+ python -m lidar_slam --no-model /working/f0c0db95-220b-4aae-bb3b-2fb615241d97 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/f0c0db95-220b-4aae-bb3b-2fb615241d97 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 0.011966746 Adjusted end_distance from 9.223372036854776e+18 to 55.363646746 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.011966746 meters 0.25008710948533336 Centerline is valid? [0, False] SLAMing on 0.071966746 meters 0.2510919155788376 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999995e-01 -2.68684933e-05 -9.26529192e-05 1.04373684e-04] [ 2.68624759e-05 9.99999998e-01 -6.49466856e-05 -1.60471714e-04] [ 9.26546640e-05 6.49441964e-05 9.99999994e-01 3.39861657e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.131966746 meters 0.25183132459405805 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999979e-01 -1.88510831e-04 -8.02867395e-05 3.01738072e-04] [ 1.88451595e-04 9.99999711e-01 -7.37177022e-04 4.00368597e-03] [ 8.04256822e-05 7.37161877e-04 9.99999725e-01 -1.31535869e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.191966746 meters 0.2528949701947116 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99999969e-01 -2.48959225e-04 -8.81275493e-06 -6.50762499e-05] [ 2.48950327e-04 9.99999473e-01 -9.95733918e-04 5.55921101e-03] [ 9.06064744e-06 9.95731693e-04 9.99999504e-01 7.20880562e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.251966746 meters 0.25015948828353335 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.00, Z:-0.00 [[ 9.99998621e-01 -5.67354181e-04 -1.56055117e-03 -4.33910555e-02] [ 5.68099262e-04 9.99999725e-01 4.77045880e-04 1.36492678e-03] [ 1.56028009e-03 -4.77931770e-04 9.99998669e-01 -3.84776979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31196674599999996 meters 0.25138887569784263 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.00 [[ 9.99998123e-01 -6.16679725e-04 -1.83688899e-03 -4.24008527e-02] [ 6.18057751e-04 9.99999528e-01 7.49722487e-04 -5.37358253e-04] [ 1.83642578e-03 -7.50856383e-04 9.99998032e-01 -4.35348064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.371966746 meters 0.25130026066677785 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.01 [[ 0.9999858 -0.00493599 -0.00201012 -0.04134246] [ 0.00492955 0.99998274 -0.0031957 -0.00306604] [ 0.00202586 0.00318575 0.99999287 -0.00526413] [ 0. 0. 0. 1. ]] SLAMing on 0.43196674599999996 meters 0.2517259769757844 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 0.99998475 -0.00501401 -0.00231513 -0.04016468] [ 0.00500743 0.99998343 -0.00283971 -0.006011 ] [ 0.00232933 0.00282808 0.99999329 -0.00568085] [ 0. 0. 0. 1. ]] SLAMing on 0.491966746 meters 0.2521715039399143 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.00 [[ 0.99999669 -0.00172146 -0.00191167 -0.04243378] [ 0.00172393 0.99999768 0.0012911 -0.01060483] [ 0.00190945 -0.00129439 0.99999734 -0.00369736] [ 0. 0. 0. 1. ]] SLAMing on 0.5519667460000001 meters 0.2510690300495772 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.00 [[ 0.99998013 -0.00610161 -0.00158486 -0.04371019] [ 0.0060976 0.99997822 -0.00252382 -0.01366933] [ 0.00160022 0.00251411 0.99999556 -0.00290435] [ 0. 0. 0. 1. ]] SLAMing on 0.611966746 meters 0.250839777703149 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 0.9999664 -0.00774541 -0.00268367 -0.03667473] [ 0.00773432 0.9999616 -0.00411969 -0.01232722] [ 0.00271548 0.0040988 0.99998791 -0.00892795] [ 0. 0. 0. 1. ]] SLAMing on 0.671966746 meters 0.2518351024936322 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.00 [[ 0.99997016 -0.00759652 -0.00140454 -0.04300403] [ 0.00759186 0.99996577 -0.00329024 -0.01651938] [ 0.00142948 0.00327948 0.9999936 -0.00439528] [ 0. 0. 0. 1. ]] SLAMing on 0.731966746 meters 0.2521083184580891 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 0.99997016 -0.00757103 -0.0015363 -0.04218658] [ 0.00756617 0.99996643 -0.00314653 -0.0173571 ] [ 0.00156007 0.00313481 0.99999387 -0.00522978] [ 0. 0. 0. 1. ]] SLAMing on 0.791966746 meters 0.2512351712795926 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.01, Z:-0.00 [[ 9.99988474e-01 -4.76258397e-03 -6.07790155e-04 -4.83698382e-02] [ 4.76231112e-03 9.99988559e-01 -4.49582496e-04 -1.48534624e-02] [ 6.09924376e-04 4.46682829e-04 9.99999714e-01 -3.27081315e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.851966746 meters 0.25152034762132075 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99993363e-01 -3.29690847e-03 -1.55083004e-03 -4.23170224e-02] [ 3.29834318e-03 9.99994134e-01 9.23478483e-04 -1.60503788e-02] [ 1.54777632e-03 -9.28587524e-04 9.99998371e-01 -5.11974169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9119667459999999 meters 0.2572137475253394 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.00 [[ 9.99993505e-01 -3.28405725e-03 -1.48514353e-03 -4.25823613e-02] [ 3.28523744e-03 9.99994289e-01 7.92927093e-04 -1.50079299e-02] [ 1.48253103e-03 -7.97800992e-04 9.99998583e-01 -4.97959842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.971966746 meters 0.25976019624634944 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:-0.00 [[ 0.99998669 0.00287419 -0.00428415 -0.06831409] [-0.00288405 0.9999932 -0.00229662 -0.01671185] [ 0.00427752 0.00230895 0.99998819 -0.00189327] [ 0. 0. 0. 1. ]] SLAMing on 1.031966746 meters 0.25759661327795197 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.01, Z:-0.00 [[ 0.99998691 0.00287895 -0.00423045 -0.0680983 ] [-0.00288976 0.99999257 -0.00255317 -0.01466764] [ 0.00422306 0.00256536 0.99998779 -0.00241786] [ 0. 0. 0. 1. ]] SLAMing on 1.091966746 meters 0.25383319056356063 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.01, Z:-0.00 [[ 9.99988317e-01 2.99317644e-03 -3.79557233e-03 -7.03475959e-02] [-3.00402125e-03 9.99991413e-01 -2.85475096e-03 -1.18879718e-02] [ 3.78699497e-03 2.86611959e-03 9.99988722e-01 -3.01953043e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1519667459999998 meters 0.2549050146854451 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 9.99994085e-01 -3.41478902e-03 -4.10389629e-04 -4.35158194e-02] [ 3.41472443e-03 9.99994157e-01 -1.57988973e-04 -1.40348145e-02] [ 4.10926730e-04 1.56586671e-04 9.99999903e-01 -5.51390529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2119667459999999 meters 0.25254924316377886 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.01, Z:-0.00 [[ 9.99968035e-01 6.63432082e-03 -4.46251828e-03 -6.83023872e-02] [-6.63228131e-03 9.99977895e-01 4.71675060e-04 -1.21200761e-02] [ 4.46554888e-03 -4.42063307e-04 9.99989932e-01 -1.52483498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.271966746 meters 0.2554998975780951 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.01, Z:0.00 [[ 9.99969217e-01 6.68016894e-03 -4.11596343e-03 -7.02856478e-02] [-6.67816175e-03 9.99977575e-01 5.01212190e-04 -1.23979035e-02] [ 4.11921931e-03 -4.73709691e-04 9.99991404e-01 3.92410663e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3319667459999998 meters 0.25280814734157336 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:-0.00 [[ 0.99995161 0.00293113 -0.00939067 -0.08666927] [-0.00286586 0.9999717 0.00695645 -0.01031594] [ 0.00941079 -0.0069292 0.99993171 -0.00177532] [ 0. 0. 0. 1. ]] SLAMing on 1.3919667459999998 meters 0.2565615303503475 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:-0.01 [[ 0.99997726 0.00414525 -0.00531968 -0.06246614] [-0.00415712 0.99998889 -0.00222128 -0.008972 ] [ 0.00531042 0.00224335 0.99998338 -0.00586163] [ 0. 0. 0. 1. ]] SLAMing on 1.4519667459999999 meters 0.2573555784334705 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:-0.01 [[ 0.999978 0.00422064 -0.00511669 -0.06342809] [-0.00423074 0.99998912 -0.00196601 -0.01081134] [ 0.00510833 0.00198761 0.99998498 -0.00513058] [ 0. 0. 0. 1. ]] SLAMing on 1.511966746 meters 0.25573108222239077 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:-0.01 [[ 0.9999782 0.00417835 -0.00511342 -0.06327644] [-0.00418981 0.99998873 -0.00223359 -0.00895866] [ 0.00510403 0.00225497 0.99998443 -0.00556018] [ 0. 0. 0. 1. ]] SLAMing on 1.571966746 meters 0.2558890988250269 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 9.99998686e-01 -2.75820771e-04 -1.59725118e-03 -4.12020075e-02] [ 2.80178782e-04 9.99996237e-01 2.72886370e-03 -5.58857632e-03] [ 1.59649249e-03 -2.72930763e-03 9.99995001e-01 -6.27619782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6319667459999998 meters 0.2533522903004808 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:-0.01 [[ 0.99997579 0.00259566 -0.00645579 -0.06212325] [-0.00261584 0.99999171 -0.00311946 -0.00890194] [ 0.00644764 0.00313628 0.9999743 -0.00528063] [ 0. 0. 0. 1. ]] SLAMing on 1.6919667459999999 meters 0.2556109488491261 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 0.99998564 -0.00525245 -0.00106754 -0.03980022] [ 0.00525082 0.99998505 -0.00152508 -0.01490644] [ 0.00107553 0.00151945 0.99999827 -0.00784697] [ 0. 0. 0. 1. ]] SLAMing on 1.751966746 meters 0.2561083411959595 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 9.99985768e-01 -5.27707144e-03 -7.84509761e-04 -4.10422732e-02] [ 5.27561423e-03 9.99984376e-01 -1.84808379e-03 -1.15881778e-02] [ 7.94249974e-04 1.84391872e-03 9.99997985e-01 -7.30728734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8119667459999997 meters 0.6000216581786857 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:-0.01 [[ 0.99997457 -0.00646712 -0.00300438 -0.08079618] [ 0.00646329 0.99997829 -0.00128182 -0.01380591] [ 0.00301261 0.00126237 0.99999467 -0.01351352] [ 0. 0. 0. 1. ]] SLAMing on 1.8719667459999998 meters 0.2546812122177894 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:-0.01 [[ 0.99998032 -0.00526757 0.00340757 -0.06384472] [ 0.00530093 0.99993739 -0.00985434 -0.01362155] [-0.00335545 0.00987221 0.99994564 -0.01430669] [ 0. 0. 0. 1. ]] SLAMing on 1.9319667459999998 meters 0.2544427638112028 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.02 [[ 0.99998149 -0.00541964 0.00276579 -0.06092031] [ 0.00544568 0.99994008 -0.00949656 -0.01682145] [-0.00271416 0.00951145 0.99995108 -0.01659203] [ 0. 0. 0. 1. ]] SLAMing on 1.991966746 meters 0.258503845187028 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.01 [[ 0.99999499 -0.00101533 0.00299665 -0.06254606] [ 0.00102944 0.99998838 -0.00471058 -0.01991713] [-0.00299183 0.00471364 0.99998442 -0.01499707] [ 0. 0. 0. 1. ]] SLAMing on 2.051966746 meters 0.6259215446785292 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.01 [[ 9.99995580e-01 -9.62760833e-04 2.81299513e-03 -6.19820290e-02] [ 9.75873217e-04 9.99988649e-01 -4.66371179e-03 -2.00208575e-02] [-2.80847316e-03 4.66643630e-03 9.99985168e-01 -1.49654506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1119667460000002 meters 0.2549783315555011 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.01 [[ 9.99995754e-01 -8.48723562e-04 2.78762765e-03 -6.20398192e-02] [ 8.60818881e-04 9.99990209e-01 -4.34059918e-03 -2.20446604e-02] [-2.78391639e-03 4.34298039e-03 9.99986694e-01 -1.47746517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1719667460000003 meters 0.2555571863775439 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.02 [[ 9.99995782e-01 -7.91118499e-04 2.79464123e-03 -6.17602690e-02] [ 8.02853861e-04 9.99990855e-01 -4.20061448e-03 -2.26217949e-02] [-2.79129249e-03 4.20284045e-03 9.99987272e-01 -1.54502947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.231966746 meters 0.25749108963597733 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:-0.01 [[ 0.99998212 0.00217498 0.00557034 -0.02422467] [-0.00216059 0.99999432 -0.00258815 -0.02187653] [-0.00557593 0.00257607 0.99998114 -0.0077282 ] [ 0. 0. 0. 1. ]] SLAMing on 2.291966746 meters 0.25616081354244274 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:-0.01 [[ 0.99998347 0.00223537 0.00529771 -0.02301911] [-0.00222444 0.99999539 -0.00206847 -0.02586274] [-0.00530231 0.00205665 0.99998383 -0.00852703] [ 0. 0. 0. 1. ]] SLAMing on 2.351966746 meters 0.25604649860402356 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.01 [[ 0.99999456 -0.0029744 0.0014279 -0.04585986] [ 0.00296973 0.99999028 0.00325782 -0.02464083] [-0.00143758 -0.00325356 0.99999367 -0.00546295] [ 0. 0. 0. 1. ]] SLAMing on 2.411966746 meters 0.2561812533422295 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 0.99999475 -0.00281801 0.00160153 -0.04728715] [ 0.00281234 0.9999898 0.00353316 -0.02596514] [-0.00161147 -0.00352864 0.99999248 -0.00377822] [ 0. 0. 0. 1. ]] SLAMing on 2.471966746 meters 0.25525539941622316 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.00 [[ 0.9999946 -0.00294821 0.00144954 -0.04639689] [ 0.00294342 0.99999025 0.00329062 -0.02493523] [-0.00145923 -0.00328633 0.99999354 -0.00450973] [ 0. 0. 0. 1. ]] SLAMing on 2.531966746 meters 0.25696089166721386 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.01 [[ 0.99999427 -0.00306648 0.00143179 -0.04603501] [ 0.00306211 0.99999066 0.00304979 -0.023605 ] [-0.00144113 -0.00304539 0.99999432 -0.00508977] [ 0. 0. 0. 1. ]] SLAMing on 2.591966746 meters 0.2549410173487965 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 0.99999465 -0.00295962 0.0013937 -0.04604757] [ 0.00295484 0.99998978 0.0034226 -0.02589326] [-0.00140381 -0.00341846 0.99999317 -0.00494504] [ 0. 0. 0. 1. ]] SLAMing on 2.651966746 meters 0.2550026467357387 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.01 [[ 0.99999444 -0.0030717 0.00129783 -0.04503251] [ 0.00306744 0.99998995 0.00326987 -0.02529652] [-0.00130786 -0.00326587 0.99999381 -0.00627632] [ 0. 0. 0. 1. ]] SLAMing on 2.711966746 meters 0.25396937032998235 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.00 [[ 0.99998843 -0.0043059 0.00214687 -0.05093159] [ 0.00430126 0.99998842 0.00215797 -0.02492876] [-0.00215614 -0.00214871 0.99999537 -0.00116849] [ 0. 0. 0. 1. ]] SLAMing on 2.771966746 meters 0.26044836678003586 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.00 [[ 0.99998826 -0.00438484 0.0020647 -0.04983546] [ 0.00438102 0.99998868 0.00185508 -0.02257658] [-0.00207281 -0.00184602 0.99999615 -0.00274986] [ 0. 0. 0. 1. ]] SLAMing on 2.831966746 meters 0.2556450315944319 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.00 [[ 0.99998866 -0.00434052 0.00196107 -0.04953239] [ 0.0043364 0.99998839 0.00210177 -0.02411803] [-0.00197017 -0.00209324 0.99999587 -0.00271768] [ 0. 0. 0. 1. ]] SLAMing on 2.891966746 meters 0.25454841702938896 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:-0.00 [[ 9.99998261e-01 1.31615399e-03 -1.32139910e-03 -7.41862926e-02] [-1.31823017e-03 9.99997896e-01 -1.57155588e-03 -2.45943838e-02] [ 1.31932791e-03 1.57329505e-03 9.99997892e-01 -2.07991882e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.951966746 meters 0.2545474000945324 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 0.99999816 0.00144762 -0.00125568 -0.07506711] [-0.00144904 0.99999831 -0.00112809 -0.0278497 ] [ 0.00125405 0.00112991 0.99999858 0.00101941] [ 0. 0. 0. 1. ]] SLAMing on 3.011966746 meters 0.2560420513178397 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 0.99999812 0.00146916 -0.00126213 -0.07553308] [-0.00147057 0.9999983 -0.00111462 -0.02785435] [ 0.00126049 0.00111648 0.99999858 0.00191489] [ 0. 0. 0. 1. ]] SLAMing on 3.071966746 meters 0.25296595670779104 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.01 [[ 9.99996690e-01 2.51678385e-03 -5.34243615e-04 -8.02988508e-02] [-2.51696769e-03 9.99996773e-01 -3.43713559e-04 -2.50010372e-02] [ 5.33376839e-04 3.45057096e-04 9.99999798e-01 5.36724437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1319667460000002 meters 0.2530518935432389 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 0.99999814 0.00147389 -0.00124529 -0.07526817] [-0.00147535 0.99999822 -0.00117371 -0.02650084] [ 0.00124356 0.00117554 0.99999854 0.00141027] [ 0. 0. 0. 1. ]] SLAMing on 3.191966746 meters 0.25428507694017854 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 9.99997734e-01 1.58296730e-03 -1.42370126e-03 -7.43656671e-02] [-1.58409602e-03 9.99998432e-01 -7.92031597e-04 -2.91875451e-02] [ 1.42244527e-03 7.94285082e-04 9.99998673e-01 7.79626930e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.251966746 meters 0.2540984194309573 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 9.99998143e-01 1.50021874e-03 -1.20978846e-03 -7.49074290e-02] [-1.50181342e-03 9.99998003e-01 -1.31831944e-03 -2.51577026e-02] [ 1.20780827e-03 1.32013387e-03 9.99998399e-01 5.86342865e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.311966746 meters 0.25496739473900776 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.00 [[ 9.99998151e-01 1.47062732e-03 -1.23941852e-03 -7.46702381e-02] [-1.47232013e-03 9.99997983e-01 -1.36601266e-03 -2.47028411e-02] [ 1.23740712e-03 1.36783495e-03 9.99998299e-01 2.10073101e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.371966746 meters 0.25184998729359737 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 9.99998025e-01 1.60150468e-03 -1.17723234e-03 -7.49025064e-02] [-1.60267077e-03 9.99998225e-01 -9.90252525e-04 -2.67959582e-02] [ 1.17564435e-03 9.92137285e-04 9.99998817e-01 1.76892862e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.431966746 meters 0.2526983680967179 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99998078e-01 1.61360465e-03 -1.11336885e-03 -7.55274239e-02] [-1.61470720e-03 9.99998206e-01 -9.90094939e-04 -2.66992340e-02] [ 1.11176923e-03 9.91890801e-04 9.99998890e-01 9.52780422e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.491966746 meters 0.25123005605558707 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99997789e-01 1.72603620e-03 -1.20128781e-03 -7.53862503e-02] [-1.72689845e-03 9.99998252e-01 -7.17112854e-04 -2.82508671e-02] [ 1.20004794e-03 7.19185770e-04 9.99999021e-01 1.06690779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.551966746 meters 0.2505589204971463 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99997999e-01 1.75486416e-03 -9.60822846e-04 -7.68144140e-02] [-1.75538984e-03 9.99998310e-01 -5.46540077e-04 -2.92510058e-02] [ 9.59862119e-04 5.48225602e-04 9.99999389e-01 2.33056202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.611966746 meters 0.2517468854052282 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99997827e-01 1.83342516e-03 -9.92427400e-04 -7.65485804e-02] [-1.83364476e-03 9.99998295e-01 -2.20414730e-04 -3.15225494e-02] [ 9.92021594e-04 2.22234010e-04 9.99999483e-01 2.12221204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.671966746 meters 0.25388887798190574 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-0.01 [[ 9.99997279e-01 -2.16975311e-03 8.57139423e-04 -4.43516696e-02] [ 2.16550666e-03 9.99985530e-01 4.92446263e-03 -3.20759493e-02] [-8.67811888e-04 -4.92259308e-03 9.99987507e-01 -6.32586277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.731966746 meters 0.25497917787115587 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 0.99999248 -0.00352977 0.00160643 -0.04921653] [ 0.00352371 0.99998672 0.00376092 -0.03232905] [-0.00161968 -0.00375523 0.99999164 -0.00243504] [ 0. 0. 0. 1. ]] SLAMing on 3.791966746 meters 0.2531630579488403 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 0.99999117 0.00340982 -0.00245771 -0.07416384] [-0.00340643 0.99999324 0.00138378 -0.02961666] [ 0.00246241 -0.00137539 0.99999602 0.0015243 ] [ 0. 0. 0. 1. ]] SLAMing on 3.851966746 meters 0.2544370219070273 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 0.9999912 0.00346591 -0.00236496 -0.0748218 ] [-0.0034623 0.99999284 0.00152922 -0.03027025] [ 0.00237024 -0.00152102 0.99999603 0.00209915] [ 0. 0. 0. 1. ]] SLAMing on 3.911966746 meters 0.2529390242908287 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 0.99999129 0.00337329 -0.00245802 -0.07420015] [-0.00336986 0.99999334 0.00139804 -0.02982132] [ 0.00246272 -0.00138975 0.999996 0.00156254] [ 0. 0. 0. 1. ]] SLAMing on 3.971966746 meters 0.25112303568913164 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 0.99999068 0.00350061 -0.00252669 -0.07431978] [-0.00349613 0.99999231 0.00177633 -0.03250444] [ 0.00253288 -0.00176748 0.99999523 0.00217828] [ 0. 0. 0. 1. ]] SLAMing on 4.031966745999999 meters 0.25446302600852677 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 9.99990758e-01 3.39561611e-03 -2.63697364e-03 -7.32869841e-02] [-3.39113690e-03 9.99992803e-01 1.70123424e-03 -3.21227952e-02] [ 2.64273140e-03 -1.69227617e-03 9.99995076e-01 7.15818055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.091966746 meters 0.6260852392505902 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 0.99999085 0.00349613 -0.00246498 -0.07481564] [-0.00349182 0.99999237 0.00175078 -0.03185989] [ 0.00247109 -0.00174216 0.99999543 0.00256595] [ 0. 0. 0. 1. ]] SLAMing on 4.151966745999999 meters 0.25397906068392617 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 0.99999087 0.00346928 -0.00249458 -0.07476229] [-0.00346503 0.99999254 0.00170643 -0.03169446] [ 0.00250048 -0.00169777 0.99999543 0.00253582] [ 0. 0. 0. 1. ]] SLAMing on 4.211966746 meters 0.2539435246434875 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 0.99999033 0.00353662 -0.0026153 -0.07441099] [-0.00353112 0.99999155 0.00210543 -0.03417969] [ 0.00262272 -0.00209617 0.99999436 0.00246188] [ 0. 0. 0. 1. ]] SLAMing on 4.2719667459999995 meters 0.25639600650100985 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:-0.00 [[ 0.9999953 -0.0024827 0.00180079 -0.04813981] [ 0.00247397 0.99998524 0.0048365 -0.03671603] [-0.00181277 -0.00483202 0.99998668 -0.00318235] [ 0. 0. 0. 1. ]] SLAMing on 4.331966746 meters 0.25413448335074984 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99996623e-01 1.78024636e-03 -1.89331302e-03 -7.79993919e-02] [-1.78015126e-03 9.99998414e-01 5.19139101e-05 -3.14187013e-02] [ 1.89340243e-03 -4.85433513e-05 9.99998206e-01 4.79563244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.391966746 meters 0.2546840449382129 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99996489e-01 1.68944918e-03 -2.04167546e-03 -7.64601634e-02] [-1.69037463e-03 9.99998469e-01 -4.51642313e-04 -2.71509233e-02] [ 2.04090931e-03 4.55091924e-04 9.99997814e-01 2.86575183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.451966745999999 meters 0.25115825771725875 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.01 [[ 0.99999821 -0.00133276 -0.00134572 -0.08115627] [ 0.00132853 0.99999419 -0.00313988 -0.03237561] [ 0.0013499 0.00313809 0.99999417 0.00694071] [ 0. 0. 0. 1. ]] SLAMing on 4.511966746 meters 0.25480697113026707 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.02 [[ 9.99998783e-01 5.49058349e-04 1.46050230e-03 -4.48894391e-02] [-5.45394623e-04 9.99996707e-01 -2.50775510e-03 -3.46714632e-02] [-1.46187440e-03 2.50695549e-03 9.99995789e-01 1.59989934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.571966745999999 meters 0.25284550258242294 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.01 [[ 9.99999011e-01 1.12137865e-03 -8.48910994e-04 -8.34147822e-02] [-1.12189116e-03 9.99999189e-01 -6.03493743e-04 -3.30039112e-02] [ 8.48233560e-04 6.04445532e-04 9.99999458e-01 8.17512400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.631966746 meters 0.25270590592705844 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99998686e-01 -1.45374908e-04 -1.61468274e-03 -7.84939276e-02] [ 1.42705890e-04 9.99998624e-01 -1.65295997e-03 -3.39586277e-02] [ 1.61492081e-03 1.65272737e-03 9.99997330e-01 4.60677688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.691966745999999 meters 0.2523712464060087 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99998750e-01 -1.56581995e-04 -1.57327521e-03 -7.84822963e-02] [ 1.53595632e-04 9.99998187e-01 -1.89812379e-03 -3.14451640e-02] [ 1.57356957e-03 1.89787977e-03 9.99996961e-01 4.21122664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.751966746 meters 0.25485777639455154 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99998676e-01 -1.44872507e-05 -1.62713803e-03 -7.83701204e-02] [ 1.19768624e-05 9.99998810e-01 -1.54282355e-03 -3.36954707e-02] [ 1.62715845e-03 1.54280202e-03 9.99997486e-01 4.50634451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8119667459999995 meters 0.25672621773655807 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99998607e-01 5.80430310e-06 -1.66936050e-03 -7.79469889e-02] [-8.17382136e-06 9.99998993e-01 -1.41941343e-03 -3.45305953e-02] [ 1.66935058e-03 1.41942510e-03 9.99997599e-01 4.01549138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.871966745999999 meters 0.2522616495734204 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.00 [[ 9.99998676e-01 7.18470958e-05 -1.62548760e-03 -7.84026174e-02] [-7.41112142e-05 9.99999027e-01 -1.39286837e-03 -3.37972369e-02] [ 1.62538594e-03 1.39298699e-03 9.99997709e-01 4.38498815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.931966746 meters 0.2562695837271008 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99998648e-01 1.62465182e-04 -1.63625569e-03 -7.94681268e-02] [-1.64149667e-04 9.99999457e-01 -1.02939334e-03 -3.67396441e-02] [ 1.63608756e-03 1.02966054e-03 9.99998132e-01 6.62199241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.991966745999999 meters 0.2556021213270336 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99998339e-01 2.48349496e-04 -1.80569240e-03 -7.83575863e-02] [-2.49817982e-04 9.99999638e-01 -8.13073441e-04 -3.82028889e-02] [ 1.80548982e-03 8.13523185e-04 9.99998039e-01 5.38204604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.051966746 meters 0.25274302366873896 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.01 [[ 0.99998953 0.0043179 -0.00151521 -0.07927948] [-0.00431375 0.99998697 0.00273065 -0.03240268] [ 0.00152698 -0.00272408 0.99999512 0.00541066] [ 0. 0. 0. 1. ]] SLAMing on 5.111966745999999 meters 0.2550430637723614 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99998928e-01 2.82500417e-04 -1.43666101e-03 -8.02287639e-02] [-2.83466324e-04 9.99999734e-01 -6.72168732e-04 -3.80608373e-02] [ 1.43647074e-03 6.72575256e-04 9.99998742e-01 6.70400687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.171966746 meters 0.25359426635822474 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99998426e-01 2.65135967e-04 -1.75405622e-03 -7.87778171e-02] [-2.65792696e-04 9.99999895e-01 -3.74183544e-04 -4.03972737e-02] [ 1.75395682e-03 3.74649170e-04 9.99998392e-01 5.60232963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2319667459999994 meters 0.25265995966351124 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.00 [[ 0.99999178 0.00247403 -0.0032113 -0.12244701] [-0.00246416 0.99999224 0.00307313 -0.03852515] [ 0.00321888 -0.00306519 0.99999012 0.00203503] [ 0. 0. 0. 1. ]] SLAMing on 5.291966745999999 meters 0.25561061196881885 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99999319e-01 9.36581289e-04 -6.96113850e-04 -8.46393859e-02] [-9.36294192e-04 9.99999477e-01 4.12639940e-04 -4.08220244e-02] [ 6.96499956e-04 -4.11987892e-04 9.99999673e-01 1.00735324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3519667459999996 meters 0.2559138917205073 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99999185e-01 9.13711214e-04 -8.91955309e-04 -8.37943926e-02] [-9.13314411e-04 9.99999484e-01 4.45175246e-04 -4.15456224e-02] [ 8.92361610e-04 -4.44360248e-04 9.99999503e-01 9.62857216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.411966745999999 meters 0.25205585362767813 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99999088e-01 9.33211380e-04 -9.76431280e-04 -8.33131316e-02] [-9.32755908e-04 9.99999456e-01 4.66817280e-04 -4.14871615e-02] [ 9.76866388e-04 -4.65906082e-04 9.99999414e-01 9.09861399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.471966746 meters 0.256178178493632 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.01 [[ 9.99999517e-01 7.99039793e-04 -5.72996426e-04 -8.52322377e-02] [-7.98955020e-04 9.99999670e-01 1.48159672e-04 -3.91855944e-02] [ 5.73114622e-04 -1.47701802e-04 9.99999825e-01 1.06192292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.531966745999999 meters 0.2532179499852736 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:0.00 [[ 0.99998996 -0.00253514 -0.00369385 -0.12000331] [ 0.00252994 0.9999958 -0.0014121 -0.04612336] [ 0.00369742 0.00140274 0.99999218 0.00114345] [ 0. 0. 0. 1. ]] SLAMing on 5.591966746 meters 0.251029830502939 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.00 [[ 9.99990381e-01 -2.48966431e-03 -3.61114751e-03 -1.19889474e-01] [ 2.48340252e-03 9.99995407e-01 -1.73746570e-03 -4.27925464e-02] [ 3.61545663e-03 1.72848105e-03 9.99991970e-01 4.00369158e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.651966745999999 meters 0.2564665143734688 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99998853e-01 3.16680384e-05 -1.51449793e-03 -7.92198199e-02] [-3.28196425e-05 9.99999710e-01 -7.60367864e-04 -4.15854953e-02] [ 1.51447341e-03 7.60416697e-04 9.99998564e-01 6.20124560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.711966746 meters 0.25228717895359576 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 0.9999906 -0.00406057 -0.0015233 -0.07933513] [ 0.00405374 0.99998182 -0.00446291 -0.04477297] [ 0.00154139 0.00445669 0.99998888 0.00638779] [ 0. 0. 0. 1. ]] SLAMing on 5.7719667459999995 meters 0.25357217300112067 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.01 [[ 9.99998875e-01 1.32146230e-04 -1.49385830e-03 -7.95300677e-02] [-1.33000188e-04 9.99999828e-01 -5.71561196e-04 -4.21409646e-02] [ 1.49378252e-03 5.71759237e-04 9.99998721e-01 6.49014331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.831966745999999 meters 0.25717002128076427 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.00 [[ 9.99994440e-01 -2.19696934e-03 -2.50864738e-03 -1.24730473e-01] [ 2.19490347e-03 9.99997250e-01 -8.25956191e-04 -4.43562120e-02] [ 2.51045509e-03 8.20445360e-04 9.99996512e-01 4.11831249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.891966746 meters 0.25360468760701427 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:0.01 [[ 0.99997779 -0.00614162 -0.00258983 -0.1251761 ] [ 0.0061311 0.99997301 -0.00404876 -0.05146222] [ 0.00261463 0.00403279 0.99998845 0.00547559] [ 0. 0. 0. 1. ]] SLAMing on 5.951966745999999 meters 0.2549887237911455 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:-0.00 [[ 9.99993423e-01 8.27190369e-04 -3.53131946e-03 -1.18623017e-01] [-8.17502741e-04 9.99995901e-01 2.74390766e-03 -4.97190360e-02] [ 3.53357472e-03 -2.74100275e-03 9.99990000e-01 -2.23129991e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.011966746 meters 0.2556335839065561 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:-0.00 [[ 9.99994758e-01 7.22783044e-04 -3.15631694e-03 -1.19888840e-01] [-7.15222717e-04 9.99996874e-01 2.39577264e-03 -4.60421268e-02] [ 3.15803870e-03 -2.39350261e-03 9.99992149e-01 -1.84965484e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.071966745999999 meters 0.2535370158024954 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.00 [[ 9.99999858e-01 5.32959291e-04 -8.58885747e-06 -1.49963087e-01] [-5.32994383e-04 9.99988334e-01 -4.80089945e-03 -6.05147472e-02] [ 6.03007330e-06 4.80090334e-03 9.99988476e-01 3.04503486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.131966746 meters 0.254103461253527 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.00 [[ 9.99993768e-01 1.34602874e-03 3.26364878e-03 -1.26335124e-01] [-1.36212078e-03 9.99986903e-01 4.93349125e-03 -5.57346836e-02] [-3.25696541e-03 -4.93790599e-03 9.99982504e-01 6.88401145e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.191966745999999 meters 0.2604182973062173 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.00 [[ 9.99994263e-01 2.33532099e-04 3.37928190e-03 -1.76863433e-01] [-2.53060753e-04 9.99983266e-01 5.77966281e-03 -5.54580810e-02] [-3.37787561e-03 -5.78048481e-03 9.99977588e-01 2.23084660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.251966746 meters 0.2560054628270321 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.00 [[ 0.99998788 -0.00382792 0.00309597 -0.17583477] [ 0.00382104 0.99999023 0.0022237 -0.0605428 ] [-0.00310445 -0.00221184 0.99999274 0.00193191] [ 0. 0. 0. 1. ]] SLAMing on 6.3119667459999995 meters 0.2567704198954115 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:-0.00 [[ 0.99996883 0.00343554 0.0071083 -0.15238878] [-0.0034252 0.99999306 -0.00146665 -0.05732665] [-0.00711329 0.00144226 0.99997366 -0.00160097] [ 0. 0. 0. 1. ]] SLAMing on 6.371966745999999 meters 0.2533421495906704 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.05, Z:-0.00 [[ 0.99996865 0.00335028 0.00717412 -0.15200005] [-0.00333458 0.99999202 -0.0021987 -0.05019066] [-0.00718143 0.00217471 0.99997185 -0.00267582] [ 0. 0. 0. 1. ]] SLAMing on 6.431966746 meters 0.2553424227670046 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:-0.01 [[ 9.99980047e-01 4.73484593e-04 6.29937954e-03 -1.46657071e-01] [-4.44478035e-04 9.99989297e-01 -4.60527238e-03 -5.57851408e-02] [-6.30149264e-03 4.60238055e-03 9.99969554e-01 -6.71134420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.491966745999999 meters 0.25537506464581317 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:-0.01 [[ 9.99980006e-01 7.24805898e-04 6.28193788e-03 -1.47244678e-01] [-7.01589184e-04 9.99992919e-01 -3.69720468e-03 -6.25492945e-02] [-6.28457316e-03 3.69272341e-03 9.99973434e-01 -5.69259247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.551966746 meters 0.2572711385120434 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:-0.01 [[ 9.99968417e-01 4.72485598e-03 6.39070709e-03 -1.47270462e-01] [-4.72246366e-03 9.99988773e-01 -3.89380935e-04 -5.58351668e-02] [-6.39247511e-03 3.59188755e-04 9.99979503e-01 -6.16105486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.611966745999999 meters 0.2568033008759922 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:-0.01 [[ 9.99980226e-01 4.33499847e-04 6.27372140e-03 -1.46788106e-01] [-4.04140168e-04 9.99988966e-01 -4.68029813e-03 -5.58457229e-02] [-6.27568108e-03 4.67767012e-03 9.99969367e-01 -6.34798712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.671966746 meters 0.6188206816601026 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:0.00 [[ 0.99998933 -0.00362839 0.00286073 -0.17454365] [ 0.00362289 0.99999158 0.00192663 -0.05979207] [-0.0028677 -0.00191624 0.99999405 0.00191988] [ 0. 0. 0. 1. ]] SLAMing on 6.7319667459999994 meters 0.2545440610066633 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.00 [[ 9.99991956e-01 2.80485387e-03 -2.86729709e-03 -1.96929473e-01] [-2.80654616e-03 9.99995890e-01 -5.86350980e-04 -5.16560176e-02] [ 2.86564067e-03 5.94393464e-04 9.99995717e-01 4.81292682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.791966745999999 meters 0.6179227095063781 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.01 [[ 9.99991906e-01 2.63618379e-03 -3.03934242e-03 -1.96642346e-01] [-2.63710727e-03 9.99996478e-01 -2.99874462e-04 -5.48987186e-02] [ 3.03854119e-03 3.07887107e-04 9.99995336e-01 5.16595264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8519667459999996 meters 0.2549034328330376 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.01 [[ 9.99992018e-01 2.30555912e-03 -3.26304344e-03 -1.96203170e-01] [-2.30568918e-03 9.99997341e-01 -3.60976426e-05 -6.22674217e-02] [ 3.26295154e-03 4.36209185e-05 9.99994676e-01 5.59076406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.911966745999999 meters 0.25400172753313044 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.00 [[ 0.9999751 0.00631492 -0.0031509 -0.19507431] [-0.00630465 0.99997482 0.00325718 -0.05446677] [ 0.00317138 -0.00323723 0.99998973 0.00331815] [ 0. 0. 0. 