6.71597442e-03 9.99973703e-01 -1.00029767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18650248099996 meters 0.10592621023496963 Centerline is valid? [False, False] Translation: X:7.17, Y:0.18, Z:-1.00 [[ 9.99996026e-01 -9.81288648e-04 -2.64309152e-03 7.17492718e+00] [ 9.65731884e-04 9.99982242e-01 -5.88068072e-03 1.77410001e-01] [ 2.64881523e-03 5.87810483e-03 9.99979216e-01 -1.00165630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24650248099996 meters 0.10593265530100453 Centerline is valid? [False, False] Translation: X:7.18, Y:0.18, Z:-1.00 [[ 9.99996511e-01 -6.22709684e-04 -2.56730665e-03 7.17533035e+00] [ 6.09219105e-04 9.99986022e-01 -5.25219712e-03 1.76172809e-01] [ 2.57054136e-03 5.25061474e-03 9.99982912e-01 -1.00243057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30650248099997 meters 0.10660309496377095 Centerline is valid? [False, False] Translation: X:7.18, Y:0.18, Z:-1.00 [[ 9.99996699e-01 -4.78760039e-04 -2.52456204e-03 7.17547719e+00] [ 4.66255280e-04 9.99987633e-01 -4.95150309e-03 1.75664750e-01] [ 2.52690140e-03 4.95030965e-03 9.99984554e-01 -1.00269874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36650248099997 meters 0.10682232262770525 Centerline is valid? [False, False] Translation: X:7.18, Y:0.18, Z:-1.00 [[ 9.99982534e-01 -5.01563338e-03 -3.12644241e-03 7.17644153e+00] [ 4.98423212e-03 9.99937857e-01 -9.97191871e-03 1.78769244e-01] [ 3.17626361e-03 9.95616163e-03 9.99945392e-01 -1.00245013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42650248099997 meters 0.10729315359082818 Centerline is valid? [False, False] Translation: X:7.19, Y:0.18, Z:-1.01 [[ 9.99973877e-01 -6.74186442e-03 2.60613042e-03 7.18949685e+00] [ 6.74939444e-03 9.99973042e-01 -2.89143485e-03 1.76475256e-01] [-2.58656650e-03 2.90894912e-03 9.99992424e-01 -1.00542276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48650248099997 meters 0.1079726974661893 Centerline is valid? [False, False] Translation: X:7.19, Y:0.18, Z:-1.00 [[ 9.99972207e-01 -7.04708648e-03 2.43386961e-03 7.18952565e+00] [ 7.05551913e-03 9.99969076e-01 -3.47367758e-03 1.78305796e-01] [-2.40931503e-03 3.49075325e-03 9.99991005e-01 -1.00490963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54650248099998 meters 0.10816639593161384 Centerline is valid? [False, False] Translation: X:7.19, Y:0.18, Z:-1.00 [[ 9.99971193e-01 -7.25353778e-03 2.23580249e-03 7.18973245e+00] [ 7.26236513e-03 9.99965765e-01 -3.96567896e-03 1.79999604e-01] [-2.20696074e-03 3.98180193e-03 9.99989637e-01 -1.00464851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60650248099998 meters 0.10768472816634378 Centerline is valid? [False, False] Translation: X:7.19, Y:0.18, Z:-1.01 [[ 9.99975693e-01 -6.83648374e-03 1.36992400e-03 7.19189930e+00] [ 6.84188144e-03 9.99968694e-01 -3.97498092e-03 1.83827099e-01] [-1.34270622e-03 3.98425716e-03 9.99991161e-01 -1.00568301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66650248099995 meters 0.10665955253216809 Centerline is valid? [False, False] Translation: X:7.19, Y:0.19, Z:-1.01 [[ 9.99978891e-01 -6.45840425e-03 7.11661050e-04 7.19383303e+00] [ 6.46121620e-03 9.99971036e-01 -4.02244538e-03 1.86325927e-01] [-6.85661859e-04 4.02695867e-03 9.99991657e-01 -1.00690132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72650248099995 meters 0.10636757072332151 Centerline is valid? [False, False] Translation: X:7.20, Y:0.19, Z:-1.01 [[ 9.99984633e-01 -5.54261875e-03 -1.10605874e-04 7.19683631e+00] [ 5.54221228e-03 9.99978903e-01 -3.38772594e-03 1.89494108e-01] [ 1.29380414e-04 3.38706088e-03 9.99994256e-01 -1.00925904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78650248099996 meters 0.10617723424991146 Centerline is valid? [False, False] Translation: X:7.20, Y:0.19, Z:-1.01 [[ 9.99985925e-01 -5.29441582e-03 -3.44770403e-04 7.19808753e+00] [ 5.29324962e-03 9.99980546e-01 -3.29987912e-03 1.90679499e-01] [ 3.62234628e-04 3.29800772e-03 9.99994496e-01 -1.01046376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84650248099996 meters 0.10615996548624038 Centerline is valid? [False, False] Translation: X:7.20, Y:0.19, Z:-1.01 [[ 9.99987125e-01 -5.03007907e-03 -6.70071347e-04 7.19960449e+00] [ 5.02789477e-03 9.99982168e-01 -3.22255120e-03 1.92230311e-01] [ 6.86269086e-04 3.21914066e-03 9.99994583e-01 -1.01180791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90650248099996 meters 0.10680670793014242 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-1.01 [[ 9.99984878e-01 -5.39228182e-03 -1.08065317e-03 7.20008662e+00] [ 5.38790601e-03 9.99977437e-01 -4.01203475e-03 1.95282509e-01] [ 1.10226281e-03 4.00615162e-03 9.99991368e-01 -1.01137665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96650248099996 meters 0.10738661171925802 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-1.01 [[ 9.99985339e-01 -5.32919413e-03 -9.60160838e-04 7.20041159e+00] [ 5.32546937e-03 9.99978443e-01 -3.84097838e-03 1.95529748e-01] [ 9.80609459e-04 3.83580876e-03 9.99992162e-01 -1.01206077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02650248099997 meters 0.10834598508706639 Centerline is valid? [False, False] Translation: X:7.20, Y:0.19, Z:-1.01 [[ 9.99986722e-01 -5.12737253e-03 -5.15226572e-04 7.20049675e+00] [ 5.12576398e-03 9.99982131e-01 -3.07629860e-03 1.93580895e-01] [ 5.30990695e-04 3.07361682e-03 9.99995135e-01 -1.01328485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08650248099997 meters 0.10973277564493103 Centerline is valid? [False, False] Translation: X:7.20, Y:0.19, Z:-1.01 [[ 9.99987731e-01 -4.91189048e-03 -6.40548285e-04 7.20169877e+00] [ 4.91020828e-03 9.99984560e-01 -2.60183562e-03 1.94055596e-01] [ 6.53318327e-04 2.59865848e-03 9.99996410e-01 -1.01477547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14650248099997 meters 0.1111630589290042 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-1.02 [[ 9.99957333e-01 -9.18723464e-03 -9.62728583e-04 7.20258968e+00] [ 9.18022276e-03 9.99933002e-01 -7.05084860e-03 1.95465679e-01] [ 1.02744188e-03 7.04170970e-03 9.99974679e-01 -1.01511118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20650248099997 meters 0.11147991504681626 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-1.02 [[ 9.99957741e-01 -9.13253206e-03 -1.05545628e-03 7.20300590e+00] [ 9.12488135e-03 9.99933589e-01 -7.03944657e-03 1.95974017e-01] [ 1.11967416e-03 7.02951818e-03 9.99974666e-01 -1.01544018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26650248099997 meters 0.11131659437038012 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-1.02 [[ 9.99962303e-01 -8.59881186e-03 -1.20556012e-03 7.20455097e+00] [ 8.59090588e-03 9.99942511e-01 -6.41651059e-03 1.96212907e-01] [ 1.26066518e-03 6.40591186e-03 9.99978687e-01 -1.01730671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32650248099998 meters 0.11045376737033712 Centerline is valid? [False, False] Translation: X:7.21, Y:0.19, Z:-1.02 [[ 9.99968652e-01 -7.81665948e-03 -1.26296490e-03 7.20589766e+00] [ 7.80980348e-03 9.99955217e-01 -5.34517148e-03 1.94646690e-01] [ 1.30468972e-03 5.33514041e-03 9.99984917e-01 -1.01918495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38650248099998 meters 0.11029044625524674 Centerline is valid? [False, False] Translation: X:7.21, Y:0.19, Z:-1.02 [[ 9.99971134e-01 -7.43742484e-03 -1.55401006e-03 7.20686680e+00] [ 7.42967639e-03 9.99960228e-01 -4.93375660e-03 1.94418905e-01] [ 1.59064270e-03 4.92206839e-03 9.99986621e-01 -1.01989086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44650248099995 meters 0.10979953011400656 Centerline is valid? [False, False] Translation: X:7.21, Y:0.19, Z:-1.02 [[ 9.99977598e-01 -6.43332037e-03 -1.84828289e-03 7.20882797e+00] [ 6.42661856e-03 9.99972835e-01 -3.60930843e-03 1.92528821e-01] [ 1.87145252e-03 3.59734936e-03 9.99991778e-01 -1.02209949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50650248099996 meters 0.11006765963585415 Centerline is valid? [False, False] Translation: X:7.21, Y:0.19, Z:-1.02 [[ 9.99986105e-01 -4.98666491e-03 -1.70966769e-03 7.21034730e+00] [ 4.98408830e-03 9.99986442e-01 -1.50804638e-03 1.87219454e-01] [ 1.71716464e-03 1.49950429e-03 9.99997401e-01 -1.02467572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56650248099996 meters 0.10814512609350585 Centerline is valid? [False, False] Translation: X:7.21, Y:0.18, Z:-1.03 [[ 9.99990575e-01 -3.72784744e-03 -2.22558458e-03 7.21239412e+00] [ 3.72811901e-03 9.99993044e-01 1.17883762e-04 1.83783244e-01] [ 2.22512965e-03 -1.26179895e-04 9.99997516e-01 -1.02645178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62650248099996 meters 0.10783773069496183 Centerline is valid? [False, False] Translation: X:7.21, Y:0.18, Z:-1.03 [[ 9.99969799e-01 -7.14137537e-03 -3.06639419e-03 7.21390857e+00] [ 7.13149238e-03 9.99969380e-01 -3.22192824e-03 1.81737638e-01] [ 3.08930930e-03 3.19996297e-03 9.99990108e-01 -1.02658129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68650248099996 meters 0.10710062408265379 Centerline is valid? [False, False] Translation: X:7.21, Y:0.18, Z:-1.03 [[ 9.99976489e-01 -6.13276075e-03 -3.06754058e-03 7.21437852e+00] [ 6.12820903e-03 9.99980111e-01 -1.49103963e-03 1.76754431e-01] [ 3.07662376e-03 1.47220604e-03 9.99994183e-01 -1.02737398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74650248099996 meters 0.10730001653925893 Centerline is valid? [False, False] Translation: X:7.22, Y:0.17, Z:-1.03 [[ 9.99959554e-01 -8.28710076e-03 -3.49500411e-03 7.21627601e+00] [ 8.27752987e-03 9.99961976e-01 -2.74408048e-03 1.67526922e-01] [ 3.51761169e-03 2.71503949e-03 9.99990127e-01 -1.02881392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80650248099997 meters 0.10706220027576527 Centerline is valid? [False, False] Translation: X:7.22, Y:0.16, Z:-1.03 [[ 9.99971065e-01 -7.01564165e-03 -2.94104771e-03 7.21644234e+00] [ 7.01516218e-03 9.99975378e-01 -1.73311174e-04 1.59933379e-01] [ 2.94219119e-03 1.52674233e-04 9.99995660e-01 -1.03058372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86650248099997 meters 0.10681087024903994 Centerline is valid? [False, False] Translation: X:7.22, Y:0.15, Z:-1.03 [[ 9.99950663e-01 -9.32281983e-03 -3.42881650e-03 7.21708892e+00] [ 9.31752768e-03 9.99955380e-01 -1.55618104e-03 1.48672335e-01] [ 3.44317150e-03 1.52415617e-03 9.99992911e-01 -1.02997287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92650248099997 meters 0.10665124776284365 Centerline is valid? [False, False] Translation: X:7.22, Y:0.14, Z:-1.03 [[ 9.99960263e-01 -8.11157149e-03 -3.69793523e-03 7.21743112e+00] [ 8.11347861e-03 9.99966960e-01 5.01013963e-04 1.41845047e-01] [ 3.69374904e-03 -5.30997173e-04 9.99993037e-01 -1.02986069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98650248099997 meters 0.10606933907003305 Centerline is valid? [False, False] Translation: X:7.22, Y:0.13, Z:-1.03 [[ 9.99970663e-01 -6.62816817e-03 -3.83935178e-03 7.21811037e+00] [ 6.63827570e-03 9.99974519e-01 2.62588173e-03 1.34250500e-01] [ 3.82184917e-03 -2.65129137e-03 9.99989182e-01 -1.03037527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04650248099998 meters 0.10573055116416745 Centerline is valid? [False, False] Translation: X:7.22, Y:0.13, Z:-1.03 [[ 9.99975519e-01 -5.91979197e-03 -3.73060613e-03 7.21758398e+00] [ 5.93387335e-03 9.99975269e-01 3.77485898e-03 1.28493618e-01] [ 3.70816749e-03 -3.79690351e-03 9.99985916e-01 -1.02986947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10650248099998 meters 0.10541924369150864 Centerline is valid? [False, False] Translation: X:7.22, Y:0.12, Z:-1.03 [[ 9.99978432e-01 -5.27556315e-03 -3.91203965e-03 7.21771985e+00] [ 5.29482434e-03 9.99973831e-01 4.92966462e-03 1.24883769e-01] [ 3.88593052e-03 -4.95027186e-03 9.99980197e-01 -1.02969874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16650248099995 meters 0.10530215169750017 Centerline is valid? [False, False] Translation: X:7.22, Y:0.12, Z:-1.03 [[ 9.99949586e-01 -9.03692484e-03 -4.37712482e-03 7.21868545e+00] [ 9.04292442e-03 9.99958197e-01 1.35281879e-03 1.23456330e-01] [ 4.36471652e-03 -1.39233260e-03 9.99989505e-01 -1.02996235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22650248099995 meters 0.10524308564542734 Centerline is valid? [False, False] Translation: X:7.22, Y:0.12, Z:-1.03 [[ 9.99956136e-01 -8.40435390e-03 -4.13426598e-03 7.21805456e+00] [ 8.41563885e-03 9.99960889e-01 2.71983358e-03 1.18043685e-01] [ 4.11124584e-03 -2.75450676e-03 9.99987755e-01 -1.02962556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28650248099996 meters 0.10546208944139487 Centerline is valid? [False, False] Translation: X:7.22, Y:0.12, Z:-1.03 [[ 9.99959916e-01 -7.84920123e-03 -4.30766970e-03 7.21841273e+00] [ 7.86547907e-03 9.99961941e-01 3.77496228e-03 1.15428980e-01] [ 4.27787532e-03 -3.80869286e-03 9.99983597e-01 -1.02973411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34650248099996 meters 0.10569890646361133 Centerline is valid? [False, False] Translation: X:7.22, Y:0.11, Z:-1.03 [[ 9.99927483e-01 -1.12265609e-02 -4.35809460e-03 7.21934597e+00] [ 1.12313915e-02 9.99936337e-01 1.08554486e-03 1.11747206e-01] [ 4.34563022e-03 -1.13441361e-03 9.99989914e-01 -1.03093912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40650248099996 meters 0.107512953338644 Centerline is valid? [False, False] Translation: X:7.22, Y:0.11, Z:-1.03 [[ 9.99879519e-01 -1.49887161e-02 -4.03566154e-03 7.21888914e+00] [ 1.49821153e-02 9.99886382e-01 -1.66090937e-03 1.07289361e-01] [ 4.06009792e-03 1.60024652e-03 9.99990477e-01 -1.03091030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46650248099996 meters 0.10902415468544353 Centerline is valid? [False, False] Translation: X:7.22, Y:0.10, Z:-1.03 [[ 9.99886343e-01 -1.45713234e-02 -3.87012245e-03 7.21864774e+00] [ 1.45699909e-02 9.99893783e-01 -3.72258123e-04 1.03791187e-01] [ 3.87513567e-03 3.15828164e-04 9.99992442e-01 -1.03089296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52650248099997 meters 0.10924691740457848 Centerline is valid? [False, False] Translation: X:7.22, Y:0.10, Z:-1.03 [[ 9.99895741e-01 -1.40300067e-02 -3.41564449e-03 7.21842663e+00] [ 1.40338455e-02 9.99900913e-01 1.10252091e-03 9.96756579e-02] [ 3.39983767e-03 -1.15034059e-03 9.99993559e-01 -1.03165845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58650248099997 meters 0.11281275176065743 Centerline is valid? [False, False] Translation: X:7.22, Y:0.10, Z:-1.03 [[ 9.99897097e-01 -1.39405308e-02 -3.38473919e-03 7.21834452e+00] [ 1.39452011e-02 9.99901836e-01 1.36014498e-03 9.89881172e-02] [ 3.36544579e-03 -1.40720589e-03 9.99993347e-01 -1.03155940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64650248099997 meters 0.1116131562712977 Centerline is valid? [False, False] Translation: X:7.22, Y:0.10, Z:-1.03 [[ 9.99897888e-01 -1.38496305e-02 -3.52168644e-03 7.21881180e+00] [ 1.38547723e-02 9.99902981e-01 1.43987296e-03 9.92061947e-02] [ 3.50140306e-03 -1.48851809e-03 9.99992762e-01 -1.03185950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70650248099997 meters 0.11275466363337873 Centerline is valid? [False, False] Translation: X:7.21, Y:0.10, Z:-1.03 [[ 9.99985120e-01 -4.50728856e-03 -3.07299124e-03 7.21118237e+00] [ 4.49947203e-03 9.99986637e-01 -2.54581026e-03 9.83778826e-02] [ 3.08442487e-03 2.53194554e-03 9.99992038e-01 -1.03320411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76650248099997 meters 0.11370848549920332 Centerline is valid? [False, False] Translation: X:7.21, Y:0.10, Z:-1.03 [[ 9.99984041e-01 -4.52390555e-03 -3.38400913e-03 7.21192135e+00] [ 4.51452592e-03 9.99985961e-01 -2.77427212e-03 9.96995310e-02] [ 3.39651216e-03 2.75895065e-03 9.99990426e-01 -1.03343555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82650248099998 meters 0.11393774311743946 Centerline is valid? [False, False] Translation: X:7.21, Y:0.10, Z:-1.03 [[ 9.99983215e-01 -4.46805480e-03 -3.68874024e-03 7.21293604e+00] [ 4.45716915e-03 9.99985704e-01 -2.95401278e-03 1.01182247e-01] [ 3.70188620e-03 2.93752185e-03 9.99988833e-01 -1.03408633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88650248099998 meters 0.11149171071665553 Centerline is valid? [False, False] Translation: X:7.21, Y:0.10, Z:-1.03 [[ 9.99980676e-01 -4.51074796e-03 -4.27789751e-03 7.21421418e+00] [ 4.49574006e-03 9.99983729e-01 -3.51139246e-03 1.03722116e-01] [ 4.29366691e-03 3.49209229e-03 9.99984685e-01 -1.03446104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94650248099995 meters 0.11058101506188907 Centerline is valid? [False, False] Translation: X:7.22, Y:0.11, Z:-1.04 [[ 9.99980020e-01 -3.00368773e-03 -5.56213058e-03 7.21741360e+00] [ 2.98905760e-03 9.99992056e-01 -2.63675685e-03 1.07940259e-01] [ 5.57000640e-03 2.62007864e-03 9.99981055e-01 -1.03609325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00650248099996 meters 0.10994550742903773 Centerline is valid? [False, False] Translation: X:7.23, Y:0.11, Z:-1.04 [[ 9.99982365e-01 2.58083507e-03 -5.34872644e-03 7.23038612e+00] [-2.60802410e-03 9.99983683e-01 -5.08254720e-03 1.09538804e-01] [ 5.33552194e-03 5.09640717e-03 9.99972779e-01 -1.03787060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06650248099996 meters 0.11032978572157255 Centerline is valid? [False, False] Translation: X:7.24, Y:0.11, Z:-1.04 [[ 9.99992127e-01 -3.73608127e-03 1.33694277e-03 7.24030538e+00] [ 3.73673497e-03 9.99992900e-01 -4.86792361e-04 1.09823380e-01] [-1.33511458e-03 4.91784329e-04 9.99998988e-01 -1.04276093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12650248099996 meters 0.11102952847558971 Centerline is valid? [False, False] Translation: X:7.26, Y:0.11, Z:-1.04 [[ 9.99970065e-01 -6.61490565e-03 4.01401874e-03 7.25809207e+00] [ 6.60667670e-03 9.99976054e-01 2.05986320e-03 1.11181301e-01] [-4.02754842e-03 -2.03328221e-03 9.99989822e-01 -1.04310474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18650248099996 meters 0.11029494082629805 Centerline is valid? [False, False] Translation: X:7.26, Y:0.11, Z:-1.04 [[ 9.99969044e-01 -6.92343940e-03 3.73867534e-03 7.25843771e+00] [ 6.91858918e-03 9.99975210e-01 1.30868864e-03 1.13339281e-01] [-3.74764328e-03 -1.28278177e-03 9.99992155e-01 -1.04287383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24650248099996 meters 0.10903151815155777 Centerline is valid? [False, False] Translation: X:7.26, Y:0.12, Z:-1.04 [[ 9.99970864e-01 -7.00178210e-03 3.04066609e-03 7.25975605e+00] [ 7.00002037e-03 9.99975326e-01 5.89645447e-04 1.16203504e-01] [-3.04471963e-03 -5.68343543e-04 9.99995203e-01 -1.04304570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30650248099997 meters 0.10845968694099294 Centerline is valid? [False, False] Translation: X:7.26, Y:0.12, Z:-1.04 [[ 9.99970942e-01 -7.24316097e-03 2.37748034e-03 7.26070076e+00] [ 7.24422265e-03 9.99973664e-01 -4.38248406e-04 1.19673864e-01] [-2.37424343e-03 4.55458669e-04 9.99997078e-01 -1.04272562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36650248099997 meters 0.1078247824867444 Centerline is