+ python -m lidar_slam --no-model /working/f6ff7049-3691-46cb-9346-0bb2680f4f62 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/f6ff7049-3691-46cb-9346-0bb2680f4f62 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.000418555 Adjusted end_distance from 9.223372036854776e+18 to 66.294418555 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000418555 meters 0.1753324323258633 Centerline is valid? [0, False] SLAMing on 0.030418555 meters 0.16603485165804838 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:-0.00 [[ 0.99998069 0.00588542 0.00199732 -0.03080321] [-0.00587664 0.99997319 -0.00436927 -0.00910617] [-0.00202298 0.00435745 0.99998846 -0.0037098 ] [ 0. 0. 0. 1. ]] SLAMing on 0.060418555 meters 0.18208461932984757 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:0.00 [[ 0.99998627 0.00453421 0.00262746 -0.03997352] [-0.00451885 0.99997284 -0.00582297 -0.01558441] [-0.0026538 0.00581102 0.99997959 0.00276356] [ 0. 0. 0. 1. ]] SLAMing on 0.090418555 meters 0.17291701095127995 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:0.01 [[ 9.99981034e-01 -1.78858268e-04 6.15625986e-03 -6.64747914e-02] [ 2.48499020e-04 9.99935972e-01 -1.13132799e-02 -3.64529943e-02] [-6.15384221e-03 1.13145952e-02 9.99917052e-01 1.49495031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120418555 meters 0.16267473662783447 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.02 [[ 0.99996692 -0.00297625 0.00757031 -0.0878133 ] [ 0.0030933 0.99987513 -0.01549671 -0.0565748 ] [-0.00752324 0.01551962 0.99985126 0.02438466] [ 0. 0. 0. 1. ]] SLAMing on 0.15041855499999998 meters 0.15636234861800938 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.04 [[ 0.99992388 -0.01140802 0.00469956 -0.11535917] [ 0.0114613 0.99986853 -0.01147044 -0.06513495] [-0.00456809 0.01152343 0.99992317 0.03592883] [ 0. 0. 0. 1. ]] SLAMing on 0.18041855499999998 meters 0.15615251143051145 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.05 [[ 0.99991112 -0.01009121 0.00871271 -0.14829805] [ 0.01021124 0.99985204 -0.01384335 -0.08194964] [-0.00857173 0.01393108 0.99986622 0.04587951] [ 0. 0. 0. 1. ]] SLAMing on 0.21041855499999998 meters 0.1525472108321692 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.08, Z:0.06 [[ 0.99996143 -0.00587933 0.00652518 -0.15964704] [ 0.00595116 0.9999213 -0.01104426 -0.08120092] [-0.00645973 0.01108267 0.99991772 0.05562675] [ 0. 0. 0. 1. ]] SLAMing on 0.24041855499999998 meters 0.14686071228354838 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.08, Z:0.07 [[ 0.99997797 -0.00299908 0.00592178 -0.17119018] [ 0.0030553 0.99995014 -0.00950716 -0.07773569] [-0.00589298 0.00952505 0.99993727 0.06557207] [ 0. 0. 0. 1. ]] SLAMing on 0.270418555 meters 0.15001524739442554 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.07 [[ 9.99978585e-01 -9.10203875e-04 6.48088432e-03 -1.79898460e-01] [ 9.65868554e-04 9.99962629e-01 -8.59111296e-03 -7.36856768e-02] [-6.47282246e-03 8.59718866e-03 9.99942094e-01 7.20408862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.300418555 meters 0.13536826413503736 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.07, Z:0.07 [[ 0.99977852 0.01547797 0.0142597 -0.2172604 ] [-0.01542617 0.99987403 -0.00373514 -0.07411961] [-0.01431572 0.00351434 0.99989135 0.06978581] [ 0. 0. 0. 1. ]] SLAMing on 0.33041855499999995 meters 0.13602529232571905 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.07, Z:0.07 [[ 0.99959857 0.02048536 0.01957181 -0.25559567] [-0.02056964 0.99977995 0.00411499 -0.06534075] [-0.01948321 -0.00451592 0.99979999 0.06966094] [ 0. 0. 0. 1. ]] SLAMing on 0.360418555 meters 0.13992876854271408 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.06, Z:0.07 [[ 0.99952196 0.01894563 0.02443174 -0.29174946] [-0.0191117 0.99979569 0.00658206 -0.06168474] [-0.02430204 -0.00704584 0.99967983 0.06719619] [ 0. 0. 0. 1. ]] SLAMing on 0.390418555 meters 0.14815828044482612 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:0.07 [[ 0.99967939 0.01329582 0.0215484 -0.32787234] [-0.01342296 0.99989328 0.00576612 -0.07279356] [-0.02146943 -0.00605351 0.99975118 0.06787704] [ 0. 0. 0. 1. ]] SLAMing on 0.42041855499999997 meters 0.1585524231159293 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.08, Z:0.07 [[ 0.99984628 0.00444281 0.01696123 -0.3445141 ] [-0.00459387 0.99995004 0.00887759 -0.07993506] [-0.01692094 -0.00895415 0.99981674 0.07025432] [ 0. 0. 0. 1. ]] SLAMing on 0.45041855499999994 meters 0.15413608018810798 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.09, Z:0.08 [[ 0.99984662 -0.00218468 0.01737703 -0.35045326] [ 0.002138 0.99999406 0.00270451 -0.08757945] [-0.01738284 -0.00266694 0.99984535 0.07564715] [ 0. 0. 0. 1. ]] SLAMing on 0.48041855499999997 meters 0.1355064118041214 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.10, Z:0.08 [[ 0.99977256 -0.003986 0.02095106 -0.37469172] [ 0.00401486 0.99999105 -0.00133568 -0.10140717] [-0.02094554 0.0014195 0.99977961 0.08492914] [ 0. 0. 0. 1. ]] SLAMing on 0.510418555 meters 0.12794099821331148 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.10, Z:0.09 [[ 0.99976356 -0.0015396 0.02168995 -0.38257298] [ 0.00151664 0.99999827 0.0010749 -0.10336093] [-0.02169156 -0.00104175 0.99976417 0.09149233] [ 0. 0. 0. 1. ]] SLAMing on 0.540418555 meters 0.13404398740831674 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.09 [[ 9.99715194e-01 4.84853757e-03 2.33671203e-02 -4.05257253e-01] [-4.86258819e-03 9.99988029e-01 5.44515574e-04 -1.06568431e-01] [-2.33642004e-02 -6.57985176e-04 9.99726803e-01 9.38116001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5704185549999999 meters 0.12124303631223761 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.11, Z:0.10 [[ 0.99959522 0.00888949 0.0270255 -0.43334398] [-0.00880626 0.99995611 -0.0031969 -0.10798632] [-0.02705273 0.00295761 0.99962963 0.09743473] [ 0. 0. 0. 1. ]] SLAMing on 0.600418555 meters 0.13587687519417102 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.12, Z:0.10 [[ 0.99945221 0.01597911 0.02898181 -0.48753242] [-0.0156142 0.99979649 -0.01277406 -0.11769759] [-0.02918003 0.01231453 0.99949831 0.0961656 ] [ 0. 0. 0. 1. ]] SLAMing on 0.630418555 meters 0.1149763233865527 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.11, Z:0.11 [[ 0.99979912 0.00268052 0.01986291 -0.53266107] [-0.00257434 0.99998227 -0.00536953 -0.10881167] [-0.01987695 0.00531732 0.99978829 0.10558197] [ 0. 0. 0. 1. ]] SLAMing on 0.6604185549999999 meters 0.14417273286852508 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.11, Z:0.11 [[ 0.99985888 -0.01080025 0.01286787 -0.55811348] [ 0.01091845 0.99989852 -0.0091511 -0.10809171] [-0.01276773 0.00929031 0.99987533 0.11226451] [ 0. 0. 0. 1. ]] SLAMing on 0.6904185549999999 meters 0.1485970292514106 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.11, Z:0.12 [[ 0.99977246 -0.01692529 0.01298323 -0.57111091] [ 0.01712974 0.9997284 -0.01580171 -0.10676007] [-0.01271225 0.01602051 0.99979085 0.12258637] [ 0. 0. 0. 1. ]] SLAMing on 0.720418555 meters 0.11627430449951166 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.11, Z:0.13 [[ 0.99977129 -0.01607761 0.01410275 -0.5755886 ] [ 0.01628251 0.99976175 -0.01453673 -0.10783862] [-0.01386568 0.01476304 0.99979488 0.12574166] [ 0. 0. 0. 1. ]] SLAMing on 0.750418555 meters 0.12926596330620435 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.11, Z:0.13 [[ 0.99976455 -0.00623795 0.0207829 -0.56689054] [ 0.00655709 0.99986109 -0.01532365 -0.10784136] [-0.02068443 0.01545632 0.99966657 0.12839911] [ 0. 0. 0. 1. ]] SLAMing on 0.780418555 meters 0.11099645390297395 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.10, Z:0.14 [[ 0.99974768 0.00787575 0.02103677 -0.57226939] [-0.00782895 0.99996669 -0.00230587 -0.09739138] [-0.02105423 0.0021406 0.99977604 0.13502757] [ 0. 0. 0. 1. ]] SLAMing on 0.8104185549999999 meters 0.12177615970350393 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.10, Z:0.13 [[ 0.99968908 0.01297935 0.02129056 -0.57218496] [-0.01303413 0.99991208 0.00243599 -0.09664986] [-0.02125707 -0.00271274 0.99977036 0.13369229] [ 0. 0. 0. 1. ]] SLAMing on 0.840418555 meters 0.13751727595194888 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.10, Z:0.13 [[ 0.9996582 0.01437415 0.02183746 -0.57405226] [-0.01443711 0.99989206 0.00272802 -0.09647828] [-0.02179589 -0.00304236 0.99975781 0.13256711] [ 0. 0. 0. 1. ]] SLAMing on 0.870418555 meters 0.12027120047979527 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.09, Z:0.14 [[ 0.9995852 0.01999786 0.02072485 -0.57892768] [-0.02015024 0.99977125 0.00717006 -0.09313996] [-0.02057673 -0.0075847 0.99975951 0.13971006] [ 0. 0. 0. 1. ]] SLAMing on 0.9004185549999999 meters 0.11691286892641649 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.08, Z:0.14 [[ 0.99954047 0.0151234 0.02627052 -0.59806062] [-0.01542416 0.99981737 0.01128395 -0.08411766] [-0.02609507 -0.01168397 0.99959118 0.13985694] [ 0. 0. 0. 1. ]] SLAMing on 0.9304185549999999 meters 0.13078412860477998 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.08, Z:0.14 [[ 0.99956257 0.01164185 0.02718723 -0.60140829] [-0.01186181 0.9998981 0.0079433 -0.08471032] [-0.02709199 -0.00826232 0.9995988 0.1419611 ] [ 0. 0. 0. 1. ]] SLAMing on 0.960418555 meters 0.13078412860477998 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.08, Z:0.14 [[ 0.99959943 0.00754261 0.0272779 -0.60169829] [-0.00765894 0.99996201 0.00416276 -0.08477303] [-0.02724546 -0.00437001 0.99961922 0.14183916] [ 0. 0. 0. 1. ]] SLAMing on 0.990418555 meters 0.09525692937995885 Centerline is valid? [False, True] Translation: X:-0.61, Y:-0.09, Z:0.15 [[ 0.99956342 0.00589941 0.02895105 -0.61179125] [-0.00599243 0.99997715 0.00312745 -0.08591271] [-0.02893194 -0.00329957 0.99957594 0.151054 ] [ 0. 0. 0. 1. ]] SLAMing on 1.020418555 meters 0.0888589995268095 Centerline is valid? [True, True] Translation: X:-0.65, Y:-0.08, Z:0.16 [[ 0.99940459 -0.00346295 0.03432897 -0.64660763] [ 0.00294846 0.99988275 0.01502654 -0.08085707] [-0.03437699 -0.01491638 0.99929762 0.15906157] [ 0. 0. 0. 1. ]] SLAMing on 1.050418555 meters 0.10432728367763529 Centerline is valid? [True, False] Translation: X:-0.67, Y:-0.08, Z:0.16 [[ 0.99946537 -0.01411657 0.02949066 -0.66613546] [ 0.01370256 0.99980536 0.01419409 -0.08367572] [-0.02968529 -0.0137824 0.99946427 0.15977209] [ 0. 0. 0. 1. ]] SLAMing on 1.080418555 meters 0.12427188253575133 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.09, Z:0.16 [[ 0.99920019 -0.03274758 0.02294706 -0.67499915] [ 0.03261075 0.9994482 0.00631211 -0.08692489] [-0.0231411 -0.00555874 0.99971675 0.15795704] [ 0. 0. 0. 1. ]] SLAMing on 1.1104185549999999 meters 0.11960812610674901 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.09, Z:0.16 [[ 0.99920109 -0.032719 0.02294896 -0.67442517] [ 0.03257635 0.9994477 0.00656256 -0.08862062] [-0.02315101 -0.00580972 0.9997151 0.15724677] [ 0. 0. 0. 1. ]] SLAMing on 1.140418555 meters 0.10762772604022393 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.09, Z:0.16 [[ 0.99930977 -0.02407056 0.02829464 -0.6623878 ] [ 0.02395219 0.99970291 0.0045149 -0.09188954] [-0.02839491 -0.00383407 0.99958943 0.15737446] [ 0. 0. 0. 1. ]] SLAMing on 1.170418555 meters 0.11215010422082909 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.10, Z:0.16 [[ 0.99940305 -0.013143 0.03194994 -0.66276845] [ 0.01323369 0.99990898 -0.00262878 -0.09698171] [-0.03191249 0.00305003 0.99948601 0.15586395] [ 0. 0. 0. 1. ]] SLAMing on 1.200418555 meters 0.1051702039611745 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.10, Z:0.16 [[ 0.99958557 -0.00180217 0.0287305 -0.66295128] [ 0.00207797 0.99995202 -0.0095725 -0.10225503] [-0.02871187 0.00962823 0.99954136 0.15806383] [ 0. 0. 0. 1. ]] SLAMing on 1.230418555 meters 0.13861044543268608 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.10, Z:0.16 [[ 0.9996193 0.00144874 0.02755291 -0.6626924 ] [-0.00125768 0.99997505 -0.00695037 -0.09819725] [-0.02756229 0.00691308 0.99959618 0.16024856] [ 0. 0. 0. 1. ]] SLAMing on 1.260418555 meters 0.10811571842101407 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.10, Z:0.17 [[ 0.99983437 0.00939176 0.01558911 -0.6692308 ] [-0.00934311 0.99995126 -0.00319041 -0.09513303] [-0.01561832 0.00304423 0.99987339 0.1670358 ] [ 0. 0. 0. 1. ]] SLAMing on 1.290418555 meters 0.11437737945058081 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.09, Z:0.17 [[ 0.99984534 0.00908084 0.01506088 -0.66896886] [-0.00902477 0.99995211 -0.0037869 -0.09420788] [-0.01509455 0.00365039 0.99987941 0.1678793 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3204185549999998 meters 0.1324862811773945 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.09, Z:0.17 [[ 9.99969467e-01 7.64930585e-04 7.77684454e-03 -6.74064309e-01] [-7.82618446e-04 9.99997114e-01 2.27163781e-03 -8.87089424e-02] [-7.77508445e-03 -2.27765475e-03 9.99967180e-01 1.71827459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3504185549999999 meters 0.13357026216541015 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.09, Z:0.17 [[ 9.99967875e-01 6.58649963e-04 7.98840661e-03 -6.73265768e-01] [-6.76929925e-04 9.99997158e-01 2.28582345e-03 -8.99117822e-02] [-7.98687835e-03 -2.29115761e-03 9.99965480e-01 1.70088432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3804185549999999 meters 0.11963493160210915 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.09, Z:0.17 [[ 9.99969966e-01 3.73858172e-04 7.74130166e-03 -6.71967063e-01] [-3.90401430e-04 9.99997643e-01 2.13561154e-03 -9.16918721e-02] [-7.74048501e-03 -2.13856962e-03 9.99967755e-01 1.68903577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.410418555 meters 0.1442204438362088 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.09, Z:0.17 [[ 9.99937934e-01 -1.11063204e-02 8.81503383e-04 -6.78828968e-01] [ 1.11043861e-02 9.99935990e-01 2.16972740e-03 -9.22734002e-02] [-9.05544646e-04 -2.15980418e-03 9.99997258e-01 1.65651359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.440418555 meters 0.15003891147206838 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.09, Z:0.16 [[ 0.9993409 -0.0356158 -0.00701974 -0.67326629] [ 0.0355833 0.99935566 -0.0047012 -0.09380988] [ 0.00718266 0.00444832 0.99996431 0.16313362] [ 0. 0. 0. 1. ]] SLAMing on 1.470418555 meters 0.11787226318343823 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.08, Z:0.16 [[ 9.97984974e-01 -6.85055130e-03 6.30798048e-02 -7.65425084e-01] [ 6.80648102e-03 9.99976418e-01 9.13508977e-04 -8.07206761e-02] [-6.30845753e-02 -4.82316739e-04 9.98008068e-01 1.59427001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.500418555 meters 0.08112625609789595 Centerline is valid? [False, True] Translation: X:-0.77, Y:-0.00, Z:0.17 [[ 0.99570864 0.02787828 0.08824464 -0.77233791] [-0.02540948 0.99925705 -0.02897766 -0.00496126] [-0.08898692 0.02661105 0.99567725 0.16633314] [ 0. 0. 0. 1. ]] SLAMing on 1.530418555 meters 0.07882776064560794 Centerline is valid? [True, True] Translation: X:-0.84, Y:0.09, Z:0.17 [[ 0.99725208 0.04149696 0.0613701 -0.84266004] [-0.04299374 0.99880424 0.02327294 0.09276757] [-0.06033096 -0.02584752 0.99784372 0.16557535] [ 0. 0. 0. 1. ]] SLAMing on 1.560418555 meters 0.09689646512977676 Centerline is valid? [True, True] Translation: X:-0.89, Y:0.12, Z:0.17 [[ 0.99888388 0.03722854 0.02906952 -0.88734396] [-0.03756239 0.99923348 0.01102389 0.12324157] [-0.02863684 -0.01210351 0.9995166 0.16680492] [ 0. 0. 0. 1. ]] SLAMing on 1.5904185549999998 meters 0.09645709399217266 Centerline is valid? [True, True] Translation: X:-0.92, Y:0.11, Z:0.17 [[ 0.99905124 0.03077808 0.03081105 -0.915477 ] [-0.03115062 0.9994464 0.01168497 0.11261559] [-0.03043435 -0.01263366 0.99945692 0.16583457] [ 0. 0. 0. 1. ]] SLAMing on 1.6204185549999999 meters 0.09337792157030417 Centerline is valid? [True, True] Translation: X:-0.94, Y:0.09, Z:0.17 [[ 0.99886179 0.03055222 0.03662895 -0.93960868] [-0.03107872 0.9994204 0.01389149 0.08936657] [-0.0361833 -0.01501406 0.99923238 0.17162555] [ 0. 0. 0. 1. ]] SLAMing on 1.650418555 meters 0.0924190024237573 Centerline is valid? [True, True] Translation: X:-0.97, Y:0.08, Z:0.17 [[ 0.99871394 0.03183768 0.03945672 -0.9686245 ] [-0.03244955 0.99936134 0.01496489 0.07996736] [-0.03895508 -0.01622599 0.99910921 0.17098244] [ 0. 0. 0. 1. ]] SLAMing on 1.680418555 meters 0.0934718301849559 Centerline is valid? [True, True] Translation: X:-1.00, Y:0.07, Z:0.17 [[ 0.9987827 0.0323429 0.03724309 -0.99824688] [-0.0328883 0.99935921 0.01412576 0.07196398] [-0.03676235 -0.01533343 0.99920639 0.1722234 ] [ 0. 0. 0. 1. ]] SLAMing on 1.710418555 meters 0.11048501925456844 Centerline is valid? [True, False] Translation: X:-1.01, Y:0.07, Z:0.17 [[ 0.99907893 0.0260227 0.03411896 -1.00973965] [-0.02668847 0.9994593 0.01920507 0.07201208] [-0.03360074 -0.02009796 0.99923324 0.1679905 ] [ 0. 0. 0. 1. ]] SLAMing on 1.740418555 meters 0.11109256260474418 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:0.17 [[ 0.99948951 0.01258816 0.02936428 -1.01075633] [-0.01328375 0.99963287 0.02361479 0.07493551] [-0.02905623 -0.0239928 0.99928979 0.16996333] [ 0. 0. 0. 1. ]] SLAMing on 1.770418555 meters 0.1116311720792993 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:0.17 [[ 0.99974686 -0.01186136 0.01911861 -1.0100581 ] [ 0.01160819 0.99984418 0.01329894 0.07382834] [-0.01927337 -0.01307364 0.99972877 0.1703931 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8004185549999998 meters 0.11790926520380976 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:0.19 [[ 0.99901232 -0.04289436 0.01159598 -1.00213158] [ 0.04280574 0.99905308 0.00778558 0.08585865] [-0.01191896 -0.00728152 0.99990245 0.18501091] [ 0. 0. 0. 1. ]] SLAMing on 1.8304185549999998 meters 0.10415782571297344 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:0.19 [[ 0.99903362 -0.04201833 0.01289491 -1.00579881] [ 0.04189854 0.99907742 0.009424 0.08405666] [-0.013279 -0.00887462 0.99987245 0.18685649] [ 0. 0. 0. 1. ]] SLAMing on 1.8604185549999999 meters 0.1180115882901938 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:0.19 [[ 0.99929534 -0.02577138 0.02728855 -1.01022013] [ 0.02528983 0.99952084 0.01784702 0.06984005] [-0.02773542 -0.01714432 0.99946827 0.18566388] [ 0. 0. 0. 1. ]] SLAMing on 1.890418555 meters 0.1310160796593303 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.05, Z:0.18 [[ 0.99898308 0.0050238 0.04480581 -1.02057408] [-0.00569815 0.99987222 0.01493553 0.05234453] [-0.04472505 -0.01517566 0.99888406 0.18033533] [ 0. 0. 0. 1. ]] SLAMing on 1.920418555 meters 0.12473369438978985 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.05, Z:0.18 [[ 0.99890224 0.02726235 0.03809312 -1.03401712] [-0.02751662 0.99960233 0.00616654 0.04856714] [-0.03790986 -0.00720797 0.99925517 0.1832816 ] [ 0. 0. 0. 1. ]] SLAMing on 1.950418555 meters 0.11220063908840985 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.07, Z:0.19 [[ 0.99898769 0.02148158 0.03952399 -1.05630689] [-0.02169437 0.99975233 0.00496272 0.06563502] [-0.0394076 -0.00581515 0.9992063 0.19157322] [ 0. 0. 0. 1. ]] SLAMing on 1.980418555 meters 0.0875216741315519 Centerline is valid? [False, True] Translation: X:-1.06, Y:0.07, Z:0.20 [[ 0.9990051 0.02282646 0.03831143 -1.0620916 ] [-0.02303489 0.99972212 0.00500763 0.07383747] [-0.03818648 -0.00588515 0.9992533 0.20108565] [ 0. 0. 0. 1. ]] SLAMing on 2.0104185549999998 meters 0.09181272004343782 Centerline is valid? [True, True] Translation: X:-1.10, Y:0.09, Z:0.21 [[ 0.99878572 0.03902882 0.03006395 -1.10026173] [-0.03939277 0.99915636 0.01160983 0.09015808] [-0.02958547 -0.01278004 0.99948055 0.21400555] [ 0. 0. 0. 1. ]] SLAMing on 2.040418555 meters 0.08210810581805526 Centerline is valid? [True, True] Translation: X:-1.12, Y:0.06, Z:0.22 [[ 0.99892054 0.04197662 0.01989285 -1.1222325 ] [-0.04213641 0.99908233 0.00768221 0.06395341] [-0.01955212 -0.00851213 0.9997726 0.21816349] [ 0. 0. 0. 1. ]] SLAMing on 2.070418555 meters 0.08329504836194321 Centerline is valid? [True, True] Translation: X:-1.15, Y:0.06, Z:0.22 [[ 0.99927982 0.03703428 0.00826422 -1.15234439] [-0.03706171 0.99930788 0.00319123 0.06057485] [-0.00814032 -0.00349522 0.99996076 0.22013439] [ 0. 0. 0. 1. ]] SLAMing on 2.100418555 meters 0.087767248976113 Centerline is valid? [True, True] Translation: X:-1.18, Y:0.05, Z:0.21 [[ 0.99932741 0.03609653 0.00646318 -1.18276663] [-0.03611329 0.99934459 0.00249606 0.05439361] [-0.00636885 -0.00272779 0.999976 0.21171189] [ 0. 0. 0. 1. ]] SLAMing on 2.130418555 meters 0.08957748539489598 Centerline is valid? [True, True] Translation: X:-1.21, Y:0.05, Z:0.21 [[ 9.99340604e-01 3.62849343e-02 1.32683148e-03 -1.21436313e+00] [-3.62856401e-02 9.99341328e-01 5.11816401e-04 5.01306651e-02] [-1.30738631e-03 -5.59623841e-04 9.99998989e-01 2.13732104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.160418555 meters 0.11454574087673741 Centerline is valid? [True, False] Translation: X:-1.23, Y:0.06, Z:0.21 [[ 9.99547018e-01 2.93887917e-02 -6.48514856e-03 -1.22848069e+00] [-2.93810746e-02 9.99567461e-01 1.28207180e-03 5.53939633e-02] [ 6.52002202e-03 -1.09095041e-03 9.99978149e-01 2.14660044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.190418555 meters 0.09842690452279884 Centerline is valid? [False, True] Translation: X:-1.25, Y:0.06, Z:0.21 [[ 9.99764302e-01 2.16871141e-02 -1.00470748e-03 -1.24592460e+00] [-2.16852477e-02 9.99763168e-01 1.83273918e-03 6.35368805e-02] [ 1.04421635e-03 -1.81051987e-03 9.99997816e-01 2.10935421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2204185549999997 meters 0.0971986651756461 Centerline is valid? [True, True] Translation: X:-1.28, Y:0.06, Z:0.23 [[ 0.99961216 0.02642069 -0.00880161 -1.27798581] [-0.02645325 0.99964355 -0.0036046 0.06267797] [ 0.00870323 0.00383603 0.99995477 0.2274047 ] [ 0. 0. 0. 1. ]] SLAMing on 2.250418555 meters 0.1093364245089303 Centerline is valid? [True, False] Translation: X:-1.30, Y:0.07, Z:0.23 [[ 0.99970784 0.01625452 -0.01788924 -1.29939602] [-0.01640559 0.99983071 -0.00833058 0.07282749] [ 0.0177508 0.00862163 0.99980527 0.23216698] [ 0. 0. 0. 1. ]] SLAMing on 2.280418555 meters 0.11395415502531837 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.08, Z:0.24 [[ 0.99984883 0.00570974 -0.01642301 -1.32286233] [-0.00590542 0.99991186 -0.01189114 0.08435826] [ 0.01635366 0.01198632 0.99979442 0.23603491] [ 0. 0. 0. 1. ]] SLAMing on 2.310418555 meters 0.12350283419369272 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:0.24 [[ 0.99982214 -0.00171306 -0.018782 -1.32702163] [ 0.00133235 0.99979379 -0.02026343 0.08738089] [ 0.01881284 0.0202348 0.99961824 0.24269348] [ 0. 0. 0. 1. ]] SLAMing on 2.340418555 meters 0.1287810583435327 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:0.25 [[ 0.99945216 -0.00278123 -0.03297934 -1.334463 ] [ 0.00191858 0.99965593 -0.02616005 0.09619368] [ 0.03304075 0.02608244 0.99911361 0.24926163] [ 0. 0. 0. 1. ]] SLAMing on 2.370418555 meters 0.14945285729325733 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:0.26 [[ 0.99851209 -0.00561691 -0.05424065 -1.35061319] [ 0.00385901 0.99946559 -0.03245982 0.10237501] [ 0.05439399 0.0322022 0.99800016 0.25731828] [ 0. 0. 0. 1. ]] SLAMing on 2.400418555 meters 0.14531063191573054 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:0.25 [[ 0.99697006 -0.01454672 -0.07641401 -1.3529149 ] [ 0.01022289 0.99834041 -0.05667373 0.1223086 ] [ 0.07711161 0.05572084 0.99546421 0.25158152] [ 0. 0. 0. 1. ]] SLAMing on 2.4304185549999997 meters 0.20216964959045738 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.19, Z:0.24 [[ 0.99232292 -0.01577026 -0.1226643 -1.27325472] [ 0.00488768 0.99606258 -0.08851808 0.18656359] [ 0.12357727 0.08723898 0.9884928 0.24390008] [ 0. 0. 0. 1. ]] SLAMing on 2.460418555 meters 0.23241709837725508 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.21, Z:0.26 [[ 0.98807755 -0.04937368 -0.14582521 -1.28360372] [ 0.03542351 0.9946774 -0.09675771 0.20679615] [ 0.14982632 0.09043848 0.98456739 0.25702463] [ 0. 0. 0. 1. ]] SLAMing on 2.4904185549999998 meters 0.19785984340277826 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.18, Z:0.27 [[ 0.99035556 -0.04203792 -0.13201775 -1.28632477] [ 0.03694683 0.9984848 -0.0407803 0.18156824] [ 0.13353204 0.03550936 0.99040814 0.27339366] [ 0. 0. 0. 1. ]] SLAMing on 2.520418555 meters 0.15495298361465715 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.15, Z:0.26 [[ 0.99732868 -0.03062058 -0.0663166 -1.26698701] [ 0.03159175 0.99940771 0.01364529 0.14993946] [ 0.0658595 -0.0157039 0.99770532 0.25613145] [ 0. 0. 0. 1. ]] SLAMing on 2.550418555 meters 0.10846512939155349 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.11, Z:0.23 [[ 0.99922682 -0.03907955 -0.00430686 -1.26320623] [ 0.03925465 0.99778475 0.05370902 0.10889236] [ 0.0021984 -0.05383656 0.99854734 0.22889805] [ 0. 0. 0. 1. ]] SLAMing on 2.580418555 meters 0.12510214042129056 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.07, Z:0.22 [[ 0.99953316 -0.02842687 0.01119673 -1.27636263] [ 0.02786412 0.99847959 0.04756158 0.07441308] [-0.01253173 -0.04722739 0.99880555 0.21884921] [ 0. 0. 0. 1. ]] SLAMing on 2.610418555 meters 0.14490486644683434 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.03, Z:0.21 [[ 0.99973342 -0.01303288 0.01905868 -1.32204723] [ 0.01209953 0.9987599 0.0482936 0.02739539] [-0.01966445 -0.04805013 0.99865134 0.2139817 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6404185549999997 meters 0.114183076544077 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.00, Z:0.22 [[ 0.99851303 -0.02183568 0.04994929 -1.3657396 ] [ 0.02012242 0.9992004 0.03454934 0.00459513] [-0.05066376 -0.03349287 0.998154 0.22133796] [ 0. 0. 0. 1. ]] SLAMing on 2.670418555 meters 0.09830956692297947 Centerline is valid? [False, True] Translation: X:-1.36, Y:0.01, Z:0.24 [[ 0.99787972 -0.00252366 0.0650361 -1.35660558] [ 0.00146812 0.99986651 0.01627272 0.01054898] [-0.06506848 -0.01614273 0.99775022 0.24061881] [ 0. 0. 0. 1. ]] SLAMing on 2.7004185549999997 meters 0.10393656844590904 Centerline is valid? [True, False] Translation: X:-1.31, Y:0.05, Z:0.24 [[ 0.99805639 -0.01204385 0.06114237 -1.31336264] [ 0.01178944 0.99992029 0.0045199 0.05466186] [-0.06119194 -0.00379028 0.99811882 0.24001733] [ 0. 0. 0. 1. ]] SLAMing on 2.730418555 meters 0.087121327589226 Centerline is valid? [False, True] Translation: X:-1.31, Y:0.05, Z:0.24 [[ 0.99856279 0.00660469 0.05318592 -1.31337346] [-0.00686361 0.99996546 0.00468685 0.0523225 ] [-0.05315312 -0.00504516 0.99857363 0.24375299] [ 0. 0. 0. 1. ]] SLAMing on 2.7604185549999998 meters 0.09160718754834696 Centerline is valid? [True, True] Translation: X:-1.35, Y:0.06, Z:0.22 [[ 0.99904726 0.01421597 0.04126122 -1.35098522] [-0.01480499 0.99979231 0.01400522 0.06210157] [-0.04105355 -0.01460275 0.99905023 0.22183081] [ 0. 0. 0. 1. ]] SLAMing on 2.790418555 meters 0.11305580357380819 Centerline is valid? [True, False] Translation: X:-1.36, Y:0.05, Z:0.22 [[ 0.99894072 0.01316552 0.044092 -1.35861932] [-0.01375026 0.99982115 0.01298491 0.05293394] [-0.04391316 -0.01357743 0.99894309 0.22260256] [ 0. 0. 0. 1. ]] SLAMing on 2.820418555 meters 0.10518357950251019 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:0.21 [[ 0.99870294 0.00165145 0.05088922 -1.36960321] [-0.00227716 0.9999225 0.01223991 0.04957477] [-0.05086506 -0.01233992 0.9986293 0.20608511] [ 0. 0. 0. 1. ]] SLAMing on 2.850418555 meters 0.09730351259600484 Centerline is valid? [False, True] Translation: X:-1.40, Y:0.03, Z:0.21 [[ 9.99058192e-01 6.50576639e-04 4.33855521e-02 -1.40106653e+00] [-1.06385781e-03 9.99954276e-01 9.50337040e-03 3.35903287e-02] [-4.33773857e-02 -9.54057610e-03 9.99013203e-01 2.10997005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.880418555 meters 0.09730351259600484 Centerline is valid? [True, True] Translation: X:-1.43, Y:0.03, Z:0.21 [[ 9.99142740e-01 1.20037048e-04 4.13977230e-02 -1.43452673e+00] [-7.41358504e-04 9.99887315e-01 1.49935649e-02 2.77580830e-02] [-4.13912584e-02 -1.50114020e-02 9.99030241e-01 2.13293195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9104185549999997 meters 0.11851646865593443 Centerline is valid? [True, False] Translation: X:-1.46, Y:0.01, Z:0.22 [[ 0.99947756 -0.00415162 0.03205274 -1.45643101] [ 0.00388585 0.99995759 0.00834954 0.0097993 ] [-0.03208605 -0.00822063 0.9994513 0.2150702 ] [ 0. 0. 0. 1. ]] SLAMing on 2.940418555 meters 0.10602725357408531 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.00, Z:0.22 [[ 0.99948713 -0.00372383 0.0318059 -1.45691758] [ 0.0034124 0.99994576 0.0098403 0.00151286] [-0.03184082 -0.00972672 0.99944562 0.21671368] [ 0. 0. 0. 1. ]] SLAMing on 2.9704185549999997 meters 0.0934109826350763 Centerline is valid? [False, True] Translation: X:-1.46, Y:-0.01, Z:0.22 [[ 0.99959501 0.01187775 0.02586009 -1.46239991] [-0.01213226 0.99987928 0.00970723 -0.00970669] [-0.02574166 -0.01001704 0.99961844 0.22266575] [ 0. 0. 0. 1. ]] SLAMing on 3.000418555 meters 0.12261014915498701 Centerline is valid? [True, False] Translation: X:-1.46, Y:-0.01, Z:0.22 [[ 0.99948821 0.01736701 0.0268646 -1.46459531] [-0.01779333 0.99971822 0.01571249 -0.01258159] [-0.02658415 -0.01618246 0.99951559 0.22328204] [ 0. 0. 0. 1. ]] SLAMing on 3.030418555 meters 0.09490703454260539 Centerline is valid? [False, True] Translation: X:-1.47, Y:-0.01, Z:0.22 [[ 0.99936701 0.02235247 0.02767575 -1.46648268] [-0.02294088 0.99951352 0.02112901 -0.01497153] [-0.02719 -0.02175054 0.99939362 0.2240099 ] [ 0. 0. 0. 1. ]] SLAMing on 3.060418555 meters 0.10873006044881502 Centerline is valid? [True, False] Translation: X:-1.46, Y:0.01, Z:0.23 [[ 0.99958768 0.01517278 0.02437731 -1.45735484] [-0.01551546 0.99978259 0.01393028 0.01415745] [-0.02416065 -0.01430276 0.99960577 0.22542709] [ 0. 0. 0. 1. ]] SLAMing on 3.090418555 meters 0.10437092152796947 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.01, Z:0.24 [[ 0.99970275 0.00719286 0.02329534 -1.478146 ] [-0.00730952 0.99996115 0.00492668 0.00959669] [-0.023259 -0.00509549 0.99971649 0.2410867 ] [ 0. 0. 0. 1. ]] SLAMing on 3.120418555 meters 0.12130355928467441 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.01, Z:0.25 [[ 0.99982062 -0.00532989 0.01817478 -1.5032467 ] [ 0.00528546 0.99998293 0.00249168 0.00758711] [-0.01818775 -0.00239517 0.99983172 0.24855612] [ 0. 0. 0. 1. ]] SLAMing on 3.150418555 meters 0.1309432333739709 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.01, Z:0.26 [[ 9.99746706e-01 -1.87619837e-02 1.24303080e-02 -1.53895952e+00] [ 1.87474737e-02 9.99823428e-01 1.28281313e-03 7.45979878e-03] [-1.24521813e-02 -1.04945133e-03 9.99921918e-01 2.59644812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1804185549999997 meters 0.12188909712406082 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.01, Z:0.27 [[ 0.99959853 -0.0255253 0.01229762 -1.54441752] [ 0.02559386 0.99965757 -0.00544985 0.00773898] [-0.0121543 0.0057624 0.99990953 0.26642525] [ 0. 0. 0. 1. ]] SLAMing on 3.210418555 meters 0.12398924215770668 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.01, Z:0.28 [[ 0.99943133 -0.03132814 0.01247289 -1.55384114] [ 0.03146986 0.99944046 -0.01133246 0.01121982] [-0.01211089 0.01171854 0.99985799 0.27603108] [ 0. 0. 0. 1. ]] SLAMing on 3.2404185549999998 meters 0.13397252477844296 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.01, Z:0.28 [[ 0.99968214 -0.01996376 0.01539677 -1.56578241] [ 0.02023523 0.99963887 -0.01768214 0.00768803] [-0.0150382 0.01798808 0.9997251 0.28491088] [ 0. 0. 0. 1. ]] SLAMing on 3.270418555 meters 0.10970817507773105 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.01, Z:0.29 [[ 0.9998052 -0.00887787 0.0176282 -1.59121716] [ 0.00915173 0.99983773 -0.01551634 0.00843901] [-0.01748759 0.01567465 0.99972421 0.28914281] [ 0. 0. 0. 1. ]] SLAMing on 3.300418555 meters 0.10689227273865307 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.01, Z:0.30 [[ 0.9998558 -0.00366977 0.01658019 -1.60711793] [ 0.00386035 0.99992669 -0.01147689 0.00964294] [-0.01653686 0.01153924 0.99979667 0.30202547] [ 0. 0. 0. 1. ]] SLAMing on 3.330418555 meters 0.12443269147656873 Centerline is valid? [False, False] Translation: X:-1.63, Y:0.01, Z:0.31 [[ 0.99989976 -0.00862738 0.01122709 -1.62627207] [ 0.00871527 0.99993158 -0.00780277 0.01334336] [-0.01115901 0.00789983 0.99990653 0.30515533] [ 0. 0. 0. 1. ]] SLAMing on 3.360418555 meters 0.11568425646506535 Centerline is valid? [False, False] Translation: X:-1.64, Y:0.01, Z:0.31 [[ 0.9997431 -0.02131115 0.00771851 -1.64330374] [ 0.02139123 0.99971662 -0.01044527 0.01404425] [-0.00749373 0.01060769 0.99991566 0.30679005] [ 0. 0. 0. 1. ]] SLAMing on 3.3904185549999997 meters 0.13106543882332367 Centerline is valid? [False, False] Translation: X:-1.63, Y:0.02, Z:0.32 [[ 9.99532992e-01 -3.04978498e-02 1.91797807e-03 -1.63310375e+00] [ 3.05179154e-02 9.99468211e-01 -1.14870560e-02 2.00157625e-02] [-1.56662760e-03 1.15402242e-02 9.99932182e-01 3.18861156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.420418555 meters 0.11414464639642537 Centerline is valid? [False, False] Translation: X:-1.63, Y:0.02, Z:0.32 [[ 9.99505934e-01 -3.13867730e-02 1.66111939e-03 -1.63365497e+00] [ 3.14046515e-02 9.99433098e-01 -1.21338264e-02 1.93961369e-02] [-1.27933604e-03 1.21799984e-02 9.99925003e-01 3.20536128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4504185549999997 meters 0.1232298139597109 Centerline is valid? [False, False] Translation: X:-1.64, Y:0.02, Z:0.32 [[ 9.99509880e-01 -3.12690056e-02 1.49983440e-03 -1.63577426e+00] [ 3.12845731e-02 9.99440653e-01 -1.18176586e-02 1.86895028e-02] [-1.12946903e-03 1.18587882e-02 9.99929044e-01 3.23872206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.480418555 meters 0.1145017957451577 Centerline is valid? [False, False] Translation: X:-1.65, Y:0.02, Z:0.33 [[ 0.99981079 -0.01886752 0.00473328 -1.6483295 ] [ 0.01894801 0.99966591 -0.01757967 0.01794663] [-0.00440002 0.01766603 0.99983426 0.33350238] [ 0. 