1. ]] SLAMing on 6.971966746 meters 0.25550309350116535 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.00 [[ 9.99992432e-01 2.20187900e-03 -3.20750275e-03 -1.95313766e-01] [-2.20366054e-03 9.99997420e-01 -5.52000479e-04 -5.69397298e-02] [ 3.20627904e-03 5.59064548e-04 9.99994704e-01 3.84461562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.031966745999999 meters 0.2567170008609543 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.00 [[ 9.99992707e-01 2.15674987e-03 -3.15190577e-03 -1.95644167e-01] [-2.15867978e-03 9.99997485e-01 -6.09025376e-04 -5.67471199e-02] [ 3.15058432e-03 6.15824890e-04 9.99994847e-01 4.13394114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.091966746 meters 0.2550333047371193 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.00 [[ 9.99992527e-01 2.27880291e-03 -3.12307756e-03 -1.95990289e-01] [-2.27970793e-03 9.99997360e-01 -2.86255099e-04 -5.88495109e-02] [ 3.12241700e-03 2.93372665e-04 9.99995082e-01 4.59920808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.151966745999999 meters 0.25817254715099863 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.00 [[ 9.99993312e-01 2.11952637e-03 -2.98068477e-03 -1.96213068e-01] [-2.12193909e-03 9.99997423e-01 -8.06519874e-04 -5.50563451e-02] [ 2.97896765e-03 8.12839311e-04 9.99995233e-01 4.10183311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.211966745999999 meters 0.2548393088958306 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:-0.00 [[ 9.99988246e-01 -3.75924649e-03 3.06194582e-03 -1.73267704e-01] [ 3.75330401e-03 9.99991066e-01 1.94419494e-03 -6.41907214e-02] [-3.06922718e-03 -1.93267967e-03 9.99993422e-01 -4.48560196e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2719667459999995 meters 0.25288744307485844 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.01 [[ 9.99994929e-01 2.59061205e-03 -1.85202999e-03 -1.99923891e-01] [-2.59145504e-03 9.99996540e-01 -4.52916825e-04 -5.75816887e-02] [ 1.85085025e-03 4.57713981e-04 9.99998182e-01 5.70717372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.331966745999999 meters 0.2562728854291962 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:0.00 [[ 9.99990730e-01 -3.61324691e-03 2.34192340e-03 -1.73218081e-01] [ 3.60792700e-03 9.99990911e-01 2.27185724e-03 -6.06770888e-02] [-2.35011089e-03 -2.26338670e-03 9.99994677e-01 2.08969810e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.391966746 meters 0.2558052018118064 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:0.00 [[ 9.99991160e-01 -3.52244850e-03 2.29601211e-03 -1.72973929e-01] [ 3.51638420e-03 9.99990333e-01 2.63993680e-03 -6.36220108e-02] [-2.30528896e-03 -2.63183980e-03 9.99993880e-01 2.29511819e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.451966745999999 meters 0.2532901529899723 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.07, Z:0.00 [[ 9.99991862e-01 -3.34991304e-03 2.24825360e-03 -1.73039464e-01] [ 3.34318845e-03 9.99989947e-01 2.98815275e-03 -6.53363637e-02] [-2.25824105e-03 -2.98061209e-03 9.99993008e-01 5.98911585e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.511966746 meters 0.2578236591184556 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:0.00 [[ 9.99997051e-01 6.40130860e-04 2.34249218e-03 -1.73092492e-01] [-6.55455447e-04 9.99978353e-01 6.54709205e-03 -6.06535922e-02] [-2.33825048e-03 -6.54860814e-03 9.99975824e-01 1.98071127e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.571966745999999 meters 0.2565668344788161 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:-0.00 [[ 0.99999704 -0.00163021 0.0018085 -0.16805491] [ 0.00162232 0.9999892 0.00435585 -0.06123789] [-0.00181558 -0.00435291 0.99998888 -0.00459673] [ 0. 0. 0. 1. ]] SLAMing on 7.631966746 meters 0.25160364242556416 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.07, Z:-0.00 [[ 9.99999784e-01 -5.77964186e-04 -3.12824129e-04 -2.39876765e-01] [ 5.77807444e-04 9.99999708e-01 -5.00911880e-04 -7.13979013e-02] [ 3.13113546e-04 5.00731019e-04 9.99999826e-01 -1.57386265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.691966745999999 meters 0.2549979713170683 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:-0.00 [[ 9.99990044e-01 4.46217614e-03 -3.40785365e-05 -1.91881503e-01] [-4.46209527e-03 9.99987865e-01 2.08781244e-03 -6.68902993e-02] [ 4.33943098e-05 -2.08763959e-03 9.99997820e-01 -1.50659117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.751966745999999 meters 0.25295750767695113 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.06, Z:0.00 [[ 9.99995836e-01 -1.29294287e-03 -2.58002369e-03 -2.15207895e-01] [ 1.31093638e-03 9.99974747e-01 6.98470615e-03 -6.20576659e-02] [ 2.57092771e-03 -6.98805932e-03 9.99972278e-01 3.84517328e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8119667459999995 meters 0.2536611147236016 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:-0.00 [[ 9.99999142e-01 3.90110610e-04 1.25019126e-03 -1.93722093e-01] [-3.88049298e-04 9.99998566e-01 -1.64861601e-03 -6.61271294e-02] [-1.25083261e-03 1.64812946e-03 9.99997860e-01 -1.70137897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.871966745999999 meters 0.2532439313378874 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:-0.00 [[ 9.99999004e-01 4.27149156e-04 1.34547742e-03 -1.94314926e-01] [-4.24757551e-04 9.99998330e-01 -1.77729869e-03 -6.47668531e-02] [-1.34623435e-03 1.77672542e-03 9.99997515e-01 -1.21520428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.931966746 meters 0.25479120423488283 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:-0.00 [[ 9.99999220e-01 4.91546026e-04 1.14849247e-03 -1.93357467e-01] [-4.89866973e-04 9.99998812e-01 -1.46178640e-03 -6.67228639e-02] [-1.14920964e-03 1.46122265e-03 9.99998272e-01 -1.98751121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.991966745999999 meters 0.2552448698150114 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:-0.00 [[ 9.99999212e-01 4.46911039e-04 1.17318580e-03 -1.93374599e-01] [-4.44837783e-04 9.99998340e-01 -1.76686808e-03 -6.46357594e-02] [-1.17397349e-03 1.76634481e-03 9.99997751e-01 -1.90985525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.051966746 meters 0.2558419184760045 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.00 [[ 9.99996748e-01 1.45975817e-03 2.09109648e-03 -1.99329498e-01] [-1.45792835e-03 9.99998553e-01 -8.76307898e-04 -6.38264605e-02] [-2.09237265e-03 8.73256379e-04 9.99997430e-01 2.62318505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.111966746 meters 0.2537451932454781 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.00 [[ 0.99999473 -0.00262925 0.00190692 -0.19854231] [ 0.0026381 0.99998569 -0.00465456 -0.067103 ] [-0.00189466 0.00465956 0.99998735 0.00228379] [ 0. 0. 0. 1. ]] SLAMing on 8.171966746 meters 0.25260445885743954 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:-0.00 [[ 0.99999849 -0.00138276 0.00105147 -0.19322738] [ 0.00138584 0.99999475 -0.00293024 -0.07269204] [-0.00104741 0.00293169 0.99999515 -0.00210446] [ 0. 0. 0. 1. ]] SLAMing on 8.231966746 meters 0.2568586272529377 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.00 [[ 0.99999174 0.00223369 0.00339486 -0.15383159] [-0.00222999 0.99999692 -0.0010909 -0.07073211] [-0.00339729 0.00108332 0.99999364 0.00415943] [ 0. 0. 0. 1. ]] SLAMing on 8.291966746 meters 0.2584671915763441 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.01 [[ 0.999991 0.00225444 0.00359338 -0.15510674] [-0.00225027 0.99999679 -0.00116377 -0.06983906] [-0.003596 0.00115568 0.99999287 0.00522617] [ 0. 0. 0. 1. ]] SLAMing on 8.351966746 meters 0.25083296007290434 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.00 [[ 0.99998707 -0.00476932 0.00176405 -0.19696559] [ 0.00477984 0.99997051 -0.00601084 -0.07660033] [-0.00173533 0.0060192 0.99998038 0.001214 ] [ 0. 0. 0. 1. ]] SLAMing on 8.411966746000001 meters 0.25618469323224274 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.00 [[ 9.99998286e-01 -5.78249746e-04 1.75894142e-03 -1.96840153e-01] [ 5.81707315e-04 9.99997899e-01 -1.96583412e-03 -7.50143222e-02] [-1.75780098e-03 1.96685394e-03 9.99996521e-01 8.46417027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.471966746 meters 0.2546154901544872 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:-0.00 [[ 9.99998210e-01 -6.06707410e-04 1.79204771e-03 -1.96067477e-01] [ 6.10246616e-04 9.99997863e-01 -1.97506454e-03 -7.45743975e-02] [-1.79084559e-03 1.97615460e-03 9.99996444e-01 -7.53460127e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.531966746 meters 0.25579050009540244 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.00 [[ 9.99998118e-01 -4.73592307e-04 1.88138715e-03 -1.97142200e-01] [ 4.76753599e-04 9.99998475e-01 -1.68020544e-03 -7.58149659e-02] [-1.88058855e-03 1.68109924e-03 9.99996819e-01 6.35728814e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.591966746 meters 0.251953270305451 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.00 [[ 9.99998150e-01 -4.55955036e-04 1.86894273e-03 -1.96852698e-01] [ 4.59150110e-04 9.99998433e-01 -1.70948984e-03 -7.52777595e-02] [-1.86816035e-03 1.71034480e-03 9.99996792e-01 6.95072198e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.651966746000001 meters 0.25465515989049897 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.00 [[ 9.99998389e-01 -2.73627143e-04 1.77399250e-03 -1.96700197e-01] [ 2.75608345e-04 9.99999339e-01 -1.11665583e-03 -7.86338617e-02] [-1.77368578e-03 1.11714296e-03 9.99997803e-01 2.27095771e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.711966746 meters 0.25650249868641156 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.08, Z:0.00 [[ 9.99992804e-01 2.82350100e-04 3.78302620e-03 -1.55226952e-01] [-2.74963071e-04 9.99998055e-01 -1.95305507e-03 -8.27015687e-02] [-3.78357028e-03 1.95200082e-03 9.99990937e-01 4.92191262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.771966746 meters 0.25784406057445847 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.00 [[ 9.99993694e-01 3.32218561e-04 3.53567738e-03 -1.54483499e-01] [-3.25701963e-04 9.99998248e-01 -1.84351371e-03 -8.33676756e-02] [-3.53628363e-03 1.84235051e-03 9.99992050e-01 4.85998210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.831966746 meters 0.25749688814336635 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.08, Z:0.01 [[ 9.99992812e-01 3.81441985e-04 3.77220113e-03 -1.55703854e-01] [-3.72969578e-04 9.99997407e-01 -2.24645984e-03 -7.90366610e-02] [-3.77304824e-03 2.24503678e-03 9.99990362e-01 5.55218749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.891966746 meters 0.2555853894567129 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.00 [[ 9.99994447e-01 3.84969792e-04 3.31023409e-03 -1.53975913e-01] [-3.80137083e-04 9.99998861e-01 -1.46043503e-03 -8.55060985e-02] [-3.31079254e-03 1.45916858e-03 9.99993455e-01 4.85066643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.951966746 meters 0.26350931328105975 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.01 [[ 9.99994324e-01 5.06721273e-04 3.33097635e-03 -1.54204171e-01] [-5.02638139e-04 9.99999121e-01 -1.22652975e-03 -8.66941186e-02] [-3.33159493e-03 1.22484851e-03 9.99993700e-01 5.21585534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.011966746 meters 0.2565971912158166 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.00 [[ 9.99994568e-01 5.28420449e-04 3.25327190e-03 -1.53453188e-01] [-5.24623983e-04 9.99999181e-01 -1.16771147e-03 -8.70508576e-02] [-3.25388628e-03 1.16599838e-03 9.99994026e-01 4.30830431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.071966746000001 meters 0.6444982912716257 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.00 [[ 9.99997979e-01 7.73414337e-04 1.85590107e-03 -1.96989482e-01] [-7.75240226e-04 9.99999216e-01 9.83311392e-04 -8.55901095e-02] [-1.85513911e-03 -9.84748173e-04 9.99997794e-01 1.18013647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.131966746 meters 0.2559211598549652 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.00 [[ 9.99997523e-01 -8.25516485e-04 2.06723338e-03 -1.47966090e-01] [ 8.29027444e-04 9.99998215e-01 -1.69810492e-03 -9.24531162e-02] [-2.06582788e-03 1.69981451e-03 9.99996421e-01 4.13069929e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.191966746 meters 0.2573518368154808 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.00 [[ 9.99997277e-01 -8.25759235e-04 2.18250345e-03 -1.48209354e-01] [ 8.30085196e-04 9.99997691e-01 -1.98194743e-03 -9.00213598e-02] [-2.18086180e-03 1.98375370e-03 9.99995654e-01 8.62322719e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.251966746 meters 0.25561678046659675 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.00 [[ 9.99997136e-01 -7.91762156e-04 2.25862578e-03 -1.48945926e-01] [ 7.96296317e-04 9.99997668e-01 -2.00729424e-03 -8.95568120e-02] [-2.25703122e-03 2.00908702e-03 9.99995435e-01 9.21151421e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.311966746 meters 0.733519267330307 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.00 [[ 9.99997779e-01 -5.68651590e-04 2.02937423e-03 -1.48050027e-01] [ 5.71528677e-04 9.99998832e-01 -1.41742266e-03 -9.32762221e-02] [-2.02856584e-03 1.41857935e-03 9.99996936e-01 6.65330798e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.371966746 meters 0.25660640535237744 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.00 [[ 9.99997152e-01 -5.81815329e-04 2.31481364e-03 -1.48908718e-01] [ 5.85896854e-04 9.99998274e-01 -1.76293248e-03 -8.95203382e-02] [-2.31378394e-03 1.76428370e-03 9.99995767e-01 3.95336594e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.431966746 meters 0.25639399490388687 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:0.00 [[ 9.99997370e-01 -4.71497053e-04 2.24463363e-03 -1.48730699e-01] [ 4.74516270e-04 9.99998983e-01 -1.34473948e-03 -9.18780457e-02] [-2.24399731e-03 1.34580105e-03 9.99996577e-01 4.62926326e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.491966746000001 meters 0.2565595905025421 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.10, Z:0.01 [[ 9.99988072e-01 4.78958043e-03 -9.56743224e-04 -1.75949714e-01] [-4.79407194e-03 9.99977233e-01 -4.74879669e-03 -9.63163711e-02] [ 9.33976698e-04 4.75332674e-03 9.99988267e-01 6.05916619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.551966746 meters 0.25628763925177567 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.00 [[ 9.99996770e-01 -8.96579515e-04 2.37834371e-03 -1.50573480e-01] [ 8.99521552e-04 9.99998831e-01 -1.23622977e-03 -9.71280539e-02] [-2.37723255e-03 1.23836514e-03 9.99996408e-01 2.33036308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.611966746 meters 0.2550585598741323 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.09, Z:0.01 [[ 0.99998391 0.004512 -0.00343882 -0.17336093] [-0.00452645 0.99998091 -0.00420612 -0.09459972] [ 0.00341977 0.00422161 0.99998524 0.00620487] [ 0. 0. 0. 1. ]] SLAMing on 9.671966746 meters 0.25371539017544736 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:0.01 [[ 0.99998332 0.00453505 -0.00357601 -0.17260897] [-0.00454844 0.99998264 -0.00374627 -0.09830521] [ 0.00355896 0.00376247 0.99998659 0.0055531 ] [ 0. 0. 0. 1. ]] SLAMing on 9.731966746 meters 0.2575476366954767 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.09, Z:0.00 [[ 0.99998292 0.00465405 -0.00353482 -0.1718371 ] [-0.00466924 0.99997985 -0.00430051 -0.09186206] [ 0.00351473 0.00431694 0.99998451 0.00418086] [ 0. 0. 0. 1. ]] SLAMing on 9.791966746 meters 0.2545227037237784 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.00 [[ 0.99998377 -0.00473166 -0.00317431 -0.1932013 ] [ 0.00472537 0.99998686 -0.00198714 -0.09718506] [ 0.00318367 0.00197211 0.99999299 0.001669 ] [ 0. 0. 0. 1. ]] SLAMing on 9.851966746 meters 0.2562653345912737 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.00 [[ 0.99998394 -0.00455751 -0.00336824 -0.19236585] [ 0.00455208 0.99998833 -0.00161805 -0.09969593] [ 0.00337558 0.00160269 0.99999302 0.00144736] [ 0. 0. 0. 1. ]] SLAMing on 9.911966746000001 meters 0.2544724050737865 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.00 [[ 0.99998469 -0.0044965 -0.00322577 -0.19263873] [ 0.0044909 0.9999884 -0.0017397 -0.09838544] [ 0.00323356 0.00172518 0.99999328 0.00120956] [ 0. 0. 0. 1. ]] SLAMing on 9.971966746 meters 0.25402636379415816 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.09, Z:-0.00 [[ 0.99999349 0.00323367 0.00160353 -0.16862622] [-0.0032262 0.99998403 -0.00464076 -0.09459775] [-0.00161851 0.00463555 0.99998795 -0.0048712 ] [ 0. 0. 0. 1. ]] SLAMing on 10.031966746 meters 0.25230243288863957 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.00 [[ 9.99992454e-01 -2.78611170e-03 -2.70725360e-03 -1.93668303e-01] [ 2.78735097e-03 9.99996012e-01 4.54093861e-04 -1.01309943e-01] [ 2.70597765e-03 -4.61636501e-04 9.99996232e-01 1.21776077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.091966746 meters 0.252301496330685 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:-0.00 [[ 9.99993332e-01 3.54814105e-03 -8.64483850e-04 -1.68791134e-01] [-3.55158066e-03 9.99985652e-01 -4.01030065e-03 -1.04156719e-01] [ 8.50242334e-04 4.01334419e-03 9.99991585e-01 -2.02123230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.151966746 meters 0.25381161906391597 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:-0.00 [[ 9.99992491e-01 3.78737873e-03 -8.20238853e-04 -1.69362394e-01] [-3.79018139e-03 9.99986891e-01 -3.44270966e-03 -1.07252170e-01] [ 8.07189255e-04 3.44579266e-03 9.99993737e-01 -1.29356091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.211966746 meters 0.2533733977647385 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:-0.00 [[ 9.99992702e-01 3.74951603e-03 -7.32696455e-04 -1.69659408e-01] [-3.75206774e-03 9.99986791e-01 -3.51285225e-03 -1.06890378e-01] [ 7.19515281e-04 3.51557574e-03 9.99993561e-01 -1.20275070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.271966746 meters 0.25405200094667474 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:-0.00 [[ 9.99993798e-01 -2.83503751e-03 -2.08972218e-03 -1.92890779e-01] [ 2.83778480e-03 9.99995112e-01 1.31287939e-03 -1.06395116e-01] [ 2.08598990e-03 -1.31880143e-03 9.99996955e-01 -8.12352928e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.331966746 meters 0.25350418030437394 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:-0.00 [[ 0.99999354 -0.00288794 -0.00214015 -0.19216665] [ 0.00289099 0.99999481 0.00142061 -0.10721417] [ 0.00213603 -0.00142678 0.9999967 -0.0018603 ] [ 0. 0. 0. 1. ]] SLAMing on 10.391966746 meters 0.2524713883131289 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:-0.00 [[ 0.99999401 -0.00266699 -0.00220821 -0.19229632] [ 0.00267156 0.99999429 0.00206743 -0.11099885] [ 0.00220268 -0.00207332 0.99999542 -0.00132153] [ 0. 0. 0. 1. ]] SLAMing on 10.451966746 meters 0.25201782509824433 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:-0.00 [[ 0.99999419 -0.00254016 -0.00227207 -0.19197068] [ 0.00254555 0.99999394 0.00237431 -0.11293019] [ 0.00226602 -0.00238008 0.9999946 -0.00146235] [ 0. 0. 0. 1. ]] SLAMing on 10.511966746 meters 0.2523419101715148 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:-0.00 [[ 0.99999475 -0.00252229 -0.0020362 -0.19275802] [ 0.00252676 0.99999439 0.00219937 -0.11124002] [ 0.00203064 -0.00220451 0.99999551 -0.0012774 ] [ 0. 0. 0. 1. ]] SLAMing on 10.571966746 meters 0.2517245751165039 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:-0.00 [[ 0.99999477 -0.00246542 -0.00209276 -0.19276988] [ 0.0024702 0.99999433 0.00228853 -0.11139554] [ 0.0020871 -0.00229369 0.99999519 -0.00112211] [ 0. 0. 0. 1. ]] SLAMing on 10.631966746 meters 0.2522707843482074 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:-0.00 [[ 0.99999505 -0.00228426 -0.00216311 -0.19252132] [ 0.0022905 0.99999321 0.0028868 -0.1151223 ] [ 0.0021565 -0.00289174 0.99999349 -0.00114624] [ 0. 0. 0. 1. ]] SLAMing on 10.691966746 meters 0.2557852795945791 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:-0.00 [[ 0.99999486 -0.00235375 -0.00217877 -0.19222431] [ 0.00235987 0.99999326 0.0028126 -0.11493354] [ 0.00217213 -0.00281773 0.99999367 -0.00152525] [ 0. 0. 0. 1. ]] SLAMing on 10.751966746 meters 0.2529851809460503 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:-0.00 [[ 9.99995068e-01 -2.30846061e-03 -2.12964273e-03 -1.92780013e-01] [ 2.31477983e-03 9.99992912e-01 2.96959252e-03 -1.16123305e-01] [ 2.12277245e-03 -2.97450753e-03 9.99993323e-01 -7.72728012e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.811966746 meters 0.25186342851677773 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.00 [[ 9.99971225e-01 2.99568148e-03 -6.96957403e-03 -2.15426692e-01] [-2.99962527e-03 9.99995347e-01 -5.55473324e-04 -1.14426080e-01] [ 6.96787757e-03 5.76363450e-04 9.99975558e-01 1.50207809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.871966746 meters 0.2536702521015062 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:-0.00 [[ 0.99999325 -0.00247532 -0.00271649 -0.18950201] [ 0.00248244 0.99999349 0.00262017 -0.11590739] [ 0.00270998 -0.00262689 0.99999288 -0.00329507] [ 0. 0. 0. 1. ]] SLAMing on 10.931966746 meters 0.2548369166996379 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:-0.00 [[ 0.99999282 -0.00243151 -0.00290697 -0.18941561] [ 0.00244114 0.99999152 0.00331578 -0.12184085] [ 0.00289888 -0.00332285 0.99999028 -0.00245033] [ 0. 0. 0. 1. ]] SLAMing on 10.991966746000001 meters 0.2571401917742295 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:-0.00 [[ 0.99999349 -0.00240172 -0.00269177 -0.18971248] [ 0.00240911 0.99999333 0.00274584 -0.11574179] [ 0.00268516 -0.00275231 0.99999261 -0.00305174] [ 0. 0. 0. 1. ]] SLAMing on 11.051966746 meters 0.2575391948084748 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:-0.00 [[ 0.99999279 -0.00223722 -0.00306962 -0.1889926 ] [ 0.00224811 0.99999118 0.00354809 -0.1214061 ] [ 0.00306166 -0.00355497 0.99998899 -0.00240502] [ 0. 0. 0. 1. ]] SLAMing on 11.111966746 meters 0.2523885209862272 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:-0.00 [[ 9.99989896e-01 -3.45756229e-03 -2.87295516e-03 -2.39545950e-01] [ 3.47152947e-03 9.99982111e-01 4.87092621e-03 -1.24278921e-01] [ 2.85606223e-03 -4.88085054e-03 9.99984010e-01 -7.54753369e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.171966746 meters 0.2559963105125919 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:-0.01 [[ 9.99998232e-01 1.85270421e-03 -3.22223565e-04 -2.10988642e-01] [-1.85296028e-03 9.99997966e-01 -7.96217813e-04 -1.24067460e-01] [ 3.20747754e-04 7.96813473e-04 9.99999631e-01 -7.73158176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.231966746 meters 0.25720365665190575 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:-0.01 [[ 9.99998499e-01 1.67520226e-03 -4.42632582e-04 -2.10175799e-01] [-1.67573523e-03 9.99997868e-01 -1.20647433e-03 -1.20940051e-01] [ 4.40610550e-04 1.20721426e-03 9.99999174e-01 -8.59379107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.291966746 meters 0.2571719859152186 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:-0.01 [[ 9.99998456e-01 1.72540301e-03 -3.32537017e-04 -2.10870142e-01] [-1.72579106e-03 9.99997826e-01 -1.17020471e-03 -1.20662459e-01] [ 3.30517220e-04 1.17077679e-03 9.99999260e-01 -8.14756408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.351966746 meters 0.255563124461876 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:-0.01 [[ 9.99998204e-01 1.84796683e-03 -4.20595787e-04 -2.10997182e-01] [-1.84820603e-03 9.99998130e-01 -5.69052668e-04 -1.25491039e-01] [ 4.19543410e-04 5.69828994e-04 9.99999750e-01 -7.50757059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.411966746000001 meters 0.25554823745620403 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:-0.01 [[ 9.99998142e-01 1.86943820e-03 -4.70939601e-04 -2.11022028e-01] [-1.86967378e-03 9.99998127e-01 -5.00282731e-04 -1.26011515e-01] [ 4.70003471e-04 5.01162305e-04 9.99999764e-01 -7.08087210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.471966746 meters 0.2546551958430532 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:-0.01 [[ 9.99998037e-01 1.91569504e-03 -5.06699453e-04 -2.10991953e-01] [-1.91589801e-03 9.99998085e-01 -4.00388322e-04 -1.26289892e-01] [ 5.05931460e-04 4.01358320e-04 9.99999791e-01 -7.20075725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.531966746 meters 0.257349987745475 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:-0.01 [[ 0.99999029 -0.00354705 0.00261514 -0.18438823] [ 0.00353855 0.99998846 0.00324936 -0.12869209] [-0.00262664 -0.00324007 0.9999913 -0.0113886 ] [ 0. 0. 0. 1. ]] SLAMing on 11.591966746 meters 0.255598450580247 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:-0.01 [[ 9.99997825e-01 2.08080151e-03 -1.45766086e-04 -2.10115445e-01] [-2.08083871e-03 9.99997802e-01 -2.55513429e-04 -1.29648236e-01] [ 1.45234093e-04 2.55816189e-04 9.99999957e-01 -8.13764594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.651966746 meters 0.25590975674491656 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:-0.01 [[ 9.99997777e-01 2.09709426e-03 -2.21462146e-04 -2.09589650e-01] [-2.09710062e-03 9.99997801e-01 -2.85009909e-05 -1.31427676e-01] [ 2.21401890e-04 2.89653560e-05 9.99999975e-01 -8.64139423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.711966746 meters 0.2547088278329721 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:-0.01 [[ 9.99997863e-01 2.06689463e-03 5.12565206e-05 -2.10813125e-01] [-2.06686317e-03 9.99997680e-01 -6.06513593e-04 -1.25983928e-01] [-5.25100014e-05 6.06406356e-04 9.99999815e-01 -8.11216671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.771966746 meters 0.2557346642675606 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:-0.01 [[ 9.99999699e-01 3.28067882e-04 -7.02861500e-04 -2.05519482e-01] [-3.29636761e-04 9.99997452e-01 -2.23318025e-03 -1.28662248e-01] [ 7.02127075e-04 2.23341127e-03 9.99997259e-01 -1.19851055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.831966746 meters 0.2572511017369784 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:-0.01 [[ 9.99999742e-01 2.60200261e-04 -6.69255678e-04 -2.05277332e-01] [-2.61803306e-04 9.99997095e-01 -2.39629358e-03 -1.27661529e-01] [ 6.68630218e-04 2.39646818e-03 9.99996905e-01 -1.26204681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.891966746 meters 0.25543141806563346 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:-0.02 [[ 0.99998474 -0.00359911 -0.00419197 -0.23721569] [ 0.00358394 0.99998703 -0.00361982 -0.13561701] [ 0.00420494 0.00360474 0.99998466 -0.02480351] [ 0. 0. 0. 1. ]] SLAMing on 11.951966746 meters 0.2540144616662095 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:-0.02 [[ 0.99999122 -0.00232988 -0.00348176 -0.24214658] [ 0.00232174 0.99999456 -0.00234181 -0.13754798] [ 0.0034872 0.0023337 0.9999912 -0.02051461] [ 0. 0. 0. 1. ]] SLAMing on 12.011966746 meters 0.25543299687631915 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:-0.02 [[ 0.99998643 -0.00452816 0.00257519 -0.22011661] [ 0.00451824 0.9999824 0.00384534 -0.14139282] [-0.00259255 -0.00383365 0.99998929 -0.02464926] [ 0. 0. 0. 1. ]] SLAMing on 12.071966746 meters 0.2563939239765115 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.14, Z:-0.03 [[ 0.99998202 0.00142405 0.005825 -0.19436825] [-0.00141727 0.99999831 -0.00116809 -0.14001982] [-0.00582666 0.00115981 0.99998235 -0.03036883] [ 0. 0. 0. 1. ]] SLAMing on 12.131966746 meters 0.2529755859916689 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.14, Z:-0.03 [[ 9.99981699e-01 1.63233323e-03 5.82560592e-03 -1.94810806e-01] [-1.62843485e-03 9.99998447e-01 -6.73860603e-04 -1.42588809e-01] [-5.82669684e-03 6.64361651e-04 9.99982804e-01 -2.96748829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.191966746 meters 0.25641120843057397 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.14, Z:-0.03 [[ 9.99982424e-01 1.63278474e-03 5.69961644e-03 -1.94665119e-01] [-1.62989686e-03 9.99998541e-01 -5.11287869e-04 -1.44061950e-01] [-5.70044295e-03 5.01989096e-04 9.99983626e-01 -2.92899368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.251966746 meters 0.2559237484595557 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.03 [[ 9.99982348e-01 1.75067840e-03 5.67797064e-03 -1.95049796e-01] [-1.75001208e-03 9.99998461e-01 -1.22318579e-04 -1.46533265e-01] [-5.67817605e-03 1.12379902e-04 9.99983873e-01 -2.86115775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.311966746 meters 0.2587209325858673 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:-0.03 [[ 9.99981644e-01 1.61521012e-03 5.83970029e-03 -1.95626986e-01] [-1.61215454e-03 9.99998561e-01 -5.27912066e-04 -1.43598255e-01] [-5.84054458e-03 5.18487876e-04 9.99982809e-01 -2.85404863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.371966746 meters 0.25571591105409774 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.03 [[ 9.99981300e-01 1.71314272e-03 5.87064851e-03 -1.95948702e-01] [-1.71180810e-03 9.99998508e-01 -2.32356251e-04 -1.45188772e-01] [-5.87103781e-03 2.22302483e-04 9.99982741e-01 -2.82776462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.431966746 meters 0.2567055675682999 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:-0.03 [[ 9.99981360e-01 1.63607255e-03 5.88243151e-03 -1.95760411e-01] [-1.63375716e-03 9.99998586e-01 -3.98395471e-04 -1.44278328e-01] [-5.88307500e-03 3.88777580e-04 9.99982619e-01 -2.85793392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.491966746000001 meters 0.2519451820955025 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.03 [[ 0.99997961 -0.00236331 0.00593284 -0.19627554] [ 0.00238791 0.99998857 -0.00414276 -0.1470566 ] [-0.00592298 0.00415684 0.99997382 -0.02773285] [ 0. 0. 0. 1. ]] SLAMing on 12.551966746 meters 0.25442420418303274 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.03 [[ 0.99997954 -0.00242571 0.00591922 -0.19612952] [ 0.00245098 0.9999879 -0.004265 -0.14648981] [-0.0059088 0.00427942 0.99997339 -0.02794068] [ 0. 0. 0. 1. ]] SLAMing on 12.611966746 meters 0.2562628581555851 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.03 [[ 0.99998 -0.00224499 0.00591276 -0.19623111] [ 0.00226739 0.99999027 -0.00378457 -0.14922579] [-0.0059042 0.00379791 0.99997536 -0.02772665] [ 0. 0. 0. 1. ]] SLAMing on 12.671966746 meters 0.2538674972848676 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.02 [[ 9.99978514e-01 -6.81699689e-05 6.55486615e-03 -2.00837679e-01] [ 7.83920689e-05 9.99998781e-01 -1.55922310e-03 -1.48010857e-01] [-6.55475187e-03 1.55970345e-03 9.99977301e-01 -2.43325185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.731966746 meters 0.26132264890433177 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.02 [[ 9.99978981e-01 2.29205866e-05 6.48359385e-03 -2.00745119e-01] [-1.51155962e-05 9.99999275e-01 -1.20385263e-03 -1.50107849e-01] [-6.48361675e-03 1.20372933e-03 9.99978257e-01 -2.42191800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.791966746 meters 0.2554471857712295 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.02 [[ 9.99979532e-01 8.89625342e-05 6.39750551e-03 -2.00337520e-01] [-8.33196265e-05 9.99999607e-01 -8.82309240e-04 -1.52474853e-01] [-6.39758149e-03 8.81758143e-04 9.99979147e-01 -2.43706070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.851966746 meters 0.25502089125552085 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:-0.02 [[ 9.99979008e-01 1.68943559e-04 6.47726696e-03 -2.00772317e-01] [-1.63690636e-04 9.99999657e-01 -8.11499870e-04 -1.52315995e-01] [-6.47740184e-03 8.10422567e-04 9.99978693e-01 -2.41547556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.911966746000001 meters 0.25593326451323034 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.16, Z:-0.02 [[ 9.99979102e-01 3.26353333e-04 6.45677178e-03 -2.01197927e-01] [-3.24280606e-04 9.99999896e-01 -3.22060190e-04 -1.55644538e-01] [-6.45687621e-03 3.19959654e-04 9.99979103e-01 -2.31465045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.971966746 meters 0.2525726342642966 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.03 [[ 9.99988820e-01 -9.20873101e-05 4.72765052e-03 -2.44752243e-01] [ 8.37965889e-05 9.99998459e-01 1.75383440e-03 -1.57925408e-01] [-4.72780474e-03 -1.75341863e-03 9.99987287e-01 -2.52713753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.031966746 meters 0.2552540049515234 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.15, Z:-0.03 [[ 9.99987914e-01 -2.03592493e-04 4.91227445e-03 -2.45003151e-01] [ 1.97451782e-04 9.99999199e-01 1.25052745e-03 -1.54350550e-01] [-4.91252511e-03 -1.24954240e-03 9.99987153e-01 -2.58811863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.091966746 meters 0.25425306294589317 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.03 [[ 9.99988589e-01 -2.53508836e-04 4.77040340e-03 -2.44437702e-01] [ 2.47312635e-04 9.99999125e-01 1.29942930e-03 -1.55056057e-01] [-4.77072864e-03 -1.29823469e-03 9.99987777e-01 -2.60916941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.151966746 meters 0.2559904993886842 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.03 [[ 9.99989307e-01 -6.02043363e-05 4.62406296e-03 -2.44337082e-01] [ 5.14566948e-05 9.99998209e-01 1.89186090e-03 -1.59139365e-01] [-4.62416858e-03 -1.89160273e-03 9.99987519e-01 -2.55598922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.211966746 meters 0.2564455516178924 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.02 [[ 9.99989133e-01 -3.97859140e-05 4.66174169e-03 -2.44845861e-01] [ 3.10917813e-05 9.99998260e-01 1.86505428e-03 -1.58931907e-01] [-4.66180779e-03 -1.86488907e-03 9.99987395e-01 -2.49557210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.271966746 meters 0.2545750690959539 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:-0.02 [[ 9.99988447e-01 -1.04072567e-04 4.80578014e-03 -2.45326099e-01] [ 9.70442473e-05 9.99998926e-01 1.46268220e-03 -1.55884013e-01] [-4.80592720e-03 -1.46219892e-03 9.99987382e-01 -2.49518924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.331966746 meters 0.25459889334789276 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:-0.02 [[ 9.99988696e-01 -5.92685229e-05 4.75437819e-03 -2.45384784e-01] [ 5.16720386e-05 9.99998722e-01 1.59789404e-03 -1.56718355e-01] [-4.75446682e-03 -1.59763031e-03 9.99987421e-01 -2.45649933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.391966746 meters 0.2536686347367812 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:-0.02 [[ 9.99994794e-01 3.16129019e-03 -6.46833835e-04 -2.68156359e-01] [-3.16350001e-03 9.99989064e-01 -3.44435913e-03 -1.56891223e-01] [ 6.35938143e-04 3.44638746e-03 9.99993859e-01 -2.09326205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.451966746 meters 0.2542835694488221 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.03 [[ 9.99993432e-01 -1.70192411e-03 3.19991739e-03 -2.42482306e-01] [ 1.70088865e-03 9.99998500e-01 3.26282516e-04 -1.57235946e-01] [-3.20046790e-03 -3.20837670e-04 9.99994827e-01 -2.51900594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.511966746 meters 0.25526427766663823 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.02 [[ 9.99993690e-01 -1.52139623e-03 3.21015194e-03 -2.42866081e-01] [ 1.51896630e-03 9.99998558e-01 7.59255910e-04 -1.59522894e-01] [-3.21130244e-03 -7.54375007e-04 9.99994559e-01 -2.46781291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.571966746 meters 0.2600772289328847 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.02 [[ 9.99993823e-01 -1.54288065e-03 3.15799923e-03 -2.42606361e-01] [ 1.54055521e-03 9.99998541e-01 7.38663972e-04 -1.59254787e-01] [-3.15913429e-03 -7.33794337e-04 9.99994741e-01 -2.49401853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.631966746 meters 0.2544921707692335 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.03 [[ 9.99993820e-01 -1.61087155e-03 3.12500259e-03 -2.42282035e-01] [ 1.60873451e-03 9.99998471e-01 6.86245401e-04 -1.59140350e-01] [-3.12610326e-03 -6.81213861e-04 9.99994882e-01 -2.53917306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.691966746 meters 0.2554264843642155 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.03 [[ 0.99999423 -0.00147741 0.00305843 -0.24220416] [ 0.00147406 0.99999831 0.00109766 -0.16134791] [-0.00306005 -0.00109315 0.99999472 -0.02524411] [ 0. 0. 0. 1. ]] SLAMing on 13.751966746 meters 0.252511694658492 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:-0.02 [[ 0.99999771 0.00141431 -0.00160343 -0.26769194] [-0.00142138 0.99998926 -0.00441189 -0.16171205] [ 0.00159718 0.00441416 0.99998898 -0.01998533] [ 0. 0. 0. 