valid? [False, False] Translation: X:7.26, Y:0.12, Z:-1.04 [[ 9.99970822e-01 -7.42579233e-03 1.79230503e-03 7.26159826e+00] [ 7.42800646e-03 9.99971653e-01 -1.23187798e-03 1.22504364e-01] [-1.78310656e-03 1.24515529e-03 9.99997635e-01 -1.04255746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42650248099997 meters 0.10783427673750492 Centerline is valid? [False, False] Translation: X:7.26, Y:0.12, Z:-1.04 [[ 9.99971222e-01 -7.44446006e-03 1.46132133e-03 7.26224670e+00] [ 7.44677624e-03 9.99971015e-01 -1.58600095e-03 1.23945436e-01] [-1.44947205e-03 1.59683744e-03 9.99997675e-01 -1.04268985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48650248099997 meters 0.1074153161513556 Centerline is valid? [False, False] Translation: X:7.26, Y:0.13, Z:-1.04 [[ 9.99972790e-01 -7.31041702e-03 9.88722732e-04 7.26342089e+00] [ 7.31227856e-03 9.99971474e-01 -1.89245270e-03 1.25747558e-01] [-9.74859909e-04 1.89963102e-03 9.99997721e-01 -1.04332022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54650248099998 meters 0.10689337290813532 Centerline is valid? [False, False] Translation: X:7.26, Y:0.13, Z:-1.04 [[ 9.99973286e-01 -7.29258136e-03 4.95507641e-04 7.26424842e+00] [ 7.29371865e-03 9.99970678e-01 -2.33352882e-03 1.27603661e-01] [-4.78475662e-04 2.33708058e-03 9.99997155e-01 -1.04333297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60650248099998 meters 0.10641050762205495 Centerline is valid? [False, False] Translation: X:7.27, Y:0.13, Z:-1.04 [[ 9.99976484e-01 -6.84966476e-03 3.35981930e-04 7.26525646e+00] [ 6.85026786e-03 9.99974866e-01 -1.82801277e-03 1.27122430e-01] [-3.23452211e-04 1.83027135e-03 9.99998273e-01 -1.04448921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66650248099995 meters 0.10580588162299813 Centerline is valid? [False, False] Translation: X:7.27, Y:0.13, Z:-1.05 [[ 9.99979675e-01 -6.37265748e-03 1.94978503e-04 7.26627029e+00] [ 6.37289060e-03 9.99978950e-01 -1.21928643e-03 1.26418447e-01] [-1.87204304e-04 1.22050422e-03 9.99999238e-01 -1.04570098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72650248099995 meters 0.10596752599903485 Centerline is valid? [False, False] Translation: X:7.27, Y:0.12, Z:-1.05 [[ 9.99981655e-01 -6.03320308e-03 5.38357426e-04 7.26574973e+00] [ 6.03334759e-03 9.99981763e-01 -2.67201749e-04 1.23403079e-01] [-5.36735526e-04 2.70444945e-04 9.99999819e-01 -1.04577827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78650248099996 meters 0.10671895473684204 Centerline is valid? [False, False] Translation: X:7.27, Y:0.12, Z:-1.05 [[ 9.99952591e-01 -9.72441761e-03 5.00696572e-04 7.26623909e+00] [ 9.72603500e-03 9.99947136e-01 -3.33609517e-03 1.20534376e-01] [-4.68228521e-04 3.34080680e-03 9.99994310e-01 -1.04642712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84650248099996 meters 0.10659671603722892 Centerline is valid? [False, False] Translation: X:7.27, Y:0.12, Z:-1.05 [[ 9.99959273e-01 -9.00487817e-03 6.04116245e-04 7.26679282e+00] [ 9.00604114e-03 9.99957542e-01 -1.95078304e-03 1.17445260e-01] [-5.86524031e-04 1.95614428e-03 9.99997915e-01 -1.04762462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90650248099996 meters 0.10640081138481174 Centerline is valid? [False, False] Translation: X:7.27, Y:0.11, Z:-1.05 [[ 9.99965320e-01 -8.31293794e-03 5.04200489e-04 7.26741595e+00] [ 8.31330694e-03 9.99965174e-01 -7.34235198e-04 1.14449866e-01] [-4.98079278e-04 7.38401308e-04 9.99999603e-01 -1.04843139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96650248099996 meters 0.10619281343788246 Centerline is valid? [False, False] Translation: X:7.27, Y:0.11, Z:-1.05 [[ 9.99965909e-01 -8.25522515e-03 1.77192737e-04 7.26745623e+00] [ 8.25533853e-03 9.99965714e-01 -6.48914224e-04 1.13890518e-01] [-1.71829729e-04 6.50354888e-04 9.99999774e-01 -1.04766702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02650248099997 meters 0.10565587433609533 Centerline is valid? [False, False] Translation: X:7.27, Y:0.11, Z:-1.05 [[ 9.99969231e-01 -7.84440953e-03 4.70017600e-05 7.26812137e+00] [ 7.84440973e-03 9.99969232e-01 -4.06528965e-06 1.12729299e-01] [-4.69684240e-05 4.43386563e-06 9.99999999e-01 -1.04839514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08650248099997 meters 0.10543730160457579 Centerline is valid? [False, False] Translation: X:7.27, Y:0.11, Z:-1.05 [[ 9.99974811e-01 -7.09731970e-03 7.18611064e-05 7.26884536e+00] [ 7.09722237e-03 9.99974002e-01 1.27450196e-03 1.09832282e-01] [-8.09047861e-05 -1.27395984e-03 9.99999185e-01 -1.04964313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14650248099997 meters 0.10496281025425089 Centerline is valid? [False, False] Translation: X:7.27, Y:0.11, Z:-1.05 [[ 9.99978438e-01 -6.56542917e-03 -1.36969497e-04 7.26976556e+00] [ 6.56570113e-03 9.99976262e-01 2.08979832e-03 1.08349367e-01] [ 1.23245823e-04 -2.09065256e-03 9.99997807e-01 -1.05057008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20650248099997 meters 0.10525895057527009 Centerline is valid? [False, False] Translation: X:7.27, Y:0.11, Z:-1.05 [[ 9.99978953e-01 -6.48587205e-03 -1.65712170e-04 7.26934856e+00] [ 6.48625285e-03 9.99976057e-01 2.41126271e-03 1.06925144e-01] [ 1.50069061e-04 -2.41228681e-03 9.99997079e-01 -1.04985671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26650248099997 meters 0.10555554266520949 Centerline is valid? [False, False] Translation: X:7.27, Y:0.10, Z:-1.05 [[ 9.99981091e-01 -6.14957728e-03 -1.95386353e-05 7.26909833e+00] [ 6.14960828e-03 9.99975662e-01 3.29503787e-03 1.04269213e-01] [-7.24930258e-07 -3.29509571e-03 9.99994571e-01 -1.04987602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32650248099998 meters 0.10589020301325602 Centerline is valid? [False, False] Translation: X:7.27, Y:0.10, Z:-1.05 [[ 9.99951873e-01 -9.80600717e-03 -3.05085752e-04 7.27004236e+00] [ 9.80603180e-03 9.99951917e-01 7.93390685e-05 1.01910645e-01] [ 3.04293083e-04 -8.23269307e-05 9.99999950e-01 -1.05054814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38650248099998 meters 0.10602370209154993 Centerline is valid? [False, False] Translation: X:7.27, Y:0.10, Z:-1.05 [[ 9.99962813e-01 -8.61812746e-03 -3.17997364e-04 7.27136865e+00] [ 8.61882302e-03 9.99960315e-01 2.25492356e-03 9.72910586e-02] [ 2.98551525e-04 -2.25758047e-03 9.99997407e-01 -1.05268870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44650248099995 meters 0.10600667461694813 Centerline is valid? [False, False] Translation: X:7.27, Y:0.09, Z:-1.05 [[ 9.99967954e-01 -7.99064667e-03 -4.91390057e-04 7.27190540e+00] [ 7.99229188e-03 9.99962135e-01 3.44258069e-03 9.44703998e-02] [ 4.63863005e-04 -3.44639770e-03 9.99993954e-01 -1.05309960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50650248099996 meters 0.10670877633906645 Centerline is valid? [False, False] Translation: X:7.27, Y:0.09, Z:-1.05 [[ 9.99973155e-01 -7.31159680e-03 -4.78952170e-04 7.27238369e+00] [ 7.31377644e-03 9.99962118e-01 4.71921652e-03 9.14401064e-02] [ 4.44429018e-04 -4.72259278e-03 9.99988750e-01 -1.05391702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56650248099996 meters 0.10684819944535542 Centerline is valid? [False, False] Translation: X:7.27, Y:0.09, Z:-1.05 [[ 9.99938503e-01 -1.10278673e-02 -1.17277625e-03 7.27417333e+00] [ 1.10290746e-02 9.99938650e-01 1.02796293e-03 9.13245271e-02] [ 1.16136806e-03 -1.04083435e-03 9.99998784e-01 -1.05479687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62650248099996 meters 0.10511205194293538 Centerline is valid? [False, False] Translation: X:7.28, Y:0.09, Z:-1.06 [[ 9.99943817e-01 -1.04976194e-02 -1.47054946e-03 7.27524466e+00] [ 1.05002793e-02 9.99943227e-01 1.81287578e-03 8.99957420e-02] [ 1.45143509e-03 -1.82821511e-03 9.99997275e-01 -1.05569329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68650248099996 meters 0.10516273799837744 Centerline is valid? [False, False] Translation: X:7.28, Y:0.09, Z:-1.06 [[ 9.99949265e-01 -9.95998055e-03 -1.50535292e-03 7.27553736e+00] [ 9.96420031e-03 9.99946374e-01 2.82215740e-03 8.74248918e-02] [ 1.47716356e-03 -2.83701386e-03 9.99994885e-01 -1.05607053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74650248099996 meters 0.10597038517553445 Centerline is valid? [False, False] Translation: X:7.28, Y:0.08, Z:-1.06 [[ 9.99953020e-01 -9.56340810e-03 -1.58109638e-03 7.27556894e+00] [ 9.56926914e-03 9.99947212e-01 3.74190355e-03 8.49245658e-02] [ 1.54522756e-03 -3.75685769e-03 9.99991749e-01 -1.05590579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80650248099997 meters 0.10628255614411912 Centerline is valid? [False, False] Translation: X:7.28, Y:0.08, Z:-1.06 [[ 9.99960284e-01 -8.74224927e-03 -1.73332945e-03 7.27628199e+00] [ 8.75129805e-03 9.99947748e-01 5.28347672e-03 8.12752249e-02] [ 1.68704942e-03 -5.29843576e-03 9.99984540e-01 -1.05664576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86650248099997 meters 0.10634703988525143 Centerline is valid? [False, False] Translation: X:7.28, Y:0.08, Z:-1.06 [[ 9.99964111e-01 -8.22177662e-03 -2.04428350e-03 7.27687914e+00] [ 8.23426928e-03 9.99947003e-01 6.17960873e-03 7.90524890e-02] [ 1.99336780e-03 -6.19622013e-03 9.99978816e-01 -1.05678831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92650248099997 meters 0.10570294571012102 Centerline is valid? [False, False] Translation: X:7.28, Y:0.08, Z:-1.06 [[ 9.99965146e-01 -8.04435171e-03 -2.23512801e-03 7.27691100e+00] [ 8.05876628e-03 9.99946293e-01 6.51673053e-03 7.80014847e-02] [ 2.18258510e-03 -6.53451577e-03 9.99976268e-01 -1.05637540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98650248099997 meters 0.10538304182452592 Centerline is valid? [False, False] Translation: X:7.28, Y:0.08, Z:-1.06 [[ 9.99967503e-01 -7.66513232e-03 -2.49779922e-03 7.27703776e+00] [ 7.68298167e-03 9.99944445e-01 7.21655825e-03 7.59363791e-02] [ 2.44234458e-03 -7.23551428e-03 9.99970841e-01 -1.05593518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04650248099998 meters 0.10509607108777892 Centerline is valid? [False, False] Translation: X:7.28, Y:0.07, Z:-1.06 [[ 9.99928860e-01 -1.15922082e-02 -2.80984708e-03 7.27760590e+00] [ 1.16019392e-02 9.99926667e-01 3.47197773e-03 7.48204913e-02] [ 2.76939314e-03 -3.50433041e-03 9.99990025e-01 -1.05590466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10650248099998 meters 0.10577778786265085 Centerline is valid? [False, False] Translation: X:7.28, Y:0.07, Z:-1.06 [[ 9.99937644e-01 -1.08491496e-02 -2.64638529e-03 7.27767862e+00] [ 1.08630003e-02 9.99927072e-01 5.27684379e-03 7.00972531e-02] [ 2.58894302e-03 -5.30526243e-03 9.99982576e-01 -1.05636758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16650248099995 meters 0.10732486515750549 Centerline is valid? [False, False] Translation: X:7.28, Y:0.07, Z:-1.06 [[ 9.99891479e-01 -1.45111228e-02 -2.54112222e-03 7.27775630e+00] [ 1.45174307e-02 9.99891537e-01 2.48175368e-03 6.63844891e-02] [ 2.50483356e-03 -2.51837492e-03 9.99993692e-01 -1.05653123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22650248099995 meters 0.10884696238338094 Centerline is valid? [False, False] Translation: X:7.28, Y:0.06, Z:-1.06 [[ 9.99834157e-01 -1.80999488e-02 -2.01241025e-03 7.27696163e+00] [ 1.81001597e-02 9.99836175e-01 8.66332937e-05 6.14518055e-02] [ 2.01051251e-03 -1.23043873e-04 9.99997971e-01 -1.05650083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28650248099996 meters 0.11183358382293081 Centerline is valid? [False, False] Translation: X:7.27, Y:0.06, Z:-1.06 [[ 9.99859601e-01 -1.61660446e-02 4.40867961e-03 7.26629902e+00] [ 1.61777547e-02 9.99865663e-01 -2.63355053e-03 5.53168054e-02] [-4.36551327e-03 2.70450332e-03 9.99986814e-01 -1.05732061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34650248099996 meters 0.11311855142640594 Centerline is valid? [False, False] Translation: X:7.27, Y:0.05, Z:-1.06 [[ 9.99868774e-01 -1.55405528e-02 4.57458180e-03 7.26634860e+00] [ 1.55461648e-02 9.99878438e-01 -1.19379286e-03 5.17708241e-02] [-4.55547350e-03 1.26475340e-03 9.99988824e-01 -1.05783634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40650248099996 meters 0.11363685625330976 Centerline is valid? [False, False] Translation: X:7.27, Y:0.05, Z:-1.06 [[ 9.99878010e-01 -1.49346067e-02 4.57420342e-03 7.26693933e+00] [ 1.49353676e-02 9.99888452e-01 -1.32234268e-04 4.96810155e-02] [-4.57171831e-03 2.00535546e-04 9.99989530e-01 -1.05874160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46650248099996 meters 0.11426822685246427 Centerline is valid? [False, False] Translation: X:7.27, Y:0.05, Z:-1.06 [[ 9.99887394e-01 -1.43004188e-02 4.54944096e-03 7.26762972e+00] [ 1.42964151e-02 9.99897386e-01 9.11346841e-04 4.76662066e-02] [-4.56200676e-03 -8.46203521e-04 9.99989236e-01 -1.05978548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52650248099997 meters 0.11303483530289965 Centerline is valid? [False, False] Translation: X:7.27, Y:0.05, Z:-1.06 [[ 9.99899496e-01 -1.35371676e-02 4.21234473e-03 7.26958171e+00] [ 1.35298822e-02 9.99906930e-01 1.75326184e-03 4.75563604e-02] [-4.23568688e-03 -1.69609310e-03 9.99989591e-01 -1.06190438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58650248099997 meters 0.11183475148602906 Centerline is valid? [False, False] Translation: X:7.27, Y:0.05, Z:-1.06 [[ 9.99999674e-01 1.46648033e-05 8.07007002e-04 7.27282512e+00] [-1.04567227e-05 9.99986406e-01 -5.21418608e-03 4.94179589e-02] [-8.07072497e-04 5.21417594e-03 9.99986080e-01 -1.06024813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64650248099997 meters 0.11056908973459238 Centerline is valid? [False, False] Translation: X:7.27, Y:0.05, Z:-1.06 [[ 9.99999919e-01 3.60472315e-04 1.77238938e-04 7.27490420e+00] [-3.59506520e-04 9.99985251e-01 -5.41928106e-03 5.23305293e-02] [-1.79189825e-04 5.41921690e-03 9.99985300e-01 -1.06171547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70650248099997 meters 0.10826525098745017 Centerline is valid? [False, False] Translation: X:7.28, Y:0.06, Z:-1.06 [[ 9.99992912e-01 3.75660329e-03 -2.51619108e-04 7.27589858e+00] [-3.75746464e-03 9.99986763e-01 -3.51500421e-03 5.91522018e-02] [ 2.38411301e-04 3.51592474e-03 9.99993791e-01 -1.06180012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76650248099997 meters 0.10681355897510561 Centerline is valid? [False, False] Translation: X:7.29, Y:0.07, Z:-1.06 [[ 9.99986661e-01 -3.76951460e-03 -3.53105156e-03 7.28667013e+00] [ 3.76685704e-03 9.99992617e-01 -7.58973494e-04 6.70645582e-02] [ 3.53388645e-03 7.45662404e-04 9.99993478e-01 -1.06106434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82650248099998 meters 0.10602582329643297 Centerline is valid? [False, False] Translation: X:7.29, Y:0.07, Z:-1.06 [[ 9.99986997e-01 -1.80128543e-03 -4.77093768e-03 7.29067235e+00] [ 1.80022117e-03 9.99998354e-01 -2.27357502e-04 7.44621900e-02] [ 4.77133936e-03 2.18765802e-04 9.99988593e-01 -1.06401168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88650248099998 meters 0.10590537080912409 Centerline is valid? [False, False] Translation: X:7.30, Y:0.08, Z:-1.07 [[ 9.99994443e-01 2.17474789e-03 2.52655409e-03 7.30157959e+00] [-2.16493090e-03 9.99990122e-01 -3.88178500e-03 8.41702201e-02] [-2.53497103e-03 3.87629362e-03 9.99989274e-01 -1.06942036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94650248099995 meters 0.10596101705206841 Centerline is valid? [False, False] Translation: X:7.30, Y:0.09, Z:-1.07 [[ 9.99995311e-01 2.03875618e-03 2.28506865e-03 7.30234328e+00] [-2.02877513e-03 9.99988429e-01 -4.36178514e-03 8.60559135e-02] [-2.29393483e-03 4.35712880e-03 9.99987877e-01 -1.06985205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00650248099996 meters 0.10639921242243047 Centerline is valid? [False, False] Translation: X:7.32, Y:0.09, Z:-1.07 [[ 9.99984729e-01 -4.87759436e-03 2.59817550e-03 7.31623514e+00] [ 4.87631032e-03 9.99987986e-01 5.00317291e-04 9.20615644e-02] [-2.60058463e-03 -4.87640141e-04 9.99996500e-01 -1.07476281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06650248099996 meters 0.10773338498149729 Centerline is valid? [False, False] Translation: X:7.32, Y:0.10, Z:-1.08 [[ 9.99988809e-01 -4.37534127e-03 1.79974210e-03 7.31871175e+00] [ 4.37471266e-03 9.99990369e-01 3.53070687e-04 9.84519091e-02] [-1.80126957e-03 -3.45193381e-04 9.99998318e-01 -1.07641000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12650248099996 meters 0.11030862612756347 Centerline is valid? [False, False] Translation: X:7.33, Y:0.10, Z:-1.08 [[ 9.99954583e-01 -7.01109134e-04 9.50474742e-03 7.32644045e+00] [ 7.35459363e-04 9.99993210e-01 -3.61099417e-03 1.04436647e-01] [-9.50215118e-03 3.61782052e-03 9.99948309e-01 -1.07894471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18650248099996 meters 0.11015238089301259 Centerline is valid? [False, False] Translation: X:7.33, Y:0.11, Z:-1.08 [[ 9.99950257e-01 2.51539208e-03 9.65176776e-03 7.32550698e+00] [-2.50402922e-03 9.99996158e-01 -1.18918699e-03 1.08759213e-01] [-9.65472195e-03 1.16495953e-03 9.99952713e-01 -1.07762055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24650248099996 meters 0.10966593222807498 Centerline is valid? [False, False] Translation: X:7.33, Y:0.12, Z:-1.08 [[ 9.99962764e-01 2.76265933e-03 8.17542610e-03 7.32797574e+00] [-2.74342353e-03 9.99993445e-01 -2.36315974e-03 1.17119114e-01] [-8.18190111e-03 2.34064309e-03 9.99963788e-01 -1.07750039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30650248099997 meters 0.10934496157127434 Centerline is valid? [False, False] Translation: X:7.33, Y:0.12, Z:-1.08 [[ 9.99970759e-01 3.61657997e-03 6.73806811e-03 7.33180170e+00] [-3.59980495e-03 9.99990396e-01 -2.50005509e-03 1.24019892e-01] [-6.74704504e-03 2.47572626e-03 9.99974174e-01 -1.07957263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36650248099997 meters 0.11016121468309177 Centerline is valid? [False, False] Translation: X:7.33, Y:0.13, Z:-1.08 [[ 9.99975496e-01 3.57457296e-03 6.01917700e-03 7.33397261e+00] [-3.55636380e-03 9.99989076e-01 -3.03318234e-03 1.29188509e-01] [-6.02995358e-03 3.01170163e-03 9.99977284e-01 -1.08078765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42650248099997 meters 0.1101613987876657 Centerline is valid? [False, False] Translation: X:7.34, Y:0.13, Z:-1.08 [[ 9.99980370e-01 3.31172139e-03 5.31912154e-03 7.33572445e+00] [-3.29039561e-03 9.99986534e-01 -4.01302649e-03 1.34355246e-01] [-5.33233994e-03 3.99544570e-03 9.99977801e-01 -1.08139911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48650248099997 meters 0.11012131169998723 Centerline is valid? [False, False] Translation: X:7.35, Y:0.14, Z:-1.08 [[ 9.99960080e-01 -1.17286652e-04 8.93444150e-03 7.35200877e+00] [ 1.42115155e-04 9.99996130e-01 -2.77838123e-03 1.40169018e-01] [-8.93408105e-03 2.77954003e-03 9.99956227e-01 -1.08108677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54650248099998 meters 0.1096168501593564 Centerline is valid? [False, False] Translation: X:7.35, Y:0.15, Z:-1.08 [[ 9.99968574e-01 1.39709073e-06 7.92792318e-03 