0. 0. 1. ]] SLAMing on 3.5104185549999998 meters 0.11963924475474597 Centerline is valid? [False, False] Translation: X:-1.68, Y:0.02, Z:0.34 [[ 0.99991474 -0.00677111 0.01116496 -1.67643824] [ 0.00694787 0.99984993 -0.01586959 0.02407556] [-0.01105583 0.01594581 0.99981173 0.33826165] [ 0. 0. 0. 1. ]] SLAMing on 3.540418555 meters 0.1126950436378213 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.03, Z:0.34 [[ 0.99970979 0.00464873 0.0236372 -1.70725276] [-0.00425326 0.9998506 -0.01675385 0.03372881] [-0.02371156 0.01664845 0.99958021 0.34268318] [ 0. 0. 0. 1. ]] SLAMing on 3.570418555 meters 0.09331902954829946 Centerline is valid? [False, True] Translation: X:-1.74, Y:0.05, Z:0.35 [[ 0.99945287 0.0116173 0.03096782 -1.74400432] [-0.0109243 0.99968819 -0.02245415 0.04756032] [-0.03121902 0.02210356 0.99926813 0.35445894] [ 0. 0. 0. 1. ]] SLAMing on 3.6004185549999996 meters 0.08671142771050927 Centerline is valid? [True, True] Translation: X:-1.78, Y:0.07, Z:0.36 [[ 0.9995928 0.01177549 0.02599186 -1.78068865] [-0.01196097 0.99990402 0.00699218 0.07095214] [-0.02590703 -0.00730022 0.9996377 0.35893115] [ 0. 0. 0. 1. ]] SLAMing on 3.630418555 meters 0.09971147992982453 Centerline is valid? [True, True] Translation: X:-1.82, Y:0.10, Z:0.37 [[ 0.99941788 0.0156426 0.03031833 -1.82101349] [-0.01589664 0.99984037 0.00815628 0.10468618] [-0.03018591 -0.0086335 0.99950702 0.37182646] [ 0. 0. 0. 1. ]] SLAMing on 3.6604185549999997 meters 0.08134557683573548 Centerline is valid? [True, True] Translation: X:-1.85, Y:0.08, Z:0.38 [[ 0.99921713 0.017894 0.03528359 -1.84509097] [-0.01823941 0.99978859 0.00949226 0.08120086] [-0.03510628 -0.01012838 0.99933226 0.37866711] [ 0. 0. 0. 1. ]] SLAMing on 3.690418555 meters 0.08615981932450265 Centerline is valid? [True, True] Translation: X:-1.88, Y:0.09, Z:0.38 [[ 0.99910451 0.01987959 0.03734943 -1.88094832] [-0.02026796 0.99974408 0.01004864 0.09440227] [-0.03714011 -0.01079664 0.99925174 0.38270465] [ 0. 0. 0. 1. ]] SLAMing on 3.7204185549999997 meters 0.07774799659883694 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.08, Z:0.38 [[ 0.99867848 0.03026126 0.0415398 -1.9086119 ] [-0.03074996 0.99946462 0.01117656 0.083294 ] [-0.04117935 -0.01243914 0.99907434 0.38401759] [ 0. 0. 0. 1. ]] SLAMing on 3.750418555 meters 0.09001657951237296 Centerline is valid? [True, True] Translation: X:-1.95, Y:0.11, Z:0.39 [[ 0.99829889 0.03933965 0.04303163 -1.94834417] [-0.0398718 0.99913772 0.01157847 0.11127843] [-0.04253903 -0.01327452 0.99900662 0.39376623] [ 0. 0. 0. 1. ]] SLAMing on 3.780418555 meters 0.10964149856323521 Centerline is valid? [True, False] Translation: X:-1.98, Y:0.11, Z:0.40 [[ 0.9982003 0.03391725 0.04945494 -1.97587853] [-0.03465058 0.99930077 0.01404687 0.11215349] [-0.04894393 -0.01573524 0.99867757 0.39638358] [ 0. 0. 0. 1. ]] SLAMing on 3.810418555 meters 0.0931752394173694 Centerline is valid? [False, True] Translation: X:-2.03, Y:0.11, Z:0.40 [[ 0.99858846 0.02447681 0.04713774 -2.03083853] [-0.0249189 0.99965062 0.0088141 0.10773153] [-0.04690553 -0.00997627 0.99884951 0.39686064] [ 0. 0. 0. 1. ]] SLAMing on 3.840418555 meters 0.08469117921274402 Centerline is valid? [True, True] Translation: X:-2.06, Y:0.09, Z:0.40 [[ 0.99888908 0.00861035 0.04632999 -2.05666524] [-0.00924167 0.99986711 0.01342965 0.08880668] [-0.0462082 -0.01384289 0.99883591 0.39510375] [ 0. 0. 0. 1. ]] SLAMing on 3.8704185549999996 meters 0.08786072127114553 Centerline is valid? [True, True] Translation: X:-2.09, Y:0.09, Z:0.40 [[ 0.99881389 -0.00749264 0.04811104 -2.08971156] [ 0.00682885 0.99987942 0.01394661 0.09109517] [-0.04820974 -0.01360153 0.99874462 0.40018749] [ 0. 0. 0. 1. ]] SLAMing on 3.900418555 meters 0.08755621941433749 Centerline is valid? [True, True] Translation: X:-2.12, Y:0.08, Z:0.40 [[ 0.9987593 -0.01689941 0.04684302 -2.12028845] [ 0.0162797 0.99977526 0.01357965 0.08492814] [-0.04706198 -0.01280021 0.99880995 0.39641303] [ 0. 0. 0. 1. ]] SLAMing on 3.9304185549999997 meters 0.08302682985932547 Centerline is valid? [True, True] Translation: X:-2.15, Y:0.07, Z:0.40 [[ 0.99860767 -0.02590443 0.0459531 -2.14666975] [ 0.02531687 0.9995907 0.01332237 0.07100598] [-0.0462794 -0.01214044 0.99885476 0.39765315] [ 0. 0. 0. 1. ]] SLAMing on 3.960418555 meters 0.08665949549514332 Centerline is valid? [True, True] Translation: X:-2.18, Y:0.07, Z:0.40 [[ 0.99853957 -0.02518619 0.04779528 -2.17931957] [ 0.02454973 0.99960257 0.01385719 0.07274511] [-0.0481253 -0.01266359 0.99876103 0.39743977] [ 0. 0. 0. 1. ]] SLAMing on 3.9904185549999998 meters 0.07527977978658397 Centerline is valid? [True, True] Translation: X:-2.20, Y:0.05, Z:0.39 [[ 0.99857485 -0.01327987 0.05169055 -2.20356132] [ 0.01252048 0.99980929 0.01498722 0.04885001] [-0.05187972 -0.01431867 0.99855068 0.3939955 ] [ 0. 0. 0. 1. ]] SLAMing on 4.020418555 meters 0.07564340789248775 Centerline is valid? [True, True] Translation: X:-2.24, Y:0.05, Z:0.40 [[ 9.98542289e-01 -1.97127412e-03 5.39389622e-02 -2.23528761e+00] [ 1.12908221e-03 9.99877053e-01 1.56398156e-02 4.61796909e-02] [-5.39631609e-02 -1.55561157e-02 9.98421747e-01 3.98878243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.050418555 meters 0.07080284579973596 Centerline is valid? [True, True] Translation: X:-2.26, Y:0.03, Z:0.40 [[ 0.99837274 0.00939776 0.05624544 -2.26244777] [-0.01033014 0.99981363 0.0163092 0.03378828] [-0.05608169 -0.01686368 0.99828376 0.40030678] [ 0. 0. 0. 1. ]] SLAMing on 4.0804185550000005 meters 0.08361855302043618 Centerline is valid? [True, True] Translation: X:-2.30, Y:0.06, Z:0.41 [[ 0.99845054 0.01508216 0.05356354 -2.30051936] [-0.01593509 0.99975238 0.01553237 0.05525974] [-0.05331601 -0.01636184 0.99844364 0.40657026] [ 0. 0. 0. 1. ]] SLAMing on 4.110418555 meters 0.0759672789880207 Centerline is valid? [True, True] Translation: X:-2.33, Y:0.03, Z:0.40 [[ 0.99844419 0.01532348 0.05361328 -2.32544575] [-0.01617838 0.99974822 0.01554824 0.03087442] [-0.05336153 -0.01639143 0.99844072 0.40427866] [ 0. 0. 0. 1. ]] SLAMing on 4.140418555 meters 0.0661607358207316 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.01, Z:0.40 [[ 0.99813918 0.01817478 0.05820536 -2.34890075] [-0.01918704 0.99967341 0.01687971 0.00598564] [-0.05787957 -0.01796508 0.99816192 0.40356695] [ 0. 0. 0. 1. ]] SLAMing on 4.170418555 meters 0.0795516415583501 Centerline is valid? [True, True] Translation: X:-2.39, Y:0.03, Z:0.41 [[ 0.99834863 0.01134529 0.05631435 -2.38822437] [-0.01228294 0.99979117 0.01633211 0.03010988] [-0.0561173 -0.01699685 0.9982795 0.40965082] [ 0. 0. 0. 1. ]] SLAMing on 4.200418555000001 meters 0.07835380371456022 Centerline is valid? [True, True] Translation: X:-2.42, Y:0.02, Z:0.41 [[ 9.98486018e-01 1.01559747e-03 5.49967389e-02 -2.41619006e+00] [-1.89559347e-03 9.99870977e-01 1.59510755e-02 2.09390367e-02] [-5.49734431e-02 -1.60311773e-02 9.98359115e-01 4.12617871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.230418555 meters 0.08534764408556153 Centerline is valid? [True, True] Translation: X:-2.45, Y:0.03, Z:0.42 [[ 9.98371272e-01 -1.35657275e-03 5.70347531e-02 -2.44977747e+00] [ 4.13517529e-04 9.99863065e-01 1.65432988e-02 2.70179404e-02] [-5.70493853e-02 -1.64927694e-02 9.98235121e-01 4.20181855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.260418555 meters 0.08092761832693757 Centerline is valid? [True, True] Translation: X:-2.48, Y:0.02, Z:0.42 [[ 9.98214425e-01 -1.44836282e-04 5.97322492e-02 -2.47820406e+00] [-8.91696970e-04 9.99849496e-01 1.73259717e-02 1.74332648e-02] [-5.97257687e-02 -1.73482980e-02 9.98064061e-01 4.20469652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2904185550000005 meters 0.08915374551998904 Centerline is valid? [True, True] Translation: X:-2.52, Y:0.03, Z:0.43 [[ 9.98132858e-01 -6.76797843e-04 6.10765132e-02 -2.51662359e+00] [-4.06735994e-04 9.99842792e-01 1.77264213e-02 3.25752013e-02] [-6.10789086e-02 -1.77181656e-02 9.97975668e-01 4.27364058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.320418555000001 meters 0.0735156694423854 Centerline is valid? [True, True] Translation: X:-2.54, Y:-0.00, Z:0.42 [[ 9.98060939e-01 9.32329397e-03 6.15421594e-02 -2.53728256e+00] [-1.04409522e-02 9.99785903e-01 1.78643168e-02 -1.68415293e-03] [-6.13624292e-02 -1.84722355e-02 9.97944602e-01 4.22518818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.350418555 meters 0.08115046488288669 Centerline is valid? [True, True] Translation: X:-2.57, Y:0.01, Z:0.42 [[ 0.99790689 0.01239995 0.06346717 -2.57294501] [-0.01359449 0.99973783 0.01842422 0.00881215] [-0.06322207 -0.01924846 0.99781384 0.42355377] [ 0. 0. 0. 1. ]] SLAMing on 4.380418555 meters 0.06284028442470856 Centerline is valid? [True, True] Translation: X:-2.59, Y:-0.03, Z:0.42 [[ 0.99782851 0.01717992 0.06358544 -2.59160403] [-0.01838778 0.99966051 0.01845949 -0.03246494] [-0.06324672 -0.0195886 0.99780566 0.42023514] [ 0. 0. 0. 1. ]] SLAMing on 4.410418555000001 meters 0.06304247861956978 Centerline is valid? [True, True] Translation: X:-2.62, Y:-0.03, Z:0.43 [[ 0.99761528 0.01717219 0.0668496 -2.62383514] [-0.01850759 0.99964033 0.01940834 -0.03308234] [-0.06649227 -0.02059928 0.99757428 0.42552314] [ 0. 0. 0. 1. ]] SLAMing on 4.440418555 meters 0.07151403497178267 Centerline is valid? [True, True] Translation: X:-2.66, Y:-0.02, Z:0.43 [[ 0.99764733 0.01816411 0.06610496 -2.66074839] [-0.01947193 0.99962615 0.01919368 -0.01837807] [-0.06573162 -0.02043571 0.99762806 0.43298807] [ 0. 0. 0. 1. ]] SLAMing on 4.470418555 meters 0.0675700366522952 Centerline is valid? [True, True] Translation: X:-2.69, Y:-0.03, Z:0.43 [[ 0.99756931 0.01845358 0.06719329 -2.68897271] [-0.01980552 0.99961348 0.0195099 -0.02997963] [-0.06680729 -0.02079327 0.99754921 0.42854051] [ 0. 0. 0. 1. ]] SLAMing on 4.500418555 meters 0.0798464430859261 Centerline is valid? [True, True] Translation: X:-2.73, Y:-0.00, Z:0.44 [[ 9.97448374e-01 1.73925686e-02 6.92404467e-02 -2.72994806e+00] [-1.88261556e-02 9.99620590e-01 2.01060024e-02 -8.58930456e-04] [-6.88644812e-02 -2.13582308e-02 9.97397368e-01 4.43707374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.530418555000001 meters 0.07586182772521788 Centerline is valid? [True, True] Translation: X:-2.76, Y:-0.01, Z:0.45 [[ 0.99730853 0.01754987 0.07118782 -2.76027928] [-0.01906588 0.99960449 0.02067261 -0.00843231] [-0.07079687 -0.02197422 0.99724868 0.44826472] [ 0. 0. 0. 1. ]] SLAMing on 4.560418555 meters 0.06268028494841375 Centerline is valid? [True, True] Translation: X:-2.78, Y:-0.04, Z:0.44 [[ 0.99718326 0.01983479 0.07233348 -2.78296369] [-0.02140557 0.99955018 0.02100549 -0.03808981] [-0.07188431 -0.02249466 0.99715928 0.44273667] [ 0. 0. 0. 1. ]] SLAMing on 4.590418555 meters 0.0584751732738389 Centerline is valid? [True, True] Translation: X:-2.81, Y:-0.04, Z:0.44 [[ 0.99707865 0.02127865 0.07335792 -2.81253521] [-0.0228979 0.99951081 0.02130336 -0.04445666] [-0.07286873 -0.02292086 0.99707812 0.44210076] [ 0. 0. 0. 1. ]] SLAMing on 4.6204185550000005 meters 0.0646785616778365 Centerline is valid? [True, True] Translation: X:-2.85, Y:-0.03, Z:0.45 [[ 0.99708142 0.02103962 0.0733892 -2.85031201] [-0.02266082 0.99951568 0.02132806 -0.03426556] [-0.07290493 -0.02292888 0.99707529 0.44664429] [ 0. 0. 0. 1. ]] SLAMing on 4.650418555 meters 0.07294757750413086 Centerline is valid? [True, True] Translation: X:-2.89, Y:-0.02, Z:0.46 [[ 0.99719726 0.01742301 0.07276029 -2.88783996] [-0.01900806 0.99959562 0.02114929 -0.01564797] [-0.07236239 -0.02247304 0.99712519 0.45543799] [ 0. 0. 0. 1. ]] SLAMing on 4.680418555 meters 0.06989917444675335 Centerline is valid? [True, True] Translation: X:-2.92, Y:-0.02, Z:0.45 [[ 0.99740304 0.00589451 0.07178037 -2.91662232] [-0.00741012 0.99975481 0.02086656 -0.02213979] [-0.07163977 -0.02134427 0.99720217 0.45412012] [ 0. 0. 0. 1. ]] SLAMing on 4.710418555 meters 0.07270170885128543 Centerline is valid? [True, True] Translation: X:-2.95, Y:-0.02, Z:0.46 [[ 9.97417653e-01 -1.66636015e-03 7.18000596e-02 -2.94912011e+00] [ 1.67677386e-04 9.99782101e-01 2.08739752e-02 -2.18585918e-02] [-7.18191980e-02 -2.08080322e-02 9.97200596e-01 4.56851054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.740418555000001 meters 0.0682934970431674 Centerline is valid? [True, True] Translation: X:-2.98, Y:-0.04, Z:0.45 [[ 9.97270024e-01 -2.92865882e-03 7.37829359e-02 -2.97599257e+00] [ 1.34883964e-03 9.99768960e-01 2.14524514e-02 -3.93646830e-02] [-7.38287160e-02 -2.12943653e-02 9.97043565e-01 4.54684095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.770418555 meters 0.0682934970431674 Centerline is valid? [True, True] Translation: X:-3.01, Y:-0.05, Z:0.46 [[ 9.97269669e-01 -3.14632277e-03 7.37787781e-02 -3.00765346e+00] [ 1.56607951e-03 9.99768336e-01 2.14667460e-02 -4.85345177e-02] [-7.38292275e-02 -2.12925912e-02 9.97043565e-01 4.55000806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.800418555 meters 0.07668793001719684 Centerline is valid? [True, True] Translation: X:-3.05, Y:-0.03, Z:0.46 [[ 9.97033328e-01 -2.08467038e-03 7.69428139e-02 -3.04504468e+00] [ 3.62415559e-04 9.99749230e-01 2.23907488e-02 -2.92975824e-02] [-7.69701963e-02 -2.22964375e-02 9.96784058e-01 4.63079509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8304185550000005 meters 0.077618593156275 Centerline is valid? [True, True] Translation: X:-3.08, Y:-0.03, Z:0.47 [[ 9.96919018e-01 -2.80198072e-03 7.83876312e-02 -3.07853978e+00] [ 1.01593659e-03 9.99739179e-01 2.28153776e-02 -2.92604066e-02] [-7.84311143e-02 -2.26654469e-02 9.96661847e-01 4.69973389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.860418555 meters 0.06286095249487483 Centerline is valid? [True, True] Translation: X:-3.10, Y:-0.07, Z:0.47 [[ 9.96983683e-01 -2.30590899e-03 7.75771833e-02 -3.09961285e+00] [ 5.54958252e-04 9.99744785e-01 2.25844261e-02 -6.79290184e-02] [-7.76094621e-02 -2.24732522e-02 9.96730517e-01 4.65274826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.890418555 meters 0.0715797510868785 Centerline is valid? [True, True] Translation: X:-3.14, Y:-0.05, Z:0.48 [[ 0.99697882 -0.00647152 0.07740384 -3.13681809] [ 0.00473974 0.99973479 0.02253622 -0.05218885] [-0.07752915 -0.02210126 0.99674509 0.47539244] [ 0. 0. 0. 1. ]] SLAMing on 4.920418555 meters 0.06654706460852278 Centerline is valid? [True, True] Translation: X:-3.16, Y:-0.07, Z:0.47 [[ 0.99683089 -0.0095813 0.07897072 -3.16448066] [ 0.00778736 0.99970529 0.02299331 -0.06617084] [-0.07916776 -0.02230546 0.99661173 0.47352121] [ 0. 0. 0. 1. ]] SLAMing on 4.950418555000001 meters 0.07171417112977695 Centerline is valid? [True, True] Translation: X:-3.20, Y:-0.06, Z:0.48 [[ 0.99678286 -0.01219598 0.07921613 -3.19758878] [ 0.01039824 0.99967984 0.02306714 -0.06210977] [-0.07947209 -0.02216922 0.99659054 0.48027023] [ 0. 0. 0. 1. ]] SLAMing on 4.980418555 meters 0.07428108612138339 Centerline is valid? [True, True] Translation: X:-3.23, Y:-0.07, Z:0.48 [[ 0.99674128 -0.01875088 0.07845523 -3.22656443] [ 0.01700619 0.99959431 0.02284748 -0.07175993] [-0.07885181 -0.0214388 0.99665579 0.48437346] [ 0. 0. 0. 1. ]] SLAMing on 5.010418555 meters 0.07212820696416482 Centerline is valid? [True, True] Translation: X:-3.25, Y:-0.09, Z:0.48 [[ 0.99686295 -0.01909887 0.07680818 -3.25341635] [ 0.01742761 0.99959784 0.02237061 -0.08831921] [-0.07720455 -0.02096185 0.99679489 0.48152516] [ 0. 0. 0. 1. ]] SLAMing on 5.0404185550000005 meters 0.07098809532306839 Centerline is valid? [True, True] Translation: X:-3.28, Y:-0.10, Z:0.48 [[ 0.99691317 -0.01865053 0.07626458 -3.28214949] [ 0.01700152 0.99960865 0.02221464 -0.1002353 ] [-0.07664905 -0.02084945 0.99684012 0.48351055] [ 0. 0. 0. 1. ]] SLAMing on 5.070418555 meters 0.06168581301406422 Centerline is valid? [True, True] Translation: X:-3.31, Y:-0.13, Z:0.48 [[ 0.99682617 -0.01932008 0.07722903 -3.30541719] [ 0.01762967 0.99959115 0.02251051 -0.13260419] [-0.07763236 -0.02107754 0.99675923 0.47684916] [ 0. 0. 0. 1. ]] SLAMing on 5.100418555 meters 0.06933499632643629 Centerline is valid? [True, True] Translation: X:-3.34, Y:-0.12, Z:0.49 [[ 0.99678144 -0.0179252 0.07813741 -3.3417578 ] [ 0.01619042 0.99960942 0.02277888 -0.11885359] [-0.07851521 -0.02144049 0.99668233 0.48639168] [ 0. 0. 0. 1. ]] SLAMing on 5.130418555 meters 0.06563803535543368 Centerline is valid? [True, True] Translation: X:-3.37, Y:-0.13, Z:0.49 [[ 0.99671087 -0.015533 0.07953715 -3.36914548] [ 0.01372826 0.99963688 0.02318734 -0.13170204] [-0.07986843 -0.02201917 0.99656219 0.48596223] [ 0. 0. 0. 1. ]] SLAMing on 5.160418555000001 meters 0.06583595922623436 Centerline is valid? [True, True] Translation: X:-3.40, Y:-0.13, Z:0.49 [[ 0.99661202 -0.01289354 0.0812296 -3.4008182 ] [ 0.01100276 0.999659 0.02368169 -0.13193801] [-0.08150724 -0.0227077 0.99641404 0.48855305] [ 0. 0. 0. 1. ]] SLAMing on 5.190418555 meters 0.06282707145223865 Centerline is valid? [True, True] Translation: X:-3.43, Y:-0.14, Z:0.49 [[ 0.99652147 -0.01260946 0.0823769 -3.42878027] [ 0.01066391 0.99965472 0.02401519 -0.14115325] [-0.08265127 -0.02305319 0.99631186 0.48838642] [ 0. 0. 0. 1. ]] SLAMing on 5.220418555 meters 0.06886202050284226 Centerline is valid? [True, True] Translation: X:-3.47, Y:-0.12, Z:0.50 [[ 0.9963061 -0.0192461 0.08368842 -3.46681563] [ 0.01725932 0.9995533 0.02439931 -0.11977601] [-0.08412063 -0.02286478 0.99619322 0.49680487] [ 0. 0. 0. 1. ]] SLAMing on 5.250418555 meters 0.06610675928940209 Centerline is valid? [True, True] Translation: X:-3.50, Y:-0.13, Z:0.50 [[ 0.99606817 -0.02257554 0.08566527 -3.49588669] [ 0.02050436 0.99947762 0.02498101 -0.12571991] [-0.08618448 -0.02312628 0.99601075 0.49991536] [ 0. 0. 0. 1. ]] SLAMing on 5.280418555 meters 0.06477236953646463 Centerline is valid? [True, True] Translation: X:-3.53, Y:-0.13, Z:0.50 [[ 0.99580697 -0.02763355 0.08720586 -3.52712248] [ 0.02550466 0.99935113 0.02543295 -0.12912722] [-0.08785208 -0.02310215 0.9958656 0.50423413] [ 0. 0. 0. 1. ]] SLAMing on 5.310418555 meters 0.0707817377686635 Centerline is valid? [True, True] Translation: X:-3.56, Y:-0.11, Z:0.51 [[ 0.99577095 -0.03206593 0.08609298 -3.56468876] [ 0.03000643 0.99923424 0.02511064 -0.10975998] [-0.08683225 -0.0224211 0.99597061 0.51127532] [ 0. 0. 0. 1. ]] SLAMing on 5.340418555 meters 0.07160744747438141 Centerline is valid? [True, True] Translation: X:-3.60, Y:-0.11, Z:0.51 [[ 0.99577541 -0.03400031 0.08529545 -3.59613195] [ 0.03198533 0.99917862 0.02488028 -0.11311008] [-0.08607133 -0.02204697 0.99604501 0.51440619] [ 0. 0. 0. 1. ]] SLAMing on 5.3704185550000005 meters 0.06370995868334672 Centerline is valid? [True, True] Translation: X:-3.62, Y:-0.14, Z:0.50 [[ 0.99578165 -0.0368915 0.08401148 -3.62095269] [ 0.03494624 0.99908861 0.02450919 -0.13559011] [-0.08483909 -0.02146992 0.99616333 0.50425752] [ 0. 0. 0. 1. ]] SLAMing on 5.400418555 meters 0.0647091146314415 Centerline is valid? [True, True] Translation: X:-3.65, Y:-0.14, Z:0.51 [[ 0.99569942 -0.04328461 0.08190918 -3.65154608] [ 0.04145585 0.99885449 0.02389797 -0.14196143] [-0.08284977 -0.02039958 0.99635324 0.50844785] [ 0. 0. 0. 1. ]] SLAMing on 5.430418555 meters 0.06287457675460074 Centerline is valid? [True, True] Translation: X:-3.68, Y:-0.16, Z:0.51 [[ 0.99579999 -0.04157833 0.08156969 -3.67767888] [ 0.03975947 0.99892584 0.02379799 -0.157419 ] [-0.08247155 -0.02045487 0.99638348 0.50619219] [ 0. 0. 0. 1. ]] SLAMing on 5.460418555 meters 0.06776264068698501 Centerline is valid? [True, True] Translation: X:-3.71, Y:-0.16, Z:0.51 [[ 0.99576063 -0.04512318 0.08015396 -3.71061288] [ 0.04337773 0.99878498 0.02338646 -0.15575049] [-0.08111184 -0.01981042 0.99650811 0.51219753] [ 0. 0. 0. 1. ]] SLAMing on 5.490418555000001 meters 0.0671668766772951 Centerline is valid? [True, True] Translation: X:-3.74, Y:-0.17, Z:0.51 [[ 0.99575438 -0.04443283 0.08061601 -3.73932133] [ 0.04266492 0.9988125 0.0235224 -0.16710406] [-0.08156544 -0.01998305 0.99646764 0.50906049] [ 0. 0. 0. 1. ]] SLAMing on 5.520418555 meters 0.06691505962600483 Centerline is valid? [True, True] Translation: X:-3.77, Y:-0.18, Z:0.51 [[ 0.99581804 -0.04306022 0.08057454 -3.76846225] [ 0.0412899 0.99887056 0.02351059 -0.17707371] [-0.08149591 -0.02008536 0.99647127 0.50757273] [ 0. 0. 0. 1. ]] SLAMing on 5.550418555 meters 0.0692709799915563 Centerline is valid? [True, True] Translation: X:-3.80, Y:-0.18, Z:0.51 [[ 0.99592119 -0.03939468 0.0811729 -3.80073788] [ 0.0375864 0.99901262 0.02368636 -0.17652705] [-0.08202587 -0.02053875 0.99641854 0.51087328] [ 0. 0. 0. 1. ]] SLAMing on 5.5804185550000005 meters 0.0784389991906936 Centerline is valid? [True, True] Translation: X:-3.84, Y:-0.16, Z:0.52 [[ 0.99551364 -0.04837647 0.08131607 -3.83720523] [ 0.04658969 0.99863221 0.02372999 -0.16135306] [-0.08235282 -0.01983503 0.99640583 0.51934232] [ 0. 0. 0. 1. ]] SLAMing on 5.610418555 meters 0.06614995608146762 Centerline is valid? [True, True] Translation: X:-3.86, Y:-0.20, Z:0.51 [[ 0.99521701 -0.05534401 0.08049939 -3.8576598 ] [ 0.05361433 0.99828531 0.02349366 -0.19936583] [-0.0816616 -0.01906536 0.99647774 0.50794058] [ 0. 0. 0. 1. ]] SLAMing on 5.640418555 meters 0.07036486292910923 Centerline is valid? [True, True] Translation: X:-3.89, Y:-0.20, Z:0.51 [[ 0.99488548 -0.06341438 0.07862248 -3.88960821] [ 0.06178831 0.99782544 0.02294753 -0.20049905] [-0.07990671 -0.01797221 0.99664031 0.51388131] [ 0. 0. 0. 1. ]] SLAMing on 5.670418555 meters 0.07025180309382557 Centerline is valid? [True, True] Translation: X:-3.92, Y:-0.21, Z:0.51 [[ 0.99424136 -0.07592026 0.07563225 -3.91809761] [ 0.07445007 0.99698036 0.02207616 -0.21347382] [-0.07707989 -0.0163182 0.99689137 0.51298168] [ 0. 0. 0. 1. ]] SLAMing on 5.700418555000001 meters 0.06887212162634813 Centerline is valid? [True, True] Translation: X:-3.94, Y:-0.23, Z:0.51 [[ 0.99306773 -0.09611391 0.06766538 -3.94497662] [ 0.09498246 0.99528297 0.01975188 -0.22885526] [-0.06924463 -0.01318793 0.99751254 0.51162855] [ 0. 0. 0. 1. ]] SLAMing on 5.730418555 meters 0.06837783217998615 Centerline is valid? [True, True] Translation: X:-3.97, Y:-0.24, Z:0.51 [[ 0.99253924 -0.10345516 0.06452039 -3.97405742] [ 0.10244151 0.9945607 0.01883463 -0.24028013] [-0.06611799 -0.01208454 0.99773863 0.51302388] [ 0. 0. 0. 1. ]] SLAMing on 5.760418555 meters 0.06517268386064656 Centerline is valid? [True, True] Translation: X:-4.00, Y:-0.26, Z:0.51 [[ 0.99258458 -0.10294865 0.06463298 -4.00128144] [ 0.10193035 0.99461258 0.01886848 -0.255815 ] [-0.06622726 -0.0121405 0.9977307 0.51102097] [ 0. 0. 0. 1. ]] SLAMing on 5.7904185550000005 meters 0.06802201069792586 Centerline is valid? [True, True] Translation: X:-4.03, Y:-0.25, Z:0.51 [[ 0.99271558 -0.1003294 0.06670668 -4.03403599] [ 0.09923882 0.99487305 0.01947475 -0.25266317] [-0.06831857 -0.01271299 0.99758255 0.5124518 ] [ 0. 0. 0. 1. ]] SLAMing on 5.820418555 meters 0.06557887786645782 Centerline is valid? [True, True] Translation: X:-4.06, Y:-0.26, Z:0.51 [[ 0.99435121 -0.07988712 0.0698836 -4.0623216 ] [ 0.07864142 0.99669416 0.02040302 -0.26153601] [-0.07128251 -0.01479202 0.99734648 0.51134047] [ 0. 0. 0. 1. ]] SLAMing on 5.850418555 meters 0.06393771724786043 Centerline is valid? [True, True] Translation: X:-4.09, Y:-0.27, Z:0.51 [[ 0.99514296 -0.06845255 0.07074414 -4.09062418] [ 0.06714833 0.99752918 0.02065511 -0.27212331] [-0.07198324 -0.01580443 0.99728062 0.50649851] [ 0. 0. 0. 1. ]] SLAMing on 5.880418555 meters 0.06638206971122107 Centerline is valid? [True, True] Translation: X:-4.12, Y:-0.27, Z:0.51 [[ 0.99532088 -0.06662578 0.06998104 -4.12355367] [ 0.06534532 0.9976535 0.02043247 -0.26947942] [-0.07117816 -0.01576393 0.99733904 0.50650453] [ 0. 0. 0. 1. ]] SLAMing on 5.910418555000001 meters 0.0727764223328089 Centerline is valid? [True, True] Translation: X:-4.16, Y:-0.25, Z:0.51 [[ 0.99477194 -0.07436542 0.06998976 -4.1611224 ] [ 0.07310275 0.99711502 0.02043598 -0.25057524] [-0.07130757 -0.0152127 0.99733836 0.51410383] [ 0. 0. 0. 1. ]] SLAMing on 5.940418555 meters 0.060994103574356175 Centerline is valid? [True, True] Translation: X:-4.18, Y:-0.28, Z:0.50 [[ 0.99429263 -0.08070868 0.06977301 -4.18456454] [ 0.0794686 0.99662913 0.02037429 -0.27844814] [-0.07118219 -0.01471324 0.99735481 0.5008425 ] [ 0. 0. 0. 1. ]] SLAMing on 5.970418555 meters 0.060467808090788756 Centerline is valid? [True, True] Translation: X:-4.22, Y:-0.28, Z:0.50 [[ 0.9939938 -0.084429 0.06962809 -4.21538126] [ 0.08320269 0.99632518 0.02033343 -0.2826636 ] [-0.07108895 -0.01441806 0.99736577 0.49984653] [ 0. 0. 0. 1. ]] SLAMing on 6.000418555 meters 0.07023454510221304 Centerline is valid? [True, True] Translation: X:-4.25, Y:-0.27, Z:0.50 [[ 0.99402052 -0.08667778 0.06640902 -4.25192178] [ 0.08556723 0.99614363 0.01939398 -0.26670682] [-0.06783395 -0.01359558 0.99760399 0.49948519] [ 0. 0. 0. 1. ]] SLAMing on 6.030418555 meters 0.06741377658323697 Centerline is valid? [True, True] Translation: X:-4.28, Y:-0.28, Z:0.49 [[ 0.99398829 -0.08856709 0.06436723 -4.27932337] [ 0.08752748 0.99598467 0.01880106 -0.2776685 ] [-0.06577393 -0.01305413 0.99774916 0.49176897] [ 0. 0. 0. 1. ]] SLAMing on 6.060418555 meters 0.06325042321946632 Centerline is valid? [True, True] Translation: X:-4.30, Y:-0.30, Z:0.48 [[ 0.99388035 -0.091592 0.06174753 -4.30430904] [ 0.09064082 0.99572025 0.01803937 -0.29741907] [-0.06313553 -0.01233213 0.99792877 0.48141877] [ 0. 0. 0. 1. ]] SLAMing on 6.090418555 meters 0.060824840568324 Centerline is valid? [True, True] Translation: X:-4.33, Y:-0.31, Z:0.48 [[ 0.99367745 -0.09737857 0.05587963 -4.33135028] [ 0.09660855 0.99518855 0.01632611 -0.31370214] [-0.05720058 -0.01082444 0.99830402 0.47634004] [ 0. 0. 0. 1. ]] SLAMing on 6.1204185550000005 meters 0.06272451489496136 Centerline is valid? [True, True] Translation: X:-4.36, Y:-0.32, Z:0.47 [[ 0.99390709 -0.09518091 0.05558146 -4.3610694 ] [ 0.09441576 0.99540039 0.01623971 -0.32103532] [-0.05687151 -0.010893 0.99832208 0.47234553] [ 0. 0. 0. 1. ]] SLAMing on 6.150418555 meters 0.05929794194828229 Centerline is valid? [True, True] Translation: X:-4.39, Y:-0.34, Z:0.47 [[ 0.99469006 -0.08727676 0.05453853 -4.38549646] [ 0.08652866 0.99612191 0.01593533 -0.34338612] [-0.05571781 -0.01113157 0.9983845 0.4661903 ] [ 0. 0. 0. 1. ]] SLAMing on 6.180418555 meters 0.07425969762482021 Centerline is valid? [True, True] Translation: X:-4.42, Y:-0.33, Z:0.47 [[ 0.99576858 -0.0745744 0.05369914 -4.42156402] [ 0.07383151 0.99714729 0.01569048 -0.32830401] [-0.05471606 -0.0116594 0.99843388 0.46755537] [ 0. 0. 0. 1. ]] SLAMing on 6.210418555 meters 0.06500511074603008 Centerline is valid? [True, True] Translation: X:-4.44, Y:-0.36, Z:0.46 [[ 0.99621671 -0.06937847 0.05233445 -4.4417592 ] [ 0.06866608 0.9975225 0.01529165 -0.36387156] [-0.0532657 -0.0116402 0.99851253 0.45571272] [ 0. 0. 0. 1. ]] SLAMing on 6.240418555000001 meters 0.06282881510739903 Centerline is valid? [True, True] Translation: X:-4.47, Y:-0.38, Z:0.45 [[ 0.99604105 -0.07353859 0.04994291 -4.46781126] [ 0.07289486 0.99723286 0.01459331 -0.38471284] [-0.05087788 -0.01089495 0.99864545 0.45011385] [ 0. 0. 0. 1. ]] SLAMing on 6.270418555 meters 0.07297057734887605 Centerline is valid? [True, True] Translation: X:-4.50, Y:-0.38, Z:0.45 [[ 0.99510046 -0.08813947 0.04479413 -4.50033322] [ 0.08763584 0.99606658 0.0130892 -0.38172697] [-0.04577161 -0.0090995 0.99891049 0.44867026] [ 0. 0. 0. 1. ]] SLAMing on 6.300418555 meters 0.06608886840407152 Centerline is valid? [True, True] Translation: X:-4.52, Y:-0.41, Z:0.44 [[ 0.99393121 -0.1019171 0.04139623 -4.52291541] [ 0.10149849 0.99476215 0.01209666 -0.40967894] [-0.04241226 -0.00782159 0.99906958 0.44323834] [ 0. 0. 0. 1. ]] SLAMing on 6.3304185550000005 meters 0.06207430606080748 Centerline is valid? [True, True] Translation: X:-4.55, Y:-0.43, Z:0.44 [[ 0.9929233 -0.11283982 0.03702023 -4.5469286 ] [ 0.11251241 0.99359143 0.01081807 -0.43325062] [-0.03800369 -0.00657628 0.99925596 0.43752025] [ 0. 0. 0. 1. ]] SLAMing on 6.360418555 meters 0.06294371627055881 Centerline is valid? [True, True] Translation: X:-4.58, Y:-0.44, Z:0.44 [[ 0.992336 -0.1186872 0.03438926 -4.57532256] [ 0.1184081 0.99291416 0.01004904 -0.44391549] [-0.03533827 -0.00590005 0.99935799 0.43553591] [ 0. 0. 0. 1. ]] SLAMing on 6.390418555 meters 0.0614903494130418 Centerline is valid? [True, True] Translation: X:-4.60, Y:-0.46, Z:0.43 [[ 0.99248113 -0.11787736 0.03295659 -4.5992489 ] [ 0.11762067 0.99301192 0.0096286 -0.46130456] [-0.03386128 -0.00567983 0.9994104 0.4293525 ] [ 0. 0. 0. 1. ]] SLAMing on 6.420418555 meters 0.05956009323523041 Centerline is valid? [True, True] Translation: X:-4.62, Y:-0.48, Z:0.43 [[ 0.99300161 -0.11362863 0.03219205 -4.62470518] [ 0.11338158 0.99350701 0.00940449 -0.48016729] [-0.03305164 -0.00568869 0.99943746 0.42574987] [ 0. 0. 0. 1. ]] SLAMing on 6.450418555000001 meters 0.07728411230851362 Centerline is valid? [True, True] Translation: X:-4.66, Y:-0.46, Z:0.43 [[ 0.99384264 -0.10593571 0.03247193 -4.66196891] [ 0.10568037 0.9943549 0.00948609 -0.46064921] [-0.03329354 -0.00599603 0.99942763 0.42801714] [ 0. 0. 0. 1. ]] SLAMing on 6.480418555 meters 0.07190529067075097 Centerline is valid? [True, True] Translation: X:-4.68, Y:-0.49, Z:0.42 [[ 0.99535612 -0.09102165 0.03132486 -4.68397121] [ 0.09077693 0.99582921 0.00915082 -0.49058147] [-0.03202713 -0.00626475 0.99946737 0.42021912] [ 0. 0. 0. 1. ]] SLAMing on 6.510418555 meters 0.07017672455051174 Centerline is valid? [True, True] Translation: X:-4.71, Y:-0.51, Z:0.42 [[ 0.9965937 -0.07659874 0.03055543 -4.70913956] [ 0.0763594 0.9970404 0.00892613 -0.51102267] [-0.03114873 -0.00656253 0.99949322 0.4151063 ] [ 0. 0. 0. 1. ]] SLAMing on 6.5404185550000005 meters 0.06432682293968503 Centerline is valid? [True, True] Translation: X:-4.73, Y:-0.54, Z:0.41 [[ 0.99734813 -0.06751505 0.02717396 -4.73237935] [ 0.06732256 0.99769968 0.00793832 -0.53664498] [-0.02764741 -0.00608785 0.9995992 0.40901382] [ 0. 0. 0. 1. ]] SLAMing on 6.570418555 meters 0.0859485493424052 Centerline is valid? [True, True] Translation: X:-4.77, Y:-0.51, Z:0.40 [[ 9.97531960e-01 -6.69318480e-02 2.12159726e-02 -4.77235822e+00] [ 6.68143951e-02 9.97746170e-01 6.19818342e-03 -5.11917365e-01] [-2.15830112e-02 -4.76535368e-03 9.99755703e-01 4.03268038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.600418555 meters 0.079581766621655 Centerline is valid? [True, True] Translation: X:-4.80, Y:-0.53, Z:0.40 [[ 9.96814885e-01 -7.78751762e-02 1.71913198e-02 -4.79644348e+00] [ 7.77996083e-02 9.96956365e-01 5.02259153e-03 -5.34265272e-01] [-1.75301309e-02 -3.66911606e-03 9.99839603e-01 4.02486916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.630418555 meters 0.07803446128573205 Centerline is valid? [True, True] Translation: X:-4.82, Y:-0.55, Z:0.40 [[ 9.95906320e-01 -8.88466901e-02 1.66393278e-02 -4.82424670e+00] [ 8.87773629e-02 9.96039632e-01 4.86123549e-03 -5.48915061e-01] [-1.70053346e-02 -3.36413950e-03 9.99849739e-01 4.01443066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660418555000001 meters 0.07403179744947899 Centerline is valid? [True, True] Translation: X:-4.85, Y:-0.56, Z:0.40 [[ 9.94942350e-01 -9.91767627e-02 1.59276465e-02 -4.85077171e+00] [ 9.91145120e-02 9.95065154e-01 4.65323871e-03 -5.64591866e-01] [-1.63105392e-02 -3.05104334e-03 9.99862319e-01 4.01887118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.690418555 meters 0.07403179744947899 Centerline is valid? [True, True] Translation: X:-4.88, Y:-0.57, Z:0.40 [[ 9.94950887e-01 -9.90910546e-02 1.59278251e-02 -4.87755641e+00] [ 9.90288028e-02 9.95073690e-01 4.65262743e-03 -5.72518574e-01] [-1.63103935e-02 -3.05182234e-03 9.99862319e-01 4.02155606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720418555 meters 0.08184286087950253 Centerline is valid? [True, True] Translation: X:-4.91, Y:-0.57, Z:0.40 [[ 9.94931666e-01 -9.87877058e-02 1.87608648e-02 -4.90918985e+00] [ 9.87013400e-02 9.95102028e-01 5.47723860e-03 -5.68351514e-01] [-1.92100585e-02 -3.59775563e-03 9.99808997e-01 4.04361022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.750418555 meters 0.08058628254753157 Centerline is valid? [True, True] Translation: X:-4.94, Y:-0.58, Z:0.41 [[ 9.95244939e-01 -9.53883042e-02 1.97124945e-02 -4.93726301e+00] [ 9.52923543e-02 9.95432705e-01 5.75291626e-03 -5.76848457e-01] [-2.01712227e-02 -3.84711078e-03 9.99789139e-01 4.05063466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780418555 meters 0.07360979701783829 Centerline is valid? [True, True] Translation: X:-4.96, Y:-0.59, Z:0.40 [[ 9.95314960e-01 -9.46655139e-02 1.96614123e-02 -4.96269759e+00] [ 9.45699351e-02 9.95501687e-01 5.73751393e-03 -5.93622175e-01] [-2.01161138e-02 -3.85125496e-03 9.99790233e-01 4.04586818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.810418555 meters 0.07812498761329018 Centerline is valid? [True, True] Translation: X:-5.00, Y:-0.58, Z:0.41 [[ 9.94988382e-01 -9.82135167e-02 1.87676324e-02 -4.99752332e+00] [ 9.81270447e-02 9.95158828e-01 5.47638183e-03 -5.84033257e-01] [-1.92146298e-02 -3.60732399e-03 9.99808874e-01 4.05090016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840418555 meters 0.0696770445884209 Centerline is valid? [True, True] Translation: X:-5.02, Y:-0.60, Z:0.40 [[ 9.94626810e-01 -1.01807226e-01 1.87829013e-02 -5.02246275e+00] [ 1.01721231e-01 9.94797845e-01 5.48081257e-03 -6.02523739e-01] [-1.92431760e-02 -3.54074328e-03 9.99808563e-01 4.04579743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8704185550000005 meters 0.07231359826376624 Centerline is valid? [True, True] Translation: X:-5.05, Y:-0.60, Z:0.41 [[ 9.94021931e-01 -1.07738439e-01 1.76869819e-02 -5.05387180e+00] [ 1.07663094e-01 9.94174040e-01 5.16097751e-03 -6.02647669e-01] [-1.81399739e-02 -3.22588963e-03 9.99830253e-01 4.07635990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900418555 meters 0.0709941573108882 Centerline is valid? [True, True] Translation: X:-5.08, Y:-0.61, Z:0.41 [[ 9.92834749e-01 -1.18175690e-01 1.77106764e-02 -5.08427375e+00] [ 1.18101752e-01 9.92988051e-01 5.16777569e-03 -6.07355039e-01] [-1.81971955e-02 -3.03908537e-03 9.99829799e-01 4.09114247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.930418555 meters 0.0679298035577201 Centerline is valid? [True, True] Translation: X:-5.11, Y:-0.62, Z:0.41 [[ 9.92263335e-01 -1.22625290e-01 1.94039512e-02 -5.11349678e+00] [ 1.22537362e-01 9.92447751e-01 5.66179419e-03 -6.17184750e-01] [-1.99516869e-02 -3.24028179e-03 9.99795695e-01 4.11593689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960418555 meters 0.06804567661753094 Centerline is valid? [True, True] Translation: X:-5.14, Y:-0.62, Z:0.41 [[ 9.92303301e-01 -1.22003220e-01 2.11984392e-02 -5.14282690e+00] [ 1.21898144e-01 9.92523344e-01 6.18501331e-03 -6.19737879e-01] [-2.17945373e-02 -3.55335872e-03 9.99756156e-01 4.13985044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.990418555 meters 0.06627409052209926 Centerline is valid? [True, True] Translation: X:-5.17, Y:-0.63, Z:0.42 [[ 9.92932317e-01 -1.16376995e-01 2.32767695e-02 -5.17291306e+00] [ 1.16248810e-01 9.93196908e-01 6.79092554e-03 -6.25022672e-01] [-2.39087230e-02 -4.03703267e-03 9.99705994e-01 4.15403225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020418555 meters 0.06715706389033327 Centerline is valid? [True, True] Translation: X:-5.20, Y:-0.63, Z:0.42 [[ 9.93396794e-01 -1.12547610e-01 2.22675706e-02 -5.20260065e+00] [ 1.12429377e-01 9.93638483e-01 6.49616401e-03 -6.29856101e-01] [-2.28570428e-02 -3.94973940e-03 9.99730941e-01 4.16544314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.050418555 meters 0.07344328897395602 Centerline is valid? [True, True] Translation: X:-5.24, Y:-0.63, Z:0.42 [[ 9.94018003e-01 -1.07046007e-01 2.16647458e-02 -5.23567093e+00] [ 1.06932830e-01 9.94246160e-01 6.32008185e-03 -6.25456450e-01] [-2.22166298e-02 -3.96560257e-03 9.99745315e-01 4.18119037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0804185550000005 meters 0.07033771858740226 Centerline is valid? [True, True] Translation: X:-5.26, Y:-0.63, Z:0.42 [[ 9.94588279e-01 -1.01241905e-01 2.33287719e-02 -5.26375234e+00] [ 1.01109133e-01 9.94852065e-01 6.80534078e-03 -6.34476797e-01] [-2.38976626e-02 -4.40976028e-03 9.99704684e-01 4.20032928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110418555 meters 0.07068558031357842 Centerline is valid? [True, True] Translation: X:-5.29, Y:-0.64, Z:0.42 [[ 9.94788106e-01 -9.85125757e-02 2.63039232e-02 -5.29387666e+00] [ 9.83428545e-02 9.95123012e-01 7.67296683e-03 -6.39852382e-01] [-2.69315230e-02 -5.04617325e-03 9.99624544e-01 4.21284771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.140418555 meters 0.06810160168483098 Centerline is valid? [True, True] Translation: X:-5.32, Y:-0.65, Z:0.42 [[ 0.9948615 -0.09718808 0.02837392 -5.32072375] [ 0.09699008 0.99525094 0.00827625 -0.65253783] [-0.02904352 -0.00548173 0.99956312 0.42237336] [ 0. 