1. ]] SLAMing on 13.811966746 meters 0.25444293684394387 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:-0.03 [[ 9.99993656e-01 -9.82719032e-04 3.42364854e-03 -2.41321619e-01] [ 9.77599365e-04 9.99998402e-01 1.49673594e-03 -1.65267364e-01] [-3.42511394e-03 -1.49337949e-03 9.99993019e-01 -2.64774767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.871966746 meters 0.25578147706627224 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.03 [[ 9.99992819e-01 -1.20320253e-03 3.59374055e-03 -2.41727861e-01] [ 1.20012562e-03 9.99998912e-01 8.58218835e-04 -1.61168107e-01] [-3.59476925e-03 -8.53899732e-04 9.99993174e-01 -2.67143145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.931966746 meters 0.2552223835910907 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:-0.02 [[ 9.99997719e-01 2.01523030e-03 -7.07918987e-04 -2.68427617e-01] [-2.01828872e-03 9.99988517e-01 -4.34648280e-03 -1.60764496e-01] [ 6.99151694e-04 4.34790167e-03 9.99990303e-01 -2.07711563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.991966746 meters 0.25269205815604534 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:-0.02 [[ 9.99997572e-01 2.01891484e-03 -8.83709252e-04 -2.67797177e-01] [-2.02268690e-03 9.99988758e-01 -4.28857155e-03 -1.61307319e-01] [ 8.75041057e-04 4.29034860e-03 9.99990414e-01 -2.08365429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.051966746 meters 0.2573831375189856 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:-0.03 [[ 9.99988999e-01 -2.93443552e-03 3.65925250e-03 -2.43348742e-01] [ 2.93644507e-03 9.99995541e-01 -5.43915919e-04 -1.63483991e-01] [-3.65764010e-03 5.54655130e-04 9.99993157e-01 -2.50310100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.111966746 meters 0.2583886863578154 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:-0.02 [[ 0.99999512 0.00283838 -0.00130462 -0.2689499 ] [-0.0028424 0.99999119 -0.00308826 -0.16075195] [ 0.00129584 0.00309195 0.99999438 -0.01954886] [ 0. 0. 0. 1. ]] SLAMing on 14.171966746 meters 0.2532261476358396 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:-0.02 [[ 0.999995 0.00286681 -0.0013325 -0.26891522] [-0.00287087 0.99999121 -0.00305657 -0.16078444] [ 0.00132372 0.00306038 0.99999444 -0.01949547] [ 0. 0. 0. 1. ]] SLAMing on 14.231966746 meters 0.2548230121077909 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:-0.02 [[ 0.99999468 0.00295249 -0.00138663 -0.26894039] [-0.00295596 0.99999249 -0.00250817 -0.16465644] [ 0.00137922 0.00251226 0.99999589 -0.01919498] [ 0. 0. 0. 1. ]] SLAMing on 14.291966746 meters 0.25420817683828145 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:-0.02 [[ 0.99999424 0.00311241 -0.00135594 -0.269133 ] [-0.0031153 0.99999288 -0.00212852 -0.16656675] [ 0.00134931 0.00213273 0.99999682 -0.01910986] [ 0. 0. 0. 1. ]] SLAMing on 14.351966746 meters 0.2543272098660606 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:-0.02 [[ 9.99992989e-01 -3.47011330e-03 1.40695495e-03 -2.50477416e-01] [ 3.46914329e-03 9.99993744e-01 6.91300638e-04 -1.66908840e-01] [-1.40934504e-03 -6.86414864e-04 9.99998771e-01 -1.50226039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.411966746 meters 0.25427852206109697 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:-0.02 [[ 9.99992723e-01 -3.49059631e-03 1.53913858e-03 -2.50938339e-01] [ 3.48976300e-03 9.99993763e-01 5.43762781e-04 -1.65342563e-01] [-1.54102704e-03 -5.38387595e-04 9.99998668e-01 -1.52027628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.471966746 meters 0.25486092326059656 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:-0.02 [[ 9.99992921e-01 -3.35530985e-03 1.70310069e-03 -2.51544587e-01] [ 3.35378176e-03 9.99993972e-01 8.99306299e-04 -1.66834596e-01] [-1.70610788e-03 -8.93588105e-04 9.99998145e-01 -1.51610048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.531966746 meters 0.2532940225553985 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:-0.01 [[ 0.99999343 -0.0032744 0.00155223 -0.25112738] [ 0.00327256 0.99999394 0.00118764 -0.1686159 ] [-0.00155611 -0.00118255 0.99999809 -0.01498977] [ 0. 0. 0. 1. ]] SLAMing on 14.591966746 meters 0.252322417624644 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:-0.02 [[ 0.99999399 -0.00309347 0.00156243 -0.25102359] [ 0.0030909 0.99999387 0.00164637 -0.17113268] [-0.00156751 -0.00164153 0.99999742 -0.01520387] [ 0. 0. 0. 1. ]] SLAMing on 14.651966746 meters 0.25280788370351753 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:-0.01 [[ 0.99999404 -0.00304942 0.00161703 -0.25150826] [ 0.00304673 0.99999397 0.00166363 -0.17089982] [-0.0016221 -0.0016587 0.99999731 -0.01468469] [ 0. 0. 0. 1. ]] SLAMing on 14.711966746 meters 0.2517893529098911 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:-0.01 [[ 0.99999362 0.00273797 -0.00229543 -0.2755697 ] [-0.00274079 0.99999549 -0.0012248 -0.17179018] [ 0.00229207 0.00123109 0.99999662 -0.01173786] [ 0. 0. 0. 1. ]] SLAMing on 14.771966746 meters 0.25555262324449785 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:-0.01 [[ 0.99999371 -0.00307948 0.00175972 -0.25125423] [ 0.00307644 0.99999378 0.00172633 -0.17334074] [-0.00176503 -0.00172091 0.99999696 -0.01492452] [ 0. 0. 0. 1. ]] SLAMing on 14.831966746 meters 0.2515397400729992 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.18, Z:-0.01 [[ 0.99999425 -0.00291176 0.00173802 -0.25135937] [ 0.00290804 0.99999348 0.00213867 -0.17539534] [-0.00174424 -0.0021336 0.9999962 -0.0146619 ] [ 0. 0. 0. 1. ]] SLAMing on 14.891966746 meters 0.2541928285272646 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.18, Z:-0.02 [[ 0.99999435 -0.00296319 0.00158619 -0.25068969] [ 0.00295962 0.9999931 0.00224437 -0.17659234] [-0.00159283 -0.00223966 0.99999622 -0.01501198] [ 0. 0. 0. 1. ]] SLAMing on 14.951966746 meters 0.25188104255551796 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:-0.01 [[ 9.99991668e-01 2.68785782e-03 -3.07233376e-03 -2.74314351e-01] [-2.69034860e-03 9.99996055e-01 -8.06866333e-04 -1.74467850e-01] [ 3.07015290e-03 8.15125259e-04 9.99994955e-01 -1.18711980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.011966746 meters 0.25553719648562595 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:-0.02 [[ 0.99999322 -0.00336169 0.00150442 -0.2505949 ] [ 0.00335907 0.99999284 0.00174025 -0.17494535] [-0.00151026 -0.00173519 0.99999735 -0.01530658] [ 0. 0. 0. 1. ]] SLAMing on 15.071966746 meters 0.25363047985149023 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:-0.01 [[ 9.99996600e-01 2.97951021e-04 -2.59052234e-03 -2.74331608e-01] [-3.05832585e-04 9.99995325e-01 -3.04259771e-03 -1.77362100e-01] [ 2.58960369e-03 3.04337964e-03 9.99992016e-01 -1.24620014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.131966746 meters 0.25085769168365474 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.18, Z:-0.01 [[ 9.99994732e-01 9.44029941e-05 -3.24469170e-03 -3.19625779e-01] [-9.51506094e-05 9.99999969e-01 -2.30258221e-04 -1.81088463e-01] [ 3.24466986e-03 2.30565743e-04 9.99994709e-01 -1.42350009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.191966746 meters 0.2543650075844692 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:-0.02 [[ 0.99999266 -0.00329693 0.0019497 -0.298034 ] [ 0.00328726 0.99998238 0.00494367 -0.18081481] [-0.00196596 -0.00493723 0.99998588 -0.01633811] [ 0. 0. 0. 1. ]] SLAMing on 15.251966746 meters 0.2528643185068066 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:-0.02 [[ 0.999993 -0.00316319 0.00199696 -0.29852644] [ 0.00315282 0.99998165 0.00517251 -0.18176454] [-0.00201328 -0.00516618 0.99998463 -0.01569891] [ 0. 0. 0. 1. ]] SLAMing on 15.311966746 meters 0.2520332233242643 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:-0.02 [[ 9.99970807e-01 -7.33943546e-03 2.12548201e-03 -2.99003539e-01] [ 7.33747549e-03 9.99972649e-01 9.28462935e-04 -1.81597550e-01] [-2.13223827e-03 -9.12840158e-04 9.99997310e-01 -1.53349767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.371966746 meters 0.2552195625750926 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:-0.02 [[ 9.99993626e-01 6.59304912e-04 3.50895576e-03 -2.75041970e-01] [-6.50886343e-04 9.99996909e-01 -2.39976793e-03 -1.84120981e-01] [-3.51052709e-03 2.39746871e-03 9.99990964e-01 -1.68684780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.431966746 meters 0.2546603265298313 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:-0.02 [[ 9.99993264e-01 6.47555229e-04 3.61288260e-03 -2.75255517e-01] [-6.38407895e-04 9.99996590e-01 -2.53244510e-03 -1.83016816e-01] [-3.61451018e-03 2.53012154e-03 9.99990267e-01 -1.71497071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.491966746 meters 0.25391967315996966 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:-0.02 [[ 9.99992979e-01 6.50450428e-04 3.69039027e-03 -2.75373530e-01] [-6.40720061e-04 9.99996317e-01 -2.63724693e-03 -1.81956310e-01] [-3.69209208e-03 2.63486391e-03 9.99989713e-01 -1.74474948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.551966746 meters 0.2542901510148293 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:-0.02 [[ 9.99993083e-01 6.77833112e-04 3.65718764e-03 -2.75499979e-01] [-6.68754232e-04 9.99996693e-01 -2.48312796e-03 -1.83037428e-01] [-3.65885870e-03 2.48066502e-03 9.99990229e-01 -1.70492742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.611966746 meters 0.25193674943153904 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.02 [[ 9.99996782e-01 -5.52986449e-05 2.53637655e-03 -3.20370308e-01] [ 5.61406630e-05 9.99999943e-01 -3.31906760e-04 -1.85657482e-01] [-2.53635805e-03 3.32048085e-04 9.99996728e-01 -1.82372364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.671966746 meters 0.25286238605405154 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.02 [[ 9.99996959e-01 -1.50113180e-04 2.46179930e-03 -3.19916599e-01] [ 1.51313009e-04 9.99999870e-01 -4.87200019e-04 -1.85190582e-01] [-2.46172585e-03 4.87571039e-04 9.99996851e-01 -1.85753792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.731966746 meters 0.2559523298886398 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.19, Z:-0.02 [[ 9.99998446e-01 -5.20195148e-04 1.68418582e-03 -3.65582019e-01] [ 5.17238462e-04 9.99998325e-01 1.75551784e-03 -1.85122543e-01] [-1.68509621e-03 -1.75464399e-03 9.99997041e-01 -2.00853463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.791966746 meters 0.25574447453267124 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.01 [[ 9.99996187e-01 -2.76523418e-04 2.74764898e-03 -3.21824634e-01] [ 2.75713589e-04 9.99999918e-01 2.95109397e-04 -1.91571041e-01] [-2.74773036e-03 -2.94350708e-04 9.99996182e-01 -1.49766634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.851966746 meters 0.2573311352986261 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:-0.01 [[ 0.99998645 -0.00441309 0.0027629 -0.32187021] [ 0.00442302 0.99998375 -0.00359638 -0.19359484] [-0.00274698 0.00360855 0.99998972 -0.01484948] [ 0. 0. 0. 1. ]] SLAMing on 15.911966746 meters 0.25618486094451237 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.19, Z:-0.01 [[ 9.99989339e-01 4.59147409e-03 -4.89858221e-04 -3.48471038e-01] [-4.59308772e-03 9.99983856e-01 -3.34545208e-03 -1.91914574e-01] [ 4.74489756e-04 3.34766638e-03 9.99994284e-01 -1.03635734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.971966746 meters 0.2561403126479725 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.19, Z:-0.01 [[ 0.99998322 -0.00509358 -0.00275892 -0.36860656] [ 0.00509025 0.99998631 -0.0012117 -0.19323849] [ 0.00276505 0.00119763 0.99999546 -0.01116431] [ 0. 0. 0. 1. ]] SLAMing on 16.031966746 meters 0.2562351197299417 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.19, Z:-0.01 [[ 0.9999834 -0.00504469 -0.00278299 -0.36868096] [ 0.00504161 0.99998667 -0.00111218 -0.19355782] [ 0.00278857 0.00109813 0.99999551 -0.01093146] [ 0. 0. 0. 1. ]] SLAMing on 16.091966745999997 meters 0.25589296713444387 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.20, Z:-0.01 [[ 9.99983994e-01 -4.85628226e-03 -2.90315279e-03 -3.68644111e-01] [ 4.85440397e-03 9.99988004e-01 -6.53678999e-04 -1.96097690e-01] [ 2.90629241e-03 6.39575459e-04 9.99995572e-01 -1.02960557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.151966746 meters 0.2576048373948319 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.20, Z:-0.01 [[ 9.99984188e-01 -4.84380185e-03 -2.85671955e-03 -3.68591853e-01] [ 4.84200620e-03 9.99988076e-01 -6.35152413e-04 -1.96108153e-01] [ 2.85976204e-03 6.21310116e-04 9.99995718e-01 -1.05494283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.211966745999998 meters 0.25685861768850654 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.19, Z:-0.01 [[ 9.99984832e-01 -4.78136818e-03 -2.73385340e-03 -3.69133634e-01] [ 4.77905025e-03 9.99988216e-01 -8.53767864e-04 -1.93980658e-01] [ 2.73790336e-03 8.40689692e-04 9.99995899e-01 -1.03164377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.271966745999997 meters 0.25206731573027275 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.01 [[ 0.99998205 -0.00486355 -0.00350065 -0.4151053 ] [ 0.00487111 0.99998582 0.00215375 -0.19691654] [ 0.00349013 -0.00217077 0.99999155 -0.01101211] [ 0. 0. 0. 1. ]] SLAMing on 16.331966746 meters 0.2537154856490925 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.20, Z:-0.01 [[ 0.99998198 -0.00475553 -0.00366525 -0.41426724] [ 0.00476531 0.9999851 0.00266317 -0.20048522] [ 0.00365253 -0.00268059 0.99998974 -0.01147189] [ 0. 0. 0. 1. ]] SLAMing on 16.391966745999998 meters 0.2568523801634095 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.20, Z:-0.01 [[ 0.99999528 -0.00210824 -0.00223308 -0.3718875 ] [ 0.00211441 0.99999395 0.00276364 -0.20134452] [ 0.00222724 -0.00276835 0.99999369 -0.00739699] [ 0. 0. 0. 1. ]] SLAMing on 16.451966745999997 meters 0.25584069473162147 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.01 [[ 0.99998872 -0.00358481 -0.00311518 -0.41757952] [ 0.00359754 0.99998517 0.00408942 -0.20222406] [ 0.00310047 -0.00410058 0.99998679 -0.00859625] [ 0. 0. 0. 1. ]] SLAMing on 16.511966746 meters 0.25517165257898144 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.01 [[ 0.99998858 -0.00359888 -0.00314528 -0.4173452 ] [ 0.0036121 0.99998462 0.00420794 -0.20314441] [ 0.00313009 -0.00421925 0.9999862 -0.00884741] [ 0. 0. 0. 1. ]] SLAMing on 16.571966745999998 meters 0.2555232824014352 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-0.01 [[ 0.99998864 -0.00349218 -0.00324425 -0.41715181] [ 0.00350751 0.99998265 0.00473163 -0.20675502] [ 0.00322767 -0.00474296 0.99998354 -0.00865831] [ 0. 0. 0. 1. ]] SLAMing on 16.631966746 meters 0.25754034499588213 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.01 [[ 9.99989968e-01 4.47519024e-03 1.92026848e-04 -3.93671085e-01] [-4.47543336e-03 9.99989160e-01 1.28487046e-03 -2.03627985e-01] [-1.86274727e-04 -1.28571697e-03 9.99999156e-01 -1.31022529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.691966746 meters 0.2569619080782898 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.01 [[ 9.99990233e-01 4.41842451e-03 1.07130142e-04 -3.93379194e-01] [-4.41857698e-03 9.99989161e-01 1.46745153e-03 -2.05125804e-01] [-1.00645157e-04 -1.46791056e-03 9.99998918e-01 -1.32974748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.751966745999997 meters 0.2563672835399014 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.21, Z:-0.01 [[ 9.99999929e-01 3.53884095e-04 1.26784527e-04 -3.93758518e-01] [-3.53602029e-04 9.99997478e-01 -2.21792489e-03 -2.08360833e-01] [-1.27569095e-04 2.21787991e-03 9.99997532e-01 -1.28849176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.811966746 meters 0.25460446920426383 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.20, Z:-0.01 [[ 9.99999907e-01 3.42922668e-04 2.60233643e-04 -3.93557119e-01] [-3.42240318e-04 9.99996516e-01 -2.61759761e-03 -2.04962261e-01] [-2.61130370e-04 2.61750831e-03 9.99996540e-01 -1.38230345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.871966746 meters 0.25202394976963644 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.21, Z:-0.02 [[ 9.99999599e-01 -3.91758372e-04 -8.05116641e-04 -4.36817259e-01] [ 3.91719889e-04 9.99999922e-01 -4.79553805e-05 -2.09228531e-01] [ 8.05135365e-04 4.76399811e-05 9.99999675e-01 -1.70730492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.931966745999997 meters 0.25708005282051 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.02 [[ 0.99998494 0.00512725 0.00195716 -0.40979941] [-0.0051162 0.99997118 -0.00560861 -0.21019713] [-0.00198586 0.00559851 0.99998236 -0.0235338 ] [ 0. 0. 0. 1. ]] SLAMing on 16.991966746 meters 0.2546430628734566 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-0.02 [[ 9.99999044e-01 -1.38203546e-03 -3.86947665e-05 -4.32045589e-01] [ 1.38201379e-03 9.99998891e-01 -5.54608074e-04 -2.09099232e-01] [ 3.94612117e-05 5.54554067e-04 9.99999845e-01 -2.22168258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.051966745999998 meters 0.25475467550860076 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-0.02 [[ 9.99999162e-01 -1.28956151e-03 -1.12139251e-04 -4.31622351e-01] [ 1.28953763e-03 9.99999146e-01 -2.12745033e-04 -2.11437231e-01] [ 1.12413503e-04 2.12600247e-04 9.99999971e-01 -2.24344910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.111966745999997 meters 0.25399213647018953 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-0.02 [[ 9.99999303e-01 -1.18104340e-03 -3.81190059e-06 -4.31935020e-01] [ 1.18104285e-03 9.99999293e-01 -1.40512163e-04 -2.11073702e-01] [ 3.97784886e-06 1.40507563e-04 9.99999990e-01 -2.25392349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.171966746 meters 0.2553596887566473 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-0.02 [[ 9.99999300e-01 -1.18158497e-03 -6.76762086e-05 -4.31561221e-01] [ 1.18160043e-03 9.99999276e-01 2.28857597e-04 -2.13747006e-01] [ 6.74057449e-05 -2.28937403e-04 9.99999972e-01 -2.28968957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.231966745999998 meters 0.2535655648183702 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-0.02 [[ 9.99999359e-01 -1.13217227e-03 2.98034075e-07 -4.31605993e-01] [ 1.13217209e-03 9.99999298e-01 3.49758152e-04 -2.14249573e-01] [-6.94020346e-07 -3.49757590e-04 9.99999939e-01 -2.32668848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.291966746 meters 0.2521706303504601 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-0.02 [[ 9.99999424e-01 -1.07231716e-03 5.15434479e-05 -4.31860018e-01] [ 1.07230051e-03 9.99999373e-01 3.21920919e-04 -2.13573395e-01] [-5.18886170e-05 -3.21865463e-04 9.99999947e-01 -2.30739280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.351966746 meters 0.2505583561126636 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-0.02 [[ 9.99999670e-01 -8.10774734e-04 4.86481278e-05 -4.32132231e-01] [ 8.10719529e-04 9.99999039e-01 1.12427771e-03 -2.18019298e-01] [-4.95596170e-05 -1.12423790e-03 9.99999367e-01 -2.26396500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.411966745999997 meters 0.25111344718550344 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-0.02 [[ 9.99999651e-01 -8.24273949e-04 1.34379031e-04 -4.32104428e-01] [ 8.24129652e-04 9.99999088e-01 1.07034860e-03 -2.17722946e-01] [-1.35261169e-04 -1.07023748e-03 9.99999418e-01 -2.31502534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.471966746 meters 0.2514208130645395 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.22, Z:-0.03 [[ 0.99997766 0.00611234 0.00270506 -0.408757 ] [-0.00610285 0.99997524 -0.0035022 -0.2182821 ] [-0.0027264 0.00348562 0.99999021 -0.02605633] [ 0. 0. 0. 1. ]] SLAMing on 17.531966746 meters 0.2518217604239548 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.22, Z:-0.02 [[ 9.99999834e-01 8.37779168e-05 -5.70726119e-04 -4.35090603e-01] [-8.26925812e-05 9.99998189e-01 1.90143318e-03 -2.21204016e-01] [ 5.70884383e-04 -1.90138567e-03 9.99998029e-01 -1.93418829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.591966745999997 meters 0.25047370945720676 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.22, Z:-0.02 [[ 9.99999763e-01 1.72235314e-04 -6.66247751e-04 -4.35030928e-01] [-1.70690997e-04 9.99997301e-01 2.31729498e-03 -2.23782292e-01] [ 6.66645072e-04 -2.31718071e-03 9.99997093e-01 -1.89646891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.651966746 meters 0.25303134138628386 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-0.02 [[ 9.99999723e-01 1.47150358e-04 -7.29328970e-04 -4.34488080e-01] [-1.45357292e-04 9.99996969e-01 2.45795785e-03 -2.24875746e-01] [ 7.29688448e-04 -2.45785116e-03 9.99996713e-01 -1.95746005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.711966745999998 meters 0.25147514729937637 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.23, Z:-0.02 [[ 9.99999757e-01 2.89909857e-04 -6.34383464e-04 -4.34935153e-01] [-2.88108511e-04 9.99995932e-01 2.83777326e-03 -2.26782150e-01] [ 6.35203582e-04 -2.83758980e-03 9.99995772e-01 -1.94808815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.771966745999997 meters 0.6234599186066454 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.23, Z:-0.02 [[ 9.99999728e-01 1.94156617e-04 -7.11124065e-04 -4.34529444e-01] [-1.92213269e-04 9.99996250e-01 2.73183252e-03 -2.26582797e-01] [ 7.11651802e-04 -2.73169509e-03 9.99996016e-01 -1.97664583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.831966746 meters 0.25054732055184775 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.23, Z:-0.02 [[ 9.99999693e-01 2.82355362e-04 -7.31028535e-04 -4.34741241e-01] [-2.80160870e-04 9.99995460e-01 3.00028873e-03 -2.28227091e-01] [ 7.31872364e-04 -3.00008300e-03 9.99995232e-01 -1.93744228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.891966745999998 meters 0.2529550216255015 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.03 [[ 0.99997754 0.00634041 0.00217353 -0.40801025] [-0.00633532 0.99997719 -0.00234018 -0.22730836] [-0.00218831 0.00232635 0.9999949 -0.0258002 ] [ 0. 0. 0. 1. ]] SLAMing on 17.951966745999997 meters 0.2510819057339958 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.03 [[ 0.99997622 0.00651292 0.00226907 -0.40856794] [-0.00650812 0.99997658 -0.00211822 -0.22796014] [-0.00228282 0.0021034 0.99999518 -0.02527388] [ 0. 0. 0. 1. ]] SLAMing on 18.011966746 meters 0.2514025271582105 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.03 [[ 0.99997642 0.0065175 0.00216301 -0.4082462 ] [-0.00651331 0.99997691 -0.00193971 -0.22939924] [-0.0021756 0.00192558 0.99999578 -0.02538759] [ 0. 0. 0. 1. ]] SLAMing on 18.071966745999998 meters 0.2541862709873962 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.03 [[ 0.99997695 0.0064384 0.0021556 -0.40790635] [-0.00643383 0.99997706 -0.00211865 -0.22850855] [-0.00216919 0.00210473 0.99999543 -0.02579763] [ 0. 0. 0. 1. ]] SLAMing on 18.131966746 meters 0.25384278270237487 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.03 [[ 0.9999772 0.00641851 0.00209718 -0.40750126] [-0.00641439 0.99997749 -0.00196627 -0.22988182] [-0.00210976 0.00195277 0.99999587 -0.02616153] [ 0. 0. 0. 1. ]] SLAMing on 18.191966746 meters 0.25262655816915713 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-0.03 [[ 0.99997761 0.00640433 0.00193836 -0.40686323] [-0.00640075 0.9999778 -0.00184965 -0.23107258] [-0.00195016 0.0018372 0.99999641 -0.02632405] [ 0. 0. 0. 1. ]] SLAMing on 18.251966745999997 meters 0.25074814037275134 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.23, Z:-0.02 [[ 0.99999881 0.0010738 -0.0011057 -0.43250513] [-0.00106925 0.99999096 0.00411439 -0.23167259] [ 0.0011101 -0.0041132 0.99999092 -0.0207246 ] [ 0. 0. 0. 1. ]] SLAMing on 18.311966746 meters 0.25270771920631824 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.02 [[ 9.99998981e-01 1.40992927e-03 -2.25942481e-04 -3.86716253e-01] [-1.40968578e-03 9.99998429e-01 1.07419972e-03 -2.30739640e-01] [ 2.27456672e-04 -1.07388012e-03 9.99999398e-01 -1.99825351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.371966746 meters 0.2536759792963501 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.02 [[ 9.99998928e-01 1.45711702e-03 -1.42721356e-04 -3.87129715e-01] [-1.45696818e-03 9.99998400e-01 1.03744512e-03 -2.29908588e-01] [ 1.44232806e-04 -1.03723607e-03 9.99999452e-01 -1.98380094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.431966745999997 meters 0.25211670628738675 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.02 [[ 9.99996180e-01 -2.76339467e-03 -6.61053540e-05 -3.87557864e-01] [ 2.76317037e-03 9.99991121e-01 -3.18153945e-03 -2.29804159e-01] [ 7.48966162e-05 3.18134464e-03 9.99994937e-01 -1.95864776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.491966746 meters 0.2512667776384039 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.02 [[ 9.99996475e-01 -2.65440165e-03 6.36758487e-05 -3.87994903e-01] [ 2.65458423e-03 9.99991786e-01 -3.06278492e-03 -2.29680267e-01] [-5.55454644e-05 3.06294316e-03 9.99995308e-01 -1.96084631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.551966745999998 meters 0.2519093759753695 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-0.02 [[ 9.99996747e-01 -2.55054950e-03 -2.63774214e-05 -3.87733860e-01] [ 2.55047285e-03 9.99993411e-01 -2.58321627e-03 -2.32823474e-01] [ 3.29658686e-05 2.58314059e-03 9.99996663e-01 -1.96027407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.611966745999997 meters 0.2553228071884864 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.02 [[ 0.99999284 0.00107386 -0.00362882 -0.41160868] [-0.0010993 0.99997478 -0.00701604 -0.23775351] [ 0.00362119 0.00701998 0.9999688 -0.01701242] [ 0. 0. 0. 1. ]] SLAMing on 18.671966746 meters 0.24937481186559837 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-0.02 [[ 0.99999291 0.00113602 -0.00359124 -0.4118675 ] [-0.00116136 0.99997438 -0.00706341 -0.23683213] [ 0.00358312 0.00706753 0.99996861 -0.01686557] [ 0. 0. 0. 1. ]] SLAMing on 18.731966745999998 meters 0.25531802978196105 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.02 [[ 0.99999679 -0.00156138 0.00199629 -0.38775628] [ 0.00156436 0.99999766 -0.00149214 -0.24373181] [-0.00199396 0.00149526 0.99999689 -0.02193121] [ 0. 0. 0. 1. ]] SLAMing on 18.791966745999996 meters 0.2517007737502211 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.02 [[ 0.99999675 -0.00156909 0.00200851 -0.38764305] [ 0.00157228 0.99999751 -0.00158654 -0.24296546] [-0.00200602 0.00158969 0.99999672 -0.02217915] [ 0. 0. 0. 1. ]] SLAMing on 18.851966746 meters 0.24994455142089037 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.24, Z:-0.02 [[ 0.9999968 -0.00148593 0.00204653 -0.38784311] [ 0.00148886 0.99999787 -0.00143113 -0.24352689] [-0.0020444 0.00143418 0.99999688 -0.02213572] [ 0. 0. 0. 1. ]] SLAMing on 18.911966745999997 meters 0.2520812841473047 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.25, Z:-0.02 [[ 0.99999691 -0.00147564 0.00199882 -0.38729271] [ 0.0014781 0.99999815 -0.00122766 -0.24515455] [-0.001997 0.00123061 0.99999725 -0.02271311] [ 0. 0. 0. 1. ]] SLAMing on 18.971966746 meters 0.249928199556452 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.25, Z:-0.02 [[ 9.99996772e-01 -2.39520703e-03 8.47431994e-04 -4.31939521e-01] [ 2.39383721e-03 9.99995833e-01 1.61377466e-03 -2.50417487e-01] [-8.51293787e-04 -1.61174084e-03 9.99998339e-01 -2.33065357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.031966746 meters 0.2523084545849646 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.02 [[ 0.99998402 0.00504744 0.00254631 -0.40932705] [-0.00504052 0.9999836 -0.00271789 -0.25136288] [-0.00255999 0.00270501 0.99999306 -0.02470485] [ 0. 0. 0. 1. ]] SLAMing on 19.091966745999997 meters 0.25378299956610184 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.03 [[ 0.99998394 0.0049866 0.00269357 -0.40946721] [-0.00497812 0.99998267 -0.00314317 -0.24818776] [-0.0027092 0.00312971 0.99999143 -0.02510059] [ 0. 0. 0. 1. ]] SLAMing on 19.151966746 meters 0.25233679988739743 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.02 [[ 0.99998387 0.00505903 0.00258218 -0.4094524 ] [-0.0050518 0.99998333 -0.0027967 -0.25053119] [-0.00259628 0.00278361 0.99999276 -0.02461374] [ 0. 0. 0. 1. ]] SLAMing on 19.211966745999998 meters 0.253072686882979 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.03 [[ 9.99990461e-01 4.08039753e-03 1.55821900e-03 -4.54013206e-01] [-4.07978944e-03 9.99991600e-01 -3.93228073e-04 -2.52702575e-01] [-1.55981044e-03 3.86867116e-04 9.99998709e-01 -2.56863182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.271966745999997 meters 0.25342620946778766 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.03 [[ 9.99990610e-01 4.05102279e-03 1.53898356e-03 -4.53790260e-01] [-4.05038364e-03 9.99991710e-01 -4.18196221e-04 -2.52802170e-01] [-1.54066492e-03 4.11958820e-04 9.99998728e-01 -2.58375182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.331966746 meters 0.25372865368936537 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.03 [[ 0.99998494 0.00496355 0.00234264 -0.40826421] [-0.00495645 0.99998313 -0.00302867 -0.25111727] [-0.00235763 0.00301702 0.99999267 -0.02539194] [ 0. 0. 0. 1. ]] SLAMing on 19.391966745999998 meters 0.2546581807259711 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.25, Z:-0.03 [[ 0.99998522 0.00490073 0.00235405 -0.40815805] [-0.00489321 0.99998294 -0.00318918 -0.25063241] [-0.00236964 0.00317761 0.99999214 -0.02539484] [ 0. 0. 0. 1. ]] SLAMing on 19.451966745999997 meters 0.2513353178798406 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.25, Z:-0.02 [[ 9.99998154e-01 -1.92156841e-03 1.40103771e-05 -4.30030468e-01] [ 1.92154266e-03 9.99996792e-01 1.65064668e-03 -2.49668875e-01] [-1.71821627e-05 -1.65061671e-03 9.99998638e-01 -2.34713249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.511966746 meters 0.2541040872687788 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-0.03 [[ 0.9999971 -0.0019788 -0.0013699 -0.47383547] [ 0.0019852 0.99998703 0.00468947 -0.24981626] [ 0.0013606 -0.00469218 0.99998807 -0.02538007] [ 0. 0. 0. 1. ]] SLAMing on 19.571966745999998 meters 0.2549346584414572 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-0.02 [[ 0.99999086 0.00335323 -0.00265303 -0.45511345] [-0.00335815 0.99999265 -0.00185133 -0.24556776] [ 0.0026468 0.00186022 0.99999477 -0.02033811] [ 0. 0. 0. 1. ]] SLAMing on 19.631966746 meters 0.2544423990755788 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.02 [[ 0.99999052 0.00323493 -0.00291513 -0.4541236 ] [-0.0032395 0.99999353 -0.00156145 -0.2485965 ] [ 0.00291006 0.00157088 0.99999453 -0.02088235] [ 0. 0. 0. 1. ]] SLAMing on 19.691966746 meters 0.25557787015930694 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.02 [[ 0.99999009 0.00320556 -0.00309072 -0.45342357] [-0.00321008 0.99999379 -0.00145629 -0.24977712] [ 0.00308603 0.0014662 0.99999416 -0.02109035] [ 0. 0. 0. 1. ]] SLAMing on 19.751966745999997 meters 0.25227321663009455 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.02 [[ 0.99999062 0.0031073 -0.00301825 -0.45331461] [-0.00311246 0.9999937 -0.00170622 -0.24846312] [ 0.00301293 0.0017156 0.99999399 -0.02161638] [ 0. 0. 0. 1. ]] SLAMing on 19.811966746 meters 0.25195314548303566 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.02 [[ 0.99999075 0.00307646 -0.00300596 -0.45329516] [-0.00308146 0.99999387 -0.00166017 -0.24889339] [ 0.00300084 0.00166941 0.9999941 -0.02185837] [ 0. 0. 0. 1. ]] SLAMing on 19.871966746 meters 0.25585340290060876 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.02 [[ 0.9999902 0.00307527 -0.00318504 -0.45290281] [-0.00307927 0.99999447 -0.00125284 -0.25206024] [ 0.00318117 0.00126263 0.99999414 -0.02165833] [ 0. 0. 0. 1. ]] SLAMing on 19.931966745999997 meters 0.25138554223549275 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.02 [[ 0.9999902 0.00309577 -0.00316517 -0.45324535] [-0.00310023 0.99999421 -0.00140394 -0.25094485] [ 0.0031608 0.00141374 0.99999401 -0.02102874] [ 0. 0. 0. 1. ]] SLAMing on 19.991966746 meters 0.25293052875167327 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.02 [[ 0.99999002 0.00316969 -0.00314983 -0.45322924] [-0.00317366 0.99999418 -0.00125377 -0.25150348] [ 0.00314583 0.00126376 0.99999425 -0.02123138] [ 0. 0. 0. 1. ]] SLAMing on 20.051966745999998 meters 0.25569609362953083 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.25, Z:-0.02 [[ 0.99997504 -0.00357201 -0.00609548 -0.47872439] [ 0.00359436 0.99998684 0.00366114 -0.2535041 ] [ 0.00608232 -0.00368296 0.99997472 -0.01528191] [ 0. 0. 0. 1. ]] SLAMing on 20.111966745999997 meters 0.2557502012333419 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-0.02 [[ 0.99999106 0.00327678 -0.00267087 -0.45625436] [-0.00327948 0.99999411 -0.00100815 -0.25319762] [ 0.00266755 0.0010169 0.99999593 -0.01927126] [ 0. 0. 0. 1. ]] SLAMing on 20.171966746 meters 0.25522991835408376 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.25, Z:-0.02 [[ 0.99998416 -0.00328624 -0.00456894 -0.47765668] [ 0.00330546 0.99998569 0.00420659 -0.25164404] [ 0.00455505 -0.00422162 0.99998071 -0.01895136] [ 0. 0. 0. 1. ]] SLAMing on 20.231966745999998 meters 0.25314458105295606 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.03 [[ 9.99998956e-01 1.10422213e-03 -9.32526387e-04 -4.51657804e-01] [-1.10646412e-03 9.99996491e-01 -2.40713086e-03 -2.52494262e-01] [ 9.29865107e-04 2.40816015e-03 9.99996668e-01 -2.59530938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.291966745999996 meters 0.26218293617065463 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.25, Z:-0.03 [[ 0.99999879 0.00106432 -0.00113325 -0.45069972] [-0.00106697 0.9999967 -0.00233523 -0.25357124] [ 0.00113076 0.00233644 0.99999663 -0.02646041] [ 0. 0. 0. 1. ]] SLAMing on 20.351966746 meters 0.2510425650045098 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-0.03 [[ 9.99996502e-01 9.03230126e-04 -2.48616501e-03 -4.94140436e-01] [-9.01281429e-04 9.99999286e-01 7.84825540e-04 -2.54108900e-01] [ 2.48687212e-03 -7.82582060e-04 9.99996602e-01 -2.90131857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.411966745999997 meters 0.6299981046040908 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.26, Z:-0.04 [[ 0.99998287 -0.00516095 0.00276207 -0.4675816 ] [ 0.00515318 0.99998276 0.00281472 -0.2596518 ] [-0.00277655 -0.00280043 0.99999222 -0.03605575] [ 0. 0. 0. 