7.35435645e+00] [ 2.48245374e-05 9.99994530e-01 -3.30740343e-03 1.45915183e-01] [-7.92788443e-03 3.30749630e-03 9.99963104e-01 -1.08193507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60650248099998 meters 0.11093539487638485 Centerline is valid? [False, False] Translation: X:7.35, Y:0.15, Z:-1.08 [[ 9.99972578e-01 -5.33467634e-04 7.38634222e-03 7.35488044e+00] [ 5.67609877e-04 9.99989162e-01 -4.62102330e-03 1.49997062e-01] [-7.38379700e-03 4.62508914e-03 9.99962043e-01 -1.08120011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66650248099995 meters 0.10939393445152289 Centerline is valid? [False, False] Translation: X:7.36, Y:0.15, Z:-1.08 [[ 9.99975963e-01 -8.21385066e-04 6.88461570e-03 7.35552087e+00] [ 8.58630460e-04 9.99985004e-01 -5.40873654e-03 1.52627838e-01] [-6.88006981e-03 5.41451788e-03 9.99961673e-01 -1.08076797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72650248099995 meters 0.10969890142668119 Centerline is valid? [False, False] Translation: X:7.36, Y:0.15, Z:-1.08 [[ 9.99977931e-01 -6.31732709e-04 6.61350073e-03 7.35637491e+00] [ 6.66572800e-04 9.99985906e-01 -5.26714747e-03 1.52923874e-01] [-6.61008009e-03 5.27143961e-03 9.99964259e-01 -1.08132965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78650248099996 meters 0.10962068696428581 Centerline is valid? [False, False] Translation: X:7.36, Y:0.15, Z:-1.08 [[ 9.99979606e-01 -4.13463727e-04 6.37306837e-03 7.35717436e+00] [ 4.45313543e-04 9.99987416e-01 -4.99695525e-03 1.52852048e-01] [-6.37092212e-03 4.99969136e-03 9.99967207e-01 -1.08189109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84650248099996 meters 0.11028618502975492 Centerline is valid? [False, False] Translation: X:7.36, Y:0.15, Z:-1.08 [[ 9.99980221e-01 -1.44063292e-05 6.28947956e-03 7.35794697e+00] [ 4.16983249e-05 9.99990585e-01 -4.33919951e-03 1.51931183e-01] [-6.28935783e-03 4.33937594e-03 9.99970806e-01 -1.08280520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90650248099996 meters 0.11073110756623042 Centerline is valid? [False, False] Translation: X:7.36, Y:0.15, Z:-1.08 [[ 9.99975326e-01 -3.88922125e-03 5.84985382e-03 7.35895705e+00] [ 3.93638921e-03 9.99959662e-01 -8.07331510e-03 1.50873714e-01] [-5.81821895e-03 8.09614320e-03 9.99950299e-01 -1.08317436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96650248099996 meters 0.11107631864341909 Centerline is valid? [False, False] Translation: X:7.36, Y:0.15, Z:-1.08 [[ 9.99977087e-01 -3.66779197e-03 5.68972761e-03 7.35915838e+00] [ 3.71114918e-03 9.99964016e-01 -7.62851235e-03 1.49621084e-01] [-5.66154308e-03 7.64945299e-03 9.99954715e-01 -1.08305854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02650248099997 meters 0.11083508038968896 Centerline is valid? [False, False] Translation: X:7.36, Y:0.15, Z:-1.08 [[ 9.99980225e-01 -2.91865362e-03 5.57062205e-03 7.36025180e+00] [ 2.95458177e-03 9.99974819e-01 -6.45228067e-03 1.47425600e-01] [-5.55164980e-03 6.46861193e-03 9.99963667e-01 -1.08444789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08650248099997 meters 0.11005675612791453 Centerline is valid? [False, False] Translation: X:7.36, Y:0.14, Z:-1.09 [[ 9.99982399e-01 -2.21677415e-03 5.50348205e-03 7.36073291e+00] [ 2.24543332e-03 9.99983924e-01 -5.20675448e-03 1.44207312e-01] [-5.49185138e-03 5.21902053e-03 9.99971300e-01 -1.08511882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14650248099997 meters 0.10892137059380293 Centerline is valid? [False, False] Translation: X:7.36, Y:0.14, Z:-1.08 [[ 9.99984918e-01 -1.88295363e-03 5.15927010e-03 7.36076955e+00] [ 1.90684321e-03 9.99987466e-01 -4.62941919e-03 1.41992416e-01] [-5.15048845e-03 4.63918729e-03 9.99975975e-01 -1.08434318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20650248099997 meters 0.10844750195096355 Centerline is valid? [False, False] Translation: X:7.36, Y:0.14, Z:-1.09 [[ 9.99978110e-01 -5.03232034e-03 4.29599118e-03 7.36330594e+00] [ 5.06489913e-03 9.99958242e-01 -7.60663954e-03 1.40382809e-01] [-4.25753274e-03 7.62823179e-03 9.99961841e-01 -1.08603529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26650248099997 meters 0.10849509961326802 Centerline is valid? [False, False] Translation: X:7.36, Y:0.13, Z:-1.09 [[ 9.99982536e-01 -3.73725440e-03 4.57833864e-03 7.36399324e+00] [ 3.76111110e-03 9.99979338e-01 -5.21329606e-03 1.34203078e-01] [-4.55876063e-03 5.23042465e-03 9.99975930e-01 -1.08794699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32650248099998 meters 0.10857140578607553 Centerline is valid? [False, False] Translation: X:7.36, Y:0.13, Z:-1.09 [[ 9.99975695e-01 -5.18999315e-03 4.65538599e-03 7.36313867e+00] [ 5.21706525e-03 9.99969443e-01 -5.82205098e-03 1.28156852e-01] [-4.62502733e-03 5.84619693e-03 9.99972215e-01 -1.08716211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38650248099998 meters 0.10842951298378399 Centerline is valid? [False, False] Translation: X:7.36, Y:0.12, Z:-1.09 [[ 9.99978403e-01 -4.72113597e-03 4.57216480e-03 7.36297300e+00] [ 4.74307345e-03 9.99977235e-01 -4.79915086e-03 1.24898677e-01] [-4.54940328e-03 4.82073333e-03 9.99978031e-01 -1.08680050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44650248099995 meters 0.10878264724344959 Centerline is valid? [False, False] Translation: X:7.36, Y:0.12, Z:-1.09 [[ 9.99980714e-01 -3.89184208e-03 4.83992790e-03 7.36291001e+00] [ 3.90703584e-03 9.99987457e-01 -3.13377028e-03 1.19999500e-01] [-4.82767105e-03 3.15261961e-03 9.99983377e-01 -1.08754361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50650248099996 meters 0.10793809144652858 Centerline is valid? [False, False] Translation: X:7.36, Y:0.12, Z:-1.09 [[ 9.99984094e-01 -2.96292374e-03 4.79917662e-03 7.36373778e+00] [ 2.97053891e-03 9.99994339e-01 -1.58041626e-03 1.16308187e-01] [-4.79446680e-03 1.59464727e-03 9.99987235e-01 -1.08880847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56650248099996 meters 0.1081195955061624 Centerline is valid? [False, False] Translation: X:7.36, Y:0.11, Z:-1.09 [[ 9.99984877e-01 -2.66577063e-03 4.81033320e-03 7.36353509e+00] [ 2.67024674e-03 9.99996008e-01 -9.24337868e-04 1.14078775e-01] [-4.80784993e-03 9.37168665e-04 9.99988003e-01 -1.08860493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62650248099996 meters 0.10801602829103565 Centerline is valid? [False, False] Translation: X:7.36, Y:0.11, Z:-1.09 [[ 9.99970331e-01 -6.20390904e-03 4.56595102e-03 7.36457302e+00] [ 6.22236851e-03 9.99972481e-01 -4.03981373e-03 1.11625216e-01] [-4.54076273e-03 4.06810490e-03 9.99981416e-01 -1.08957816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68650248099996 meters 0.10801387643780565 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.09 [[ 9.99974495e-01 -5.23827336e-03 4.85487149e-03 7.36518753e+00] [ 5.24844426e-03 9.99984054e-01 -2.08462158e-03 1.07096184e-01] [-4.84387425e-03 2.11004894e-03 9.99986042e-01 -1.09141287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74650248099996 meters 0.10792166673245193 Centerline is valid? [False, False] Translation: X:7.37, Y:0.10, Z:-1.09 [[ 9.99978405e-01 -4.46103215e-03 4.82574254e-03 7.36604064e+00] [ 4.46460900e-03 9.99989767e-01 -7.30683197e-04 1.04231609e-01] [-4.82243355e-03 7.52212472e-04 9.99988089e-01 -1.09270443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80650248099997 meters 0.10747726110635358 Centerline is valid? [False, False] Translation: X:7.37, Y:0.10, Z:-1.09 [[ 9.99980036e-01 -4.28464398e-03 4.64418588e-03 7.36641600e+00] [ 4.28734882e-03 9.99990645e-01 -5.72615810e-04 1.04096808e-01] [-4.64168898e-03 5.92515624e-04 9.99989052e-01 -1.09286491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86650248099997 meters 0.10739513406176113 Centerline is valid? [False, False] Translation: X:7.37, Y:0.10, Z:-1.09 [[ 9.99981043e-01 -4.28621135e-03 4.42055846e-03 7.36680153e+00] [ 4.28942204e-03 9.99990543e-01 -7.17083798e-04 1.04749279e-01] [-4.41744309e-03 7.36031846e-04 9.99989972e-01 -1.09285889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92650248099997 meters 0.10654824036209763 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.09 [[ 9.99984248e-01 -4.11050080e-03 3.82185344e-03 7.36797613e+00] [ 4.11454127e-03 9.99990984e-01 -1.04994016e-03 1.06519910e-01] [-3.81750320e-03 1.06564879e-03 9.99992146e-01 -1.09322982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98650248099997 meters 0.10604843552794026 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.09 [[ 9.99986267e-01 -3.90173677e-03 3.49876583e-03 7.36878503e+00] [ 3.90542564e-03 9.99991825e-01 -1.04812424e-03 1.07082056e-01] [-3.49464773e-03 1.06177402e-03 9.99993330e-01 -1.09372102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04650248099998 meters 0.10593517731418571 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.09 [[ 9.99986922e-01 -3.99103932e-03 3.19808874e-03 7.36931841e+00] [ 3.99561083e-03 9.99991003e-01 -1.42434084e-03 1.08565823e-01] [-3.19237536e-03 1.43710053e-03 9.99993872e-01 -1.09372439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10650248099998 meters 0.10656525627780748 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.09 [[ 9.99963075e-01 -8.13812211e-03 2.76039752e-03 7.37035352e+00] [ 8.15382550e-03 9.99950362e-01 -5.72608093e-03 1.09270866e-01] [-2.71366096e-03 5.74837729e-03 9.99979796e-01 -1.09407630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16650248099995 meters 0.10682936971564548 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.09 [[ 9.99965790e-01 -7.79288137e-03 2.77298530e-03 7.37087643e+00] [ 7.80689874e-03 9.99956619e-01 -5.08057505e-03 1.08049141e-01] [-2.73327269e-03 5.10204966e-03 9.99983249e-01 -1.09492810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22650248099995 meters 0.10740221722801656 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.10 [[ 9.99967982e-01 -7.55120550e-03 2.64855351e-03 7.37144529e+00] [ 7.56368787e-03 9.99960185e-01 -4.73497821e-03 1.07699277e-01] [-2.61269326e-03 4.75485943e-03 9.99985282e-01 -1.09543246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28650248099996 meters 0.10770415713998428 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.10 [[ 9.99970703e-01 -7.18025254e-03 2.65268199e-03 7.37174620e+00] [ 7.19093934e-03 9.99965978e-01 -4.04134849e-03 1.06119307e-01] [-2.62357384e-03 4.06030536e-03 9.99988315e-01 -1.09590888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34650248099996 meters 0.10883146826846662 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.10 [[ 9.99969756e-01 -7.23496301e-03 2.85336318e-03 7.37120230e+00] [ 7.24616884e-03 9.99965997e-01 -3.93664709e-03 1.05633136e-01] [-2.82478466e-03 3.95720398e-03 9.99988180e-01 -1.09548765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40650248099996 meters 0.10941801362824448 Centerline is valid? [False, False] Translation: X:7.37, Y:0.10, Z:-1.10 [[ 9.99972401e-01 -6.84654733e-03 2.88468876e-03 7.37159542e+00] [ 6.85601676e-03 9.99971099e-01 -3.28565001e-03 1.04377664e-01] [-2.86211003e-03 3.30533680e-03 9.99990441e-01 -1.09617663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46650248099996 meters 0.10859083560069628 Centerline is valid? [False, False] Translation: X:7.37, Y:0.10, Z:-1.10 [[ 9.99974243e-01 -6.59239884e-03 2.83792851e-03 7.37207064e+00] [ 6.60079209e-03 9.99973838e-01 -2.95839064e-03 1.03976773e-01] [-2.81835137e-03 2.97704702e-03 9.99991597e-01 -1.09678769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52650248099997 meters 0.10811489445657807 Centerline is valid? [False, False] Translation: X:7.37, Y:0.11, Z:-1.10 [[ 9.99977960e-01 -6.31500976e-03 2.04926016e-03 7.37398046e+00] [ 6.32159186e-03 9.99974829e-01 -3.22152153e-03 1.06668089e-01] [-2.02886464e-03 3.23440512e-03 9.99992711e-01 -1.09764768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58650248099997 meters 0.10675246327220328 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99981537e-01 -5.91562811e-03 1.38929729e-03 7.37590159e+00] [ 5.92034357e-03 9.99976644e-01 -3.41490741e-03 1.08936056e-01] [-1.36906352e-03 3.42306948e-03 9.99993204e-01 -1.09888669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64650248099997 meters 0.10605292097809835 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99982303e-01 -5.83142988e-03 1.17787470e-03 7.37656466e+00] [ 5.83565638e-03 9.99976430e-01 -3.61725218e-03 1.10080493e-01] [-1.15675318e-03 3.62406184e-03 9.99992764e-01 -1.09936718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70650248099997 meters 0.10660604971868107 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99983554e-01 -5.61976693e-03 1.14421526e-03 7.37685772e+00] [ 5.62353439e-03 9.99978688e-01 -3.31646393e-03 1.09603773e-01] [-1.12555312e-03 3.32284393e-03 9.99993846e-01 -1.09971142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76650248099997 meters 0.10686632882582137 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99985280e-01 -5.27888813e-03 1.25399766e-03 7.37688397e+00] [ 5.28205902e-03 9.99982827e-01 -2.53891847e-03 1.07784351e-01] [-1.24057346e-03 2.54550479e-03 9.99995991e-01 -1.10002777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82650248099998 meters 0.10780392163390942 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99957192e-01 -9.17957747e-03 1.16209995e-03 7.37758965e+00] [ 9.18658035e-03 9.99938758e-01 -6.17139734e-03 1.06751703e-01] [-1.10537796e-03 6.18180888e-03 9.99980281e-01 -1.10074245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88650248099995 meters 0.10910841194077119 Centerline is valid? [False, False] Translation: X:7.38, Y:0.10, Z:-1.10 [[ 9.99962346e-01 -8.51283806e-03 1.68463099e-03 7.37771699e+00] [ 8.52004957e-03 9.99954368e-01 -4.32091795e-03 1.02185864e-01] [-1.64777084e-03 4.33510839e-03 9.99989246e-01 -1.10243629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94650248099995 meters 0.11021861152724222 Centerline is valid? [False, False] Translation: X:7.38, Y:0.10, Z:-1.10 [[ 9.99963190e-01 -8.42242670e-03 1.63738422e-03 7.37794969e+00] [ 8.42914808e-03 9.99955894e-01 -4.14232793e-03 1.02105082e-01] [-1.60242355e-03 4.15597721e-03 9.99990080e-01 -1.10257380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00650248099996 meters 0.11180247835873278 Centerline is valid? [False, False] Translation: X:7.38, Y:0.10, Z:-1.10 [[ 9.99965187e-01 -8.15133126e-03 1.78332204e-03 7.37818498e+00] [ 8.15779339e-03 9.99960075e-01 -3.64688865e-03 1.01048553e-01] [-1.75352384e-03 3.66130967e-03 9.99991760e-01 -1.10331441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06650248099996 meters 0.11280844681347572 Centerline is valid? [False, False] Translation: X:7.38, Y:0.10, Z:-1.10 [[ 9.99963798e-01 -8.36966058e-03 1.53337311e-03 7.37872298e+00] [ 8.37601808e-03 9.99956152e-01 -4.18767731e-03 1.02974573e-01] [-1.49825644e-03 4.20036927e-03 9.99990056e-01 -1.10336809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12650248099996 meters 0.11242399294004911 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99962115e-01 -8.60829707e-03 1.29095227e-03 7.37930954e+00] [ 8.61446100e-03 9.99951144e-01 -4.84768701e-03 1.05317974e-01] [-1.24915887e-03 4.85862421e-03 9.99987417e-01 -1.10347365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18650248099996 meters 0.11230939922321559 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99960170e-01 -8.88743295e-03 8.19133433e-04 7.38011242e+00] [ 8.89198700e-03 9.99944022e-01 -5.73458860e-03 1.08358871e-01] [-7.68121807e-04 5.74164392e-03 9.99983222e-01 -1.10334550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24650248099996 meters 0.11229537580667134 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99989271e-01 -4.57008906e-03 7.56132864e-04 7.38046247e+00] [ 4.57125086e-03 9.99988363e-01 -1.54197863e-03 1.09015143e-01] [-7.49077085e-04 1.54541856e-03 9.99998525e-01 -1.10375618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30650248099997 meters 0.11061294633437158 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99989397e-01 -4.60002683e-03 2.12470103e-04 7.38159555e+00] [ 4.60046336e-03 9.99987209e-01 -2.10188143e-03 1.11420941e-01] [-2.02798674e-04 2.10283661e-03 9.99997768e-01 -1.10405246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36650248099997 meters 0.10927698169369937 Centerline is valid? [False, False] Translation: X:7.38, Y:0.11, Z:-1.10 [[ 9.99989141e-01 -4.65027450e-03 -3.05472529e-04 7.38266249e+00] [ 4.64941065e-03 9.99985354e-01 -2.77023690e-03 1.14095513e-01] [ 3.18350417e-04 2.76878655e-03 9.99996116e-01 -1.10434018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42650248099997 meters 0.10904637961424851 Centerline is valid? [False, False] Translation: X:7.39, Y:0.12, Z:-1.11 [[ 9.99991428e-01 -4.03773995e-03 -9.17191190e-04 7.38505856e+00] [ 4.03556974e-03 9.99989082e-01 -2.35580180e-03 1.15482112e-01] [ 9.26693291e-04 2.35208022e-03 9.99996804e-01 -1.10634173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48650248099997 meters 0.10857028103274517 Centerline is valid? [False, False] Translation: X:7.39, Y:0.12, Z:-1.11 [[ 9.99990643e-01 -4.11622823e-03 -1.33039564e-03 7.38567773e+00] [ 4.11261400e-03 9.99987876e-01 -2.70807156e-03 1.16755744e-01] [ 1.34152655e-03 2.70257482e-03 9.99995448e-01 -1.10618143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54650248099998 meters 0.10838665709909505 Centerline is valid? [False, False] Translation: X:7.39, Y:0.12, Z:-1.11 [[ 9.99989278e-01 -4.30726507e-03 -1.70026163e-03 7.38595651e+00] [ 4.30183705e-03 9.99985680e-01 -3.18331521e-03 1.18069773e-01] [ 1.71394866e-03 3.17596683e-03 9.99993488e-01 -1.10560366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60650248099998 meters 0.1075460290036118 Centerline is valid? [False, False] Translation: X:7.39, Y:0.12, Z:-1.11 [[ 9.99987986e-01 -4.43939980e-03 -2.07827978e-03 7.38647274e+00] [ 4.43185874e-03 9.99983630e-01 -3.61916063e-03 1.19570145e-01] [ 2.09431265e-03 3.60990651e-03 9.99991291e-01 -1.10533834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66650248099995 meters 0.10777787629004576 Centerline is valid? [False, False] Translation: X:7.39, Y:0.12, Z:-1.11 [[ 9.99989811e-01 -3.96696988e-03 -2.15431497e-03 7.38724869e+00] [ 3.96065119e-03 9.99987866e-01 -2.92942695e-03 1.18363970e-01] [ 2.16590978e-03 2.92086462e-03 9.99993389e-01 -1.10634133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72650248099995 meters 0.10799643386501792 Centerline is valid? [False, False] Translation: X:7.39, Y:0.12, Z:-1.11 [[ 9.99991886e-01 -3.38616777e-03 -2.18217817e-03 7.38790779e+00] [ 3.38195911e-03 9.99992420e-01 -1.92946150e-03 1.16293888e-01] [ 2.18869510e-03 1.92206580e-03 9.99995758e-01 -1.10732336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78650248099996 meters 0.1079679659869145 Centerline is valid? [False, False] Translation: X:7.39, Y:0.12, Z:-1.11 [[ 9.99991776e-01 -3.25481505e-03 -2.41958933e-03 7.38817133e+00] [ 3.25066769e-03 9.99993244e-01 -1.71603578e-03 1.15873454e-01] [ 2.42515836e-03 1.70815638e-03 9.99995600e-01 -1.10706545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84650248099996 meters 0.10852358441779064 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99993590e-01 -2.88806917e-03 -2.11619690e-03 7.38781812e+00] [ 2.88647969e-03 9.99995550e-01 -7.53773590e-04 1.13061198e-01] [ 2.11836444e-03 7.47660399e-04 9.99997477e-01 -1.10736733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90650248099996 meters 0.10856623079342713 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99994761e-01 -2.46121253e-03 -2.10263297e-03 7.38807467e+00] [ 2.46128017e-03 9.99996971e-01 2.95813699e-05 1.11210183e-01] [ 2.10255379e-03 -3.47563837e-05 9.99997789e-01 -1.10784166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96650248099996 meters 0.10763445007536522 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99994448e-01 -2.07609092e-03 -2.60638303e-03 7.38972074e+00] [ 2.07643088e-03 9.99997836e-01 1.27732882e-04 1.12233254e-01] [ 2.60611221e-03 -1.33144147e-04 9.99996595e-01 -1.10911544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02650248099997 meters 0.10704633378052893 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99993603e-01 -2.03204792e-03 -2.94373399e-03 7.39025377e+00] [ 2.03168904e-03 9.99997928e-01 -1.24898232e-04 1.13135194e-01] [ 2.94398169e-03 1.18916681e-04 9.99995659e-01 -1.10908668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08650248099997 meters 0.1060535398819646 Centerline is valid? [False, False] Translation: X:7.39, Y:0.12, Z:-1.11 [[ 9.99991689e-01 -2.26766462e-03 -3.38811616e-03 7.39024663e+00] [ 2.26354977e-03 9.99996697e-01 -1.21783700e-03 1.15689394e-01] [ 3.39086661e-03 1.21015771e-03 9.99993519e-01 -1.10791570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14650248099997 meters 0.10570948362541911 Centerline is valid? [False, False] Translation: X:7.39, Y:0.12, Z:-1.11 [[ 9.99991320e-01 -2.41154862e-03 -3.39775611e-03 7.38993229e+00] [ 2.40652559e-03 9.99996007e-01 -1.48165028e-03 1.15985104e-01] [ 3.40131561e-03 1.47346064e-03 9.99993130e-01 -1.10744116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20650248099997 meters 0.10574888192296855 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99974931e-01 -5.98471490e-03 -3.78424695e-03 7.39162284e+00] [ 5.96640122e-03 9.99970525e-01 -4.83236095e-03 1.14859331e-01] [ 3.81305571e-03 4.80966147e-03 9.99981164e-01 -1.10900338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26650248099997 meters 0.10579183155969225 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99978706e-01 -5.34682866e-03 -3.74139067e-03 7.39222505e+00] [ 5.33293666e-03 9.99978886e-01 -3.71323397e-03 1.12516162e-01] [ 3.76116570e-03 3.69320230e-03 9.99986107e-01 -1.11005119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32650248099998 meters 0.10575491392053264 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99979815e-01 -5.04380727e-03 -3.86386058e-03 7.39251684e+00] [ 5.03138482e-03 9.99982165e-01 -3.21803877e-03 1.11389184e-01] [ 3.88002284e-03 3.19853324e-03 9.99987357e-01 -1.11019119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38650248099995 meters 0.10584836486634512 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99982933e-01 -4.40753162e-03 -3.83500222e-03 7.39299823e+00] [ 4.39933521e-03 9.99988026e-01 -2.14308249e-03 1.08881696e-01] [ 3.84440201e-03 2.12617446e-03 9.99990350e-01 -1.11106336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44650248099995 meters 0.10594740635471248 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99984224e-01 -4.09073312e-03 -3.84924138e-03 7.39345494e+00] [ 4.08444938e-03 9.99990316e-01 -1.63890995e-03 1.08114916e-01] [ 3.85590845e-03 1.62316206e-03 9.99991249e-01 -1.11165662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50650248099996 meters 0.1063924911355956 Centerline is valid? [False, False] Translation: X:7.39, Y:0.11, Z:-1.11 [[ 9.99987373e-01 -3.38031254e-03 -3.71853516e-03 7.39397183e+00] [ 3.37881159e-03 9.99994208e-01 -4.09847099e-04 1.05210390e-01] [ 3.71989903e-03 3.97277694e-04 9.99993002e-01 -1.11279546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56650248099996 meters 0.10670210647456607 Centerline is valid? [False, False] Translation: X:7.39, Y:0.10, Z:-1.11 [[ 9.99988534e-01 -3.05288341e-03 -3.68937023e-03 7.39437829e+00] [ 3.05325654e-03 9.99995334e-01 9.55069116e-05 1.04230918e-01] [ 3.68906144e-03 -1.06770410e-04 9.99993190e-01 -1.11345397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62650248099996 meters 0.10672385435566621 Centerline is valid? [False, False] Translation: X:7.40, Y:0.10, Z:-1.11 [[ 9.99999142e-01 1.29748951e-03 -1.80800975e-04 7.40441755e+00] [-1.29830927e-03 9.99988530e-01 -4.61021320e-03 1.03947801e-01] [ 1.74817198e-04 4.61044398e-03 9.99989357e-01 -1.11344513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68650248099996 meters 0.10619051527344382 Centerline is valid? [False, False] Translation: X:7.41, Y:0.10, Z:-1.12 [[ 9.99997579e-01 -2.02771874e-03 -8.55018802e-04 7.40726785e+00] [ 2.02081901e-03 9.99965999e-01 -7.99477253e-03 1.04519541e-01] [ 8.71200881e-04 7.99302534e-03 9.99967676e-01 -1.11597220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74650248099996 meters 0.1066766463397329 Centerline is valid? [False, False] Translation: X:7.41, Y:0.11, Z:-1.12 [[ 9.99997433e-01 -2.00542830e-03 -1.05422166e-03 7.40776881e+00] [ 1.99686100e-03 9.99965477e-01 -8.06584688e-03 1.05201768e-01] [ 1.07036075e-03 8.06372105e-03 9.99966915e-01 -1.11613875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80650248099997 meters 0.10666003256892398 Centerline is valid? [False, False] Translation: X:7.41, Y:0.11, Z:-1.12 [[ 9.99997063e-01 -2.11257406e-03 -1.18789795e-03 7.40775609e+00] [ 2.10262768e-03 9.99963237e-01 -8.31291517e-03 1.05924957e-01] [ 1.20541593e-03 8.31039305e-03 9.99964742e-01 -1.11571771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86650248099997 meters 0.10732623757729913 Centerline is valid? [False, False] Translation: X:7.41, Y:0.10, Z:-1.12 [[ 9.99997748e-01 -1.84119632e-03 -1.05534077e-03 7.40781900e+00] [ 1.83294836e-03 9.99968181e-01 -7.76385044e-03 1.04648402e-01] [ 1.06960197e-03 7.76189857e-03 9.99969304e-01 -1.11615048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92650248099997 meters 0.10765011887472647 Centerline is valid? [False, False] Translation: X:7.41, Y:0.10, Z:-1.12 [[ 9.99998442e-01 -1.37656984e-03 -1.10512640e-03 7.40877271e+00] [ 1.36877369e-03 9.99974391e-01 -7.02456127e-03 1.03671637e-01] [ 1.11476789e-03 7.02303765e-03 9.99974717e-01 -1.11743988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98650248099997 meters 0.108144109858359 Centerline is valid? [False, False] Translation: X:7.41, Y:0.10, Z:-1.12 [[ 9.99998768e-01 -1.08773029e-03 -1.13141681e-03 7.40928624e+00] [ 1.08025963e-03 9.99977750e-01 -6.58271085e-03 1.03040711e-01] [ 1.13855185e-03 6.58148052e-03 9.99977694e-01 -1.11811582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04650248099998 meters 0.10801399600448468 Centerline is valid? [False, False] Translation: X:7.41, Y:0.11, Z:-1.12 [[ 9.99998138e-01 -1.30152944e-03 -1.42489793e-03 7.40977241e+00] [ 1.29122455e-03 9.99973180e-01 -7.20920821e-03 1.05179792e-01] [ 1.43424271e-03 7.20735493e-03 9.99972998e-01 -1.11802744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10650248099998 meters 0.10755835963657678 Centerline is valid? [False, False] Translation: X:7.41, Y:0.11, Z:-1.12 [[ 9.99996737e-01 -2.26951484e-04 -2.54442977e-03 7.41272722e+00] [ 2.09524346e-04 9.99976535e-01 -6.84730873e-03 1.09873536e-01] [ 2.54592407e-03 6.84675327e-03 9.99973320e-01 -1.11961926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16650248099995 meters 0.10731515391209634 Centerline is valid? [False, False] Translation: X:7.41, Y:0.11, Z:-1.12 [[ 9.99995965e-01 -2.37080250e-04 -2.83080086e-03 7.41352719e+00] [ 2.16839253e-04 9.99974426e-01 -7.14843935e-03 1.11345622e-01] [ 2.83242321e-03 7.14779667e-03 9.99970443e-01 -1.12003652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22650248099995 meters 0.1077445750024145 Centerline is valid? [False, False] Translation: X:7.42, Y:0.11, Z:-1.12 [[ 9.99974970e-01 -6.27857890e-03 3.26165494e-03 7.42135867e+00] [ 6.28125044e-03 9.99979945e-01 -8.09476695e-04 1.11487959e-01] [-3.25650716e-03 8.29943706e-04 9.99994353e-01 -1.12333708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28650248099996 meters 0.10865386115069191 Centerline is valid? [False, False] Translation: X:7.42, Y:0.11, Z:-1.12 [[ 9.99975974e-01 -6.07543591e-03 3.33774948e-03 7.42143364e+00] [ 6.07648495e-03 9.99981492e-01 -3.04246784e-04 1.10261543e-01] [-3.33583927e-03 3.24521259e-04 9.99994383e-01 -1.12360038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34650248099996 meters 0.11012022448272375 Centerline is valid? [False, False] Translation: X:7.42, Y:0.11, Z:-1.12 [[ 9.99975470e-01 -6.06479845e-03 3.50396417e-03 7.42116048e+00] [ 6.06476517e-03 9.99981609e-01 2.01229614e-05 1.09297500e-01] [-3.50402177e-03 1.12825203e-06 9.99993861e-01 -1.12352729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40650248099996 meters 0.11099102644471344 Centerline is valid? [False, False] Translation: X:7.42, Y:0.11, Z:-1.12 [[ 9.99976809e-01 -5.91909725e-03 3.36826029e-03 7.42166537e+00] [ 5.91838148e-03 9.99982461e-01 2.22433364e-04 1.09238622e-01] [-3.36951782e-03 -2.02493557e-04 9.99994303e-01 -1.12388614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46650248099996 meters 0.11317400877886616 Centerline is valid? [False, False] Translation: X:7.42, Y:0.11, Z:-1.12 [[ 9.99942140e-01 -1.02946149e-02 3.12059049e-03 7.42224823e+00] [ 1.03080492e-02 9.99937539e-01 -4.32000263e-03 1.10439001e-01] [-3.07592281e-03 4.35191988e-03 9.99985800e-01 -1.12393580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52650248099997 meters 0.11312841245321423 Centerline is valid? [False, False] Translation: X:7.42, Y:0.11, Z:-1.12 [[ 9.99940595e-01 -1.05329911e-02 2.80390059e-03 7.42280272e+00] [ 1.05467574e-02 9.99932174e-01 -4.94102424e-03 1.12610691e-01] [-2.75166665e-03 4.97030278e-03 9.99983862e-01 -1.12386285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58650248099997 meters 0.11375406260854723 Centerline is valid? [False, False] Translation: X:7.42, Y:0.11, Z:-1.12 [[ 9.99976705e-01 -6.23026529e-03 2.78809844e-03 7.42295384e+00] [ 6.23219724e-03 9.99980345e-01 -6.84777284e-04 1.13007038e-01] [-2.78377730e-03 7.02137311e-04 9.99995879e-01 -1.12409493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64650248099997 meters 0.11155697398595761 Centerline is valid? [False, False] Translation: X:7.42, Y:0.11, Z:-1.12 [[ 9.99977911e-01 -6.22714784e-03 2.32365659e-03 7.42384160e+00] [ 6.22964468e-03 9.99980024e-01 -1.06884350e-03 1.14684017e-01] [-2.31695433e-03 1.08329544e-03 9.99996729e-01 -1.12425019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70650248099997 meters 0.11040597949398478 Centerline is valid? [False, False] Translation: X:7.43, Y:0.12, Z:-1.12 [[ 9.99980748e-01 -5.98486412e-03 1.63871086e-03 7.42535758e+00] [ 5.98699087e-03 9.99981238e-01 -1.29600351e-03 1.16433525e-01] [-1.63092371e-03 1.30578951e-03 9.99997817e-01 -1.12489961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76650248099997 meters 0.10862173180219696 Centerline is valid? [False, False] Translation: X:7.44, Y:0.12, Z:-1.12 [[ 9.99992249e-01 3.38141711e-03 2.01677555e-03 7.43847724e+00] [-3.37664880e-03 9.99991507e-01 -2.36306224e-03 1.19314389e-01] [-2.02474892e-03 2.35623398e-03 9.99995174e-01 -1.12314007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82650248099998 meters 0.10870791065423127 Centerline is valid? [False, False] Translation: X:7.44, Y:0.12, Z:-1.12 [[ 9.99999470e-01 -4.58186131e-04 9.21773033e-04 7.44019603e+00] [ 4.64690146e-04 9.99974912e-01 -7.06818620e-03 1.22493216e-01] [-9.18511363e-04 7.06861080e-03 9.99974595e-01 -1.12302273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88650248099995 meters 0.10856946459787087 Centerline is valid? [False, False] Translation: X:7.44, Y:0.12, Z:-1.12 [[ 9.99999601e-01 -1.80042134e-04 8.75532632e-04 7.44035742e+00] [ 1.85739679e-04 9.99978781e-01 -6.51179757e-03 1.21156290e-01] [-8.74341655e-04 6.51195759e-03 9.99978415e-01 -1.12312551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94650248099995 meters 0.10916196047721993 Centerline is valid? [False, False] Translation: X:7.44, Y:0.12, Z:-1.12 [[ 9.99992810e-01 -3.75085816e-03 5.58238721e-04 7.44188043e+00] [ 3.75613219e-03 9.99945246e-01 -9.76714166e-03 1.19746433e-01] [-5.21572993e-04 9.76916825e-03 9.99952145e-01 -1.12465028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00650248099996 meters 0.10944946060748423 Centerline is valid? [False, False] Translation: X:7.44, Y:0.12, Z:-1.13 [[ 9.99995498e-01 -2.90333605e-03 7.58455231e-04 7.44236329e+00] [ 2.90938595e-03 9.99962953e-01 -8.10115834e-03 1.15800399e-01] [-7.34906747e-04 8.10332850e-03 9.99966897e-01 -1.12611572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06650248099996 meters 0.10935266525092446 Centerline is valid? [False, False] Translation: X:7.44, Y:0.12, Z:-1.13 [[ 9.99995314e-01 -3.05945813e-03 1.03999030e-04 7.44286923e+00] [ 3.06024928e-03 9.99957231e-01 -8.72759554e-03 1.17626868e-01] [-7.72928691e-05 8.72787290e-03 9.99961908e-01 -1.12516080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12650248099996 meters 0.10897631832253088 Centerline is valid? [False, False] Translation: X:7.44, Y:0.12, Z:-1.13 [[ 9.99996429e-01 -2.66895067e-03 -1.34471600e-04 7.44342906e+00] [ 2.66775766e-03 9.99962787e-01 -8.20407161e-03 1.16325756e-01] [ 1.56362858e-04 8.20368358e-03 9.99966337e-01 -1.12552793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18650248099996 meters 0.10826870539893219 Centerline is valid? [False, False] Translation: X:7.44, Y:0.12, Z:-1.13 [[ 9.99996912e-01 -2.42975439e-03 -5.21018653e-04 7.44430156e+00] [ 2.42549657e-03 9.99964876e-01 -8.02269025e-03 1.16377450e-01] [ 5.40493520e-04 8.02140175e-03 9.99967682e-01 -1.12591861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24650248099996 meters 0.10834651780855956 Centerline is valid? [False, False] Translation: X:7.44, Y:0.11, Z:-1.13 [[ 9.99998087e-01 -1.87159129e-03 -5.68304873e-04 7.44472200e+00] [ 1.86756659e-03 9.99973744e-01 -7.00174744e-03 1.13987881e-01] [ 5.81394361e-04 7.00067269e-03 9.99975326e-01 -1.12651126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30650248099997 meters 0.10861645081013237 Centerline is valid? [False, False] Translation: X:7.45, Y:0.11, Z:-1.13 [[ 9.99984619e-01 -5.50329314e-03 -6.89345938e-04 7.44532136e+00] [ 5.49610025e-03 9.99934549e-01 -1.00344804e-02 1.11001592e-01] [ 7.44523506e-04 1.00305373e-02 9.99949416e-01 -1.12718492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36650248099997 meters 0.10981137230898567 Centerline is valid? [False, False] Translation: X:7.45, Y:0.11, Z:-1.13 [[ 9.99988966e-01 -4.69557221e-03 -1.38519456e-04 7.44512963e+00] [ 4.69434831e-03 9.99958531e-01 -7.80381205e-03 1.05324886e-01] [ 1.75157075e-04 7.80307568e-03 9.99969540e-01 -1.12844199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42650248099997 meters 0.11087479023145572 Centerline is valid? [False, False] Translation: X:7.44, Y:0.10, Z:-1.13 [[ 9.99991701e-01 -4.04870833e-03 4.53707469e-04 7.44453717e+00] [ 4.05131099e-03 9.99974445e-01 -5.89037572e-03 9.98427222e-02] [-4.29847461e-04 5.89216494e-03 9.99982549e-01 -1.12913942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48650248099997 meters 0.11167799871380872 Centerline is valid? [False, False] Translation: X:7.44, Y:0.10, Z:-1.13 [[ 9.99993443e-01 -3.57660069e-03 5.67031485e-04 7.44493468e+00] [ 3.57938400e-03 9.99981164e-01 -4.98598834e-03 9.78038762e-02] [-5.49187915e-04 4.98798527e-03 9.99987409e-01 -1.13003089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54650248099998 meters 0.1116331131485608 Centerline is valid? [False, False] Translation: X:7.45, Y:0.10, Z:-1.13 [[ 9.99994529e-01 -3.27657432e-03 4.54523615e-04 7.44559472e+00] [ 3.27864946e-03 9.99983849e-01 -4.64248035e-03 9.74314942e-02] [-4.39304842e-04 4.64394518e-03 9.99989120e-01 -1.13076601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60650248099998 meters 0.11003442577562328 Centerline is valid? [False, False] Translation: X:7.45, Y:0.10, Z:-1.13 [[ 9.99994576e-01 -3.29325050e-03 4.16225579e-05 7.44642028e+00] [ 3.29342301e-03 9.99980930e-01 -5.22431719e-03 9.96007912e-02] [-2.44167789e-05 5.22442594e-03 9.99986352e-01 -1.13098055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66650248099995 meters 0.10918817242301525 Centerline is valid? [False, False] Translation: X:7.45, Y:0.10, Z:-1.13 [[ 9.99997450e-01 -1.99018924e-03 -1.06703153e-03 7.44933968e+00] [ 1.98556482e-03 9.99988708e-01 -4.31759344e-03 1.02844947e-01] [ 1.07561231e-03 4.31546377e-03 9.99990110e-01 -1.13263574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72650248099995 meters 0.10895102387214703 Centerline is valid? [False, False] Translation: X:7.45, Y:0.10, Z:-1.13 [[ 9.99997487e-01 -1.94569998e-03 -1.11368035e-03 7.44953286e+00] [ 1.94079367e-03 9.99988482e-01 -4.38974961e-03 1.03251353e-01] [ 1.12220866e-03 4.38757716e-03 9.99989745e-01 -1.13283077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78650248099996 meters 0.10864517879083462 Centerline is valid? [False, False] Translation: X:7.45, Y:0.10, Z:-1.13 [[ 9.99997715e-01 -1.89227021e-03 -9.94215942e-04 7.44920998e+00] [ 1.88803565e-03 9.99989216e-01 -4.24300735e-03 1.02677145e-01] [ 1.00223414e-03 4.24112054e-03 9.99990504e-01 -1.13263489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84650248099996 meters 0.10876258376267914 Centerline is valid? [False, False] Translation: X:7.45, Y:0.10, Z:-1.13 [[ 9.99998947e-01 -1.21825817e-03 -7.89013052e-04 7.44990797e+00] [ 1.21582025e-03 9.99994508e-01 -3.08298390e-03 1.00532344e-01] [ 7.92764589e-04 3.08202136e-03 9.99994936e-01 -1.13426087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90650248099996 meters 0.10977736270888663 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99966104e-01 -7.60294483e-03 3.15993327e-03 7.46678382e+00] [ 7.60613446e-03 9.99970574e-01 -9.98608275e-04 9.58471175e-02] [-3.15224792e-03 1.02260930e-03 9.99994509e-01 -1.13861273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96650248099996 meters 0.11081349847494061 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99963997e-01 -7.74334960e-03 3.47050898e-03 7.46604117e+00] [ 7.74672847e-03 9.99969532e-01 -9.61212496e-04 9.51119926e-02] [-3.46296024e-03 9.88062981e-04 9.99993516e-01 -1.13825353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02650248099997 meters 0.11027415395370085 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99961846e-01 -8.09764494e-03 3.27651672e-03 7.46590986e+00] [ 8.10332262e-03 9.99965683e-01 -1.72329068e-03 9.69717528e-02] [-3.26244969e-03 1.74977560e-03 9.99993147e-01 -1.13751342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08650248099997 meters 0.10981186432244629 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99965289e-01 -7.89889047e-03 2.65111617e-03 7.46756886e+00] [ 7.90456482e-03 9.99966476e-01 -2.13675243e-03 9.97057430e-02] [-2.63414932e-03 2.15763418e-03 9.99994203e-01 -1.13848970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14650248099997 meters 0.1088837823391528 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99966792e-01 -7.87726499e-03 2.08874912e-03 7.46869922e+00] [ 7.88294818e-03 9.99965211e-01 -2.72673138e-03 1.02145594e-01] [-2.06719727e-03 2.74310634e-03 9.99994101e-01 -1.13883131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20650248099997 meters 0.10835876119905725 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99967914e-01 -7.83856993e-03 1.65161971e-03 7.46928520e+00] [ 7.84359864e-03 9.99964555e-01 -3.06056118e-03 1.03363714e-01] [-1.62757075e-03 3.07341762e-03 9.99993953e-01 -1.13869500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26650248099997 meters 0.10777387200980869 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99969918e-01 -7.65643048e-03 1.24216609e-03 7.47015327e+00] [ 7.66028785e-03 9.99965758e-01 -3.13090238e-03 1.04289840e-01] [-1.21815202e-03 3.14032355e-03 9.99994327e-01 -1.13898942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32650248099998 meters 0.10799208624083691 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99938003e-01 -1.10863428e-02 1.04088258e-03 7.47175167e+00] [ 1.10925219e-02 9.99919679e-01 -6.13114736e-03 1.02228999e-01] [-9.72826972e-04 6.14231326e-03 9.99980663e-01 -1.14085979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38650248099995 meters 0.10892253671154706 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99945954e-01 -1.03368978e-02 1.11279290e-03 7.47235960e+00] [ 1.03415962e-02 9.99937267e-01 -4.30263120e-03 9.79040995e-02] [-1.06824724e-03 4.31390671e-03 9.99990124e-01 -1.14204847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44650248099995 meters 0.10929411617168405 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99950765e-01 -9.86876901e-03 1.03718668e-03 7.47279336e+00] [ 9.87222059e-03 9.99945566e-01 -3.37713077e-03 9.57245294e-02] [-1.00380210e-03 3.38720384e-03 9.99993760e-01 -1.14250728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50650248099996 meters 0.10953448473542457 Centerline is valid? [False, False] Translation: X:7.47, Y:0.10, Z:-1.14 [[ 9.99953748e-01 -9.58085566e-03 8.42385440e-04 7.47339492e+00] [ 9.58332170e-03 9.99949657e-01 -2.97384569e-03 9.50305759e-02] [-8.13851045e-04 2.98178099e-03 9.99995223e-01 -1.14289307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56650248099996 meters 0.10970077544814674 Centerline is valid? [False, False] Translation: X:7.47, Y:0.09, Z:-1.14 [[ 9.99955541e-01 -9.40336686e-03 7.01796047e-04 7.47385692e+00] [ 9.40525650e-03 9.99952016e-01 -2.73969163e-03 9.47616625e-02] [-6.76000047e-04 2.74617039e-03 9.99996001e-01 -1.14318983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62650248099996 meters 0.11013114082264729 Centerline is valid? [False, False] Translation: X:7.47, Y:0.09, Z:-1.14 [[ 9.99958081e-01 -9.14967906e-03 3.45359777e-04 7.47484381e+00] [ 9.15049582e-03 9.99955150e-01 -2.44251378e-03 9.46593305e-02] [-3.22996070e-04 2.44557160e-03 9.99996957e-01 -1.14365233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68650248099996 meters 0.11064383918697608 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.14 [[ 9.99960918e-01 -8.83793989e-03 2.32827517e-04 7.47524137e+00] [ 8.83836972e-03 9.99959108e-01 -1.91479412e-03 9.35392870e-02] [-2.15895161e-04 1.91677710e-03 9.99998140e-01 -1.14391378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74650248099996 meters 0.1105024994729452 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.14 [[ 9.99962640e-01 -8.64311393e-03 -1.19366393e-04 7.47584222e+00] [ 8.64289873e-03 9.99961206e-01 -1.69887255e-03 9.32566500e-02] [ 1.34045312e-04 1.69777741e-03 9.99998550e-01 -1.14387507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80650248099997 meters 0.10990670181583918 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.14 [[ 9.99965391e-01 -8.30344615e-03 -5.19162328e-04 7.47699706e+00] [ 8.30271296e-03 9.99964554e-01 -1.39880284e-03 9.34975817e-02] [ 5.30758809e-04 1.39444398e-03 9.99998887e-01 -1.14455103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86650248099997 meters 0.11007008698349051 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99969506e-01 -7.78805459e-03 -5.76788345e-04 7.47778101e+00] [ 7.78767745e-03 9.99969462e-01 -6.53236227e-04 9.22696456e-02] [ 5.81858170e-04 6.48724466e-04 9.99999620e-01 -1.14557963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92650248099997 meters 0.11067037190369011 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99970664e-01 -7.61035613e-03 -8.67756407e-04 7.47857366e+00] [ 7.60987692e-03 9.99970891e-01 -5.54214415e-04 9.27409125e-02] [ 8.71948916e-04 5.47594638e-04 9.99999470e-01 -1.14599053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98650248099997 meters 0.10949219943223029 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99970626e-01 -7.56071885e-03 -1.25774838e-03 7.47934343e+00] [ 7.55967870e-03 9.99971081e-01 -8.29706094e-04 9.41500023e-02] [ 1.26398518e-03 8.20173548e-04 9.99998865e-01 -1.14613479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04650248099998 meters 0.10958780999748577 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99972175e-01 -7.31132186e-03 -1.48093872e-03 7.47968126e+00] [ 7.31047409e-03 9.99973112e-01 -5.77066445e-04 9.36324358e-02] [ 1.48511802e-03 5.66224024e-04 9.99998737e-01 -1.14611135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10650248099998 meters 0.1097752494353753 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99975229e-01 -6.85910773e-03 -1.57895613e-03 7.48054889e+00] [ 6.85916068e-03 9.99976475e-01 2.81231340e-05 9.28863781e-02] [ 1.57872609e-03 -3.89527512e-05 9.99998753e-01 -1.14714895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16650248099995 meters 0.11033035794494796 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99936486e-01 -1.10993413e-02 -1.95649670e-03 7.48124919e+00] [ 1.10906895e-02 9.99928909e-01 -4.37880842e-03 9.37220905e-02] [ 2.00495950e-03 4.35683141e-03 9.99988499e-01 -1.14709889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22650248099995 meters 0.11076563182765761 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99940895e-01 -1.07307721e-02 -1.74871919e-03 7.48120645e+00] [ 1.07245275e-02 9.99936217e-01 -3.54203558e-03 9.16924645e-02] [ 1.78661643e-03 3.52307204e-03 9.99992198e-01 -1.14756141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28650248099996 meters 0.11150425839064873 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99944038e-01 -1.04606794e-02 -1.57938700e-03 7.48107842e+00] [ 1.04560279e-02 9.99941056e-01 -2.92521376e-03 9.03020860e-02] [ 1.60989362e-03 2.90853594e-03 9.99994474e-01 -1.14776204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34650248099996 meters 0.11178179642537392 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99953888e-01 -9.53475477e-03 -1.14438331e-03 7.48136890e+00] [ 9.53348829e-03 9.99953942e-01 -1.10709401e-03 8.58527831e-02] [ 1.15488647e-03 1.09613300e-03 9.99998732e-01 -1.14941020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40650248099996 meters 0.11206339114317566 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99954070e-01 -9.47133334e-03 -1.46671089e-03 7.48202710e+00] [ 9.46950320e-03 9.99954382e-01 -1.24974307e-03 8.70018081e-02] [ 1.47848072e-03 1.23579665e-03 9.99998143e-01 -1.14955175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46650248099996 meters 0.11175247213222454 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99954979e-01 -9.32109482e-03 -1.77692517e-03 7.48253472e+00] [ 9.31880764e-03 9.99955745e-01 -1.29111589e-03 8.75114122e-02] [ 1.78888114e-03 1.27449894e-03 9.99997588e-01 -1.14954664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52650248099997 meters 0.1119952583653333 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99958283e-01 -8.91255725e-03 -1.99940054e-03 7.48340908e+00] [ 8.91085757e-03 9.99959930e-01 -8.57396557e-04 8.71358328e-02] [ 2.00696202e-03 8.39544416e-04 9.99997634e-01 -1.15033510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58650248099997 meters 0.11133602712552364 Centerline is valid? [False, False] Translation: X:7.48, Y:0.09, Z:-1.15 [[ 9.99964121e-01 -8.22728196e-03 -2.01715236e-03 7.48446053e+00] [ 8.22749262e-03 9.99966149e-01 9.61591494e-05 8.56144768e-02] [ 2.01629294e-03 -1.12751805e-04 9.99997961e-01 -1.15191988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64650248099997 meters 0.11161082009707456 Centerline is valid? [False, False] Translation: X:7.49, Y:0.08, Z:-1.15 [[ 9.99971771e-01 -7.26294898e-03 -1.92550918e-03 7.48558715e+00] [ 7.26622921e-03 9.99972152e-01 1.70207569e-03 8.21725711e-02] [ 1.91309347e-03 -1.71601883e-03 9.99996698e-01 -1.15395623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70650248099997 meters 0.11200645537498194 Centerline is valid? [False, False] Translation: X:7.49, Y:0.08, Z:-1.15 [[ 9.99974531e-01 -6.88596163e-03 -1.87655837e-03 7.48574491e+00] [ 6.89037510e-03 9.99973486e-01 2.35567179e-03 8.06277746e-02] [ 1.86028755e-03 -2.36854199e-03 9.99995465e-01 -1.15437575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76650248099997 meters 0.11198797515731684 Centerline is valid? [False, False] Translation: X:7.49, Y:0.08, Z:-1.15 [[ 9.99975103e-01 -6.73917937e-03 -2.09199475e-03 7.48615080e+00] [ 6.74431630e-03 9.99974235e-01 2.45825163e-03 8.06502122e-02] [ 2.07537425e-03 -2.47229951e-03 9.99994790e-01 -1.15445337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82650248099998 meters 0.1124199465722317 Centerline is valid? [False, False] Translation: X:7.49, Y:0.08, Z:-1.16 [[ 9.99977955e-01 -6.32249448e-03 -2.02874276e-03 7.48641228e+00] [ 6.32892550e-03 9.99974918e-01 3.17934770e-03 7.90965417e-02] [ 2.00859046e-03 -3.19211738e-03 9.99992888e-01 -1.15505422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88650248099995 meters 0.11364855654267504 Centerline is valid? [False, False] Translation: X:7.49, Y:0.08, Z:-1.16 [[ 9.99944948e-01 -1.02535473e-02 -2.22836794e-03 7.48708388e+00] [ 1.02523434e-02 9.99947292e-01 -5.51013683e-04 7.81377202e-02] [ 2.23390033e-03 5.28137355e-04 9.99997365e-01 -1.15549934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94650248099995 meters 0.11382775532913139 Centerline is valid? [False, False] Translation: X:7.49, Y:0.08, Z:-1.16 [[ 9.99952269e-01 -9.54225824e-03 -2.09864803e-03 7.48751985e+00] [ 9.54401582e-03 9.99954111e-01 8.29066104e-04 7.50721102e-02] [ 2.09064057e-03 -8.49056062e-04 9.99997454e-01 -1.15655832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00650248099996 meters 0.11443623740171531 Centerline is valid? [False, False] Translation: X:7.49, Y:0.07, Z:-1.16 [[ 9.99956962e-01 -9.01288664e-03 -2.20039249e-03 7.48827704e+00] [ 9.01662812e-03 9.99957910e-01 1.69641209e-03 7.35560421e-02] [ 2.18501030e-03 -1.71617920e-03 9.99996140e-01 -1.15743219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06650248099996 meters 0.11378416620349086 Centerline is valid? [False, False] Translation: X:7.49, Y:0.07, Z:-1.16 [[ 9.99961055e-01 -8.54350715e-03 -2.21308931e-03 7.48861689e+00] [ 8.54896907e-03 9.99960405e-01 2.47041667e-03 7.15922164e-02] [ 2.19189566e-03 -2.48924009e-03 9.99994500e-01 -1.15801552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12650248099996 meters 0.11346758120674326 Centerline is valid? [False, False] Translation: X:7.49, Y:0.07, Z:-1.16 [[ 9.99964675e-01 -7.89976669e-03 -2.87099614e-03 7.49060596e+00] [ 7.90839811e-03 9.99964205e-01 3.00760641e-03 7.18206553e-02] [ 2.84713399e-03 -3.03020515e-03 9.99991356e-01 -1.15942055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18650248099996 meters 0.11259561208393663 Centerline is valid? [False, False] Translation: X:7.49, Y:0.07, Z:-1.16 [[ 9.99967996e-01 -7.18251690e-03 -3.52386292e-03 7.49283020e+00] [ 7.19527875e-03 9.99967553e-01 3.62233858e-03 7.17958200e-02] [ 3.49773107e-03 -3.64757783e-03 9.99987230e-01 -1.16124229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24650248099996 meters 0.11301621089317011 Centerline is valid? [False, False] Translation: X:7.49, Y:0.07, Z:-1.16 [[ 9.99928675e-01 -1.12774266e-02 -3.93242820e-03 7.49387101e+00] [ 1.12752756e-02 9.99936270e-01 -5.68715475e-04 7.21662113e-02] [ 3.93859123e-03 5.24335700e-04 9.99992106e-01 -1.16171050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30650248099997 meters 0.11365565384880212 Centerline is valid? [False, False] Translation: X:7.49, Y:0.07, Z:-1.16 [[ 9.99929985e-01 -1.11354576e-02 -4.00333051e-03 7.49405558e+00] [ 1.11344566e-02 9.99937973e-01 -2.72256472e-04 7.17204871e-02] [ 4.00611390e-03 2.27662500e-04 9.99991950e-01 -1.16174395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36650248099997 meters 0.11442829580509054 Centerline is valid? [False, False] Translation: X:7.49, Y:0.07, Z:-1.16 [[ 9.99933173e-01 -1.08719066e-02 -3.93072148e-03 7.49404567e+00] [ 1.08731692e-02 9.99940840e-01 2.99963494e-04 7.01722120e-02] [ 3.92722777e-03 -3.42682848e-04 9.99992230e-01 -1.16185999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42650248099997 meters 0.11422334120434025 Centerline is valid? [False, False] Translation: X:7.50, Y:0.07, Z:-1.16 [[ 9.99939888e-01 -1.02187382e-02 -3.97466177e-03 7.49527149e+00] [ 1.02240658e-02 9.99946858e-01 1.32239726e-03 6.84487875e-02] [ 3.96093732e-03 -1.36295497e-03 9.99991227e-01 -1.16360395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48650248099997 meters 0.11452499658324482 Centerline is valid? [False, False] Translation: X:7.50, Y:0.07, Z:-1.16 [[ 9.99940154e-01 -1.01387335e-02 -4.11034817e-03 7.49570308e+00] [ 1.01444397e-02 9.99947606e-01 1.36979241e-03 6.87178157e-02] [ 4.09624485e-03 -1.41140761e-03 9.99990614e-01 -1.16386335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54650248099998 meters 0.1141382623612666 Centerline is valid? [False, False] Translation: X:7.50, Y:0.07, Z:-1.16 [[ 9.99936920e-01 -1.02567548e-02 -4.57763447e-03 7.49614687e+00] [ 1.02611793e-02 9.99946907e-01 9.44105830e-04 7.00599497e-02] [ 4.56770797e-03 -9.91018204e-04 9.99989077e-01 -1.16333303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60650248099995 meters 0.11375098450572349 Centerline is valid? [False, False] Translation: X:7.50, Y:0.07, Z:-1.16 [[ 9.99938451e-01 -9.95733589e-03 -4.89351840e-03 7.49714300e+00] [ 9.96338520e-03 9.99949628e-01 1.21336827e-03 6.99877556e-02] [ 4.88118999e-03 -1.26204960e-03 9.99987291e-01 -1.16403306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66650248099995 meters 0.11385269530521445 Centerline is valid? [False, False] Translation: X:7.50, Y:0.07, Z:-1.17 [[ 9.99939070e-01 -9.68328774e-03 -5.30000794e-03 7.49873704e+00] [ 9.68992974e-03 9.99952296e-01 1.22896354e-03 7.13420674e-02] [ 5.28785470e-03 -1.28024537e-03 9.99985200e-01 -1.16533649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72650248099995 meters 0.11374070152912497 Centerline is valid? [False, False] Translation: X:7.50, Y:0.07, Z:-1.17 [[ 9.99938094e-01 -9.64896477e-03 -5.54121252e-03 7.49986056e+00] [ 9.65447012e-03 9.99952926e-01 9.67639265e-04 7.30917836e-02] [ 5.53161496e-03 -1.02107683e-03 9.99984179e-01 -1.16633658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78650248099996 meters 0.11489770640365317 Centerline is valid? [False, False] Translation: X:7.50, Y:0.07, Z:-1.17 [[ 9.99936715e-01 -9.71002855e-03 -5.68166602e-03 7.50018012e+00] [ 9.71488451e-03 9.99952467e-01 8.27697910e-04 7.37280336e-02] [ 5.67335898e-03 -8.82842258e-04 9.99983517e-01 -1.16637136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84650248099996 meters 0.11658226884438411 Centerline is valid? [False, False] Translation: X:7.50, Y:0.07, Z:-1.17 [[ 9.99937261e-01 -9.66994991e-03 -5.65388200e-03 7.50040946e+00] [ 9.67586479e-03 9.99952668e-01 1.01974624e-03 7.34427921e-02] [ 5.64375349e-03 -1.07438846e-03 9.99983497e-01 -1.16672242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90650248099996 meters 0.11979626261021381 Centerline is valid? [False, False] Translation: X:7.50, Y:0.07, Z:-1.17 [[ 9.99935944e-01 -9.83052737e-03 -5.60962438e-03 7.50013158e+00] [ 9.83556400e-03 9.99951250e-01 8.70974774e-04 7.36021706e-02] [ 5.60078877e-03 -9.26092803e-04 9.99983887e-01 -1.16632673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96650248099996 meters 0.12038899650379162 Centerline is valid? [False, False] Translation: X:7.50, Y:0.08, Z:-1.17 [[ 9.99932151e-01 -1.00803478e-02 -5.83775231e-03 7.50050510e+00] [ 1.00819302e-02 9.99949147e-01 2.41698250e-04 7.55860947e-02] [ 5.83501904e-03 -3.00537663e-04 9.99982931e-01 -1.16621283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02650248099997 meters 0.1182239286287715 Centerline is valid? [False, False] Translation: X:7.51, Y:0.08, Z:-1.16 [[ 9.99979489e-01 -2.75861561e-03 -5.78020005e-03 7.51152713e+00] [ 2.74910734e-03 9.99994856e-01 -1.65227152e-03 7.73233971e-02] [ 5.78472830e-03 1.63634725e-03 9.99981929e-01 -1.16477602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08650248099997 meters 0.1174020059481154 Centerline is valid? [False, False] Translation: X:7.51, Y:0.08, Z:-1.17 [[ 9.99976863e-01 -2.61896415e-03 -6.27809095e-03 7.51318944e+00] [ 2.60665542e-03 9.99994666e-01 -1.96796607e-03 7.96745822e-02] [ 6.28321149e-03 1.95155571e-03 9.99978356e-01 -1.16596286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14650248099997 meters 0.11643375577029111 Centerline is valid? [False, False] Translation: X:7.52, Y:0.08, Z:-1.17 [[ 9.99991060e-01 2.62106644e-03 -3.31823265e-03 7.52471931e+00] [-2.63967076e-03 9.99980753e-01 -5.61478834e-03 8.22310784e-02] [ 3.30345205e-03 5.62349718e-03 9.99978732e-01 -1.16737246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20650248099997 meters 0.11560906335015601 Centerline is valid? [False, False] Translation: X:7.54, Y:0.08, Z:-1.17 [[ 9.99998850e-01 -1.42993493e-03 5.04899021e-04 7.54096551e+00] [ 1.43224839e-03 9.99988340e-01 -4.61179178e-03 8.43774460e-02] [-4.98298572e-04 4.61250962e-03 9.99989238e-01 -1.16748626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26650248099997 meters 0.11502653020917028 Centerline is valid? [False, False] Translation: X:7.54, Y:0.09, Z:-1.17 [[ 9.99998809e-01 -1.53005030e-03 2.00700887e-04 7.54170149e+00] [ 1.53104640e-03 9.99986023e-01 -5.06059492e-03 8.62764115e-02] [-1.92955117e-04 5.06089617e-03 9.99987175e-01 -1.16768785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32650248099998 meters 0.11586029194416617 Centerline is valid? [False, False] Translation: X:7.54, Y:0.09, Z:-1.17 [[ 9.99998964e-01 -1.42760342e-03 1.84451214e-04 7.54213403e+00] [ 1.42850378e-03 9.99986594e-01 -4.97699494e-03 