0. 0. 1. ]] SLAMing on 7.170418555 meters 0.0693813189051215 Centerline is valid? [True, True] Translation: X:-5.35, Y:-0.66, Z:0.42 [[ 0.99531787 -0.09205728 0.02945831 -5.35046956] [ 0.0918417 0.99573655 0.0085922 -0.65790175] [-0.03012369 -0.00584647 0.99952908 0.42478188] [ 0. 0. 0. 1. ]] SLAMing on 7.200418555 meters 0.07507835341393902 Centerline is valid? [True, True] Translation: X:-5.38, Y:-0.66, Z:0.43 [[ 0.99600615 -0.08477048 0.02803065 -5.38273381] [ 0.08457253 0.99638378 0.00817568 -0.65643482] [-0.02862234 -0.00577241 0.99957363 0.42617614] [ 0. 0. 0. 1. ]] SLAMing on 7.230418555 meters 0.07536133505427324 Centerline is valid? [True, True] Translation: X:-5.41, Y:-0.67, Z:0.43 [[ 0.99667569 -0.07730907 0.0257074 -5.41197322] [ 0.07714021 0.99699206 0.00749795 -0.66581128] [-0.02620973 -0.00548995 0.99964139 0.42509098] [ 0. 0. 0. 1. ]] SLAMing on 7.260418555 meters 0.07791955550811111 Centerline is valid? [True, True] Translation: X:-5.44, Y:-0.67, Z:0.42 [[ 0.99760846 -0.06480115 0.0240454 -5.44142217] [ 0.06464997 0.99788336 0.00701306 -0.67295894] [-0.02444895 -0.00544175 0.99968627 0.42302224] [ 0. 0. 0. 1. ]] SLAMing on 7.2904185550000005 meters 0.0714325843045918 Centerline is valid? [True, True] Translation: X:-5.47, Y:-0.69, Z:0.42 [[ 0.99806373 -0.05693378 0.02504649 -5.46631618] [ 0.0567674 0.99836071 0.00730491 -0.69441289] [-0.02542133 -0.00586894 0.9996596 0.42237976] [ 0. 0. 0. 1. ]] SLAMing on 7.320418555 meters 0.07572879812881073 Centerline is valid? [True, True] Translation: X:-5.50, Y:-0.70, Z:0.42 [[ 0.99842708 -0.04932111 0.02666079 -5.49755673] [ 0.04913002 0.99876212 0.00777577 -0.69525469] [-0.02701129 -0.00645369 0.9996143 0.4224157 ] [ 0. 0. 0. 1. ]] SLAMing on 7.350418555 meters 0.07547944310802682 Centerline is valid? [True, True] Translation: X:-5.52, Y:-0.71, Z:0.42 [[ 0.99882474 -0.03905068 0.02870854 -5.52461077] [ 0.03882512 0.99921094 0.00837307 -0.70683519] [-0.02901286 -0.00724862 0.99955276 0.42339768] [ 0. 0. 0. 1. ]] SLAMing on 7.380418555 meters 0.07156005315434226 Centerline is valid? [True, True] Translation: X:-5.55, Y:-0.72, Z:0.42 [[ 0.99890533 -0.03595148 0.02992696 -5.55117243] [ 0.03570505 0.99932425 0.00872868 -0.72261276] [-0.03022054 -0.00765058 0.99951398 0.42449111] [ 0. 0. 0. 1. ]] SLAMing on 7.410418555000001 meters 0.06935428077658239 Centerline is valid? [True, True] Translation: X:-5.58, Y:-0.73, Z:0.43 [[ 0.99883961 -0.03831672 0.02917632 -5.57832514] [ 0.03808342 0.99923832 0.00851042 -0.73380686] [-0.02948019 -0.00738941 0.99953805 0.42536754] [ 0. 0. 0. 1. ]] SLAMing on 7.440418555 meters 0.0701580501085594 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.74, Z:0.43 [[ 0.9984925 -0.04599458 0.02995383 -5.60882443] [ 0.04575191 0.99891462 0.00873758 -0.73678227] [-0.0303232 -0.00735396 0.99951309 0.42838164] [ 0. 0. 0. 1. ]] SLAMing on 7.470418555 meters 0.06781854937829193 Centerline is valid? [True, True] Translation: X:-5.64, Y:-0.75, Z:0.43 [[ 0.9981977 -0.05139776 0.03097764 -5.63699119] [ 0.05114065 0.99865058 0.00903639 -0.74934192] [-0.03140029 -0.00743589 0.99947923 0.43112814] [ 0. 0. 0. 1. ]] SLAMing on 7.500418555 meters 0.07371495407011876 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.75, Z:0.44 [[ 0.99809956 -0.05115449 0.03435835 -5.66961477] [ 0.05083803 0.99865662 0.01002262 -0.74638059] [-0.0348249 -0.00825686 0.99935932 0.43767039] [ 0. 0. 0. 1. ]] SLAMing on 7.530418555 meters 0.07519671429668624 Centerline is valid? [True, True] Translation: X:-5.70, Y:-0.76, Z:0.44 [[ 0.998299 -0.04211159 0.0403203 -5.69932764] [ 0.04166874 0.99906225 0.01176191 -0.7551118 ] [-0.0407778 -0.01006181 0.99911758 0.44418937] [ 0. 0. 0. 1. ]] SLAMing on 7.560418555 meters 0.06624301686043131 Centerline is valid? [True, True] Translation: X:-5.72, Y:-0.78, Z:0.44 [[ 0.99860958 -0.03094268 0.04267847 -5.72255584] [ 0.03043691 0.99945915 0.01245015 -0.78255671] [-0.04304063 -0.01113383 0.99901128 0.4431755 ] [ 0. 0. 0. 1. ]] SLAMing on 7.590418555 meters 0.06804730585773196 Centerline is valid? [True, True] Translation: X:-5.75, Y:-0.79, Z:0.45 [[ 0.99894829 -0.01172405 0.04432683 -5.75256186] [ 0.01116087 0.9998541 0.01293143 -0.79008539] [-0.04447197 -0.0124231 0.99893339 0.44579391] [ 0. 0. 0. 1. ]] SLAMing on 7.6204185550000005 meters 0.06668402178990591 Centerline is valid? [True, True] Translation: X:-5.78, Y:-0.81, Z:0.44 [[ 9.99058302e-01 8.22523343e-04 4.33801061e-02 -5.78055853e+00] [-1.37275134e-03 9.99918972e-01 1.26556150e-02 -8.05530051e-01] [-4.33661816e-02 -1.27032474e-02 9.98978479e-01 4.43481751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650418555 meters 0.06021093940371172 Centerline is valid? [True, True] Translation: X:-5.80, Y:-0.83, Z:0.44 [[ 0.99893157 0.01459196 0.04384965 -5.80393045] [-0.01516626 0.99980314 0.0127931 -0.83142123] [-0.04365434 -0.01344447 0.99895623 0.44422447] [ 0. 0. 0. 1. ]] SLAMing on 7.680418555 meters 0.06963805214266328 Centerline is valid? [True, True] Translation: X:-5.84, Y:-0.82, Z:0.45 [[ 0.99885338 0.02007171 0.04346317 -5.83854637] [-0.02064064 0.99970654 0.01268085 -0.82177916] [-0.04319589 -0.01356342 0.99897455 0.44844481] [ 0. 0. 0. 1. ]] SLAMing on 7.710418555 meters 0.06578470894968565 Centerline is valid? [True, True] Translation: X:-5.86, Y:-0.84, Z:0.45 [[ 0.99883872 0.01916535 0.04420301 -5.8643843 ] [-0.01975301 0.99972171 0.01289638 -0.83886087] [-0.04394354 -0.01375455 0.99893933 0.44669346] [ 0. 0. 0. 1. ]] SLAMing on 7.740418555 meters 0.060045605886217254 Centerline is valid? [True, True] Translation: X:-5.89, Y:-0.86, Z:0.45 [[ 0.99885913 0.01504781 0.04532115 -5.88961844] [-0.01566181 0.9997899 0.01322323 -0.86014725] [-0.04511265 -0.01391796 0.99888495 0.44745982] [ 0. 0. 0. 1. ]] SLAMing on 7.770418555 meters 0.0650057205265546 Centerline is valid? [True, True] Translation: X:-5.92, Y:-0.86, Z:0.45 [[ 0.99879206 0.00835829 0.04842069 -5.92209471] [-0.00905216 0.99985921 0.01412851 -0.85882026] [-0.04829578 -0.01454975 0.9987271 0.4518563 ] [ 0. 0. 0. 1. ]] SLAMing on 7.800418555 meters 0.061547077122968474 Centerline is valid? [True, True] Translation: X:-5.95, Y:-0.87, Z:0.46 [[ 0.99870319 0.00655537 0.05048732 -5.95026337] [-0.00730775 0.99986477 0.01473212 -0.87303972] [-0.05038392 -0.01508196 0.99861604 0.45638233] [ 0. 0. 0. 1. ]] SLAMing on 7.8304185550000005 meters 0.05800043401025586 Centerline is valid? [True, True] Translation: X:-5.98, Y:-0.88, Z:0.46 [[ 0.99862079 0.00599226 0.05215945 -5.97944785] [-0.00679512 0.99986094 0.01522884 -0.88438449] [-0.05206094 -0.01556227 0.99852265 0.45887786] [ 0. 0. 0. 1. ]] SLAMing on 7.860418555 meters 0.05760902090135653 Centerline is valid? [True, True] Translation: X:-6.01, Y:-0.89, Z:0.46 [[ 0.99858022 0.0071489 0.05278668 -6.00919971] [-0.00797283 0.9998494 0.0154146 -0.89177038] [-0.05266853 -0.01581358 0.99848683 0.46107623] [ 0. 0. 0. 1. ]] SLAMing on 7.890418555 meters 0.05493572837454974 Centerline is valid? [True, True] Translation: X:-6.04, Y:-0.91, Z:0.46 [[ 0.99845705 0.00923542 0.054756 -6.03699596] [-0.01012498 0.99982088 0.01599071 -0.90504928] [-0.05459851 -0.01652044 0.99837171 0.46232915] [ 0. 0. 0. 1. ]] SLAMing on 7.920418555 meters 0.08524512857954039 Centerline is valid? [True, True] Translation: X:-6.09, Y:-0.85, Z:0.47 [[ 0.99835124 0.01266885 0.05598488 -6.08524807] [-0.01360381 0.99977377 0.01635063 -0.84851228] [-0.05576507 -0.01708528 0.99829773 0.47434086] [ 0. 0. 0. 1. ]] SLAMing on 7.950418555 meters 0.07957308642191391 Centerline is valid? [True, True] Translation: X:-6.11, Y:-0.87, Z:0.47 [[ 0.99853063 0.01119243 0.05302182 -6.1101781 ] [-0.01202901 0.99980774 0.01548525 -0.8682427 ] [-0.05283831 -0.0161003 0.99847328 0.47124755] [ 0. 0. 0. 1. ]] SLAMing on 7.980418555 meters 0.08299397409520468 Centerline is valid? [True, True] Translation: X:-6.14, Y:-0.87, Z:0.47 [[ 0.99866494 0.00670414 0.05121914 -6.14144193] [-0.00747939 0.99986013 0.01495946 -0.87151783] [-0.05111168 -0.01532258 0.99857539 0.47151198] [ 0. 0. 0. 1. ]] SLAMing on 8.010418555 meters 0.08132941349687242 Centerline is valid? [True, True] Translation: X:-6.17, Y:-0.88, Z:0.47 [[ 9.98632619e-01 4.95037342e-03 5.20421570e-02 -6.17003801e+00] [-5.74866103e-03 9.99867936e-01 1.52007681e-02 -8.84141552e-01] [-5.19600346e-02 -1.54791556e-02 9.98529194e-01 4.74328087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040418554999999 meters 0.053138976290301364 Centerline is valid? [True, True] Translation: X:-6.18, Y:-0.94, Z:0.47 [[ 0.99827395 0.0094966 0.05795639 -6.18359176] [-0.01049399 0.99980162 0.01692925 -0.9438985 ] [-0.05778412 -0.01750822 0.99817556 0.47075718] [ 0. 0. 0. 1. ]] SLAMing on 8.070418555 meters 0.05393003740099086 Centerline is valid? [True, True] Translation: X:-6.22, Y:-0.94, Z:0.48 [[ 0.99799531 0.01449475 0.06160569 -6.21595899] [-0.01563065 0.99971587 0.01799643 -0.94286786] [-0.06132734 -0.01892329 0.99793831 0.47655101] [ 0. 0. 0. 1. ]] SLAMing on 8.100418555 meters 0.048886168918287065 Centerline is valid? [True, True] Translation: X:-6.24, Y:-0.95, Z:0.48 [[ 0.99776198 0.01864472 0.06421369 -6.24450118] [-0.01988687 0.99962623 0.01875943 -0.95323832] [-0.06383992 -0.01999446 0.99775983 0.47620076] [ 0. 0. 0. 1. ]] SLAMing on 8.130418554999999 meters 0.07515757889903732 Centerline is valid? [True, True] Translation: X:-6.29, Y:-0.89, Z:0.49 [[ 0.99739243 0.02001192 0.06933878 -6.29464097] [-0.02146378 0.99956438 0.02025718 -0.89022314] [-0.06890319 -0.02169263 0.99738748 0.49132453] [ 0. 0. 0. 1. ]] SLAMing on 8.160418555 meters 0.06021287138903146 Centerline is valid? [True, True] Translation: X:-6.32, Y:-0.92, Z:0.49 [[ 0.99717708 0.01665403 0.07321549 -6.31624391] [-0.0182652 0.99960431 0.02139169 -0.9234647 ] [-0.07283027 -0.0226686 0.9970867 0.48832194] [ 0. 0. 0. 1. ]] SLAMing on 8.190418554999999 meters 0.0512448626109053 Centerline is valid? [True, True] Translation: X:-6.34, Y:-0.95, Z:0.49 [[ 0.99724001 0.01311287 0.07307817 -6.34012102] [-0.01470962 0.99966375 0.02135465 -0.94675309] [-0.07277357 -0.02237067 0.99709757 0.48583883] [ 0. 0. 0. 1. ]] SLAMing on 8.220418554999998 meters 0.05224218960606963 Centerline is valid? [True, True] Translation: X:-6.37, Y:-0.95, Z:0.49 [[ 0.99715704 0.01466107 0.07391131 -6.37018185] [-0.01629851 0.99963383 0.02159994 -0.95403673] [-0.07356757 -0.02274318 0.99703087 0.48930686] [ 0. 0. 0. 1. ]] SLAMing on 8.250418555 meters 0.05286981931503676 Centerline is valid? [True, True] Translation: X:-6.40, Y:-0.96, Z:0.49 [[ 0.99686714 0.02264967 0.07578195 -6.40031618] [-0.02439224 0.99945708 0.02214849 -0.96143406] [-0.07523915 -0.0239276 0.9968784 0.48769887] [ 0. 0. 0. 1. ]] SLAMing on 8.280418554999999 meters 0.062178001884803887 Centerline is valid? [True, True] Translation: X:-6.44, Y:-0.95, Z:0.49 [[ 0.9965698 0.03397907 0.075459 -6.43581363] [-0.035736 0.99911785 0.02205594 -0.94844091] [-0.07464299 -0.02467688 0.99690495 0.49469927] [ 0. 0. 0. 1. ]] SLAMing on 8.310418555 meters 0.04913189112297115 Centerline is valid? [True, True] Translation: X:-6.46, Y:-0.98, Z:0.49 [[ 0.99610839 0.04814275 0.07382653 -6.45666046] [-0.04985891 0.99852309 0.02158078 -0.98435759] [-0.07267854 -0.02517771 0.99703757 0.48803301] [ 0. 0. 0. 1. ]] SLAMing on 8.340418555 meters 0.05064860314810812 Centerline is valid? [True, True] Translation: X:-6.49, Y:-0.99, Z:0.49 [[ 0.99590129 0.04926773 0.07585054 -6.4874977 ] [-0.05108257 0.99844823 0.02217422 -0.98920924] [-0.07464036 -0.02595798 0.99687261 0.49087329] [ 0. 0. 0. 1. ]] SLAMing on 8.370418554999999 meters 0.04489290193587098 Centerline is valid? [True, True] Translation: X:-6.51, Y:-1.01, Z:0.49 [[ 0.99586707 0.03987077 0.08160332 -6.51285283] [-0.0419446 0.99883503 0.02385847 -1.00969575] [-0.080557 -0.02718268 0.99637928 0.49167482] [ 0. 0. 0. 1. ]] SLAMing on 8.400418555 meters 0.047472303782271075 Centerline is valid? [True, True] Translation: X:-6.55, Y:-1.00, Z:0.50 [[ 0.99574211 0.0227734 0.0893254 -6.5474485 ] [-0.02519878 0.99934119 0.02611895 -1.00180181] [-0.08867174 -0.02825863 0.99565997 0.50123051] [ 0. 0. 0. 1. ]] SLAMing on 8.430418555 meters 0.044671834882253944 Centerline is valid? [True, True] Translation: X:-6.58, Y:-1.02, Z:0.50 [[ 0.99551018 0.02332919 0.09173459 -6.57513699] [-0.02589014 0.99930478 0.02682653 -1.01627953] [-0.09104497 -0.0290811 0.99542207 0.50133712] [ 0. 0. 0. 1. ]] SLAMing on 8.460418554999999 meters 0.04948765148731432 Centerline is valid? [True, True] Translation: X:-6.61, Y:-1.02, Z:0.51 [[ 0.99509594 0.0361369 0.09207709 -6.60786459] [-0.03876634 0.99888536 0.02692969 -1.0155354 ] [-0.0910013 -0.03036712 0.99538766 0.505951 ] [ 0. 0. 0. 1. ]] SLAMing on 8.490418555 meters 0.04107652878411137 Centerline is valid? [True, True] Translation: X:-6.63, Y:-1.05, Z:0.50 [[ 0.99421164 0.05660407 0.09131922 -6.63014682] [-0.05926662 0.99788476 0.02671101 -1.04516385] [-0.0896141 -0.03196858 0.99546337 0.5028618 ] [ 0. 0. 0. 1. ]] SLAMing on 8.520418555 meters 0.04628517151551642 Centerline is valid? [True, True] Translation: X:-6.66, Y:-1.04, Z:0.50 [[ 0.9937564 0.06439455 0.09111286 -6.66431385] [-0.0670739 0.99739193 0.02665388 -1.03886014] [-0.08915886 -0.03259875 0.99548381 0.50376977] [ 0. 0. 0. 1. ]] SLAMing on 8.550418554999998 meters 0.04162318136861403 Centerline is valid? [True, True] Translation: X:-6.69, Y:-1.06, Z:0.50 [[ 0.99358451 0.06908597 0.08953741 -6.68858943] [-0.07168979 0.99708295 0.02619492 -1.06157532] [-0.08746652 -0.03244579 0.99563893 0.49891729] [ 0. 0. 0. 1. ]] SLAMing on 8.580418555 meters 0.04162318136861403 Centerline is valid? [True, True] Translation: X:-6.72, Y:-1.07, Z:0.50 [[ 0.99360019 0.06886692 0.08953219 -6.72106279] [-0.07147136 0.99709816 0.02621274 -1.07107208] [-0.08746719 -0.03244398 0.99563893 0.49924239] [ 0. 0. 0. 1. ]] SLAMing on 8.610418554999999 meters 0.048506394446337406 Centerline is valid? [True, True] Translation: X:-6.75, Y:-1.07, Z:0.51 [[ 0.99412624 0.06559429 0.08608372 -6.75481995] [-0.06799096 0.99736743 0.02520783 -1.06630255] [-0.0842036 -0.03091268 0.99596895 0.50687493] [ 0. 0. 0. 1. ]] SLAMing on 8.640418555 meters 0.04216100317897665 Centerline is valid? [True, True] Translation: X:-6.78, Y:-1.10, Z:0.50 [[ 0.99454584 0.0577427 0.08685823 -6.77811429] [-0.060157 0.99786475 0.02543789 -1.0953029 ] [-0.08520391 -0.03052427 0.99589586 0.50139307] [ 0. 0. 0. 1. ]] SLAMing on 8.670418555 meters 0.06002872081966243 Centerline is valid? [True, True] Translation: X:-6.82, Y:-1.06, Z:0.52 [[ 0.99489041 0.04913695 0.08819651 -6.8208357 ] [-0.05159708 0.99833381 0.02583284 -1.06133426] [-0.08678021 -0.03025153 0.99576807 0.51506776] [ 0. 0. 0. 1. ]] SLAMing on 8.700418554999999 meters 0.04833082762007951 Centerline is valid? [True, True] Translation: X:-6.84, Y:-1.10, Z:0.51 [[ 0.99502121 0.04041437 0.09110147 -6.84158925] [-0.04300794 0.99871823 0.02668717 -1.09581201] [-0.08990616 -0.03047238 0.99548396 0.51389281] [ 0. 0. 0. 1. ]] SLAMing on 8.730418555 meters 0.04351112449969922 Centerline is valid? [True, True] Translation: X:-6.87, Y:-1.12, Z:0.51 [[ 0.99462382 0.0448562 0.09333482 -6.86669604] [-0.04759661 0.9984923 0.02734406 -1.11680119] [-0.09196755 -0.03163948 0.99525922 0.50808838] [ 0. 0. 0. 1. ]] SLAMing on 8.760418555 meters 0.04742061956448441 Centerline is valid? [True, True] Translation: X:-6.90, Y:-1.12, Z:0.51 [[ 0.99397871 0.05456874 0.09501884 -6.89849943] [-0.05744872 0.99796019 0.02784056 -1.11811975] [-0.0933058 -0.03313164 0.99508609 0.51212187] [ 0. 0. 0. 1. ]] SLAMing on 8.790418554999999 meters 0.04750820154571247 Centerline is valid? [True, True] Translation: X:-6.93, Y:-1.13, Z:0.52 [[ 0.99333371 0.05994718 0.09846057 -6.92758021] [-0.06306407 0.99759233 0.02885239 -1.13087442] [-0.09649389 -0.03486937 0.9947226 0.51562169] [ 0. 0. 0. 1. ]] SLAMing on 8.820418555 meters 0.03259856233897514 Centerline is valid? [True, True] Translation: X:-6.94, Y:-1.20, Z:0.50 [[ 0.9928485 0.0612305 0.1024826 -6.93992375] [-0.06461499 0.99745818 0.03003464 -1.19635078] [-0.10038307 -0.03644176 0.99428127 0.49652132] [ 0. 0. 0. 1. ]] SLAMing on 8.850418555 meters 0.04641754736673861 Centerline is valid? [True, True] Translation: X:-6.98, Y:-1.16, Z:0.51 [[ 0.99287278 0.05946845 0.10328188 -6.98369819] [-0.0628981 0.99756078 0.03027065 -1.15614022] [-0.1012298 -0.03655114 0.9941914 0.51153964] [ 0. 0. 0. 1. ]] SLAMing on 8.880418554999999 meters 0.04626106638511841 Centerline is valid? [True, True] Translation: X:-7.01, Y:-1.17, Z:0.52 [[ 0.99348129 0.04839589 0.10321223 -7.01045454] [-0.05176885 0.99820073 0.03025385 -1.17348873] [-0.10156236 -0.03539981 0.99419915 0.51600577] [ 0. 0. 0. 1. ]] SLAMing on 8.910418555 meters 0.04557995072825846 Centerline is valid? [True, True] Translation: X:-7.04, Y:-1.19, Z:0.52 [[ 0.99373038 0.04353574 0.10297854 -7.03738084] [-0.04687078 0.99844465 0.03018971 -1.18771171] [-0.10150404 -0.03482712 0.99422533 0.52022559] [ 0. 0. 0. 1. ]] SLAMing on 8.940418554999999 meters 0.038059847427687116 Centerline is valid? [True, True] Translation: X:-7.06, Y:-1.22, Z:0.51 [[ 0.99356384 0.04960443 0.10183467 -7.0583273 ] [-0.05289385 0.99815367 0.0298579 -1.22196739] [-0.10016557 -0.03505216 0.99435316 0.51353102] [ 0. 0. 0. 1. ]] SLAMing on 8.970418554999998 meters 0.037258034800005876 Centerline is valid? [True, True] Translation: X:-7.09, Y:-1.24, Z:0.51 [[ 0.99303691 0.0579319 0.10257476 -7.0853035 ] [-0.06130885 0.99766553 0.03007847 -1.2389746 ] [-0.1005928 -0.03615778 0.99427044 0.51289031] [ 0. 0. 0. 1. ]] SLAMing on 9.000418555 meters 0.034806276377831666 Centerline is valid? [True, True] Translation: X:-7.11, Y:-1.26, Z:0.51 [[ 0.99270721 0.06361064 0.10240161 -7.11048353] [-0.06700282 0.99730073 0.03003115 -1.26102943] [-0.1002149 -0.03667334 0.99428972 0.50998128] [ 0. 0. 0. 1. ]] SLAMing on 9.030418554999999 meters 0.037308271993536195 Centerline is valid? [True, True] Translation: X:-7.14, Y:-1.26, Z:0.51 [[ 0.99249491 0.06913584 0.10086673 -7.14176994] [-0.07245165 0.99693306 0.02958445 -1.26328933] [-0.09851203 -0.03667037 0.99445999 0.51391467] [ 0. 0. 0. 1. ]] SLAMing on 9.060418555 meters 0.04356761184376166 Centerline is valid? [True, True] Translation: X:-7.18, Y:-1.25, Z:0.52 [[ 0.99242547 0.06843814 0.10201911 -7.18006473] [-0.07182938 0.99696739 0.02994252 -1.2484074 ] [-0.09966052 -0.03704369 0.99433171 0.52395198] [ 0. 0. 0. 1. ]] SLAMing on 9.090418555 meters 0.042926352084165745 Centerline is valid? [True, True] Translation: X:-7.21, Y:-1.26, Z:0.53 [[ 0.99226021 0.06567608 0.10538653 -7.21039782] [-0.06928327 0.99711723 0.03093643 -1.25588779] [-0.10305094 -0.03799851 0.99395001 0.5279773 ] [ 0. 0. 0. 1. ]] SLAMing on 9.120418554999999 meters 0.03397052451857324 Centerline is valid? [True, True] Translation: X:-7.23, Y:-1.29, Z:0.52 [[ 0.99191225 0.05707675 0.1133681 -7.23112157] [-0.06120649 0.99757 0.03328465 -1.29302853] [-0.11119283 -0.03995431 0.99299537 0.52067513] [ 0. 0. 0. 1. ]] SLAMing on 9.150418555 meters 0.036551544170610524 Centerline is valid? [True, True] Translation: X:-7.27, Y:-1.28, Z:0.53 [[ 0.99192803 0.05009957 0.11648529 -7.26724834] [-0.05441956 0.99793215 0.03420443 -1.28156402] [-0.11453079 -0.04026741 0.99260326 0.53244791] [ 0. 0. 0. 1. ]] SLAMing on 9.180418555 meters 0.05712876807273203 Centerline is valid? [True, True] Translation: X:-7.32, Y:-1.22, Z:0.55 [[ 0.99192765 0.04921483 0.11686504 -7.31635616] [-0.05355823 0.9979748 0.03431931 -1.22450255] [-0.11493934 -0.04030136 0.99255466 0.5548639 ] [ 0. 0. 0. 1. ]] SLAMing on 9.210418554999999 meters 0.03600949430405627 Centerline is valid? [True, True] Translation: X:-7.33, Y:-1.30, Z:0.53 [[ 0.99170874 0.06327319 0.11184939 -7.32594506] [-0.06732798 0.99718993 0.03285093 -1.29925866] [-0.1094565 -0.04010915 0.99318202 0.53260835] [ 0. 0. 0. 1. ]] SLAMing on 9.240418555 meters 0.044924618764507686 Centerline is valid? [True, True] Translation: X:-7.36, Y:-1.28, Z:0.54 [[ 0.99147713 0.07228141 0.10839047 -7.36469699] [-0.07613486 0.99658905 0.03183957 -1.27681729] [-0.10571934 -0.0398205 0.99359838 0.5438778 ] [ 0. 0. 0. 1. ]] SLAMing on 9.270418555 meters 0.04155007420193234 Centerline is valid? [True, True] Translation: X:-7.39, Y:-1.30, Z:0.54 [[ 0.99129887 0.07839621 0.10573829 -7.39054881] [-0.08209266 0.99614044 0.03106472 -1.2960047 ] [-0.10289483 -0.03947476 0.99390865 0.54324469] [ 0. 0. 0. 1. ]] SLAMing on 9.300418554999998 meters 0.05746915079253639 Centerline is valid? [True, True] Translation: X:-7.44, Y:-1.25, Z:0.56 [[ 0.99151725 0.08028923 0.10221142 -7.43561419] [-0.08375087 0.99603407 0.03003206 -1.25408043] [-0.09939481 -0.0383376 0.99430926 0.55593413] [ 0. 0. 0. 1. ]] SLAMing on 9.330418555 meters 0.0367707762810128 Centerline is valid? [True, True] Translation: X:-7.45, Y:-1.32, Z:0.55 [[ 0.99193495 0.07303307 0.10359167 -7.44735098] [-0.07655573 0.99660048 0.03044169 -1.32006254] [-0.10101626 -0.03812671 0.99415395 0.54550688] [ 0. 0. 0. 1. ]] SLAMing on 9.360418554999999 meters 0.057206028093363344 Centerline is valid? [True, True] Translation: X:-7.50, Y:-1.26, Z:0.57 [[ 0.99208581 0.06285663 0.10869586 -7.49894698] [-0.06668473 0.99726255 0.03194612 -1.25512894] [-0.10639028 -0.03894165 0.9935616 0.56756903] [ 0. 0. 0. 1. ]] SLAMing on 9.390418554999998 meters 0.04925450417703605 Centerline is valid? [True, True] Translation: X:-7.53, Y:-1.27, Z:0.58 [[ 0.99125466 0.04239345 0.12496799 -7.52755692] [-0.04732171 0.99820403 0.03673384 -1.26591265] [-0.12318627 -0.04232628 0.99148052 0.5760116 ] [ 0. 0. 0. 1. ]] SLAMing on 9.420418555 meters 0.04442050959772491 Centerline is valid? [True, True] Translation: X:-7.56, Y:-1.28, Z:0.57 [[ 0.99088203 0.0409047 0.12837294 -7.55753828] [-0.0460994 0.99822302 0.03775764 -1.27519991] [-0.12660036 -0.04333129 0.99100694 0.57446708] [ 0. 0. 0. 1. ]] SLAMing on 9.450418554999999 meters 0.03606460980117947 Centerline is valid? [True, True] Translation: X:-7.58, Y:-1.31, Z:0.56 [[ 0.99099915 0.06215602 0.11856354 -7.57904832] [-0.0667155 0.99716223 0.03487885 -1.30845048] [-0.11605916 -0.04247493 0.99233369 0.55971824] [ 0. 0. 0. 1. ]] SLAMing on 9.480418555 meters 0.04499450197455159 Centerline is valid? [True, True] Translation: X:-7.62, Y:-1.28, Z:0.57 [[ 0.99100966 0.07483052 0.11090645 -7.62058756] [-0.07888557 0.99634947 0.03263122 -1.27656857] [-0.10805977 -0.04108677 0.993295 0.5688941 ] [ 0. 0. 0. 1. ]] SLAMing on 9.510418555 meters 0.0369159011337894 Centerline is valid? [True, True] Translation: X:-7.64, Y:-1.32, Z:0.55 [[ 0.99029101 0.09357177 0.10280097 -7.63863818] [-0.09713915 0.99481098 0.03025073 -1.32358225] [-0.09943692 -0.03994302 0.99424185 0.55290825] [ 0. 0. 0. 1. ]] SLAMing on 9.540418554999999 meters 0.03841584561308188 Centerline is valid? [True, True] Translation: X:-7.67, Y:-1.33, Z:0.55 [[ 0.99025834 0.10063088 0.09623852 -7.67078999] [-0.10378371 0.99419652 0.02832353 -1.32543848] [-0.09282978 -0.03803561 0.99495524 0.55345398] [ 0. 0. 0. 1. ]] SLAMing on 9.570418555 meters 0.05168870352877405 Centerline is valid? [True, True] Translation: X:-7.72, Y:-1.28, Z:0.57 [[ 0.99150844 0.08759972 0.09611086 -7.71609125] [-0.09069263 0.99547703 0.02829019 -1.28019779] [-0.09319794 -0.03676651 0.99496853 0.56618215] [ 0. 0. 0. 1. ]] SLAMing on 9.600418555 meters 0.04929716137627569 Centerline is valid? [True, True] Translation: X:-7.74, Y:-1.29, Z:0.57 [[ 0.99311391 0.06730454 0.09588981 -7.74440208] [-0.0703021 0.99712624 0.02822906 -1.29143675] [-0.0937143 -0.03477592 0.99499159 0.57129169] [ 0. 0. 0. 1. ]] SLAMing on 9.630418554999999 meters 0.04890903058695885 Centerline is valid? [True, True] Translation: X:-7.77, Y:-1.30, Z:0.58 [[ 0.99374524 0.05857886 0.0950732 -7.77304793] [-0.06149099 0.99771502 0.02799287 -1.30005264] [-0.09321617 -0.03366393 0.99507662 0.57577709] [ 0. 0. 0. 1. ]] SLAMing on 9.660418555 meters 0.057428858558349144 Centerline is valid? [True, True] Translation: X:-7.81, Y:-1.29, Z:0.58 [[ 0.99426254 0.04874567 0.09521478 -7.80954804] [-0.05162734 0.99827275 0.02803816 -1.28709907] [-0.09368358 -0.03279298 0.99506181 0.58274613] [ 0. 0. 0. 1. ]] SLAMing on 9.690418554999999 meters 0.05961655999758954 Centerline is valid? [True, True] Translation: X:-7.84, Y:-1.29, Z:0.59 [[ 0.99416294 0.05100113 0.09507336 -7.84024754] [-0.0538836 0.99815457 0.02800013 -1.29237039] [-0.09346987 -0.03295958 0.9950764 0.58549057] [ 0. 0. 0. 1. ]] SLAMing on 9.720418554999998 meters 0.054236621751075444 Centerline is valid? [True, True] Translation: X:-7.86, Y:-1.32, Z:0.58 [[ 0.99357208 0.05765502 0.09741877 -7.86456248] [-0.06071047 0.9977429 0.02869411 -1.3150659 ] [-0.09554453 -0.034424 0.99482975 0.58213376] [ 0. 0. 0. 1. ]] SLAMing on 9.750418555 meters 0.05028675376942769 Centerline is valid? [True, True] Translation: X:-7.89, Y:-1.33, Z:0.58 [[ 0.9933884 0.06621594 0.09378128 -7.8907139 ] [-0.06907994 0.99722855 0.02762573 -1.33225164] [-0.09169211 -0.03392148 0.99520947 0.57672953] [ 0. 0. 0. 1. ]] SLAMing on 9.780418554999999 meters 0.053011258435818116 Centerline is valid? [True, True] Translation: X:-7.92, Y:-1.33, Z:0.58 [[ 0.9932945 0.06439265 0.09601887 -7.92331269] [-0.06738854 0.9973257 0.02828841 -1.33262261] [-0.09394052 -0.03456929 0.99497746 0.5807021 ] [ 0. 0. 0. 1. ]] SLAMing on 9.810418555 meters 0.04469529453502953 Centerline is valid? [True, True] Translation: X:-7.95, Y:-1.36, Z:0.58 [[ 0.99383562 0.05653893 0.09536304 -7.94532563] [-0.05946269 0.99783497 0.02809909 -1.36474119] [-0.09356789 -0.03359642 0.99504589 0.57635256] [ 0. 0. 0. 1. ]] SLAMing on 9.840418555 meters 0.05124011476238939 Centerline is valid? [True, True] Translation: X:-7.98, Y:-1.35, Z:0.59 [[ 0.99407777 0.05273942 0.09501548 -7.98272229] [-0.05562693 0.99805893 0.02800016 -1.34960317] [-0.09335434 -0.03311976 0.99508193 0.58633798] [ 0. 0. 0. 1. ]] SLAMing on 9.870418554999999 meters 0.0601454209387269 Centerline is valid? [True, True] Translation: X:-8.02, Y:-1.33, Z:0.59 [[ 0.99400224 0.05048425 0.09700973 -8.02027786] [-0.05348574 0.99815921 0.0285913 -1.33417608] [-0.09538775 -0.03360845 0.99487268 0.59171044] [ 0. 0. 0. 1. ]] SLAMing on 9.900418555 meters 0.04817850000571884 Centerline is valid? [True, True] Translation: X:-8.04, Y:-1.38, Z:0.59 [[ 0.99391322 0.0487865 0.09877442 -8.03849417] [-0.0518916 0.99822826 0.02911367 -1.37762324] [-0.09717906 -0.03406202 0.99468387 0.58550624] [ 0. 0. 0. 1. ]] SLAMing on 9.930418555 meters 0.04657836315933027 Centerline is valid? [True, True] Translation: X:-8.07, Y:-1.39, Z:0.59 [[ 0.99369739 0.05543857 0.09742719 -8.06807962] [-0.05848748 0.99787493 0.02871984 -1.3866764 ] [-0.09562797 -0.0342371 0.99482818 0.58557916] [ 0. 0. 0. 1. ]] SLAMing on 9.960418554999999 meters 0.0481363062831154 Centerline is valid? [True, True] Translation: X:-8.10, Y:-1.39, Z:0.59 [[ 0.99374233 0.04867004 0.10053558 -8.09989341] [-0.05188764 0.99821297 0.02964001 -1.38828439] [-0.09891334 -0.03467109 0.99449186 0.58827507] [ 0. 0. 0. 1. ]] SLAMing on 9.990418555 meters 0.0463203277513009 Centerline is valid? [True, True] Translation: X:-8.13, Y:-1.39, Z:0.59 [[ 0.99403533 0.04744597 0.09819698 -8.13088111] [-0.05050989 0.99830379 0.02895328 -1.39267308] [-0.0966567 -0.0337405 0.99474573 0.59000883] [ 0. 0. 0. 1. ]] SLAMing on 10.020418555 meters 0.050874518497499126 Centerline is valid? [True, True] Translation: X:-8.17, Y:-1.38, Z:0.60 [[ 0.99428235 0.04295959 0.0977603 -8.16775473] [-0.04597741 0.99852643 0.02882804 -1.37940666] [-0.09637781 -0.03315798 0.99479237 0.59852564] [ 0. 0. 0. 1. ]] SLAMing on 10.050418554999998 meters 0.04851010086527845 Centerline is valid? [True, True] Translation: X:-8.20, Y:-1.39, Z:0.60 [[ 0.99425848 0.0401033 0.09920582 -8.19539286] [-0.04319929 0.99863796 0.02925815 -1.39401701] [-0.09789735 -0.03337579 0.9946367 0.5950916 ] [ 0. 0. 0. 1. ]] SLAMing on 10.080418555 meters 0.044259394943510076 Centerline is valid? [True, True] Translation: X:-8.22, Y:-1.41, Z:0.59 [[ 0.99404941 0.04705091 0.09824449 -8.22280339] [-0.0501172 0.99832285 0.02897844 -1.40733355] [-0.09671626 -0.03372974 0.9947403 0.59377234] [ 0. 0. 0. 1. ]] SLAMing on 10.110418554999999 meters 0.04747133255979448 Centerline is valid? [True, True] Translation: X:-8.26, Y:-1.39, Z:0.59 [[ 0.99355605 0.05529686 0.09893755 -8.25940841] [-0.05844302 0.99786399 0.02918676 -1.39397115] [-0.09711228 -0.03478089 0.99466552 0.59367351] [ 0. 0. 0. 1. ]] SLAMing on 10.140418554999998 meters 0.0434534252764108 Centerline is valid? [True, True] Translation: X:-8.28, Y:-1.42, Z:0.58 [[ 0.9927737 0.0629431 0.10216918 -8.28316355] [-0.06633496 0.99734197 0.03014413 -1.41996326] [-0.10000025 -0.03670369 0.99431021 0.58425677] [ 0. 0. 0. 1. ]] SLAMing on 10.170418555 meters 0.04512754018404533 Centerline is valid? [True, True] Translation: X:-8.32, Y:-1.41, Z:0.58 [[ 0.99271634 0.06524308 0.10127982 -8.31948437] [-0.06858656 0.99719745 0.0298852 -1.40821935] [-0.09904618 -0.03661396 0.99440901 0.58133167] [ 0. 0. 0. 1. ]] SLAMing on 10.200418554999999 meters 0.04316076882405687 Centerline is valid? [True, True] Translation: X:-8.34, Y:-1.43, Z:0.58 [[ 0.99311293 0.05542842 0.10322014 -8.3448999 ] [-0.05885629 0.99780156 0.03046285 -1.42780672] [-0.1013047 -0.0363282 0.99419194 0.58210094] [ 0. 0. 0. 1. ]] SLAMing on 10.230418555 meters 0.045247901401998546 Centerline is valid? [True, True] Translation: X:-8.38, Y:-1.42, Z:0.59 [[ 0.99352362 0.04825439 0.10287049 -8.38061564] [-0.05162568 0.99820479 0.03036408 -1.41765803] [-0.10122062 -0.03547819 0.9942312 0.58657416] [ 0. 0. 0. 1. ]] SLAMing on 10.260418555 meters 0.047756466350488566 Centerline is valid? [True, True] Translation: X:-8.42, Y:-1.41, Z:0.59 [[ 0.99392503 0.0502172 0.09793503 -8.41691675] [-0.05327987 0.99816103 0.02891039 -1.40688075] [-0.09630313 -0.03395273 0.9947728 0.58953634] [ 0. 0. 0. 1. ]] SLAMing on 10.290418554999999 meters 0.04987430909967573 Centerline is valid? [True, True] Translation: X:-8.45, Y:-1.41, Z:0.59 [[ 0.99379068 0.05027531 0.09925966 -8.44916233] [-0.05342233 0.99814194 0.02930408 -1.40791471] [-0.09760196 -0.0344248 0.99462998 0.58710341] [ 0. 0. 0. 1. ]] SLAMing on 10.320418555 meters 0.05332138683706875 Centerline is valid? [True, True] Translation: X:-8.48, Y:-1.40, Z:0.59 [[ 0.99398796 0.05288174 0.09587206 -8.48403951] [-0.05582739 0.99803913 0.02830551 -1.39927868] [-0.09418723 -0.03348762 0.99499113 0.59229039] [ 0. 