1. ]] SLAMing on 20.471966746 meters 0.2560203005528567 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997108e-01 7.53256290e-04 -2.28399230e-03 -4.92871052e-01] [-7.51498108e-04 9.99999421e-01 7.70545040e-04 -2.58498539e-01] [ 2.28457140e-03 -7.68826396e-04 9.99997095e-01 -3.07839485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.531966746 meters 0.2506227780605848 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997429e-01 6.41939551e-04 -2.17494461e-03 -4.92800129e-01] [-6.40993902e-04 9.99999700e-01 4.35461324e-04 -2.56510373e-01] [ 2.17522350e-03 -4.34066078e-04 9.99997540e-01 -3.13989500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.591966745999997 meters 0.2505466206097746 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997093e-01 6.50700069e-04 -2.32157178e-03 -4.92182277e-01] [-6.49177671e-04 9.99999574e-01 6.56454944e-04 -2.58241924e-01] [ 2.32199794e-03 -6.54945923e-04 9.99997090e-01 -3.17562709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.651966746 meters 0.2557611256260754 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997586e-01 7.27051103e-04 -2.07340650e-03 -4.93402482e-01] [-7.26107783e-04 9.99999633e-01 4.55677855e-04 -2.56218323e-01] [ 2.07373704e-03 -4.54171239e-04 9.99997747e-01 -3.08950643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.711966745999998 meters 0.2513536718154836 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997593e-01 7.70951058e-04 -2.05400431e-03 -4.93402499e-01] [-7.69435886e-04 9.99999431e-01 7.38355841e-04 -2.58145423e-01] [ 2.05457238e-03 -7.36773640e-04 9.99997618e-01 -3.09917812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.771966745999997 meters 0.2566972058072326 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997876e-01 8.42921148e-04 -1.88068652e-03 -4.94389410e-01] [-8.41556113e-04 9.99999382e-01 7.26490854e-04 -2.57595467e-01] [ 1.88129774e-03 -7.24906608e-04 9.99997968e-01 -3.02806307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.831966746 meters 0.2567110057092691 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997710e-01 8.88242053e-04 -1.94713332e-03 -4.94459879e-01] [-8.86566933e-04 9.99999236e-01 8.60994961e-04 -2.58629299e-01] [ 1.94789661e-03 -8.59266725e-04 9.99997734e-01 -2.95533108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.891966745999998 meters 0.2559269493787045 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997397e-01 8.83849534e-04 -2.10346751e-03 -4.93553898e-01] [-8.82001469e-04 9.99999224e-01 8.79345862e-04 -2.59070081e-01] [ 2.10424309e-03 -8.77488312e-04 9.99997401e-01 -3.02997908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.951966745999997 meters 0.2563163876770457 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997351e-01 6.91036302e-04 -2.19544283e-03 -4.92436856e-01] [-6.89836287e-04 9.99999612e-01 5.47303475e-04 -2.57615347e-01] [ 2.19582019e-03 -5.45787529e-04 9.99997440e-01 -3.17900803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.011966746 meters 0.25688805082494887 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997978e-01 6.10018473e-04 -1.91602661e-03 -4.93310438e-01] [-6.09627896e-04 9.99999793e-01 2.04424699e-04 -2.55163918e-01] [ 1.91615092e-03 -2.03256222e-04 9.99998144e-01 -3.17515523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.071966745999998 meters 0.2567145648546926 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99998068e-01 7.41665334e-04 -1.82058172e-03 -4.94165191e-01] [-7.40986159e-04 9.99999656e-01 3.73699599e-04 -2.55671118e-01] [ 1.82085825e-03 -3.72349851e-04 9.99998273e-01 -3.08240876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.131966745999996 meters 0.25316449660690976 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997992e-01 7.76836278e-04 -1.84735216e-03 -4.94202630e-01] [-7.75833534e-04 9.99999551e-01 5.43455636e-04 -2.56929249e-01] [ 1.84777351e-03 -5.42021307e-04 9.99998146e-01 -3.05256961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.191966746 meters 0.25137122582022886 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99998172e-01 8.57466098e-04 -1.70920896e-03 -4.94998397e-01] [-8.56807040e-04 9.99999558e-01 3.86286976e-04 -2.55439547e-01] [ 1.70953944e-03 -3.84821807e-04 9.99998465e-01 -2.97996233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.251966745999997 meters 0.2568692032472498 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99998064e-01 7.79314353e-04 -1.80674660e-03 -4.94228106e-01] [-7.78640228e-04 9.99999627e-01 3.73789030e-04 -2.55914011e-01] [ 1.80703723e-03 -3.72381500e-04 9.99998298e-01 -3.05469858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.311966746 meters 0.25694868507537555 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99998088e-01 8.41778748e-04 -1.76497894e-03 -4.94421575e-01] [-8.41007078e-04 9.99999550e-01 4.37908417e-04 -2.55945251e-01] [ 1.76534676e-03 -4.36423220e-04 9.99998347e-01 -3.05306078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.371966746 meters 0.25795494085669646 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-0.03 [[ 9.99998371e-01 6.34805849e-04 -1.68993732e-03 -4.94285353e-01] [-6.34824537e-04 9.99999798e-01 -1.05219515e-05 -2.53417993e-01] [ 1.68993030e-03 1.15947480e-05 9.99998572e-01 -3.12610446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.431966745999997 meters 0.2566938025489634 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997677e-01 3.82597203e-04 -2.12131550e-03 -4.92906457e-01] [-3.81739672e-04 9.99999845e-01 4.04635001e-04 -2.58311530e-01] [ 2.12146999e-03 -4.03824270e-04 9.99997668e-01 -3.16418996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.491966746 meters 0.25693082543322493 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997862e-01 2.90587260e-04 -2.04714753e-03 -4.93039624e-01] [-2.90325298e-04 9.99999950e-01 1.28260461e-04 -2.56462770e-01] [ 2.04718470e-03 -1.27665848e-04 9.99997896e-01 -3.19928905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.551966745999998 meters 0.25702985335109124 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997460e-01 2.31307608e-04 -2.24184488e-03 -4.92276705e-01] [-2.30436374e-04 9.99999898e-01 3.88873827e-04 -2.58780405e-01] [ 2.24193460e-03 -3.88356237e-04 9.99997411e-01 -3.23014881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.611966745999997 meters 0.2558074870500504 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997378e-01 4.23745897e-04 -2.25032162e-03 -4.92779710e-01] [-4.21957462e-04 9.99999595e-01 7.95161839e-04 -2.60745374e-01] [ 2.25065765e-03 -7.94210214e-04 9.99997152e-01 -3.13880355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.671966746 meters 0.2566159359028319 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997370e-01 2.61605255e-04 -2.27848196e-03 -4.92126259e-01] [-2.60494863e-04 9.99999847e-01 4.87621805e-04 -2.59262018e-01] [ 2.27860918e-03 -4.87026990e-04 9.99997285e-01 -3.24405246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.731966745999998 meters 0.25558836052235046 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997134e-01 4.68974654e-04 -2.34772163e-03 -4.92018305e-01] [-4.66275152e-04 9.99999230e-01 1.15025441e-03 -2.63173762e-01] [ 2.34825926e-03 -1.14915643e-03 9.99996583e-01 -3.21826454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.791966745999996 meters 0.25474518100976185 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997279e-01 5.58832713e-04 -2.26484153e-03 -4.92504826e-01] [-5.56244009e-04 9.99999192e-01 1.14346441e-03 -2.62592290e-01] [ 2.26547870e-03 -1.14220149e-03 9.99996781e-01 -3.18034655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.851966746 meters 0.2567176302852961 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997926e-01 6.65808270e-04 -1.92455944e-03 -4.94049876e-01] [-6.64345954e-04 9.99999490e-01 7.60357935e-04 -2.58726399e-01] [ 1.92506472e-03 -7.59077785e-04 9.99997859e-01 -3.10068786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.911966745999997 meters 0.2516319285464978 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.03 [[ 9.99997460e-01 6.67794986e-04 -2.15280768e-03 -4.93367438e-01] [-6.65294470e-04 9.99999104e-01 1.16202107e-03 -2.61902399e-01] [ 2.15358174e-03 -1.16058587e-03 9.99997008e-01 -3.09303722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.971966746 meters 0.25651019118602997 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.03 [[ 0.99997157 0.00540349 -0.00525943 -0.51943665] [-0.00541654 0.99998228 -0.00246986 -0.26323995] [ 0.00524599 0.00249828 0.99998312 -0.02743811] [ 0. 0. 0. 1. ]] SLAMing on 22.031966746 meters 0.25627948439019826 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.03 [[ 0.99997239 0.00526636 -0.00524328 -0.51933247] [-0.00528219 0.99998152 -0.00300992 -0.25994341] [ 0.00522733 0.00303753 0.99998172 -0.02771549] [ 0. 0. 0. 1. ]] SLAMing on 22.091966745999997 meters 0.2562131007624563 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.03 [[ 9.99999492e-01 -6.50733507e-04 -7.69190740e-04 -4.96791539e-01] [ 6.50359341e-04 9.99999670e-01 -4.86591104e-04 -2.60628780e-01] [ 7.69507127e-04 4.86090606e-04 9.99999586e-01 -2.98038780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.151966746 meters 0.25517267340591565 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.26, Z:-0.03 [[ 9.99989155e-01 -4.13998281e-03 -2.13331657e-03 -5.39662460e-01] [ 4.13883936e-03 9.99991289e-01 -5.40131671e-04 -2.64467428e-01] [ 2.13553412e-03 5.31296359e-04 9.99997579e-01 -3.21868172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.211966745999998 meters 0.2561695694447632 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.04 [[ 0.99999218 0.00354174 0.00176203 -0.51564335] [-0.00353406 0.99998432 -0.00434506 -0.26124884] [-0.00177739 0.0043388 0.99998901 -0.03782971] [ 0. 0. 0. 1. ]] SLAMing on 22.271966745999997 meters 0.2560042287950422 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.04 [[ 0.99999215 0.00355031 0.00175975 -0.51590611] [-0.00354254 0.99998405 -0.00439957 -0.26065796] [-0.00177534 0.0043933 0.99998877 -0.03748494] [ 0. 0. 0. 1. ]] SLAMing on 22.331966746 meters 0.2564234854030369 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.04 [[ 0.99999208 0.00364536 0.001596 -0.51546627] [-0.00363905 0.99998562 -0.00393818 -0.26369866] [-0.00161033 0.00393235 0.99999097 -0.03740815] [ 0. 0. 0. 1. ]] SLAMing on 22.391966745999998 meters 0.25764658412665875 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.04 [[ 0.99999267 0.00348983 0.0015777 -0.51486635] [-0.00348283 0.99998416 -0.00442203 -0.26074021] [-0.00159311 0.0044165 0.99998898 -0.03833114] [ 0. 0. 0. 1. ]] SLAMing on 22.451966745999997 meters 0.2574416011103579 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.04 [[ 0.9999923 0.00357528 0.00162002 -0.51516115] [-0.00356836 0.99998457 -0.00425658 -0.26149794] [-0.00163521 0.00425077 0.99998963 -0.03807431] [ 0. 0. 0. 1. ]] SLAMing on 22.511966746 meters 0.25071064864853354 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.04 [[ 0.99999207 0.00369709 0.00148163 -0.51501596] [-0.00369133 0.9999857 -0.00386844 -0.26392939] [-0.00149591 0.00386294 0.99999142 -0.03757393] [ 0. 0. 0. 1. ]] SLAMing on 22.571966745999998 meters 0.2531063830707146 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.04 [[ 0.99999247 0.00360101 0.00144486 -0.51493155] [-0.00359497 0.99998488 -0.00416036 -0.2622562 ] [-0.00145982 0.00415513 0.9999903 -0.03751195] [ 0. 0. 0. 1. ]] SLAMing on 22.631966745999996 meters 0.25679397312079444 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.26, Z:-0.03 [[ 0.99999675 -0.00218673 -0.00131372 -0.54161786] [ 0.00218902 0.99999607 0.00175006 -0.26427999] [ 0.00130989 -0.00175293 0.99999761 -0.03096282] [ 0. 0. 0. 1. ]] SLAMing on 22.691966746 meters 0.25682932342136255 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.27, Z:-0.03 [[ 0.99999687 -0.00211097 -0.00134316 -0.541576 ] [ 0.00211362 0.99999582 0.00197431 -0.26551673] [ 0.00133899 -0.00197715 0.99999715 -0.03091921] [ 0. 0. 0. 1. ]] SLAMing on 22.751966745999997 meters 0.2565974638778266 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.26, Z:-0.03 [[ 9.99999471e-01 -8.26671139e-04 -6.12796756e-04 -5.47043234e-01] [ 8.28536916e-04 9.99995003e-01 3.05071601e-03 -2.63766687e-01] [ 6.10271755e-04 -3.05122212e-03 9.99995159e-01 -2.63947200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.811966746 meters 0.2517255903062334 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.03 [[ 0.99999344 0.00269538 0.00241939 -0.52309385] [-0.00268408 0.99998553 -0.00466298 -0.26655702] [-0.00243193 0.00465646 0.9999862 -0.03049765] [ 0. 0. 0. 1. ]] SLAMing on 22.871966746 meters 0.2568083076161542 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 9.99993403e-01 -3.44501849e-03 -1.15109150e-03 -5.49920746e-01] [ 3.44585723e-03 9.99993798e-01 7.27462060e-04 -2.70518179e-01] [ 1.14857824e-03 -7.31423758e-04 9.99999073e-01 -2.22993731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.931966745999997 meters 0.2539329722887112 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.02 [[ 9.99999289e-01 1.19055252e-03 6.18616180e-05 -5.06203356e-01] [-1.19067188e-03 9.99997357e-01 1.96676512e-03 -2.67464922e-01] [-5.95199173e-05 -1.96683738e-03 9.99998064e-01 -2.09428749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.991966746 meters 0.25219235028566606 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.27, Z:-0.02 [[ 0.99998014 0.00441162 -0.00450177 -0.53041832] [-0.00442422 0.99998631 -0.00279284 -0.26784456] [ 0.00448939 0.0028127 0.99998597 -0.01707502] [ 0. 0. 0. 1. ]] SLAMing on 23.051966745999998 meters 0.2520592959135765 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.27, Z:-0.02 [[ 0.99997853 0.00450924 -0.00475422 -0.52974779] [-0.00452007 0.9999872 -0.00227139 -0.27135628] [ 0.00474392 0.00229283 0.99998612 -0.01704132] [ 0. 0. 0. 1. ]] SLAMing on 23.111966745999997 meters 0.25195245515673026 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998365 -0.00209016 -0.00532251 -0.55213708] [ 0.00210585 0.99999345 0.00294447 -0.26889621] [ 0.00531632 -0.00295563 0.9999815 -0.01762914] [ 0. 0. 0. 1. ]] SLAMing on 23.171966746 meters 0.25177200048706516 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998201 -0.00218088 -0.00558846 -0.55165776] [ 0.00220015 0.99999165 0.00344401 -0.27272511] [ 0.0055809 -0.00345624 0.99997845 -0.01717992] [ 0. 0. 0. 1. ]] SLAMing on 23.231966745999998 meters 0.2531295850936982 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998163 -0.00220693 -0.00564515 -0.55126503] [ 0.0022272 0.99999108 0.00358809 -0.27375607] [ 0.00563718 -0.0036006 0.99997763 -0.01769961] [ 0. 0. 0. 1. ]] SLAMing on 23.291966745999996 meters 0.2543749368648703 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998164 -0.00229151 -0.0056105 -0.55129576] [ 0.00231048 0.99999163 0.00337643 -0.27239811] [ 0.00560271 -0.00338934 0.99997856 -0.01790051] [ 0. 0. 0. 1. ]] SLAMing on 23.351966746 meters 0.2574061530084148 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998207 -0.00212897 -0.00559696 -0.551705 ] [ 0.00214992 0.9999907 0.00373981 -0.27414433] [ 0.00558895 -0.00375177 0.99997734 -0.01729629] [ 0. 0. 0. 1. ]] SLAMing on 23.411966745999997 meters 0.25245995411244326 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 0.99998181 -0.00202298 -0.00568234 -0.55158832] [ 0.00204529 0.99999021 0.00392343 -0.2753573 ] [ 0.00567435 -0.00393498 0.99997616 -0.01684738] [ 0. 0. 0. 1. ]] SLAMing on 23.471966746 meters 0.25296077724134075 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998335 -0.00195216 -0.00543049 -0.55211174] [ 0.00197087 0.99999214 0.00344138 -0.27150848] [ 0.00542372 -0.00345203 0.99997933 -0.01708364] [ 0. 0. 0. 1. ]] SLAMing on 23.531966746 meters 0.25344556380490635 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998368 -0.00182879 -0.00541231 -0.55232533] [ 0.00184855 0.99999164 0.0036481 -0.27251296] [ 0.0054056 -0.00365805 0.9999787 -0.01669623] [ 0. 0. 0. 1. ]] SLAMing on 23.591966745999997 meters 0.25439049715874096 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998267 -0.00196497 -0.00554876 -0.55156684] [ 0.00198366 0.99999237 0.00336465 -0.27139964] [ 0.0055421 -0.0033756 0.99997894 -0.01719252] [ 0. 0. 0. 1. ]] SLAMing on 23.651966746 meters 0.25250831666423085 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998337 -0.00187266 -0.00545396 -0.55216157] [ 0.00189173 0.9999921 0.00349453 -0.27182893] [ 0.00544737 -0.00350479 0.99997902 -0.01671672] [ 0. 0. 0. 1. ]] SLAMing on 23.711966745999998 meters 0.2532687967129969 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.27, Z:-0.02 [[ 0.99998247 -0.00190439 -0.00560633 -0.55144065] [ 0.00192468 0.99999161 0.00361621 -0.27304007] [ 0.00559939 -0.00362694 0.99997775 -0.0172038 ] [ 0. 0. 0. 1. ]] SLAMing on 23.771966745999997 meters 0.2563232742740424 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.27, Z:-0.01 [[ 9.99942976e-01 2.44086810e-03 -1.03964730e-02 -5.75968466e-01] [-2.43878719e-03 9.99997004e-01 2.12829191e-04 -2.72578332e-01] [ 1.03969614e-02 -1.87462269e-04 9.99945933e-01 -1.33630374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.831966746 meters 0.2558021481064003 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.27, Z:-0.01 [[ 9.99944231e-01 2.42520399e-03 -1.02787742e-02 -5.76248184e-01] [-2.42493189e-03 9.99997059e-01 3.89352270e-05 -2.71150021e-01] [ 1.02788384e-02 -1.40077282e-05 9.99947171e-01 -1.36113156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.891966745999998 meters 0.2527775803382459 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.27, Z:-0.01 [[ 0.99995613 0.00203533 -0.00914321 -0.53199415] [-0.00206798 0.99999151 -0.00356352 -0.27083685] [ 0.00913588 0.00358228 0.99995185 -0.01183198] [ 0. 0. 0. 1. ]] SLAMing on 23.951966745999997 meters 0.25571059413221514 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.27, Z:-0.02 [[ 9.99937778e-01 1.88124354e-04 -1.11536827e-02 -5.72043515e-01] [-2.09869235e-04 9.99998080e-01 -1.94843122e-03 -2.73423635e-01] [ 1.11532947e-02 1.95065080e-03 9.99935897e-01 -1.68139035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.011966746 meters 0.2516536954014617 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.27, Z:-0.02 [[ 0.99997228 -0.00240201 -0.00704813 -0.54474345] [ 0.00242696 0.99999081 0.0035337 -0.27415149] [ 0.00703958 -0.0035507 0.99996892 -0.0230833 ] [ 0. 0. 0. 1. ]] SLAMing on 24.071966745999998 meters 0.25221972810998955 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.28, Z:-0.02 [[ 0.99997207 -0.00229002 -0.0071148 -0.5446511 ] [ 0.00231844 0.99998936 0.00398865 -0.27689322] [ 0.00710559 -0.00400503 0.99996673 -0.02280925] [ 0. 0. 0. 1. ]] SLAMing on 24.131966745999996 meters 0.25253450631437985 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 0.99997307 -0.00221024 -0.00699754 -0.54517139] [ 0.00223946 0.99998879 0.00417117 -0.27793521] [ 0.00698824 -0.00418672 0.99996682 -0.02242268] [ 0. 0. 0. 1. ]] SLAMing on 24.191966746 meters 0.25651697679759855 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 0.99997439 -0.00208338 -0.00684752 -0.54619711] [ 0.00211236 0.99998883 0.00422817 -0.27748675] [ 0.00683864 -0.00424252 0.99996762 -0.02148575] [ 0. 0. 0. 1. ]] SLAMing on 24.251966745999997 meters 0.2534163869670428 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 0.99997372 -0.00208613 -0.00694354 -0.54579576] [ 0.00211629 0.99998835 0.00433898 -0.27852104] [ 0.00693441 -0.00435356 0.99996648 -0.0215165 ] [ 0. 0. 0. 1. ]] SLAMing on 24.311966746 meters 0.2512887253839002 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.28, Z:-0.02 [[ 0.99993778 0.00303814 -0.01073345 -0.57267476] [-0.00302259 0.99999436 0.00146419 -0.27870243] [ 0.01073784 -0.00143166 0.99994132 -0.01659266] [ 0. 0. 0. 1. ]] SLAMing on 24.371966746 meters 0.2525714238265611 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 9.99983293e-01 -8.05350664e-04 -5.72416679e-03 -5.48265402e-01] [ 8.36512954e-04 9.99984833e-01 5.44367939e-03 -2.78897397e-01] [ 5.71969590e-03 -5.44837678e-03 9.99968800e-01 -2.10559750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.431966745999997 meters 0.2534593453301446 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 9.99983187e-01 -7.09864050e-04 -5.75507573e-03 -5.48365991e-01] [ 7.41915418e-04 9.99984218e-01 5.56901398e-03 -2.79534859e-01] [ 5.75103166e-03 -5.57319013e-03 9.99967932e-01 -2.06702867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.491966746 meters 0.2528959079774487 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 9.99982715e-01 -8.00240679e-04 -5.82492104e-03 -5.47843788e-01] [ 8.31989175e-04 9.99984802e-01 5.45007860e-03 -2.79244285e-01] [ 5.82047114e-03 -5.45483066e-03 9.99968183e-01 -2.11990853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.551966745999998 meters 0.25274539367540094 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 9.99982050e-01 -8.87600428e-04 -5.92544495e-03 -5.47180613e-01] [ 9.19478441e-04 9.99985109e-01 5.37929665e-03 -2.79406408e-01] [ 5.92058205e-03 -5.38464841e-03 9.99967976e-01 -2.17754599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.611966745999997 meters 0.2561031082634527 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.28, Z:-0.02 [[ 0.99993223 0.00351066 -0.01110013 -0.57139374] [-0.00349255 0.99999254 0.00165096 -0.27624255] [ 0.01110584 -0.00161208 0.99993703 -0.01755474] [ 0. 0. 0. 1. ]] SLAMing on 24.671966746 meters 0.25209875631124756 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.28, Z:-0.02 [[ 0.9999313 0.00351863 -0.01118083 -0.57098134] [-0.00349866 0.99999225 0.00180567 -0.2776218 ] [ 0.0111871 -0.00176643 0.99993586 -0.01771962] [ 0. 0. 0. 1. ]] SLAMing on 24.731966745999998 meters 0.25340467871096 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.28, Z:-0.02 [[ 0.99993263 0.00339984 -0.01109857 -0.57104642] [-0.00338367 0.99999319 0.00147538 -0.27572454] [ 0.01110351 -0.00143773 0.99993732 -0.01799688] [ 0. 0. 0. 1. ]] SLAMing on 24.791966745999996 meters 0.2523078977323039 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.28, Z:-0.02 [[ 0.99993322 0.00330643 -0.0110734 -0.57093014] [-0.00329174 0.99999368 0.0013446 -0.27529661] [ 0.01107778 -0.00130806 0.99993778 -0.01837497] [ 0. 0. 0. 1. ]] SLAMing on 24.851966746 meters 0.2571271957388856 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.27, Z:-0.02 [[ 9.99939787e-01 -9.94339419e-04 -1.09286086e-02 -5.71325733e-01] [ 9.60041447e-04 9.99994599e-01 -3.14316398e-03 -2.73416602e-01] [ 1.09316750e-02 3.13248280e-03 9.99935341e-01 -1.84541445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.911966745999997 meters 0.25736960333974335 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.27, Z:-0.02 [[ 9.99940357e-01 -8.83843576e-04 -1.08858319e-02 -5.71755842e-01] [ 8.51366846e-04 9.99995174e-01 -2.98766721e-03 -2.73914412e-01] [ 1.08884200e-02 2.97822118e-03 9.99936284e-01 -1.79999762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.971966746 meters 0.2578073975449519 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 0.99997527 -0.00474366 -0.00519291 -0.54888728] [ 0.00475039 0.99998789 0.00128602 -0.27819427] [ 0.00518675 -0.00131066 0.99998569 -0.02202269] [ 0. 0. 0. 1. ]] SLAMing on 25.031966746 meters 0.25659033701347583 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 0.99997559 -0.00455257 -0.00530088 -0.5486697 ] [ 0.00456338 0.99998753 0.00202922 -0.28269984] [ 0.00529158 -0.00205336 0.99998389 -0.02190399] [ 0. 0. 0. 1. ]] SLAMing on 25.091966745999997 meters 0.2562244438805195 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 0.99997687 -0.0044422 -0.00515128 -0.54933986] [ 0.00445139 0.99998852 0.00177392 -0.27993654] [ 0.00514334 -0.00179681 0.99998516 -0.02163005] [ 0. 0. 0. 1. ]] SLAMing on 25.151966746 meters 0.250759275971856 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 0.99997615 -0.00443177 -0.00529619 -0.54858863] [ 0.00444268 0.99998803 0.0020507 -0.28222504] [ 0.00528704 -0.00207418 0.99998387 -0.02207347] [ 0. 0. 0. 1. ]] SLAMing on 25.211966745999998 meters 0.25669187201929605 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.29, Z:-0.02 [[ 0.99997725 -0.00419655 -0.00528149 -0.54907696] [ 0.0042104 0.99998772 0.00261449 -0.28521296] [ 0.00527045 -0.00263666 0.99998264 -0.02131236] [ 0. 0. 0. 1. ]] SLAMing on 25.271966745999997 meters 0.25011914633937804 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.02 [[ 0.99997801 -0.00411348 -0.00520139 -0.54928923] [ 0.00412705 0.9999881 0.00260196 -0.28448676] [ 0.00519063 -0.00262337 0.99998309 -0.02149958] [ 0. 0. 0. 1. ]] SLAMing on 25.331966746 meters 0.2558121999477907 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.03 [[ 0.99999464 0.00225779 -0.00237011 -0.5217108 ] [-0.00226387 0.99999414 -0.00256629 -0.28293369] [ 0.00236431 0.00257164 0.9999939 -0.0300386 ] [ 0. 0. 0. 1. ]] SLAMing on 25.391966745999998 meters 0.251085566631195 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.03 [[ 0.99999447 0.00244212 -0.00225656 -0.52259383] [-0.00244728 0.99999438 -0.00229032 -0.28390346] [ 0.00225096 0.00229583 0.99999483 -0.02918403] [ 0. 0. 0. 1. ]] SLAMing on 25.451966745999997 meters 0.2515959226265389 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.29, Z:-0.03 [[ 0.9999943 0.00262002 -0.00212805 -0.52343757] [-0.00262416 0.99999466 -0.00194596 -0.28539486] [ 0.00212294 0.00195154 0.99999584 -0.02845425] [ 0. 0. 0. 1. ]] SLAMing on 25.511966746 meters 0.2517821771868697 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.29, Z:-0.03 [[ 0.99999406 0.00262667 -0.00223062 -0.52332746] [-0.00263104 0.99999462 -0.00195998 -0.28538625] [ 0.00222546 0.00196584 0.99999559 -0.02796898] [ 0. 0. 0. 1. ]] SLAMing on 25.571966745999998 meters 0.2566106586331999 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.29, Z:-0.03 [[ 0.99999401 0.00276116 -0.00208474 -0.52425787] [-0.00276509 0.9999944 -0.00188324 -0.28520301] [ 0.00207953 0.00188899 0.99999605 -0.02710665] [ 0. 0. 0. 1. ]] SLAMing on 25.631966745999996 meters 0.25194806511236734 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.28, Z:-0.03 [[ 0.99998419 -0.00456892 -0.00327759 -0.54769795] [ 0.00457814 0.99998557 0.00281161 -0.28494623] [ 0.0032647 -0.00282657 0.99999068 -0.02503657] [ 0. 0. 0. 1. ]] SLAMing on 25.691966746 meters 0.2558207843366527 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.29, Z:-0.02 [[ 0.99998602 -0.00432113 -0.0030471 -0.54911556] [ 0.00433046 0.99998593 0.00306348 -0.28543576] [ 0.00303382 -0.00307663 0.99999067 -0.02371723] [ 0. 0. 0. 1. ]] SLAMing on 25.751966745999997 meters 0.25246541621544943 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.03 [[ 9.99998178e-01 1.86342615e-03 4.15313845e-04 -5.23948824e-01] [-1.86247052e-03 9.99995644e-01 -2.28962772e-03 -2.83858607e-01] [-4.19578588e-04 2.28885004e-03 9.99997293e-01 -2.94375635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.811966746 meters 0.25712814823279423 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.03 [[ 9.99998362e-01 1.79850516e-03 2.05783316e-04 -5.22938642e-01] [-1.79802806e-03 9.99995749e-01 -2.29562498e-03 -2.84374300e-01] [-2.09911135e-04 2.29525121e-03 9.99997344e-01 -2.99958807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.871966746 meters 0.25729448769140234 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.29, Z:-0.02 [[ 0.99998558 -0.00446114 -0.00299036 -0.5475675 ] [ 0.00447036 0.99998525 0.00308331 -0.28585001] [ 0.00297656 -0.00309664 0.99999078 -0.02422968] [ 0. 0. 0. 1. ]] SLAMing on 25.931966745999997 meters 0.2558291243441686 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:-0.02 [[ 9.99969811e-01 -6.10333868e-04 -7.74627323e-03 -5.70878062e-01] [ 6.03777496e-04 9.99999458e-01 -8.48700815e-04 -2.86436916e-01] [ 7.74678702e-03 8.43998168e-04 9.99969637e-01 -2.14108070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.991966746 meters 0.253968904229227 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.29, Z:-0.03 [[ 0.99998525 -0.00505345 -0.00198928 -0.54785883] [ 0.00505834 0.99998418 0.00246124 -0.28850336] [ 0.00197682 -0.00247126 0.99999499 -0.02541889] [ 0. 0. 0. 1. ]] SLAMing on 26.051966745999998 meters 0.25404397548179963 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.29, Z:-0.03 [[ 0.99999475 0.00282686 0.00158096 -0.52716934] [-0.00282473 0.9999951 -0.00134837 -0.28781662] [-0.00158476 0.0013439 0.99999784 -0.02737078] [ 0. 0. 0. 1. ]] SLAMing on 26.111966745999997 meters 0.25171075596249665 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:-0.03 [[ 9.99999038e-01 1.38663555e-03 4.58701805e-05 -5.69856138e-01] [-1.38667021e-03 9.99998746e-01 7.64330345e-04 -2.89669419e-01] [-4.48102754e-05 -7.64393216e-04 9.99999707e-01 -2.90340396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.171966746 meters 0.25634515615710124 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:-0.03 [[ 9.99999079e-01 1.35123002e-03 1.30681457e-04 -5.70141890e-01] [-1.35127995e-03 9.99999014e-01 3.82774995e-04 -2.87210118e-01] [-1.30164111e-04 -3.82951229e-04 9.99999918e-01 -2.89875978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.231966745999998 meters 0.25655115072794726 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.29, Z:-0.03 [[ 0.99999713 0.0020061 0.00130944 -0.52574859] [-0.00200233 0.99999388 -0.00286953 -0.28553658] [-0.00131519 0.0028669 0.99999503 -0.02846267] [ 0. 0. 0. 1. ]] SLAMing on 26.291966745999996 meters 0.2572541199672789 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:-0.03 [[ 9.99999832e-01 4.47323316e-04 3.68074985e-04 -5.69858310e-01] [-4.47263393e-04 9.99999887e-01 -1.62869362e-04 -2.90854354e-01] [-3.68147798e-04 1.62704709e-04 9.99999919e-01 -2.94666884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.351966746 meters 0.2559547030831887 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:-0.03 [[ 9.99999815e-01 4.03874877e-04 4.54283159e-04 -5.70028155e-01] [-4.03683227e-04 9.99999830e-01 -4.21885319e-04 -2.89103884e-01] [-4.54453470e-04 4.21701855e-04 9.99999808e-01 -2.97536799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.411966745999997 meters 0.2565018446129596 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:-0.03 [[ 9.99999688e-01 5.42085431e-04 5.75208976e-04 -5.70749279e-01] [-5.42008424e-04 9.99999844e-01 -1.34023458e-04 -2.90360431e-01] [-5.75281539e-04 1.33711648e-04 9.99999826e-01 -2.92191742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.471966745999996 meters 0.25707197587877 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.29, Z:-0.03 [[ 0.99997414 -0.00489784 0.00526614 -0.54606866] [ 0.00488455 0.99998486 0.00253367 -0.29074747] [-0.00527846 -0.00250788 0.99998292 -0.03390093] [ 0. 0. 0. 1. ]] SLAMing on 26.531966746 meters 0.2530470781293783 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:-0.03 [[ 9.99996194e-01 1.53847951e-03 2.29033252e-03 -5.66643194e-01] [-1.53920285e-03 9.99998766e-01 3.14093936e-04 -2.93030230e-01] [-2.28984646e-03 -3.17618027e-04 9.99997328e-01 -3.48582128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.591966745999997 meters 0.25646157643137346 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.29, Z:-0.03 [[ 0.99997929 0.00564188 -0.00309638 -0.59014758] [-0.00565242 0.99997823 -0.00340413 -0.29185955] [ 0.00307711 0.00342156 0.99998941 -0.03059156] [ 0. 0. 0. 1. ]] SLAMing on 26.651966746 meters 0.2525709577331821 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.29, Z:-0.04 [[ 9.99998288e-01 -3.44388174e-05 1.84987756e-03 -5.64585025e-01] [ 3.69300384e-05 9.99999093e-01 -1.34667780e-03 -2.93899859e-01] [-1.84982950e-03 1.34674381e-03 9.99997382e-01 -3.61478421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.711966745999998 meters 0.25610685161003244 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.29, Z:-0.04 [[ 9.99998170e-01 1.95115283e-05 1.91311462e-03 -5.64826675e-01] [-1.71019732e-05 9.99999207e-01 -1.25950160e-03 -2.94233653e-01] [-1.91313767e-03 1.25946658e-03 9.99997377e-01 -3.61471764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.771966745999997 meters 0.2571959939365542 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.29, Z:-0.04 [[ 9.99998297e-01 -3.81983198e-05 1.84488858e-03 -5.64519529e-01] [ 4.06921256e-05 9.99999086e-01 -1.35171932e-03 -2.93876729e-01] [-1.84483526e-03 1.35179209e-03 9.99997385e-01 -3.62811624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.831966746 meters 0.25607968900223754 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.30, Z:-0.04 [[ 9.99999082e-01 -1.35382530e-03 -5.88038691e-05 -6.05297316e-01] [ 1.35387857e-03 9.99998664e-01 9.15568409e-04 -2.96342774e-01] [ 5.75642709e-05 -9.15647181e-04 9.99999579e-01 -3.95888415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.891966745999998 meters 0.2565081625066047 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.30, Z:-0.04 [[ 9.99999097e-01 -1.34328168e-03 3.56083490e-05 -6.05526897e-01] [ 1.34325308e-03 9.99998785e-01 7.91243812e-04 -2.95487324e-01] [-3.66711691e-05 -7.91195266e-04 9.99999686e-01 -3.96758400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.951966745999997 meters 0.25687714267427686 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.30, Z:-0.04 [[ 9.99998961e-01 -1.43629221e-03 -1.24971540e-04 -6.04777597e-01] [ 1.43637843e-03 9.99998729e-01 6.92634667e-04 -2.95377444e-01] [ 1.23976555e-04 -6.92813454e-04 9.99999752e-01 -4.00575214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.011966746 meters 0.2580459581918675 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.29, Z:-0.04 [[ 9.99998789e-01 -1.53985046e-03 -2.24752109e-04 -6.04077926e-01] [ 1.53996176e-03 9.99998691e-01 4.95871695e-04 -2.94740238e-01] [ 2.23988247e-04 -4.96217204e-04 9.99999852e-01 -4.06684780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.071966745999998 meters 0.2553577705903603 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.30, Z:-0.04 [[ 9.99997469e-01 -2.01241082e-03 -1.00644504e-03 -6.49201624e-01] [ 2.01623229e-03 9.99990707e-01 3.81051077e-03 -2.96419854e-01] [ 9.98767378e-04 -3.81253035e-03 9.99992234e-01 -4.12876015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.131966745999996 meters 0.2558528996905157 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.30, Z:-0.04 [[ 0.99999734 -0.00205545 -0.00104859 -0.64899917] [ 0.0020594 0.99999075 0.00377616 -0.29646721] [ 0.00104081 -0.00377831 0.99999232 -0.0413468 ] [ 0. 0. 0. 1. ]] SLAMing on 27.191966746 meters 0.25756500409391875 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.29, Z:-0.05 [[ 0.99999214 0.00334805 0.00212462 -0.62370833] [-0.00334283 0.9999914 -0.00245361 -0.29496435] [-0.00213282 0.00244649 0.99999473 -0.04704684] [ 0. 0. 0. 1. ]] SLAMing on 27.251966745999997 meters 0.2571424162182226 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.30, Z:-0.05 [[ 0.99999195 0.00338653 0.00215412 -0.62386502] [-0.00338137 0.99999142 -0.00239485 -0.29507657] [-0.00216221 0.00238754 0.99999481 -0.04699066] [ 0. 0. 0. 1. ]] SLAMing on 27.311966746 meters 0.25467703417394005 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.30, Z:-0.05 [[ 9.99997035e-01 2.05256642e-03 1.30998813e-03 -6.67850233e-01] [-2.05274515e-03 9.99997884e-01 1.35107173e-04 -2.96933113e-01] [-1.30970804e-03 -1.37795844e-04 9.99999133e-01 -4.89224638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.371966746 meters 0.257158962961957 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.29, Z:-0.05 [[ 0.99999454 0.00255264 0.00209953 -0.62353981] [-0.00254577 0.99999143 -0.00326413 -0.29377502] [-0.00210785 0.00325877 0.99999247 -0.04794261] [ 0. 0. 0. 1. ]] SLAMing on 27.431966745999997 meters 0.2581675498948476 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.29, Z:-0.05 [[ 0.9999948 0.00252535 0.00200469 -0.62309794] [-0.00251881 0.99999152 -0.00325663 -0.29399704] [-0.0020129 0.00325157 0.99999269 -0.04823546] [ 0. 0. 0. 1. ]] SLAMing on 27.491966746 meters 0.2516550550672462 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.30, Z:-0.05 [[ 0.99999429 0.00268849 0.00204547 -0.62363347] [-0.00268269 0.99999239 -0.00283266 -0.29615066] [-0.00205307 0.00282715 0.9999939 -0.04757323] [ 0. 0. 0. 1. ]] SLAMing on 27.551966745999998 meters 0.25769949868101294 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.30, Z:-0.05 [[ 0.9999945 0.00264375 0.00200375 -0.62345225] [-0.00263785 0.9999922 -0.00294101 -0.29563198] [-0.00201151 0.00293571 0.99999367 -0.04756677] [ 0. 0. 0. 