8.65382261e-02] [-1.77343566e-04 4.97725328e-03 9.99987598e-01 -1.16826327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38650248099995 meters 0.1165434810417598 Centerline is valid? [False, False] Translation: X:7.54, Y:0.09, Z:-1.17 [[ 9.99998721e-01 -1.58868666e-03 1.86623293e-04 7.54226590e+00] [ 1.58965470e-03 9.99984655e-01 -5.30684699e-03 8.77428406e-02] [-1.78189512e-04 5.30713687e-03 9.99985901e-01 -1.16835243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44650248099995 meters 0.11840959882458946 Centerline is valid? [False, False] Translation: X:7.54, Y:0.09, Z:-1.17 [[ 9.99998295e-01 -1.83141931e-03 2.35226233e-04 7.54233600e+00] [ 1.83275246e-03 9.99981511e-01 -5.79820189e-03 8.93355412e-02] [-2.24602945e-04 5.79862312e-03 9.99983163e-01 -1.16845123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50650248099996 meters 0.11930255297089076 Centerline is valid? [False, False] Translation: X:7.54, Y:0.09, Z:-1.17 [[ 9.99998440e-01 -1.75445037e-03 2.04596138e-04 7.54292780e+00] [ 1.75560229e-03 9.99981795e-01 -5.77292985e-03 8.99220817e-02] [-1.94464095e-04 5.77328004e-03 9.99983316e-01 -1.16919346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56650248099996 meters 0.11894491931109974 Centerline is valid? [False, False] Translation: X:7.56, Y:0.09, Z:-1.17 [[ 9.99985683e-01 -4.00830402e-03 3.54504121e-03 7.56026841e+00] [ 4.01620693e-03 9.99989460e-01 -2.22498234e-03 9.23074348e-02] [-3.53608544e-03 2.23918810e-03 9.99991241e-01 -1.17048848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62650248099996 meters 0.11826765207744953 Centerline is valid? [False, False] Translation: X:7.56, Y:0.10, Z:-1.17 [[ 9.99986915e-01 -4.27236854e-03 2.81380006e-03 7.56167895e+00] [ 4.28174043e-03 9.99985278e-01 -3.33312715e-03 9.66228723e-02] [-2.79951829e-03 3.34513149e-03 9.99990486e-01 -1.17058977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68650248099996 meters 0.11728267888135295 Centerline is valid? [False, False] Translation: X:7.56, Y:0.10, Z:-1.17 [[ 9.99987486e-01 -4.47326041e-03 2.24023568e-03 7.56281396e+00] [ 4.48291051e-03 9.99980615e-01 -4.32129399e-03 1.00269776e-01] [-2.22086198e-03 4.33128269e-03 9.99988154e-01 -1.17070952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74650248099996 meters 0.11692165747434587 Centerline is valid? [False, False] Translation: X:7.56, Y:0.10, Z:-1.17 [[ 9.99988712e-01 -4.50880006e-03 1.49886393e-03 7.56447472e+00] [ 4.51621165e-03 9.99977408e-01 -4.97875169e-03 1.03801046e-01] [-1.47638187e-03 4.98546468e-03 9.99986483e-01 -1.17115721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80650248099997 meters 0.11739314814284232 Centerline is valid? [False, False] Translation: X:7.57, Y:0.11, Z:-1.17 [[ 9.99987267e-01 -4.95858543e-03 9.36766298e-04 7.56549490e+00] [ 4.96426432e-03 9.99968702e-01 -6.16042096e-03 1.08547344e-01] [-9.06190006e-04 6.16499288e-03 9.99980586e-01 -1.17107263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86650248099997 meters 0.11614170880408702 Centerline is valid? [False, False] Translation: X:7.57, Y:0.11, Z:-1.17 [[ 9.99987345e-01 -5.02291854e-03 2.84264847e-04 7.56722066e+00] [ 5.02473896e-03 9.99964164e-01 -6.81346865e-03 1.12522378e-01] [-2.50031162e-04 6.81481078e-03 9.99976748e-01 -1.17181925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92650248099997 meters 0.11533718181074235 Centerline is valid? [False, False] Translation: X:7.58, Y:0.12, Z:-1.17 [[ 9.99992093e-01 3.69270688e-03 1.47601977e-03 7.58034569e+00] [-3.68171750e-03 9.99965990e-01 -7.37991563e-03 1.16001106e-01] [-1.50322144e-03 7.37442299e-03 9.99971679e-01 -1.17235222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98650248099997 meters 0.11435235853693883 Centerline is valid? [False, False] Translation: X:7.59, Y:0.12, Z:-1.17 [[ 9.99988606e-01 -4.76780906e-03 -2.36617731e-04 7.59095635e+00] [ 4.76700356e-03 9.99983208e-01 -3.29543345e-03 1.21714269e-01] [ 2.52325755e-04 3.29426794e-03 9.99994542e-01 -1.17271093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04650248099998 meters 0.11381233745612218 Centerline is valid? [False, False] Translation: X:7.59, Y:0.13, Z:-1.17 [[ 9.99989057e-01 -4.55068036e-03 -1.08473148e-03 7.59331718e+00] [ 4.54677941e-03 9.99983284e-01 -3.57197344e-03 1.26455724e-01] [ 1.10096826e-03 3.56700232e-03 9.99993032e-01 -1.17400514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10650248099995 meters 0.11411726076439255 Centerline is valid? [False, False] Translation: X:7.60, Y:0.13, Z:-1.18 [[ 9.99990426e-01 -3.77433799e-03 -2.21392254e-03 7.59650143e+00] [ 3.76695783e-03 9.99987366e-01 -3.32827278e-03 1.32203698e-01] [ 2.22645660e-03 3.31990116e-03 9.99992011e-01 -1.17578990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16650248099995 meters 0.11441872427262252 Centerline is valid? [False, False] Translation: X:7.60, Y:0.14, Z:-1.18 [[ 9.99988159e-01 -4.20079307e-03 -2.45660403e-03 7.59695823e+00] [ 4.19046992e-03 9.99982432e-01 -4.19236046e-03 1.35349345e-01] [ 2.47417211e-03 4.18201649e-03 9.99988195e-01 -1.17564361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22650248099995 meters 0.11666405259996328 Centerline is valid? [False, False] Translation: X:7.60, Y:0.14, Z:-1.17 [[ 9.99985926e-01 -4.84848478e-03 -2.15416882e-03 7.59597202e+00] [ 4.83765593e-03 9.99975778e-01 -5.00401961e-03 1.37183530e-01] [ 2.17837855e-03 4.99352805e-03 9.99985160e-01 -1.17474205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28650248099996 meters 0.11875197227677292 Centerline is valid? [False, False] Translation: X:7.60, Y:0.14, Z:-1.17 [[ 9.99949482e-01 -9.73475670e-03 -2.50366052e-03 7.59682805e+00] [ 9.70865893e-03 9.99900510e-01 -1.02329046e-02 1.41804278e-01] [ 2.60302627e-03 1.02080805e-02 9.99944508e-01 -1.17488671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34650248099996 meters 0.12267124644852644 Centerline is valid? [False, False] Translation: X:7.60, Y:0.15, Z:-1.18 [[ 9.99947253e-01 -9.96429573e-03 -2.49078343e-03 7.59826257e+00] [ 9.93762946e-03 9.99895508e-01 -1.04984053e-02 1.47424562e-01] [ 2.59513238e-03 1.04730991e-02 9.99941788e-01 -1.17709281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40650248099996 meters 0.1203647954489248 Centerline is valid? [False, False] Translation: X:7.60, Y:0.15, Z:-1.18 [[ 9.99946016e-01 -1.00496836e-02 -2.63988360e-03 7.59887030e+00] [ 1.00206333e-02 9.99891508e-01 -1.07962674e-02 1.48927918e-01] [ 2.74809626e-03 1.07692313e-02 9.99938234e-01 -1.17750073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46650248099996 meters 0.12152919531078374 Centerline is valid? [False, False] Translation: X:7.60, Y:0.15, Z:-1.18 [[ 9.99975654e-01 -6.59011715e-03 -2.29365438e-03 7.59879766e+00] [ 6.57206010e-03 9.99948037e-01 -7.79306763e-03 1.54237739e-01] [ 2.34489243e-03 7.77780387e-03 9.99967003e-01 -1.17823057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52650248099997 meters 0.12039648375048032 Centerline is valid? [False, False] Translation: X:7.61, Y:0.17, Z:-1.18 [[ 9.99984437e-01 -2.31045052e-03 5.07809654e-03 7.60828112e+00] [ 2.36579802e-03 9.99937572e-01 -1.09204146e-02 1.65064617e-01] [-5.05254845e-03 1.09322583e-02 9.99927476e-01 -1.18184292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58650248099997 meters 0.11953041392307316 Centerline is valid? [False, False] Translation: X:7.61, Y:0.17, Z:-1.18 [[ 9.99993392e-01 -1.16509828e-03 3.44358240e-03 7.61236901e+00] [ 1.20448378e-03 9.99933635e-01 -1.14575044e-02 1.74610219e-01] [-3.43000475e-03 1.14615764e-02 9.99928431e-01 -1.18370146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64650248099997 meters 0.11818091172788736 Centerline is valid? [False, False] Translation: X:7.63, Y:0.19, Z:-1.18 [[ 9.99997701e-01 -8.65432208e-04 -1.96198798e-03 7.62762050e+00] [ 8.59695792e-04 9.99995359e-01 -2.92273809e-03 1.90716622e-01] [ 1.96450831e-03 2.92104466e-03 9.99993804e-01 -1.18430672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70650248099997 meters 0.11733916239537043 Centerline is valid? [False, False] Translation: X:7.64, Y:0.20, Z:-1.19 [[ 9.99988322e-01 3.00657932e-03 3.78375763e-03 7.63908247e+00] [-2.97878797e-03 9.99968704e-01 -7.32923398e-03 2.00899898e-01] [-3.80567514e-03 7.31787738e-03 9.99965982e-01 -1.18726336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76650248099997 meters 0.11689723187724868 Centerline is valid? [False, False] Translation: X:7.66, Y:0.21, Z:-1.19 [[ 9.99997469e-01 9.44248804e-04 2.04229516e-03 7.66209942e+00] [-9.33648156e-04 9.99986120e-01 -5.18529626e-03 2.10343364e-01] [-2.04716302e-03 5.18337635e-03 9.99984471e-01 -1.18844806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82650248099998 meters 0.1163936836671534 Centerline is valid? [False, False] Translation: X:7.66, Y:0.22, Z:-1.19 [[ 9.99988396e-01 4.39263492e-03 1.97802766e-03 7.66312313e+00] [-4.38833838e-03 9.99988014e-01 -2.17125971e-03 2.18391281e-01] [-1.98754151e-03 2.16255426e-03 9.99995687e-01 -1.18977384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88650248099995 meters 0.11603944401964524 Centerline is valid? [False, False] Translation: X:7.68, Y:0.23, Z:-1.19 [[ 9.99989798e-01 -3.48919743e-03 -2.86865296e-03 7.67812531e+00] [ 3.49061934e-03 9.99993787e-01 4.90813255e-04 2.30482462e-01] [ 2.86692259e-03 -5.00821624e-04 9.99995765e-01 -1.19123484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94650248099995 meters 0.11583444933824703 Centerline is valid? [False, False] Translation: X:7.69, Y:0.24, Z:-1.20 [[ 9.99997477e-01 -1.49690839e-04 2.24148262e-03 7.69100334e+00] [ 1.58253898e-04 9.99992689e-01 -3.82057568e-03 2.44605333e-01] [-2.24089433e-03 3.82092076e-03 9.99990189e-01 -1.19523325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00650248099996 meters 0.11549846257494668 Centerline is valid? [False, False] Translation: X:7.69, Y:0.25, Z:-1.20 [[ 9.99992496e-01 3.12239164e-03 2.29299425e-03 7.69191663e+00] [-3.12003015e-03 9.99994599e-01 -1.03273062e-03 2.53219956e-01] [-2.29620645e-03 1.02556866e-03 9.99996838e-01 -1.19678059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06650248099996 meters 0.1151960356128031 Centerline is valid? [False, False] Translation: X:7.69, Y:0.26, Z:-1.20 [[ 9.99978899e-01 6.18290779e-03 1.99317352e-03 7.69206189e+00] [-6.18507853e-03 9.99980284e-01 1.08476573e-03 2.61342854e-01] [-1.98642722e-03 -1.09707078e-03 9.99997425e-01 -1.19586948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12650248099996 meters 0.11502350869435911 Centerline is valid? [False, False] Translation: X:7.72, Y:0.27, Z:-1.19 [[ 9.99995711e-01 2.59514860e-03 -1.35792553e-03 7.71601162e+00] [-2.59560567e-03 9.99996575e-01 -3.34937584e-04 2.73400455e-01] [ 1.35705167e-03 3.38460787e-04 9.99999022e-01 -1.19300067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18650248099996 meters 0.11515876679772351 Centerline is valid? [False, False] Translation: X:7.73, Y:0.29, Z:-1.20 [[ 9.99985195e-01 4.13442711e-03 3.53773485e-03 7.72944828e+00] [-4.10859301e-03 9.99965069e-01 -7.27881161e-03 2.85529152e-01] [-3.56770498e-03 7.26416873e-03 9.99967251e-01 -1.19555131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24650248099996 meters 0.11600298094220073 Centerline is valid? [False, False] Translation: X:7.74, Y:0.29, Z:-1.20 [[ 9.99967670e-01 1.01747183e-03 7.97650079e-03 7.74365092e+00] [-9.93339377e-04 9.99994920e-01 -3.02882211e-03 2.92964345e-01] [-7.97954201e-03 3.02080082e-03 9.99963600e-01 -1.19612624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30650248099997 meters 0.11629626527446507 Centerline is valid? [False, False] Translation: X:7.74, Y:0.30, Z:-1.20 [[ 9.99970053e-01 3.25475609e-04 7.73223462e-03 7.74422723e+00] [-2.91392612e-04 9.99990239e-01 -4.40862808e-03 2.98398274e-01] [-7.73359405e-03 4.40624294e-03 9.99960387e-01 -1.19612287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36650248099997 meters 0.1177279209093865 Centerline is valid? [False, False] Translation: X:7.74, Y:0.30, Z:-1.20 [[ 9.99970206e-01 1.57275417e-04 7.71766884e-03 7.74468277e+00] [-1.21332561e-04 9.99989147e-01 -4.65746391e-03 3.00310660e-01] [-7.71831758e-03 4.65638874e-03 9.99959372e-01 -1.19683899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42650248099997 meters 0.11840507113417599 Centerline is valid? [False, False] Translation: X:7.75, Y:0.30, Z:-1.20 [[ 9.99967164e-01 -4.23323201e-03 6.91023922e-03 7.74607766e+00] [ 4.30002406e-03 9.99943906e-01 -9.67959341e-03 3.03268963e-01] [-6.86887563e-03 9.70898976e-03 9.99929275e-01 -1.19639939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48650248099997 meters 0.11872951819138332 Centerline is valid? [False, False] Translation: X:7.75, Y:0.30, Z:-1.20 [[ 9.99970592e-01 -3.69092984e-03 6.72246697e-03 7.74714805e+00] [ 3.75119748e-03 9.99952691e-01 -8.97467318e-03 3.01862255e-01] [-6.68902404e-03 8.99962656e-03 9.99937130e-01 -1.19754083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54650248099998 meters 0.11701323429133752 Centerline is valid? [False, False] Translation: X:7.75, Y:0.31, Z:-1.19 [[ 9.99977270e-01 -4.05267733e-03 5.38835751e-03 7.74806014e+00] [ 4.11114740e-03 9.99932308e-01 -1.08847563e-02 3.05927734e-01] [-5.34388036e-03 1.09066613e-02 9.99926241e-01 -1.19439346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60650248099995 meters 0.11614089045223093 Centerline is valid? [False, False] Translation: X:7.75, Y:0.31, Z:-1.19 [[ 9.99983406e-01 -3.97656942e-03 4.16840563e-03 7.74960840e+00] [ 4.02641502e-03 9.99919668e-01 -1.20185586e-02 3.08420979e-01] [-4.12027814e-03 1.20351429e-02 9.99919086e-01 -1.19269060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66650248099995 meters 0.11544463971236035 Centerline is valid? [False, False] Translation: X:7.75, Y:0.31, Z:-1.19 [[ 9.99990346e-01 -3.20172282e-03 3.00959974e-03 7.75200512e+00] [ 3.23690020e-03 9.99925644e-01 -1.17571113e-02 3.07801784e-01] [-2.97173294e-03 1.17667396e-02 9.99926354e-01 -1.19266262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72650248099995 meters 0.1149315664998742 Centerline is valid? [False, False] Translation: X:7.75, Y:0.31, Z:-1.19 [[ 9.99995446e-01 -2.57904894e-03 1.56752682e-03 7.75468259e+00] [ 2.59775887e-03 9.99923980e-01 -1.20534877e-02 3.08947354e-01] [-1.53632112e-03 1.20575048e-02 9.99926125e-01 -1.19229405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78650248099996 meters 0.11461469957505202 Centerline is valid? [False, False] Translation: X:7.76, Y:0.31, Z:-1.19 [[ 9.99997228e-01 -2.28583842e-03 5.64447337e-04 7.75630984e+00] [ 2.29266484e-03 9.99920427e-01 -1.24049830e-02 3.09875460e-01] [-5.36046635e-04 1.24062427e-02 9.99922896e-01 -1.19161658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84650248099996 meters 0.1143284396784764 Centerline is valid? [False, False] Translation: X:7.76, Y:0.31, Z:-1.19 [[ 9.99997733e-01 -2.12196559e-03 -1.77777251e-04 7.75753582e+00] [ 2.11952480e-03 9.99916364e-01 -1.27582385e-02 3.10750775e-01] [ 2.04834925e-04 1.27578328e-02 9.99918595e-01 -1.19109699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90650248099996 meters 0.1141220813853399 Centerline is valid? [False, False] Translation: X:7.76, Y:0.31, Z:-1.19 [[ 9.99997536e-01 -2.03010985e-03 -8.98672277e-04 7.75863632e+00] [ 2.01810565e-03 9.99911328e-01 -1.31629308e-02 3.11914234e-01] [ 9.25314786e-04 1.31610848e-02 9.99912961e-01 -1.19049049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96650248099996 meters 0.11413213354794505 Centerline is valid? [False, False] Translation: X:7.77, Y:0.31, Z:-1.19 [[ 9.99978856e-01 -4.91334830e-03 4.25979566e-03 7.77199426e+00] [ 4.94226813e-03 9.99964630e-01 -6.80528280e-03 3.10460306e-01] [-4.22620827e-03 6.82619197e-03 9.99967771e-01 -1.19278059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02650248099997 meters 0.11410558891078146 Centerline is valid? [False, False] Translation: X:7.77, Y:0.31, Z:-1.19 [[ 9.99979346e-01 -4.85374487e-03 4.21295770e-03 7.77181114e+00] [ 4.88205191e-03 9.99965402e-01 -6.73496768e-03 3.09416567e-01] [-4.18012213e-03 6.75539646e-03 9.99968445e-01 -1.19223870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08650248099997 meters 0.11369760412838827 Centerline is valid? [False, False] Translation: X:7.77, Y:0.31, Z:-1.19 [[ 9.99980664e-01 -4.36147978e-03 4.43263249e-03 7.77236266e+00] [ 4.38658089e-03 9.99974310e-01 -5.66894194e-03 3.07261958e-01] [-4.40779364e-03 5.68827643e-03 9.99974107e-01 -1.19391492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14650248099997 meters 0.11358153697267462 Centerline is valid? [False, False] Translation: X:7.77, Y:0.31, Z:-1.19 [[ 9.99982461e-01 -4.22221033e-03 4.15346938e-03 7.77312784e+00] [ 4.24535394e-03 9.99975425e-01 -5.57916906e-03 3.07490542e-01] [-4.12981089e-03 5.59670415e-03 9.99975810e-01 -1.19420477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20650248099997 meters 0.11324677501607501 Centerline is valid? [False, False] Translation: X:7.77, Y:0.31, Z:-1.19 [[ 9.99984434e-01 -4.24990675e-03 3.61535853e-03 7.77408877e+00] [ 4.27176742e-03 9.99972511e-01 -6.06053341e-03 3.09318751e-01] [-3.58950244e-03 6.07588304e-03 9.99975099e-01 -1.19394698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26650248099997 meters 0.11324337132431576 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99986414e-01 -4.17876582e-03 3.11593880e-03 7.77502545e+00] [ 4.19833396e-03 9.99971341e-01 -6.30014458e-03 3.10375184e-01] [-3.08952267e-03 6.31314074e-03 9.99975299e-01 -1.19379601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32650248099998 meters 0.11321044584312862 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99988344e-01 -4.10304187e-03 2.54498356e-03 7.77622272e+00] [ 4.11982578e-03 9.99969567e-01 -6.62509460e-03 3.12027563e-01] [-2.51772306e-03 6.63550226e-03 9.99974815e-01 -1.19387639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38650248099995 meters 0.11308940483059388 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99990124e-01 -3.74887218e-03 2.38695002e-03 7.77675346e+00] [ 3.76311027e-03 9.99974987e-01 -5.98868672e-03 3.10603870e-01] [-2.36443950e-03 5.99760994e-03 9.99979219e-01 -1.19436096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44650248099995 meters 0.11299541821475616 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99991774e-01 -3.35613277e-03 2.27785685e-03 7.77718338e+00] [ 3.36818207e-03 9.99980247e-01 -5.30669215e-03 3.08656787e-01] [-2.26000189e-03 5.31432073e-03 9.99983325e-01 -1.19481870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50650248099996 meters 0.11314200329833643 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99993342e-01 -3.11191131e-03 1.90569530e-03 7.77777907e+00] [ 3.12165109e-03 9.99981972e-01 -5.12941242e-03 3.07905676e-01] [-1.88969867e-03 5.13532719e-03 9.99985029e-01 -1.19458379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56650248099996 meters 0.11329709397611859 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99993502e-01 -3.02254613e-03 