0. 0. 1. ]] SLAMing on 10.350418555 meters 0.05143109731446876 Centerline is valid? [True, True] Translation: X:-8.51, Y:-1.41, Z:0.59 [[ 0.99435339 0.05277448 0.09206627 -8.51210725] [-0.05548959 0.99808917 0.0271828 -1.40955563] [-0.09045579 -0.03213803 0.99538179 0.58934927] [ 0. 0. 0. 1. ]] SLAMing on 10.380418554999999 meters 0.05364346290800744 Centerline is valid? [True, True] Translation: X:-8.55, Y:-1.40, Z:0.59 [[ 0.9944344 0.04914395 0.09319382 -8.54621311] [-0.05191256 0.99827241 0.02751884 -1.40406311] [-0.09168043 -0.03220362 0.99526762 0.59259523] [ 0. 0. 0. 1. ]] SLAMing on 10.410418555 meters 0.04929235556717597 Centerline is valid? [True, True] Translation: X:-8.57, Y:-1.42, Z:0.59 [[ 0.99417278 0.04507137 0.09792376 -8.57295195] [-0.04811253 0.99842319 0.02891906 -1.42055607] [-0.09646593 -0.0334619 0.99477365 0.59034259] [ 0. 0. 0. 1. ]] SLAMing on 10.440418554999999 meters 0.049537822936504425 Centerline is valid? [True, True] Translation: X:-8.61, Y:-1.41, Z:0.59 [[ 0.99454532 0.02784166 0.10052088 -8.60673654] [-0.03096942 0.99907927 0.02969006 -1.41301089] [-0.09960171 -0.03264118 0.99449186 0.58909964] [ 0. 0. 0. 1. ]] SLAMing on 10.470418554999998 meters 0.047692450866391886 Centerline is valid? [True, True] Translation: X:-8.63, Y:-1.43, Z:0.59 [[ 0.99438375 0.01865096 0.10417825 -8.63448592] [-0.02196707 0.99928492 0.0307749 -1.42515761] [-0.10352977 -0.03289056 0.99408239 0.58688105] [ 0. 0. 0. 1. ]] SLAMing on 10.500418555 meters 0.047692450866391886 Centerline is valid? [True, True] Translation: X:-8.67, Y:-1.43, Z:0.59 [[ 0.99438871 0.01842131 0.10417168 -8.6665067 ] [-0.02173838 0.99928924 0.03079711 -1.43459588] [-0.10353032 -0.03288883 0.99408239 0.58720165] [ 0. 0. 0. 1. ]] SLAMing on 10.530418554999999 meters 0.049554030761058736 Centerline is valid? [True, True] Translation: X:-8.70, Y:-1.43, Z:0.59 [[ 0.99434636 0.02006117 0.10427308 -8.70033399] [-0.02339343 0.99925076 0.03083282 -1.43005003] [-0.10357641 -0.03309781 0.99407065 0.58922027] [ 0. 0. 0. 1. ]] SLAMing on 10.560418554999998 meters 0.05075179244650524 Centerline is valid? [True, True] Translation: X:-8.73, Y:-1.43, Z:0.59 [[ 0.99418757 0.02381337 0.10499523 -8.73379087] [-0.02721137 0.99914735 0.03105032 -1.42799544] [-0.10416629 -0.03372691 0.99398787 0.58531288] [ 0. 0. 0. 1. ]] SLAMing on 10.590418555 meters 0.05993243858191803 Centerline is valid? [True, True] Translation: X:-8.77, Y:-1.41, Z:0.59 [[ 0.99443553 0.02611667 0.10205829 -8.77348918] [-0.02933734 0.99911372 0.03018439 -1.40507621] [-0.10117952 -0.03301054 0.99432037 0.58808891] [ 0. 0. 0. 1. ]] SLAMing on 10.620418554999999 meters 0.051652707388445095 Centerline is valid? [True, True] Translation: X:-8.80, Y:-1.44, Z:0.58 [[ 0.99455359 0.02485856 0.10121862 -8.79521741] [-0.02802035 0.99915899 0.02993601 -1.43739585] [-0.10038933 -0.03260915 0.99441371 0.57852642] [ 0. 0. 0. 1. ]] SLAMing on 10.650418555 meters 0.05236813657025179 Centerline is valid? [True, True] Translation: X:-8.83, Y:-1.44, Z:0.58 [[ 0.99483786 0.02300154 0.09883608 -8.82708967] [-0.02600762 0.99923418 0.02923461 -1.44117554] [-0.09808795 -0.03165419 0.9946742 0.58205434] [ 0. 0. 0. 1. ]] SLAMing on 10.680418555 meters 0.05360694391987686 Centerline is valid? [True, True] Translation: X:-8.86, Y:-1.44, Z:0.59 [[ 0.99490276 0.01991092 0.09885367 -8.85885009] [-0.02290477 0.99930985 0.02924369 -1.44357167] [-0.09820317 -0.03135885 0.99467219 0.58628612] [ 0. 0. 0. 1. ]] SLAMing on 10.710418554999999 meters 0.04778406203141782 Centerline is valid? [True, True] Translation: X:-8.88, Y:-1.47, Z:0.58 [[ 0.99482771 0.02164235 0.09924434 -8.88149846] [-0.02466776 0.9992645 0.02935924 -1.47207711] [-0.09853594 -0.03165552 0.99462988 0.5823078 ] [ 0. 0. 0. 1. ]] SLAMing on 10.740418555 meters 0.05301709802878142 Centerline is valid? [True, True] Translation: X:-8.92, Y:-1.45, Z:0.58 [[ 0.99480127 0.02322945 0.09915054 -8.91984023] [-0.0262565 0.99922473 0.02933483 -1.45206544] [-0.09839224 -0.03178567 0.99463995 0.58376081] [ 0. 0. 0. 1. ]] SLAMing on 10.770418555 meters 0.05136439743456582 Centerline is valid? [True, True] Translation: X:-8.95, Y:-1.46, Z:0.58 [[ 0.99491534 0.02628396 0.09722455 -8.94880884] [-0.02920718 0.99915936 0.02876645 -1.46239041] [-0.09638673 -0.03145984 0.99484666 0.57654854] [ 0. 0. 0. 1. ]] SLAMing on 10.800418554999998 meters 0.058280463564273764 Centerline is valid? [True, True] Translation: X:-8.99, Y:-1.44, Z:0.58 [[ 0.99505335 0.03312927 0.09365511 -8.98658077] [-0.03586817 0.99897219 0.02771363 -1.44402097] [-0.09264072 -0.03093578 0.99521891 0.57907384] [ 0. 0. 0. 1. ]] SLAMing on 10.830418555 meters 0.049108951831713085 Centerline is valid? [True, True] Translation: X:-9.01, Y:-1.48, Z:0.57 [[ 0.99527362 0.03233541 0.09156874 -9.00570106] [-0.03495012 0.99902167 0.02709611 -1.48445331] [-0.09060299 -0.03016839 0.99543004 0.5682447 ] [ 0. 0. 0. 1. ]] SLAMing on 10.860418554999999 meters 0.048543438906288365 Centerline is valid? [True, True] Translation: X:-9.04, Y:-1.49, Z:0.57 [[ 0.99550797 0.03548134 0.08777784 -9.03560165] [-0.03789433 0.99894404 0.02597742 -1.49488752] [-0.08676344 -0.02918701 0.9958013 0.56692949] [ 0. 0. 0. 1. ]] SLAMing on 10.890418554999998 meters 0.058141819935438196 Centerline is valid? [True, True] Translation: X:-9.08, Y:-1.47, Z:0.58 [[ 0.99573268 0.0341309 0.08574091 -9.07577007] [-0.0364286 0.99901398 0.02537765 -1.46670196] [-0.0847902 -0.02839278 0.99599421 0.57512893] [ 0. 0. 0. 1. ]] SLAMing on 10.920418555 meters 0.05187542764949811 Centerline is valid? [True, True] Translation: X:-9.10, Y:-1.49, Z:0.57 [[ 0.99613276 0.03430953 0.08088494 -9.09967416] [-0.03635424 0.9990521 0.02394319 -1.49249761] [-0.07998679 -0.02679111 0.99643582 0.56901815] [ 0. 0. 0. 1. ]] SLAMing on 10.950418554999999 meters 0.0510274335511955 Centerline is valid? [True, True] Translation: X:-9.13, Y:-1.50, Z:0.57 [[ 0.99638286 0.03511389 0.07738352 -9.12999951] [-0.03698812 0.99905281 0.02292088 -1.50189346] [-0.07650538 -0.02570024 0.99673789 0.56890276] [ 0. 0. 0. 1. ]] SLAMing on 10.980418555 meters 0.049302372685077075 Centerline is valid? [True, True] Translation: X:-9.16, Y:-1.51, Z:0.56 [[ 0.99678154 0.03923075 0.06991078 -9.15994285] [-0.04076886 0.99895393 0.02071114 -1.51112454] [-0.06902514 -0.02349467 0.99733822 0.56050044] [ 0. 0. 0. 1. ]] SLAMing on 11.010418555 meters 0.05544281247256157 Centerline is valid? [True, True] Translation: X:-9.20, Y:-1.49, Z:0.56 [[ 0.99687192 0.04372725 0.06583547 -9.19813234] [-0.04509966 0.99879205 0.01950557 -1.49085693] [-0.06490302 -0.02241371 0.99763983 0.55567678] [ 0. 0. 0. 1. ]] SLAMing on 11.040418554999999 meters 0.06331255073183324 Centerline is valid? [True, True] Translation: X:-9.24, Y:-1.47, Z:0.55 [[ 0.99708893 0.04840201 0.05891451 -9.23819438] [-0.04950785 0.99862116 0.01745686 -1.46639071] [-0.05798833 -0.02032277 0.99811038 0.54649788] [ 0. 0. 0. 1. ]] SLAMing on 11.070418555 meters 0.07373137259099702 Centerline is valid? [True, True] Translation: X:-9.28, Y:-1.44, Z:0.54 [[ 0.99743325 0.05151709 0.04972823 -9.27903701] [-0.05230803 0.99852226 0.0147363 -1.43822296] [-0.04889557 -0.01729966 0.99865407 0.53678687] [ 0. 0. 0. 1. ]] SLAMing on 11.100418555 meters 0.07510626178055327 Centerline is valid? [True, True] Translation: X:-9.31, Y:-1.43, Z:0.52 [[ 0.99790757 0.04976667 0.04127655 -9.31374093] [-0.05031012 0.99865873 0.0122328 -1.43198546] [-0.0406124 -0.01428383 0.99907287 0.51976945] [ 0. 0. 0. 1. ]] SLAMing on 11.130418554999999 meters 0.0692197829014338 Centerline is valid? [True, True] Translation: X:-9.34, Y:-1.44, Z:0.48 [[ 9.98235574e-01 5.27607474e-02 2.72404420e-02 -9.34396338e+00] [-5.29983047e-02 9.98561968e-01 8.07319503e-03 -1.43695737e+00] [-2.67753216e-02 -9.50264773e-03 9.99596309e-01 4.75133434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160418555 meters 0.0750691154375489 Centerline is valid? [True, True] Translation: X:-9.38, Y:-1.42, Z:0.45 [[ 9.98451406e-01 5.27309453e-02 1.77267238e-02 -9.38289597e+00] [-5.28315213e-02 9.98589620e-01 5.25376759e-03 -1.41693071e+00] [-1.74246862e-02 -6.18216142e-03 9.99829066e-01 4.46806296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.190418554999999 meters 0.06502157110311287 Centerline is valid? [True, True] Translation: X:-9.41, Y:-1.44, Z:0.43 [[ 9.99229968e-01 2.47269426e-02 3.04639146e-02 -9.40735865e+00] [-2.50125301e-02 9.99646359e-01 9.02942021e-03 -1.43937291e+00] [-3.02298714e-02 -9.78444685e-03 9.99495082e-01 4.33586080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220418554999998 meters 0.061440359894323456 Centerline is valid? [True, True] Translation: X:-9.43, Y:-1.47, Z:0.48 [[ 0.99793111 0.01019914 0.06347817 -9.43059167] [-0.0114147 0.9997578 0.01881609 -1.46610571] [-0.06327089 -0.01950175 0.99780583 0.47728525] [ 0. 0. 0. 1. ]] SLAMing on 11.250418555 meters 0.05828078116452052 Centerline is valid? [True, True] Translation: X:-9.45, Y:-1.49, Z:0.52 [[ 0.99741305 -0.01167877 0.07092821 -9.4536766 ] [ 0.01021064 0.99972678 0.02102625 -1.49255468] [-0.07115439 -0.02024763 0.99725979 0.51740512] [ 0. 0. 0. 1. ]] SLAMing on 11.280418554999999 meters 0.057958502118630226 Centerline is valid? [True, True] Translation: X:-9.48, Y:-1.51, Z:0.54 [[ 0.99716139 -0.01901808 0.07285242 -9.48029455] [ 0.01748688 0.99961379 0.02159831 -1.51216996] [-0.07323504 -0.02026304 0.99710884 0.53773304] [ 0. 0. 0. 1. ]] SLAMing on 11.310418554999998 meters 0.05892339282129793 Centerline is valid? [True, True] Translation: X:-9.51, Y:-1.52, Z:0.54 [[ 0.99709718 -0.01957546 0.07357997 -9.51062913] [ 0.01801384 0.99959945 0.02182757 -1.52174493] [-0.07397778 -0.02043875 0.99705042 0.54156385] [ 0. 0. 0. 1. ]] SLAMing on 11.340418555 meters 0.05736536371663142 Centerline is valid? [True, True] Translation: X:-9.54, Y:-1.53, Z:0.54 [[ 9.97488042e-01 -9.87801989e-03 7.01429243e-02 -9.53949691e+00] [ 8.43699586e-03 9.99747833e-01 2.08107448e-02 -1.52968458e+00] [-7.03308055e-02 -2.01666735e-02 9.97319850e-01 5.38502917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370418554999999 meters 0.058737642524876746 Centerline is valid? [True, True] Translation: X:-9.57, Y:-1.53, Z:0.54 [[ 9.97485595e-01 -6.47595664e-03 7.05730039e-02 -9.57245342e+00] [ 5.00926793e-03 9.99768190e-01 2.09397753e-02 -1.52871822e+00] [-7.06922494e-02 -2.05336051e-02 9.97286808e-01 5.38172364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400418555 meters 0.051274261081760315 Centerline is valid? [True, True] Translation: X:-9.60, Y:-1.55, Z:0.54 [[ 9.95836263e-01 -1.15210064e-02 9.04289984e-02 -9.59826789e+00] [ 9.12805634e-03 9.99598299e-01 2.68313146e-02 -1.54646084e+00] [-9.07017967e-02 -2.58941551e-02 9.95541399e-01 5.39299197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.430418555 meters 0.05152290791261661 Centerline is valid? [True, True] Translation: X:-9.63, Y:-1.54, Z:0.54 [[ 0.9951428 -0.02165019 0.09603168 -9.63193995] [ 0.01899322 0.99941344 0.02849609 -1.54210189] [-0.0965923 -0.02653373 0.9949703 0.53964134] [ 0. 0. 0. 1. ]] SLAMing on 11.460418554999999 meters 0.047011675906993754 Centerline is valid? [True, True] Translation: X:-9.66, Y:-1.55, Z:0.54 [[ 0.99382614 -0.03185548 0.10627717 -9.66149722] [ 0.02865149 0.99909176 0.03153973 -1.54893559] [-0.10718536 -0.02830001 0.99383621 0.53652751] [ 0. 0. 0. 1. ]] SLAMing on 11.490418555 meters 0.053917742661003944 Centerline is valid? [True, True] Translation: X:-9.70, Y:-1.52, Z:0.54 [[ 0.99301902 -0.03842479 0.11152025 -9.70065378] [ 0.03493292 0.9988414 0.03309913 -1.52436491] [-0.11266287 -0.02897234 0.99321079 0.5436631 ] [ 0. 0. 0. 1. ]] SLAMing on 11.520418555 meters 0.043213489604315404 Centerline is valid? [True, True] Translation: X:-9.73, Y:-1.54, Z:0.52 [[ 0.99366146 -0.04017013 0.10499176 -9.7270563 ] [ 0.03708587 0.99882597 0.03116597 -1.54273768] [-0.10612044 -0.02707471 0.99398461 0.51935888] [ 0. 0. 0. 1. ]] SLAMing on 11.550418554999998 meters 0.05404228811643361 Centerline is valid? [True, True] Translation: X:-9.77, Y:-1.52, Z:0.53 [[ 0.99407532 -0.03612552 0.10251441 -9.76629062] [ 0.03316554 0.99898641 0.03043336 -1.51920641] [-0.10350992 -0.02685311 0.99426586 0.52565929] [ 0. 0. 0. 1. ]] SLAMing on 11.580418555 meters 0.04597934183798726 Centerline is valid? [True, True] Translation: X:-9.79, Y:-1.55, Z:0.51 [[ 0.99432832 -0.03544065 0.10027536 -9.79078985] [ 0.03260397 0.99902434 0.02978828 -1.54759885] [-0.10123324 -0.02634996 0.99451371 0.51418046] [ 0. 0. 0. 1. ]] SLAMing on 11.610418554999999 meters 0.047668431676820694 Centerline is valid? [True, True] Translation: X:-9.82, Y:-1.55, Z:0.51 [[ 0.99451025 -0.03891664 0.09713321 -9.82246355] [ 0.03627076 0.99892522 0.02885905 -1.55068883] [-0.09815191 -0.02517753 0.9948529 0.51397768] [ 0. 0. 0. 1. ]] SLAMing on 11.640418554999998 meters 0.0482393780955059 Centerline is valid? [True, True] Translation: X:-9.85, Y:-1.56, Z:0.52 [[ 0.99396542 -0.05125711 0.09698167 -9.85356806] [ 0.04867411 0.99839894 0.02881641 -1.55556292] [-0.09830344 -0.02392201 0.99486892 0.51663589] [ 0. 0. 0. 1. ]] SLAMing on 11.670418555 meters 0.052406259096681666 Centerline is valid? [True, True] Translation: X:-9.89, Y:-1.54, Z:0.52 [[ 0.9936081 -0.05539643 0.09835739 -9.88879834] [ 0.0527582 0.99817954 0.0292262 -1.54440796] [-0.09979736 -0.02385023 0.9947219 0.52241541] [ 0. 0. 0. 1. ]] SLAMing on 11.700418554999999 meters 0.04625455702323476 Centerline is valid? [True, True] Translation: X:-9.92, Y:-1.56, Z:0.51 [[ 0.99337783 -0.0597687 0.09812335 -9.91511144] [ 0.05716246 0.99793886 0.02916313 -1.56030337] [-0.09966414 -0.02336104 0.99474686 0.5089877 ] [ 0. 0. 0. 1. ]] SLAMing on 11.730418555 meters 0.05136367436715207 Centerline is valid? [True, True] Translation: X:-9.95, Y:-1.55, Z:0.50 [[ 0.99406317 -0.06080537 0.09022815 -9.95030037] [ 0.05860708 0.99792082 0.02681881 -1.55135348] [-0.09167127 -0.02137159 0.99555996 0.50179405] [ 0. 0. 0. 1. ]] SLAMing on 11.760418555 meters 0.05868436048067878 Centerline is valid? [True, True] Translation: X:-9.98, Y:-1.54, Z:0.51 [[ 0.99432854 -0.06302229 0.08566763 -9.98417056] [ 0.06104905 0.9978099 0.02546415 -1.54358726] [-0.08708482 -0.0200898 0.99599831 0.51158229] [ 0. 0. 0. 1. ]] SLAMing on 11.790418554999999 meters 0.0641000053397969 Centerline is valid? [True, True] Translation: X:-10.02, Y:-1.54, Z:0.52 [[ 0.99431969 -0.06504041 0.08425023 -10.01627607] [ 0.06313894 0.99769049 0.02504332 -1.5418987 ] [ -0.08568449 -0.01958159 0.99612988 0.51715245] [ 0. 0. 0. 1. ]] SLAMing on 11.820418555 meters 0.05132673288131646 Centerline is valid? [True, True] Translation: X:-10.04, Y:-1.58, Z:0.51 [[ 0.99441668 -0.06389861 0.08397881 -10.03516911] [ 0.06200563 0.9977636 0.02496198 -1.58220537] [ -0.08538604 -0.01961545 0.99615484 0.50741195] [ 0. 0. 0. 1. ]] SLAMing on 11.850418555 meters 0.05643112262907161 Centerline is valid? [True, True] Translation: X:-10.07, Y:-1.58, Z:0.51 [[ 0.99482637 -0.05935432 0.08244735 -10.06792862] [ 0.05751518 0.99804378 0.0245077 -1.57848733] [ -0.0837407 -0.01963893 0.99629404 0.5115375 ] [ 0. 0. 0. 1. ]] SLAMing on 11.880418554999999 meters 0.06359500975671264 Centerline is valid? [True, True] Translation: X:-10.10, Y:-1.57, Z:0.51 [[ 0.99495029 -0.05695437 0.08264448 -10.10335338] [ 0.05509852 0.99817864 0.02456728 -1.56759077] [ -0.08389317 -0.01988964 0.99627624 0.51181195] [ 0. 0. 0. 1. ]] SLAMing on 11.910418555 meters 0.0601160086805068 Centerline is valid? [True, True] Translation: X:-10.13, Y:-1.58, Z:0.51 [[ 0.99484844 -0.05976247 0.08188421 -10.13043578] [ 0.05794952 0.99802268 0.02434304 -1.58220194] [ -0.0831771 -0.01947248 0.99634452 0.50947501] [ 0. 0. 0. 1. ]] SLAMing on 11.940418554999999 meters 0.04792101297924454 Centerline is valid? [True, True] Translation: X:-10.15, Y:-1.62, Z:0.50 [[ 0.99469609 -0.06325149 0.08111065 -10.15103539] [ 0.06148336 0.9978167 0.02411681 -1.61610298] [ -0.08245899 -0.01900194 0.99641329 0.49903664] [ 0. 0. 0. 1. ]] SLAMing on 11.970418554999998 meters 0.047211689749819 Centerline is valid? [True, True] Translation: X:-10.18, Y:-1.62, Z:0.49 [[ 0.99461833 -0.06127651 0.08354381 -10.18235146] [ 0.05939364 0.99792549 0.02484193 -1.6194084 ] [ -0.08489272 -0.01974627 0.99619441 0.49296317] [ 0. 0. 0. 1. ]] SLAMing on 12.000418555 meters 0.06630301418470858 Centerline is valid? [True, True] Translation: X:-10.23, Y:-1.58, Z:0.50 [[ 0.99472151 -0.05812202 0.08456333 -10.22619074] [ 0.05618194 0.99810384 0.02514597 -1.58093281] [ -0.08586452 -0.0202623 0.99610076 0.50286826] [ 0. 0. 0. 1. ]] SLAMing on 12.030418554999999 meters 0.06642984213925025 Centerline is valid? [True, True] Translation: X:-10.26, Y:-1.59, Z:0.50 [[ 0.99491785 -0.05418793 0.08486538 -10.25517509] [ 0.05222039 0.99831665 0.02523668 -1.59133512] [ -0.08609005 -0.02067672 0.99607278 0.5031471 ] [ 0. 0. 0. 1. ]] SLAMing on 12.060418554999998 meters 0.04961746750202799 Centerline is valid? [True, True] Translation: X:-10.27, Y:-1.64, Z:0.49 [[ 0.994589 -0.05861096 0.08577572 -10.27304337] [ 0.05661608 0.99807008 0.02550969 -1.63574269] [ -0.08710533 -0.02051537 0.99598784 0.49394862] [ 0. 0. 0. 1. ]] SLAMing on 12.090418555 meters 0.05635096563492585 Centerline is valid? [True, True] Translation: X:-10.31, Y:-1.62, Z:0.50 [[ 0.99438524 -0.05847449 0.0881971 -10.30840346] [ 0.05636438 0.99806563 0.02623069 -1.62331729] [ -0.08956032 -0.02111223 0.99575761 0.4959953 ] [ 0. 0. 0. 1. ]] SLAMing on 12.120418554999999 meters 0.06372719350146948 Centerline is valid? [True, True] Translation: X:-10.34, Y:-1.61, Z:0.50 [[ 0.99438535 -0.05725096 0.08899501 -10.34316505] [ 0.05509774 0.99813009 0.02646797 -1.61324961] [ -0.09034391 -0.02141594 0.99568034 0.50230364] [ 0. 0. 0. 1. ]] SLAMing on 12.150418555 meters 0.05917885558036677 Centerline is valid? [True, True] Translation: X:-10.37, Y:-1.63, Z:0.50 [[ 0.99440355 -0.05880224 0.08777169 -10.36888732] [ 0.05671376 0.99804917 0.02610365 -1.6318827 ] [ -0.08913542 -0.0209797 0.99579854 0.49950118] [ 0. 0. 0. 1. ]] SLAMing on 12.180418555 meters 0.05430408249445153 Centerline is valid? [True, True] Translation: X:-10.40, Y:-1.65, Z:0.49 [[ 0.99446025 -0.05905503 0.08695587 -10.39553969] [ 0.05700614 0.9980388 0.02586227 -1.64854055] [ -0.08831263 -0.02076198 0.99587641 0.49359765] [ 0. 0. 0. 1. ]] SLAMing on 12.210418554999999 meters 0.05397866089665761 Centerline is valid? [True, True] Translation: X:-10.43, Y:-1.66, Z:0.49 [[ 0.9945984 -0.06161205 0.08353431 -10.42513857] [ 0.05973013 0.9979053 0.02484606 -1.65605121] [ -0.08489015 -0.01972234 0.99619511 0.48723596] [ 0. 0. 0. 1. ]] SLAMing on 12.240418555 meters 0.06010180192130397 Centerline is valid? [True, True] Translation: X:-10.46, Y:-1.65, Z:0.50 [[ 0.99453671 -0.06617368 0.08073273 -10.4582485 ] [ 0.06443032 0.99763322 0.02401428 -1.65171198] [ -0.08213077 -0.01868145 0.99644646 0.49694535] [ 0. 0. 0. 1. ]] SLAMing on 12.270418555 meters 0.059588281701048046 Centerline is valid? [True, True] Translation: X:-10.49, Y:-1.66, Z:0.50 [[ 0.99445657 -0.0695098 0.07889566 -10.48766432] [ 0.067855 0.99741914 0.02346833 -1.66139092] [ -0.08032332 -0.01798477 0.9966066 0.49852491] [ 0. 0. 0. 1. ]] SLAMing on 12.300418554999998 meters 0.059388754444935146 Centerline is valid? [True, True] Translation: X:-10.52, Y:-1.66, Z:0.50 [[ 0.99450056 -0.07062732 0.0773331 -10.51873862] [ 0.06904062 0.99734854 0.02300595 -1.66494083] [ -0.0787529 -0.01754031 0.99673984 0.49839648] [ 0. 0. 0. 1. ]] SLAMing on 12.330418555 meters 0.06518436505279415 Centerline is valid? [True, True] Translation: X:-10.56, Y:-1.65, Z:0.49 [[ 0.99524733 -0.06669446 0.07095497 -10.55523827] [ 0.06534982 0.99763912 0.02110871 -1.64934792] [ -0.07219529 -0.01637149 0.99725614 0.48700044] [ 0. 0. 0. 1. ]] SLAMing on 12.360418554999999 meters 0.07085750845533037 Centerline is valid? [True, True] Translation: X:-10.59, Y:-1.64, Z:0.48 [[ 0.99610642 -0.0595039 0.06504835 -10.58978983] [ 0.05835975 0.99810803 0.01935177 -1.64179036] [ -0.06607679 -0.01548022 0.99769445 0.48307431] [ 0. 0. 0. 1. ]] SLAMing on 12.390418554999998 meters 0.07085750845533037 Centerline is valid? [True, True] Translation: X:-10.62, Y:-1.65, Z:0.48 [[ 0.99609192 -0.05975054 0.06504423 -10.62213091] [ 0.05860603 0.99809334 0.01936561 -1.65127067] [ -0.06607732 -0.01547794 0.99769445 0.48339819] [ 0. 0. 0. 1. ]] SLAMing on 12.420418555 meters 0.06723102541205143 Centerline is valid? [True, True] Translation: X:-10.65, Y:-1.66, Z:0.48 [[ 0.99651202 -0.05661132 0.06131027 -10.64971688] [ 0.05558892 0.99828682 0.01825646 -1.66426199] [ -0.06223876 -0.01478461 0.99795178 0.47559952] [ 0. 0. 0. 1. ]] SLAMing on 12.450418554999999 meters 0.05585570026434446 Centerline is valid? [True, True] Translation: X:-10.67, Y:-1.70, Z:0.47 [[ 0.99676745 -0.05156515 0.06160917 -10.67137657] [ 0.05052366 0.99855435 0.0183458 -1.69631971] [ -0.06246611 -0.01517377 0.99793173 0.46720038] [ 0. 0. 0. 1. ]] SLAMing on 12.480418555 meters 0.07015706970750202 Centerline is valid? [True, True] Translation: X:-10.71, Y:-1.68, Z:0.48 [[ 0.99674032 -0.05229747 0.06143052 -10.70994867] [ 0.05126326 0.99851761 0.01829358 -1.67618068] [ -0.06229616 -0.01508482 0.9979437 0.4773761 ] [ 0. 0. 0. 1. ]] SLAMing on 12.510418555 meters 0.1076903908800006 Centerline is valid? [True, False] Translation: X:-10.66, Y:-1.68, Z:0.50 [[ 9.99489007e-01 -1.44373980e-02 2.85181702e-02 -1.06595224e+01] [ 1.43495707e-02 9.99891653e-01 3.28196228e-03 -1.67590353e+00] [-2.85624634e-02 -2.87106172e-03 9.99587886e-01 4.99669911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540418554999999 meters 0.1209669386919449 Centerline is valid? [False, False] Translation: X:-10.60, Y:-1.66, Z:0.50 [[ 9.99847843e-01 1.62478733e-02 6.34805203e-03 -1.05951959e+01] [-1.62272430e-02 9.99862924e-01 -3.28796848e-03 -1.66126495e+00] [-6.40060436e-03 3.18445681e-03 9.99974445e-01 4.98421537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570418555 meters 0.12322637263561645 Centerline is valid? [False, False] Translation: X:-10.60, Y:-1.67, Z:0.50 [[ 9.99875440e-01 1.37157344e-02 7.80921106e-03 -1.06034538e+01] [-1.36815272e-02 9.99896647e-01 -4.41707277e-03 -1.66987827e+00] [-7.86898735e-03 4.30968065e-03 9.99959752e-01 5.03989854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600418555 meters 0.1313934066450448 Centerline is valid? [False, False] Translation: X:-10.61, Y:-1.67, Z:0.51 [[ 9.99941859e-01 5.51178056e-03 9.26814674e-03 -1.06085687e+01] [-5.54832398e-03 9.99976917e-01 3.92182579e-03 -1.66926634e+00] [-9.24631657e-03 -3.97302045e-03 9.99949359e-01 5.06151415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630418554999999 meters 0.1312884921473828 Centerline is valid? [False, False] Translation: X:-10.63, Y:-1.68, Z:0.51 [[ 9.99909909e-01 -3.37388736e-03 1.29919823e-02 -1.06338545e+01] [ 3.33866328e-03 9.99990695e-01 2.73195148e-03 -1.67740811e+00] [-1.30010787e-02 -2.68832950e-03 9.99911869e-01 5.10388812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660418555 meters 0.13067388048340678 Centerline is valid? [False, False] Translation: X:-10.64, Y:-1.68, Z:0.51 [[ 9.99903353e-01 -3.42556735e-03 1.34740360e-02 -1.06357719e+01] [ 3.38840770e-03 9.99990396e-01 2.77973349e-03 -1.67821775e+00] [-1.34834287e-02 -2.73380932e-03 9.99905357e-01 5.11530714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690418554999999 meters 0.1305886027779918 Centerline is valid? [False, False] Translation: X:-10.66, Y:-1.69, Z:0.52 [[ 9.99907225e-01 3.08601467e-03 1.32672048e-02 -1.06575611e+01] [-3.07176652e-03 9.99994683e-01 -1.09418099e-03 -1.68805120e+00] [-1.32705110e-02 1.05332572e-03 9.99911388e-01 5.16828196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720418554999998 meters 0.13489150759642657 Centerline is valid? [False, False] Translation: X:-10.66, Y:-1.69, Z:0.51 [[ 9.99858484e-01 7.96667782e-03 1.48170459e-02 -1.06587528e+01] [-8.01633335e-03 9.99962440e-01 3.29487493e-03 -1.68935623e+00] [-1.47902401e-02 -3.41318703e-03 9.99884793e-01 5.13980701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.750418555 meters 0.12988896708635794 Centerline is valid? [False, False] Translation: X:-10.71, Y:-1.70, Z:0.50 [[ 9.99506685e-01 -1.47097259e-02 2.77490603e-02 -1.07104556e+01] [ 1.46363723e-02 9.99888836e-01 2.84473518e-03 -1.69539376e+00] [-2.77878209e-02 -2.43718625e-03 9.99610873e-01 4.98406186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780418554999999 meters 0.11051420822207521 Centerline is valid? [False, False] Translation: X:-10.67, Y:-1.68, Z:0.51 [[ 9.99537578e-01 -2.90102884e-02 9.11223004e-03 -1.06706382e+01] [ 2.89211899e-02 9.99534025e-01 9.76207343e-03 -1.67813034e+00] [-9.39118453e-03 -9.49402270e-03 9.99910831e-01 5.07980491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.810418554999998 meters 0.09896814397744244 Centerline is valid? [False, True] Translation: X:-10.65, Y:-1.68, Z:0.53 [[ 9.99927857e-01 -6.80269079e-03 -9.89966756e-03 -1.06486567e+01] [ 6.84485974e-03 9.99967618e-01 4.23200311e-03 -1.68068201e+00] [ 9.87055799e-03 -4.29945963e-03 9.99942042e-01 5.32870748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840418555 meters 0.09583274865939032 Centerline is valid? [True, True] Translation: X:-10.68, Y:-1.70, Z:0.55 [[ 9.99994779e-01 -2.25064462e-03 -2.31868889e-03 -1.06756088e+01] [ 2.24951366e-03 9.99997350e-01 -4.90249788e-04 -1.70128244e+00] [ 2.31978612e-03 4.85031306e-04 9.99997192e-01 5.48595754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.870418554999999 meters 0.09990124983627058 Centerline is valid? [True, True] Translation: X:-10.71, Y:-1.69, Z:0.55 [[ 9.99996540e-01 5.08652491e-04 -2.58083392e-03 -1.07085335e+01] [-5.10060482e-04 9.99999721e-01 -5.44927670e-04 -1.69318561e+00] [ 2.58055602e-03 5.46242166e-04 9.99996521e-01 5.45524832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900418555 meters 0.09648027603648465 Centerline is valid? [True, True] Translation: X:-10.73, Y:-1.70, Z:0.53 [[ 9.99972775e-01 5.73281064e-03 -4.64588777e-03 -1.07348678e+01] [-5.73743649e-03 9.99983058e-01 -9.82971653e-04 -1.70355483e+00] [ 4.64017387e-03 1.00960038e-03 9.99988725e-01 5.30437507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930418555 meters 0.10083801728027848 Centerline is valid? [True, False] Translation: X:-10.74, Y:-1.70, Z:0.53 [[ 9.99987548e-01 2.51531428e-03 -4.31010597e-03 -1.07364962e+01] [-2.53260911e-03 9.99988745e-01 -4.01187422e-03 -1.70462740e+00] [ 4.29996633e-03 4.02274008e-03 9.99982664e-01 5.31661142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960418554999999 meters 0.09876176401938702 Centerline is valid? [False, True] Translation: X:-10.75, Y:-1.71, Z:0.54 [[ 9.99992775e-01 -3.16710880e-04 -3.78799569e-03 -1.07456071e+01] [ 2.94642332e-04 9.99982991e-01 -5.82505692e-03 -1.70749965e+00] [ 3.78977612e-03 5.82389873e-03 9.99975860e-01 5.39524243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990418555 meters 0.1001947684948342 Centerline is valid? [True, False] Translation: X:-10.75, Y:-1.71, Z:0.54 [[ 9.99993405e-01 -2.14230809e-03 -2.93278253e-03 -1.07529360e+01] [ 2.12146040e-03 9.99972592e-01 -7.09325140e-03 -1.70847262e+00] [ 2.94789808e-03 7.08698283e-03 9.99970542e-01 5.44959365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020418555 meters 0.1087801815532592 Centerline is valid? [False, False] Translation: X:-10.77, Y:-1.71, Z:0.54 [[ 9.99961984e-01 -8.59579694e-03 1.46361132e-03 -1.07733729e+01] [ 8.60570696e-03 9.99939130e-01 -6.90489664e-03 -1.70922889e+00] [-1.40416914e-03 6.91722956e-03 9.99975090e-01 5.43786573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050418554999998 meters 0.0991137352811281 Centerline is valid? [False, True] Translation: X:-10.82, Y:-1.72, Z:0.54 [[ 9.99865053e-01 -1.61665602e-02 2.91867499e-03 -1.08214274e+01] [ 1.61605140e-02 9.99867240e-01 2.08339537e-03 -1.71562277e+00] [-2.95196884e-03 -2.03594693e-03 9.99993570e-01 5.44411659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080418555 meters 0.09131386085463715 Centerline is valid? [True, True] Translation: X:-10.85, Y:-1.75, Z:0.56 [[ 9.99668292e-01 -2.32223811e-02 1.11367002e-02 -1.08451785e+01] [ 2.31934996e-02 9.99727306e-01 2.71555664e-03 -1.74814967e+00] [-1.11967250e-02 -2.45635682e-03 9.99934298e-01 5.60635329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110418554999999 meters 0.09344053622539773 Centerline is valid? [True, True] Translation: X:-10.88, Y:-1.74, Z:0.57 [[ 9.99581063e-01 -2.56710234e-02 1.33677971e-02 -1.08779552e+01] [ 2.56296238e-02 9.99666194e-01 3.25915748e-03 -1.74488106e+00] [-1.34470008e-02 -2.91518049e-03 9.99905335e-01 5.71407902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140418554999998 meters 0.0943381581223679 Centerline is valid? [True, True] Translation: X:-10.91, Y:-1.75, Z:0.57 [[ 9.99572323e-01 -2.66796867e-02 1.19735076e-02 -1.09080561e+01] [ 2.66465452e-02 9.99640656e-01 2.91898032e-03 -1.74687199e+00] [-1.20470825e-02 -2.59867933e-03 9.99924054e-01 5.65263851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170418555 meters 0.09741330443984157 Centerline is valid? [True, True] Translation: X:-10.94, Y:-1.75, Z:0.57 [[ 9.99671088e-01 -2.30981696e-02 1.11441094e-02 -1.09388304e+01] [ 2.30692461e-02 9.99730177e-01 2.71702868e-03 -1.74818434e+00] [-1.12038609e-02 -2.45904882e-03 9.99934211e-01 5.65027294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200418554999999 meters 0.08969927363388648 Centerline is valid? [True, True] Translation: X:-10.96, Y:-1.77, Z:0.56 [[ 9.99668978e-01 -2.41216425e-02 8.94884250e-03 -1.09629483e+01] [ 2.41030435e-02 9.99707102e-01 2.18044278e-03 -1.77248130e+00] [-8.99881726e-03 -1.96402667e-03 9.99957581e-01 5.63125205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230418554999998 meters 0.09248962140566337 Centerline is valid? [True, True] Translation: X:-10.99, Y:-1.77, Z:0.56 [[ 9.99726635e-01 -2.17004422e-02 8.70327758e-03 -1.09938717e+01] [ 2.16827517e-02 9.99762650e-01 2.12186712e-03 -1.77386462e+00] [-8.74725731e-03 -1.93257607e-03 9.99959875e-01 5.61942803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260418555 meters 0.09351178200490029 Centerline is valid? [True, True] Translation: X:-11.02, Y:-1.78, Z:0.56 [[ 9.99799575e-01 -1.84024003e-02 7.88427267e-03 -1.10239676e+01] [ 1.83877885e-02 9.99829083e-01 1.92179298e-03 -1.78099963e+00] [-7.91829072e-03 -1.77643347e-03 9.99967072e-01 5.60346857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290418554999999 meters 0.09343118754368444 Centerline is valid? [True, True] Translation: X:-11.05, Y:-1.78, Z:0.56 [[ 9.99867349e-01 -1.51465543e-02 5.98885123e-03 -1.10543974e+01] [ 1.51380691e-02 9.99884347e-01 1.45963573e-03 -1.77886470e+00] [-6.01026705e-03 -1.36878246e-03 9.99981001e-01 5.57943899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320418555 meters 0.09457741702403091 Centerline is valid? [True, True] Translation: X:-11.09, Y:-1.77, Z:0.55 [[ 9.99921202e-01 -1.11131226e-02 5.83845442e-03 -1.10867796e+01] [ 1.11049924e-02 9.99937325e-01 1.42310893e-03 -1.77056913e+00] [-5.85390368e-03 -1.35816080e-03 9.99981943e-01 5.46826154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.350418555 meters 0.09186811605771272 Centerline is valid? [True, True] Translation: X:-11.11, Y:-1.78, Z:0.54 [[ 9.99881626e-01 -1.20882075e-02 9.51885994e-03 -1.11135171e+01] [ 1.20666799e-02 9.99924513e-01 2.31577137e-03 -1.77773857e+00] [-9.54613492e-03 -2.20063621e-03 9.99952013e-01 5.43010758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380418554999999 meters 0.09140094908216102 Centerline is valid? [True, True] Translation: X:-11.14, Y:-1.79, Z:0.55 [[ 9.99881650e-01 -9.07715227e-03 1.24214274e-02 -1.11426983e+01] [ 9.04020723e-03 9.99954554e-01 3.02722324e-03 -1.78680080e+00] [-1.24483414e-02 -2.91457269e-03 9.99918269e-01 5.49376987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.410418555 meters 0.09020333127025933 Centerline is valid? [True, True] Translation: X:-11.17, Y:-1.79, Z:0.54 [[ 9.99908126e-01 -9.87917882e-03 9.28123460e-03 -1.11720246e+01] [ 9.85857394e-03 9.99948842e-01 2.26319320e-03 -1.79030481e+00] [-9.30311828e-03 -2.17148553e-03 9.99954367e-01 5.40655951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440418554999999 meters 0.09440729624408073 Centerline is valid? [True, True] Translation: X:-11.20, Y:-1.79, Z:0.54 [[ 9.99945855e-01 -4.17108174e-03 9.53361587e-03 -1.12044341e+01] [ 4.14910753e-03 9.99988693e-01 2.32353591e-03 -1.78860237e+00] [-9.54319973e-03 -2.28385410e-03 9.99951855e-01 5.43035825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.470418554999998 meters 0.09272603882578774 Centerline is valid? [True, True] Translation: X:-11.23, Y:-1.80, Z:0.53 [[ 9.99975315e-01 -1.46903983e-03 6.87100707e-03 -1.12322404e+01] [ 1.45756572e-03 9.99997536e-01 1.67464125e-03 -1.79550265e+00] [-6.87345025e-03 -1.66458497e-03 9.99974992e-01 5.34075002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500418555 meters 0.09108853347828491 Centerline is valid? [True, True] Translation: X:-11.26, Y:-1.81, Z:0.54 [[ 9.99971127e-01 -2.77993227e-04 7.59391214e-03 -1.12604357e+01] [ 2.63945611e-04 9.99998252e-01 1.85079187e-03 -1.80803114e+00] [-7.59441338e-03 -1.84873405e-03 9.99969453e-01 5.35982129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530418554999999 meters 0.0904515127517147 Centerline is valid? [True, True] Translation: X:-11.29, Y:-1.81, Z:0.53 [[ 9.99956727e-01 -4.47831733e-03 8.15409475e-03 -1.12915927e+01] [ 4.46225124e-03 9.99988069e-01 1.98743844e-03 -1.80835932e+00] [-8.16289784e-03 -1.95096682e-03 9.99964780e-01 5.33325068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560418554999998 