1. ]] SLAMing on 27.611966745999997 meters 0.25657366615449967 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.30, Z:-0.04 [[ 9.99993406e-01 -3.56359197e-03 -6.98933561e-04 -6.50401396e-01] [ 3.56532933e-03 9.99990518e-01 2.50043336e-03 -2.97107452e-01] [ 6.90016410e-04 -2.50290880e-03 9.99996630e-01 -4.02831608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.671966746 meters 0.2564273902350691 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.30, Z:-0.04 [[ 9.99993802e-01 -3.44381774e-03 -7.32063931e-04 -6.50599841e-01] [ 3.44576196e-03 9.99990495e-01 2.67134837e-03 -2.97832571e-01] [ 7.22857336e-04 -2.67385433e-03 9.99996164e-01 -3.96636161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.731966745999998 meters 0.25712098951476 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.30, Z:-0.04 [[ 9.99993517e-01 -3.50771527e-03 -8.13903126e-04 -6.50224458e-01] [ 3.50973468e-03 9.99990733e-01 2.49312773e-03 -2.97115633e-01] [ 8.05150401e-04 -2.49596815e-03 9.99996561e-01 -3.97110105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.791966745999996 meters 0.2560823994990881 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.29, Z:-0.04 [[ 9.99982861e-01 1.81614161e-03 -5.56587842e-03 -6.74323880e-01] [-1.81759900e-03 9.99998315e-01 -2.56796310e-04 -2.94698069e-01] [ 5.56540266e-03 2.66908444e-04 9.99984477e-01 -3.60679413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.851966746 meters 0.25619903155103657 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.30, Z:-0.04 [[ 9.99983040e-01 1.89108301e-03 -5.50847273e-03 -6.74719076e-01] [-1.89176251e-03 9.99998204e-01 -1.18148126e-04 -2.95236780e-01] [ 5.50823941e-03 1.28566844e-04 9.99984821e-01 -3.57879850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.911966745999997 meters 0.2575296837940174 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.29, Z:-0.04 [[ 9.99982418e-01 1.78127039e-03 -5.65608813e-03 -6.73989512e-01] [-1.78322804e-03 9.99998352e-01 -3.41089683e-04 -2.94320257e-01] [ 5.65547123e-03 3.51169781e-04 9.99983946e-01 -3.61943971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.971966745999996 meters 0.2576325810516446 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.29, Z:-0.04 [[ 9.99982136e-01 1.76375486e-03 -5.71103781e-03 -6.73859862e-01] [-1.76558205e-03 9.99998392e-01 -3.14915214e-04 -2.94693650e-01] [ 5.71047319e-03 3.24992894e-04 9.99983642e-01 -3.59990822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.031966746 meters 0.255593554232374 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:-0.04 [[ 9.99980814e-01 -2.35868485e-04 -6.18993330e-03 -7.19499481e-01] [ 2.44539963e-04 9.99998990e-01 1.40018069e-03 -2.95841133e-01] [ 6.18959678e-03 -1.40166751e-03 9.99979862e-01 -3.67826628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.091966745999997 meters 0.252590018440188 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.29, Z:-0.04 [[ 9.99984614e-01 8.25753177e-04 -5.48542794e-03 -6.74931538e-01] [-8.34552333e-04 9.99998369e-01 -1.60200133e-03 -2.92315669e-01] [ 5.48409613e-03 1.60655456e-03 9.99983672e-01 -3.56982882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.151966746 meters 0.2560031322707154 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.29, Z:-0.04 [[ 9.99978941e-01 2.60603887e-05 -6.48980162e-03 -7.18957688e-01] [-1.76092316e-05 9.99999152e-01 1.30227492e-03 -2.94838803e-01] [ 6.48983005e-03 -1.30213321e-03 9.99978093e-01 -3.72789744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.211966745999998 meters 0.2570521110068687 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 9.99985741e-01 6.89898314e-04 -5.29544933e-03 -6.76293034e-01] [-6.98960138e-04 9.99998294e-01 -1.70958746e-03 -2.92124467e-01] [ 5.29426085e-03 1.71326439e-03 9.99984518e-01 -3.47179852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.271966745999997 meters 0.2570899761096573 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 9.99986080e-01 7.73310466e-04 -5.21937887e-03 -6.76915618e-01] [-7.81740592e-04 9.99998393e-01 -1.61331193e-03 -2.92250830e-01] [ 5.21812289e-03 1.61736967e-03 9.99985078e-01 -3.40894978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.331966746 meters 0.2579046577535762 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:-0.04 [[ 9.99992919e-01 -3.74325402e-03 3.86792726e-04 -6.54568829e-01] [ 3.74264384e-03 9.99991769e-01 1.56640697e-03 -2.92707540e-01] [-3.92653002e-04 -1.56494825e-03 9.99998698e-01 -3.72410258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.391966745999998 meters 0.6465991481246082 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:-0.04 [[ 9.99992648e-01 -3.81205091e-03 4.16042493e-04 -6.54622307e-01] [ 3.81146600e-03 9.99991760e-01 1.39773159e-03 -2.91933457e-01] [-4.21367289e-04 -1.39613558e-03 9.99998937e-01 -3.72526024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.451966745999997 meters 0.25870702763992387 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:-0.04 [[ 9.99992621e-01 -3.82607729e-03 3.43815909e-04 -6.54403474e-01] [ 3.82560951e-03 9.99991770e-01 1.35106418e-03 -2.91798461e-01] [-3.48982355e-04 -1.34973890e-03 9.99999028e-01 -3.71817287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.511966746 meters 0.25747658245338556 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 0.9999912 0.0018338 -0.00377245 -0.68147446] [-0.00183792 0.99999772 -0.00108878 -0.29018201] [ 0.00377044 0.00109571 0.99999229 -0.03117403] [ 0. 0. 0. 1. ]] SLAMing on 28.571966745999998 meters 0.2572542861418279 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 0.99999092 0.00176507 -0.00387882 -0.6809794 ] [-0.00176977 0.9999977 -0.00120827 -0.28976817] [ 0.00387668 0.00121512 0.99999175 -0.03139417] [ 0. 0. 0. 1. ]] SLAMing on 28.631966745999996 meters 0.25980499954662967 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.29, Z:-0.04 [[ 0.99999527 -0.00288393 0.00106921 -0.65728017] [ 0.00288179 0.99999384 0.00200497 -0.2898975 ] [-0.00107498 -0.00200188 0.99999742 -0.03514401] [ 0. 0. 0. 1. ]] SLAMing on 28.691966746 meters 0.257384145433861 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 9.99990578e-01 9.65352689e-04 -4.23216820e-03 -6.81768936e-01] [-9.73432696e-04 9.99997707e-01 -1.90754457e-03 -2.87664613e-01] [ 4.23031704e-03 1.91164633e-03 9.99989225e-01 -3.04226505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.751966745999997 meters 0.25634036233951846 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.29, Z:-0.03 [[ 9.99986486e-01 1.31337077e-04 -5.19722313e-03 -7.25204859e-01] [-1.25655909e-04 9.99999394e-01 1.09342752e-03 -2.90876227e-01] [ 5.19736359e-03 -1.09275968e-03 9.99985897e-01 -3.27643839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.811966745999996 meters 0.2580826134033226 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 9.99990587e-01 -4.39877573e-05 -4.33869414e-03 -6.80835820e-01] [ 3.31282008e-05 9.99996867e-01 -2.50299519e-03 -2.90356143e-01] [ 4.33879065e-03 2.50282790e-03 9.99987455e-01 -3.12817963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.871966746 meters 0.25758300922521543 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 9.99990937e-01 5.84850256e-05 -4.25704882e-03 -6.81358818e-01] [-6.86313568e-05 9.99997158e-01 -2.38331199e-03 -2.90648747e-01] [ 4.25689733e-03 2.38358256e-03 9.99988099e-01 -3.08361081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.931966745999997 meters 0.25682455625860173 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 9.99991632e-01 8.93207261e-05 -4.08987230e-03 -6.82119890e-01] [-9.95052171e-05 9.99996895e-01 -2.49003759e-03 -2.89604769e-01] [ 4.08963719e-03 2.49042371e-03 9.99988536e-01 -3.04344467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.991966746 meters 0.25721674642732517 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 9.99992028e-01 1.54237376e-05 -3.99293485e-03 -6.82149835e-01] [-2.64591573e-05 9.99996181e-01 -2.76369840e-03 -2.87984176e-01] [ 3.99287698e-03 2.76378201e-03 9.99988209e-01 -3.09464878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.051966745999998 meters 0.25706090436399776 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 9.99991912e-01 1.40047651e-04 -4.01948330e-03 -6.82467062e-01] [-1.50109643e-04 9.99996856e-01 -2.50311227e-03 -2.89174977e-01] [ 4.01912011e-03 2.50369539e-03 9.99988789e-01 -3.02228746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.111966745999997 meters 0.2566230519174434 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.29, Z:-0.03 [[ 9.99991627e-01 2.85597538e-04 -4.08230258e-03 -6.82487377e-01] [-2.94194297e-04 9.99997740e-01 -2.10541484e-03 -2.91289734e-01] [ 4.08169205e-03 2.10659820e-03 9.99989451e-01 -2.99018647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.171966746 meters 0.2580810451703748 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.30, Z:-0.03 [[ 0.99998885 -0.00448383 0.00148444 -0.65841077] [ 0.00448231 0.99998943 0.00102796 -0.29620934] [-0.00148903 -0.00102129 0.99999837 -0.03485668] [ 0. 0. 0. 1. ]] SLAMing on 29.231966745999998 meters 0.2528596835485568 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.30, Z:-0.04 [[ 0.99998928 -0.00439714 0.00144924 -0.65830908] [ 0.00439525 0.99998949 0.00130634 -0.2976269 ] [-0.00145497 -0.00129996 0.9999981 -0.03503514] [ 0. 0. 0. 1. ]] SLAMing on 29.291966745999996 meters 0.2527214289433245 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.30, Z:-0.04 [[ 0.99998899 -0.00440666 0.00161406 -0.65870848] [ 0.00440452 0.99998942 0.00132339 -0.29754378] [-0.00161988 -0.00131626 0.99999782 -0.03533437] [ 0. 0. 0. 1. ]] SLAMing on 29.351966746 meters 0.2517083941102212 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:-0.03 [[ 9.99993888e-01 3.20421485e-03 -1.39923645e-03 -6.81569969e-01] [-3.20369655e-03 9.99994799e-01 3.72504950e-04 -2.97862002e-01] [ 1.40042276e-03 -3.68019944e-04 9.99998952e-01 -3.45202598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.411966745999997 meters 0.25627280598707824 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:-0.04 [[ 0.99999541 0.00142952 -0.00267232 -0.72397511] [-0.00142457 0.99999727 0.00185182 -0.2974414 ] [ 0.00267496 -0.00184801 0.99999471 -0.03753554] [ 0. 0. 0. 1. ]] SLAMing on 29.471966745999996 meters 0.2553563305002822 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:-0.04 [[ 0.9999953 0.00148312 -0.00268358 -0.72418327] [-0.00147755 0.99999675 0.00207775 -0.29880344] [ 0.00268666 -0.00207378 0.99999424 -0.03698406] [ 0. 0. 0. 1. ]] SLAMing on 29.531966746 meters 0.25794281040362427 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:-0.04 [[ 0.99999508 0.00153564 -0.00273397 -0.72426343] [-0.00152953 0.99999633 0.00223545 -0.29970079] [ 0.0027374 -0.00223126 0.99999376 -0.03651693] [ 0. 0. 0. 1. ]] SLAMing on 29.591966745999997 meters 0.25706438309213026 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:-0.04 [[ 0.99999508 0.00160136 -0.00269574 -0.72466463] [-0.00159538 0.99999627 0.00221801 -0.2992232 ] [ 0.00269928 -0.0022137 0.99999391 -0.03594474] [ 0. 0. 0. 1. ]] SLAMing on 29.651966746 meters 0.25253042350735244 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.30, Z:-0.04 [[ 0.99998914 -0.00363415 0.00291909 -0.70126534] [ 0.00362066 0.99998279 0.00461526 -0.30207775] [-0.00293581 -0.00460464 0.99998509 -0.04011602] [ 0. 0. 0. 1. ]] SLAMing on 29.711966745999998 meters 0.258529418700448 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.30, Z:-0.04 [[ 0.99998925 -0.00367948 0.00281992 -0.70078043] [ 0.0036661 0.99998207 0.00473595 -0.30324401] [-0.00283729 -0.00472556 0.99998481 -0.04038157] [ 0. 0. 0. 1. ]] SLAMing on 29.771966745999997 meters 0.25653936534783844 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.30, Z:-0.04 [[ 9.99996078e-01 7.51082090e-04 -2.69793776e-03 -7.25222507e-01] [-7.46558225e-04 9.99998314e-01 1.67740244e-03 -3.01339616e-01] [ 2.69919308e-03 -1.67538170e-03 9.99994954e-01 -3.53224250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.831966746 meters 0.25738205726385505 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.30, Z:-0.04 [[ 9.99996123e-01 7.01105817e-04 -2.69491326e-03 -7.25011392e-01] [-6.96800687e-04 9.99998480e-01 1.59810948e-03 -3.00899574e-01] [ 2.69602961e-03 -1.59622547e-03 9.99995092e-01 -3.58658945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.891966745999998 meters 0.25702945661783483 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:-0.03 [[ 9.99998079e-01 4.41568915e-04 -1.90991494e-03 -6.80687485e-01] [-4.45447247e-04 9.99997839e-01 -2.03068187e-03 -3.01666882e-01] [ 1.90901413e-03 2.03152873e-03 9.99996114e-01 -3.42945406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.951966745999997 meters 0.2573679066636482 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:-0.03 [[ 9.99998075e-01 5.06365340e-04 -1.89588308e-03 -6.80789379e-01] [-5.10032869e-04 9.99997999e-01 -1.93448671e-03 -3.01950622e-01] [ 1.89489973e-03 1.93544995e-03 9.99996332e-01 -3.41960525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.011966746 meters 0.25619228806135746 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.30, Z:-0.04 [[ 9.99996132e-01 2.25569058e-04 -2.77233041e-03 -7.25018243e-01] [-2.21818667e-04 9.99999060e-01 1.35302665e-03 -3.02262531e-01] [ 2.77263300e-03 -1.35240646e-03 9.99995242e-01 -3.58652183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.071966745999998 meters 0.2581479815889736 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:-0.03 [[ 9.99997657e-01 8.78185774e-04 -1.97855966e-03 -6.80516940e-01] [-8.81478954e-04 9.99998227e-01 -1.66417622e-03 -3.01242816e-01] [ 1.97709470e-03 1.66591638e-03 9.99996658e-01 -3.49117808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.131966745999996 meters 0.2522050343651296 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:-0.04 [[ 9.99997521e-01 9.08534088e-04 -2.03279227e-03 -6.80297993e-01] [-9.11778656e-04 9.99998311e-01 -1.59575686e-03 -3.01590709e-01] [ 2.03133903e-03 1.59760637e-03 9.99996661e-01 -3.50793466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.191966746 meters 0.25786424987089224 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:-0.04 [[ 9.99997241e-01 8.66293584e-04 -2.18325416e-03 -6.79694161e-01] [-8.69664478e-04 9.99998431e-01 -1.54350103e-03 -3.02199912e-01] [ 2.18191361e-03 1.54539547e-03 9.99996425e-01 -3.53799794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.251966745999997 meters 0.2567772747085128 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:-0.04 [[ 9.99993846e-01 -7.69062491e-04 -3.42301899e-03 -7.21757874e-01] [ 7.70434934e-04 9.99999623e-01 3.99644584e-04 -3.04512261e-01] [ 3.42271035e-03 -4.02279338e-04 9.99994062e-01 -3.85394192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.311966745999996 meters 0.2567828123653133 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:-0.04 [[ 9.99993801e-01 -7.88964224e-04 -3.43156017e-03 -7.21746855e-01] [ 7.90342923e-04 9.99999608e-01 4.00432795e-04 -3.04670567e-01] [ 3.43124290e-03 -4.03142422e-04 9.99994032e-01 -3.84077880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.371966746 meters 0.25771757753626773 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:-0.04 [[ 9.99993954e-01 -8.40757539e-04 -3.37431016e-03 -7.21748876e-01] [ 8.41206669e-04 9.99999638e-01 1.31685740e-04 -3.03026069e-01] [ 3.37419822e-03 -1.34523436e-04 9.99994298e-01 -3.86937712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.431966745999997 meters 0.25454044623958566 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:-0.04 [[ 9.99993786e-01 -7.81574044e-04 -3.43760270e-03 -7.21661530e-01] [ 7.82871849e-04 9.99999623e-01 3.76202842e-04 -3.04577265e-01] [ 3.43730737e-03 -3.78891707e-04 9.99994021e-01 -3.83876478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.491966746 meters 0.25579080513323954 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-0.04 [[ 0.99999008 -0.00211715 -0.00391938 -0.76755059] [ 0.0021289 0.99999325 0.00299601 -0.30736023] [ 0.00391301 -0.00300433 0.99998783 -0.03839441] [ 0. 0. 0. 1. ]] SLAMing on 30.551966745999998 meters 0.2522902982786761 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.30, Z:-0.04 [[ 9.99992393e-01 3.86597514e-03 -5.17231323e-04 -7.42380350e-01] [-3.86735967e-03 9.99988868e-01 -2.70313683e-03 -3.04275503e-01] [ 5.06775306e-04 2.70511659e-03 9.99996213e-01 -4.45016704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.611966745999997 meters 0.2572384276655415 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.31, Z:-0.04 [[ 9.99991765e-01 4.00939392e-03 -6.28530243e-04 -7.42286681e-01] [-4.01080332e-03 9.99989409e-01 -2.25738717e-03 -3.06738822e-01] [ 6.19472831e-04 2.25988949e-03 9.99997255e-01 -4.40973593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.671966746 meters 0.2542352564654937 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.31, Z:-0.04 [[ 9.99991579e-01 4.05193142e-03 -6.50241259e-04 -7.42452649e-01] [-4.05330739e-03 9.99989519e-01 -2.12891299e-03 -3.07440384e-01] [ 6.41608234e-04 2.13153069e-03 9.99997522e-01 -4.36065800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.731966745999998 meters 0.2528928497469032 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.31, Z:-0.04 [[ 9.99992046e-01 3.94643883e-03 -5.77319209e-04 -7.42547583e-01] [-3.94788016e-03 9.99989039e-01 -2.51712622e-03 -3.05190267e-01] [ 5.67379196e-04 2.51938539e-03 9.99996665e-01 -4.38496794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.791966745999996 meters 0.25785933059574156 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.31, Z:-0.04 [[ 9.99991322e-01 4.12987087e-03 -5.47858383e-04 -7.43288215e-01] [-4.13092681e-03 9.99989585e-01 -1.94047049e-03 -3.08304827e-01] [ 5.39838784e-04 1.94271681e-03 9.99997967e-01 -4.27189792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.851966746 meters 0.25786307903685307 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.31, Z:-0.04 [[ 9.99991298e-01 4.13861587e-03 -5.24380481e-04 -7.43359817e-01] [-4.13961330e-03 9.99989597e-01 -1.91553414e-03 -3.08323466e-01] [ 5.16447366e-04 1.91768820e-03 9.99998028e-01 -4.28659983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.911966745999997 meters 0.25675779055820247 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.31, Z:-0.04 [[ 9.99995849e-01 2.53175607e-03 -1.37543024e-03 -7.87613754e-01] [-2.53126353e-03 9.99996732e-01 3.59717905e-04 -3.10073849e-01] [ 1.37633646e-03 -3.56234835e-04 9.99998989e-01 -4.43359040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.971966745999996 meters 0.255695338486083 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.31, Z:-0.04 [[ 9.99995686e-01 2.50113056e-03 -1.54043916e-03 -7.86912570e-01] [-2.50042101e-03 9.99996767e-01 4.62367680e-04 -3.11019595e-01] [ 1.54159063e-03 -4.58513939e-04 9.99998707e-01 -4.47919083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.031966746 meters 0.2574220339687729 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.31, Z:-0.05 [[ 0.99998813 -0.00252681 0.00416649 -0.76358299] [ 0.00251479 0.99999267 0.00288688 -0.31389893] [-0.00417375 -0.00287636 0.99998715 -0.04888928] [ 0. 0. 0. 1. ]] SLAMing on 31.091966745999997 meters 0.25137042182110886 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.31, Z:-0.05 [[ 0.99998829 -0.00255699 0.00410822 -0.76332341] [ 0.00254536 0.99999275 0.002832 -0.31375509] [-0.00411543 -0.00282151 0.99998755 -0.04903575] [ 0. 0. 0. 1. ]] SLAMing on 31.151966746 meters 0.251735903682893 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.31, Z:-0.05 [[ 0.99998888 -0.00241838 0.0040487 -0.76367468] [ 0.00240626 0.99999262 0.00299642 -0.31438821] [-0.00405592 -0.00298664 0.99998731 -0.04796903] [ 0. 0. 0. 1. ]] SLAMing on 31.211966745999998 meters 0.2569031544259713 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.31, Z:-0.04 [[ 9.99996908e-01 2.11850383e-03 -1.30260439e-03 -7.88617241e-01] [-2.11869059e-03 9.99997745e-01 -1.42010465e-04 -3.11401082e-01] [ 1.30230061e-03 1.44769841e-04 9.99999142e-01 -4.23444844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.271966745999997 meters 0.25668050277100846 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.31, Z:-0.04 [[ 9.99997037e-01 2.05213944e-03 -1.30947364e-03 -7.88494177e-01] [-2.05248323e-03 9.99997860e-01 -2.61247655e-04 -3.10975000e-01] [ 1.30893472e-03 2.63934553e-04 9.99999109e-01 -4.24425131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.331966746 meters 0.25734926223029736 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.31, Z:-0.04 [[ 9.99996863e-01 2.07210437e-03 -1.40742750e-03 -7.88340209e-01] [-2.07236010e-03 9.99997836e-01 -1.80261967e-04 -3.11477528e-01] [ 1.40705093e-03 1.83178098e-04 9.99998993e-01 -4.21492607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.391966745999998 meters 0.2568399210507408 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.31, Z:-0.04 [[ 9.99996999e-01 2.05948153e-03 -1.32720708e-03 -7.88559389e-01] [-2.05986940e-03 9.99997836e-01 -2.90944616e-04 -3.10595597e-01] [ 1.32660501e-03 2.93677616e-04 9.99999077e-01 -4.23395083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.451966745999997 meters 0.2507979182407171 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.31, Z:-0.04 [[ 9.99996936e-01 2.13665757e-03 -1.25037984e-03 -7.88967086e-01] [-2.13681933e-03 9.99997709e-01 -1.28053368e-04 -3.11199307e-01] [ 1.25010337e-03 1.30724811e-04 9.99999210e-01 -4.21551099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.511966746 meters 0.2532926217966848 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.31, Z:-0.04 [[ 9.99996295e-01 2.71277987e-03 -2.23830840e-04 -7.45774374e-01] [-2.71351227e-03 9.99990743e-01 -3.33938059e-03 -3.09087768e-01] [ 2.14769763e-04 3.33997558e-03 9.99994399e-01 -4.04039048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.571966745999998 meters 0.2535168748381959 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.31, Z:-0.04 [[ 9.99996356e-01 2.69640197e-03 -1.28238931e-04 -7.46021810e-01] [-2.69684055e-03 9.99990053e-01 -3.55260246e-03 -3.07601899e-01] [ 1.18658411e-04 3.55293536e-03 9.99993681e-01 -4.05199245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.631966745999996 meters 0.2576912718788174 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.31, Z:-0.04 [[ 9.99996029e-01 2.81689654e-03 -8.67217389e-05 -7.46369919e-01] [-2.81716766e-03 9.99990576e-01 -3.30335953e-03 -3.08752952e-01] [ 7.74156996e-05 3.30359072e-03 9.99994540e-01 -4.01746433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.691966746 meters 0.2566297941209679 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.31, Z:-0.04 [[ 9.99995694e-01 2.92906424e-03 -1.77680812e-04 -7.46113102e-01] [-2.92956602e-03 9.99991525e-01 -2.89274717e-03 -3.10977097e-01] [ 1.69206264e-04 2.89325525e-03 9.99995800e-01 -4.03837998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.751966745999997 meters 0.25761759375730564 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.31, Z:-0.04 [[ 9.99996008e-01 2.81638648e-03 -2.29502957e-04 -7.45589405e-01] [-2.81706538e-03 9.99991491e-01 -3.01356346e-03 -3.10777873e-01] [ 2.21013645e-04 3.01419795e-03 9.99995433e-01 -4.10393526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.811966745999996 meters 0.25683912185172314 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-0.04 [[ 0.99999259 -0.00288741 -0.00254623 -0.7699425 ] [ 0.0028949 0.99999148 0.00294419 -0.309678 ] [ 0.00253771 -0.00295154 0.99999242 -0.03718468] [ 0. 0. 0. 1. ]] SLAMing on 31.871966746 meters 0.2525809269715914 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-0.04 [[ 0.99999224 -0.00291054 -0.00265495 -0.76945579] [ 0.00291867 0.99999104 0.0030649 -0.31073645] [ 0.002646 -0.00307263 0.99999178 -0.03746732] [ 0. 0. 0. 1. ]] SLAMing on 31.931966745999997 meters 0.25604353093243326 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-0.04 [[ 0.99999256 -0.00279893 -0.00265538 -0.76962151] [ 0.00280771 0.99999058 0.00330966 -0.31184271] [ 0.00264609 -0.00331709 0.999991 -0.03716014] [ 0. 0. 0. 1. ]] SLAMing on 31.991966746 meters 0.2579441894538142 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-0.04 [[ 0.99999237 -0.00285498 -0.00266534 -0.76951575] [ 0.00286354 0.99999074 0.00321286 -0.31142265] [ 0.00265615 -0.00322046 0.99999129 -0.03725832] [ 0. 0. 0. 1. ]] SLAMing on 32.051966746 meters 0.2521905785259312 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-0.04 [[ 0.99999316 -0.00267928 -0.00255001 -0.77017021] [ 0.00268845 0.99998992 0.00359745 -0.31312666] [ 0.00254034 -0.00360428 0.99999028 -0.03681726] [ 0. 0. 0. 1. ]] SLAMing on 32.111966746 meters 0.256586835641447 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-0.04 [[ 0.99999325 -0.00260205 -0.00259579 -0.77013034] [ 0.00261196 0.99998928 0.00382216 -0.31424288] [ 0.00258581 -0.00382891 0.99998933 -0.03668393] [ 0. 0. 0. 1. ]] SLAMing on 32.171966745999995 meters 0.2521410154432548 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-0.04 [[ 0.99999289 -0.00270592 -0.00262656 -0.769701 ] [ 0.00271556 0.99998957 0.00367141 -0.31347026] [ 0.0026166 -0.00367851 0.99998981 -0.03745256] [ 0. 0. 0. 1. ]] SLAMing on 32.231966746 meters 0.25663360177177047 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.31, Z:-0.04 [[ 0.99999354 -0.00261661 -0.00246401 -0.77025607] [ 0.00262608 0.99998916 0.00384594 -0.31411287] [ 0.00245392 -0.00385239 0.99998957 -0.0375058 ] [ 0. 0. 0. 1. ]] SLAMing on 32.291966746 meters 0.25502888132073326 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.32, Z:-0.03 [[ 9.99975116e-01 1.12500889e-03 -6.96427416e-03 -7.94712724e-01] [-1.12519567e-03 9.99999367e-01 -2.29006344e-05 -3.15824730e-01] [ 6.96424399e-03 3.07362357e-05 9.99975749e-01 -3.35106694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.351966745999995 meters 0.2582764668766939 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.32, Z:-0.03 [[ 0.99997959 0.00201741 -0.00606181 -0.75112259] [-0.00203407 0.99999417 -0.00274345 -0.31619471] [ 0.00605624 0.00275573 0.99997786 -0.03129743] [ 0. 0. 0. 1. ]] SLAMing on 32.411966746 meters 0.25633185985790197 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.32, Z:-0.03 [[ 9.99978490e-01 5.40684552e-04 -6.53654837e-03 -7.96333975e-01] [-5.41247807e-04 9.99999850e-01 -8.44014087e-05 -3.19612455e-01] [ 6.53650176e-03 8.79374858e-05 9.99978633e-01 -3.20610658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.471966746 meters 0.2575952987653578 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.32, Z:-0.03 [[ 9.99978937e-01 5.30040790e-04 -6.46868738e-03 -7.96425807e-01] [-5.30680181e-04 9.99999854e-01 -9.71279553e-05 -3.19545087e-01] [ 6.46863495e-03 1.00558714e-04 9.99979073e-01 -3.22763613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.531966745999995 meters 0.25521334491694275 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.32, Z:-0.03 [[ 9.99979167e-01 6.33826780e-04 -6.42366245e-03 -7.96942006e-01] [-6.33493026e-04 9.99999798e-01 5.39915975e-05 -3.19898722e-01] [ 6.42369537e-03 -4.99211273e-05 9.99979367e-01 -3.17237375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.591966746 meters 0.25244378108064863 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:-0.03 [[ 0.99998806 0.00122845 -0.00472958 -0.75645485] [-0.00124132 0.99999553 -0.00271996 -0.32083998] [ 0.00472622 0.0027258 0.99998512 -0.02749127] [ 0. 0. 0. 1. ]] SLAMing on 32.651966746 meters 0.2530330486841258 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:-0.03 [[ 0.99998804 0.00136037 -0.00469792 -0.75674162] [-0.00137292 0.99999549 -0.00266929 -0.32063537] [ 0.00469427 0.0026757 0.9999854 -0.02715427] [ 0. 0. 0. 1. ]] SLAMing on 32.711966745999995 meters 0.2527554108878601 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:-0.03 [[ 0.99998773 0.001254 -0.00479265 -0.75614453] [-0.00126822 0.9999948 -0.00296615 -0.31920149] [ 0.0047889 0.00297219 0.99998412 -0.02760437] [ 0. 0. 0. 1. ]] SLAMing on 32.771966746 meters 0.2572078852897822 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:-0.03 [[ 0.99998751 0.00134613 -0.00481264 -0.75630579] [-0.0013596 0.99999517 -0.00279637 -0.31994641] [ 0.00480885 0.00280288 0.99998451 -0.02716017] [ 0. 0. 0. 1. ]] SLAMing on 32.831966746 meters 0.25352084237996525 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.32, Z:-0.03 [[ 9.99995095e-01 -2.75373203e-03 1.49261712e-03 -7.35785409e-01] [ 2.75288587e-03 9.99996049e-01 5.68655805e-04 -3.22710123e-01] [-1.49417715e-03 -5.64544011e-04 9.99998724e-01 -3.00454915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.891966745999994 meters 0.2583493550944689 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:-0.02 [[ 0.99998963 0.00306564 -0.00336695 -0.76174448] [-0.00307044 0.99999427 -0.00142361 -0.32031321] [ 0.00336257 0.00143394 0.99999332 -0.02438773] [ 0. 0. 0. 1. ]] SLAMing on 32.951966746 meters 0.2574698835827433 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:-0.03 [[ 0.9999901 0.00292549 -0.0033521 -0.76136232] [-0.00293173 0.99999398 -0.00185829 -0.31808826] [ 0.00334664 0.0018681 0.99999266 -0.02504472] [ 0. 0. 0. 1. ]] SLAMing on 33.011966746 meters 0.25764012031382755 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:-0.03 [[ 0.99999002 0.00276631 -0.00350859 -0.76049497] [-0.00277398 0.99999377 -0.00218314 -0.31677055] [ 0.00350253 0.00219285 0.99999146 -0.02567387] [ 0. 0. 0. 1. ]] SLAMing on 33.071966746 meters 0.25793120830906346 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:-0.03 [[ 0.99999015 0.00286855 -0.00338801 -0.7611863 ] [-0.00287559 0.99999371 -0.00207661 -0.31700238] [ 0.00338203 0.00208633 0.9999921 -0.02505321] [ 0. 0. 0. 1. ]] SLAMing on 33.131966745999996 meters 0.25688595862230984 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.32, Z:-0.03 [[ 9.99989396e-01 1.45642036e-03 -4.36893214e-03 -8.04362981e-01] [-1.45541335e-03 9.99998914e-01 2.33664108e-04 -3.17826081e-01] [ 4.36926771e-03 -2.27303028e-04 9.99990429e-01 -2.76776810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.191966746 meters 0.25697431260856957 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.32, Z:-0.03 [[ 9.99989043e-01 1.38539851e-03 -4.47160133e-03 -8.03976346e-01] [-1.38356869e-03 9.99998958e-01 4.12276265e-04 -3.19339180e-01] [ 4.47216784e-03 -4.06084980e-04 9.99989917e-01 -2.79459975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.251966746 meters 0.25691803859275814 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.32, Z:-0.03 [[ 9.99988247e-01 1.29133768e-03 -4.67310723e-03 -8.03135491e-01] [-1.28896889e-03 9.99999039e-01 5.09874540e-04 -3.20597703e-01] [ 4.67376116e-03 -5.03845058e-04 9.99988951e-01 -2.84658491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.311966745999996 meters 0.25666986375088807 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.32, Z:-0.03 [[ 9.99984102e-01 -1.71600957e-04 -5.63611072e-03 -8.46877315e-01] [ 1.87367313e-04 9.99996071e-01 2.79697327e-03 -3.21165990e-01] [ 5.63560861e-03 -2.79798483e-03 9.99980205e-01 -3.04905555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.371966746 meters 0.25709718362679496 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.32, Z:-0.04 [[ 0.99998295 0.00546122 -0.00206961 -0.8229422 ] [-0.0054678 0.99997996 -0.00319001 -0.31946732] [ 0.00205215 0.00320128 0.99999277 -0.03593598] [ 0. 0. 0. 1. ]] SLAMing on 33.431966746 meters 0.2568673993152344 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.32, Z:-0.04 [[ 0.9999834 0.0053805 -0.00206375 -0.82281305] [-0.00538725 0.99998012 -0.00327639 -0.31917214] [ 0.00204608 0.00328746 0.9999925 -0.03628806] [ 0. 0. 0. 1. ]] SLAMing on 33.491966745999996 meters 0.2557265666819298 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.32, Z:-0.03 [[ 0.99998617 -0.00124536 -0.00510977 -0.84884739] [ 0.0012539 0.99999782 0.00166778 -0.31970995] [ 0.00510768 -0.00167417 0.99998555 -0.02962636] [ 0. 0. 0. 1. ]] SLAMing on 33.551966746 meters 0.2567430505618469 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.32, Z:-0.03 [[ 0.99998577 -0.00139791 -0.00514855 -0.84818923] [ 0.00140442 0.99999822 0.00125984 -0.31747727] [ 0.00514678 -0.00126706 0.99998595 -0.03063102] [ 0. 0. 0. 1. ]] SLAMing on 33.611966746 meters 0.25537730663194 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.32, Z:-0.03 [[ 0.99998574 -0.00137737 -0.00515924 -0.84810444] [ 0.00138373 0.99999829 0.00122987 -0.31717614] [ 0.00515754 -0.00123699 0.99998593 -0.03077262] [ 0. 0. 0. 1. ]] SLAMing on 33.671966745999995 meters 0.25714955193257494 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.32, Z:-0.04 [[ 0.99998648 0.00476685 -0.00207951 -0.82413113] [-0.00477598 0.99997888 -0.00440789 -0.31665304] [ 0.00205845 0.00441776 0.99998812 -0.03517256] [ 0. 0. 0. 1. ]] SLAMing on 33.731966746 meters 0.25487671166456505 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.32, Z:-0.03 [[ 9.99978911e-01 -1.34644105e-03 -6.35332668e-03 -8.48452739e-01] [ 1.35214917e-03 9.99998686e-01 8.94235690e-04 -3.19886928e-01] [ 6.35211430e-03 -9.02807476e-04 9.99979418e-01 -2.82622706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.791966746 meters 0.25797510316697053 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.32, Z:-0.03 [[ 0.99998771 0.0037203 -0.00327591 -0.82429247] [-0.00373893 0.99997677 -0.00569994 -0.31995826] [ 0.00325462 0.00571212 0.99997839 -0.03292826] [ 0. 0. 0. 1. ]] SLAMing on 33.851966745999995 meters 0.25681956367262526 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.32, Z:-0.03 [[ 9.99980139e-01 -1.84578961e-03 -6.02617326e-03 -8.49839573e-01] [ 1.84901268e-03 9.99998150e-01 5.29317069e-04 -3.20971427e-01] [ 6.02518511e-03 -5.40449027e-04 9.99981702e-01 -2.75157794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.911966746 meters 0.2576488456620794 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.32, Z:-0.03 [[ 9.99987267e-01 2.00274351e-03 -4.63204551e-03 -8.07037568e-01] [-2.00041082e-03 9.99997870e-01 5.08175648e-04 -3.18539480e-01] [ 4.63305339e-03 -4.98903183e-04 9.99989143e-01 -2.54931941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.971966746 meters 0.2579324875502387 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.32, Z:-0.03 [[ 9.99987525e-01 1.95996681e-03 -4.59428350e-03 -8.07117696e-01] [-1.95849487e-03 9.99998029e-01 3.24862668e-04 -3.17357449e-01] [ 4.59491117e-03 -3.15860734e-04 9.99989393e-01 -2.56304870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.031966745999995 meters 0.25745050583608353 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.32, Z:-0.03 [[ 9.99987435e-01 1.89489182e-03 -4.64106481e-03 -8.06840145e-01] [-1.89391065e-03 9.99998183e-01 2.15795183e-04 -3.17020606e-01] [ 4.64146529e-03 -2.07002709e-04 9.99989207e-01 -2.57998154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.091966746 meters 0.2572167864308229 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.32, Z:-0.03 [[ 9.99987842e-01 2.01911486e-03 -4.49882567e-03 -8.07621600e-01] [-2.01736191e-03 9.99997887e-01 3.94151074e-04 -3.17471374e-01] [ 4.49961200e-03 -3.85070522e-04 9.99989803e-01 -2.52396169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.151966746 meters 0.25270205536738294 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.32, Z:-0.03 [[ 9.99991910e-01 -3.92135718e-03 8.95718534e-04 -7.83556406e-01] [ 3.91924570e-03 9.99989565e-01 2.34701770e-03 -3.21467803e-01] [-9.04912682e-04 -2.34348817e-03 9.99996845e-01 -2.97279058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.211966745999995 meters 0.25723599149163995 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.32, Z:-0.02 [[ 9.99992566e-01 -3.02629810e-04 -3.84388937e-03 -8.08778428e-01] [ 2.96694833e-04 9.99998763e-01 -1.54447948e-03 -3.22492933e-01] [ 3.84435203e-03 1.54332754e-03 9.99991420e-01 -2.45844059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.271966746 meters 0.2575070997295991 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.32, Z:-0.03 [[ 0.99999149 -0.0037325 0.00175753 -0.78420195] [ 0.00372833 0.99999025 0.00236762 -0.32496847] [-0.00176635 -0.00236104 0.99999565 -0.02985616] [ 0. 0. 0. 1. ]] SLAMing on 34.331966746 meters 0.25740510730909116 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.32, Z:-0.03 [[ 0.99999147 -0.003639 0.00195234 -0.78479126] [ 0.00363483 0.99999112 0.0021329 -0.32307306] [-0.00196008 -0.00212578 0.99999582 -0.02971098] [ 0. 0. 0. 1. ]] SLAMing on 34.391966745999994 meters 0.25920844571424906 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.32, Z:-0.03 [[ 0.99999118 -0.00375721 0.00187845 -0.78415378] [ 0.00375395 0.99999145 0.00173361 -0.32107608] [-0.00188495 -0.00172654 0.99999673 -0.03027801] [ 0. 0. 0. 1. ]] SLAMing on 34.451966746 meters 0.25716401685214996 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.32, Z:-0.03 [[ 0.99999122 -0.00373248 0.0019062 -0.78421713] [ 0.00372916 0.99999153 0.00173972 -0.32101119] [-0.00191268 -0.0017326 0.99999667 -0.03037227] [ 0. 0. 0. 1. ]] SLAMing on 34.511966746 meters 0.25714210728017217 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.32, Z:-0.03 [[ 0.9999911 -0.0037372 0.00195536 -0.78451306] [ 0.0037342 0.99999185 0.00153659 -0.31956677] [-0.00196108 -0.00152928 0.99999691 -0.03011819] [ 0. 0. 0. 1. ]] SLAMing on 34.571966746 meters 0.258851803849771 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:-0.04 [[ 0.99998763 0.00271684 0.00416664 -0.75934493] [-0.00270033 0.9999885 -0.0039642 -0.31899843] [-0.00417736 0.0039529 0.99998346 -0.03502458] [ 0. 0. 0. 1. ]] SLAMing on 34.631966745999996 meters 0.2569569275610064 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.32, Z:-0.03 [[ 9.99990829e-01 -4.25978189e-03 4.41854275e-04 -7.83802946e-01] [ 4.25936703e-03 9.99990491e-01 9.35641735e-04 -3.23100700e-01] [-4.45835703e-04 -9.33751136e-04 9.99999465e-01 -2.90442181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.691966746 meters 0.25810365117621065 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.33, Z:-0.03 [[ 9.99991435e-01 -4.12077818e-03 3.85180108e-04 -7.84044073e-01] [ 4.12025061e-03 9.99990586e-01 1.36057174e-03 -3.25342962e-01] [-3.90783096e-04 -1.35897305e-03 9.99999000e-01 -2.84054551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.751966746 meters 0.2516968497054939 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.33, Z:-0.03 [[ 9.99991612e-01 -4.07146832e-03 4.47179260e-04 -7.84385092e-01] [ 4.07084491e-03 9.99990753e-01 1.38626697e-03 -3.25103647e-01] [-4.52819267e-04 -1.38443495e-03 9.99998939e-01 -2.82920762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.811966745999996 meters 0.25641099921765315 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.33, Z:-0.03 [[ 9.99992013e-01 -3.96632012e-03 4.92959069e-04 -7.84649599e-01] [ 3.96550523e-03 9.99990787e-01 1.64317470e-03 -3.26277385e-01] [-4.99471885e-04 -1.64120674e-03 9.99998528e-01 -2.81573703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.871966746 meters 0.25808103349576156 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.33, Z:-0.03 [[ 0.99999024 0.00292704 0.00330849 -0.75866966] [-0.00291684 0.99999099 -0.00308378 -0.32574154] [-0.00331748 0.0030741 0.99998977 -0.03477742] [ 0. 