1.96494850e-03 7.77746349e+00] [ 3.03196845e-03 9.99983835e-01 -4.81003803e-03 3.06486850e-01] [-1.95037818e-03 4.81596443e-03 9.99986501e-01 -1.19438863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62650248099996 meters 0.11350872692027694 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99973776e-01 -7.17107598e-03 1.01154216e-03 7.77924088e+00] [ 7.18029230e-03 9.99929828e-01 -9.42247645e-03 3.08437416e-01] [-9.43901886e-04 9.42949252e-03 9.99955096e-01 -1.19422966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68650248099996 meters 0.1134897265595233 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.20 [[ 9.99976826e-01 -6.67710355e-03 1.32791862e-03 7.77991832e+00] [ 6.68783086e-03 9.99943645e-01 -8.24494208e-03 3.06660798e-01] [-1.27279146e-03 8.25363191e-03 9.99965128e-01 -1.19653022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74650248099996 meters 0.11367324138826354 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99975746e-01 -6.93370788e-03 6.55839179e-04 7.78025238e+00] [ 6.93938162e-03 9.99934648e-01 -9.08540487e-03 3.08433511e-01] [-5.92800775e-04 9.08973564e-03 9.99958512e-01 -1.19485159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80650248099997 meters 0.1137638922064006 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99976343e-01 -6.86740966e-03 3.88801026e-04 7.78058886e+00] [ 6.87068349e-03 9.99934439e-01 -9.16030045e-03 3.08377061e-01] [-3.25868000e-04 9.16275507e-03 9.99957968e-01 -1.19449165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86650248099997 meters 0.11372576769458492 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99978793e-01 -6.51217191e-03 7.15801497e-05 7.78135976e+00] [ 6.51254957e-03 9.99940127e-01 -8.79369205e-03 3.07410164e-01] [-1.43098297e-05 8.79397173e-03 9.99961332e-01 -1.19469370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92650248099997 meters 0.11378812311420608 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99980256e-01 -6.27980533e-03 -2.28899852e-04 7.78197035e+00] [ 6.27759280e-03 9.99942950e-01 -8.64228237e-03 3.06923692e-01] [ 2.83158644e-04 8.64067479e-03 9.99962629e-01 -1.19466399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98650248099997 meters 0.11381918496435103 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99978087e-01 -6.53339014e-03 -1.06814124e-03 7.78251641e+00] [ 6.52265928e-03 9.99931109e-01 -9.75872405e-03 3.09401664e-01] [ 1.13182521e-03 9.75154309e-03 9.99951812e-01 -1.19272655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04650248099998 meters 0.11402969382400503 Centerline is valid? [False, False] Translation: X:7.78, Y:0.31, Z:-1.19 [[ 9.99978315e-01 -6.35271132e-03 -1.73556583e-03 7.78388509e+00] [ 6.33497293e-03 9.99929514e-01 -1.00416759e-02 3.11023378e-01] [ 1.79923537e-03 1.00304634e-02 9.99948075e-01 -1.19272904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10650248099995 meters 0.11385916812675208 Centerline is valid? [False, False] Translation: X:7.79, Y:0.31, Z:-1.19 [[ 9.99982098e-01 -5.62842891e-03 -2.03105001e-03 7.78586775e+00] [ 5.60965085e-03 9.99942534e-01 -9.13568851e-03 3.10575843e-01] [ 2.08235287e-03 9.12413148e-03 9.99956206e-01 -1.19495811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16650248099995 meters 0.11401499136699202 Centerline is valid? [False, False] Translation: X:7.79, Y:0.31, Z:-1.20 [[ 9.99983431e-01 -5.28255873e-03 -2.28751648e-03 7.78662290e+00] [ 5.26246716e-03 9.99948291e-01 -8.70184245e-03 3.09779558e-01] [ 2.33336619e-03 8.68966029e-03 9.99959522e-01 -1.19536517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22650248099995 meters 0.1143113123484036 Centerline is valid? [False, False] Translation: X:7.79, Y:0.31, Z:-1.19 [[ 9.99983696e-01 -5.13486284e-03 -2.49818976e-03 7.78666867e+00] [ 5.11317665e-03 9.99949851e-01 -8.61105284e-03 3.08823209e-01] [ 2.54228106e-03 8.59813876e-03 9.99959804e-01 -1.19473348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28650248099996 meters 0.1144640072679299 Centerline is valid? [False, False] Translation: X:7.79, Y:0.31, Z:-1.20 [[ 9.99986790e-01 -4.63020736e-03 -2.23184502e-03 7.78670785e+00] [ 4.61335367e-03 9.99961245e-01 -7.49836167e-03 3.05752693e-01] [ 2.26647750e-03 7.48796632e-03 9.99969396e-01 -1.19574380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34650248099996 meters 0.11396608672739256 Centerline is valid? [False, False] Translation: X:7.79, Y:0.30, Z:-1.20 [[ 9.99990256e-01 -4.19628348e-03 -1.37077433e-03 7.78594104e+00] [ 4.18810667e-03 9.99973739e-01 -5.91447973e-03 3.01117107e-01] [ 1.39555717e-03 5.90868115e-03 9.99981570e-01 -1.19724604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40650248099996 meters 0.11401833719352081 Centerline is valid? [False, False] Translation: X:7.79, Y:0.30, Z:-1.20 [[ 9.99965957e-01 -8.13137272e-03 -1.40220133e-03 7.78622087e+00] [ 8.11784333e-03 9.99922881e-01 -9.39855030e-03 2.98917372e-01] [ 1.47851631e-03 9.38684750e-03 9.99954850e-01 -1.19765157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46650248099996 meters 0.11434300590330251 Centerline is valid? [False, False] Translation: X:7.79, Y:0.30, Z:-1.20 [[ 9.99969838e-01 -7.73268460e-03 -7.27437802e-04 7.78578297e+00] [ 7.72679156e-03 9.99939865e-01 -7.78223882e-03 2.95042168e-01] [ 7.87571656e-04 7.77638333e-03 9.99969453e-01 -1.19923204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52650248099997 meters 0.11549799874840776 Centerline is valid? [False, False] Translation: X:7.79, Y:0.29, Z:-1.20 [[ 9.99932271e-01 -1.16367856e-02 -1.98135286e-04 7.78557179e+00] [ 1.16340604e-02 9.99877071e-01 -1.05115111e-02 2.91668423e-01] [ 3.20431130e-04 1.05084940e-02 9.99944733e-01 -1.20075041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58650248099997 meters 0.1180668399660657 Centerline is valid? [False, False] Translation: X:7.79, Y:0.29, Z:-1.20 [[ 9.99882444e-01 -1.53285236e-02 3.66674263e-04 7.78581987e+00] [ 1.53319400e-02 9.99802138e-01 -1.26734334e-02 2.87283673e-01] [-1.72336689e-04 1.26775654e-02 9.99919622e-01 -1.20321118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64650248099997 meters 0.12107977681430765 Centerline is valid? [False, False] Translation: X:7.78, Y:0.28, Z:-1.20 [[ 9.99883977e-01 -1.51839485e-02 1.21670228e-03 7.78483380e+00] [ 1.51967117e-02 9.99820947e-01 -1.12753374e-02 2.83438186e-01] [-1.04528029e-03 1.12925191e-02 9.99935691e-01 -1.20432996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70650248099997 meters 0.12242015002866119 Centerline is valid? [False, False] Translation: X:7.78, Y:0.28, Z:-1.21 [[ 9.99882993e-01 -1.51841978e-02 1.85492267e-03 7.78408571e+00] [ 1.52030800e-02 9.99827930e-01 -1.06290548e-02 2.81977685e-01] [-1.69320982e-03 1.06560117e-02 9.99941790e-01 -1.20518575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76650248099997 meters 0.12212605317881113 Centerline is valid? [False, False] Translation: X:7.78, Y:0.28, Z:-1.21 [[ 9.99938432e-01 -1.07540021e-02 2.73568541e-03 7.78329428e+00] [ 1.07683582e-02 9.99928036e-01 -5.28824459e-03 2.79585430e-01] [-2.67861875e-03 5.31737785e-03 9.99982275e-01 -1.20679614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82650248099998 meters 0.12259094171824522 Centerline is valid? [False, False] Translation: X:7.78, Y:0.28, Z:-1.21 [[ 9.99936254e-01 -1.10575750e-02 2.28418103e-03 7.78387220e+00] [ 1.10714451e-02 9.99919787e-01 -6.15160628e-03 2.82578575e-01] [-2.21597596e-03 6.17650333e-03 9.99978470e-01 -1.20617033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88650248099995 meters 0.12189299325177935 Centerline is valid? [False, False] Translation: X:7.79, Y:0.28, Z:-1.21 [[ 9.99939672e-01 -1.08588808e-02 1.65429914e-03 7.78553365e+00] [ 1.08692642e-02 9.99920430e-01 -6.40255775e-03 2.84720402e-01] [-1.58464290e-03 6.42015251e-03 9.99978135e-01 -1.20679871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94650248099995 meters 0.12267670550604641 Centerline is valid? [False, False] Translation: X:7.79, Y:0.28, Z:-1.21 [[ 9.99948066e-01 -1.01167137e-02 1.23208070e-03 7.78746732e+00] [ 1.01233439e-02 9.99933635e-01 -5.49947420e-03 2.83914262e-01] [-1.17636232e-03 5.51166137e-03 9.99984119e-01 -1.20851708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00650248099996 meters 0.11726030091883728 Centerline is valid? [False, False] Translation: X:7.79, Y:0.29, Z:-1.21 [[ 9.99985658e-01 -5.33081209e-03 5.15258526e-04 7.78975471e+00] [ 5.33155864e-03 9.99984723e-01 -1.45854547e-03 2.85899386e-01] [-5.07475423e-04 1.46127169e-03 9.99998804e-01 -1.20968894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06650248099996 meters 0.11481358639869857 Centerline is valid? [False, False] Translation: X:7.79, Y:0.29, Z:-1.21 [[ 9.99985972e-01 -5.18761997e-03 -1.06944274e-03 7.79195782e+00] [ 5.18436612e-03 9.99981991e-01 -3.02320795e-03 2.90284238e-01] [ 1.08510673e-03 3.01762116e-03 9.99994858e-01 -1.20798866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12650248099996 meters 0.11425968803204709 Centerline is valid? [False, False] Translation: X:7.79, Y:0.29, Z:-1.21 [[ 9.99983253e-01 -5.21259757e-03 -2.51446983e-03 7.79351407e+00] [ 5.20128682e-03 9.99976420e-01 -4.48402149e-03 2.93756205e-01] [ 2.53778394e-03 4.47086791e-03 9.99986785e-01 -1.20564484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18650248099996 meters 0.11379642109724612 Centerline is valid? [False, False] Translation: X:7.79, Y:0.29, Z:-1.21 [[ 9.99983042e-01 -5.05460739e-03 -2.89265388e-03 7.79411900e+00] [ 5.04131793e-03 9.99976789e-01 -4.58320768e-03 2.93892240e-01] [ 2.91575306e-03 4.56854717e-03 9.99985313e-01 -1.20535096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24650248099996 meters 0.11354635879790048 Centerline is valid? [False, False] Translation: X:7.79, Y:0.29, Z:-1.21 [[ 9.99982565e-01 -5.00111981e-03 -3.13993942e-03 7.79470548e+00] [ 4.98595521e-03 9.99975959e-01 -4.81897579e-03 2.94874352e-01] [ 3.16396421e-03 4.80323618e-03 9.99983459e-01 -1.20539970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30650248099997 meters 0.11351926037662366 Centerline is valid? [False, False] Translation: X:7.80, Y:0.29, Z:-1.21 [[ 9.99984299e-01 -4.70664805e-03 -3.04121542e-03 7.79528811e+00] [ 4.69357319e-03 9.99979774e-01 -4.29215164e-03 2.94509400e-01] [ 3.06135556e-03 4.27781008e-03 9.99986164e-01 -1.20671118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36650248099997 meters 0.11447808326988174 Centerline is valid? [False, False] Translation: X:7.80, Y:0.29, Z:-1.21 [[ 9.99984580e-01 -4.72939225e-03 -2.91089707e-03 7.79502030e+00] [ 4.71731847e-03 9.99980300e-01 -4.14076980e-03 2.94159454e-01] [ 2.93042305e-03 4.12697431e-03 9.99987190e-01 -1.20672824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42650248099997 meters 0.11576958216675201 Centerline is valid? [False, False] Translation: X:7.79, Y:0.29, Z:-1.21 [[ 9.99984516e-01 -4.83979870e-03 -2.74656515e-03 7.79435268e+00] [ 4.82860604e-03 9.99980071e-01 -4.06725116e-03 2.93645660e-01] [ 2.76619509e-03 4.05392610e-03 9.99987957e-01 -1.20624167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48650248099997 meters 0.11740458369892567 Centerline is valid? [False, False] Translation: X:7.79, Y:0.29, Z:-1.21 [[ 9.99959740e-01 -8.56176612e-03 -2.68597852e-03 7.79407250e+00] [ 8.54279421e-03 9.99939029e-01 -6.99701373e-03 2.88930106e-01] [ 2.74572155e-03 6.97378627e-03 9.99971913e-01 -1.20607149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54650248099998 meters 0.11610813715339921 Centerline is valid? [False, False] Translation: X:7.80, Y:0.29, Z:-1.21 [[ 9.99967008e-01 -7.46071698e-03 -3.21267276e-03 7.79589676e+00] [ 7.44238064e-03 9.99956161e-01 -5.68212652e-03 2.85333160e-01] [ 3.25492466e-03 5.65802912e-03 9.99978696e-01 -1.20722530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60650248099995 meters 0.11456480588815225 Centerline is valid? [False, False] Translation: X:7.81, Y:0.29, Z:-1.20 [[ 9.99993704e-01 2.10730304e-03 -2.85501842e-03 7.81049289e+00] [-2.12727574e-03 9.99973162e-01 -7.01076345e-03 2.85400974e-01] [ 2.84016799e-03 7.01679272e-03 9.99971349e-01 -1.20377899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66650248099995 meters 0.11364880891610042 Centerline is valid? [False, False] Translation: X:7.81, Y:0.29, Z:-1.20 [[ 9.99987773e-01 -1.93344169e-03 -4.55146823e-03 7.81234417e+00] [ 1.87620597e-03 9.99919535e-01 -1.25460790e-02 2.88662638e-01] [ 4.57535910e-03 1.25373861e-02 9.99910936e-01 -1.20142229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72650248099995 meters 0.11309037813087189 Centerline is valid? [False, False] Translation: X:7.81, Y:0.29, Z:-1.20 [[ 9.99983366e-01 -1.18631035e-03 -5.64453844e-03 7.81473741e+00] [ 1.11788350e-03 9.99926041e-01 -1.21104155e-02 2.88179054e-01] [ 5.65848768e-03 1.21039042e-02 9.99910735e-01 -1.20189939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78650248099996 meters 0.11276768792210531 Centerline is valid? [False, False] Translation: X:7.82, Y:0.29, Z:-1.20 [[ 9.99977467e-01 -2.02984757e-04 -6.71003931e-03 7.81765767e+00] [ 1.28141245e-04 9.99937801e-01 -1.11525090e-02 2.87210274e-01] [ 6.71188574e-03 1.11513979e-02 9.99915295e-01 -1.20340741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84650248099996 meters 0.11298895128759623 Centerline is valid? [False, False] Translation: X:7.82, Y:0.29, Z:-1.20 [[ 9.99967966e-01 6.53028139e-05 -8.00395494e-03 7.81929548e+00] [-1.58393255e-04 9.99932351e-01 -1.16304734e-02 2.88205174e-01] [ 8.00265398e-03 1.16313686e-02 9.99900329e-01 -1.20205741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90650248099996 meters 0.11385104613859572 Centerline is valid? [False, False] Translation: X:7.83, Y:0.29, Z:-1.20 [[ 9.99928175e-01 9.70077066e-03 -7.03844979e-03 7.83454524e+00] [-9.79549109e-03 9.99860209e-01 -1.35502764e-02 2.88941226e-01] [ 6.90601775e-03 1.36182483e-02 9.99883418e-01 -1.19828257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96650248099996 meters 0.1146504674880272 Centerline is valid? [False, False] Translation: X:7.85, Y:0.29, Z:-1.20 [[ 9.99990700e-01 2.36382425e-03 -3.60716647e-03 7.84967791e+00] [-2.41404023e-03 9.99899348e-01 -1.39809040e-02 2.91343323e-01] [ 3.57375501e-03 1.39894818e-02 9.99895756e-01 -1.19760074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02650248099997 meters 0.11570107771319475 Centerline is valid? [False, False] Translation: X:7.85, Y:0.29, Z:-1.20 [[ 9.99987310e-01 2.36721085e-03 -4.44695544e-03 7.85047081e+00] [-2.43182754e-03 9.99890723e-01 -1.45817778e-02 2.92364723e-01] [ 4.41195135e-03 1.45924070e-02 9.99883791e-01 -1.19618461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08650248099997 meters 0.11623134944942619 Centerline is valid? [False, False] Translation: X:7.86, Y:0.29, Z:-1.20 [[ 9.99999525e-01 -9.55567736e-04 1.93136454e-04 7.86372517e+00] [ 9.57384027e-04 9.99953137e-01 -9.63369200e-03 2.93894954e-01] [-1.83921758e-04 9.63387233e-03 9.99953576e-01 -1.19691730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14650248099997 meters 0.11759037388854894 Centerline is valid? [False, False] Translation: X:7.89, Y:0.30, Z:-1.20 [[ 9.99987267e-01 -4.77720759e-03 -1.62612873e-03 7.88516450e+00] [ 4.76583653e-03 9.99964657e-01 -6.92620601e-03 2.98482795e-01] [ 1.65915918e-03 6.91836796e-03 9.99974691e-01 -1.19734771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20650248099997 meters 0.11690393763669678 Centerline is valid? [False, False] Translation: X:7.89, Y:0.30, Z:-1.20 [[ 9.99954975e-01 -9.11282556e-03 -2.64671352e-03 7.88644416e+00] [ 9.08097812e-03 9.99889078e-01 -1.18053956e-02 3.00442504e-01] [ 2.75400045e-03 1.17808293e-02 9.99926811e-01 -1.19618479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26650248099997 meters 0.11702216753684543 Centerline is valid? [False, False] Translation: X:7.89, Y:0.30, Z:-1.20 [[ 9.99954746e-01 -9.15437812e-03 -2.58926538e-03 7.88660532e+00] [ 9.12289316e-03 9.99887326e-01 -1.19208922e-02 3.00906622e-01] [ 2.69810199e-03 1.18967311e-02 9.99925591e-01 -1.19649839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32650248099998 meters 0.11560013044029625 Centerline is valid? [False, False] Translation: X:7.89, Y:0.30, Z:-1.20 [[ 9.99954660e-01 -9.25534019e-03 -2.23990330e-03 7.88552399e+00] [ 9.22926173e-03 9.99892588e-01 -1.13856653e-02 2.98971524e-01] [ 2.34504091e-03 1.13644764e-02 9.99932672e-01 -1.19600399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38650248099995 meters 0.1146798364810236 Centerline is valid? [False, False] Translation: X:7.88, Y:0.30, Z:-1.19 [[ 9.99953252e-01 -9.45407594e-03 -2.02852003e-03 7.88392895e+00] [ 9.43110036e-03 9.99894451e-01 -1.10517063e-02 2.96251858e-01] [ 2.13278959e-03 1.10320584e-02 9.99936870e-01 -1.19419050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44650248099995 meters 0.11395398614729796 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.20 [[ 9.99957720e-01 -9.16461380e-03 -7.53408177e-04 7.88299252e+00] [ 9.15675245e-03 9.99909578e-01 -9.84832317e-03 2.91054870e-01] [ 8.43596130e-04 9.84100801e-03 9.99951220e-01 -1.19613109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50650248099996 meters 0.11356230551428337 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.20 [[ 9.99962879e-01 -8.61521535e-03 -1.36720950e-04 7.88347539e+00] [ 8.61378837e-03 9.99928631e-01 -8.27864816e-03 2.88452002e-01] [ 2.08033529e-04 8.27716316e-03 9.99965722e-01 -1.19905215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56650248099996 meters 0.113130396017252 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.20 [[ 9.99964671e-01 -8.40526578e-03 8.99254658e-05 7.88405729e+00] [ 8.40570529e-03 9.99936134e-01 -7.55466062e-03 2.88241012e-01] [-2.64207923e-05 7.55514960e-03 9.99971459e-01 -1.20092679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62650248099996 meters 0.11288908772840839 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.20 [[ 9.99969737e-01 -7.77468538e-03 2.82498082e-04 7.88494648e+00] [ 7.77629738e-03 9.99950286e-01 -6.24137788e-03 2.86029338e-01] [-2.33959288e-04 6.24338579e-03 9.99980483e-01 -1.20312889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68650248099996 meters 0.11273366002614328 Centerline is valid? [False, False] Translation: X:7.89, Y:0.29, Z:-1.20 [[ 9.99971361e-01 -7.56173523e-03 3.12693394e-04 7.88555717e+00] [ 7.56348416e-03 9.99953203e-01 -6.03208035e-03 2.85921444e-01] [-2.67065767e-04 6.03427264e-03 9.99981758e-01 -1.20407693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74650248099996 meters 0.11297287528679796 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.20 [[ 9.99998591e-01 -1.48263879e-03 -7.87468036e-04 7.89718967e+00] [ 1.47583876e-03 9.99962215e-01 -8.56680316e-03 2.86724430e-01] [ 8.00139756e-04 8.56562891e-03 9.99962994e-01 -1.19953784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80650248099997 meters 0.11302584317869872 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.20 [[ 9.99997805e-01 -1.84560130e-03 -9.92338477e-04 7.89676992e+00] [ 1.83622824e-03 9.99954463e-01 -9.36479514e-03 2.88292945e-01] [ 1.00957697e-03 9.36295242e-03 9.99955657e-01 -1.19811308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86650248099997 meters 0.11299871267371595 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.20 [[ 9.99998140e-01 -1.91349515e-03 -2.40317529e-04 7.89529046e+00] [ 1.91131144e-03 9.99959628e-01 -8.78009877e-03 2.85552334e-01] [ 2.57108504e-04 8.77962312e-03 9.99961425e-01 -1.19814284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92650248099997 meters 0.113270969899327 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.20 [[ 9.99998181e-01 -1.89702381e-03 -1.95780820e-04 7.89550183e+00] [ 1.89521650e-03 9.99959025e-01 -8.85188806e-03 2.85983876e-01] [ 2.12565040e-04 8.85150091e-03 9.99960802e-01 -1.19854581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98650248099997 meters 0.11329490269358505 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.20 [[ 9.99986274e-01 -3.79144958e-03 3.61604758e-03 7.91025856e+00] [ 3.79900916e-03 9.99990608e-01 -2.08599282e-03 2.87647717e-01] [-3.60810469e-03 2.09970159e-03 9.99991286e-01 -1.20033494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04650248099998 meters 0.11332684124408411 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.20 [[ 9.99988285e-01 -3.14198557e-03 3.68208630e-03 7.91153509e+00] [ 3.14527360e-03 9.99994660e-01 -8.87531075e-04 2.86250106e-01] [-3.67927803e-03 8.99101846e-04 9.99992827e-01 -1.20276440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10650248099995 meters 0.1131261647499007 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.20 [[ 9.99969580e-01 -7.31507426e-03 2.70712283e-03 7.91299687e+00] [ 7.33079406e-03 9.99956057e-01 -5.84319473e-03 2.88321001e-01] [-2.66426047e-03 5.86286234e-03 9.99979264e-01 -1.20197953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16650248099995 meters 0.11301527521809424 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.20 [[ 9.99972502e-01 -6.81414103e-03 2.92615324e-03 7.91344414e+00] [ 6.82803238e-03 9.99965341e-01 -4.76385602e-03 2.86176790e-01] [-2.89359023e-03 4.78370489e-03 9.99984372e-01 -1.20351038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22650248099995 meters 0.11330042412872444 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.20 [[ 9.99972511e-01 -6.85718667e-03 2.82061476e-03 7.91327374e+00] [ 6.87096763e-03 9.99964362e-01 -4.90547723e-03 2.86035770e-01] [-2.78687647e-03 4.92472273e-03 9.99983990e-01 -1.20287353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28650248099996 meters 0.11357488080693184 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.20 [[ 9.99971107e-01 -7.09807405e-03 2.72080716e-03 7.91252351e+00] [ 7.11257427e-03 9.99960355e-01 -5.35727955e-03 2.85825188e-01] [-2.68267292e-03 5.37647670e-03 9.99981948e-01 -1.20121380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34650248099996 meters 0.11350792765804033 Centerline is valid? [False, False] Translation: X:7.91, Y:0.28, Z:-1.20 [[ 9.99975278e-01 -6.41231591e-03 2.88548222e-03 7.91343442e+00] [ 6.42375267e-03 9.99971479e-01 -3.97189652e-03 2.83399458e-01] [-2.85993087e-03 3.99033395e-03 9.99987949e-01 -1.20338339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40650248099996 meters 0.1134423989601452 Centerline is valid? [False, False] Translation: X:7.91, Y:0.28, Z:-1.21 [[ 9.99978391e-01 -5.86289592e-03 2.97381936e-03 7.91435138e+00] [ 5.87155969e-03 9.99978519e-01 -2.91303347e-03 2.81990877e-01] [-2.95667667e-03 2.93043148e-03 9.99991335e-01 -1.20528211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46650248099996 meters 0.11324639411079511 Centerline is valid? [False, False] Translation: X:7.92, Y:0.28, Z:-1.21 [[ 9.99949072e-01 -9.75747168e-03 2.57769704e-03 7.91556023e+00] [ 9.77463951e-03 9.99929554e-01 -6.73368358e-03 2.81649799e-01] [-2.51181173e-03 6.75853671e-03 9.99974006e-01 -1.20597670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52650248099997 meters 0.11336902442792189 Centerline is valid? [False, False] Translation: X:7.92, Y:0.28, Z:-1.21 [[ 9.99955551e-01 -8.96605700e-03 2.91657034e-03 7.91626229e+00] [ 8.97973983e-03 9.99948576e-01 -4.71264448e-03 2.77319243e-01] [-2.87416652e-03 4.73862505e-03 9.99984642e-01 -1.20850318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58650248099997 meters 0.11365325871389143 Centerline is valid? [False, False] Translation: X:7.92, Y:0.27, Z:-1.21 [[ 9.99964666e-01 -7.86805509e-03 2.95970021e-03 7.91790178e+00] [ 7.87528817e-03 9.99966012e-01 -2.44019383e-03 2.73014912e-01] [-2.94040004e-03 2.46341610e-03 9.99992643e-01 -1.21172639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64650248099997 meters 0.11372052895834502 Centerline is valid? [False, False] Translation: X:7.92, Y:0.27, Z:-1.21 [[ 9.99970278e-01 -7.14345987e-03 2.90086487e-03 7.91883686e+00] [ 7.14675606e-03 9.99973826e-01 -1.12750650e-03 2.70056612e-01] [-2.89273465e-03 1.14820476e-03 9.99995157e-01 -1.21319946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70650248099997 meters 0.1142800044838674 Centerline is valid? [False, False] Translation: X:7.92, Y:0.27, Z:-1.21 [[ 9.99972323e-01 -6.94877468e-03 2.65849912e-03 7.91891555e+00] [ 6.95126533e-03 9.99975408e-01 -9.28772786e-04 2.68961718e-01] [-2.65197991e-03 9.47227014e-04 9.99996035e-01 -1.21258469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76650248099997 meters 0.1138917232130787 Centerline is valid? [False, False] Translation: X:7.92, Y:0.27, Z:-1.21 [[ 9.99978469e-01 -6.24675959e-03 2.00961432e-03 7.92121128e+00] [ 6.24751408e-03 9.99980416e-01 -3.69383039e-04 2.68978560e-01] [-2.00726752e-03 3.81930180e-04 9.99997913e-01 -1.21429150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82650248099995 meters 0.11417775086422333 Centerline is valid? [False, False] Translation: X:7.93, Y:0.27, Z:-1.22 [[ 9.99986824e-01 -5.13237971e-03 -1.04606172e-04 7.92548421e+00] [ 5.13230285e-03 9.99986569e-01 -7.22227585e-04 2.74864418e-01] [ 1.08311513e-04 7.21681198e-04 9.99999734e-01 -1.21500893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88650248099995 meters 0.11460287697563605 Centerline is valid? [False, False] Translation: X:7.95, Y:0.28, Z:-1.22 [[ 9.99994837e-01 2.47791054e-03 -2.04592113e-03 7.94593863e+00] [-2.48578448e-03 9.99989480e-01 -3.85507506e-03 2.81675278e-01] [ 2.03634708e-03 3.86014088e-03 9.99990476e-01 -1.21509641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94650248099995 meters 0.11525756144495214 Centerline is valid? [False, False] Translation: X:7.96, Y:0.29, Z:-1.21 [[ 9.99998017e-01 -3.23371139e-04 1.96480888e-03 7.95996537e+00] [ 3.22827922e-04 9.99999910e-01 2.76784089e-04 2.86629368e-01] [-1.96489821e-03 -2.76149245e-04 9.99998031e-01 -1.21390550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00650248099996 meters 0.11546912498487089 Centerline is valid? [False, False] Translation: X:7.96, Y:0.29, Z:-1.21 [[ 9.99988116e-01 -4.80853425e-03 8.04252077e-04 7.96104955e+00] [ 4.81284249e-03 9.99973602e-01 -5.44354992e-03 2.89671896e-01] [-7.78055350e-04 5.44735596e-03 9.99984860e-01 -1.21157175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06650248099996 meters 0.11576467858559666 Centerline is valid? [False, False] Translation: X:7.96, Y:0.29, Z:-1.21 [[ 9.99987807e-01 -4.90617574e-03 5.60939694e-04 7.96140242e+00] [ 4.90941504e-03 9.99970383e-01 -5.92710278e-03 2.90914290e-01] [-5.31843673e-04 5.92978440e-03 9.99982277e-01 -1.21120773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12650248099996 meters 0.11663751413789232 Centerline is valid? [False, False] Translation: X:7.98, Y:0.29, Z:-1.21 [[ 9.99995298e-01 2.55278267e-03 1.69903336e-03 7.97583813e+00] [-2.53701306e-03 9.99954278e-01 -9.21984138e-03 2.94208033e-01] [-1.72249193e-03 9.21548757e-03 9.99956053e-01 -1.20650598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18650248099996 meters 0.11674922899102619 Centerline is valid? [False, False] Translation: X:7.98, Y:0.30, Z:-1.21 [[ 9.99996472e-01 2.45756725e-03 1.00805524e-03 7.97648382e+00] [-2.44726580e-03 9.99946038e-01 -1.00961458e-02 2.95777845e-01] [-1.03281280e-03 1.00936432e-02 9.99948525e-01 -1.20504539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24650248099996 meters 0.1171931328011724 Centerline is valid? [False, False] Translation: X:7.98, Y:0.30, Z:-1.20 [[ 9.99996140e-01 2.76599811e-03 2.64742635e-04 7.97791198e+00] [-2.76315577e-03 9.99944224e-01 -1.01937959e-02 2.96194064e-01] [-2.92923889e-04 1.01930250e-02 9.99948007e-01 -1.20489290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30650248099997 meters 0.12033335662206157 Centerline is valid? [False, False] Translation: X:7.98, Y:0.30, Z:-1.20 [[ 9.99999131e-01 1.20176554e-03 -5.42148459e-04 7.97961986e+00] [-1.20920887e-03 9.99902039e-01 -1.39445326e-02 3.02886990e-01] [ 5.25337291e-04 1.39451760e-02 9.99902623e-01 -1.20445786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36650248099997 meters 0.12164641363824402 Centerline is valid? [False, False] Translation: X:7.99, Y:0.31, Z:-1.20 [[ 9.99989781e-01 -1.54315376e-03 4.24923697e-03 7.99202366e+00] [ 1.58099817e-03 9.99958991e-01 -8.91725557e-03 3.05071433e-01] [-4.23530202e-03 8.92388249e-03 9.99951212e-01 -1.20343271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42650248099997 meters 0.12360986630780457 Centerline is valid? [False, False] Translation: X:8.01, Y:0.30, Z:-1.20 [[ 9.99977980e-01 6.23692416e-03 2.26715437e-03 8.00851567e+00] [-6.21206211e-03 9.99922246e-01 -1.08126274e-02 3.04340394e-01] [-2.33441563e-03 1.07983056e-02 9.99938972e-01 -1.20090502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48650248099997 meters 0.12445697092560402 Centerline is valid? [False, False] Translation: X:8.02, Y:0.31, Z:-1.20 [[ 9.99973302e-01 -2.90301895e-04 7.30147490e-03 8.02078352e+00] [ 3.52709556e-04 9.99963408e-01 -8.54743287e-03 3.05866894e-01] [-7.29872639e-03 8.54977997e-03 9.99936813e-01 -1.20169416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54650248099998 meters 0.12781437236123874 Centerline is valid? [False, False] Translation: X:8.02, Y:0.31, Z:-1.20 [[ 9.99978307e-01 -7.08702477e-04 6.54859093e-03 8.02102085e+00] [ 7.75095732e-04 9.99948272e-01 -1.01415864e-02 3.09542787e-01] [-6.54106482e-03 1.01464422e-02 9.99927129e-01 -1.19946251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60650248099995 meters 0.12751378541574038 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:-1.20 [[ 9.99945685e-01 -5.32439634e-03 8.95984473e-03 8.03780772e+00] [ 5.38413850e-03 9.99963348e-01 -6.65690817e-03 3.12390557e-01] [-8.92407231e-03 6.70478764e-03 9.99937701e-01 -1.20126736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66650248099995 meters 0.1265049377033214 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:-1.20 [[ 9.99947879e-01 -5.23301639e-03 8.76666280e-03 8.03833898e+00] [ 5.29106017e-03 9.99964150e-01 -6.61090991e-03 3.12692920e-01] [-8.73175351e-03 6.65695028e-03 9.99939719e-01 -1.20151266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72650248099995 meters 0.1290467957193101 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:-1.20 [[ 9.99952264e-01 -4.61701746e-03 8.61119203e-03 8.03984132e+00] [ 4.66646619e-03 9.99972689e-01 -5.73115338e-03 3.11346564e-01] [-8.58449601e-03 5.77106364e-03 9.99946499e-01 -1.20341792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78650248099996 meters 0.1279648471661036 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:-1.20 [[ 9.99956047e-01 -4.42767574e-03 8.26441455e-03 8.04056941e+00] [ 4.47314882e-03 9.99974915e-01 -5.49192374e-03 3.11307708e-01] [-8.23989078e-03 5.52865031e-03 9.99950768e-01 -1.20359544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84650248099996 meters 0.1291118335287792 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:-1.20 [[ 9.99958925e-01 -4.32957084e-03 7.96265994e-03 8.04091810e+00] [ 4.37394446e-03 9.99974956e-01 -5.56376762e-03 3.11075505e-01] [-7.93837180e-03 5.59836732e-03 9.99952819e-01 -1.20315054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90650248099996 meters 0.13115740185238484 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:-1.20 [[ 9.99963549e-01 -3.91930793e-03 7.58553847e-03 8.04189950e+00] [ 3.96008781e-03 9.99977748e-01 -5.36847116e-03 3.10471597e-01] [-7.56432899e-03 5.39831487e-03 9.99956819e-01 -1.20338257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96650248099996 meters 0.13548581923016823 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:-1.20 [[ 9.99967943e-01 -3.27513513e-03 7.30657141e-03 8.04368940e+00] [ 3.31216394e-03 9.99981705e-01 -5.06154698e-03 3.09826329e-01] [-7.28986049e-03 5.08558528e-03 9.99960497e-01 -1.20492968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02650248099997 meters 0.13549637093614542 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:-1.20 [[ 9.99971389e-01 -3.38847190e-03 6.76315949e-03 8.04412917e+00] [ 3.42682808e-03 9.99978066e-01 -5.66783306e-03 3.11248844e-01] [-6.74380585e-03 5.69084708e-03 9.99961067e-01 -1.20386120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08650248099997 meters 0.13643907041700906 Centerline is valid? [False, False] Translation: X:8.04, Y:0.31, Z:-1.20 [[ 9.99975184e-01 -3.24717222e-03 6.25190111e-03 8.04466704e+00] [ 3.28296175e-03 9.99978235e-01 -5.72285784e-03 3.11289035e-01] [-6.23318193e-03 5.74324058e-03 9.99964081e-01 -1.20311003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14650248099997 meters 0.13621104975463016 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99974137e-01 -2.64982754e-03 6.68615112e-03 8.04513016e+00] [ 2.67967749e-03 9.99986466e-01 -4.45944255e-03 3.08234668e-01] [-6.67424388e-03 4.47724394e-03 9.99967704e-01 -1.20524412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20650248099997 meters 0.1404787842597296 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99974143e-01 -2.53295815e-03 6.73030840e-03 8.04501140e+00] [ 2.56129954e-03 9.99987876e-01 -4.20573297e-03 3.07091186e-01] [-6.71957385e-03 4.22286256e-03 9.99968507e-01 -1.20515747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26650248099997 meters 0.1378028266118167 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99975528e-01 -2.56520544e-03 6.50871556e-03 8.04555261e+00] [ 2.59443991e-03 9.99986567e-01 -4.48712695e-03 3.08226768e-01] [-6.49711772e-03 4.50390361e-03 9.99968751e-01 -1.20527520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32650248099995 meters 0.1381517378838495 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99975576e-01 -2.38088464e-03 6.57101778e-03 8.04586581e+00] [ 2.40730050e-03 9.99989042e-01 -4.01507863e-03 3.07630399e-01] [-6.56138633e-03 4.03079898e-03 9.99970350e-01 -1.20605098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38650248099995 meters 0.1347109935932206 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99960449e-01 -6.58015280e-03 5.98344126e-03 8.04684289e+00] [ 6.63153643e-03 9.99940954e-01 -8.60873914e-03 3.08572646e-01] [-5.92644115e-03 8.64807806e-03 9.99945043e-01 -1.20568918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44650248099995 meters 0.1321458422002066 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99962740e-01 -6.31068453e-03 5.89022492e-03 8.04695344e+00] [ 6.35729997e-03 9.99948355e-01 -7.92914950e-03 3.06629527e-01] [-5.83988236e-03 7.96629998e-03 9.99951216e-01 -1.20570248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50650248099996 meters 0.13231286853128085 Centerline is valid? [False, False] Translation: X:8.05, Y:0.30, Z:-1.21 [[ 9.99963999e-01 -6.12628254e-03 5.87099151e-03 8.04666184e+00] [ 6.17133047e-03 9.99951420e-01 -7.68581902e-03 3.04212231e-01] [-5.82362080e-03 7.72177415e-03 9.99953229e-01 -1.20501874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56650248099996 meters 0.1410445252321907 Centerline is valid? [False, False] Translation: X:8.05, Y:0.30, Z:-1.20 [[ 9.99968514e-01 -5.83619478e-03 5.37670528e-03 8.04756589e+00] [ 5.87923082e-03 9.99950528e-01 -8.02343643e-03 3.04524638e-01] [-5.32961295e-03 8.05479470e-03 9.99953357e-01 -1.20472564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62650248099996 meters 0.14620320780998008 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99976080e-01 -4.61493601e-03 5.15180479e-03 8.04878633e+00] [ 4.65638396e-03 9.99956656e-01 -8.06253360e-03 3.10365007e-01] [-5.11437341e-03 8.08632953e-03 9.99954226e-01 -1.20566286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68650248099996 meters 0.1472321423425135 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99979241e-01 -4.43951505e-03 4.66987870e-03 8.04990660e+00] [ 4.47739889e-03 9.99956899e-01 -8.13345277e-03 3.11619505e-01] [-4.63356884e-03 8.15419284e-03 9.99956019e-01 -1.20597966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74650248099996 meters 0.14905239117157673 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99980235e-01 -4.32205127e-03 4.56618801e-03 8.05084205e+00] [ 4.35925706e-03 9.99957125e-01 -8.16982062e-03 3.13041989e-01] [-4.53068185e-03 8.18956433e-03 9.99956201e-01 -1.20710183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80650248099997 meters 0.1464064368056386 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99978765e-01 -4.42569188e-03 4.78360940e-03 8.05056443e+00] [ 4.46443717e-03 9.99957070e-01 -8.11949251e-03 3.13364593e-01] [-4.74746966e-03 8.14067621e-03 9.99955594e-01 -1.20732014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86650248099997 meters 0.14579325753974648 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99976890e-01 -4.18024173e-03 5.36152732e-03 8.04991408e+00] [ 4.21685191e-03 9.99967748e-01 -6.83528069e-03 3.09831357e-01] [-5.33278127e-03 6.85773149e-03 9.99962266e-01 -1.20807086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92650248099997 meters 0.14193916462803324 Centerline is valid? [False, False] Translation: X:8.05, Y:0.31, Z:-1.21 [[ 9.99950368e-01 -8.41977736e-03 5.32615285e-03 8.04948857e+00] [ 8.47685023e-03 9.99905905e-01 -1.07853464e-02 3.08367640e-01] [-5.23484147e-03 1.08299601e-02 9.99927652e-01 -1.20725602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98650248099997 meters 0.14028926133465053 Centerline is valid? [False, False] Translation: X:8.05, Y:0.30, Z:-1.21 [[ 9.99952836e-01 -7.72681890e-03 5.88411025e-03 8.04935349e+00] [ 7.78211120e-03 9.99925229e-01 -9.43269167e-03 3.03416359e-01] [-5.81078558e-03 9.47803759e-03 9.99938199e-01 -1.20854663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04650248099998 meters 0.14421797920177998 Centerline is valid? [False, False] Translation: X:8.05, Y:0.30, Z:-1.21 [[ 9.99956213e-01 -7.29526520e-03 5.86097587e-03 8.04965409e+00] [ 7.34629560e-03 9.99934881e-01 -8.73298079e-03 3.01443405e-01] [-5.79688480e-03 8.77565486e-03 9.99944690e-01 -1.20897916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4070.86 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%| | 0/6936 [00:00