meters 0.09000317739843382 Centerline is valid? [True, True] Translation: X:-11.32, Y:-1.81, Z:0.53 [[ 9.99971115e-01 4.53747664e-03 6.09764844e-03 -1.13205887e+01] [-4.54661881e-03 9.99988560e-01 1.48626889e-03 -1.81132911e+00] [-6.09083477e-03 -1.51394964e-03 9.99980305e-01 5.25413238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590418555 meters 0.08672394912860441 Centerline is valid? [True, True] Translation: X:-11.35, Y:-1.83, Z:0.52 [[ 9.99926850e-01 1.05679835e-02 5.88323012e-03 -1.13468969e+01] [-1.05765890e-02 9.99943039e-01 1.43353030e-03 -1.82512009e+00] [-5.86774548e-03 -1.49564994e-03 9.99981666e-01 5.19412859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620418554999999 meters 0.08915761900256922 Centerline is valid? [True, True] Translation: X:-11.38, Y:-1.82, Z:0.51 [[ 9.99923798e-01 1.17190131e-02 3.88097465e-03 -1.13792433e+01] [-1.17227669e-02 9.99930839e-01 9.45897905e-04 -1.81973668e+00] [-3.86962125e-03 -9.91321588e-04 9.99992022e-01 5.14047498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.650418555 meters 0.08683229337592466 Centerline is valid? [True, True] Translation: X:-11.41, Y:-1.83, Z:0.50 [[ 9.99882772e-01 1.53101007e-02 2.08772683e-04 -1.14076075e+01] [-1.53101116e-02 9.99882792e-01 5.08372735e-05 -1.82640327e+00] [-2.07969889e-04 -5.40276470e-05 9.99999977e-01 5.03596654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680418555 meters 0.08971677258575336 Centerline is valid? [True, True] Translation: X:-11.44, Y:-1.83, Z:0.50 [[ 9.99832310e-01 1.81673379e-02 -2.30204031e-03 -1.14387687e+01] [-1.81686729e-02 9.99834779e-01 -5.60346277e-04 -1.82757384e+00] [ 2.29147997e-03 6.02077330e-04 9.99997193e-01 4.97222496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710418554999999 meters 0.08797580575244597 Centerline is valid? [True, True] Translation: X:-11.47, Y:-1.84, Z:0.49 [[ 9.99722900e-01 2.22421315e-02 -7.70783075e-03 -1.14664898e+01] [-2.22572373e-02 9.99750510e-01 -1.87958318e-03 -1.83718928e+00] [ 7.66410179e-03 2.05061736e-03 9.99968528e-01 4.93504261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740418555 meters 0.09396772913390598 Centerline is valid? [True, True] Translation: X:-11.50, Y:-1.83, Z:0.47 [[ 9.98505405e-01 5.01845736e-02 -2.16440511e-02 -1.14970806e+01] [-5.03096873e-02 9.98719736e-01 -5.27491851e-03 -1.83478163e+00] [ 2.13516214e-02 6.35594009e-03 9.99751824e-01 4.73835386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.770418555 meters 0.09932654231272071 Centerline is valid? [True, True] Translation: X:-11.53, Y:-1.84, Z:0.45 [[ 9.93959833e-01 1.00739323e-01 -4.35366532e-02 -1.15268499e+01] [-1.01289289e-01 9.94800427e-01 -1.06109044e-02 -1.83602869e+00] [ 4.22413458e-02 1.49566094e-02 9.98995480e-01 4.50251259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800418554999998 meters 0.10315221367866555 Centerline is valid? [True, False] Translation: X:-11.55, Y:-1.82, Z:0.40 [[ 9.98446060e-01 5.57180259e-02 -9.82874328e-04 -1.15477134e+01] [-5.57257653e-02 9.98375946e-01 -1.18367788e-02 -1.81764865e+00] [ 3.21756138e-04 1.18731566e-02 9.99929460e-01 4.02689528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830418555 meters 0.09230413512768713 Centerline is valid? [False, True] Translation: X:-11.57, Y:-1.80, Z:0.40 [[ 9.99862708e-01 -1.09299732e-03 1.65338940e-02 -1.15731224e+01] [ 9.96357335e-04 9.99982380e-01 5.85207065e-03 -1.80284204e+00] [-1.65399989e-02 -5.83479354e-03 9.99846180e-01 4.00967994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860418554999999 meters 0.09268581326870567 Centerline is valid? [True, True] Translation: X:-11.60, Y:-1.81, Z:0.45 [[ 9.97358314e-01 -6.83234456e-02 2.46637623e-02 -1.16038982e+01] [ 6.81587101e-02 9.97646598e-01 7.46021258e-03 -1.81049942e+00] [-2.51154260e-02 -5.75945481e-03 9.99667967e-01 4.52100345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890418554999998 meters 0.08247061962546498 Centerline is valid? [True, True] Translation: X:-11.62, Y:-1.85, Z:0.46 [[ 9.97920919e-01 -5.93543659e-02 2.51176944e-02 -1.16239034e+01] [ 5.91808475e-02 9.98218371e-01 7.59674658e-03 -1.84629065e+00] [-2.55238441e-02 -6.09446589e-03 9.99655636e-01 4.63104538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920418555 meters 0.08028640641327393 Centerline is valid? [True, True] Translation: X:-11.65, Y:-1.86, Z:0.46 [[ 9.99105432e-01 -2.99388909e-02 2.98663603e-02 -1.16524763e+01] [ 2.96812562e-02 9.99518601e-01 9.03270722e-03 -1.85740039e+00] [-3.01224119e-02 -8.13815576e-03 9.99513087e-01 4.56444575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950418554999999 meters 0.08672915486154857 Centerline is valid? [True, True] Translation: X:-11.69, Y:-1.84, Z:0.41 [[ 9.99803954e-01 1.65083987e-02 1.09327849e-02 -1.16874106e+01] [-1.65454443e-02 9.99857647e-01 3.30674727e-03 -1.84415668e+00] [-1.08766395e-02 -3.48698678e-03 9.99934768e-01 4.12685172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980418554999998 meters 0.09265906535251897 Centerline is valid? [True, True] Translation: X:-11.72, Y:-1.85, Z:0.40 [[ 9.98855138e-01 4.78268069e-02 -1.00443322e-03 -1.17184124e+01] [-4.78271335e-02 9.98855582e-01 -3.03612283e-04 -1.84598438e+00] [ 9.88762925e-04 3.51303851e-04 9.99999449e-01 4.00375259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010418555 meters 0.09053331689238052 Centerline is valid? [True, True] Translation: X:-11.75, Y:-1.86, Z:0.38 [[ 9.98276925e-01 5.74472910e-02 -1.19578033e-02 -1.17455312e+01] [-5.74942019e-02 9.98339289e-01 -3.61667311e-03 -1.85714375e+00] [ 1.17301768e-02 4.29794567e-03 9.99921962e-01 3.82147945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040418554999999 meters 0.08731972296990848 Centerline is valid? [True, True] Translation: X:-11.78, Y:-1.85, Z:0.37 [[ 9.99933960e-01 -6.75401077e-03 9.29830264e-03 -1.17798071e+01] [ 6.72812016e-03 9.99973410e-01 2.81291501e-03 -1.84859885e+00] [-9.31705385e-03 -2.75016915e-03 9.99952813e-01 3.71028364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070418555 meters 0.08863481872753384 Centerline is valid? [True, True] Translation: X:-11.81, Y:-1.85, Z:0.39 [[ 9.98558711e-01 -4.98085827e-02 1.99901176e-02 -1.18112219e+01] [ 4.96968821e-02 9.98746044e-01 6.04650397e-03 -1.85209582e+00] [-2.02662187e-02 -5.04434270e-03 9.99781894e-01 3.89862764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100418555 meters 0.0779927110418982 Centerline is valid? [True, True] Translation: X:-11.83, Y:-1.89, Z:0.42 [[ 9.97458482e-01 -6.43087799e-02 3.06750241e-02 -1.18318347e+01] [ 6.40521365e-02 9.97903423e-01 9.27806180e-03 -1.88887046e+00] [-3.12073724e-02 -7.28968061e-03 9.99486348e-01 4.21021413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130418554999999 meters 0.07182842382863815 Centerline is valid? [True, True] Translation: X:-11.85, Y:-1.93, Z:0.46 [[ 9.96785176e-01 -6.54156389e-02 4.62613011e-02 -1.18518644e+01] [ 6.48327485e-02 9.97798049e-01 1.39917024e-02 -1.92756663e+00] [-4.70747121e-02 -1.09474743e-02 9.98831379e-01 4.59586370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160418555 meters 0.06614697846228308 Centerline is valid? [True, True] Translation: X:-11.87, Y:-1.96, Z:0.49 [[ 0.99606209 -0.06994113 0.05448449 -11.87338966] [ 0.06913863 0.99747094 0.0164796 -1.95948201] [ -0.05549929 -0.01264772 0.99837862 0.48514998] [ 0. 0. 0. 1. ]] SLAMing on 14.190418554999999 meters 0.06461454731210536 Centerline is valid? [True, True] Translation: X:-11.90, Y:-1.96, Z:0.48 [[ 0.99610489 -0.06873466 0.05523225 -11.90350989] [ 0.06790831 0.99755173 0.0167036 -1.96201157] [ -0.05624514 -0.01288781 0.99833381 0.48297952] [ 0. 0. 0. 1. ]] SLAMing on 14.220418554999998 meters 0.06552523252529503 Centerline is valid? [True, True] Translation: X:-11.94, Y:-1.96, Z:0.47 [[ 0.99640871 -0.06342772 0.05609463 -11.93561642] [ 0.06256738 0.99789655 0.01696468 -1.95890156] [ -0.05705267 -0.01339406 0.99828132 0.47247993] [ 0. 0. 0. 1. ]] SLAMing on 14.250418555 meters 0.06340010954588135 Centerline is valid? [True, True] Translation: X:-11.96, Y:-1.97, Z:0.48 [[ 0.99607665 -0.06236851 0.06278121 -11.96441087] [ 0.06128842 0.99793949 0.01898712 -1.96872114] [ -0.06383605 -0.01506486 0.99784669 0.47645089] [ 0. 0. 0. 1. ]] SLAMing on 14.280418554999999 meters 0.06356174750309962 Centerline is valid? [True, True] Translation: X:-12.00, Y:-1.97, Z:0.47 [[ 0.99667719 -0.0528156 0.06200875 -11.99625093] [ 0.05174459 0.99848425 0.01875368 -1.96529451] [ -0.06290524 -0.01548275 0.9978994 0.47064041] [ 0. 0. 0. 1. ]] SLAMing on 14.310418554999998 meters 0.06356174750309962 Centerline is valid? [True, True] Translation: X:-12.03, Y:-1.97, Z:0.47 [[ 0.99666342 -0.05308259 0.06200208 -12.02874885] [ 0.05201078 0.99847001 0.01877569 -1.97497717] [ -0.06290388 -0.01548827 0.9978994 0.46991306] [ 0. 0. 0. 1. ]] SLAMing on 14.340418555 meters 0.06862508489752572 Centerline is valid? [True, True] Translation: X:-12.06, Y:-1.97, Z:0.46 [[ 0.9982513 -0.02125794 0.05515838 -12.06251821] [ 0.02036512 0.99965315 0.01669847 -1.96740112] [ -0.05549422 -0.01554596 0.99833798 0.45974672] [ 0. 0. 0. 1. ]] SLAMing on 14.370418554999999 meters 0.06366310088299104 Centerline is valid? [True, True] Translation: X:-12.09, Y:-1.98, Z:0.44 [[ 0.99873107 -0.01374905 0.04844796 -12.08987842] [ 0.01305238 0.99980724 0.01466695 -1.9777458 ] [ -0.04864028 -0.01401598 0.99871802 0.44140949] [ 0. 0. 0. 1. ]] SLAMing on 14.400418554999998 meters 0.07130407179184747 Centerline is valid? [True, True] Translation: X:-12.13, Y:-1.96, Z:0.44 [[ 0.99880029 -0.02073991 0.04436035 -12.1269485 ] [ 0.02016224 0.99970651 0.0134302 -1.9610863 ] [ -0.04462587 -0.01251969 0.99892532 0.44143244] [ 0. 0. 0. 1. ]] SLAMing on 14.430418555 meters 0.06683775169536396 Centerline is valid? [True, True] Translation: X:-12.15, Y:-1.98, Z:0.44 [[ 9.98640514e-01 -3.14299996e-02 4.15845886e-02 -1.21525473e+01] [ 3.09309615e-02 9.99442226e-01 1.25901786e-02 -1.98038178e+00] [-4.19571031e-02 -1.12868111e-02 9.99055659e-01 4.40782598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460418554999999 meters 0.07258431524929536 Centerline is valid? [True, True] Translation: X:-12.18, Y:-2.00, Z:0.44 [[ 9.97451170e-01 7.11548270e-02 -5.30601690e-03 -1.21775373e+01] [-7.11642385e-02 9.97463318e-01 -1.60632865e-03 -2.00326358e+00] [ 5.17825919e-03 1.97983304e-03 9.99984633e-01 4.38254253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490418555 meters 0.10613076183314062 Centerline is valid? [True, False] Translation: X:-12.16, Y:-1.93, Z:0.26 [[ 9.99845290e-01 1.75556482e-02 1.09328717e-03 -1.21559327e+01] [-1.74347232e-02 9.97353703e-01 -7.05806012e-02 -1.93411365e+00] [-2.32948221e-03 7.05506205e-02 9.97505480e-01 2.59737784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520418555 meters 0.0830568995060898 Centerline is valid? [False, True] Translation: X:-12.21, Y:-1.94, Z:0.23 [[ 0.99917122 -0.02605235 0.03127547 -12.20837373] [ 0.02715255 0.99900839 -0.03528431 -1.944161 ] [ -0.03032522 0.03610428 0.99888781 0.2293075 ] [ 0. 0. 0. 1. ]] SLAMing on 14.550418554999998 meters 0.06520606285842685 Centerline is valid? [True, True] Translation: X:-12.23, Y:-1.97, Z:0.27 [[ 0.99295954 -0.08396719 0.0835516 -12.22921297] [ 0.08174589 0.99621156 0.029667 -1.97420153] [ -0.08572612 -0.02262813 0.99606174 0.26778549] [ 0. 0. 0. 1. ]] SLAMing on 14.580418555 meters 0.07085462188009514 Centerline is valid? [True, True] Translation: X:-12.25, Y:-1.99, Z:0.33 [[ 0.99155481 -0.09604639 0.08714442 -12.25411312] [ 0.09367253 0.99512212 0.03094212 -1.99346622] [ -0.08969122 -0.02251777 0.99571504 0.33314841] [ 0. 0. 0. 1. ]] SLAMing on 14.610418554999999 meters 0.07342086907499173 Centerline is valid? [True, True] Translation: X:-12.27, Y:-2.04, Z:0.38 [[ 0.99164957 -0.10716564 0.07174021 -12.26760027] [ 0.10558594 0.99408389 0.0254722 -2.04202959] [ -0.07404554 -0.01768474 0.99709804 0.37770944] [ 0. 0. 0. 1. ]] SLAMing on 14.640418554999998 meters 0.06562280765626435 Centerline is valid? [True, True] Translation: X:-12.28, Y:-2.08, Z:0.40 [[ 0.99030451 -0.11926587 0.07122242 -12.2833391 ] [ 0.11773841 0.99272262 0.02528764 -2.08491874] [ -0.07372006 -0.01665685 0.99713986 0.39663765] [ 0. 0. 0. 1. ]] SLAMing on 14.670418555 meters 0.0738193900017183 Centerline is valid? [True, True] Translation: X:-12.32, Y:-2.06, Z:0.38 [[ 0.99162797 -0.11243631 0.06349835 -12.32333144] [ 0.11120968 0.99354124 0.02254358 -2.06346115] [ -0.06562295 -0.01529322 0.99772729 0.38079514] [ 0. 0. 0. 1. ]] SLAMing on 14.700418554999999 meters 0.07907359686309888 Centerline is valid? [True, True] Translation: X:-12.36, Y:-2.06, Z:0.38 [[ 0.99187203 -0.11150437 0.06129155 -12.35592861] [ 0.11036112 0.99365371 0.02174237 -2.05501238] [ -0.06332695 -0.01480144 0.99788307 0.37856703] [ 0. 0. 0. 1. ]] SLAMing on 14.730418554999998 meters 0.07222989211134846 Centerline is valid? [True, True] Translation: X:-12.38, Y:-2.08, Z:0.37 [[ 0.99256497 -0.10864525 0.05487242 -12.37794492] [ 0.10772531 0.99399018 0.01946219 -2.08059009] [ -0.05665712 -0.01340634 0.99830368 0.36501396] [ 0. 0. 0. 1. ]] SLAMing on 14.760418555 meters 0.0778601593575318 Centerline is valid? [True, True] Translation: X:-12.41, Y:-2.07, Z:0.36 [[ 9.93376274e-01 -1.04287583e-01 4.82460105e-02 -1.24143687e+01] [ 1.03571845e-01 9.94474772e-01 1.71113937e-02 -2.06840472e+00] [-4.97639462e-02 -1.20011242e-02 9.98688902e-01 3.56837549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790418554999999 meters 0.0864147963645454 Centerline is valid? [True, True] Translation: X:-12.46, Y:-2.04, Z:0.33 [[ 9.95156033e-01 -9.28494338e-02 3.23025188e-02 -1.24562102e+01] [ 9.25231617e-02 9.95644628e-01 1.14559908e-02 -2.04193439e+00] [-3.32255116e-02 -8.41176723e-03 9.99412481e-01 3.27590673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820418555 meters 0.10141702906913576 Centerline is valid? [True, False] Translation: X:-12.38, Y:-2.01, Z:0.28 [[ 9.99128773e-01 -3.57706842e-02 -2.14977480e-02 -1.23786974e+01] [ 3.55081865e-02 9.99291574e-01 -1.24707261e-02 -2.00855980e+00] [ 2.19286048e-02 1.16965152e-02 9.99691116e-01 2.78671632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850418555 meters 0.14265165867366367 Centerline is valid? [False, False] Translation: X:-12.39, Y:-2.00, Z:0.22 [[ 9.99505401e-01 -1.21731817e-02 -2.89959743e-02 -1.23939160e+01] [ 1.09880201e-02 9.99111492e-01 -4.06877248e-02 -1.99733002e+00] [ 2.94655102e-02 4.03489923e-02 9.98751091e-01 2.15481169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880418554999999 meters 0.21490972014290408 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.99, Z:0.12 [[ 0.99956859 0.0141523 -0.02573628 -12.40848647] [ -0.01611065 0.99685823 -0.07755071 -1.99183562] [ 0.0245579 0.07793188 0.99665618 0.11977353] [ 0. 0. 0. 1. ]] SLAMing on 14.910418555 meters 0.32484549277376573 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.98, Z:-0.03 [[ 0.99929888 -0.02368852 -0.028993 -12.43251026] [ 0.01821136 0.98414953 -0.17640311 -1.9801773 ] [ 0.03271218 0.17575143 0.98389092 -0.02732464] [ 0. 0. 0. 1. ]] SLAMing on 14.940418554999999 meters 0.43504468883860875 Centerline is valid? [False, False] Translation: X:-12.44, Y:-1.94, Z:-0.20 [[ 0.99377841 -0.1071428 -0.03041203 -12.43536471] [ 0.09377103 0.952238 -0.29060246 -1.93717697] [ 0.06009545 0.28594268 0.95636045 -0.20036588] [ 0. 0. 0. 1. ]] SLAMing on 14.970418554999998 meters 0.3602008718065653 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.92, Z:-0.25 [[ 0.98659295 -0.14671585 -0.07147593 -12.41284124] [ 0.12610558 0.96334687 -0.23677033 -1.9168268 ] [ 0.10359408 0.22458242 0.96893292 -0.2511208 ] [ 0. 0. 0. 1. ]] SLAMing on 15.000418555 meters 0.3462690318996717 Centerline is valid? [False, False] Translation: X:-12.45, Y:-1.92, Z:-0.22 [[ 0.98908656 -0.12588642 -0.07655314 -12.44799783] [ 0.11462374 0.9839151 -0.13701265 -1.91999861] [ 0.09256983 0.12674256 0.98760678 -0.22448165] [ 0. 0. 0. 1. ]] SLAMing on 15.030418554999999 meters 0.30328033285329326 Centerline is valid? [False, False] Translation: X:-12.48, Y:-1.93, Z:-0.14 [[ 0.99195384 -0.10075894 -0.07664993 -12.47528264] [ 0.09924176 0.99478908 -0.02336139 -1.92674876] [ 0.07860438 0.01556655 0.99678435 -0.14403366] [ 0. 0. 0. 1. ]] SLAMing on 15.060418554999998 meters 0.11759516080584648 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.93, Z:0.02 [[ 0.99548741 -0.07397483 -0.05943512 -12.50595709] [ 0.07935387 0.99241202 0.09392201 -1.93289555] [ 0.05203627 -0.09821458 0.99380387 0.0201007 ] [ 0. 0. 0. 1. ]] SLAMing on 15.090418555 meters 0.11122670246909384 Centerline is valid? [False, False] Translation: X:-12.50, Y:-1.95, Z:0.08 [[ 0.99629453 -0.0674951 -0.05330683 -12.50469163] [ 0.07205683 0.99343235 0.08888185 -1.94723188] [ 0.04695764 -0.09239362 0.9946147 0.08485278] [ 0. 0. 0. 1. ]] SLAMing on 15.120418554999999 meters 0.12442258848463408 Centerline is valid? [False, False] Translation: X:-12.51, Y:-1.97, Z:0.13 [[ 0.99688308 -0.05597586 -0.0555953 -12.50999148] [ 0.05939544 0.99631413 0.06188969 -1.96678622] [ 0.05192606 -0.06499889 0.99653341 0.12734441] [ 0. 0. 0. 1. ]] SLAMing on 15.150418554999998 meters 0.10955915043820406 Centerline is valid? [False, False] Translation: X:-12.52, Y:-1.99, Z:0.14 [[ 0.99637164 -0.03468963 -0.07771868 -12.52424743] [ 0.0367973 0.99898828 0.02585296 -1.98522144] [ 0.07674322 -0.02861899 0.99664007 0.13913595] [ 0. 0. 0. 1. ]] SLAMing on 15.180418555 meters 0.13721824547055284 Centerline is valid? [False, False] Translation: X:-12.54, Y:-1.99, Z:0.13 [[ 9.95325633e-01 -3.41996137e-02 -9.03176051e-02 -1.25378737e+01] [ 3.47113263e-02 9.99388968e-01 4.10059816e-03 -1.99220044e+00] [ 9.01221793e-02 -7.21647432e-03 9.95904571e-01 1.34564201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210418554999999 meters 0.15057053351742825 Centerline is valid? [False, False] Translation: X:-12.56, Y:-1.99, Z:0.10 [[ 0.99206956 -0.06941143 -0.1047857 -12.56419677] [ 0.06721806 0.99744175 -0.02432457 -1.99266834] [ 0.10620604 0.01708817 0.9941973 0.09866809] [ 0. 0. 0. 1. ]] SLAMing on 15.240418555 meters 0.1690964977404873 Centerline is valid? [False, False] Translation: X:-12.60, Y:-2.00, Z:0.08 [[ 0.98768558 -0.07747691 -0.13592105 -12.59615143] [ 0.07295714 0.99661346 -0.03793246 -2.00016653] [ 0.13839964 0.02754893 0.98999323 0.08373442] [ 0. 0. 0. 1. ]] SLAMing on 15.270418555 meters 0.1822996798269592 Centerline is valid? [False, False] Translation: X:-12.62, Y:-2.00, Z:0.07 [[ 0.98522445 -0.08405011 -0.14922585 -12.62178313] [ 0.07754151 0.99578814 -0.04892122 -2.00015505] [ 0.15270917 0.03662719 0.9875922 0.06819868] [ 0. 0. 0. 1. ]] SLAMing on 15.300418554999998 meters 0.19313023207985028 Centerline is valid? [False, False] Translation: X:-12.64, Y:-2.00, Z:0.06 [[ 0.98451556 -0.09076704 -0.14996816 -12.64009509] [ 0.08216636 0.99465089 -0.06259632 -2.00037249] [ 0.15484765 0.04930472 0.98670728 0.05554717] [ 0. 0. 0. 1. ]] SLAMing on 15.330418555 meters 0.17126037298859292 Centerline is valid? [False, False] Translation: X:-12.68, Y:-2.02, Z:0.05 [[ 0.98423509 -0.09443296 -0.14954498 -12.67937128] [ 0.08538804 0.99417234 -0.06580453 -2.01529862] [ 0.1548876 0.05199777 0.98656275 0.04630711] [ 0. 0. 0. 1. ]] SLAMing on 15.360418554999999 meters 0.16831471643899876 Centerline is valid? [False, False] Translation: X:-12.71, Y:-2.02, Z:0.05 [[ 0.98533309 -0.08960302 -0.14522394 -12.7125272 ] [ 0.08309832 0.99527279 -0.05026665 -2.02442014] [ 0.14904148 0.03746152 0.98812108 0.04575061] [ 0. 0. 0. 1. ]] SLAMing on 15.390418554999998 meters 0.14464859195494012 Centerline is valid? [False, False] Translation: X:-12.75, Y:-2.03, Z:0.07 [[ 0.98711592 -0.08403795 -0.13616089 -12.74514858] [ 0.08093687 0.99632126 -0.0281632 -2.03199164] [ 0.13802677 0.01677991 0.99028635 0.06941707] [ 0. 0. 0. 1. ]] SLAMing on 15.420418555 meters 0.13696472358608378 Centerline is valid? [False, False] Translation: X:-12.79, Y:-2.04, Z:0.09 [[ 9.90460394e-01 -6.66988259e-02 -1.20579744e-01 -1.27929537e+01] [ 6.66097888e-02 9.97767684e-01 -4.77340015e-03 -2.04157413e+00] [ 1.20628952e-01 -3.30392749e-03 9.92692168e-01 9.43420804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450418554999999 meters 0.13833674943461713 Centerline is valid? [False, False] Translation: X:-12.83, Y:-2.05, Z:0.11 [[ 9.89780699e-01 -7.06574757e-02 -1.23861575e-01 -1.28316998e+01] [ 7.10853411e-02 9.97469768e-01 -9.67187051e-04 -2.04780130e+00] [ 1.23616516e-01 -7.84743926e-03 9.92299035e-01 1.10427094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480418554999998 meters 0.13897380700279025 Centerline is valid? [False, False] Translation: X:-12.81, Y:-2.05, Z:0.13 [[ 0.98904581 -0.04570351 -0.14035516 -12.80587061] [ 0.0481478 0.99874116 0.01406718 -2.04578956] [ 0.13953556 -0.02067088 0.99000128 0.13246358] [ 0. 0. 0. 1. ]] SLAMing on 15.510418555 meters 0.11974277951563338 Centerline is valid? [False, False] Translation: X:-12.84, Y:-2.06, Z:0.19 [[ 0.993282 -0.04811529 -0.10524156 -12.84358099] [ 0.05215482 0.9979909 0.03597273 -2.06319426] [ 0.10329928 -0.04121992 0.99379584 0.19347116] [ 0. 0. 0. 1. ]] SLAMing on 15.540418554999999 meters 0.1076972861298449 Centerline is valid? [False, False] Translation: X:-12.92, Y:-2.11, Z:0.32 [[ 0.99848818 -0.031808 -0.04482859 -12.91587612] [ 0.03491706 0.99690968 0.07036966 -2.11086634] [ 0.04245174 -0.07182856 0.99651317 0.31701321] [ 0. 0. 0. 1. ]] SLAMing on 15.570418555 meters 0.1061526725489932 Centerline is valid? [False, False] Translation: X:-12.97, Y:-2.13, Z:0.33 [[ 0.99858092 -0.0292812 -0.04448319 -12.97273618] [ 0.03169154 0.99801164 0.05448313 -2.12548485] [ 0.04279941 -0.05581555 0.99752335 0.32839908] [ 0. 0. 0. 1. ]] SLAMing on 15.600418555 meters 0.10900927912807439 Centerline is valid? [False, False] Translation: X:-13.04, Y:-2.14, Z:0.32 [[ 0.99836865 -0.02740509 -0.05008985 -13.03661811] [ 0.02885486 0.99917857 0.02845308 -2.13832059] [ 0.04926894 -0.029852 0.99833934 0.32030388] [ 0. 0. 0. 1. ]] SLAMing on 15.630418554999999 meters 0.11526728148219059 Centerline is valid? [False, False] Translation: X:-13.04, Y:-2.14, Z:0.31 [[ 0.99882434 -0.02094557 -0.04371756 -13.03525167] [ 0.02188119 0.99953929 0.02103373 -2.13595666] [ 0.04325686 -0.0219656 0.99882249 0.31452591] [ 0. 0. 0. 1. ]] SLAMing on 15.660418555 meters 0.11749319544083343 Centerline is valid? [False, False] Translation: X:-13.08, Y:-2.14, Z:0.32 [[ 9.99261161e-01 -2.63826898e-02 -2.79479266e-02 -1.30757045e+01] [ 2.66613370e-02 9.99597994e-01 9.64489358e-03 -2.14137775e+00] [ 2.76822332e-02 -1.03828966e-02 9.99562849e-01 3.21462642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690418554999999 meters 0.11796377605706797 Centerline is valid? [False, False] Translation: X:-13.12, Y:-2.15, Z:0.34 [[ 9.99346441e-01 -2.28407116e-02 -2.80177383e-02 -1.31206263e+01] [ 2.30276494e-02 9.99714549e-01 6.36767160e-03 -2.15340438e+00] [ 2.78642985e-02 -7.00869260e-03 9.99587144e-01 3.37620281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720418554999998 meters 0.11501558738856506 Centerline is valid? [False, False] Translation: X:-13.15, Y:-2.15, Z:0.34 [[ 9.98971641e-01 -3.39191449e-02 -3.00857428e-02 -1.31517205e+01] [ 3.41799395e-02 9.99382082e-01 8.19672440e-03 -2.15303695e+00] [ 2.97891263e-02 -9.21662410e-03 9.99513713e-01 3.35268290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.750418555 meters 0.10965457701468417 Centerline is valid? [False, False] Translation: X:-13.14, Y:-2.16, Z:0.33 [[ 0.99899538 -0.02876678 -0.03436132 -13.14286949] [ 0.02933754 0.9994379 0.01622343 -2.1573053 ] [ 0.03387531 -0.01721521 0.99927779 0.32577008] [ 0. 0. 0. 1. ]] SLAMing on 15.780418554999999 meters 0.10038987909614028 Centerline is valid? [False, False] Translation: X:-13.13, Y:-2.16, Z:0.31 [[ 0.99903441 -0.02168581 -0.03820964 -13.13016592] [ 0.02264468 0.99943485 0.02484358 -2.16116896] [ 0.0376493 -0.02568484 0.99896087 0.31473627] [ 0. 0. 0. 1. ]] SLAMing on 15.810418554999998 meters 0.08110157508346501 Centerline is valid? [False, True] Translation: X:-13.12, Y:-2.17, Z:0.31 [[ 0.99906384 -0.01983189 -0.03844665 -13.12312182] [ 0.02086001 0.99943041 0.02652755 -2.16796121] [ 0.03789866 -0.02730471 0.99890848 0.30935131] [ 0. 0. 0. 1. ]] SLAMing on 15.840418555 meters 0.07216449453167154 Centerline is valid? [True, True] Translation: X:-13.16, Y:-2.19, Z:0.34 [[ 9.98798743e-01 -2.74121789e-02 -4.06158063e-02 -1.31553537e+01] [ 2.74858870e-02 9.99621401e-01 1.25736092e-03 -2.18962135e+00] [ 4.05659621e-02 -2.37221197e-03 9.99174047e-01 3.39150228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.870418554999999 meters 0.04581797403756944 Centerline is valid? [True, True] Translation: X:-13.18, Y:-2.20, Z:0.34 [[ 9.98700654e-01 -3.53647338e-02 -3.66925097e-02 -1.31849364e+01] [ 3.54302100e-02 9.99371508e-01 1.13555850e-03 -2.19898832e+00] [ 3.66292900e-02 -2.43410634e-03 9.99325958e-01 3.40548160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900418554999998 meters 0.03759200625482052 Centerline is valid? [True, True] Translation: X:-13.21, Y:-2.20, Z:0.34 [[ 9.98749647e-01 -3.67909125e-02 -3.38462985e-02 -1.32145774e+01] [ 3.68474663e-02 9.99320352e-01 1.04845543e-03 -2.19661374e+00] [ 3.37847213e-02 -2.29429483e-03 9.99426500e-01 3.36880561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930418555 meters 0.03641109683328968 Centerline is valid? [True, True] Translation: X:-13.24, Y:-2.19, Z:0.32 [[ 9.98693299e-01 -2.12946600e-02 -4.64567705e-02 -1.32438173e+01] [ 2.13846113e-02 9.99770286e-01 1.44004229e-03 -2.18895941e+00] [ 4.64154335e-02 -2.43162057e-03 9.98919263e-01 3.21201715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960418554999999 meters 0.03529995931593381 Centerline is valid? [True, True] Translation: X:-13.27, Y:-2.18, Z:0.32 [[ 9.98572491e-01 -1.12472955e-02 -5.22156849e-02 -1.32744904e+01] [ 1.13473589e-02 9.99934304e-01 1.62027617e-03 -2.18309240e+00] [ 5.21940308e-02 -2.21047333e-03 9.98634516e-01 3.23220633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990418555 meters 0.03358029562947433 Centerline is valid? [True, True] Translation: X:-13.30, Y:-2.18, Z:0.33 [[ 9.98792353e-01 -3.54057039e-04 -4.91295299e-02 -1.33038740e+01] [ 4.29490923e-04 9.99998745e-01 1.52485999e-03 -2.18294521e+00] [ 4.91289284e-02 -1.54411919e-03 9.98791252e-01 3.26594419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020418555 meters 0.03174967280876306 Centerline is valid? [True, True] Translation: X:-13.33, Y:-2.18, Z:0.32 [[ 9.98771406e-01 1.23515615e-02 -4.79907991e-02 -1.33329175e+01] [-1.22942310e-02 9.99923314e-01 1.48961780e-03 -2.18116545e+00] [ 4.80055179e-02 -8.97777702e-04 9.98846667e-01 3.24907376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050418555 meters 0.03222334635998836 Centerline is valid? [True, True] Translation: X:-13.36, Y:-2.18, Z:0.33 [[ 9.98009871e-01 2.42344217e-02 -5.82150368e-02 -1.33635269e+01] [-2.41702027e-02 9.99706225e-01 1.80711805e-03 -2.17833435e+00] [ 5.82417291e-02 -3.96452412e-04 9.98302431e-01 3.28049327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080418554999998 meters 0.032374371127626346 Centerline is valid? [True, True] Translation: X:-13.39, Y:-2.18, Z:0.32 [[ 9.96508386e-01 4.22121552e-02 -7.20358910e-02 -1.33919455e+01] [-4.21605769e-02 9.99108343e-01 2.23705171e-03 -2.18094177e+00] [ 7.20660905e-02 8.07833927e-04 9.97399532e-01 3.20482284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110418555 meters 0.029540735980861 Centerline is valid? [True, True] Translation: X:-13.42, Y:-2.17, Z:0.31 [[ 9.96131726e-01 4.91928502e-02 -7.28124119e-02 -1.34207350e+01] [-4.91584416e-02 9.98788423e-01 2.26563031e-03 -2.17294567e+00] [ 7.28356469e-02 1.32247847e-03 9.97343080e-01 3.13417432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140418555 meters 0.029394387100962587 Centerline is valid? [True, True] Translation: X:-13.45, Y:-2.17, Z:0.30 [[ 9.95262002e-01 5.91393811e-02 -7.71756462e-02 -1.34489051e+01] [-5.91303766e-02 9.98247374e-01 2.40380121e-03 -2.16787244e+00] [ 7.71825454e-02 2.17101302e-03 9.97014614e-01 3.00914730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170418554999998 meters 0.028987085050533597 Centerline is valid? [True, True] Translation: X:-13.48, Y:-2.17, Z:0.30 [[ 9.94252003e-01 6.87954322e-02 -8.20374451e-02 -1.34789065e+01] [-6.88179584e-02 9.97625959e-01 2.55634515e-03 -2.16900606e+00] [ 8.20185497e-02 3.10399820e-03 9.96625969e-01 2.96330390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200418555 meters 0.028987085050533597 Centerline is valid? [True, True] Translation: X:-13.51, Y:-2.17, Z:0.29 [[ 9.94269397e-01 6.85434316e-02 -8.20375769e-02 -1.35117026e+01] [-6.85654526e-02 9.97643356e-01 2.55209740e-03 -2.16791479e+00] [ 8.20191730e-02 3.08747125e-03 9.96625969e-01 2.94195707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230418555 meters 0.026385558714891615 Centerline is valid? [True, True] Translation: X:-13.54, Y:-2.18, Z:0.30 [[ 9.94170556e-01 7.18320964e-02 -8.04055669e-02 -1.35433132e+01] [-7.18652743e-02 9.97411253e-01 2.48492102e-03 -2.17893877e+00] [ 8.03759144e-02 3.30793282e-03 9.96759133e-01 3.03626210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260418554999998 meters 0.025602030570410626 Centerline is valid? [True, True] Translation: X:-13.57, Y:-2.18, Z:0.30 [[ 9.94203978e-01 7.57519827e-02 -7.62894971e-02 -1.35749781e+01] [-7.57934296e-02 9.97120757e-01 2.35609347e-03 -2.18329978e+00] [ 7.62483199e-02 3.43980513e-03 9.97082926e-01 2.98403952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290418555 meters 0.025711898680494845 Centerline is valid? [True, True] Translation: X:-13.61, Y:-2.19, Z:0.29 [[ 9.93761289e-01 7.68765603e-02 -8.07991001e-02 -1.36066737e+01] [-7.69271666e-02 9.97033603e-01 2.49103784e-03 -2.19428946e+00] [ 8.07509203e-02 3.74014886e-03 9.96727295e-01 2.91744822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320418555 meters 0.02489136896237817 Centerline is valid? [True, True] Translation: X:-13.64, Y:-2.20, Z:0.30 [[ 9.93706526e-01 7.42467992e-02 -8.38734325e-02 -1.36399947e+01] [-7.42927219e-02 9.97233146e-01 2.57777068e-03 -2.20186485e+00] [ 8.38327581e-02 3.66963804e-03 9.96473082e-01 2.95454080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350418554999997 meters 0.024310310269048573 Centerline is valid? [True, True] Translation: X:-13.67, Y:-2.21, Z:0.29 [[ 9.93858096e-01 7.20319292e-02 -8.40088463e-02 -1.36721037e+01] [-7.20717851e-02 9.97396157e-01 2.56213743e-03 -2.20778202e+00] [ 8.39746561e-02 3.50826649e-03 9.96461715e-01 2.93900086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380418555 meters 0.022889895023418372 Centerline is valid? [True, True] Translation: X:-13.70, Y:-2.22, Z:0.28 [[ 9.94483622e-01 6.58684278e-02 -8.16313429e-02 -1.37014906e+01] [-6.58864414e-02 9.97824056e-01 2.47594784e-03 -2.21554374e+00] [ 8.16168045e-02 2.91610912e-03 9.96659517e-01 2.79652186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410418555 meters 0.022406706788357864 Centerline is valid? [True, True] Translation: X:-13.73, Y:-2.23, Z:0.28 [[ 9.94567759e-01 5.90605348e-02 -8.57136228e-02 -1.37331999e+01] [-5.90553114e-02 9.98251329e-01 2.59875504e-03 -2.22519576e+00] [ 8.57172218e-02 2.47720671e-03 9.96316426e-01 2.76553207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440418554999997 meters 0.01984217908627125 Centerline is valid? [True, True] Translation: X:-13.76, Y:-2.24, Z:0.28 [[ 9.94970009e-01 5.23778838e-02 -8.53887499e-02 -1.37641238e+01] [-5.23483533e-02 9.98625536e-01 2.58641418e-03 -2.23994340e+00] [ 8.54068570e-02 1.89655591e-03 9.96344354e-01 2.81932768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470418555 meters 0.020462215964291774 Centerline is valid? [True, True] Translation: X:-13.79, Y:-2.25, Z:0.28 [[ 9.95669003e-01 4.40691545e-02 -8.18605262e-02 -1.37942266e+01] [-4.40140102e-02 9.99027838e-01 2.47893008e-03 -2.25253516e+00] [ 8.18901889e-02 1.13481619e-03 9.96640712e-01 2.78037413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500418555 meters 0.02039572353807682 Centerline is valid? [True, True] Translation: X:-13.82, Y:-2.26, Z:0.27 [[ 9.95542822e-01 3.76046276e-02 -8.64891959e-02 -1.38227202e+01] [-3.75181944e-02 9.99292496e-01 2.62521940e-03 -2.26139259e+00] [ 8.65267248e-02 6.31400129e-04 9.96249330e-01 2.73113831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530418555 meters 0.02029632856529663 Centerline is valid? [True, True] Translation: X:-13.85, Y:-2.28, Z:0.27 [[ 9.95461156e-01 2.81562723e-02 -9.09082589e-02 -1.38519961e+01] [-2.80199916e-02 9.99603510e-01 2.77527498e-03 -2.27690641e+00] [ 9.09503561e-02 -2.15429796e-04 9.95855404e-01 2.70764030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560418555 meters 0.02051179858463214 Centerline is valid? [True, True] Translation: X:-13.88, Y:-2.28, Z:0.26 [[ 9.95392080e-01 2.51945638e-02 -9.25194075e-02 -1.38803062e+01] [-2.50396700e-02 9.99682439e-01 2.83479784e-03 -2.28284946e+00] [ 9.25614485e-02 -5.05079893e-04 9.95706846e-01 2.63681907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590418555 meters 0.02394509683844387 Centerline is valid? [True, True] Translation: X:-13.91, Y:-2.29, Z:0.26 [[ 9.95408971e-01 1.84657258e-02 -9.39148400e-02 -1.39086913e+01] [-1.82746669e-02 9.99828816e-01 2.89408270e-03 -2.29396979e+00] [ 9.39522046e-02 -1.16453346e-03 9.95576028e-01 2.61037187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620418555 meters 0.02559314610228367 Centerline is valid? [True, True] Translation: X:-13.94, Y:-2.30, Z:0.26 [[ 9.95476890e-01 1.55920640e-02 -9.37157845e-02 -1.39376196e+01] [-1.53881514e-02 9.99877395e-01 2.89815826e-03 -2.29901795e+00] [ 9.37494828e-02 -1.44293689e-03 9.95594773e-01 