0. 0. 1. ]] SLAMing on 34.931966746 meters 0.2562227542207843 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.33, Z:-0.04 [[ 0.99999759 0.00107499 0.00191388 -0.80151103] [-0.00107276 0.99999874 -0.00116719 -0.32733571] [-0.00191513 0.00116513 0.99999749 -0.03636591] [ 0. 0. 0. 1. ]] SLAMing on 34.991966745999996 meters 0.25539755287206856 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.33, Z:-0.03 [[ 0.99998553 -0.00494059 -0.00212826 -0.82480437] [ 0.00494982 0.99997826 0.00435543 -0.32948197] [ 0.00210669 -0.0043659 0.99998825 -0.03096584] [ 0. 0. 0. 1. ]] SLAMing on 35.051966746 meters 0.2553843199061763 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.33, Z:-0.03 [[ 0.99998615 -0.00484092 -0.00206559 -0.82510084] [ 0.00485044 0.99997753 0.00462707 -0.33077015] [ 0.00204314 -0.00463703 0.99998716 -0.03091159] [ 0. 0. 0. 1. ]] SLAMing on 35.111966746 meters 0.2565505079698735 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.33, Z:-0.04 [[ 9.99998679e-01 1.21808331e-03 1.07649756e-03 -7.99344349e-01] [-1.21717762e-03 9.99998905e-01 -8.41584896e-04 -3.29674044e-01] [-1.07752150e-03 8.40273495e-04 9.99999066e-01 -3.78574262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.171966745999995 meters 0.25618600767778715 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.33, Z:-0.04 [[ 9.99999251e-01 9.52983535e-04 7.67688797e-04 -7.97488425e-01] [-9.51924599e-04 9.99998597e-01 -1.37856759e-03 -3.27325682e-01] [-7.69001472e-04 1.37783577e-03 9.99998755e-01 -3.95978950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.231966746 meters 0.2558412778660163 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.33, Z:-0.04 [[ 9.99999257e-01 9.34034896e-04 7.83900921e-04 -7.97261705e-01] [-9.32730288e-04 9.99998182e-01 -1.66296984e-03 -3.25693994e-01] [-7.85452768e-04 1.66223743e-03 9.99998310e-01 -3.99925642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.291966746 meters 0.2549114413447052 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.33, Z:-0.04 [[ 9.99999306e-01 9.32799866e-04 7.18978677e-04 -7.96980116e-01] [-9.31590044e-04 9.99998153e-01 -1.68119660e-03 -3.25565987e-01] [-7.20545569e-04 1.68052564e-03 9.99998328e-01 -4.01926263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.351966745999995 meters 0.2556360066843988 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.33, Z:-0.04 [[ 9.99999341e-01 9.58966562e-04 6.30704481e-04 -7.96581737e-01] [-9.58036598e-04 9.99998456e-01 -1.47313827e-03 -3.27080558e-01] [-6.32116198e-04 1.47253306e-03 9.99998716e-01 -4.04527773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.411966746 meters 0.25562107044552523 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.33, Z:-0.04 [[ 9.99999449e-01 8.77785802e-04 5.74949434e-04 -7.96060549e-01] [-8.76876803e-04 9.99998368e-01 -1.57935665e-03 -3.26804308e-01] [-5.76334833e-04 1.57885162e-03 9.99998588e-01 -4.11250170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.471966746 meters 0.2557950018284074 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.33, Z:-0.04 [[ 9.99999613e-01 7.18740553e-04 5.08318442e-04 -7.95150994e-01] [-7.17826838e-04 9.99998131e-01 -1.79542820e-03 -3.26035654e-01] [-5.09607939e-04 1.79506262e-03 9.99998259e-01 -4.25744270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.531966745999995 meters 0.2549018722046681 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.32, Z:-0.04 [[ 9.99999656e-01 6.46522299e-04 5.19668301e-04 -7.94784677e-01] [-6.45449179e-04 9.99997665e-01 -2.06253097e-03 -3.24571855e-01] [-5.21000560e-04 2.06219484e-03 9.99997738e-01 -4.34011383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.591966746 meters 0.25529564103802443 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.32, Z:-0.04 [[ 9.99999767e-01 4.56879560e-04 5.07806942e-04 -7.94135389e-01] [-4.55636643e-04 9.99996907e-01 -2.44504356e-03 -3.22932147e-01] [-5.08922461e-04 2.44481162e-03 9.99996882e-01 -4.44743150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.651966746 meters 0.2547451323736375 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.33, Z:-0.05 [[ 9.99999770e-01 4.96069366e-04 4.62399258e-04 -7.93830834e-01] [-4.95098227e-04 9.99997677e-01 -2.09797075e-03 -3.25026592e-01] [-4.63438923e-04 2.09774134e-03 9.99997692e-01 -4.50127494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.711966745999995 meters 0.2550713956590444 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.33, Z:-0.05 [[ 9.99999807e-01 4.09375638e-04 4.66702578e-04 -7.93531964e-01] [-4.08393725e-04 9.99997707e-01 -2.10209434e-03 -3.25332754e-01] [-4.67562054e-04 2.10190334e-03 9.99997682e-01 -4.57238749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.771966746 meters 0.2545399146350033 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.32, Z:-0.04 [[ 9.99999625e-01 5.70546103e-04 6.50996656e-04 -7.94517362e-01] [-5.69149315e-04 9.99997540e-01 -2.14378658e-03 -3.24190453e-01] [-6.52218183e-04 2.14341526e-03 9.99997490e-01 -4.48759485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.831966746 meters 0.2552429397198026 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.32, Z:-0.04 [[ 9.99984862e-01 -5.48096257e-03 -4.84406198e-04 -8.21746019e-01] [ 5.48269869e-03 9.99978278e-01 3.65848019e-03 -3.24152274e-01] [ 4.64343682e-04 -3.66108067e-03 9.99993190e-01 -3.89146146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.891966745999994 meters 0.255871043864351 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.32, Z:-0.05 [[ 9.99995899e-01 -4.80965906e-05 2.86354881e-03 -7.95620028e-01] [ 5.48331532e-05 9.99997231e-01 -2.35249032e-03 -3.23302997e-01] [-2.86342774e-03 2.35263769e-03 9.99993133e-01 -4.61985759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.951966746 meters 0.25439931441419167 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.33, Z:-0.05 [[ 9.99997201e-01 -1.28834504e-03 1.98428722e-03 -8.40514170e-01] [ 1.28715903e-03 9.99998992e-01 5.98862328e-04 -3.26575029e-01] [-1.98505676e-03 -5.96306559e-04 9.99997852e-01 -4.61966772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.011966746 meters 0.25599057919836615 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.32, Z:-0.05 [[ 9.99995729e-01 2.83884434e-04 2.90881864e-03 -7.96449185e-01] [-2.77780875e-04 9.99997760e-01 -2.09848373e-03 -3.23595412e-01] [-2.90940785e-03 2.09766676e-03 9.99993568e-01 -4.50334027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.071966745999994 meters 0.2550764427552539 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.32, Z:-0.05 [[ 9.99999184e-01 -1.26799855e-04 1.27110011e-03 -8.39525198e-01] [ 1.25660453e-04 9.99999590e-01 8.96430389e-04 -3.23069203e-01] [-1.27121326e-03 -8.96269930e-04 9.99998790e-01 -4.62254139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.131966745999996 meters 0.2549594963035001 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.32, Z:-0.05 [[ 9.99999156e-01 -1.08740967e-04 1.29443736e-03 -8.39486001e-01] [ 1.07404538e-04 9.99999461e-01 1.03246451e-03 -3.23919434e-01] [-1.29454894e-03 -1.03232461e-03 9.99998629e-01 -4.65670245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.191966746 meters 0.2545698484227462 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.32, Z:-0.05 [[ 9.99999132e-01 -4.68308674e-04 1.23161668e-03 -8.38300169e-01] [ 4.67900919e-04 9.99999836e-01 3.31340443e-04 -3.20953834e-01] [-1.23177165e-03 -3.30763881e-04 9.99999187e-01 -4.84958833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.251966746 meters 0.2558257650556828 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.32, Z:-0.05 [[ 9.99998830e-01 1.20477397e-03 9.42630804e-04 -7.88501463e-01] [-1.20230256e-03 9.99995850e-01 -2.61801562e-03 -3.15547742e-01] [-9.45781010e-04 2.61687923e-03 9.99996129e-01 -5.23265516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.311966745999996 meters 0.2546329553754591 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.31, Z:-0.05 [[ 0.99998764 -0.0048638 -0.00102846 -0.81364028] [ 0.00486689 0.99998359 0.00302162 -0.31316211] [ 0.00101375 -0.00302658 0.99999491 -0.04873591] [ 0. 0. 0. 1. ]] SLAMing on 36.371966746 meters 0.2538141185773086 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.31, Z:-0.04 [[ 9.99982801e-01 5.53244253e-04 -5.83885365e-03 -8.39384016e-01] [-5.50634712e-04 9.99999748e-01 4.48524919e-04 -3.08097671e-01] [ 5.83910032e-03 -4.45302129e-04 9.99982853e-01 -4.34747172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.431966746 meters 0.25434890029117563 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.31, Z:-0.05 [[ 9.99993092e-01 -3.63362587e-03 -7.82894487e-04 -8.15863362e-01] [ 3.63686117e-03 9.99984686e-01 4.17146894e-03 -3.06352003e-01] [ 7.67724940e-04 -4.17428740e-03 9.99990993e-01 -4.77898625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.491966745999996 meters 0.2530687614331408 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.30, Z:-0.04 [[ 9.99983434e-01 1.10088798e-03 -5.64976542e-03 -8.39902144e-01] [-1.09590140e-03 9.99999007e-01 8.85637537e-04 -3.03582974e-01] [ 5.65073480e-03 -8.79431280e-04 9.99983648e-01 -4.37935452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.551966746 meters 0.2533947229026773 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.30, Z:-0.04 [[ 9.99983976e-01 1.03511888e-03 -5.56555902e-03 -8.40175060e-01] [-1.03242536e-03 9.99999349e-01 4.86813947e-04 -3.00922404e-01] [ 5.56605931e-03 -4.81060122e-04 9.99984394e-01 -4.38868794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.611966746 meters 0.249837266174168 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.30, Z:-0.06 [[ 9.99971354e-01 3.23062739e-05 7.56905393e-03 -8.31750387e-01] [-3.46895423e-05 9.99999950e-01 3.14738967e-04 -2.98319939e-01] [-7.56904338e-03 -3.14992518e-04 9.99971305e-01 -5.61463815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.671966745999995 meters 0.2525613671880454 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.29, Z:-0.05 [[ 0.99998712 0.00460105 0.00214368 -0.8551959 ] [-0.00459387 0.99998387 -0.00334049 -0.29462714] [-0.00215901 0.0033306 0.99999212 -0.05148586] [ 0. 0. 0. 1. ]] SLAMing on 36.731966746 meters 0.2561338387740598 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:-0.06 [[ 9.99976014e-01 -7.63305477e-04 6.88391134e-03 -8.29195900e-01] [ 7.70292042e-04 9.99999191e-01 -1.01231793e-03 -2.93812837e-01] [-6.88313306e-03 1.01759627e-03 9.99975793e-01 -5.78770516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.791966746 meters 0.255108699975098 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:-0.06 [[ 9.99974769e-01 -7.64087672e-04 7.06235215e-03 -8.30223592e-01] [ 7.71867616e-04 9.99999098e-01 -1.09894809e-03 -2.93065407e-01] [-7.06150609e-03 1.10437156e-03 9.99974457e-01 -5.71570687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.851966745999995 meters 0.2555320165488801 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:-0.06 [[ 9.99974377e-01 -8.78675457e-04 7.10444231e-03 -8.30229086e-01] [ 8.89021743e-04 9.99998549e-01 -1.45328535e-03 -2.91316111e-01] [-7.10315504e-03 1.45956411e-03 9.99973707e-01 -5.72503304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.911966746 meters 0.2553984262712745 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.29, Z:-0.05 [[ 0.99998297 0.00505015 0.00292348 -0.85467826] [-0.00503786 0.99997851 -0.00419522 -0.29098896] [-0.0029446 0.00418042 0.99998693 -0.05217752] [ 0. 0. 0. 1. ]] SLAMing on 36.971966746 meters 0.2572755464709594 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.30, Z:-0.06 [[ 9.99962289e-01 -3.09458154e-04 8.67904058e-03 -8.31382728e-01] [ 3.26011172e-04 9.99998131e-01 -1.90589056e-03 -2.95108145e-01] [-8.67843456e-03 1.90864815e-03 9.99960520e-01 -5.65738820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.031966745999995 meters 0.2569363830995298 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.30, Z:-0.05 [[ 0.99999214 0.00175301 0.00355725 -0.85574963] [-0.00172627 0.99997034 -0.00750579 -0.29538717] [-0.0035703 0.00749959 0.9999655 -0.05146649] [ 0. 0. 0. 1. ]] SLAMing on 37.091966746 meters 0.25524237283021045 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.30, Z:-0.05 [[ 9.99981597e-01 -6.05565248e-03 3.67238694e-04 -8.80404802e-01] [ 6.05676495e-03 9.99976828e-01 -3.10787858e-03 -3.00526832e-01] [-3.48409952e-04 3.11004566e-03 9.99995103e-01 -4.61520911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.151966746 meters 0.2556373011686061 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.30, Z:-0.05 [[ 9.99982363e-01 -5.93327461e-03 2.62962719e-04 -8.80366697e-01] [ 5.93390390e-03 9.99979367e-01 -2.46064406e-03 -3.04002543e-01] [-2.48357617e-04 2.46216106e-03 9.99996938e-01 -4.58609680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.211966745999995 meters 0.2548359582929675 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.31, Z:-0.04 [[ 0.9999912 0.00110779 -0.0040458 -0.90255666] [-0.00112204 0.99999318 -0.00351961 -0.30595826] [ 0.00404187 0.00352412 0.99998562 -0.04376284] [ 0. 0. 0. 1. ]] SLAMing on 37.271966746 meters 0.25300546590465217 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.31, Z:-0.05 [[ 9.99988448e-01 2.01469262e-04 -4.80248255e-03 -9.46500838e-01] [-2.01894152e-04 9.99999976e-01 -8.79884576e-05 -3.11381775e-01] [ 4.80246471e-03 8.89570343e-05 9.99988464e-01 -4.53723008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.331966746 meters 0.25542599310433206 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.31, Z:-0.05 [[ 9.99993389e-01 -3.62131762e-03 3.29324529e-04 -9.22694483e-01] [ 3.62002130e-03 9.99986016e-01 3.85522887e-03 -3.11717760e-01] [-3.43280932e-04 -3.85401122e-03 9.99992514e-01 -4.96572034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.391966745999994 meters 0.2555204393146683 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.31, Z:-0.05 [[ 9.99993044e-01 -3.72382487e-03 2.11939145e-04 -9.21989321e-01] [ 3.72298500e-03 9.99985719e-01 3.83408518e-03 -3.12063732e-01] [-2.26213580e-04 -3.83326946e-03 9.99992627e-01 -5.03470013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.451966746 meters 0.2550574467371493 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.31, Z:-0.05 [[ 9.99993064e-01 -3.71010895e-03 3.26906246e-04 -9.22168510e-01] [ 3.70881365e-03 9.99985604e-01 3.87760999e-03 -3.12252312e-01] [-3.41287896e-04 -3.87637066e-03 9.99992429e-01 -5.07532217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.511966746 meters 0.2540358034402351 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.31, Z:-0.05 [[ 9.99989296e-01 9.07486600e-04 -4.53708790e-03 -9.46826322e-01] [-9.03768371e-04 9.99999254e-01 8.21501813e-04 -3.11211280e-01] [ 4.53783001e-03 -8.17392543e-04 9.99989370e-01 -4.64687297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.571966745999994 meters 0.25553904006793726 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.31, Z:-0.04 [[ 0.99999251 0.00234918 -0.00307556 -0.90421319] [-0.00235383 0.99999609 -0.00151154 -0.3083524 ] [ 0.003072 0.00151876 0.99999413 -0.04436277] [ 0. 0. 0. 1. ]] SLAMing on 37.631966745999996 meters 0.25484303770775907 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.30, Z:-0.04 [[ 0.99998787 -0.00427182 -0.00245103 -0.92840255] [ 0.00428045 0.99998462 0.00352655 -0.30362769] [ 0.00243592 -0.003537 0.99999078 -0.04440678] [ 0. 0. 0. 1. ]] SLAMing on 37.691966746 meters 0.25493200671651345 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.30, Z:-0.04 [[ 0.99998874 -0.00414663 -0.00230774 -0.92931776] [ 0.00415523 0.99998439 0.00373446 -0.30401363] [ 0.00229222 -0.00374401 0.99999036 -0.04375366] [ 0. 0. 0. 1. ]] SLAMing on 37.751966746 meters 0.2555707093009978 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.31, Z:-0.04 [[ 0.99998898 -0.00405397 -0.00236949 -0.92957886] [ 0.00406421 0.99998235 0.00433322 -0.30748936] [ 0.00235188 -0.0043428 0.9999878 -0.04302858] [ 0. 0. 0. 1. ]] SLAMing on 37.811966745999996 meters 0.255615765423412 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.31, Z:-0.04 [[ 0.99998946 -0.00388811 -0.00244311 -0.92996308] [ 0.00389982 0.99998084 0.00480649 -0.31015208] [ 0.00242437 -0.00481597 0.99998546 -0.04177921] [ 0. 0. 0. 1. ]] SLAMing on 37.871966746 meters 0.2568133437464284 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.31, Z:-0.04 [[ 9.99997380e-01 2.26625096e-03 -3.21894674e-04 -9.11322002e-01] [-2.26653822e-03 9.99997031e-01 -8.94848109e-04 -3.14402937e-01] [ 3.19865768e-04 8.95575351e-04 9.99999548e-01 -3.94436095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.931966746 meters 0.25457706285277837 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.32, Z:-0.04 [[ 9.99999274e-01 5.68062228e-04 -1.06237788e-03 -9.57740464e-01] [-5.66676206e-04 9.99998989e-01 1.30448818e-03 -3.18341223e-01] [ 1.06311783e-03 -1.30388521e-03 9.99998585e-01 -3.79068595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.991966745999996 meters 0.25493684552901313 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.32, Z:-0.04 [[ 9.99998934e-01 5.06923419e-04 -1.36946669e-03 -9.56318917e-01] [-5.05190021e-04 9.99999071e-01 1.26579630e-03 -3.18815857e-01] [ 1.37010708e-03 -1.26510311e-03 9.99998261e-01 -3.85349810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.051966746 meters 0.25574928026102267 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.32, Z:-0.04 [[ 0.99996281 0.00603394 -0.00616176 -0.97898533] [-0.00604203 0.99998091 -0.00129435 -0.31955031] [ 0.00615383 0.00133153 0.99998018 -0.03563174] [ 0. 0. 0. 1. ]] SLAMing on 38.111966746 meters 0.2564096706051678 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.32, Z:-0.04 [[ 0.99999709 0.00212436 -0.00114609 -0.95471522] [-0.00212152 0.9999947 0.00246818 -0.32089952] [ 0.00115132 -0.00246574 0.9999963 -0.03996725] [ 0. 0. 0. 1. ]] SLAMing on 38.171966745999995 meters 0.2550748800516221 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.32, Z:-0.04 [[ 0.99999555 -0.00141998 -0.00262447 -0.99620666] [ 0.00142781 0.99999453 0.00298478 -0.32378725] [ 0.00262022 -0.00298852 0.9999921 -0.04323526] [ 0. 0. 0. 1. ]] SLAMing on 38.231966746 meters 0.2566319424166146 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.32, Z:-0.04 [[ 9.99998590e-01 -1.43598779e-03 -8.70879639e-04 -9.53501928e-01] [ 1.43563713e-03 9.99998888e-01 -4.03134962e-04 -3.22295055e-01] [ 8.71457568e-04 4.01884126e-04 9.99999540e-01 -4.23504550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.291966746 meters 0.25448945273555235 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.32, Z:-0.04 [[ 0.99997834 0.00181079 -0.0063277 -0.97764985] [-0.00183817 0.99998896 -0.00432426 -0.32126082] [ 0.0063198 0.00433579 0.99997063 -0.03803335] [ 0. 0. 0. 1. ]] SLAMing on 38.351966745999995 meters 0.2557400525720723 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.32, Z:-0.04 [[ 0.99997924 0.00191306 -0.00615281 -0.97842914] [-0.00193855 0.99998955 -0.00413963 -0.32180185] [ 0.00614482 0.00415147 0.9999725 -0.03776384] [ 0. 0. 0. 1. ]] SLAMing on 38.411966746 meters 0.25314882593784305 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.32, Z:-0.03 [[ 0.99994092 -0.00422066 -0.01001712 -1.00155982] [ 0.00423503 0.99999003 0.00141395 -0.32463379] [ 0.01001106 -0.00145629 0.99994883 -0.03334383] [ 0. 0. 0. 1. ]] SLAMing on 38.471966746 meters 0.25296389503185 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.32, Z:-0.03 [[ 0.99994083 -0.00418121 -0.01004281 -1.0013918 ] [ 0.00419608 0.99999013 0.00146024 -0.32469668] [ 0.0100366 -0.00150229 0.9999485 -0.03357691] [ 0. 0. 0. 1. ]] SLAMing on 38.531966745999995 meters 0.25338792605921434 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.32, Z:-0.03 [[ 0.99994127 -0.00410526 -0.01003017 -1.00115461] [ 0.00411982 0.99999049 0.00143093 -0.32436267] [ 0.0100242 -0.00147217 0.99994867 -0.03387953] [ 0. 0. 0. 1. ]] SLAMing on 38.591966746 meters 0.2544259935134902 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.33, Z:-0.04 [[ 0.99996349 0.00208081 -0.00828799 -0.97459782] [-0.00211569 0.99998893 -0.0042019 -0.32655568] [ 0.00827915 0.00421928 0.99995683 -0.03836963] [ 0. 0. 0. 1. ]] SLAMing on 38.651966746 meters 0.25528172548072403 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.33, Z:-0.04 [[ 0.9999636 0.0021596 -0.00825498 -0.97437543] [-0.00219553 0.99998815 -0.00434515 -0.32546003] [ 0.0082455 0.00436312 0.99995649 -0.03877899] [ 0. 0. 0. 1. ]] SLAMing on 38.711966745999995 meters 0.2538760245274092 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.32, Z:-0.04 [[ 0.99996318 0.00214966 -0.0083079 -0.9734138 ] [-0.00218819 0.99998688 -0.00463198 -0.32373891] [ 0.00829783 0.00464999 0.99995476 -0.04005171] [ 0. 0. 0. 1. ]] SLAMing on 38.771966746 meters 0.25489246335790505 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.32, Z:-0.04 [[ 0.99996185 0.00201182 -0.00849949 -0.97212835] [-0.00205274 0.99998633 -0.00480864 -0.32341192] [ 0.0084897 0.0048259 0.99995232 -0.04123101] [ 0. 0. 0. 1. ]] SLAMing on 38.831966746 meters 0.2549281125021762 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.32, Z:-0.04 [[ 0.99996258 0.00194616 -0.00842924 -0.97202697] [-0.00198741 0.99998608 -0.00488751 -0.32303905] [ 0.00841961 0.00490408 0.99995253 -0.04209804] [ 0. 0. 0. 1. ]] SLAMing on 38.891966745999994 meters 0.2533274964193266 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.32, Z:-0.04 [[ 0.99996361 0.00186957 -0.00832341 -0.97187439] [-0.0019115 0.99998551 -0.00503251 -0.3220418 ] [ 0.00831388 0.00504824 0.9999527 -0.04316525] [ 0. 0. 0. 1. ]] SLAMing on 38.951966746 meters 0.2538518860620036 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.32, Z:-0.04 [[ 0.99996445 0.00171896 -0.00825494 -0.97137048] [-0.001763 0.99998423 -0.00533134 -0.32060753] [ 0.00824564 0.00534571 0.99995172 -0.04450045] [ 0. 0. 0. 1. ]] SLAMing on 39.011966746 meters 0.2536076554224051 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.32, Z:-0.04 [[ 0.99996453 0.00180834 -0.0082264 -0.97158655] [-0.00185004 0.99998546 -0.00506476 -0.32206695] [ 0.00821712 0.0050798 0.99995334 -0.04434393] [ 0. 0. 0. 1. ]] SLAMing on 39.071966745999994 meters 0.25281482180001935 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.32, Z:-0.04 [[ 0.99996592 0.0017871 -0.0080595 -0.9719834 ] [-0.00182912 0.99998476 -0.00520873 -0.3211321 ] [ 0.00805007 0.0052233 0.99995396 -0.04460867] [ 0. 0. 0. 1. ]] SLAMing on 39.131966745999996 meters 0.2516357416493041 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.32, Z:-0.05 [[ 0.99996745 0.00160311 -0.00790746 -0.97182298] [-0.00164862 0.99998209 -0.00575284 -0.31812228] [ 0.00789809 0.00576569 0.99995219 -0.0458351 ] [ 0. 0. 0. 1. ]] SLAMing on 39.191966746 meters 0.2533177245357483 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.32, Z:-0.05 [[ 0.99999338 -0.00133087 -0.0033874 -0.94402529] [ 0.00132633 0.99999822 -0.00134408 -0.31728731] [ 0.00338918 0.00133958 0.99999336 -0.05354001] [ 0. 0. 0. 1. ]] SLAMing on 39.251966746 meters 0.2520294629839086 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.32, Z:-0.06 [[ 0.9999845 -0.00193859 -0.00522011 -0.98589603] [ 0.00194494 0.99999737 0.00121261 -0.31525216] [ 0.00521774 -0.00122275 0.99998564 -0.05676792] [ 0. 0. 0. 1. ]] SLAMing on 39.311966745999996 meters 0.2541994406928222 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.31, Z:-0.06 [[ 9.99989766e-01 -9.67696808e-04 -4.41948608e-03 -9.39930473e-01] [ 9.55875037e-04 9.99995962e-01 -2.67624924e-03 -3.07149677e-01] [ 4.42205803e-03 2.67199737e-03 9.99986653e-01 -5.83399483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.371966746 meters 0.25202350433278337 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.30, Z:-0.06 [[ 9.99988602e-01 5.22640610e-04 -4.74580187e-03 -9.89157160e-01] [-5.15134630e-04 9.99998615e-01 1.58268871e-03 -3.01354874e-01] [ 4.74662247e-03 -1.58022595e-03 9.99987486e-01 -5.63507902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.431966746 meters 0.2537155067156938 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.29, Z:-0.06 [[ 0.99999177 0.00108235 -0.00391124 -0.94483439] [-0.00109402 0.99999495 -0.00298256 -0.29062737] [ 0.00390799 0.00298681 0.9999879 -0.05574254] [ 0. 0. 0. 1. ]] SLAMing on 39.491966745999996 meters 0.25574412553555476 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.28, Z:-0.06 [[ 9.99980072e-01 4.97408739e-03 -3.88767751e-03 -9.44514470e-01] [-4.97346382e-03 9.99987618e-01 1.70046640e-04 -2.84837123e-01] [ 3.88847519e-03 -1.50708028e-04 9.99992428e-01 -5.62232655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.551966746 meters 0.25516501605042474 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.28, Z:-0.06 [[ 9.99980279e-01 3.14762060e-03 -5.43460857e-03 -9.89327251e-01] [-3.14576225e-03 9.99994991e-01 3.50461333e-04 -2.75608768e-01] [ 5.43568447e-03 -3.33358435e-04 9.99985171e-01 -5.70105198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.611966746 meters 0.2570128336714816 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.27, Z:-0.06 [[ 9.99982648e-01 2.99567594e-03 -5.07245551e-03 -9.90691623e-01] [-2.99946575e-03 9.99995228e-01 -7.39692421e-04 -2.68859503e-01] [ 5.07021543e-03 7.54894243e-04 9.99986861e-01 -5.64318188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.671966745999995 meters 0.25760398229500026 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.26, Z:-0.06 [[ 0.99998561 0.00287909 -0.00452755 -0.99256378] [-0.00288889 0.9999935 -0.00215947 -0.25933819] [ 0.0045213 0.00217252 0.99998742 -0.05593384] [ 0. 0. 0. 1. ]] SLAMing on 39.731966746 meters 0.2540356044788191 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.25, Z:-0.05 [[ 0.99997951 -0.00208522 -0.00605261 -1.01897062] [ 0.00210564 0.99999211 0.00336977 -0.24942183] [ 0.00604554 -0.00338245 0.999976 -0.05163364] [ 0. 0. 0. 1. ]] SLAMing on 39.791966746 meters 0.25841503475068567 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.24, Z:-0.05 [[ 0.99998022 -0.00251203 -0.00576595 -1.01967241] [ 0.00252096 0.99999563 0.00154187 -0.23938289] [ 0.00576205 -0.00155637 0.99998219 -0.05162329] [ 0. 0. 0. 1. ]] SLAMing on 39.851966745999995 meters 0.2584189467207133 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.23, Z:-0.05 [[ 0.99998317 0.00135513 -0.00564106 -1.02010125] [-0.00133057 0.99998963 0.00435556 -0.23113531] [ 0.0056469 -0.00434798 0.9999746 -0.05159558] [ 0. 0. 0. 1. ]] SLAMing on 39.911966746 meters 0.2587914650829151 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.22, Z:-0.05 [[ 9.99984183e-01 5.46266806e-04 -5.59772933e-03 -1.01921106e+00] [-5.35993762e-04 9.99998170e-01 1.83655208e-03 -2.18536614e-01] [ 5.59872233e-03 -1.83352269e-03 9.99982646e-01 -5.31618996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.971966746 meters 0.2581170104466508 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.20, Z:-0.05 [[ 9.99974615e-01 9.32857801e-04 -7.06399605e-03 -1.06400572e+00] [-9.10247810e-04 9.99994455e-01 3.20327558e-03 -2.04509821e-01] [ 7.06694508e-03 -3.19676427e-03 9.99969919e-01 -5.46497628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.031966745999995 meters 0.25960996109299683 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.19, Z:-0.06 [[ 9.99936980e-01 1.07887253e-02 -3.10484882e-03 -1.03939083e+00] [-1.07879236e-02 9.99941771e-01 2.74855525e-04 -1.87856036e-01] [ 3.10763336e-03 -2.41343331e-04 9.99995142e-01 -6.04036301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.091966746 meters 0.2522325583199434 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.17, Z:-0.06 [[ 0.99998759 0.00414267 -0.00276788 -1.06282227] [-0.0041323 0.99998445 0.00374379 -0.17386506] [ 0.00278335 -0.0037323 0.99998916 -0.06138891] [ 0. 0. 0. 1. ]] SLAMing on 40.151966746 meters 0.26193981776120784 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.16, Z:-0.06 [[ 0.99997185 0.0069826 -0.00274736 -1.0620158 ] [-0.00697149 0.99996757 0.00403283 -0.15550966] [ 0.00277543 -0.00401357 0.99998809 -0.06332962] [ 0. 0. 0. 1. ]] SLAMing on 40.211966745999995 meters 0.25402879707772386 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.14, Z:-0.06 [[ 0.99994475 0.01027711 -0.00220663 -1.06376932] [-0.01026588 0.99993458 0.00504443 -0.13921623] [ 0.00225833 -0.0050215 0.99998484 -0.06337474] [ 0. 0. 0. 1. ]] SLAMing on 40.271966746 meters 0.2548255537325815 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.12, Z:-0.06 [[ 0.99991353 0.01297477 -0.00214297 -1.06339416] [-0.01296362 0.99990277 0.00513715 -0.12007462] [ 0.00220942 -0.00510893 0.99998451 -0.0649342 ] [ 0. 0. 0. 1. ]] SLAMing on 40.331966746 meters 0.26310416162857575 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:-0.06 [[ 0.99995876 0.0085137 -0.00316063 -1.09015902] [-0.00848268 0.99991695 0.00970294 -0.10155857] [ 0.00324297 -0.00967573 0.99994793 -0.06254413] [ 0. 0. 0. 1. ]] SLAMing on 40.391966745999994 meters 0.25658499930068945 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:-0.06 [[ 0.9999118 0.01311135 -0.00211699 -1.04714972] [-0.01309344 0.99988014 0.00826222 -0.07645066] [ 0.00222506 -0.00823378 0.99996363 -0.06231621] [ 0. 0. 0. 1. ]] SLAMing on 40.451966746 meters 0.2599903904094886 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:-0.07 [[ 0.99987041 0.01595053 -0.00217742 -1.04529091] [-0.01593089 0.99983475 0.0087568 -0.05793235] [ 0.00231674 -0.00872098 0.99995929 -0.06530063] [ 0. 0. 0. 1. ]] SLAMing on 40.511966746 meters 0.257310019179459 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.04, Z:-0.07 [[ 0.99995169 0.0096239 -0.00199855 -1.07124622] [-0.00960042 0.99988845 0.011442 -0.03812553] [ 0.00210844 -0.01142226 0.99993254 -0.06526765] [ 0. 0. 0. 1. ]] SLAMing on 40.571966745999994 meters 0.2569988854171936 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.02, Z:-0.06 [[ 0.99999261 0.00301912 -0.00238174 -1.09723421] [-0.00298453 0.99989193 0.01439532 -0.02426821] [ 0.00242494 -0.0143881 0.99989355 -0.06484309] [ 0. 0. 0. 1. ]] SLAMing on 40.631966745999996 meters 0.25791626498082026 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.00, Z:-0.07 [[ 0.99998474 0.00502487 -0.0022977 -1.09727751] [-0.00499391 0.99989928 0.01328472 0.00118839] [ 0.00236422 -0.01327305 0.99990911 -0.06636094] [ 0. 0. 0. 1. ]] SLAMing on 40.691966746 meters 0.25725706643327717 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.02, Z:-0.07 [[ 0.99999128 0.00363626 -0.00205309 -1.09825059] [-0.0036159 0.9999451 0.0098347 0.01813535] [ 0.00208874 -0.00982719 0.99994953 -0.06685894] [ 0. 0. 0. 1. ]] SLAMing on 40.751966746 meters 0.2579653242850492 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.04, Z:-0.07 [[ 0.99998019 0.00599877 -0.00190738 -1.09809006] [-0.00597989 0.99993455 0.00975351 0.03922304] [ 0.00196577 -0.00974191 0.99995061 -0.06849392] [ 0. 0. 0. 1. ]] SLAMing on 40.811966745999996 meters 0.2608842451319783 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.07, Z:-0.07 [[ 9.99962568e-01 8.64760064e-03 2.85945498e-04 -1.05828072e+00] [-8.64954162e-03 9.99933111e-01 7.67853059e-03 6.77532275e-02] [-2.19525505e-04 -7.68071646e-03 9.99970479e-01 -6.69168791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.871966746 meters 0.2582892393369969 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.09, Z:-0.07 [[ 0.99995814 0.00905725 -0.00130146 -1.1007278 ] [-0.00904868 0.99993827 0.00644812 0.08859276] [ 0.00135978 -0.00643608 0.99997836 -0.0719044 ] [ 0. 0. 0. 1. ]] SLAMing on 40.931966746 meters 0.2577056878423032 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.11, Z:-0.07 [[ 9.99934803e-01 1.13768601e-02 -9.77653836e-04 -1.10204322e+00] [-1.13704361e-02 9.99915238e-01 6.34266238e-03 1.09344363e-01] [ 1.04973055e-03 -6.33113251e-03 9.99979407e-01 -7.18658450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.991966745999996 meters 0.25693851979614285 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.12, Z:-0.07 [[ 9.99943000e-01 1.06486319e-02 -7.76574378e-04 -1.10279449e+00] [-1.06452018e-02 9.99934115e-01 4.29481066e-03 1.19703476e-01] [ 8.22257071e-04 -4.28629906e-03 9.99990476e-01 -7.20002721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.051966746 meters 0.25619481185295945 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.13, Z:-0.07 [[ 0.99998492 0.0046576 -0.00291137 -1.12801861] [-0.0046366 0.99996347 0.00718019 0.13444893] [ 0.0029447 -0.00716658 0.99996998 -0.07071722] [ 0. 0. 0. 1. ]] SLAMing on 41.111966746 meters 0.2582632420007722 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.16, Z:-0.07 [[ 9.99989058e-01 4.64580044e-03 -5.48019367e-04 -1.08577497e+00] [-4.64314890e-03 9.99977966e-01 4.74431286e-03 1.59022389e-01] [ 5.70048422e-04 -4.74171641e-03 9.99988596e-01 -7.14795474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.171966745999995 meters 0.25762948264921154 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.17, Z:-0.07 [[ 0.9999858 -0.00486373 -0.00217619 -1.11537136] [ 0.00487387 0.99997718 0.00467716 0.16883057] [ 0.0021534 -0.0046877 0.99998669 -0.06629985] [ 0. 0. 0. 1. ]] SLAMing on 41.231966746 meters 0.25571560072677096 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.18, Z:-0.07 [[ 0.99997645 -0.00642117 -0.00242246 -1.11449318] [ 0.00642662 0.99997682 0.00224687 0.17788695] [ 0.00240798 -0.00226239 0.99999454 -0.06698409] [ 0. 0. 0. 1. ]] SLAMing on 41.291966746 meters 0.25485057242988496 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.18, Z:-0.07 [[ 0.99997134 -0.00714261 -0.00251029 -1.11449866] [ 0.00714598 0.99997358 0.00133456 0.1810358 ] [ 0.0025007 -0.00135246 0.99999596 -0.06656639] [ 0. 0. 0. 1. ]] SLAMing on 41.351966745999995 meters 0.2519403155025578 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.18, Z:-0.07 [[ 0.99992346 -0.01178228 -0.00377537 -1.15981192] [ 0.01177144 0.99992657 -0.0028803 0.1836136 ] [ 0.00380903 0.00283564 0.99998873 -0.06733876] [ 0. 0. 0. 1. ]] SLAMing on 41.411966746 meters 0.25371660028022214 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.19, Z:-0.07 [[ 9.99859777e-01 -1.67126359e-02 -1.05573851e-03 -1.11967576e+00] [ 1.67051826e-02 9.99837924e-01 -6.71284430e-03 1.92353681e-01] [ 1.16775672e-03 6.69426669e-03 9.99976911e-01 -6.72666830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.471966746 meters 0.2566981514481725 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.07 [[ 0.99982968 -0.01838931 -0.00156625 -1.11760227] [ 0.01837524 0.99979446 -0.0085669 0.19623432] [ 0.00172347 0.00853666 0.99996208 -0.06806042] [ 0. 0. 0. 1. ]] SLAMing on 41.531966745999995 meters 0.2568594262285511 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.07 [[ 0.99981445 -0.01920513 -0.00149119 -1.11784275] [ 0.01919045 0.99977255 -0.00930464 0.19828034] [ 0.00166955 0.00927429 0.9999556 -0.06806674] [ 0. 0. 0. 1. ]] SLAMing on 41.591966746 meters 0.2574828071341012 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.20, Z:-0.07 [[ 0.99978889 -0.02050147 -0.00136735 -1.11797703] [ 0.02048612 0.99973576 -0.01042755 0.19982282] [ 0.00158077 0.01039734 0.9999447 -0.0684814 ] [ 0. 0. 0. 1. ]] SLAMing on 41.651966746 meters 0.25758091325903726 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.20, Z:-0.07 [[ 0.99988262 -0.01497115 -0.003258 -1.14231191] [ 0.01492465 0.99979263 -0.01385462 0.19649064] [ 0.00346474 0.01380437 0.99989871 -0.06669207] [ 0. 0. 0. 1. ]] SLAMing on 41.711966745999995 meters 0.6250807755159026 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.19, Z:-0.07 [[ 0.99986901 -0.01594959 -0.00275325 -1.14384412] [ 0.01590962 0.99977576 -0.01397561 0.19425968] [ 0.00297553 0.01392998 0.99989855 -0.06695365] [ 0. 0. 0. 1. ]] SLAMing on 41.771966746 meters 0.2589078464461328 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.19, Z:-0.07 [[ 0.99984566 -0.01740408 -0.00239978 -1.14445402] [ 0.01736768 0.99974496 -0.01443565 0.19269921] [ 0.00265041 0.01439174 0.99989292 -0.06815773] [ 0. 