2.57330300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650418554999998 meters 0.028221621321908787 Centerline is valid? [True, True] Translation: X:-13.97, Y:-2.30, Z:0.25 [[ 9.95187971e-01 9.86541361e-03 -9.74862846e-02 -1.39677590e+01] [-9.61587384e-03 9.99949178e-01 3.02924931e-03 -2.30132286e+00] [ 9.75112150e-02 -2.07725667e-03 9.95232258e-01 2.48422722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680418555 meters 0.03325270572196942 Centerline is valid? [True, True] Translation: X:-14.00, Y:-2.31, Z:0.26 [[ 9.96722540e-01 -1.52616844e-02 -7.94434394e-02 -1.39977670e+01] [ 1.55068185e-02 9.99876712e-01 2.46959028e-03 -2.31160440e+00] [ 7.93959549e-02 -3.69341129e-03 9.96836316e-01 2.62123717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710418555 meters 0.03752011902545152 Centerline is valid? [True, True] Translation: X:-14.03, Y:-2.32, Z:0.27 [[ 9.97432537e-01 -3.18867167e-02 -6.41215327e-02 -1.40284908e+01] [ 3.20805103e-02 9.99483297e-01 1.99471330e-03 -2.31742914e+00] [ 6.40247961e-02 -4.04664344e-03 9.97940103e-01 2.70439946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740418554999998 meters 0.0399921621618095 Centerline is valid? [True, True] Translation: X:-14.06, Y:-2.32, Z:0.26 [[ 9.97012040e-01 -4.59868207e-02 -6.20661235e-02 -1.40566098e+01] [ 4.61956388e-02 9.98930542e-01 1.93291202e-03 -2.31578545e+00] [ 6.19108579e-02 -4.79432078e-03 9.98070168e-01 2.63466355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770418555 meters 0.0423508726156945 Centerline is valid? [True, True] Translation: X:-14.09, Y:-2.32, Z:0.26 [[ 9.96377603e-01 -6.03920824e-02 -5.98704383e-02 -1.40861961e+01] [ 6.06122291e-02 9.98159644e-01 1.86616329e-03 -2.32341262e+00] [ 5.96475539e-02 -5.48828403e-03 9.98204412e-01 2.55887974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800418555 meters 0.04462423621850634 Centerline is valid? [True, True] Translation: X:-14.12, Y:-2.33, Z:0.27 [[ 9.96623093e-01 -5.95212349e-02 -5.65652959e-02 -1.41156334e+01] [ 5.97163212e-02 9.98213831e-01 1.76335845e-03 -2.33394238e+00] [ 5.63593035e-02 -5.13527514e-03 9.98397345e-01 2.66533534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830418554999998 meters 0.03889881690785048 Centerline is valid? [True, True] Translation: X:-14.14, Y:-2.33, Z:0.27 [[ 9.97036172e-01 -5.46837706e-02 -5.41161509e-02 -1.41447294e+01] [ 5.48559258e-02 9.98492833e-01 1.69984693e-03 -2.32806295e+00] [ 5.39416348e-02 -4.66340044e-03 9.98533201e-01 2.65066637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860418555 meters 0.03908853626225622 Centerline is valid? [True, True] Translation: X:-14.17, Y:-2.34, Z:0.25 [[ 9.96344743e-01 -3.48977154e-02 -7.79698785e-02 -1.41743200e+01] [ 3.51959372e-02 9.99377419e-01 2.45348883e-03 -2.33973590e+00] [ 7.78357149e-02 -5.18874365e-03 9.96952696e-01 2.49969502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890418555 meters 0.035839050181488606 Centerline is valid? [True, True] Translation: X:-14.20, Y:-2.34, Z:0.24 [[ 9.95656733e-01 -2.22720244e-02 -9.03970470e-02 -1.42038160e+01] [ 2.26219089e-02 9.99740036e-01 2.84767589e-03 -2.34489209e+00] [ 9.03101235e-02 -4.88026144e-03 9.95901734e-01 2.36437739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920418554999998 meters 0.03130861909537093 Centerline is valid? [True, True] Translation: X:-14.23, Y:-2.36, Z:0.24 [[ 9.95443937e-01 -3.04674287e-03 -9.52999804e-02 -1.42335033e+01] [ 3.34828903e-03 9.99989881e-01 3.00442841e-03 -2.36153049e+00] [ 9.52898624e-02 -3.30983193e-03 9.95444065e-01 2.41039708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950418555 meters 0.032311279565788144 Centerline is valid? [True, True] Translation: X:-14.26, Y:-2.38, Z:0.24 [[ 9.95205725e-01 8.05673004e-03 -9.74713005e-02 -1.42636622e+01] [-7.79401031e-03 9.99964896e-01 3.07581348e-03 -2.37770160e+00] [ 9.74926598e-02 -2.30137486e-03 9.95233583e-01 2.40630207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980418555 meters 0.030208228323592722 Centerline is valid? [True, True] Translation: X:-14.29, Y:-2.39, Z:0.24 [[ 9.95395373e-01 7.31157967e-03 -9.55750650e-02 -1.42929416e+01] [-7.05478783e-03 9.99970541e-01 3.02444067e-03 -2.38991888e+00] [ 9.55943629e-02 -2.33625244e-03 9.95417631e-01 2.37847808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010418554999998 meters 0.032517003150930306 Centerline is valid? [True, True] Translation: X:-14.32, Y:-2.42, Z:0.23 [[ 9.95209244e-01 6.77580183e-03 -9.75328134e-02 -1.43226194e+01] [-6.50366618e-03 9.99974021e-01 3.10784741e-03 -2.42072699e+00] [ 9.75513378e-02 -2.45863761e-03 9.95227457e-01 2.31542457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040418555 meters 0.032932114542263316 Centerline is valid? [True, True] Translation: X:-14.35, Y:-2.45, Z:0.24 [[ 9.95758727e-01 2.04152625e-03 -9.19803783e-02 -1.43520744e+01] [-1.77810802e-03 9.99994081e-01 2.94571070e-03 -2.45436849e+00] [ 9.19858476e-02 -2.76966609e-03 9.95756463e-01 2.36227217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070418555 meters 0.029282571954757537 Centerline is valid? [True, True] Translation: X:-14.38, Y:-2.48, Z:0.23 [[ 9.95145298e-01 7.43747385e-04 -9.84138352e-02 -1.43821027e+01] [-4.35092237e-04 9.99994920e-01 3.15772282e-03 -2.48280447e+00] [ 9.84156838e-02 -3.09957392e-03 9.95140566e-01 2.26143830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100418554999997 meters 0.027788093293498902 Centerline is valid? [True, True] Translation: X:-14.41, Y:-2.50, Z:0.22 [[ 9.94976806e-01 1.61904829e-03 -1.00092624e-01 -1.44103290e+01] [-1.30375852e-03 9.99993981e-01 3.21531241e-03 -2.50316329e+00] [ 1.00097227e-01 -3.06866467e-03 9.94972929e-01 2.24113727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130418555 meters 0.0284807133046947 Centerline is valid? [True, True] Translation: X:-14.44, Y:-2.54, Z:0.22 [[ 9.94875482e-01 3.10998866e-03 -1.01059896e-01 -1.44384007e+01] [-2.79471876e-03 9.99990777e-01 3.26106413e-03 -2.53830258e+00] [ 1.01069106e-01 -2.96191876e-03 9.94874999e-01 2.17921664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160418555 meters 0.02682026491962966 Centerline is valid? [True, True] Translation: X:-14.47, Y:-2.56, Z:0.22 [[ 9.94876995e-01 3.90243614e-04 -1.01092101e-01 -1.44675020e+01] [-5.88249792e-05 9.99994615e-01 3.28134334e-03 -2.55693536e+00] [ 1.01092837e-01 -3.25858626e-03 9.94871660e-01 2.18131252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190418554999997 meters 0.025954593431068637 Centerline is valid? [True, True] Translation: X:-14.50, Y:-2.57, Z:0.22 [[ 9.94996786e-01 -2.02261235e-03 -9.98864621e-02 -1.44966438e+01] [ 2.35907452e-03 9.99991935e-01 3.25044572e-03 -2.57496503e+00] [ 9.98790821e-02 -3.46982265e-03 9.94993532e-01 2.15754756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220418555 meters 0.021880441819386066 Centerline is valid? [True, True] Translation: X:-14.53, Y:-2.60, Z:0.22 [[ 9.95297889e-01 -2.73579146e-03 -9.68226655e-02 -1.45261813e+01] [ 3.05606550e-03 9.99990338e-01 3.15969940e-03 -2.59969431e+00] [ 9.68130857e-02 -3.44073855e-03 9.95296633e-01 2.19562203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250418555 meters 0.019378114874867677 Centerline is valid? [True, True] Translation: X:-14.56, Y:-2.62, Z:0.22 [[ 9.95048754e-01 1.73184829e-03 -9.93729280e-02 -1.45555611e+01] [-1.41548897e-03 9.99993704e-01 3.25397323e-03 -2.61716274e+00] [ 9.93779377e-02 -3.09720073e-03 9.95044940e-01 2.17537606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280418555 meters 0.018683990267765953 Centerline is valid? [True, True] Translation: X:-14.58, Y:-2.63, Z:0.22 [[ 9.94569235e-01 7.22314832e-03 -1.03826123e-01 -1.45834687e+01] [-6.90535944e-03 9.99970310e-01 3.41990819e-03 -2.62801314e+00] [ 1.03847743e-01 -2.68437877e-03 9.94589584e-01 2.17386319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310418555 meters 0.020397998155983657 Centerline is valid? [True, True] Translation: X:-14.61, Y:-2.64, Z:0.21 [[ 9.94366967e-01 1.08073660e-02 -1.05439728e-01 -1.46120891e+01] [-1.04978290e-02 9.99938805e-01 3.49024314e-03 -2.64173356e+00] [ 1.05470996e-01 -2.36369424e-03 9.94419570e-01 2.07298130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340418555 meters 0.016977237690704503 Centerline is valid? [True, True] Translation: X:-14.64, Y:-2.66, Z:0.21 [[ 9.94521154e-01 1.02598808e-02 -1.04030812e-01 -1.46401063e+01] [-9.95368835e-03 9.99944468e-01 3.46202616e-03 -2.66231804e+00] [ 1.04060555e-01 -2.40756796e-03 9.94568049e-01 2.08293048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370418555 meters 0.01968892158001586 Centerline is valid? [True, True] Translation: X:-14.67, Y:-2.68, Z:0.21 [[ 9.94784070e-01 9.07121263e-03 -1.01599048e-01 -1.46685861e+01] [-8.77194482e-03 9.99955773e-01 3.39196546e-03 -2.67926302e+00] [ 1.01625324e-01 -2.48305196e-03 9.94819646e-01 2.07678664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400418554999998 meters 0.021901831115044467 Centerline is valid? [True, True] Translation: X:-14.70, Y:-2.70, Z:0.21 [[ 9.94934780e-01 5.67935309e-03 -1.00361984e-01 -1.46976800e+01] [-5.36856934e-03 9.99979923e-01 3.36644106e-03 -2.69637315e+00] [ 1.00379088e-01 -2.81058902e-03 9.94945295e-01 2.13139343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430418555 meters 0.022298848106577018 Centerline is valid? [True, True] Translation: X:-14.73, Y:-2.72, Z:0.21 [[ 9.95234570e-01 -2.81797635e-04 -9.75093368e-02 -1.47271109e+01] [ 6.05158335e-04 9.99994416e-01 3.28664356e-03 -2.72375297e+00] [ 9.75078661e-02 -3.32998988e-03 9.95229183e-01 2.12048688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460418555 meters 0.021431768841253515 Centerline is valid? [True, True] Translation: X:-14.76, Y:-2.74, Z:0.21 [[ 9.94975860e-01 -2.99011103e-03 -1.00070464e-01 -1.47571672e+01] [ 3.34498332e-03 9.99988698e-01 3.37862353e-03 -2.73574336e+00] [ 1.00059230e-01 -3.69638288e-03 9.94974616e-01 2.08887004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490418554999998 meters 0.02025932782674745 Centerline is valid? [True, True] Translation: X:-14.79, Y:-2.75, Z:0.21 [[ 9.95111364e-01 -3.31675138e-03 -9.87034557e-02 -1.47851689e+01] [ 3.66402905e-03 9.99987718e-01 3.33733305e-03 -2.74872532e+00] [ 9.86911744e-02 -3.68267037e-03 9.95111295e-01 2.08166793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520418555 meters 0.019904100056003154 Centerline is valid? [True, True] Translation: X:-14.81, Y:-2.76, Z:0.21 [[ 9.95314281e-01 -2.26906288e-03 -9.66660926e-02 -1.48147325e+01] [ 2.59780594e-03 9.99991263e-01 3.27509140e-03 -2.75921051e+00] [ 9.66578166e-02 -3.51086500e-03 9.95311479e-01 2.10429723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550418555 meters 0.02001154362506961 Centerline is valid? [True, True] Translation: X:-14.84, Y:-2.77, Z:0.21 [[ 9.95262149e-01 3.80961515e-04 -9.72271011e-02 -1.48434335e+01] [-5.99521696e-05 9.99994538e-01 3.30454478e-03 -2.76950037e+00] [ 9.72278290e-02 -3.28305936e-03 9.95256736e-01 2.09156364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580418554999998 meters 0.017970202732398202 Centerline is valid? [True, True] Translation: X:-14.87, Y:-2.77, Z:0.20 [[ 9.94892381e-01 4.81211126e-03 -1.00826552e-01 -1.48711453e+01] [-4.48761674e-03 9.99983997e-01 3.44491147e-03 -2.77263915e+00] [ 1.00841516e-01 -2.97484525e-03 9.94898055e-01 2.02403763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610418555 meters 0.021951076715226715 Centerline is valid? [True, True] Translation: X:-14.90, Y:-2.77, Z:0.20 [[ 9.94968561e-01 6.95198660e-03 -9.99461447e-02 -1.49007005e+01] [-6.64328879e-03 9.99972081e-01 3.42113258e-03 -2.77460805e+00] [ 9.99671379e-02 -2.73994826e-03 9.94986967e-01 1.96314516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640418555 meters 0.021104961501594768 Centerline is valid? [True, True] Translation: X:-14.93, Y:-2.79, Z:0.20 [[ 9.94994304e-01 8.73194758e-03 -9.95494259e-02 -1.49297710e+01] [-8.43358978e-03 9.99958597e-01 3.41752107e-03 -2.78727547e+00] [ 9.95751459e-02 -2.56085498e-03 9.95026750e-01 1.97760229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670418554999998 meters 0.017944512348777166 Centerline is valid? [True, True] Translation: X:-14.96, Y:-2.79, Z:0.20 [[ 9.95036099e-01 5.46877809e-03 -9.93642459e-02 -1.49583765e+01] [-5.15356736e-03 9.99980842e-01 3.42867556e-03 -2.79420483e+00] [ 9.93810930e-02 -2.89957562e-03 9.95045220e-01 2.02123232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700418555 meters 0.019452925486417718 Centerline is valid? [True, True] Translation: X:-14.99, Y:-2.80, Z:0.20 [[ 9.95045811e-01 -3.18315880e-04 -9.94169627e-02 -1.49879412e+01] [ 6.63293312e-04 9.99993874e-01 3.43697184e-03 -2.80337949e+00] [ 9.94152596e-02 -3.48588704e-03 9.95039926e-01 1.96524454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730418555 meters 0.023509256421019645 Centerline is valid? [True, True] Translation: X:-15.02, Y:-2.82, Z:0.19 [[ 9.95163839e-01 -7.22035520e-03 -9.79632538e-02 -1.50175168e+01] [ 7.58883916e-03 9.99965460e-01 3.38935766e-03 -2.81770948e+00] [ 9.79353978e-02 -4.11639356e-03 9.95184261e-01 1.94017425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760418554999998 meters 0.023629502120378412 Centerline is valid? [True, True] Translation: X:-15.05, Y:-2.83, Z:0.19 [[ 9.95022854e-01 -1.30108157e-02 -9.87939199e-02 -1.50481611e+01] [ 1.34142732e-02 9.99904174e-01 3.42064985e-03 -2.82769503e+00] [ 9.87399474e-02 -4.72887341e-03 9.95102035e-01 1.92410545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790418555 meters 0.022307793869267626 Centerline is valid? [True, True] Translation: X:-15.08, Y:-2.83, Z:0.20 [[ 9.95174225e-01 -1.65471086e-02 -9.67184354e-02 -1.50773509e+01] [ 1.69507455e-02 9.99850703e-01 3.35310278e-03 -2.82658636e+00] [ 9.66485115e-02 -4.97637104e-03 9.95306134e-01 1.98718130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820418555 meters 0.027829218606649248 Centerline is valid? [True, True] Translation: X:-15.11, Y:-2.84, Z:0.19 [[ 9.95714007e-01 -1.47376229e-02 -9.13039901e-02 -1.51074359e+01] [ 1.50898698e-02 9.99881120e-01 3.16879772e-03 -2.83622463e+00] [ 9.12464354e-02 -4.53298160e-03 9.95818026e-01 1.93751217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850418554999997 meters 0.024155209233396074 Centerline is valid? [True, True] Translation: X:-15.14, Y:-2.84, Z:0.19 [[ 9.95513002e-01 -1.23753250e-02 -9.38121269e-02 -1.51357948e+01] [ 1.27375707e-02 9.99913548e-01 3.26356616e-03 -2.83653064e+00] [ 9.37636290e-02 -4.44386114e-03 9.95584569e-01 1.92078380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880418555 meters 0.022655954817981466 Centerline is valid? [True, True] Translation: X:-15.16, Y:-2.83, Z:0.18 [[ 9.95023526e-01 -6.63580351e-03 -9.94190602e-02 -1.51637006e+01] [ 7.01630841e-03 9.99969337e-01 3.47812469e-03 -2.83470640e+00] [ 9.93929315e-02 -4.15837068e-03 9.95039574e-01 1.84821115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910418555 meters 0.023415656687397614 Centerline is valid? [True, True] Translation: X:-15.19, Y:-2.83, Z:0.18 [[ 9.94881962e-01 -2.83884387e-03 -1.01004069e-01 -1.51914479e+01] [ 3.21321829e-03 9.99988557e-01 3.54403076e-03 -2.82984328e+00] [ 1.00992853e-01 -3.85044040e-03 9.94879700e-01 1.81326649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940418554999997 meters 0.019436961380790964 Centerline is valid? [True, True] Translation: X:-15.22, Y:-2.83, Z:0.18 [[ 9.94837550e-01 -1.80689317e-03 -1.01464202e-01 -1.52202425e+01] [ 2.18068777e-03 9.99991238e-01 3.57320840e-03 -2.82801394e+00] [ 1.01456856e-01 -3.77602363e-03 9.94832774e-01 1.82839582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970418555 meters 0.01853274411229236 Centerline is valid? [True, True] Translation: X:-15.25, Y:-2.83, Z:0.19 [[ 9.95297965e-01 -6.19746489e-04 -9.68585410e-02 -1.52502917e+01] [ 9.56030077e-04 9.99993676e-01 3.42553395e-03 -2.82554317e+00] [ 9.68558055e-02 -3.50202665e-03 9.95292263e-01 1.86874916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000418555 meters 0.020589016539100197 Centerline is valid? [True, True] Translation: X:-15.28, Y:-2.83, Z:0.18 [[ 9.95426184e-01 -7.99330931e-04 -9.55304866e-02 -1.52784855e+01] [ 1.12748330e-03 9.99993648e-01 3.38112524e-03 -2.83212094e+00] [ 9.55271772e-02 -3.47336962e-03 9.95420762e-01 1.80249743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030418554999997 meters 0.01804002330288845 Centerline is valid? [True, True] Translation: X:-15.31, Y:-2.83, Z:0.18 [[ 9.95352966e-01 -9.83559258e-04 -9.62886602e-02 -1.53064094e+01] [ 1.31860677e-03 9.99993296e-01 3.41604598e-03 -2.82619414e+00] [ 9.62846548e-02 -3.52713838e-03 9.95347590e-01 1.84174413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060418555 meters 0.01905871514845842 Centerline is valid? [True, True] Translation: X:-15.34, Y:-2.83, Z:0.18 [[ 9.95178015e-01 2.08045409e-05 -9.80852640e-02 -1.53350714e+01] [ 3.23385557e-04 9.99993846e-01 3.49319149e-03 -2.82801755e+00] [ 9.80847331e-02 -3.50806673e-03 9.95171884e-01 1.75741363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090418555 meters 0.019184890236556933 Centerline is valid? [True, True] Translation: X:-15.36, Y:-2.83, Z:0.18 [[ 9.95191000e-01 1.25902602e-04 -9.79533493e-02 -1.53625791e+01] [ 2.19212710e-04 9.99993807e-01 3.51249182e-03 -2.83003656e+00] [ 9.79531849e-02 -3.51707286e-03 9.95184809e-01 1.75468838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120418555 meters 0.019184890236556933 Centerline is valid? [True, True] Translation: X:-15.39, Y:-2.83, Z:0.17 [[ 9.95191023e-01 3.86142227e-04 -9.79524270e-02 -1.53898606e+01] [-3.97695950e-05 9.99993740e-01 3.53805900e-03 -2.82914267e+00] [ 9.79531800e-02 -3.51714903e-03 9.95184809e-01 1.73682744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150418554999998 meters 0.018566966121249896 Centerline is valid? [True, True] Translation: X:-15.42, Y:-2.83, Z:0.18 [[ 9.95289962e-01 1.78810106e-03 -9.69262335e-02 -1.54197301e+01] [-1.45387585e-03 9.99992752e-01 3.51875900e-03 -2.82992024e+00] [ 9.69318229e-02 -3.36126680e-03 9.95285348e-01 1.75997703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180418555 meters 0.017329921675603637 Centerline is valid? [True, True] Translation: X:-15.45, Y:-2.83, Z:0.17 [[ 9.95148321e-01 2.92152966e-03 -9.83426862e-02 -1.54469445e+01] [-2.58244003e-03 9.99990275e-01 3.57515540e-03 -2.82831973e+00] [ 9.83521747e-02 -3.30384580e-03 9.95146187e-01 1.71616997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210418555 meters 0.017882312267545053 Centerline is valid? [True, True] Translation: X:-15.48, Y:-2.83, Z:0.16 [[ 9.94917793e-01 3.32425247e-03 -1.00635656e-01 -1.54757549e+01] [-2.96977147e-03 9.99988848e-01 3.67202776e-03 -2.83217773e+00] [ 1.00646741e-01 -3.35450085e-03 9.94916570e-01 1.64448654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240418554999998 meters 0.017934003430404546 Centerline is valid? [True, True] Translation: X:-15.50, Y:-2.84, Z:0.17 [[ 9.95037966e-01 1.55789565e-03 -9.94837621e-02 -1.55037428e+01] [-1.20101735e-03 9.99992628e-01 3.64709065e-03 -2.83632840e+00] [ 9.94887105e-02 -3.50951194e-03 9.95032502e-01 1.68284291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270418555 meters 0.01976085703039624 Centerline is valid? [True, True] Translation: X:-15.53, Y:-2.84, Z:0.17 [[ 9.95463330e-01 -2.65784152e-03 -9.51088558e-02 -1.55325524e+01] [ 3.00423343e-03 9.99989366e-01 3.49905327e-03 -2.84242043e+00] [ 9.50985444e-02 -3.76890842e-03 9.95460729e-01 1.68664364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300418555 meters 0.02155305362735538 Centerline is valid? [True, True] Translation: X:-15.56, Y:-2.85, Z:0.16 [[ 9.95536334e-01 -3.84208039e-03 -9.43008230e-02 -1.55608656e+01] [ 4.18995493e-03 9.99985128e-01 3.49126448e-03 -2.84530272e+00] [ 9.42860068e-02 -3.87079684e-03 9.95537627e-01 1.63198997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330418554999998 meters 0.019848985462969086 Centerline is valid? [True, True] Translation: X:-15.59, Y:-2.84, Z:0.16 [[ 9.95547048e-01 -5.23921121e-03 -9.41202736e-02 -1.55886964e+01] [ 5.59360704e-03 9.99978224e-01 3.50192197e-03 -2.84237517e+00] [ 9.40998767e-02 -4.01279990e-03 9.95554675e-01 1.63660082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360418555 meters 0.01917354139774966 Centerline is valid? [True, True] Translation: X:-15.62, Y:-2.85, Z:0.16 [[ 9.95629851e-01 -4.04563696e-03 -9.32996936e-02 -1.56172698e+01] [ 4.38935576e-03 9.99984315e-01 3.47911238e-03 -2.84704310e+00] [ 9.32841549e-02 -3.87343369e-03 9.95631992e-01 1.64743129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390418555 meters 0.018862272575066223 Centerline is valid? [True, True] Translation: X:-15.65, Y:-2.85, Z:0.16 [[ 9.95483522e-01 -5.74519320e-04 -9.49327467e-02 -1.56463879e+01] [ 9.15379398e-04 9.99993290e-01 3.54703361e-03 -2.85067216e+00] [ 9.49300719e-02 -3.61791299e-03 9.95477369e-01 1.62509424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420418554999998 meters 0.01768452342947033 Centerline is valid? [True, True] Translation: X:-15.68, Y:-2.85, Z:0.16 [[ 9.95255757e-01 4.17919724e-03 -9.72034557e-02 -1.56755116e+01] [-3.84385836e-03 9.99985999e-01 3.63687243e-03 -2.84963351e+00] [ 9.72172939e-02 -3.24598191e-03 9.95257887e-01 1.58348381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450418555 meters 0.016403760741392024 Centerline is valid? [True, True] Translation: X:-15.70, Y:-2.85, Z:0.16 [[ 9.95149114e-01 7.60670324e-03 -9.80835263e-02 -1.57028641e+01] [-7.28122529e-03 9.99966735e-01 3.67590072e-03 -2.84575670e+00] [ 9.81082250e-02 -2.94390110e-03 9.95171397e-01 1.55715696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480418555 meters 0.01592740521286507 Centerline is valid? [True, True] Translation: X:-15.73, Y:-2.85, Z:0.15 [[ 9.95091029e-01 1.04384428e-02 -9.84118058e-02 -1.57317534e+01] [-1.01232408e-02 9.99941907e-01 3.70169336e-03 -2.84697896e+00] [ 9.84447287e-02 -2.68727544e-03 9.95138892e-01 1.52350317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510418554999998 meters 0.014955977471687086 Centerline is valid? [True, True] Translation: X:-15.76, Y:-2.85, Z:0.16 [[ 9.95206460e-01 1.26990409e-02 -9.69682202e-02 -1.57602469e+01] [-1.24020667e-02 9.99916376e-01 3.66472711e-03 -2.85047405e+00] [ 9.70066498e-02 -2.44455377e-03 9.95280731e-01 1.55236010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540418555 meters 0.02073322803747208 Centerline is valid? [True, True] Translation: X:-15.79, Y:-2.85, Z:0.15 [[ 9.95442573e-01 1.33729439e-02 -9.44205887e-02 -1.57901111e+01] [-1.30939573e-02 9.99907884e-01 3.57368536e-03 -2.85292702e+00] [ 9.44596818e-02 -2.32105939e-03 9.95525982e-01 1.52275133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570418555 meters 0.015028828102542406 Centerline is valid? [True, True] Translation: X:-15.82, Y:-2.86, Z:0.15 [[ 9.95595064e-01 1.11889022e-02 -9.30874724e-02 -1.58184873e+01] [-1.09078206e-02 9.99934285e-01 3.52780680e-03 -2.85688965e+00] [ 9.31208275e-02 -2.49688558e-03 9.95651685e-01 1.54297079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600418554999997 meters 0.01564455286461907 Centerline is valid? [True, True] Translation: X:-15.85, Y:-2.86, Z:0.15 [[ 9.95583670e-01 9.21103111e-03 -9.34254371e-02 -1.58473082e+01] [-8.91807224e-03 9.99953922e-01 3.55277537e-03 -2.86017431e+00] [ 9.34538569e-02 -2.70391034e-03 9.95619940e-01 1.52706317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630418555 meters 0.01734646305697885 Centerline is valid? [True, True] Translation: X:-15.88, Y:-2.86, Z:0.15 [[ 9.95674835e-01 5.87977716e-03 -9.27202816e-02 -1.58762487e+01] [-5.57527575e-03 9.99978182e-01 3.54277519e-03 -2.86398048e+00] [ 9.27390894e-02 -3.01051097e-03 9.95685893e-01 1.49408327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660418555 meters 0.017948893622257597 Centerline is valid? [True, True] Translation: X:-15.91, Y:-2.87, Z:0.15 [[ 9.95580115e-01 1.67404678e-03 -9.39011836e-02 -1.59056470e+01] [-1.34255029e-03 9.99992643e-01 3.59333163e-03 -2.86934446e+00] [ 9.39065081e-02 -3.45138246e-03 9.95575038e-01 1.47495844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690418554999997 meters 0.018606696107104106 Centerline is valid? [True, True] Translation: X:-15.94, Y:-2.87, Z:0.14 [[ 9.95327915e-01 -5.30817141e-04 -9.65508149e-02 -1.59360692e+01] [ 8.91976796e-04 9.99992766e-01 3.69749446e-03 -2.87498452e+00] [ 9.65481538e-02 -3.76634054e-03 9.95321189e-01 1.44260569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720418555 meters 0.018229909009732793 Centerline is valid? [True, True] Translation: X:-15.96, Y:-2.88, Z:0.15 [[ 9.95266607e-01 -1.10122424e-03 -9.71759669e-02 -1.59642467e+01] [ 1.47018694e-03 9.99991980e-01 3.72533012e-03 -2.87575436e+00] [ 9.71710851e-02 -3.85056350e-03 9.95260244e-01 1.45221042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750418555 meters 0.01867127717887658 Centerline is valid? [True, True] Translation: X:-15.99, Y:-2.88, Z:0.14 [[ 9.95748035e-01 -1.10594855e-03 -9.21120348e-02 -1.59936586e+01] [ 1.43794004e-03 9.99992708e-01 3.53792524e-03 -2.88019874e+00] [ 9.21074503e-02 -3.65533369e-03 9.95742364e-01 1.44678647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780418554999997 meters 0.020191541966573797 Centerline is valid? [True, True] Translation: X:-16.02, Y:-2.89, Z:0.14 [[ 9.95704749e-01 -4.90322541e-04 -9.25840782e-02 -1.60208642e+01] [ 8.24100676e-04 9.99993299e-01 3.56693837e-03 -2.88502510e+00] [ 9.25817088e-02 -3.62791608e-03 9.95698481e-01 1.38452346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810418555 meters 0.016845699669804697 Centerline is valid? [True, True] Translation: X:-16.05, Y:-2.88, Z:0.13 [[ 9.95144924e-01 3.73018128e-03 -9.83497101e-02 -1.60478123e+01] [-3.37174028e-03 9.99987056e-01 3.81051222e-03 -2.87893978e+00] [ 9.83626509e-02 -3.46040222e-03 9.95144620e-01 1.34417603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840418555 meters 0.016862261842112047 Centerline is valid? [True, True] Translation: X:-16.08, Y:-2.88, Z:0.13 [[ 9.95133455e-01 7.18272778e-03 -9.82741835e-02 -1.60772789e+01] [-6.84095084e-03 9.99969326e-01 3.81431206e-03 -2.87998327e+00] [ 9.82985662e-02 -3.12346068e-03 9.95152067e-01 1.33029636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870418555 meters 0.01511912261816032 Centerline is valid? [True, True] Translation: X:-16.11, Y:-2.88, Z:0.14 [[ 9.95606467e-01 9.94386986e-03 -9.31068298e-02 -1.61065201e+01] [-9.64900966e-03 9.99946907e-01 3.61654980e-03 -2.87905374e+00] [ 9.31378490e-02 -2.70227167e-03 9.95649556e-01 1.39401810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900418554999998 meters 0.01309621462258803 Centerline is valid? [True, True] Translation: X:-16.14, Y:-2.88, Z:0.14 [[ 9.95727250e-01 1.62562994e-02 -9.09009202e-02 -1.61353766e+01] [-1.60013116e-02 9.99865728e-01 3.53323914e-03 -2.87749472e+00] [ 9.09461522e-02 -2.06360854e-03 9.95853673e-01 1.39315923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930418555 meters 0.012921916013786335 Centerline is valid? [True, True] Translation: X:-16.16, Y:-2.88, Z:0.13 [[ 9.95311854e-01 1.99129314e-02 -9.46455959e-02 -1.61638305e+01] [-1.96519782e-02 9.99800077e-01 3.68853342e-03 -2.87689011e+00] [ 9.47001236e-02 -1.81126785e-03 9.95504197e-01 1.30496214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960418555 meters 0.012412159720970348 Centerline is valid? [True, True] Translation: X:-16.19, Y:-2.88, Z:0.13 [[ 9.94967437e-01 2.31335265e-02 -9.74917381e-02 -1.61920314e+01] [-2.28695902e-02 9.99731143e-01 3.82401007e-03 -2.87604890e+00] [ 9.75539896e-02 -1.57516940e-03 9.95228988e-01 1.26437783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990418554999998 meters 0.01150561229908797 Centerline is valid? [True, True] Translation: X:-16.22, Y:-2.88, Z:0.13 [[ 9.95225439e-01 2.73734713e-02 -9.36857465e-02 -1.62219411e+01] [-2.71470594e-02 9.99624638e-01 3.69055236e-03 -2.87639729e+00] [ 9.37516037e-02 -1.12963906e-03 9.95594978e-01 1.28979752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020418555 meters 0.011519049238433379 Centerline is valid? [True, True] Translation: X:-16.25, Y:-2.88, Z:0.13 [[ 9.95265730e-01 2.87234594e-02 -9.28498211e-02 -1.62506090e+01] [-2.85061916e-02 9.99586895e-01 3.66568236e-03 -2.87895766e+00] [ 9.29167554e-02 -1.00153324e-03 9.95673377e-01 1.28150933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050418555 meters 0.011532023784611949 Centerline is valid? [True, True] Translation: X:-16.28, Y:-2.88, Z:0.12 [[ 9.95107827e-01 2.97919963e-02 -9.41958044e-02 -1.62792109e+01] [-2.95709068e-02 9.99555679e-01 3.74239951e-03 -2.88269859e+00] [ 9.42654448e-02 -9.38635689e-04 9.95546656e-01 1.22676439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080418554999998 meters 0.01114775125521043 Centerline is valid? [True, True] Translation: X:-16.31, Y:-2.89, Z:0.12 [[ 9.94943604e-01 2.98414140e-02 -9.58995010e-02 -1.63071716e+01] [-2.96106159e-02 9.99554175e-01 3.82918618e-03 -2.88540921e+00] [ 9.59710149e-02 -9.70181012e-04 9.95383656e-01 1.21757735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110418555 meters 0.01141571910554735 Centerline is valid? [True, True] Translation: X:-16.34, Y:-2.89, Z:0.12 [[ 9.94915400e-01 2.80726487e-02 -9.67226592e-02 -1.63363148e+01] [-2.78282499e-02 9.99605208e-01 3.87511562e-03 -2.88907146e+00] [ 9.67932586e-02 -1.16378988e-03 9.95303828e-01 1.18476440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140418555 meters 0.011835872340602209 Centerline is valid? [True, True] Translation: X:-16.36, Y:-2.90, Z:0.12 [[ 9.95011037e-01 2.63775518e-02 -9.62146565e-02 -1.63642837e+01] [-2.61255252e-02 9.99651146e-01 3.87845215e-03 -2.89532701e+00] [ 9.62833958e-02 -1.34544426e-03 9.95353052e-01 1.15711939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170418554999998 meters 0.012566706350208116 Centerline is valid? [True, True] Translation: X:-16.39, Y:-2.91, Z:0.12 [[ 9.95222866e-01 2.26089116e-02 -9.49751747e-02 -1.63933541e+01] [-2.23438134e-02 9.99742918e-01 3.85390375e-03 -2.90724980e+00] [ 9.50378908e-02 -1.71338555e-03 9.95472181e-01 1.15655049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200418555 meters 0.013170717405175638 Centerline is valid? [True, True] Translation: X:-16.42, Y:-2.91, Z:0.11 [[ 9.95012205e-01 2.00152142e-02 -9.77246311e-02 -1.64226306e+01] [-1.97203062e-02 9.99797603e-01 3.98280107e-03 -2.91096986e+00] [ 9.77845685e-02 -2.03577603e-03 9.95205523e-01 1.13244131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230418555 meters 0.013925958476551028 Centerline is valid? [True, True] Translation: X:-16.45, Y:-2.91, Z:0.11 [[ 9.94960232e-01 1.79351070e-02 -9.86532745e-02 -1.64512770e+01] [-1.76238900e-02 9.99836584e-01 4.02527320e-03 -2.91372345e+00] [ 9.87093468e-02 -2.26633230e-03 9.95113726e-01 1.07566759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260418554999998 meters 0.013515638051768043 Centerline is valid? [True, True] Translation: X:-16.48, Y:-2.92, Z:0.11 [[ 9.95636212e-01 1.60968636e-02 -9.19207475e-02 -1.64812172e+01] [-1.58185063e-02 9.99867825e-01 3.75604324e-03 -2.91848758e+00] [ 9.19690583e-02 -2.28560373e-03 9.95759242e-01 1.13416348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290418555 meters 0.01979921701394306 Centerline is valid? [True, True] Translation: X:-16.51, Y:-2.93, Z:0.11 [[ 9.96062435e-01 1.65050413e-02 -8.71045894e-02 -1.65114255e+01] [-1.62562852e-02 9.99861504e-01 3.56445611e-03 -2.92885035e+00] [ 8.71513573e-02 -2.13442379e-03 9.96192795e-01 1.10279833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320418555 meters 0.016567442126755864 Centerline is valid? [True, True] Translation: X:-16.54, Y:-2.93, Z:0.11 [[ 9.95580660e-01 1.63488544e-02 -9.24762925e-02 -1.65402369e+01] [-1.60668689e-02 9.99863725e-01 3.79300013e-03 -2.92993043e+00] [ 9.25257015e-02 -2.29043311e-03 9.95707662e-01 1.08059455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350418554999997 meters 0.014539466524177843 Centerline is valid? [True, True] Translation: X:-16.57, Y:-2.94, Z:0.10 [[ 9.95413206e-01 1.46978320e-02 -9.45331805e-02 -1.65696235e+01] [-1.43950367e-02 9.99888842e-01 3.88423006e-03 -2.93560929e+00] [ 9.45797621e-02 -2.50560530e-03 9.95514134e-01 1.03632312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380418555 meters 0.015345248218206159 Centerline is valid? [True, True] Translation: X:-16.60, Y:-2.94, Z:0.10 [[ 9.95614412e-01 1.44765801e-02 -9.24249541e-02 -1.65983823e+01] [-1.41849394e-02 9.99892124e-01 3.81161503e-03 -2.94369327e+00] [ 9.24701627e-02 -2.48385648e-03 9.95712358e-01 1.03550355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410418555 meters 0.015190120654460851 Centerline is valid? [True, True] Translation: X:-16.63, Y:-2.95, Z:0.10 [[ 9.95672535e-01 1.50348109e-02 -9.17069124e-02 -1.66267114e+01] [-1.47484230e-02 9.99884016e-01 3.79979439e-03 -2.94566277e+00] [ 9.17534050e-02 -2.43081858e-03 9.95778793e-01 1.02123708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440418554999997 meters 0.015395061853527327 Centerline is valid? [True, True] Translation: X:-16.65, Y:-2.95, Z:0.10 [[ 9.95561972e-01 1.50466347e-02 -9.28975675e-02 -1.66547732e+01] [-1.47516670e-02 9.99883733e-01 3.86109728e-03 -2.94518600e+00] [ 9.29448632e-02 -2.47356764e-03 9.95668185e-01 9.56808011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470418555 meters 0.015491014872747802 Centerline is valid? [True, True] Translation: X:-16.68, Y:-2.95, Z:0.09 [[ 9.95087532e-01 1.44694994e-02 -9.79358879e-02 -1.66834914e+01] [-1.41370636e-02 9.99891712e-01 4.08753903e-03 -2.95106759e+00] [ 9.79844272e-02 -2.68293325e-03 9.95184332e-01 8.91729412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500418555 meters 0.01582404802693401 Centerline is valid? [True, True] Translation: X:-16.71, Y:-2.96, Z:0.09 [[ 9.95175423e-01 1.21334562e-02 -9.73583890e-02 -1.67122561e+01] [-1.17928312e-02 9.99922165e-01 4.07336271e-03 -2.95853183e+00] [ 9.74002351e-02 -2.90557941e-03 9.95241052e-01 9.20547155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530418554999997 meters 0.016659722800717935 Centerline is valid? [True, True] Translation: X:-16.74, Y:-2.96, Z:0.09 [[ 9.95548924e-01 8.85584774e-03 -9.38291777e-02 -1.67399728e+01] [-8.52332660e-03 9.99955898e-01 3.94406686e-03 -2.96292928e+00] [ 9.38599676e-02 -3.12677479e-03 9.95580499e-01 9.44205302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560418555 meters 0.017596789469424237 Centerline is valid? [True, True] Translation: X:-16.77, Y:-2.97, Z:0.09 [[ 9.95427258e-01 5.21718169e-03 -9.53800581e-02 -1.67685589e+01] [-4.85597063e-03 9.99980134e-01 4.01879102e-03 -2.96820632e+00] [ 9.53991301e-02 -3.53725136e-03 9.95432817e-01 9.05598715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590418555 meters 0.01814675463235497 Centerline is valid? [True, True] Translation: X:-16.80, Y:-2.97, Z:0.09 [[ 9.95088310e-01 3.15338127e-03 -9.89409537e-02 -1.67986733e+01] [-2.75392989e-03 9.99987498e-01 4.17358427e-03 -2.97194278e+00] [ 9.89528777e-02 -3.88060847e-03 9.95084554e-01 8.57390209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620418555 meters 0.01877152564715237 Centerline is valid? [True, True] Translation: X:-16.83, Y:-2.97, Z:0.08 [[ 9.95069726e-01 5.31852534e-05 -9.91778093e-02 -1.68276676e+01] [ 3.63881706e-04 9.99991168e-01 4.18715090e-03 -2.97350171e+00] [ 9.91771560e-02 -4.20259609e-03 9.95060918e-01 8.43751570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650418554999998 meters 0.02017600748629136 Centerline is valid? [True, True] Translation: X:-16.86, Y:-2.98, Z:0.09 [[ 9.95605642e-01 -3.75906100e-03 -9.35696303e-02 -1.68556087e+01] [ 4.14781688e-03 9.99983555e-01 3.96058742e-03 -2.97744796e+00] [ 9.35532034e-02 -4.33129287e-03 9.95604860e-01 8.79070771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680418555 meters 0.020803451789990636 Centerline is valid? [True, True] Translation: X:-16.88, Y:-2.98, Z:0.09 [[ 9.95616010e-01 -3.59024556e-03 -9.34658794e-02 -1.68838462e+01] [ 3.97985277e-03 9.99984151e-01 3.98237819e-03 -2.98097588e+00] [ 9.34501003e-02 -4.33689992e-03 9.95614519e-01 8.65877405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710418555 meters 0.020502224823362974 Centerline is valid? [True, True] Translation: X:-16.91, Y:-2.98, Z:0.08 [[ 9.95192622e-01 -4.07196269e-03 -9.78522556e-02 -1.69138607e+01] [ 4.50341534e-03 9.99981087e-01 4.18876446e-03 -2.98249247e+00] [ 9.78333484e-02 -4.60929683e-03 9.95192137e-01 8.15247174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740418554999998 meters 0.02040861902440261 Centerline is valid? [True, True] Translation: X:-16.94, Y:-2.98, Z:0.08 [[ 9.95359534e-01 -4.06369074e-03 -9.61399251e-02 -1.69422351e+01] [ 4.48091363e-03 9.99981456e-01 4.12424622e-03 -2.98025583e+00] [ 9.61213826e-02 -4.53590249e-03 9.95359285e-01 8.03522076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770418555 meters 0.019510552524517756 Centerline is valid? [True, True] Translation: X:-16.97, Y:-2.98, Z:0.08 [[ 9.95706748e-01 -2.22503200e-03 -9.25371304e-02 -1.69719484e+01] [ 2.60501514e-03 9.99988664e-01 3.98569071e-03 -2.97776031e+00] [ 9.25272131e-02 -4.20963976e-03 9.95701257e-01 8.21632486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800418555 meters 0.017871934191157457 Centerline is valid? [True, True] Translation: X:-17.00, Y:-2.97, Z:0.08 [[ 9.95520932e-01 3.21541179e-03 -9.44866951e-02 -1.70021741e+01] [-2.84341514e-03 9.99987669e-01 4.07139714e-03 -2.97382975e+00] [ 9.44986212e-02 -3.78449617e-03 9.95517799e-01 7.90728961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830418554999998 meters 0.0164821074265712 Centerline is valid? [True, True] Translation: X:-17.03, Y:-2.97, Z:0.08 [[ 9.95127445e-01 8.05883235e-03 -9.82671017e-02 -1.70305169e+01] [-7.67902610e-03 9.99961516e-01 4.24264658e-03 -2.97055995e+00] [ 9.82975107e-02 -3.46737841e-03 9.95151032e-01 7.55738309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860418555 meters 0.015461033063893976 Centerline is valid? [True, True] Translation: X:-17.06, Y:-2.97, Z:0.07 [[ 9.94863067e-01 1.25839034e-02 -1.00444629e-01 -1.70590114e+01] [-1.22073963e-02 9.99915972e-01 4.36218776e-03 -2.96791186e+00] [ 1.00491082e-01 -3.11361211e-03 9.94933087e-01 7.07303692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890418555 meters 0.014179527171689757 Centerline is valid? [True, True] Translation: X:-17.09, Y:-2.96, Z:0.07 [[ 9.95321182e-01 1.58714209e-02 -9.53091998e-02 -1.70884694e+01] [-1.55460491e-02 9.99870518e-01 4.15546377e-03 -2.96486352e+00] [ 9.53628120e-02 -2.65433962e-03 9.95439043e-01 7.40045534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920418554999998 meters 0.018730979163288836 Centerline is valid? [True, True] Translation: X:-17.12, Y:-2.96, Z:0.07 [[ 9.95620118e-01 2.13816520e-02 -9.10132193e-02 -1.71180918e+01] [-2.11078059e-02 9.99769321e-01 3.97045140e-03 -2.96439875e+00] [ 9.10771193e-02 -2.03197192e-03 9.95841769e-01 7.15945413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950418555 meters 0.013207529854143111 Centerline is valid? [True, True] Translation: X:-17.15, Y:-2.97, Z:0.07 [[ 9.94886227e-01 2.20532245e-02 -9.85649557e-02 -1.71468353e+01] [-2.17348415e-02 9.99754511e-01 4.30291064e-03 -2.96528495e+00] [ 9.86356521e-02 -2.13861285e-03 9.95121316e-01 6.74877734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980418555 meters 0.020162368745931195 Centerline is valid? [True, True] Translation: X:-17.18, Y:-2.97, Z:0.06 [[ 9.94768662e-01 2.06993497e-02 -1.00034225e-01 -1.71752227e+01] [-2.03640446e-02 9.99783072e-01 4.37196348e-03 -2.96627875e+00] [ 1.00103022e-01 -2.31199083e-03 9.94974391e-01 6.34247693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010418554999998 meters 0.020162368745931195 Centerline is valid? [True, True] Translation: X:-17.20, Y:-2.97, Z:0.06 [[ 9.94762673e-01 2.09883154e-02 -1.00033573e-01 -1.72025293e+01] [-2.06529706e-02 9.99777080e-01 4.38685207e-03 -2.96517161e+00] [ 1.00103346e-01 -2.29788626e-03 9.94974392e-01 6.16451161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040418555 meters 0.0203063180543727 Centerline is valid? [True, True] Translation: X:-17.23, Y:-2.97, Z:0.06 [[ 9.95236464e-01 2.06858632e-02 -9.52705427e-02 -1.72325748e+01] [-2.03786075e-02 9.99783525e-01 4.19701547e-03 -2.96977801e+00] [ 9.53367379e-02 -2.23554184e-03 9.95442569e-01 6.44103795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070418555 meters 0.013089025701602431 Centerline is valid? [True, True] Translation: X:-17.26, Y:-2.97, Z:0.07 [[ 9.95178845e-01 2.05312601e-02 -9.59037687e-02 -1.72604361e+01] [-2.02185271e-02 9.99786629e-01 4.23162635e-03 -2.97294717e+00] [ 9.59701863e-02 -2.27219208e-03 9.95381616e-01 6.58049823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100418554999997 meters 0.014920269163236521 Centerline is valid? [True, True] Translation: X:-17.29, Y:-2.98, Z:0.06 [[ 9.94698202e-01 1.91311000e-02 -1.01042010e-01 -1.72903716e+01] [-1.87755694e-02 9.99813738e-01 4.46855210e-03 -2.97767660e+00] [ 1.01108678e-01 -2.54773947e-03 9.94872125e-01 5.52196391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130418555 meters 0.014652864339329316 Centerline is valid? [True, True] Translation: X:-17.32, Y:-2.98, Z:0.05 [[ 9.94652331e-01 1.47583987e-02 -1.02220007e-01 -1.73197861e+01] [-1.43712088e-02 9.99886498e-01 4.52325584e-03 -2.97891071e+00] [ 1.02275161e-01 -3.03004190e-03 9.94751532e-01 5.36381592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160418555 meters 0.015986459611107978 Centerline is valid? [True, True] Translation: X:-17.35, Y:-2.99, Z:0.06 [[ 9.95223609e-01 1.34290436e-02 -9.66934839e-02 -1.73497272e+01] [-1.30760363e-02 9.99905330e-01 4.28355951e-03 -2.98627510e+00] [ 9.67418540e-02 -2.99873205e-03 9.95304989e-01 5.75532242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190418554999997 meters 0.015430078644205177 Centerline is valid? [True, True] Translation: X:-17.38, Y:-3.00, Z:0.06 [[ 9.95242359e-01 1.30644210e-02 -9.65503352e-02 -1.73794555e+01] [-1.27094486e-02 9.99910026e-01 4.29065247e-03 -2.99524811e+00] [ 9.65977031e-02 -3.04313756e-03 9.95318855e-01 5.87785094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220418555 meters 0.017387853406644643 Centerline is valid? [True, True] Translation: X:-17.41, Y:-3.00, Z:0.05 [[ 9.94787972e-01 1.13090899e-02 -1.01336055e-01 -1.74092681e+01] [-1.09069577e-02 9.99930295e-01 4.52150308e-03 -3.00216753e+00] [ 1.01380126e-01 -3.39266881e-03 9.94841977e-01 4.77669927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250418555 meters 0.016828518687488102 Centerline is valid? [True, True] Translation: X:-17.44, Y:-3.00, Z:0.05 [[ 9.94789196e-01 1.00966190e-02 -1.01452031e-01 -1.74369153e+01] [-9.68666111e-03 9.99942810e-01 4.53274119e-03 -3.00249166e+00] [ 1.01491994e-01 -3.52639052e-03 9.94830106e-01 4.72412291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280418554999997 meters 0.017768130961614174 Centerline is valid? [True, True] Translation: X:-17.47, Y:-3.01, Z:0.04 [[ 9.95067462e-01 1.15225176e-02 -9.85290679e-02 -1.74666130e+01] [-1.11419605e-02 9.99928194e-01 4.41177217e-03 -3.00766620e+00] [ 9.85728276e-02 -3.29220395e-03 9.95124394e-01 4.45876037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310418555 meters 0.014686909550127454 Centerline is valid? [True, True] Translation: X:-17.50, Y:-3.01, Z:0.05 [[ 9.95201907e-01 1.30193855e-02 -9.69724656e-02 -1.74956745e+01] [-1.26574884e-02 9.99910445e-01 4.34621322e-03 -3.00675203e+00] [ 9.70203663e-02 -3.09793183e-03 9.95277575e-01 5.11056299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340418555 meters 0.017081499696260632 Centerline is valid? [True, True] Translation: X:-17.52, Y:-3.02, Z:0.04 [[ 9.94794190e-01 1.38536198e-02 -1.00958395e-01 -1.75246887e+01] [-1.34642022e-02 9.99899058e-01 4.53762476e-03 -3.01750154e+00] [ 1.01011066e-01 -3.15467851e-03 9.94880301e-01 4.03525297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370418555 meters 0.016886145195417288 Centerline is valid? [True, True] Translation: X:-17.55, Y:-3.02, Z:0.04 [[ 9.94275409e-01 1.05694504e-02 -1.06323555e-01 -1.75533649e+01] [-1.01166254e-02 9.99937317e-01 4.79739514e-03 -3.02138228e+00] [ 1.06367596e-01 -3.69429644e-03 9.94320012e-01 3.56223591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400418554999998 meters 0.01936106493153923 Centerline is valid? [True, True] Translation: X:-17.58, Y:-3.03, Z:0.03 [[ 9.94535993e-01 9.46991437e-03 -1.03963833e-01 -1.75819727e+01] [-9.03042745e-03 9.99948193e-01 4.69719725e-03 -3.02895942e+00] [ 1.04002929e-01 -3.73269389e-03 9.94569986e-01 3.40777024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430418555 meters 0.019843045302844607 Centerline is valid? [True, True] Translation: X:-17.61, Y:-3.03, Z:0.04 [[ 9.95140537e-01 7.49121022e-03 -9.81793975e-02 -1.76118025e+01] [-7.08909391e-03 9.99964997e-01 4.44393939e-03 -3.03464305e+00] [ 9.82092515e-02 -3.72634126e-03 9.95158810e-01 3.88735642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460418555 meters 0.022235220233139487 Centerline is valid? [True, True] Translation: X:-17.64, Y:-3.04, Z:0.03 [[ 9.94804486e-01 2.27561325e-03 -1.01778469e-01 -1.76422215e+01] [-1.81559550e-03 9.99987716e-01 4.61220085e-03 -3.04479309e+00] [ 1.01787714e-01 -4.40344957e-03 9.94796397e-01 3.29199505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490418554999998 meters 0.01959481647770601 Centerline is valid? [True, True] Translation: X:-17.67, Y:-3.04, Z:0.03 [[ 9.94643227e-01 1.11203247e-03 -1.03361574e-01 -1.76701379e+01] [-6.30834182e-04 9.99988812e-01 4.68805822e-03 -3.04192506e+00] [ 1.03365631e-01 -4.59774134e-03 9.94632800e-01 3.49219272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520418555 meters 0.024877778317226106 Centerline is valid? [True, True] Translation: X:-17.70, Y:-3.05, Z:0.03 [[ 9.94743206e-01 -3.95016643e-04 -1.02400182e-01 -1.76990628e+01] [ 8.76792112e-04 9.99988758e-01 4.65986275e-03 -3.05452462e+00] [ 1.02397190e-01 -4.72515049e-03 9.94732370e-01 2.69913449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550418555 meters 0.023318528703854736 Centerline is valid? [True, True] Translation: X:-17.73, Y:-3.06, Z:0.03 [[ 9.94519051e-01 -5.03648382e-03 -1.04434142e-01 -1.77282630e+01] [ 5.56510224e-03 9.99973133e-01 4.77096552e-03 -3.05665408e+00] [ 1.04407308e-01 -5.32600278e-03 9.94520361e-01 2.98565408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580418554999998 meters 0.028645189409149938 Centerline is valid? [True, True] Translation: X:-17.76, Y:-3.07, Z:0.02 [[ 9.94326276e-01 -7.59412869e-03 -1.06101768e-01 -1.77578913e+01] [ 8.15479215e-03 9.99954981e-01 4.85135472e-03 -3.06643806e+00] [ 1.06060150e-01 -5.68906734e-03 9.94343441e-01 2.18088599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610418555 meters 0.030659445179401543 Centerline is valid? [True, True] Translation: X:-17.79, Y:-3.07, Z:0.02 [[ 9.94217747e-01 -7.76482254e-03 -1.07101725e-01 -1.77865032e+01] [ 8.33844066e-03 9.99953185e-01 4.90903999e-03 -3.06761488e+00] [ 1.07058593e-01 -5.77371606e-03 9.94235949e-01 1.79145055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640418555 meters 0.028791971091905358 Centerline is valid? [True, True] Translation: X:-17.82, Y:-3.06, Z:0.02 [[ 9.94626965e-01 -5.97653347e-03 -1.03351252e-01 -1.78155215e+01] [ 6.50245684e-03 9.99967565e-01 4.75252389e-03 -3.06419350e+00] [ 1.03319496e-01 -5.39902546e-03 9.94633567e-01 2.34751322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670418554999998 meters 0.025578121408085602 Centerline is valid? [True, True] Translation: X:-17.85, Y:-3.06, Z:0.03 [[ 9.94793948e-01 -3.73791026e-03 -1.01838248e-01 -1.78450764e+01] [ 4.23706579e-03 9.99980046e-01 4.68558465e-03 -3.05836389e+00] [ 1.01818701e-01 -5.09268661e-03 9.94789936e-01 2.79849636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700418555 meters 0.028945675222672596 Centerline is valid? [True, True] Translation: X:-17.87, Y:-3.06, Z:0.02 [[ 9.94630937e-01 -2.39182639e-03 -1.03458101e-01 -1.78724248e+01] [ 2.90106448e-03 9.99984406e-01 4.77197422e-03 -3.06248196e+00] [ 1.03445074e-01 -5.04649181e-03 9.94622365e-01 1.86634165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730418555 meters 0.028383295623451925 Centerline is valid? [True, True] Translation: X:-17.90, Y:-3.06, Z:0.01 [[ 9.94015026e-01 -5.03408596e-04 -1.09242272e-01 -1.79011754e+01] [ 1.06239133e-03 9.99986640e-01 5.05876586e-03 -3.05537522e+00] [ 1.09238266e-01 -5.14454733e-03 9.94002281e-01 1.31903793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760418554999998 meters 0.028552111947766166 Centerline is valid? [True, True] Translation: X:-17.93, Y:-3.05, Z:0.02 [[ 9.94310551e-01 4.41928543e-04 -1.06519169e-01 -1.79304140e+01] [ 8.43611124e-05 9.99987813e-01 4.93624110e-03 -3.05322430e+00] [ 1.06520053e-01 -4.91714268e-03 9.94298396e-01 1.86726325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790418555 meters 0.027701905258495408 Centerline is valid? [True, True] Translation: X:-17.96, Y:-3.05, Z:0.02 [[ 9.94526618e-01 6.93022327e-04 -1.04481225e-01 -1.79584258e+01] [-1.87639045e-04 9.99988236e-01 4.84682441e-03 -3.05094384e+00] [ 1.04483354e-01 -4.80069113e-03 9.94515049e-01 1.79984561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820418555 meters 0.02960627619047882 Centerline is valid? [True, True] Translation: X:-17.99, Y:-3.05, Z:0.01 [[ 9.94063252e-01 1.95434656e-03 -1.08786172e-01 -1.79876646e+01] [-1.41306711e-03 9.99986238e-01 5.05249495e-03 -3.04871105e+00] [ 1.08794549e-01 -4.86877740e-03 9.94052333e-01 1.43180007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850418554999997 meters 0.032959678334451875 Centerline is valid? [True, True] Translation: X:-18.02, Y:-3.05, Z:0.01 [[ 9.93641931e-01 -3.56657151e-04 -1.12585901e-01 -1.80176273e+01] [ 9.51782333e-04 9.99985859e-01 5.23226017e-03 -3.05188821e+00] [ 1.12582443e-01 -5.30615037e-03 9.93628219e-01 6.90904931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880418555 meters 0.03774723392093395 Centerline is valid? [True, True] Translation: X:-18.05, Y:-3.05, Z:0.01 [[ 9.93557686e-01 -3.17630781e-03 -1.13282988e-01 -1.80473265e+01] [ 3.79744453e-03 9.99978915e-01 5.26768735e-03 -3.05435872e+00] [ 1.13263868e-01 -5.66393712e-03 9.93548799e-01 7.02851073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910418555 meters 0.04257521676706312 Centerline is valid? [True, True] Translation: X:-18.08, Y:-3.06, Z:0.00 [[ 9.93238340e-01 -4.05336457e-03 -1.16022282e-01 -1.80770590e+01] [ 4.71140753e-03 9.99974332e-01 5.39801544e-03 -3.05775433e+00] [ 1.15997424e-01 -5.90814415e-03 9.93231942e-01 4.77372498e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940418554999997 meters 0.0418676818483991 Centerline is valid? [True, True] Translation: X:-18.11, Y:-3.05, Z:0.01 [[ 9.93271127e-01 -5.10189775e-03 -1.15699775e-01 -1.81057958e+01] [ 5.76476374e-03 9.99968829e-01 5.39529713e-03 -3.05268850e+00] [ 1.15668643e-01 -6.02597473e-03 9.93269577e-01 1.01699860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970418555 meters 0.04851831758822471 Centerline is valid? [True, True] Translation: X:-18.14, Y:-3.05, Z:0.00 [[ 9.92327395e-01 -5.53249944e-03 -1.23514099e-01 -1.81355061e+01] [ 6.29399822e-03 9.99963511e-01 5.77593402e-03 -3.05463452e+00] [ 1.23477637e-01 -6.50901508e-03 9.92326008e-01 4.64540237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000418555 meters 0.051167701114463775 Centerline is valid? [True, True] Translation: X:-18.16, Y:-3.05, Z:-0.00 [[ 9.91048797e-01 -3.41085332e-03 -1.33456540e-01 -1.81649055e+01] [ 4.28241942e-03 9.99971335e-01 6.24421305e-03 -3.04970580e+00] [ 1.33431416e-01 -6.75983671e-03 9.91034995e-01 -2.61137943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030418554999997 meters 0.05435448750922261 Centerline is valid? [True, True] Translation: X:-18.19, Y:-3.04, Z:-0.01 [[ 9.89621096e-01 -2.38849975e-03 -1.43681525e-01 -1.81946375e+01] [ 3.39024420e-03 9.99971623e-01 6.72755394e-03 -3.04475810e+00] [ 1.43661379e-01 -7.14484477e-03 9.89601111e-01 -5.50180278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060418555 meters 0.05626898806204657 Centerline is valid? [True, True] Translation: X:-18.22, Y:-3.05, Z:-0.01 [[ 9.89912889e-01 -2.33619617e-03 -1.41658093e-01 -1.82242977e+01] [ 3.30994415e-03 9.99972486e-01 6.63869226e-03 -3.04969999e+00] [ 1.41638686e-01 -7.04060740e-03 9.89893384e-01 -7.14532847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090418555 meters 0.05452923661642152 Centerline is valid? [True, True] Translation: X:-18.25, Y:-3.04, Z:0.00 [[ 9.88857309e-01 2.18792845e-03 -1.48850377e-01 -1.82528557e+01] [-1.16141565e-03 9.99974945e-01 6.98284616e-03 -3.03643114e+00] [ 1.48861925e-01 -6.73216131e-03 9.88835075e-01 1.42884524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120418554999997 meters 0.06784433108382519 Centerline is valid? [True, True] Translation: X:-18.28, Y:-3.04, Z:-0.05 [[ 9.84584049e-01 2.74574980e-03 -1.74890567e-01 -1.82800694e+01] [-1.32993004e-03 9.99965395e-01 8.21214604e-03 -3.04309942e+00] [ 1.74907064e-01 -7.85295579e-03 9.84553630e-01 -4.90092934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150418554999998 meters 0.06849322374199868 Centerline is valid? [True, True] Translation: X:-18.31, Y:-3.04, Z:-0.05 [[ 9.83931658e-01 6.02829245e-03 -1.78443695e-01 -1.83086153e+01] [-4.60561569e-03 9.99954232e-01 8.38586907e-03 -3.03781762e+00] [ 1.78486081e-01 -7.42927897e-03 9.83914389e-01 -5.30836528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180418555 meters 0.0731530106543447 Centerline is valid? [True, True] Translation: X:-18.34, Y:-3.04, Z:-0.06 [[ 9.80479106e-01 5.45450761e-03 -1.96547631e-01 -1.83377502e+01] [-3.70979843e-03 9.99950393e-01 9.24385186e-03 -3.03993667e+00] [ 1.96588301e-01 -8.33425151e-03 9.80450703e-01 -6.39657511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210418555 meters 0.0735972454933209 Centerline is valid? [True, True] Translation: X:-18.37, Y:-3.04, Z:-0.07 [[ 9.79426463e-01 2.88827714e-03 -2.01780728e-01 -1.83660575e+01] [-9.92199330e-04 9.99954408e-01 9.49723593e-03 -3.03645525e+00] [ 2.01798959e-01 -9.10163749e-03 9.79384674e-01 -7.07362003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240418554999998 meters 0.07841475639086855 Centerline is valid? [True, True] Translation: X:-18.40, Y:-3.04, Z:-0.08 [[ 9.77870180e-01 -2.42317947e-04 -2.09212458e-01 -1.83954790e+01] [ 2.35630766e-03 9.99948659e-01 9.85532843e-03 -3.03519323e+00] [ 2.09199329e-01 -1.01302007e-02 9.77820546e-01 -8.07736128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270418555 meters 0.07432781443738612 Centerline is valid? [True, True] Translation: X:-18.43, Y:-3.03, Z:-0.06 [[ 9.77068339e-01 -1.77789429e-04 -2.12925876e-01 -1.84257662e+01] [ 2.36949352e-03 9.99946809e-01 1.00381277e-02 -3.02670151e+00] [ 2.12912766e-01 -1.03124632e-02 9.77016790e-01 -5.61339831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300418555 meters 0.0858272525574087 Centerline is valid? [True, True] Translation: X:-18.45, Y:-3.04, Z:-0.10 [[ 9.73708275e-01 -2.10731392e-03 -2.27788836e-01 -1.84535276e+01] [ 4.67871783e-03 9.99931280e-01 1.07491535e-02 -3.03854237e+00] [ 2.27750531e-01 -1.15322994e-02 9.73651222e-01 -9.80224270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330418554999998 meters 0.09028059589992879 Centerline is valid? [True, True] Translation: X:-18.48, Y:-3.04, Z:-0.10 [[ 9.71745764e-01 -3.75936558e-03 -2.36000079e-01 -1.84820653e+01] [ 6.57551347e-03 9.99916251e-01 1.11469311e-02 -3.03601603e+00] [ 2.35938409e-01 -1.23838048e-02 9.71689101e-01 -1.02240190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360418555 meters 0.09535976506576241 Centerline is valid? [True, True] Translation: X:-18.51, Y:-3.04, Z:-0.12 [[ 9.69641248e-01 -5.95302212e-03 -2.44459427e-01 -1.85112937e+01] [ 9.05262300e-03 9.99892228e-01 1.15578120e-02 -3.04053523e+00] [ 2.44364278e-01 -1.34199303e-02 9.69590638e-01 -1.15659827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390418555 meters 0.10517022443339001 Centerline is valid? [True, False] Translation: X:-18.52, Y:-3.04, Z:-0.12 [[ 9.68722145e-01 -1.55713276e-02 -2.47658920e-01 -1.85236212e+01] [ 1.87674762e-02 9.99768215e-01 1.05497973e-02 -3.04253347e+00] [ 2.47437242e-01 -1.48677551e-02 9.68789844e-01 -1.19178119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420418554999998 meters 0.11528355747215874 Centerline is valid? [False, False] Translation: X:-18.54, Y:-3.05, Z:-0.12 [[ 9.68252612e-01 -1.47821567e-02 -2.49536306e-01 -1.85381961e+01] [ 1.61750480e-02 9.99862936e-01 3.53215886e-03 -3.04706319e+00] [ 2.49449891e-01 -7.45628377e-03 9.68359001e-01 -1.22390181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450418555 meters 0.1178904187659111 Centerline is valid? [False, False] Translation: X:-18.57, Y:-3.05, Z:-0.13 [[ 9.70130998e-01 -1.48242593e-02 -2.42128245e-01 -1.85729197e+01] [ 1.56987181e-02 9.99875352e-01 1.68258587e-03 -3.04949919e+00] [ 2.42073121e-01 -5.43343177e-03 9.70242795e-01 -1.30155912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480418555 meters 0.1257183793732391 Centerline is valid? [False, False] Translation: X:-18.61, Y:-3.05, Z:-0.14 [[ 9.71707344e-01 -1.69034213e-02 -2.35582495e-01 -1.86051989e+01] [ 1.69421119e-02 9.99854742e-01 -1.86003355e-03 -3.05207372e+00] [ 2.35579715e-01 -2.18385673e-03 9.71852575e-01 -1.38732720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510418554999998 meters 0.1427696350525015 Centerline is valid? [False, False] Translation: X:-18.64, Y:-3.05, Z:-0.15 [[ 9.72939581e-01 -1.75681051e-02 -2.30390829e-01 -1.86352952e+01] [ 1.70892985e-02 9.99845669e-01 -4.07368162e-03 -3.05493217e+00] [ 2.30426840e-01 2.62284264e-05 9.73089652e-01 -1.47701564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540418555 meters 0.15419385070690378 Centerline is valid? [False, False] Translation: X:-18.67, Y:-3.06, Z:-0.16 [[ 9.74448782e-01 -1.56665743e-02 -2.24062780e-01 -1.86679722e+01] [ 1.51678085e-02 9.99877171e-01 -3.94709697e-03 -3.05829669e+00] [ 2.24097096e-01 4.47702498e-04 9.74566720e-01 -1.55924678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570418555 meters 0.1521853630772548 Centerline is valid? [False, False] Translation: X:-18.71, Y:-3.06, Z:-0.17 [[ 9.75579552e-01 -1.89498373e-02 -2.18827423e-01 -1.87142397e+01] [ 1.87271337e-02 9.99819851e-01 -3.09200187e-03 -3.05792933e+00] [ 2.18846594e-01 -1.08151661e-03 9.75758678e-01 -1.67203397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600418554999997 meters 0.16667136655666195 Centerline is valid? [False, False] Translation: X:-18.78, Y:-3.06, Z:-0.18 [[ 9.77627625e-01 -1.90254351e-02 -2.09480927e-01 -1.87815338e+01] [ 1.78528812e-02 9.99812592e-01 -7.48707610e-03 -3.05991178e+00] [ 2.09584114e-01 3.57973430e-03 9.77784069e-01 -1.79185850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630418555 meters 0.17052299764596135 Centerline is valid? [False, False] Translation: X:-18.85, Y:-3.06, Z:-0.19 [[ 9.79400886e-01 -1.71686144e-02 -2.01194291e-01 -1.88500295e+01] [ 1.54033209e-02 9.99827933e-01 -1.03364469e-02 -3.06165891e+00] [ 2.01337134e-01 7.02446507e-03 9.79496817e-01 -1.90297770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660418555 meters 0.177755843080415 Centerline is valid? [False, False] Translation: X:-18.90, Y:-3.06, Z:-0.20 [[ 9.80739179e-01 -1.81840522e-02 -1.94473657e-01 -1.89007097e+01] [ 1.69619938e-02 9.99824549e-01 -7.94745138e-03 -3.05962912e+00] [ 1.94584054e-01 4.49571597e-03 9.80875545e-01 -1.98977321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690418554999997 meters 0.1897886304172006 Centerline is valid? [False, False] Translation: X:-18.95, Y:-3.06, Z:-0.21 [[ 9.82105436e-01 -1.99035618e-02 -1.87277229e-01 -1.89506994e+01] [ 1.91217642e-02 9.99799277e-01 -5.98032178e-03 -3.05712765e+00] [ 1.87358668e-01 2.29223552e-03 9.82288896e-01 -2.08674673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720418555 meters 0.20590670304240558 Centerline is valid? [False, False] Translation: X:-19.02, Y:-3.06, Z:-0.22 [[ 9.83462445e-01 -1.77408148e-02 -1.80241181e-01 -1.90173775e+01] [ 1.63797476e-02 9.99825003e-01 -9.03702234e-03 -3.06085010e+00] [ 1.80369964e-01 5.93526704e-03 9.83580931e-01 -2.17725401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750418555 meters 0.20313293371051103 Centerline is valid? [False, False] Translation: X:-19.09, Y:-3.06, Z:-0.23 [[ 9.85975563e-01 -1.53620448e-02 -1.66181214e-01 -1.90892197e+01] [ 1.36875347e-02 9.99843402e-01 -1.12170582e-02 -3.06288137e+00] [ 1.66327507e-01 8.78513414e-03 9.86031430e-01 -2.25143689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780418554999997 meters 0.21547549144007414 Centerline is valid? [False, False] Translation: X:-19.14, Y:-3.06, Z:-0.23 [[ 9.87283090e-01 -1.77516044e-02 -1.57977783e-01 -1.91431558e+01] [ 1.63122795e-02 9.99812826e-01 -1.04030075e-02 -3.05949110e+00] [ 1.58132884e-01 7.69373567e-03 9.87387866e-01 -2.30487385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810418555 meters 0.21653115800924716 Centerline is valid? [False, False] Translation: X:-19.20, Y:-3.06, Z:-0.23 [[ 9.88607222e-01 -1.26537365e-02 -1.49985480e-01 -1.92002015e+01] [ 1.04605221e-02 9.99826651e-01 -1.54027928e-02 -3.06175345e+00] [ 1.50154383e-01 1.36583858e-02 9.88568212e-01 -2.33764918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840418555 meters 0.21819087053098793 Centerline is valid? [False, False] Translation: X:-19.25, Y:-3.06, Z:-0.24 [[ 9.90088871e-01 -1.19934661e-02 -1.39929214e-01 -1.92537137e+01] [ 1.05162375e-02 9.99880947e-01 -1.12916270e-02 -3.05968741e+00] [ 1.40047981e-01 9.70818533e-03 9.90097124e-01 -2.38395453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870418554999997 meters 0.2361349664468204 Centerline is valid? [False, False] Translation: X:-19.29, Y:-3.06, Z:-0.24 [[ 9.90958308e-01 -1.04366366e-02 -1.33763629e-01 -1.92896402e+01] [ 8.92522002e-03 9.99889433e-01 -1.18938289e-02 -3.06087132e+00] [ 1.33872971e-01 1.05924188e-02 9.90941890e-01 -2.42345090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900418554999998 meters 0.23783356096291738 Centerline is valid? [False, False] Translation: X:-19.34, Y:-3.06, Z:-0.25 [[ 9.92200891e-01 -1.09530392e-02 -1.24166919e-01 -1.93397145e+01] [ 9.89886641e-03 9.99909563e-01 -9.10375002e-03 -3.05760595e+00] [ 1.24255404e-01 7.80363713e-03 9.92219582e-01 -2.48894995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930418555 meters 0.23783356096291738 Centerline is valid? [False, False] Translation: X:-19.34, Y:-3.06, Z:-0.25 [[ 9.92200891e-01 -1.09530392e-02 -1.24166919e-01 -1.93397145e+01] [ 9.89886641e-03 9.99909563e-01 -9.10375002e-03 -3.05760595e+00] [ 1.24255404e-01 7.80363713e-03 9.92219582e-01 -2.48894995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960418555 meters 0.23594881943575943 Centerline is valid? [False, False] Translation: X:-19.37, Y:-3.06, Z:-0.25 [[ 9.92784086e-01 -1.00008733e-02 -1.19497868e-01 -1.93747438e+01] [ 8.84447299e-03 9.99908827e-01 -1.02036087e-02 -3.05990451e+00] [ 1.19589018e-01 9.07308465e-03 9.92782023e-01 -2.52684651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990418554999998 meters 0.24186363955795015 Centerline is valid? [False, False] Translation: X:-19.41, Y:-3.06, Z:-0.26 [[ 9.93456576e-01 -8.47632947e-03 -1.13895497e-01 -1.94095543e+01] [ 7.32291239e-03 9.99917622e-01 -1.05415558e-02 -3.06133897e+00] [ 1.13975468e-01 9.63853117e-03 9.93436808e-01 -2.57199856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020418555 meters 0.2562106936891122 Centerline is valid? [False, False] Translation: X:-19.44, Y:-3.06, Z:-0.26 [[ 9.94129104e-01 -6.87466005e-03 -1.07981775e-01 -1.94438338e+01] [ 5.64338901e-03 9.99915580e-01 -1.17040347e-02 -3.06080092e+00] [ 1.08053121e-01 1.10259383e-02 9.94083976e-01 -2.61290296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050418555 meters 0.25854330093551237 Centerline is valid? [False, False] Translation: X:-19.49, Y:-3.06, Z:-0.27 [[ 9.95153168e-01 -6.61891485e-03 -9.81140307e-02 -1.94909048e+01] [ 5.78412584e-03 9.99944635e-01 -8.79035588e-03 -3.05951089e+00] [ 9.81667813e-02 8.18024659e-03 9.95136356e-01 -2.66527092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080418554999998 meters 0.2463712840834764 Centerline is valid? [False, False] Translation: X:-19.53, Y:-3.06, Z:-0.27 [[ 9.95846787e-01 -4.79702676e-03 -9.09184527e-02 -1.95253321e+01] [ 4.06491044e-03 9.99957822e-01 -8.23591262e-03 -3.06268643e+00] [ 9.09541258e-02 7.83213176e-03 9.95824284e-01 -2.71224570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110418555 meters 0.26689657186654053 Centerline is valid? [False, False] Translation: X:-19.56, Y:-3.06, Z:-0.27 [[ 9.96498797e-01 -3.45153227e-03 -8.35358296e-02 -1.95606975e+01] [ 2.68279439e-03 9.99953034e-01 -9.31299527e-03 -3.06268381e+00] [ 8.35640504e-02 9.05627913e-03 9.96461255e-01 -2.73640269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140418555 meters 0.2542588323283584 Centerline is valid? [False, False] Translation: X:-19.59, Y:-3.06, Z:-0.28 [[ 9.96988995e-01 -1.21832491e-03 -7.75335985e-02 -1.95941036e+01] [ 5.10078305e-04 9.99957973e-01 -9.15385408e-03 -3.06383409e+00] [ 7.75414923e-02 9.08674357e-03 9.96947716e-01 -2.78102573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170418554999998 meters 0.2616788102443139 Centerline is valid? [False, False] Translation: X:-19.62, Y:-3.07, Z:-0.29 [[ 9.96758219e-01 8.13849334e-04 -8.04511677e-02 -1.96154995e+01] [-1.50499078e-03 9.99962482e-01 -8.53055526e-03 -3.06729861e+00] [ 8.04412067e-02 8.62397934e-03 9.96722047e-01 -2.87873251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200418555 meters 0.2594493379216043 Centerline is valid? [False, False] Translation: X:-19.63, Y:-3.06, Z:-0.29 [[ 9.97124158e-01 3.63245479e-04 -7.57844405e-02 -1.96296692e+01] [-6.06237711e-04 9.99994749e-01 -3.18338031e-03 -3.06345181e+00] [ 7.57828862e-02 3.22016880e-03 9.97119143e-01 -2.93510859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230418555 meters 0.2698645416850788 Centerline is valid? [False, False] Translation: X:-19.64, Y:-3.06, Z:-0.30 [[ 9.97501683e-01 -3.72320485e-03 -7.05445214e-02 -1.96420222e+01] [ 3.51909538e-03 9.99989256e-01 -3.01740341e-03 -3.05828018e+00] [ 7.05549978e-02 2.76161208e-03 9.97504068e-01 -2.98556998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260418554999998 meters 0.2653542672728092 Centerline is valid? [False, False] Translation: X:-19.65, Y:-3.06, Z:-0.31 [[ 9.97496346e-01 3.75815030e-04 -7.07170272e-02 -1.96491960e+01] [-9.77179895e-04 9.99963656e-01 -8.46941715e-03 -3.06483684e+00] [ 7.07112741e-02 8.51731592e-03 9.97460461e-01 -3.07912459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290418555 meters 0.27727885966544624 Centerline is valid? [False, False] Translation: X:-19.67, Y:-3.07, Z:-0.32 [[ 9.97305086e-01 5.16293034e-03 -7.31840838e-02 -1.96729608e+01] [-5.57284255e-03 9.99969902e-01 -5.39802177e-03 -3.06753716e+00] [ 7.31540115e-02 5.79131794e-03 9.97303841e-01 -3.16718200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320418555 meters 0.28591360637665514 Centerline is valid? [False, False] Translation: X:-19.68, Y:-3.06, Z:-0.33 [[ 9.97594089e-01 2.11584328e-03 -6.92932637e-02 -1.96804300e+01] [-2.29694455e-03 9.99994151e-01 -2.53397508e-03 -3.06305369e+00] [ 6.92874969e-02 2.68704134e-03 9.97593115e-01 -3.28617182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350418554999997 