0. 0. 1. ]] SLAMing on 41.831966746 meters 0.2609137779364883 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.19, Z:-0.07 [[ 0.99982478 -0.01867432 -0.00129842 -1.14779713] [ 0.01865422 0.99972699 -0.01407013 0.18773078] [ 0.00156081 0.01404344 0.99990017 -0.06874 ] [ 0. 0. 0. 1. ]] SLAMing on 41.891966745999994 meters 0.2618854414937916 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.18, Z:-0.07 [[ 9.99719406e-01 -2.36849725e-02 -3.62922198e-04 -1.15011688e+00] [ 2.36754207e-02 9.99575976e-01 -1.69511802e-02 1.79605282e-01] [ 7.64256547e-04 1.69378314e-02 9.99856253e-01 -7.05304900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.951966746 meters 0.2598399064398122 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.17, Z:-0.07 [[ 9.99837472e-01 -1.80202770e-02 5.46602533e-04 -1.17728923e+00] [ 1.80276305e-02 9.99634724e-01 -2.01351104e-02 1.72478594e-01] [-1.83562605e-04 2.01416918e-02 9.99797119e-01 -7.10613163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.011966746 meters 0.2582236898103838 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.15, Z:-0.08 [[ 0.99952168 -0.0301686 0.00680222 -1.19571383] [ 0.03031402 0.99928945 -0.02239783 0.15460756] [-0.00612167 0.02259332 0.999726 -0.08017969] [ 0. 0. 0. 1. ]] SLAMing on 42.071966745999994 meters 0.27188696498445136 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.14, Z:-0.08 [[ 0.99921074 -0.03902424 0.0074171 -1.19632609] [ 0.03920638 0.99888644 -0.02624378 0.13600994] [-0.00638469 0.02651386 0.99962806 -0.08261523] [ 0. 0. 0. 1. ]] SLAMing on 42.131966745999996 meters 0.26205557704625354 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.12, Z:-0.09 [[ 0.99927671 -0.03707246 0.00846649 -1.22260107] [ 0.03732286 0.99880254 -0.03163043 0.12088954] [-0.00728374 0.03192354 0.99946377 -0.08578055] [ 0. 0. 0. 1. ]] SLAMing on 42.191966746 meters 0.2633746704195073 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.09 [[ 0.99877039 -0.04731277 0.01480554 -1.24105418] [ 0.04777907 0.99831564 -0.03290956 0.09899916] [-0.01322356 0.03357649 0.99934867 -0.09448462] [ 0. 0. 0. 1. ]] SLAMing on 42.251966745999994 meters 0.26328401503719734 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.06, Z:-0.10 [[ 0.99798629 -0.06184036 0.01411122 -1.23496378] [ 0.06232182 0.997381 -0.03670327 0.06445331] [-0.01180452 0.0375088 0.99922657 -0.09580571] [ 0. 0. 0. 1. ]] SLAMing on 42.311966745999996 meters 0.26957764492009706 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.02, Z:-0.10 [[ 0.99702354 -0.07593048 0.01336495 -1.22754941] [ 0.0763827 0.99637646 -0.03741164 0.02487911] [-0.01047584 0.03832113 0.99921056 -0.09614404] [ 0. 0. 0. 1. ]] SLAMing on 42.371966746 meters 0.27844906632153943 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.03, Z:-0.10 [[ 0.99335472 -0.11453886 0.01128046 -1.28243839] [ 0.11488359 0.99268304 -0.03717718 0.03266942] [-0.00693969 0.03822607 0.99924502 -0.09526343] [ 0. 0. 0. 1. ]] SLAMing on 42.431966746 meters 0.3020343597747025 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.10 [[ 9.88419339e-01 -1.51533852e-01 8.04378885e-03 -1.36934688e+00] [ 1.51747171e-01 9.87058134e-01 -5.18559114e-02 5.32305458e-02] [-8.17612357e-05 5.24760078e-02 9.98622182e-01 -9.50157071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.491966745999996 meters 0.3216015650227565 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.06, Z:-0.09 [[ 9.90775470e-01 -1.35323568e-01 7.17631473e-03 -1.40747670e+00] [ 1.35511400e-01 9.89678027e-01 -4.66268531e-02 6.22531194e-02] [-7.92528885e-04 4.71692147e-02 9.98886599e-01 -9.05706817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.551966746 meters 0.2850180921164189 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.08, Z:-0.09 [[ 0.99781948 -0.06513773 0.01064713 -1.45267418] [ 0.06556664 0.99675416 -0.04671354 0.0753518 ] [-0.00756976 0.04730977 0.99885158 -0.09325031] [ 0. 0. 0. 1. ]] SLAMing on 42.611966746 meters 0.26353615604530006 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.05, Z:-0.09 [[ 0.99823378 0.05886359 0.00802437 -1.42513188] [-0.05852499 0.99758621 -0.0373709 0.05034631] [-0.01020478 0.03683527 0.99926925 -0.09354578] [ 0. 0. 0. 1. ]] SLAMing on 42.671966745999995 meters 0.2643989182745681 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.04, Z:-0.09 [[ 0.99111601 0.13273771 0.00835251 -1.41124386] [-0.13238975 0.99062952 -0.03355767 0.04162643] [-0.01272861 0.03215376 0.99940188 -0.09114009] [ 0. 0. 0. 1. ]] SLAMing on 42.731966746 meters 0.2611547588617923 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.03, Z:-0.09 [[ 0.97757366 0.21054251 0.00464693 -1.42419205] [-0.21028754 0.97710397 -0.03235725 0.02529871] [-0.01135311 0.03065441 0.99946556 -0.08904168] [ 0. 0. 0. 1. ]] SLAMing on 42.791966746 meters 0.26218323487431416 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.09 [[ 0.97735421 0.21151868 0.00621223 -1.43431703] [-0.21121347 0.97689894 -0.03251666 0.01144876] [-0.0129466 0.03046819 0.99945189 -0.08806717] [ 0. 0. 0. 1. ]] SLAMing on 42.851966745999995 meters 0.2632023608491362 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.00, Z:-0.08 [[ 0.97769205 0.21000678 0.00392476 -1.48586114] [-0.20975464 0.97715679 -0.03417006 0.00463554] [-0.01101105 0.03258456 0.99940833 -0.08451618] [ 0. 0. 0. 1. ]] SLAMing on 42.911966746 meters 0.2600516037414688 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.01, Z:-0.08 [[ 9.81137886e-01 1.93308426e-01 5.49657425e-04 -1.50206096e+00] [-1.93193278e-01 9.80643986e-01 -3.18391155e-02 -5.37084098e-03] [-6.69378754e-03 3.11323723e-02 9.99492856e-01 -8.07047934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.971966746 meters 0.2601983795869543 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.01, Z:-0.07 [[ 0.98414294 0.17736311 -0.00223857 -1.56605184] [-0.17734013 0.98360061 -0.03286806 -0.01229936] [-0.00362773 0.03274385 0.99945719 -0.07274712] [ 0. 0. 0. 1. ]] SLAMing on 43.031966745999995 meters 0.27177693947626036 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.03, Z:-0.07 [[ 0.98712218 0.15991675 -0.00405399 -1.59639326] [-0.15995973 0.98649362 -0.03525948 -0.03209969] [-0.00163934 0.03545389 0.99936997 -0.0723899 ] [ 0. 0. 0. 1. ]] SLAMing on 43.091966746 meters 0.25990419027783856 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.07 [[ 0.9899161 0.14162202 -0.00305216 -1.63231791] [-0.14163937 0.98925862 -0.03613413 -0.05717149] [-0.00209801 0.03620206 0.99934229 -0.06969705] [ 0. 0. 0. 1. ]] SLAMing on 43.151966746 meters 0.2653539988071136 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.08, Z:-0.06 [[ 0.99279421 0.11946914 -0.00931561 -1.68131014] [-0.11971941 0.9922275 -0.03393882 -0.07529526] [ 0.00518857 0.03480952 0.9993805 -0.06137165] [ 0. 0. 0. 1. ]] SLAMing on 43.211966745999995 meters 0.3118458715561868 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.11, Z:-0.06 [[ 0.99500091 0.09933003 -0.01033122 -1.69663913] [-0.09964534 0.99434801 -0.03664468 -0.10563556] [ 0.00663291 0.03749094 0.99927495 -0.06264917] [ 0. 0. 0. 1. ]] SLAMing on 43.271966746 meters 0.30845853215137053 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.13, Z:-0.06 [[ 0.99619038 0.08637448 -0.01200695 -1.71180574] [-0.08671364 0.99573869 -0.03138792 -0.13073393] [ 0.00924467 0.03230951 0.99943516 -0.0585631 ] [ 0. 0. 0. 1. ]] SLAMing on 43.331966746 meters 0.2689805214352038 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.15, Z:-0.05 [[ 0.99708735 0.07378249 -0.019312 -1.73674751] [-0.07440424 0.99665704 -0.03374541 -0.15392937] [ 0.01675762 0.03508401 0.99924386 -0.05456326] [ 0. 0. 0. 1. ]] SLAMing on 43.391966745999994 meters 0.28875252207864943 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.17, Z:-0.05 [[ 0.99755886 0.06690787 -0.01999155 -1.76174832] [-0.06743026 0.99736638 -0.02671091 -0.16808174] [ 0.01815173 0.02799374 0.99944328 -0.05139615] [ 0. 0. 0. 1. ]] SLAMing on 43.451966746 meters 0.2599624563386746 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.19, Z:-0.05 [[ 0.99786313 0.06217234 -0.02009432 -1.76407764] [-0.06275908 0.99757705 -0.03002196 -0.18958906] [ 0.0181791 0.03121891 0.99934724 -0.05277145] [ 0. 0. 0. 1. ]] SLAMing on 43.511966746 meters 0.26051156212739385 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.20, Z:-0.05 [[ 0.99765581 0.06524668 -0.02063395 -1.7619553 ] [-0.06576589 0.99750731 -0.02557384 -0.20387836] [ 0.01891391 0.0268709 0.99945996 -0.05399435] [ 0. 0. 0. 1. ]] SLAMing on 43.571966745999994 meters 0.25673484146064385 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.21, Z:-0.05 [[ 0.99835991 0.05296418 -0.02173224 -1.78659546] [-0.05350831 0.9982476 -0.02527052 -0.20704276] [ 0.02035572 0.02639193 0.9994444 -0.04912886] [ 0. 0. 0. 1. ]] SLAMing on 43.631966745999996 meters 0.25525865118510876 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.22, Z:-0.05 [[ 0.99831449 0.05382903 -0.02169386 -1.78862419] [-0.05434777 0.99823174 -0.02407708 -0.21981148] [ 0.02035945 0.02521551 0.9994747 -0.04808787] [ 0. 0. 0. 1. ]] SLAMing on 43.691966746 meters 0.25706644330420947 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.23, Z:-0.05 [[ 0.99830288 0.05285598 -0.02444602 -1.76767112] [-0.05329984 0.99841854 -0.01787581 -0.22756946] [ 0.02346252 0.01914845 0.99954132 -0.04525812] [ 0. 0. 0. 1. ]] SLAMing on 43.751966745999994 meters 0.2590010814499001 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.23, Z:-0.05 [[ 0.9984328 0.04985543 -0.02542398 -1.76512973] [-0.05039647 0.99850631 -0.02110308 -0.23116204] [ 0.0243339 0.02235129 0.99945399 -0.046232 ] [ 0. 0. 0. 1. ]] SLAMing on 43.811966745999996 meters 0.26890690354143904 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.23, Z:-0.05 [[ 0.99813772 0.05534584 -0.02565018 -1.76385289] [-0.05576872 0.99831431 -0.01607454 -0.23191703] [ 0.02471728 0.01747508 0.99954173 -0.04587448] [ 0. 0. 0. 1. ]] SLAMing on 43.871966746 meters 0.2573603405642902 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.23, Z:-0.04 [[ 0.99807248 0.05671962 -0.02518349 -1.76765463] [-0.05713427 0.99823729 -0.01606227 -0.23008314] [ 0.02422806 0.01747015 0.9995538 -0.04247273] [ 0. 0. 0. 1. ]] SLAMing on 43.931966746 meters 0.2597303271970133 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.22, Z:-0.04 [[ 0.99777541 0.06181379 -0.02496566 -1.76802799] [-0.06214825 0.99798421 -0.01284984 -0.22388074] [ 0.02412104 0.01437283 0.99960572 -0.04232236] [ 0. 0. 0. 1. ]] SLAMing on 43.991966745999996 meters 0.2659625613886936 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.22, Z:-0.04 [[ 0.99772634 0.06255888 -0.02507063 -1.76847332] [-0.06292254 0.99792038 -0.01398832 -0.21715104] [ 0.0241434 0.01553402 0.99958781 -0.04183015] [ 0. 0. 0. 1. ]] SLAMing on 44.051966746 meters 0.27542730737916066 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.21, Z:-0.04 [[ 0.9974012 0.06770874 -0.02462465 -1.76934305] [-0.06797664 0.99763468 -0.0102093 -0.21303938] [ 0.02387515 0.01185667 0.99964464 -0.04162985] [ 0. 0. 0. 1. ]] SLAMing on 44.111966746 meters 0.2835971386456284 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.21, Z:-0.04 [[ 0.99705766 0.07253178 -0.02480234 -1.76825999] [-0.07272287 0.99732838 -0.0068903 -0.20678466] [ 0.02423631 0.00867372 0.99966863 -0.04156557] [ 0. 0. 0. 1. ]] SLAMing on 44.171966745999995 meters 0.2944633433228652 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.21, Z:-0.04 [[ 0.99728042 0.06954027 -0.02441151 -1.77044602] [-0.06981177 0.99750544 -0.01045033 -0.20584824] [ 0.02362389 0.01212612 0.99964737 -0.04204347] [ 0. 0. 0. 1. ]] SLAMing on 44.231966746 meters 0.7416673183680688 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.21, Z:-0.04 [[ 0.99782754 0.0584513 -0.03039167 -1.82349388] [-0.05860288 0.99827287 -0.00412013 -0.20720264] [ 0.03009835 0.00589222 0.99952957 -0.03718886] [ 0. 0. 0. 1. ]] SLAMing on 44.291966746 meters 0.28827570438933586 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.19, Z:-0.04 [[ 0.99741614 0.06590581 -0.02859154 -1.7828574 ] [-0.06606923 0.99780346 -0.00480831 -0.1900673 ] [ 0.02821184 0.00668491 0.99957961 -0.03619393] [ 0. 0. 0. 1. ]] SLAMing on 44.351966745999995 meters 0.27973262107736246 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.18, Z:-0.04 [[ 0.99847382 0.04667649 -0.0295184 -1.82780195] [-0.04675632 0.99890428 -0.00201951 -0.18185896] [ 0.02939179 0.0033966 0.9995622 -0.03562169] [ 0. 0. 0. 1. ]] SLAMing on 44.411966746 meters 0.27305348149659775 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.16, Z:-0.04 [[ 9.98742747e-01 4.43815629e-02 -2.33066907e-02 -1.81376075e+00] [-4.43432267e-02 9.99014022e-01 2.15936254e-03 -1.63740301e-01] [ 2.33795467e-02 -1.12315381e-03 9.99726030e-01 -3.66250405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.471966746 meters 0.27521829304902734 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.16, Z:-0.04 [[ 0.99852947 0.04619621 -0.02836903 -1.84674343] [-0.04607527 0.99892594 0.00490224 -0.15760235] [ 0.02856503 -0.00358792 0.9995855 -0.03938117] [ 0. 0. 0. 1. ]] SLAMing on 44.531966745999995 meters 0.27873571898632515 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.15, Z:-0.04 [[ 0.9981033 0.04846161 -0.03796414 -1.86009806] [-0.04804054 0.99877418 0.01192654 -0.14985225] [ 0.03849558 -0.0100801 0.99920793 -0.0401557 ] [ 0. 0. 0. 1. ]] SLAMing on 44.591966746 meters 0.27647148119696796 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.15, Z:-0.04 [[ 9.98938131e-01 2.77318973e-02 -3.67906435e-02 -1.83561818e+00] [-2.77496404e-02 9.99614904e-01 2.83730559e-05 -1.45446875e-01] [ 3.67772624e-02 9.92584200e-04 9.99322995e-01 -4.11672748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.651966746 meters 0.2858149580654113 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.16, Z:-0.04 [[ 9.99585441e-01 -3.97675644e-03 -2.85154668e-02 -1.85665766e+00] [ 3.96953634e-03 9.99992073e-01 -3.09803376e-04 -1.62629862e-01] [ 2.85164728e-02 1.96481763e-04 9.99593303e-01 -4.25291327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.711966745999995 meters 0.28013512803795104 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.20, Z:-0.05 [[ 9.99276887e-01 -2.91245122e-02 -2.44431183e-02 -1.89194600e+00] [ 2.91339901e-02 9.99575515e-01 3.16515214e-05 -1.95589237e-01] [ 2.44318207e-02 -7.43754199e-04 9.99701222e-01 -4.54065283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.771966746 meters 0.27830408139529333 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.20, Z:-0.05 [[ 0.99853513 -0.05066818 -0.01898239 -1.87774584] [ 0.05055111 0.99869968 -0.00659751 -0.20067708] [ 0.01929199 0.00562827 0.99979805 -0.04569713] [ 0. 0. 0. 1. ]] SLAMing on 44.831966746 meters 0.2579274729123407 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.23, Z:-0.05 [[ 0.99907511 -0.04021786 -0.01521339 -1.92972101] [ 0.04011454 0.99917031 -0.00703662 -0.23048839] [ 0.01548377 0.00641983 0.99985951 -0.04748005] [ 0. 0. 0. 1. ]] SLAMing on 44.891966745999994 meters 0.26849356397616786 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.23, Z:-0.05 [[ 0.99923059 -0.03754647 -0.01133504 -1.89292595] [ 0.03749719 0.99928647 -0.00452952 -0.22594452] [ 0.01149702 0.004101 0.9999255 -0.05198367] [ 0. 0. 0. 1. ]] SLAMing on 44.951966746 meters 0.27620666628835583 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.23, Z:-0.05 [[ 0.99942723 -0.03181967 -0.01152081 -1.86898629] [ 0.03170843 0.99944997 -0.00971282 -0.23080125] [ 0.01182353 0.00934195 0.99988646 -0.05294052] [ 0. 0. 0. 1. ]] SLAMing on 45.011966746 meters 0.26156120815557077 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.23, Z:-0.05 [[ 0.99938744 -0.03288372 -0.01197532 -1.86671202] [ 0.03276695 0.99941478 -0.00981976 -0.23295398] [ 0.01229122 0.00942135 0.99988007 -0.05374725] [ 0. 0. 0. 1. ]] SLAMing on 45.071966745999994 meters 0.2558810733151813 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:-0.05 [[ 0.9993825 -0.03276539 -0.0126905 -1.93294259] [ 0.03265266 0.99942632 -0.00899028 -0.2482778 ] [ 0.01297779 0.00857035 0.99987906 -0.05167341] [ 0. 0. 0. 1. ]] SLAMing on 45.131966745999996 meters 0.2727227501165355 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:-0.05 [[ 0.99958749 -0.02601099 -0.01217688 -1.91195547] [ 0.02584372 0.99957213 -0.01369879 -0.25157023] [ 0.01252798 0.01337844 0.99983202 -0.05201345] [ 0. 0. 0. 1. ]] SLAMing on 45.191966746 meters 0.2671628108029235 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:-0.05 [[ 0.99952365 -0.02819619 -0.01254778 -1.90892528] [ 0.02799989 0.9994869 -0.01555456 -0.24996637] [ 0.01297992 0.01519581 0.99980028 -0.05461486] [ 0. 0. 0. 1. ]] SLAMing on 45.251966745999994 meters 0.26203489339031366 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:-0.06 [[ 0.9995102 -0.02895406 -0.0118755 -1.91071924] [ 0.02876286 0.99945873 -0.01596726 -0.24916939] [ 0.01233139 0.01561786 0.99980199 -0.05512162] [ 0. 0. 0. 1. ]] SLAMing on 45.311966745999996 meters 0.25453654203642273 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.25, Z:-0.06 [[ 0.99969946 -0.0217925 -0.01122845 -1.88922975] [ 0.02155828 0.99955586 -0.02057498 -0.25096779] [ 0.01167184 0.02032673 0.99972526 -0.05669838] [ 0. 0. 0. 1. ]] SLAMing on 45.371966746 meters 0.25676576546944335 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:-0.06 [[ 0.99955626 -0.02692009 -0.01275089 -1.93036114] [ 0.0266491 0.99942497 -0.02096564 -0.24912706] [ 0.01330795 0.02061654 0.99969888 -0.05919097] [ 0. 0. 0. 1. ]] SLAMing on 45.431966746 meters 0.25663068802093914 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:-0.06 [[ 0.99964011 -0.02391028 -0.01216382 -1.93246572] [ 0.02369084 0.99955951 -0.01787544 -0.24780844] [ 0.01258587 0.01758083 0.99976623 -0.05906083] [ 0. 0. 0. 1. ]] SLAMing on 45.491966745999996 meters 0.2559869191860726 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:-0.06 [[ 0.99962221 -0.02481747 -0.01181214 -1.93408168] [ 0.02459954 0.99953078 -0.01825033 -0.25009047] [ 0.01225952 0.01795286 0.99976367 -0.0581851 ] [ 0. 0. 0. 1. ]] SLAMing on 45.551966746 meters 0.2568878865823759 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:-0.06 [[ 0.99990435 -0.00978249 -0.00977688 -1.91360298] [ 0.00963279 0.99983742 -0.01524292 -0.25097927] [ 0.00992441 0.01514728 0.99983602 -0.05996789] [ 0. 0. 0. 1. ]] SLAMing on 45.611966746 meters 0.2546436868125039 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.25, Z:-0.06 [[ 0.99983859 -0.01398868 -0.01127412 -1.95607925] [ 0.01381293 0.99978417 -0.01551831 -0.25410497] [ 0.01148877 0.01536008 0.99981602 -0.06218019] [ 0. 0. 0. 1. ]] SLAMing on 45.671966745999995 meters 0.255978982827986 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.26, Z:-0.07 [[ 0.99998336 -0.00462048 0.00345447 -1.95335834] [ 0.00465442 0.99994035 -0.00988052 -0.25503166] [-0.00340861 0.00989643 0.99994522 -0.06808557] [ 0. 0. 0. 1. ]] SLAMing on 45.731966746 meters 0.25365318245110996 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.26, Z:-0.07 [[ 0.99998326 -0.00282814 0.00504725 -1.91155128] [ 0.00288996 0.99992037 -0.01228387 -0.26036286] [-0.00501211 0.01229825 0.99991181 -0.06619678] [ 0. 0. 0. 1. ]] SLAMing on 45.791966746 meters 0.25735006267716365 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.26, Z:-0.06 [[ 0.99997941 0.00263957 0.00584963 -1.91616824] [-0.00259817 0.9999716 -0.00707385 -0.25989037] [-0.00586813 0.00705851 0.99995787 -0.06233126] [ 0. 0. 0. 1. ]] SLAMing on 45.851966745999995 meters 0.2565437006961831 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.26, Z:-0.06 [[ 0.99999083 0.00279297 0.00324717 -1.95789326] [-0.00278146 0.99998985 -0.00354317 -0.26396402] [-0.00325704 0.00353411 0.99998845 -0.06067288] [ 0. 0. 0. 1. ]] SLAMing on 45.911966746 meters 0.25900589977609156 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.27, Z:-0.07 [[ 0.99993895 0.00487456 0.0099163 -1.93543107] [-0.00492584 0.99997459 0.00515379 -0.26950809] [-0.00989093 -0.00520232 0.99993755 -0.06576842] [ 0. 0. 0. 1. ]] SLAMing on 45.971966746 meters 0.2607323790266078 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.27, Z:-0.07 [[ 9.99951264e-01 1.71018107e-03 9.72339628e-03 -1.93443661e+00] [-1.72495677e-03 9.99997370e-01 1.51141932e-03 -2.67598730e-01] [-9.72078591e-03 -1.52811810e-03 9.99951584e-01 -6.65279635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.031966745999995 meters 0.26076147049877907 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.27, Z:-0.06 [[ 9.99958804e-01 7.84923340e-03 4.55859772e-03 -1.95708827e+00] [-7.84640941e-03 9.99969014e-01 -6.37041714e-04 -2.65533859e-01] [-4.56345676e-03 6.01246846e-04 9.99989407e-01 -6.27791216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.091966746 meters 0.2563174317298259 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.27, Z:-0.06 [[ 9.99958718e-01 7.92728227e-03 4.44066638e-03 -1.95671334e+00] [-7.92526992e-03 9.99968484e-01 -4.70577101e-04 -2.67096682e-01] [-4.44425682e-03 4.35364195e-04 9.99990029e-01 -6.24060734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.151966746 meters 0.2638333828674676 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.26, Z:-0.06 [[ 9.99975825e-01 6.89584528e-03 8.92845272e-04 -1.97820945e+00] [-6.90455774e-03 9.99924615e-01 1.01533697e-02 -2.64922336e-01] [-8.22761898e-04 -1.01592890e-02 9.99948055e-01 -5.91970677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.211966745999995 meters 0.25853506386902453 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.27, Z:-0.06 [[ 9.99999354e-01 -1.08074209e-03 -3.52996101e-04 -2.02247571e+00] [ 1.08312904e-03 9.99976066e-01 6.83325513e-03 -2.71563368e-01] [ 3.45602666e-04 -6.83363305e-03 9.99976591e-01 -5.84507659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.271966746 meters 0.26455624372093023 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.26, Z:-0.06 [[ 9.99999273e-01 8.39985391e-04 8.64879123e-04 -1.97946116e+00] [-8.43464602e-04 9.99991523e-01 4.03029526e-03 -2.64967768e-01] [-8.61486401e-04 -4.03102183e-03 9.99991504e-01 -5.77647497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.331966746 meters 0.26158670355578406 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.27, Z:-0.06 [[ 9.99999370e-01 -1.01602866e-03 -4.76979759e-04 -2.02182777e+00] [ 1.01898941e-03 9.99979958e-01 6.24863079e-03 -2.66122137e-01] [ 4.70621411e-04 -6.24911289e-03 9.99980363e-01 -6.04643354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.391966745999994 meters 0.25923698533234424 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.26, Z:-0.06 [[ 9.99985317e-01 -5.40878414e-03 -3.33414121e-04 -2.02214210e+00] [ 5.40929971e-03 9.99984144e-01 1.56533795e-03 -2.63518645e-01] [ 3.24942260e-04 -1.56711851e-03 9.99998719e-01 -6.09185307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.451966746 meters 0.26104517091307494 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.26, Z:-0.06 [[ 9.99983990e-01 -5.52683361e-03 1.21395987e-03 -1.98015718e+00] [ 5.52951993e-03 9.99982246e-01 -2.22075789e-03 -2.63223487e-01] [-1.20166456e-03 2.22743496e-03 9.99996797e-01 -5.83615685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.511966746 meters 0.2578210145131062 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.27, Z:-0.05 [[ 9.99986441e-01 -5.20718743e-03 -5.39103765e-05 -2.05392390e+00] [ 5.20694814e-03 9.99979386e-01 -3.75704879e-03 -2.67991509e-01] [ 7.34729224e-05 3.75671714e-03 9.99992941e-01 -5.20663143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.571966745999994 meters 0.25894978677676467 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.26, Z:-0.05 [[ 9.99992692e-01 -1.54363047e-03 3.49761132e-03 -2.01996435e+00] [ 1.55529166e-03 9.99993233e-01 -3.33378072e-03 -2.64690136e-01] [-3.49244153e-03 3.33919617e-03 9.99988326e-01 -4.58060675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.631966745999996 meters 0.2584675344489316 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.27, Z:-0.05 [[ 9.99992221e-01 -1.97469685e-03 3.41454698e-03 -2.02026039e+00] [ 1.98628524e-03 9.99992268e-01 -3.39377516e-03 -2.66788741e-01] [-3.40781890e-03 3.40053102e-03 9.99988412e-01 -4.50044115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.691966746 meters 0.25917228600774533 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.27, Z:-0.05 [[ 0.99999203 -0.00203032 0.00343735 -2.02016616] [ 0.00204217 0.99999197 -0.00344704 -0.26654803] [-0.00343032 0.00345403 0.99998815 -0.04549276] [ 0. 0. 0. 1. ]] SLAMing on 46.751966745999994 meters 0.2586224601081141 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.26, Z:-0.04 [[ 9.99992318e-01 1.58048282e-03 -3.58691587e-03 -2.04021361e+00] [-1.60560896e-03 9.99974120e-01 -7.01290828e-03 -2.60324343e-01] [ 3.57573926e-03 7.01861359e-03 9.99968976e-01 -4.26824517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.811966745999996 meters 0.25913732880386237 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.27, Z:-0.05 [[ 9.99996536e-01 -1.55345507e-03 2.12456245e-03 -2.01530180e+00] [ 1.55879428e-03 9.99995626e-01 -2.51374584e-03 -2.67126994e-01] [-2.12064817e-03 2.51704889e-03 9.99994584e-01 -4.82468520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.871966746 meters 0.25628831107874783 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.26, Z:-0.05 [[ 9.99996304e-01 -1.54001574e-03 2.24083013e-03 -2.01560635e+00] [ 1.54637698e-03 9.99994772e-01 -2.83982888e-03 -2.64798924e-01] [-2.23644504e-03 2.84328355e-03 9.99993457e-01 -4.81657986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.931966746 meters 0.2601104091907796 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.26, Z:-0.04 [[ 0.99998718 0.00460362 -0.00211034 -2.04191369] [-0.00461305 0.9999793 -0.00448622 -0.26438194] [ 0.00208965 0.0044959 0.99998771 -0.04220117] [ 0. 0. 0. 1. ]] SLAMing on 46.991966745999996 meters 0.2603150286731601 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.27, Z:-0.04 [[ 0.99998738 0.00446399 -0.00230428 -2.04314929] [-0.00447323 0.9999819 -0.00402271 -0.26961754] [ 0.00228628 0.00403296 0.99998925 -0.03904886] [ 0. 0. 0. 1. ]] SLAMing on 47.051966746 meters 0.25528519187717236 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.26, Z:-0.04 [[ 9.99987685e-01 4.66436778e-03 -1.69515157e-03 -2.04472607e+00] [-4.67202646e-03 9.99978769e-01 -4.54247410e-03 -2.63437680e-01] [ 1.67392781e-03 4.55033795e-03 9.99988246e-01 -3.94516326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.111966746 meters 0.25630821494962874 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.26, Z:-0.04 [[ 9.99988250e-01 4.46232217e-03 -1.89418818e-03 -2.04339063e+00] [-4.47153528e-03 9.99978057e-01 -4.88784260e-03 -2.62397387e-01] [ 1.87233549e-03 4.89625509e-03 9.99986260e-01 -4.07424025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.171966745999995 meters 0.2584997593194412 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.26, Z:-0.04 [[ 0.99999112 0.00260708 -0.00330972 -2.08643069] [-0.0026165 0.99999252 -0.00284716 -0.26380057] [ 0.00330227 0.0028558 0.99999047 -0.04227122] [ 0. 0. 0. 1. ]] SLAMing on 47.231966746 meters 0.25783305832620107 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.27, Z:-0.04 [[ 0.99999096 0.00274898 -0.00324315 -2.08703763] [-0.00275732 0.9999929 -0.00256872 -0.26508777] [ 0.00323607 0.00257764 0.99999144 -0.04155567] [ 0. 0. 0. 1. ]] SLAMing on 47.291966746 meters 0.2605141464535003 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.05 [[ 9.99992741e-01 -2.69447832e-03 2.69413082e-03 -2.06419108e+00] [ 2.69568095e-03 9.99996269e-01 -4.42860658e-04 -2.70327785e-01] [-2.69292749e-03 4.50119960e-04 9.99996273e-01 -4.55805282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.351966745999995 meters 0.26096943669650485 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.26, Z:-0.04 [[ 9.99991394e-01 -2.42085647e-03 3.36927344e-03 -2.06711411e+00] [ 2.42347666e-03 9.99996764e-01 -7.73805687e-04 -2.64915177e-01] [-3.36738926e-03 7.81964382e-04 9.99994025e-01 -4.42026780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.411966746 meters 0.2627013833794646 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.05 [[ 9.99990331e-01 -3.32825040e-03 2.87421838e-03 -2.06324577e+00] [ 3.33394041e-03 9.99992488e-01 -1.97715747e-03 -2.61148234e-01] [-2.86761631e-03 1.98672082e-03 9.99993915e-01 -4.82339376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.471966746 meters 0.2616591311574498 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.05 [[ 0.99999039 -0.00346081 0.00269028 -2.06205501] [ 0.00346648 0.99999178 -0.00210524 -0.26108868] [-0.00268297 0.00211454 0.99999417 -0.04942037] [ 0. 0. 0. 1. ]] SLAMing on 47.531966745999995 meters 0.26036583415097564 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.26, Z:-0.05 [[ 9.99997028e-01 -2.18684053e-04 -2.42832786e-03 -2.08607812e+00] [ 2.03014422e-04 9.99979170e-01 -6.45122085e-03 -2.59918873e-01] [ 2.42968806e-03 6.45070869e-03 9.99976242e-01 -4.50396989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.591966746 meters 0.2600326515035159 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.27, Z:-0.04 [[ 9.99996759e-01 1.68892705e-04 -2.54051053e-03 -2.08714697e+00] [-1.83033535e-04 9.99984488e-01 -5.56693486e-03 -2.65214679e-01] [ 2.53953090e-03 5.56738182e-03 9.99981277e-01 -4.25538548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.651966746 meters 0.2610371133465499 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.27, Z:-0.04 [[ 9.99997692e-01 1.23607006e-03 -1.75752001e-03 -2.09196692e+00] [-1.24421649e-03 9.99988453e-01 -4.64167442e-03 -2.65671934e-01] [ 1.75176228e-03 4.64385044e-03 9.99987683e-01 -3.87328718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.711966745999995 meters 0.2609734381537143 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.26, Z:-0.05 [[ 9.99988007e-01 2.18291642e-03 -4.38423887e-03 -2.12863526e+00] [-2.18488048e-03 9.99997515e-01 -4.43243108e-04 -2.63739443e-01] [ 4.38326041e-03 4.52816830e-04 9.99990291e-01 -4.57404556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.771966746 meters 0.26101017139462923 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.26, Z:-0.05 [[ 9.99997601e-01 -2.11863181e-03 -5.56443727e-04 -2.10342090e+00] [ 2.12034512e-03 9.99992957e-01 3.09669598e-03 -2.61209424e-01] [ 5.49879050e-04 -3.09786841e-03 9.99995050e-01 -5.00419948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.831966746 meters 0.2593787101224077 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.26, Z:-0.05 [[ 9.99983822e-01 3.59515887e-04 -5.67684603e-03 -2.12692128e+00] [-3.70750939e-04 9.99997975e-01 -1.97817282e-03 -2.60902067e-01] [ 5.67612335e-03 1.98024551e-03 9.99981930e-01 -4.62877080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.891966745999994 meters 0.2603645510923712 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.26, Z:-0.05 [[ 9.99992956e-01 -3.74018899e-03 -3.13355107e-04 -2.10366249e+00] [ 3.74072381e-03 9.99991517e-01 1.72393672e-03 -2.60088655e-01] [ 3.06904600e-04 -1.72509676e-03 9.99998465e-01 -5.08174241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.951966746 meters 0.2574489262632557 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.26, Z:-0.05 [[ 9.99985753e-01 -6.27067986e-04 -5.30093947e-03 -2.12510386e+00] [ 6.10768461e-04 9.99995083e-01 -3.07589688e-03 -2.62884728e-01] [ 5.30284220e-03 3.07261541e-03 9.99981219e-01 -4.83251890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.011966746 meters 0.2588991198022637 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.26, Z:-0.05 [[ 9.99986947e-01 9.71143930e-04 -5.01616551e-03 -2.07930209e+00] [-1.00044519e-03 9.99982434e-01 -5.84216414e-03 -2.63233295e-01] [ 5.01040381e-03 5.84710628e-03 9.99970353e-01 -4.74515397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.071966745999994 meters 0.2574166938440388 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.26, Z:-0.05 [[ 9.99980902e-01 2.55061778e-03 -5.62940079e-03 -2.12560806e+00] [-2.55416132e-03 9.99996544e-01 -6.22371220e-04 -2.62575436e-01] [ 5.62779391e-03 6.36737731e-04 9.99983961e-01 -4.70074269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.131966745999996 meters 0.2595286261324585 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.26, Z:-0.05 [[ 9.99982792e-01 2.38532840e-03 -5.35970660e-03 -2.12602505e+00] [-2.39262253e-03 9.99996220e-01 -1.35492018e-03 -2.58064645e-01] [ 5.35645441e-03 1.36772062e-03 9.99984719e-01 -4.76945640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.191966746 meters 0.258452508849316 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.26, Z:-0.05 [[ 9.99982990e-01 2.43489845e-03 -5.30016455e-03 -2.12613286e+00] [-2.44119807e-03 9.99996321e-01 -1.18242640e-03 -2.59232816e-01] [ 5.29726596e-03 1.19534503e-03 9.99985255e-01 -4.78353709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.251966745999994 meters 0.2591120089513408 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.26, Z:-0.05 [[ 9.99983169e-01 2.26137782e-03 -5.34296394e-03 -2.12547107e+00] [-2.26914965e-03 9.99996376e-01 -1.44897787e-03 -2.58056902e-01] [ 5.33966789e-03 1.46107747e-03 9.99984676e-01 -4.89736592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.311966745999996 meters 0.25794713656619805 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.26, Z:-0.05 [[ 9.99982525e-01 2.16756825e-03 -5.50009462e-03 -2.12465439e+00] [-2.17477927e-03 9.99996783e-01 -1.30543101e-03 -2.59730208e-01] [ 5.49724731e-03 1.31736969e-03 9.99984022e-01 -4.95307004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.371966746 meters 0.2595556252470318 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.26, Z:-0.05 [[ 9.99982293e-01 2.12691298e-03 -5.55788036e-03 -2.12424117e+00] [-2.13399264e-03 9.99996919e-01 -1.26818583e-03 -2.60190206e-01] [ 5.55516592e-03 1.28002385e-03 9.99983751e-01 -5.00760273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.431966746 meters 0.2561830995735256 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.26, Z:-0.05 [[ 9.99976845e-01 2.19637487e-04 -6.80154911e-03 -2.16720388e+00] [-2.15081876e-04 9.99999752e-01 6.70514368e-04 -2.61987129e-01] [ 6.80169469e-03 -6.69035952e-04 9.99976644e-01 -5.22616504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.491966745999996 meters 0.25585366328515224 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.26, Z:-0.05 [[ 9.99977692e-01 2.35783088e-04 -6.67537980e-03 -2.16747730e+00] [-2.32857095e-04 9.99999876e-01 4.39099880e-04 -2.60275574e-01] [ 6.67548251e-03 -4.37535675e-04 9.99977623e-01 -5.24754963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.551966746 meters 0.2576835281016899 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.26, Z:-0.06 [[ 9.99997615e-01 -2.14204250e-03 -4.25711398e-04 -2.14597835e+00] [ 2.14424932e-03 9.99983905e-01 5.25279941e-03 -2.60802654e-01] [ 4.14452827e-04 -5.25369971e-03 9.99986113e-01 -5.62544717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.611966746 meters 0.25562970247951666 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.26, Z:-0.05 [[ 9.99986808e-01 1.19385653e-03 -4.99593713e-03 -2.17346707e+00] [-1.19014016e-03 9.99999013e-01 7.46785491e-04 -2.56936487e-01] [ 4.99682376e-03 -7.40829774e-04 9.99987241e-01 -4.92067694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.671966745999995 meters 0.2556598053658681 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.25, Z:-0.05 [[ 9.99988241e-01 1.22756111e-03 -4.69165087e-03 -2.17427310e+00] [-1.22664815e-03 9.99999228e-01 1.97465323e-04 -2.52521954e-01] [ 4.69188965e-03 -1.91707996e-04 9.99988975e-01 -4.94860907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.731966746 meters 0.2567095796242899 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.25, Z:-0.05 [[ 9.99987628e-01 1.10532759e-03 -4.84986853e-03 -2.17368737e+00] [-1.10417881e-03 9.99999362e-01 2.39539444e-04 -2.53683136e-01] [ 4.85013020e-03 -2.34181358e-04 9.99988211e-01 -4.96364203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.791966746 meters 0.25806021405697743 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:-0.05 [[ 9.99993201e-01 -3.65419510e-03 4.94432115e-04 -2.15046447e+00] [ 3.65266241e-03 9.99988629e-01 3.06608433e-03 -2.52719344e-01] [-5.05630563e-04 -3.06425750e-03 9.99995177e-01 -5.36194664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.851966745999995 meters 0.2572909692702461 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:-0.05 [[ 9.99993339e-01 -3.59900210e-03 6.07263756e-04 -2.15086852e+00] [ 3.59702860e-03 9.99988346e-01 3.22021652e-03 -2.53544490e-01] [-6.18846244e-04 -3.21801072e-03 9.99994631e-01 -5.35500950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.911966746 meters 0.25872863896789233 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.25, Z:-0.05 [[ 9.99988741e-01 3.77961698e-03 2.86926890e-03 -2.12953560e+00] [-3.77537197e-03 9.99991773e-01 -1.48345354e-03 -2.52843526e-01] [-2.87485218e-03 1.47260428e-03 9.99994783e-01 -5.49300161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.971966746 meters 0.25761568304103766 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:-0.05 [[ 9.99997421e-01 -2.20835099e-03 -5.29798394e-04 -2.15021164e+00] [ 2.21041412e-03 9.99989851e-01 3.92572278e-03 -2.49201703e-01] [ 5.21123643e-04 -3.92688373e-03 9.99992154e-01 -5.34748034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.031966745999995 meters 0.2576824738112667 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:-0.05 [[ 9.99997247e-01 -2.30652540e-03 -4.32219090e-04 -2.15044269e+00] [ 2.30812529e-03 9.99990348e-01 3.73838433e-03 -2.48459467e-01] [ 4.23592240e-04 -3.73937165e-03 9.99992919e-01 -5.35532849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.091966746 meters 0.2583951019065567 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:-0.05 [[ 9.99996821e-01 -2.41969751e-03 -7.09915567e-04 -2.14942493e+00] [ 2.42255260e-03 9.99988869e-01 4.04881832e-03 -2.51487112e-01] [ 7.00110750e-04 -4.05052526e-03 9.99991552e-01 -5.39218991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.151966746 meters 0.2575073906461727 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:-0.05 [[ 9.99996459e-01 -2.58600924e-03 -6.27506585e-04 -2.14942531e+00] [ 2.58827322e-03 9.99990046e-01 3.63431972e-03 -2.49150475e-01] [ 6.18101954e-04 -3.63593102e-03 9.99993199e-01 -5.44341267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.211966745999995 meters 0.2584534220437206 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:-0.05 [[ 9.99996929e-01 -2.39818837e-03 -6.24406925e-04 -2.14989741e+00] [ 2.40069438e-03 9.99988941e-01 4.04410232e-03 -2.51196422e-01] [ 6.14701501e-04 -4.04558891e-03 9.99991628e-01 -5.35664340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.271966746 meters 0.25626709467618547 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.25, Z:-0.06 [[ 9.99993225e-01 -2.95513916e-03 -2.19465270e-03 -2.19191937e+00] [ 2.97029402e-03 9.99971545e-01 6.93450382e-03 -2.49943918e-01] [ 2.17409782e-03 -6.94097560e-03 9.99973548e-01 -5.69919098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.331966746 meters 0.25413099488957297 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.25, Z:-0.06 [[ 0.99999267 -0.00301084 -0.00236677 -2.19126326] [ 0.00302763 0.99997004 0.0071247 -0.25179671] [ 0.00234525 -0.00713181 0.99997182 -0.05720637] [ 0. 0. 0. 1. ]] SLAMing on 49.391966745999994 meters 0.2568685440096256 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:-0.06 [[ 9.99998986e-01 5.48264663e-04 -1.31464142e-03 -2.14734033e+00] [-5.39759012e-04 9.99978978e-01 6.46158920e-03 -2.47181201e-01] [ 1.31815645e-03 -6.46087306e-03 9.99978260e-01 -5.63004178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.451966746 meters 0.2569304711434852 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.05 [[ 9.99975358e-01 3.15359182e-03 -6.27204019e-03 -2.17154672e+00] [-3.14800040e-03 9.99994639e-01 9.01155781e-04 -2.44703521e-01] [ 6.27484845e-03 -8.81389190e-04 9.99979925e-01 -5.18149795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.511966746 meters 0.25807033574728744 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.24, Z:-0.06 [[ 9.99998802e-01 -8.85291912e-04 -1.26956389e-03 -2.14704513e+00] [ 8.90836414e-04 9.99990040e-01 4.37335363e-03 -2.43460361e-01] [ 1.26567955e-03 -4.37447936e-03 9.99989631e-01 -5.68161091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.571966745999994 meters 0.2580033107942137 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.05 [[ 9.99976627e-01 4.07461481e-03 -5.49033012e-03 -2.17241599e+00] [-4.06872569e-03 9.99991136e-01 1.08337685e-03 -2.40110237e-01] [ 5.49469580e-03 -1.06101288e-03 9.99984341e-01 -5.21779154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.631966745999996 meters 0.25662363768637975 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.05 [[ 9.99984652e-01 -1.97622556e-04 -5.53690852e-03 -2.17226727e+00] [ 1.80804184e-04 9.99995369e-01 -3.03783808e-03 -2.41227458e-01] [ 5.53748323e-03 3.03679036e-03 9.99980057e-01 -5.23664073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.691966746 meters 0.2592883031872353 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.24, Z:-0.05 [[ 0.99998537 0.0037313 -0.00391603 -2.1297453 ] [-0.00374305 0.9999885 -0.00299881 -0.23733705] [ 0.00390479 0.00301342 0.99998784 -0.05056956] [ 0. 0. 0. 1. ]] SLAMing on 49.751966745999994 meters 0.25942763120085593 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.05 [[ 9.99982905e-01 2.54386154e-03 -5.26490207e-03 -2.17347040e+00] [-2.54601393e-03 9.99996678e-01 -4.02156089e-04 -2.38011113e-01] [ 5.26386155e-03 4.15553728e-04 9.99986059e-01 -5.20912359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.811966745999996 meters 0.2581033105604312 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.05 [[ 9.99982176e-01 2.46297855e-03 -5.43895787e-03 -2.17287189e+00] [-2.46424698e-03 9.99996938e-01 -2.26523191e-04 -2.39614785e-01] [ 5.43838329e-03 2.39922089e-04 9.99985183e-01 -5.23129028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.871966746 meters 0.252259702032672 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.24, Z:-0.05 [[ 9.99982668e-01 2.66576601e-03 -5.24952923e-03 -2.17436024e+00] [-2.66513573e-03 9.99996440e-01 1.27055696e-04 -2.41045512e-01] [ 5.24984924e-03 -1.13062786e-04 9.99986213e-01 -5.06016353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.931966746 meters 0.25731394694033255 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.25, Z:-0.05 [[ 9.99979373e-01 -1.82770958e-03 -6.15742670e-03 -2.21849397e+00] [ 1.82666443e-03 9.99998316e-01 -1.75358513e-04 -2.45081068e-01] [ 6.15773683e-03 1.64107344e-04 9.99981027e-01 -5.17733060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.991966745999996 meters 0.25757684387993807 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.24, Z:-0.05 [[ 9.99974494e-01 -6.59220384e-04 -7.11169852e-03 -2.26266982e+00] [ 6.90302715e-04 9.99990218e-01 4.36902292e-03 -2.44109897e-01] [ 7.10874880e-03 -4.37382071e-03 9.99965167e-01 -5.35097527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.051966746 meters 0.26099019151480407 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.24, Z:-0.06 [[ 9.99970984e-01 6.54301983e-03 -3.90136161e-03 -2.23708391e+00] [-6.54461842e-03 9.99978505e-01 -3.97126478e-04 -2.40738577e-01] [ 3.89867934e-03 4.22647878e-04 9.99992311e-01 -5.98025008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.111966746 meters 0.2600813357384889 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.24, Z:-0.06 [[ 9.99972657e-01 6.28541644e-03 -3.89586913e-03 -2.23638895e+00] [-6.28999254e-03 9.99979541e-01 -1.16346461e-03 -2.36813108e-01] [ 3.88847657e-03 1.18793779e-03 9.99991734e-01 -6.10685013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.171966745999995 meters 0.25762954855735704 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.24, Z:-0.06 [[ 9.99984940e-01 2.58982750e-03 -4.83875611e-03 -2.28073978e+00] [-2.59360157e-03 9.99996337e-01 -7.73854831e-04 -2.41173880e-01] [ 4.83673424e-03 7.86392982e-04 9.99987994e-01 -6.17232341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.231966746 meters 0.25761841657367984 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.24, Z:-0.06 [[ 9.99985620e-01 2.51542858e-03 -4.73628791e-03 -2.28079462e+00] [-2.52099323e-03 9.99996139e-01 -1.16929373e-03 -2.38681791e-01] [ 4.73332835e-03 1.18121706e-03 9.99988100e-01 -6.23077266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.291966746 meters 0.25999283000012546 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.24, Z:-0.06 [[ 0.99998916 0.00297435 -0.00358345 -2.23734395] [-0.00299102 0.99998469 -0.00465459 -0.2367561 ] [ 0.00356955 0.00466526 0.99998275 -0.06031286] [ 0. 0. 0. 1. ]] SLAMing on 50.351966745999995 meters 0.2610713190646319 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.23, Z:-0.06 [[ 0.99998964 0.0029845 -0.00343755 -2.23783867] [-0.0030016 0.9999831 -0.00497876 -0.23440418] [ 0.00342263 0.00498902 0.9999817 -0.06016586] [ 0. 0. 0. 1. ]] SLAMing on 50.411966746 meters 0.25965282532078016 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.23, Z:-0.07 [[ 9.99984210e-01 1.62871919e-03 -5.37841313e-03 -2.27771411e+00] [-1.64442164e-03 9.99994395e-01 -2.91640113e-03 -2.34824859e-01] [ 5.37363298e-03 2.92519946e-03 9.99981283e-01 -6.51709291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.471966746 meters 0.26087869061436364 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.23, Z:-0.06 [[ 0.99999081 0.00253538 -0.00345783 -2.23640886] [-0.00255462 0.99998122 -0.00557094 -0.23220714] [ 0.00344365 0.00557972 0.9999785 -0.06297894] [ 0. 0. 0. 1. ]] SLAMing on 50.531966745999995 meters 0.26044792352809415 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.23, Z:-0.06 [[ 0.99999067 0.002612 -0.00344024 -2.23637001] [-0.00263021 0.9999825 -0.00529877 -0.23343434] [ 0.00342634 0.00530777 0.99998004 -0.06348744] [ 0. 0. 0. 1. ]] SLAMing on 50.591966746 meters 0.26372306620511027 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.23, Z:-0.06 [[ 0.9999917 0.00248304 -0.00322909 -2.2371325 ] [-0.00250179 0.99997996 -0.00581586 -0.22986371] [ 0.00321458 0.00582389 0.99997787 -0.06354233] [ 0. 0. 0. 1. ]] SLAMing on 50.651966746 meters 0.2635717707324624 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.23, Z:-0.06 [[ 0.99999168 0.00257821 -0.00316235 -2.23795939] [-0.00259506 0.9999824 -0.00533519 -0.23267006] [ 0.00314854 0.00534335 0.99998077 -0.06242942] [ 0. 0. 0. 1. ]] SLAMing on 50.711966745999995 meters 0.2618308459143545 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.23, Z:-0.07 [[ 9.99991071e-01 1.90169061e-03 -3.77367934e-03 -2.28208691e+00] [-1.90897335e-03 9.99996321e-01 -1.92721403e-03 -2.34670202e-01] [ 3.77000049e-03 1.93440067e-03 9.99991023e-01 -6.51185379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.771966746 meters 0.2626670200079124 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.24, Z:-0.07 [[ 9.99992038e-01 -3.49588919e-03 1.92401419e-03 -2.25902424e+00] [ 3.49511367e-03 9.99993810e-01 4.06286177e-04 -2.38837621e-01] [-1.92542261e-03 -3.99558294e-04 9.99998067e-01 -6.91312578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.831966746 meters 0.25833818661337 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.24, Z:-0.07 [[ 9.99991965e-01 -3.43752906e-03 2.06252664e-03 -2.25972660e+00] [ 3.43647560e-03 9.99993963e-01 5.14085090e-04 -2.38807527e-01] [-2.06428137e-03 -5.06993136e-04 9.99997741e-01 -6.89119548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.891966745999994 meters 0.2578660603786002 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.24, Z:-0.07 [[ 9.99992643e-01 -3.21091424e-03 2.09875529e-03 -2.26052248e+00] [ 3.20834283e-03 9.99994100e-01 1.22743051e-03 -2.42582471e-01] [-2.10268409e-03 -1.22068795e-03 9.99997044e-01 -6.75577675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.951966746 meters 0.25804581246002717 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.24, Z:-0.06 [[ 9.99996367e-01 2.32928996e-03 -1.35633722e-03 -2.28623112e+00] [-2.33130238e-03 9.99996181e-01 -1.48403077e-03 -2.42172664e-01] [ 1.35287531e-03 1.48718741e-03 9.99997979e-01 -6.34431051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.011966746 meters 0.26434076220164704 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.24, Z:-0.07 [[ 9.99996575e-01 5.88261380e-04 2.55025644e-03 -2.26142354e+00] [-6.01056989e-04 9.99987221e-01 5.01952167e-03 -2.40288227e-01] [-2.54727106e-03 -5.02103733e-03 9.99984150e-01 -6.78443696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.071966745999994 meters 0.2616954752448069 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.24, Z:-0.07 [[ 9.99994276e-01 1.59938925e-03 -2.98149770e-03 -2.28270090e+00] [-1.60479203e-03 9.99997073e-01 -1.81059426e-03 -2.42048191e-01] [ 2.97859313e-03 1.81536858e-03 9.99993916e-01 -6.52541118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.131966745999996 meters 0.26024784422938013 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.24, Z:-0.07 [[ 9.99994688e-01 1.68160912e-03 -2.79216736e-03 -2.28353020e+00] [-1.68640945e-03 9.99997103e-01 -1.71774776e-03 -2.41828660e-01] [ 2.78927069e-03 1.72244737e-03 9.99994627e-01 -6.50987338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.191966746 meters 0.26291114966284174 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.24, Z:-0.07 [[ 9.99991775e-01 -3.13972286e-03 2.56767361e-03 -2.26021906e+00] [ 3.13622942e-03 9.99994153e-01 1.36344289e-03 -2.43246337e-01] [-2.57193943e-03 -1.35537886e-03 9.99995774e-01 -6.92437691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.251966745999994 meters 0.2610418722977098 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.24, Z:-0.07 [[ 9.99994013e-01 1.88739084e-03 -2.90040915e-03 -2.28232340e+00] [-1.89169279e-03 9.99997114e-01 -1.48119462e-03 -2.42721378e-01] [ 2.89760519e-03 1.48667243e-03 9.99994697e-01 -6.64655311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.311966745999996 meters 0.26597130692890125 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.24, Z:-0.07 [[ 0.99998047 0.00470805 -0.00411026 -2.23072237] [-0.00471983 0.99998477 -0.00286205 -0.24125352] [ 0.00409672 0.00288139 0.99998746 -0.06983602] [ 0. 0. 0. 1. ]] SLAMing on 51.371966746 meters 0.2598090227155853 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.25, Z:-0.06 [[ 9.99999505e-01 -8.97346228e-04 -4.29146397e-04 -2.29035068e+00] [ 8.95834720e-04 9.99993441e-01 -3.50944490e-03 -2.50152090e-01] [ 4.32292769e-04 3.50905872e-03 9.99993750e-01 -5.91126544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43196674599999 meters 0.2626572144808008 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.25, Z:-0.06 [[ 9.99999785e-01 -4.85707921e-04 -4.39475855e-04 -2.28967410e+00] [ 4.84107291e-04 9.99993276e-01 -3.63493853e-03 -2.47394039e-01] [ 4.41238418e-04 3.63472500e-03 9.99993297e-01 -6.05867899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.491966745999996 meters 0.26948076815633076 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.24, Z:-0.06 [[ 9.99966896e-01 8.00269446e-03 -1.47097418e-03 -2.23949282e+00] [-8.00416569e-03 9.99967469e-01 -9.97026791e-04 -2.40362604e-01] [ 1.46294743e-03 1.00876771e-03 9.99998421e-01 -6.33419958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.551966746 meters 0.2664603124187048 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.24, Z:-0.07 [[ 9.99978491e-01 5.05578084e-03 -4.17800341e-03 -2.27855872e+00] [-5.05992383e-03 9.99986717e-01 -9.81643281e-04 -2.42144322e-01] [ 4.17298494e-03 1.00276255e-03 9.99990790e-01 -6.57490452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.611966746 meters 0.27054383687042444 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.24, Z:-0.06 [[ 0.99994754 0.00958905 -0.00360028 -2.28091458] [-0.0095779 0.99994932 0.00310213 -0.23915107] [ 0.00362984 -0.00306749 0.99998871 -0.06430652] [ 0. 0. 0. 1. ]] SLAMing on 51.671966745999995 meters 0.2723451750422154 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.24, Z:-0.07 [[ 9.99996892e-01 2.44739495e-03 4.75070127e-04 -2.25272570e+00] [-2.44902078e-03 9.99991041e-01 3.45242415e-03 -2.40183059e-01] [-4.66616426e-04 -3.45357687e-03 9.99993928e-01 -7.18183566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.731966746 meters 0.2688094621498329 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.24, Z:-0.07 [[ 9.99999811e-01 5.76318392e-04 2.12436699e-04 -2.29901830e+00] [-5.77567644e-04 9.99982261e-01 5.92819157e-03 -2.41282106e-01] [-2.09016405e-04 -5.92831315e-03 9.99982406e-01 -7.25791180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.791966746 meters 0.2679195235922866 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.24, Z:-0.07 [[ 9.99994868e-01 -2.70798093e-03 1.71197697e-03 -2.25781795e+00] [ 2.70931338e-03 9.99996028e-01 -7.76470938e-04 -2.42624868e-01] [-1.70986751e-03 7.81105236e-04 9.99998233e-01 -6.78807309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.851966745999995 meters 0.265589704885764 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.24, Z:-0.07 [[ 9.99999357e-01 5.54144732e-04 9.89052346e-04 -2.25273721e+00] [-5.56694054e-04 9.99996519e-01 2.57912888e-03 -2.40817704e-01] [-9.87619693e-04 -2.57967782e-03 9.99996185e-01 -7.29833233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.911966746 meters 0.26109584780741385 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.24, Z:-0.08 [[ 9.99984988e-01 -5.27184613e-03 -1.49363172e-03 -2.29058287e+00] [ 5.27235405e-03 9.99986044e-01 3.36317891e-04 -2.43020582e-01] [ 1.49183786e-03 -3.44187797e-04 9.99998828e-01 -7.88672356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.971966746 meters 0.2622239781741742 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.24, Z:-0.08 [[ 9.99989389e-01 3.71614449e-03 2.72260124e-03 -2.26796824e+00] [-3.71015173e-03 9.99990691e-01 -2.20287131e-03 -2.39548308e-01] [-2.73076209e-03 2.19274667e-03 9.99993867e-01 -8.46382425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.031966745999995 meters 0.26136077891671367 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.24, Z:-0.09 [[ 9.99996042e-01 -6.20439295e-04 2.74412976e-03 -2.26779033e+00] [ 6.38773544e-04 9.99977448e-01 -6.68543922e-03 -2.38782769e-01] [-2.73991996e-03 6.68716564e-03 9.99973887e-01 -8.50403584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.091966746 meters 0.2602946476837638 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.23, Z:-0.08 [[ 9.99990121e-01 -4.04204187e-03 1.84900472e-03 -2.29187429e+00] [ 4.03917416e-03 9.99990638e-01 1.55206661e-03 -2.33233863e-01] [-1.85526093e-03 -1.54458283e-03 9.99997086e-01 -8.33951395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.151966746 meters 0.264000651661011 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.23, Z:-0.08 [[ 0.99999099 -0.00345669 0.00246483 -2.24755592] [ 0.00346346 0.99999023 -0.00274738 -0.22829189] [-0.00245531 0.0027559 0.99999319 -0.08161601] [ 0. 0. 0. 1. ]] SLAMing on 52.211966745999995 meters 0.26397620864126525 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.23, Z:-0.08 [[ 9.99997029e-01 5.81660123e-04 2.36713629e-03 -2.24629492e+00] [-5.84138923e-04 9.99999282e-01 1.04661579e-03 -2.25994018e-01] [-2.36652581e-03 -1.04799542e-03 9.99996651e-01 -8.36978665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.271966746 meters 0.2624761374911665 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.23, Z:-0.08 [[ 9.99997345e-01 6.32650737e-04 2.21568313e-03 -2.24602320e+00] [-6.35533300e-04 9.99998952e-01 1.30051929e-03 -2.28084417e-01] [-2.21485804e-03 -1.30192398e-03 9.99996700e-01 -8.31956345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.331966746 meters 0.2627856634088833 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.23, Z:-0.08 [[ 9.99986191e-01 4.75693471e-03 2.23377941e-03 -2.24566287e+00] [-4.76841732e-03 9.99975300e-01 5.16356326e-03 -2.25351749e-01] [-2.20916151e-03 -5.17414355e-03 9.99984174e-01 -8.42177930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.391966745999994 meters 0.2612032848655078 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.08 [[ 9.99998081e-01 1.01263742e-03 1.67736631e-03 -2.29256771e+00] [-1.02022451e-03 9.99989226e-01 4.52855077e-03 -2.24043540e-01] [-1.67276246e-03 -4.53025337e-03 9.99988339e-01 -8.28195425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.451966746 meters 0.2615622941040587 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.08 [[ 9.99992528e-01 -3.48094133e-03 1.68110450e-03 -2.29219823e+00] [ 3.48159036e-03 9.99993866e-01 -3.83297985e-04 -2.21278480e-01] [-1.67975995e-03 3.89148039e-04 9.99998513e-01 -8.34187779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.511966746 meters 0.2606896828400266 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.21, Z:-0.08 [[ 9.99992328e-01 -3.27251334e-03 2.15291919e-03 -2.29299329e+00] [ 3.27428340e-03 9.99994304e-01 -8.19154677e-04 -2.14231745e-01] [-2.15022624e-03 8.26197660e-04 9.99997347e-01 -8.46795630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.571966745999994 meters 0.259500223801892 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.22, Z:-0.09 [[ 9.99988680e-01 -4.68873440e-03 8.10279624e-04 -2.33652798e+00] [ 4.68780009e-03 9.99988350e-01 1.15114462e-03 -2.15351799e-01] [-8.15667596e-04 -1.14733316e-03 9.99999009e-01 -8.62722888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.631966745999996 meters 0.26234263018205933 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.21, Z:-0.09 [[ 9.99996986e-01 -2.37354064e-03 6.27257086e-04 -2.28782148e+00] [ 2.37437436e-03 9.99996294e-01 -1.33176497e-03 -2.08002815e-01] [-6.24093763e-04 1.33325030e-03 9.99998916e-01 -8.89465750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.691966746 meters 0.2636686862677089 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.21, Z:-0.09 [[ 9.99997033e-01 -2.28715663e-03 8.38042676e-04 -2.28913856e+00] [ 2.28817543e-03 9.99996642e-01 -1.21675936e-03 -2.08361034e-01] [-8.35256943e-04 1.21867334e-03 9.99998909e-01 -8.76988264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.751966745999994 meters 0.26276844644684466 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.21, Z:-0.08 [[ 9.99994260e-01 2.51315567e-03 -2.27263808e-03 -2.36101520e+00] [-2.51320989e-03 9.99996842e-01 -2.10025483e-05 -2.06172051e-01] [ 2.27257812e-03 2.67140443e-05 9.99997417e-01 -8.31647199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.811966745999996 meters 0.2651690418876695 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.20, Z:-0.08 [[ 9.99995342e-01 2.17956289e-03 -2.13682385e-03 -2.36084291e+00] [-2.18175767e-03 9.99997094e-01 -1.02532977e-03 -2.00919298e-01] [ 2.13458287e-03 1.02998702e-03 9.99997191e-01 -8.42296174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.871966746 meters 0.2655226332895982 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.20, Z:-0.09 [[ 9.99995972e-01 1.90869235e-03 -2.10079853e-03 -2.36043988e+00] [-1.91237520e-03 9.99996636e-01 -1.75245788e-03 -1.97504320e-01] [ 2.09744656e-03 1.75646833e-03 9.99996258e-01 -8.51376137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93196674599999 meters 0.262347015473838 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.08 [[ 0.99997448 0.00456285 -0.00549767 -2.43160053] [-0.00457803 0.99998574 -0.00275072 -0.19747301] [ 0.00548505 0.00277582 0.9999811 -0.0811133 ] [ 0. 0. 0. 1. ]] SLAMing on 52.991966745999996 meters 0.2690304097514211 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.19, Z:-0.08 [[ 9.99997950e-01 1.53964746e-03 -1.31479845e-03 -2.36413440e+00] [-1.54306142e-03 9.99995431e-01 -2.59951197e-03 -1.89376350e-01] [ 1.31079011e-03 2.60153546e-03 9.99995757e-01 -8.28417392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.051966746 meters 0.26978215121945387 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.19, Z:-0.08 [[ 9.99998434e-01 1.35255519e-03 -1.14120041e-03 -2.36433645e+00] [-1.35629519e-03 9.99993692e-01 -3.28286523e-03 -1.85299200e-01] [ 1.13675296e-03 3.28440790e-03 9.99993960e-01 -8.36149738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.111966746 meters 0.26019949838666284 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.19, Z:-0.07 [[ 9.99963864e-01 -1.78148814e-03 -8.31250422e-03 -2.45612302e+00] [ 1.78134480e-03 9.99998413e-01 -2.46480030e-05 -1.89549635e-01] [ 8.31253494e-03 9.83967617e-06 9.99965450e-01 -7.36071976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.171966745999995 meters 0.2611956735916681 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.19, Z:-0.07 [[ 9.99961266e-01 2.31956369e-03 -8.49032570e-03 -2.45531072e+00] [-2.28660080e-03 9.99989819e-01 3.89005694e-03 -1.88149455e-01] [ 8.49926250e-03 -3.87049228e-03 9.99956390e-01 -7.42725370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.231966746 meters 0.26818710598512785 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.18, Z:-0.08 [[ 9.99991838e-01 -3.74373825e-04 -4.02278608e-03 -2.43115465e+00] [ 4.09119395e-04 9.99962592e-01 8.63984188e-03 -1.81278520e-01] [ 4.01940106e-03 -8.64141716e-03 9.99954584e-01 -7.86936037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.291966746 meters 0.2806620831156573 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.18, Z:-0.08 [[ 9.99999252e-01 4.62404989e-04 -1.13253467e-03 -2.40711372e+00] [-4.65347858e-04 9.99996513e-01 -2.59959622e-03 -1.76782929e-01] [ 1.13132866e-03 2.60012130e-03 9.99995980e-01 -8.17729907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.351966745999995 meters 0.28316269283451945 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.17, Z:-0.08 [[ 9.99989316e-01 4.49595822e-03 -1.07392825e-03 -2.40659645e+00] [-4.49491439e-03 9.99989425e-01 9.72421318e-04 -1.72518597e-01] [ 1.07828885e-03 -9.67583714e-04 9.99998951e-01 -8.33204802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.411966746 meters 0.28160808997963294 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.08 [[ 9.99996594e-01 1.97830327e-03 -1.70263125e-03 -2.45282800e+00] [-1.97636571e-03 9.99997398e-01 1.13891113e-03 -1.70326370e-01] [ 1.70487993e-03 -1.13554222e-03 9.99997902e-01 -8.39318502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.471966746 meters 0.28261869453207894 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.17, Z:-0.08 [[ 9.99998817e-01 1.84459085e-04 -1.52686424e-03 -2.50133372e+00] [-1.81353418e-04 9.99997915e-01 2.03390501e-03 -1.67335656e-01] [ 1.52723623e-03 -2.03362570e-03 9.99996766e-01 -8.35888625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.531966745999995 meters 0.285940204793703 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.16, Z:-0.08 [[ 0.99997079 0.00347958 -0.00680551 -2.5222552 ] [-0.00350001 0.9999894 -0.0029924 -0.16368144] [ 0.00679503 0.00301613 0.99997236 -0.08247913] [ 0. 0. 0. 1. ]] SLAMing on 53.591966746 meters 0.2867379373292516 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.16, Z:-0.08 [[ 9.99972154e-01 1.89932654e-03 -7.21688582e-03 -2.55188723e+00] [-1.85469161e-03 9.99979144e-01 6.18645883e-03 -1.55745957e-01] [ 7.22848541e-03 -6.17290147e-03 9.99954821e-01 -7.70293458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.651966746 meters 0.30586790059903507 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.16, Z:-0.08 [[ 0.99994988 -0.00687541 -0.00727802 -2.55124524] [ 0.00685567 0.99997276 -0.00273477 -0.1550978 ] [ 0.00729662 0.00268473 0.99996978 -0.07742292] [ 0. 0. 0. 1. ]] SLAMing on 53.711966745999995 meters 0.3213246505507843 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.15, Z:-0.08 [[ 9.99975729e-01 1.61260060e-03 -6.77802817e-03 -2.55286172e+00] [-1.57864988e-03 9.99986197e-01 5.01130699e-03 -1.49154107e-01] [ 6.78601585e-03 -5.00048523e-03 9.99964472e-01 -7.75690699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.771966746 meters 0.3446002966285047 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.15, Z:-0.08 [[ 9.99973178e-01 -2.81377518e-03 -6.76203235e-03 -2.55268001e+00] [ 2.81650396e-03 9.99995956e-01 3.94055523e-04 -1.48095913e-01] [ 6.76089622e-03 -4.13090244e-04 9.99977060e-01 -7.78148188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.831966746 meters 0.3965860704831876 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.14, Z:-0.08 [[ 9.99976846e-01 1.34952057e-03 -6.66979818e-03 -2.55281027e+00] [-1.32251054e-03 9.99990915e-01 4.05235455e-03 -1.44690663e-01] [ 6.67520631e-03 -4.04343984e-03 9.99969546e-01 -7.85762523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.891966745999994 meters 0.5676588943949687 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.14, Z:-0.07 [[ 9.99986097e-01 -5.60395140e-04 -5.24323041e-03 -2.55906344e+00] [ 5.68961654e-04 9.99998506e-01 1.63247473e-03 -1.38864819e-01] [ 5.24230774e-03 -1.63543523e-03 9.99984922e-01 -7.43227988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.951966746 meters 0.5645806813955715 Centerline is valid? [False, False] Translation: X:-2.59, Y:-0.14, Z:-0.07 [[ 0.99995758 0.00329508 -0.00860136 -2.58770252] [-0.00331817 0.99999093 -0.0026717 -0.13516845] [ 0.00859248 0.00270012 0.99995944 -0.06766431] [ 0. 0. 0. 1. ]] SLAMing on 54.011966746 meters 0.6871599598158662 Centerline is valid? [False, False] Translation: X:-2.80, Y:-0.01, Z:-0.07 [[ 0.99928185 -0.02586588 -0.02769003 -2.80165222] [ 0.02543969 0.99955409 -0.01563465 -0.0095797 ] [ 0.02808209 0.014919 0.99949428 -0.06690606] [ 0. 0. 0. 1. ]] SLAMing on 54.071966745999994 meters 0.6387819429830757 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.02, Z:-0.07 [[ 0.99984415 -0.01603656 -0.00738295 -2.82741013] [ 0.01593595 0.999782 -0.01349082 -0.02170518] [ 0.00759768 0.01337107 0.99988174 -0.07237506] [ 0. 0. 0. 1. ]] SLAMing on 54.131966745999996 meters 0.9428503754889029 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.03, Z:-0.07 [[ 0.99984147 -0.0163134 -0.00713552 -2.82768472] [ 0.01622767 0.99979736 -0.01191267 -0.03091479] [ 0.00732841 0.01179499 0.99990358 -0.07338988] [ 0. 0. 0. 1. ]] SLAMing on 54.191966746 meters 0.5988775225690428 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.04, Z:-0.07 [[ 0.99978211 -0.02008127 -0.005699 -2.8323454 ] [ 0.01999999 0.99970225 -0.01397883 -0.03998931] [ 0.00597801 0.01386181 0.99988605 -0.07015182] [ 0. 0. 0. 1. ]] SLAMing on 54.251966745999994 meters 0.6353534906147723 Centerline is valid? [False, False] Translation: X:-2.83, Y:-0.05, Z:-0.07 [[ 0.99973363 -0.02238325 -0.00562727 -2.83167517] [ 0.02230386 0.99965606 -0.01379505 -0.05398754] [ 0.00593411 0.01366586 0.99988901 -0.07162795] [ 0. 0. 0. 1. ]] SLAMing on 54.311966745999996 meters 0.9276083486302408 Centerline is valid? [False, False] Translation: X:-2.81, Y:-0.06, Z:-0.07 [[ 0.99992385 -0.01172147 -0.00385898 -2.81300532] [ 0.01166917 0.99984335 -0.01330842 -0.06041056] [ 0.00401437 0.01326238 0.99990399 -0.07185753] [ 0. 0. 0. 1. ]] SLAMing on 54.371966746 meters 0.5042825691561408 Centerline is valid? [False, False] Translation: X:-2.81, Y:-0.06, Z:-0.07 [[ 0.99995974 -0.00825865 -0.00350839 -2.81436735] [ 0.00822624 0.99992426 -0.00915461 -0.06355282] [ 0.00358373 0.00912538 0.99995194 -0.07107157] [ 0. 0. 0. 1. ]] SLAMing on 54.43196674599999 meters 0.5389891165264046 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.06, Z:-0.07 [[ 9.99995507e-01 -6.74607388e-04 -2.92067890e-03 -2.81654076e+00] [ 6.70840899e-04 9.99998942e-01 -1.29038126e-03 -6.48024381e-02] [ 2.92154632e-03 1.28841616e-03 9.99994902e-01 -6.97495297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.491966745999996 meters 0.5627487528385104 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.06, Z:-0.07 [[ 9.99989119e-01 3.47163459e-03 -3.11587842e-03 -2.81540292e+00] [-3.46599678e-03 9.99992350e-01 1.81296203e-03 -5.88445305e-02] [ 3.12214852e-03 -1.80214268e-03 9.99993502e-01 -7.10413524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.551966746 meters 0.5555458107618031 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.06, Z:-0.07 [[ 9.99989254e-01 3.46410276e-03 -3.08091964e-03 -2.81534298e+00] [-3.46005089e-03 9.99993143e-01 1.31950988e-03 -5.65236080e-02] [ 3.08546943e-03 -1.30883556e-03 9.99994383e-01 -7.09973776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.611966746 meters 0.5933037076991654 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.05, Z:-0.07 [[ 9.99988236e-01 3.82488606e-03 -2.98296406e-03 -2.81548158e+00] [-3.82498164e-03 9.99992684e-01 -2.63391861e-05 -4.79770542e-02] [ 2.98284149e-03 3.77486590e-05 9.99995551e-01 -7.08608202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.671966745999995 meters 0.8383351692583905 Centerline is valid? [False, False] Translation: X:-2.84, Y:-0.03, Z:-0.07 [[ 9.99955714e-01 9.09816105e-03 -2.40693782e-03 -2.84216867e+00] [-9.06459690e-03 9.99866342e-01 1.36063090e-02 -3.21723905e-02] [ 2.53040851e-03 -1.35838885e-02 9.99904533e-01 -6.57208648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.731966746 meters 0.9458257962015195 Centerline is valid? [False, False] Translation: X:-2.86, Y:-0.03, Z:-0.07 [[ 9.99978694e-01 1.33155401e-03 -6.39047379e-03 -2.86064787e+00] [-1.35592869e-03 9.99991817e-01 -3.81140540e-03 -2.76714614e-02] [ 6.38534640e-03 3.81998922e-03 9.99972317e-01 -6.74783844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.791966746 meters 0.946830496197583 Centerline is valid? [False, False] Translation: X:-2.90, Y:-0.02, Z:-0.07 [[ 0.99994142 0.00883298 -0.00625612 -2.90424987] [-0.00880387 0.99995036 0.00466481 -0.02293299] [ 0.00629702 -0.00460945 0.99996955 -0.07010383] [ 0. 0. 0. 1. ]] SLAMing on 54.851966745999995 meters 1.0725515073945318 Centerline is valid? [False, False] Translation: X:-2.91, Y:-0.03, Z:-0.07 [[ 0.99989006 0.01377125 -0.00549773 -2.90668565] [-0.01371428 0.99985322 0.01026919 -0.02648331] [ 0.00563835 -0.01019267 0.99993216 -0.06740488] [ 0. 0. 0. 1. ]] SLAMing on 54.911966746 meters 0.9724229824986004 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.04, Z:-0.07 [[ 0.99985452 0.01477172 -0.00852885 -2.97395389] [-0.01472431 0.99987594 0.00559468 -0.03888263] [ 0.00861044 -0.00546829 0.99994798 -0.0655753 ] [ 0. 0. 0. 1. ]] SLAMing on 54.971966746 meters 0.9626582665232323 Centerline is valid? [False, False] Translation: X:-2.97, Y:-0.05, Z:-0.07 [[ 0.99984775 0.01526793 -0.0084479 -2.97429385] [-0.01520241 0.99985428 0.00776585 -0.04703233] [ 0.00856524 -0.00763624 0.99993416 -0.06567403] [ 0. 0. 0. 1. ]] SLAMing on 55.031966745999995 meters 0.6839124846303659 Centerline is valid? [False, False] Translation: X:-3.03, Y:-0.05, Z:-0.07 [[ 0.99979899 0.01581522 0.01232283 -3.03226086] [-0.01588037 0.99986034 0.00520728 -0.05262265] [-0.01223876 -0.00540192 0.99991051 -0.06771814] [ 0. 0. 0. 1. ]] SLAMing on 55.091966746 meters 0.6547257192113001 Centerline is valid? [False, False] Translation: X:-3.04, Y:-0.06, Z:-0.06 [[ 9.99909138e-01 1.34068046e-02 1.40492303e-03 -3.04439515e+00] [-1.34110583e-02 9.99905375e-01 3.06332025e-03 -6.31912079e-02] [-1.36372075e-03 -3.08188342e-03 9.99994321e-01 -5.97014757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.151966746 meters 0.6634110375775084 Centerline is valid? [False, False] Translation: X:-3.11, Y:-0.07, Z:-0.06 [[ 9.99603656e-01 1.57049952e-02 2.33641800e-02 -3.11052978e+00] [-1.57262600e-02 9.99876071e-01 7.26670950e-04 -7.13250469e-02] [-2.33498721e-02 -1.09381411e-03 9.99726756e-01 -6.21300447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.211966745999995 meters 0.6907432939026624 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.08, Z:-0.06 [[ 0.99961088 0.00965798 0.02616909 -3.12023402] [-0.00952379 0.99994088 -0.00524771 -0.07569869] [-0.02621822 0.00499644 0.99964376 -0.05717364] [ 0. 0. 0. 1. ]] SLAMing on 55.271966746 meters 1.1087579782030335 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.08, Z:-0.05 [[ 0.99933224 0.012518 0.03432753 -3.15253524] [-0.01224363 0.99989149 -0.00819106 -0.07911668] [-0.03442634 0.00776529 0.99937707 -0.05156981] [ 0. 0. 0. 1. ]] SLAMing on 55.331966746 meters 1.7160478590882564 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.08, Z:-0.03 [[ 9.99047614e-01 1.70521168e-02 4.01632953e-02 -3.17341595e+00] [-1.69560811e-02 9.99852507e-01 -2.73058548e-03 -8.48461906e-02] [-4.02039337e-02 2.04697282e-03 9.99189398e-01 -3.41120515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1563.96 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%| | 0/1846 [00:00