meters 0.2840331975322592 Centerline is valid? [False, False] Translation: X:-19.69, Y:-3.06, Z:-0.34 [[ 9.97858794e-01 -1.51536244e-03 -6.53875446e-02 -1.96890537e+01] [ 1.51944776e-03 9.99998846e-01 1.27488613e-05 -3.05803215e+00] [ 6.53874498e-02 -1.12074521e-04 9.97859945e-01 -3.40420611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380418555 meters 0.2784609167879002 Centerline is valid? [False, False] Translation: X:-19.70, Y:-3.06, Z:-0.36 [[ 9.97530957e-01 -5.18295031e-04 -7.02262159e-02 -1.97041023e+01] [ 4.85501819e-04 9.99999765e-01 -4.84033121e-04 -3.05948620e+00] [ 7.02264503e-02 4.48743067e-04 9.97530974e-01 -3.56132253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410418555 meters 0.30102921087019163 Centerline is valid? [False, False] Translation: X:-19.71, Y:-3.06, Z:-0.37 [[ 9.97607549e-01 -3.91316777e-03 -6.90207614e-02 -1.97055635e+01] [ 4.19875648e-03 9.99983213e-01 3.99313301e-03 -3.05725132e+00] [ 6.90039769e-02 -4.27338101e-03 9.97607232e-01 -3.73833198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440418554999997 meters 0.30261584825662163 Centerline is valid? [False, False] Translation: X:-19.71, Y:-3.06, Z:-0.38 [[ 9.97559303e-01 -1.13733620e-03 -6.98150631e-02 -1.97134352e+01] [ 9.23099056e-04 9.99994766e-01 -3.10082359e-03 -3.06324153e+00] [ 6.98182244e-02 3.02880920e-03 9.97555132e-01 -3.84479602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470418555 meters 0.3031941432907874 Centerline is valid? [False, False] Translation: X:-19.73, Y:-3.07, Z:-0.41 [[ 9.98216021e-01 -2.12187249e-05 -5.97057442e-02 -1.97266771e+01] [-1.18460027e-04 9.99997265e-01 -2.33591199e-03 -3.06575424e+00] [ 5.97056304e-02 2.33881752e-03 9.98213288e-01 -4.10967102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500418555 meters 0.30110789884558864 Centerline is valid? [False, False] Translation: X:-19.73, Y:-3.07, Z:-0.43 [[ 9.98308732e-01 -2.72990008e-03 -5.80708481e-02 -1.97306882e+01] [ 2.90448123e-03 9.99991512e-01 2.92215576e-03 -3.06509821e+00] [ 5.80623780e-02 -3.08587930e-03 9.98308188e-01 -4.26982387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530418554999997 meters 0.3085200383777336 Centerline is valid? [False, False] Translation: X:-19.74, Y:-3.06, Z:-0.44 [[ 9.98533646e-01 -5.73403141e-03 -5.38300990e-02 -1.97368380e+01] [ 6.07268707e-03 9.99962774e-01 6.12973803e-03 -3.06292203e+00] [ 5.37929470e-02 -6.44764301e-03 9.98531295e-01 -4.42508825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560418555 meters 0.3103525057601512 Centerline is valid? [False, False] Translation: X:-19.75, Y:-3.07, Z:-0.45 [[ 9.98705995e-01 -1.22645002e-03 -5.08412413e-02 -1.97450798e+01] [ 1.35494915e-03 9.99995974e-01 2.49306972e-03 -3.06966478e+00] [ 5.08379790e-02 -2.55873097e-03 9.98703636e-01 -4.53914986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590418555 meters 0.31436234415293224 Centerline is valid? [False, False] Translation: X:-19.75, Y:-3.07, Z:-0.47 [[ 9.98930514e-01 -4.21138518e-03 -4.60444659e-02 -1.97532545e+01] [ 4.46235339e-03 9.99975737e-01 5.34913285e-03 -3.06788227e+00] [ 4.60208214e-02 -5.54887871e-03 9.98925069e-01 -4.67498611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620418554999997 meters 0.3124591441232046 Centerline is valid? [False, False] Translation: X:-19.76, Y:-3.08, Z:-0.48 [[ 9.99057002e-01 4.91689685e-04 -4.34150316e-02 -1.97620136e+01] [-4.15762810e-04 9.99998369e-01 1.75787356e-03 -3.07507301e+00] [ 4.34158251e-02 -1.73816553e-03 9.99055576e-01 -4.78037856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650418554999998 meters 0.310997876239439 Centerline is valid? [False, False] Translation: X:-19.76, Y:-3.08, Z:-0.48 [[ 9.99079082e-01 6.84144334e-04 -4.29012729e-02 -1.97613495e+01] [-5.90493087e-04 9.99997415e-01 2.19558226e-03 -3.07691685e+00] [ 4.29026642e-02 -2.16822740e-03 9.99076904e-01 -4.81382973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680418555 meters 0.317469643175686 Centerline is valid? [False, False] Translation: X:-19.76, Y:-3.08, Z:-0.49 [[ 9.99049793e-01 -1.23663929e-03 -4.35658367e-02 -1.97557612e+01] [ 1.26193723e-03 9.99999051e-01 5.53186064e-04 -3.07876111e+00] [ 4.35651113e-02 -6.07637774e-04 9.99050405e-01 -4.87788845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710418555 meters 0.31428860793582464 Centerline is valid? [False, False] Translation: X:-19.76, Y:-3.08, Z:-0.50 [[ 9.99221750e-01 -4.26716789e-03 -3.92133356e-02 -1.97630264e+01] [ 4.43838882e-03 9.99980989e-01 4.28037739e-03 -3.07908194e+00] [ 3.91943250e-02 -4.45109022e-03 9.99221693e-01 -5.02917146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740418554999998 meters 0.31294783697851836 Centerline is valid? [False, False] Translation: X:-19.76, Y:-3.08, Z:-0.51 [[ 9.99249359e-01 -3.63035181e-03 -3.85686296e-02 -1.97610552e+01] [ 3.83777107e-03 9.99978563e-01 5.30525194e-03 -3.08278988e+00] [ 3.85485428e-02 -5.44928718e-03 9.99241870e-01 -5.08440902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770418555 meters 0.3156414368730447 Centerline is valid? [False, False] Translation: X:-19.77, Y:-3.09, Z:-0.52 [[ 9.99368692e-01 1.30017206e-03 -3.55038872e-02 -1.97697913e+01] [-1.22711254e-03 9.99997085e-01 2.07950231e-03 -3.09001646e+00] [ 3.55064874e-02 -2.03462224e-03 9.99367375e-01 -5.20532175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800418555 meters 0.31400654777202186 Centerline is valid? [False, False] Translation: X:-19.79, Y:-3.09, Z:-0.55 [[ 9.99680929e-01 -1.16517076e-03 -2.52325587e-02 -1.97853831e+01] [ 1.11244003e-03 9.99997168e-01 -2.10372550e-03 -3.09259404e+00] [ 2.52349385e-02 2.07498455e-03 9.99679395e-01 -5.46558511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830418554999998 meters 0.3213765836911859 Centerline is valid? [False, False] Translation: X:-19.80, Y:-3.10, Z:-0.57 [[ 9.99882840e-01 -1.06505806e-05 -1.53070445e-02 -1.98000152e+01] [-4.63541613e-06 9.99999501e-01 -9.98589137e-04 -3.09708939e+00] [ 1.53070475e-02 9.98543097e-04 9.99882342e-01 -5.69270756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860418555 meters 0.3285325028204204 Centerline is valid? [False, False] Translation: X:-19.82, Y:-3.10, Z:-0.59 [[ 9.99986858e-01 4.69761354e-04 -5.10516469e-03 -1.98154086e+01] [-4.70753439e-04 9.99999871e-01 -1.93129632e-04 -3.09958078e+00] [ 5.10507331e-03 1.95530368e-04 9.99986950e-01 -5.92544032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890418555 meters 0.3280439687551633 Centerline is valid? [False, False] Translation: X:-19.81, Y:-3.10, Z:-0.61 [[ 9.99993294e-01 7.43991088e-04 -3.58573067e-03 -1.98095306e+01] [-7.42048181e-04 9.99999577e-01 5.43143916e-04 -3.10274185e+00] [ 3.58613325e-03 -5.40479489e-04 9.99993424e-01 -6.08320724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920418554999998 meters 0.2842902539726607 Centerline is valid? [False, False] Translation: X:-19.84, Y:-3.11, Z:-0.65 [[ 9.99914611e-01 7.27304670e-04 1.30476528e-02 -1.98374176e+01] [-7.08430857e-04 9.99998696e-01 -1.45109297e-03 -3.10735143e+00] [-1.30486912e-02 1.44172570e-03 9.99913823e-01 -6.52848573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950418555 meters 0.294189350010757 Centerline is valid? [False, False] Translation: X:-19.84, Y:-3.11, Z:-0.68 [[ 9.99889456e-01 -2.86900861e-03 1.45891739e-02 -1.98380361e+01] [ 2.80553958e-03 9.99986520e-01 4.36902670e-03 -3.10889099e+00] [-1.46015120e-02 -4.32761322e-03 9.99884027e-01 -6.80373249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980418555 meters 0.7100775929294973 Centerline is valid? [False, False] Translation: X:-19.87, Y:-3.12, Z:-0.72 [[ 9.99634223e-01 5.46477332e-03 2.64869147e-02 -1.98661263e+01] [-5.50514215e-03 9.99983793e-01 1.45142392e-03 -3.12094907e+00] [-2.64785537e-02 -1.59670725e-03 9.99648106e-01 -7.15860937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010418554999998 meters 0.6800878061182587 Centerline is valid? [False, False] Translation: X:-19.89, Y:-3.12, Z:-0.73 [[ 9.99742776e-01 5.56052633e-03 2.19877825e-02 -1.98870298e+01] [-5.57783714e-03 9.99984180e-01 7.26040895e-04 -3.12290443e+00] [-2.19833975e-02 -8.48498410e-04 9.99757976e-01 -7.31880160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040418555 meters 0.4088878903781565 Centerline is valid? [False, False] Translation: X:-19.89, Y:-3.12, Z:-0.76 [[ 9.99700742e-01 3.75328074e-04 2.44598570e-02 -1.98923497e+01] [-4.87556662e-04 9.99989382e-01 4.58247436e-03 -3.12237446e+00] [-2.44578774e-02 -4.59302858e-03 9.99690310e-01 -7.55568265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070418555 meters 0.3867234105053439 Centerline is valid? [False, False] Translation: X:-19.91, Y:-3.12, Z:-0.77 [[ 9.99779387e-01 6.97839080e-05 2.10041141e-02 -1.99148585e+01] [-1.42367525e-04 9.99994024e-01 3.45421025e-03 -3.12484335e+00] [-2.10037475e-02 -3.45643851e-03 9.99773422e-01 -7.74953768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100418554999997 meters 0.36873119453818687 Centerline is valid? [False, False] Translation: X:-19.94, Y:-3.13, Z:-0.79 [[ 9.99854654e-01 8.79999665e-04 1.70263554e-02 -1.99386470e+01] [-9.36987327e-04 9.99993985e-01 3.33933868e-03 -3.12583158e+00] [-1.70233144e-02 -3.35480680e-03 9.99849465e-01 -7.89846091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130418555 meters 0.5307039862793209 Centerline is valid? [False, False] Translation: X:-19.96, Y:-3.13, Z:-0.80 [[ 9.99913236e-01 1.50929834e-03 1.30859764e-02 -1.99641841e+01] [-1.55011839e-03 9.99993963e-01 3.10979151e-03 -3.12745695e+00] [-1.30812038e-02 -3.12980650e-03 9.99909539e-01 -8.02443162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160418555 meters 0.5292137678077253 Centerline is valid? [False, False] Translation: X:-19.97, Y:-3.13, Z:-0.81 [[ 9.99864723e-01 1.62272784e-03 1.63677523e-02 -1.99689402e+01] [-1.67769048e-03 9.99992999e-01 3.34481144e-03 -3.12757416e+00] [-1.63622100e-02 -3.37181899e-03 9.99860445e-01 -8.10812434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190418554999997 meters 0.5251306764056354 Centerline is valid? [False, False] Translation: X:-19.97, Y:-3.13, Z:-0.82 [[ 9.99842571e-01 2.85376081e-03 1.75125303e-02 -1.99670864e+01] [-2.93341951e-03 9.99985461e-01 4.52466811e-03 -3.12919528e+00] [-1.74993634e-02 -4.57532740e-03 9.99836406e-01 -8.19597833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220418555 meters 0.5100130764410817 Centerline is valid? [False, False] Translation: X:-20.00, Y:-3.13, Z:-0.83 [[ 9.99906876e-01 2.63566925e-03 1.33900364e-02 -1.99955988e+01] [-2.68122702e-03 9.99990674e-01 3.38555168e-03 -3.13016532e+00] [-1.33809884e-02 -3.42113813e-03 9.99904618e-01 -8.27266266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250418555 meters 0.5178056541024083 Centerline is valid? [False, False] Translation: X:-20.00, Y:-3.13, Z:-0.83 [[ 9.99879423e-01 2.76415589e-03 1.52806775e-02 -1.99983790e+01] [-2.82022635e-03 9.99989365e-01 3.64903975e-03 -3.13270732e+00] [-1.52704285e-02 -3.69169473e-03 9.99876585e-01 -8.32260061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280418554999997 meters 0.5060857535142662 Centerline is valid? [False, False] Translation: X:-20.00, Y:-3.13, Z:-0.84 [[ 9.99861680e-01 2.78626580e-03 1.63969032e-02 -1.99999707e+01] [-2.84472680e-03 9.99989677e-01 3.54312472e-03 -3.13207673e+00] [-1.63868618e-02 -3.58927934e-03 9.99859284e-01 -8.35636624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310418555 meters 0.502671948968459 Centerline is valid? [False, False] Translation: X:-20.03, Y:-3.13, Z:-0.84 [[ 9.99911978e-01 2.56296800e-03 1.30179852e-02 -2.00303839e+01] [-2.59713391e-03 9.99993226e-01 2.60828860e-03 -3.13385337e+00] [-1.30112121e-02 -2.64186846e-03 9.99911861e-01 -8.44474599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340418555 meters 0.5113826012008983 Centerline is valid? [False, False] Translation: X:-20.03, Y:-3.13, Z:-0.85 [[ 9.99894639e-01 2.58687864e-03 1.42834915e-02 -2.00322525e+01] [-2.62612880e-03 9.99992826e-01 2.72986686e-03 -3.13499253e+00] [-1.42763272e-02 -2.76708953e-03 9.99894259e-01 -8.47960520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370418554999997 meters 0.3473916017413191 Centerline is valid? [False, False] Translation: X:-20.03, Y:-3.13, Z:-0.85 [[ 9.99869865e-01 2.62041797e-03 1.59181326e-02 -2.00347143e+01] [-2.66124643e-03 9.99993222e-01 2.54426208e-03 -3.13356443e+00] [-1.59113577e-02 -2.58629306e-03 9.99870061e-01 -8.52540113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400418554999998 meters 0.5100007517794319 Centerline is valid? [False, False] Translation: X:-20.04, Y:-3.13, Z:-0.85 [[ 9.99996929e-01 1.54268406e-03 1.93948223e-03 -2.00417077e+01] [-1.54453831e-03 9.99998351e-01 9.54923440e-04 -3.13326164e+00] [-1.93800589e-03 -9.57916112e-04 9.99997663e-01 -8.50778671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430418555 meters 0.5234994301705799 Centerline is valid? [False, False] Translation: X:-20.04, Y:-3.13, Z:-0.85 [[ 9.99993873e-01 1.63831223e-03 3.09360816e-03 -2.00431057e+01] [-1.64192203e-03 9.99997974e-01 1.16467920e-03 -3.13458763e+00] [-3.09169379e-03 -1.16975152e-03 9.99994537e-01 -8.54606778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460418555 meters 0.5216891128551516 Centerline is valid? [False, False] Translation: X:-20.04, Y:-3.13, Z:-0.86 [[ 9.99990094e-01 1.71457789e-03 4.10758685e-03 -2.00444259e+01] [-1.71940674e-03 9.99997835e-01 1.17234927e-03 -3.13427330e+00] [-4.10556788e-03 -1.17940027e-03 9.99990877e-01 -8.57971023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490418554999998 meters 0.34514263066601436 Centerline is valid? [False, False] Translation: X:-20.05, Y:-3.13, Z:-0.86 [[ 9.99983083e-01 1.74045614e-03 5.55026158e-03 -2.00469195e+01] [-1.74727385e-03 9.99997725e-01 1.22374564e-03 -3.13454196e+00] [-5.54811908e-03 -1.23342277e-03 9.99983848e-01 -8.61396407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520418555 meters 0.3269651485694086 Centerline is valid? [False, False] Translation: X:-20.07, Y:-3.14, Z:-0.86 [[ 9.99991465e-01 -4.12617598e-03 -2.10886939e-04 -2.00672500e+01] [ 4.12699830e-03 9.99983241e-01 4.06020760e-03 -3.13611368e+00] [ 1.94130274e-04 -4.06104328e-03 9.99991735e-01 -8.58767053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550418555 meters 0.315972023616176 Centerline is valid? [False, False] Translation: X:-20.07, Y:-3.14, Z:-0.86 [[ 9.99991757e-01 -3.96408253e-03 8.78760677e-04 -2.00692337e+01] [ 3.95994264e-03 9.99981284e-01 4.66376598e-03 -3.13918358e+00] [-8.97231783e-04 -4.66024769e-03 9.99988738e-01 -8.61076823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580418554999998 meters 0.3204927571220977 Centerline is valid? [False, False] Translation: X:-20.07, Y:-3.14, Z:-0.86 [[ 9.99991713e-01 -3.84412444e-03 1.34075144e-03 -2.00699303e+01] [ 3.83729312e-03 9.99979830e-01 5.06102845e-03 -3.14116476e+00] [-1.36017963e-03 -5.05584165e-03 9.99986294e-01 -8.62419930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610418555 meters 0.32045194020236145 Centerline is valid? [False, False] Translation: X:-20.07, Y:-3.14, Z:-0.86 [[ 9.99991665e-01 -3.70495855e-03 1.71554968e-03 -2.00704449e+01] [ 3.69542714e-03 9.99977903e-01 5.52612160e-03 -3.14353872e+00] [-1.73598582e-03 -5.51973585e-03 9.99983259e-01 -8.63672373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640418555 meters 0.31888540676676796 Centerline is valid? [False, False] Translation: X:-20.07, Y:-3.15, Z:-0.86 [[ 9.99991083e-01 -3.65590037e-03 2.11383828e-03 -2.00715010e+01] [ 3.64354687e-03 9.99976433e-01 5.81872015e-03 -3.14514401e+00] [-2.13506112e-03 -5.81096640e-03 9.99980837e-01 -8.63892102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670418554999998 meters 0.310620474106618 Centerline is valid? [False, False] Translation: X:-20.07, Y:-3.15, Z:-0.86 [[ 9.99990539e-01 -3.64696430e-03 2.37113135e-03 -2.00722449e+01] [ 3.63286531e-03 9.99975857e-01 5.92346708e-03 -3.14575435e+00] [-2.39267678e-03 -5.91479704e-03 9.99979645e-01 -8.63968284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700418555 meters 0.3147428284352148 Centerline is valid? [False, False] Translation: X:-20.07, Y:-3.15, Z:-0.87 [[ 9.99990076e-01 -3.55835884e-03 2.68066791e-03 -2.00725222e+01] [ 3.54179705e-03 9.99974768e-01 6.15785215e-03 -3.14688425e+00] [-2.70251212e-03 -6.14829666e-03 9.99977447e-01 -8.65323731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730418555 meters 0.3142747183973376 Centerline is valid? [False, False] Translation: X:-20.09, Y:-3.15, Z:-0.86 [[ 9.99997887e-01 1.12849151e-03 -1.71835272e-03 -2.00911801e+01] [-1.12736297e-03 9.99999148e-01 6.57589283e-04 -3.14892410e+00] [ 1.71909334e-03 -6.55650686e-04 9.99998307e-01 -8.64002443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760418554999998 meters 0.3132841627033489 Centerline is valid? [False, False] Translation: X:-20.09, Y:-3.15, Z:-0.86 [[ 9.99998477e-01 1.17552865e-03 -1.28981638e-03 -2.00921362e+01] [-1.17443596e-03 9.99998951e-01 8.47597691e-04 -3.14997438e+00] [ 1.29081141e-03 -8.46081594e-04 9.99998809e-01 -8.64644147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790418555 meters 0.3047026499891152 Centerline is valid? [False, False] Translation: X:-20.09, Y:-3.15, Z:-0.87 [[ 9.99998963e-01 1.22702054e-03 -7.53538046e-04 -2.00933698e+01] [-1.22624310e-03 9.99998716e-01 1.03131734e-03 -3.15094242e+00] [ 7.54802526e-04 -1.03039225e-03 9.99999184e-01 -8.65438266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820418555 meters 0.3047026499891152 Centerline is valid? [False, False] Translation: X:-20.09, Y:-3.15, Z:-0.87 [[ 9.99998963e-01 1.22702054e-03 -7.53538046e-04 -2.00933698e+01] [-1.22624310e-03 9.99998716e-01 1.03131734e-03 -3.15094242e+00] [ 7.54802526e-04 -1.03039225e-03 9.99999184e-01 -8.65438266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850418554999997 meters 0.3048126260606752 Centerline is valid? [False, False] Translation: X:-20.10, Y:-3.15, Z:-0.87 [[ 9.99999231e-01 1.19139542e-03 3.44314597e-04 -2.00958532e+01] [-1.19180422e-03 9.99998582e-01 1.18952463e-03 -3.15216868e+00] [-3.42896915e-04 -1.18993407e-03 9.99999233e-01 -8.67035184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880418555 meters 0.3023730022453052 Centerline is valid? [False, False] Translation: X:-20.10, Y:-3.15, Z:-0.87 [[ 9.99998541e-01 1.33505044e-03 1.06595439e-03 -2.00971351e+01] [-1.33683802e-03 9.99997699e-01 1.67802597e-03 -3.15492928e+00] [-1.06371169e-03 -1.67944853e-03 9.99998024e-01 -8.68849156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910418555 meters 0.3285976924508399 Centerline is valid? [False, False] Translation: X:-20.06, Y:-3.16, Z:-0.87 [[ 9.99987836e-01 6.74807211e-04 4.88587899e-03 -2.00591999e+01] [-6.85363863e-04 9.99997434e-01 2.15929360e-03 -3.15609712e+00] [-4.88440935e-03 -2.16261594e-03 9.99985733e-01 -8.70347302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940418554999997 meters 0.32842211282933625 Centerline is valid? [False, False] Translation: X:-20.08, Y:-3.16, Z:-0.87 [[ 9.99988855e-01 4.61253236e-03 1.00756870e-03 -2.00828700e+01] [-4.60871311e-03 9.99982309e-01 -3.76055129e-03 -3.15662916e+00] [-1.02489654e-03 3.75586578e-03 9.99992422e-01 -8.67693055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970418555 meters 0.3329137496116714 Centerline is valid? [False, False] Translation: X:-20.08, Y:-3.16, Z:-0.87 [[ 9.99987531e-01 4.69796353e-03 1.69326731e-03 -2.00838308e+01] [-4.69193462e-03 9.99982702e-01 -3.54707708e-03 -3.15768329e+00] [-1.70990206e-03 3.53908815e-03 9.99992276e-01 -8.69948234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000418555 meters 0.3242262376166623 Centerline is valid? [False, False] Translation: X:-20.11, Y:-3.16, Z:-0.87 [[ 9.99995977e-01 -1.55874626e-03 -2.36984814e-03 -2.01084396e+01] [ 1.55741046e-03 9.99998627e-01 -5.65405439e-04 -3.15902876e+00] [ 2.37072621e-03 5.61712338e-04 9.99997032e-01 -8.66531369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030418554999997 meters 0.331129784979704 Centerline is valid? [False, False] Translation: X:-20.11, Y:-3.16, Z:-0.87 [[ 9.99997265e-01 -1.53173789e-03 -1.76713981e-03 -2.01098938e+01] [ 1.53087399e-03 9.99998708e-01 -4.90118989e-04 -3.15949677e+00] [ 1.76788826e-03 4.87412380e-04 9.99998318e-01 -8.67371438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060418555 meters 0.3112966197545441 Centerline is valid? [False, False] Translation: X:-20.14, Y:-3.16, Z:-0.88 [[ 9.99955091e-01 -1.51006848e-03 9.35609163e-03 -2.01398022e+01] [ 1.51063380e-03 9.99998858e-01 -5.33564564e-05 -3.15961431e+00] [-9.35600037e-03 6.74876884e-05 9.99956229e-01 -8.76434322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090418555 meters 0.33439017752103173 Centerline is valid? [False, False] Translation: X:-20.14, Y:-3.16, Z:-0.88 [[ 9.99948014e-01 -1.38616747e-03 1.01018909e-02 -2.01418700e+01] [ 1.38318798e-03 9.99998998e-01 3.01923765e-04 -3.16171221e+00] [-1.01022993e-02 -2.87935255e-04 9.99948929e-01 -8.76963878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120418554999997 meters 0.3340324316401962 Centerline is valid? [False, False] Translation: X:-20.14, Y:-3.16, Z:-0.88 [[ 9.99942606e-01 -1.31793746e-03 1.06324305e-02 -2.01426265e+01] [ 1.31256990e-03 9.99999008e-01 5.11791264e-04 -3.16314106e+00] [-1.06330944e-02 -4.97806081e-04 9.99943343e-01 -8.78771569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150418554999998 meters 0.35268320314237195 Centerline is valid? [False, False] Translation: X:-20.17, Y:-3.16, Z:-0.87 [[ 9.99967718e-01 5.09551016e-03 6.21272618e-03 -2.01661636e+01] [-5.07573863e-03 9.99982017e-01 -3.19404817e-03 -3.16144774e+00] [-6.22888976e-03 3.16241089e-03 9.99975600e-01 -8.73783805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180418555 meters 0.4410569062623015 Centerline is valid? [False, False] Translation: X:-20.17, Y:-3.16, Z:-0.87 [[ 9.99963726e-01 5.12005790e-03 6.80668322e-03 -2.01677018e+01] [-5.09770274e-03 9.99981569e-01 -3.29759950e-03 -3.16014694e+00] [-6.82344167e-03 3.26278144e-03 9.99971397e-01 -8.74430832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210418555 meters 0.26289350881229256 Centerline is valid? [False, False] Translation: X:-20.17, Y:-3.16, Z:-0.88 [[ 9.99973569e-01 7.80026483e-04 7.22856768e-03 -2.01685675e+01] [-7.23501331e-04 9.99969169e-01 -7.81900756e-03 -3.15908649e+00] [-7.23444385e-03 7.81357102e-03 9.99943304e-01 -8.75493928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240418554999998 meters 0.26177585414218485 Centerline is valid? [False, False] Translation: X:-20.17, Y:-3.16, Z:-0.88 [[ 9.99970399e-01 8.84120960e-04 7.64331600e-03 -2.01695667e+01] [-8.26495396e-04 9.99971238e-01 -7.53921472e-03 -3.16081512e+00] [-7.64976174e-03 7.53267439e-03 9.99942368e-01 -8.76245034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270418555 meters 0.30195133861195445 Centerline is valid? [False, False] Translation: X:-20.19, Y:-3.16, Z:-0.87 [[ 9.99991312e-01 -1.81439147e-03 3.75297961e-03 -2.01930736e+01] [ 1.81671690e-03 9.99998160e-01 -6.16306381e-04 -3.16121973e+00] [-3.75185448e-03 6.23119127e-04 9.99992768e-01 -8.72697893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300418555 meters 0.25981995092255966 Centerline is valid? [False, False] Translation: X:-20.19, Y:-3.16, Z:-0.87 [[ 9.99989340e-01 -1.77353908e-03 4.26326074e-03 -2.01946517e+01] [ 1.77636768e-03 9.99998205e-01 -6.59786913e-04 -3.16046389e+00] [-4.26208292e-03 6.67352998e-04 9.99990695e-01 -8.72889720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330418554999998 meters 0.25987168365278834 Centerline is valid? [False, False] Translation: X:-20.20, Y:-3.16, Z:-0.87 [[ 9.99987467e-01 -1.65287023e-03 4.72593637e-03 -2.01956169e+01] [ 1.65448212e-03 9.99998574e-01 -3.37182992e-04 -3.16222276e+00] [-4.72537232e-03 3.44997743e-04 9.99988776e-01 -8.73914614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360418555 meters 0.25916821918041777 Centerline is valid? [False, False] Translation: X:-20.22, Y:-3.16, Z:-0.87 [[ 9.99991301e-01 4.08423897e-03 8.46435871e-04 -2.02194115e+01] [-4.08031453e-03 9.99981153e-01 -4.58741994e-03 -3.16246212e+00] [-8.65156037e-04 4.58392631e-03 9.99989120e-01 -8.70027447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390418555 meters 0.2619337781617448 Centerline is valid? [False, False] Translation: X:-20.19, Y:-3.16, Z:-0.88 [[ 9.99986129e-01 -6.28664195e-04 5.22944864e-03 -2.01935158e+01] [ 6.25859669e-04 9.99999659e-01 5.37913924e-04 -3.16128424e+00] [-5.22978503e-03 -5.34633561e-04 9.99986182e-01 -8.78575720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420418554999998 meters 0.2586672696478743 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.16, Z:-0.88 [[ 9.99992650e-01 9.24136064e-04 3.72098630e-03 -2.02348246e+01] [-9.28923401e-04 9.99998743e-01 1.28505469e-03 -3.16083388e+00] [-3.71979405e-03 -1.28850176e-03 9.99992251e-01 -8.83510340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450418555 meters 0.2585505775928995 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99991403e-01 8.81879774e-04 4.05175431e-03 -2.02359348e+01] [-8.86951031e-04 9.99998825e-01 1.24999362e-03 -3.16080096e+00] [-4.05064721e-03 -1.25357658e-03 9.99991010e-01 -8.83440817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480418555 meters 0.2595337324056363 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99990131e-01 8.83961995e-04 4.35394577e-03 -2.02365053e+01] [-8.89760395e-04 9.99998720e-01 1.33000048e-03 -3.16159324e+00] [-4.35276453e-03 -1.33386133e-03 9.99989637e-01 -8.84228883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510418554999998 meters 0.2597700017856307 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.89 [[ 9.99988896e-01 8.02798480e-04 4.64362676e-03 -2.02370099e+01] [-8.08075337e-04 9.99999030e-01 1.13460073e-03 -3.16062435e+00] [-4.64271140e-03 -1.13834053e-03 9.99988575e-01 -8.85192949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540418555 meters 0.2652728320564034 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.89 [[ 9.99987129e-01 7.97725123e-04 5.01060515e-03 -2.02378652e+01] [-8.02956955e-04 9.99999135e-01 1.04222700e-03 -3.15984351e+00] [-5.00976941e-03 -1.04623689e-03 9.99986904e-01 -8.85704598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570418555 meters 0.25880936625085427 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.89 [[ 9.99991479e-01 3.49096743e-04 4.11340442e-03 -2.02832490e+01] [-3.48681006e-04 9.99999934e-01 -1.01785451e-04 -3.16052036e+00] [-4.11343969e-03 1.00350318e-04 9.99991535e-01 -8.87388842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600418554999997 meters 0.2582547062931851 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.89 [[ 9.99985666e-01 5.61549480e-04 5.32461949e-03 -2.02379835e+01] [-5.64022793e-04 9.99999734e-01 4.63014800e-04 -3.15664561e+00] [-5.32435806e-03 -4.66011370e-04 9.99985717e-01 -8.87195386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630418555 meters 0.2601274506904442 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.89 [[ 9.99988622e-01 5.15026361e-04 4.74246170e-03 -2.02841684e+01] [-5.13325628e-04 9.99999804e-01 -3.59828394e-04 -3.15635089e+00] [-4.74264609e-03 3.57389873e-04 9.99988690e-01 -8.88643553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660418555 meters 0.25977110157746613 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.89 [[ 9.99988198e-01 5.62757159e-04 4.82564084e-03 -2.02844007e+01] [-5.61666731e-04 9.99999816e-01 -2.27317643e-04 -3.15699855e+00] [-4.82576788e-03 2.24604558e-04 9.99988331e-01 -8.88783248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690418554999997 meters 0.25797135222210266 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.16, Z:-0.89 [[ 9.99987478e-01 4.97337145e-04 4.97962248e-03 -2.02850275e+01] [-4.95616779e-04 9.99999817e-01 -3.46709278e-04 -3.15658611e+00] [-4.97979400e-03 3.44236952e-04 9.99987541e-01 -8.88520041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720418555 meters 0.25794490940937514 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.16, Z:-0.88 [[ 9.99990724e-01 -4.20015209e-03 9.54145619e-04 -2.03133504e+01] [ 4.19608589e-03 9.99982274e-01 4.22437666e-03 -3.15949707e+00] [-9.71871730e-04 -4.22033380e-03 9.99990622e-01 -8.81011684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750418555 meters 0.26568101821879486 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.16, Z:-0.89 [[ 9.99986227e-01 3.04963162e-04 5.23945649e-03 -2.02857344e+01] [-3.02552624e-04 9.99999848e-01 -4.60860407e-04 -3.15693082e+00] [-5.23959624e-03 4.59268849e-04 9.99986168e-01 -8.88939182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780418554999997 meters 0.2604246263702233 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.16, Z:-0.89 [[ 9.99986244e-01 3.29366125e-04 5.23486689e-03 -2.02853155e+01] [-3.27436744e-04 9.99999878e-01 -3.69416350e-04 -3.15762812e+00] [-5.23498793e-03 3.67697180e-04 9.99986230e-01 -8.89798876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810418555 meters 0.2598410957359425 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.16, Z:-0.89 [[ 9.99985925e-01 2.40937894e-04 5.30013145e-03 -2.02859104e+01] [-2.37924926e-04 9.99999810e-01 -5.69093578e-04 -3.15654182e+00] [-5.30026756e-03 5.67824535e-04 9.99985792e-01 -8.89286810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840418555 meters 0.2592596393480164 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.16, Z:-0.89 [[ 9.99985739e-01 2.37612035e-04 5.33525308e-03 -2.02862623e+01] [-2.34143073e-04 9.99999761e-01 -6.50811601e-04 -3.15572625e+00] [-5.33540644e-03 6.49553108e-04 9.99985556e-01 -8.89099180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870418554999997 meters 0.2542651785891795 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.16, Z:-0.88 [[ 9.99988397e-01 -4.75126464e-03 7.94568922e-04 -2.03136609e+01] [ 4.74826854e-03 9.99981766e-01 3.73103494e-03 -3.16192453e+00] [-8.12281569e-04 -3.72721882e-03 9.99992724e-01 -8.81646675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900418554999998 meters 0.2545114952082905 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.16, Z:-0.88 [[ 9.99989021e-01 -4.63322677e-03 7.00304131e-04 -2.03132683e+01] [ 4.63037050e-03 9.99981173e-01 4.02664719e-03 -3.16341423e+00] [-7.18947316e-04 -4.02336032e-03 9.99991648e-01 -8.81987788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930418555 meters 0.25838506913643977 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.16, Z:-0.88 [[ 9.99989019e-01 -4.63727740e-03 6.77055188e-04 -2.03129886e+01] [ 4.63476512e-03 9.99982539e-01 3.66617700e-03 -3.16033366e+00] [-6.94044446e-04 -3.66299875e-03 9.99993050e-01 -8.82485752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960418555 meters 0.2607193989477284 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.16, Z:-0.89 [[ 9.99987560e-01 1.16612500e-03 4.84970734e-03 -2.02884084e+01] [-1.16656783e-03 9.99999316e-01 8.84838403e-05 -3.15917511e+00] [-4.84960084e-03 -9.41402522e-05 9.99988236e-01 -8.86366539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990418554999998 meters 0.2597244947621499 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.16, Z:-0.87 [[ 9.99958759e-01 -2.03521094e-03 -8.85087296e-03 -2.02956220e+01] [ 2.02249251e-03 9.99996910e-01 -1.44568256e-03 -3.16238031e+00] [ 8.85378788e-03 1.42772211e-03 9.99959785e-01 -8.74048255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020418555 meters 0.257208554043123 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.88 [[ 9.99995048e-01 -1.71096410e-03 2.64137799e-03 -2.03261810e+01] [ 1.71181368e-03 9.99998484e-01 -3.19413786e-04 -3.16585886e+00] [-2.64082748e-03 3.23933752e-04 9.99996461e-01 -8.84748601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050418555 meters 0.25985843440810774 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.88 [[ 9.99994845e-01 -6.37945892e-04 3.14702229e-03 -2.02810924e+01] [ 6.33537491e-04 9.99998817e-01 1.40161479e-03 -3.16389290e+00] [-3.14791272e-03 -1.39961381e-03 9.99994066e-01 -8.81553743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080418554999998 meters 0.25892453464291665 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.17, Z:-0.88 [[ 9.99994766e-01 -6.12831999e-04 3.17686610e-03 -2.02811807e+01] [ 6.07451088e-04 9.99998380e-01 1.69446796e-03 -3.16632970e+00] [-3.17789938e-03 -1.69252930e-03 9.99993518e-01 -8.81496751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110418555 meters 0.26009713950173385 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.17, Z:-0.88 [[ 9.99994771e-01 -6.24030535e-04 3.17300302e-03 -2.02813336e+01] [ 6.18371420e-04 9.99998217e-01 1.78418833e-03 -3.16734150e+00] [-3.17411076e-03 -1.78221690e-03 9.99993374e-01 -8.81371372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140418555 meters 0.2595144055555064 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.17, Z:-0.88 [[ 9.99994613e-01 -6.52185231e-04 3.21690612e-03 -2.02817645e+01] [ 6.46621728e-04 9.99998294e-01 1.73019462e-03 -3.16693471e+00] [-3.21802904e-03 -1.72810518e-03 9.99993329e-01 -8.80931854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170418554999998 meters 0.2592006173049163 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.16, Z:-0.87 [[ 9.99988996e-01 4.59949189e-03 -9.22974589e-04 -2.03085548e+01] [-4.60217844e-03 9.99985117e-01 -2.93005071e-03 -3.16338342e+00] [ 9.09484108e-04 2.93426616e-03 9.99995281e-01 -8.73895064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200418555 meters 0.2551144346549746 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.87 [[ 9.99985259e-01 -1.43602119e-03 -5.23643967e-03 -2.03321556e+01] [ 1.43876066e-03 9.99998830e-01 5.19426388e-04 -3.16602738e+00] [ 5.23568764e-03 -5.26952714e-04 9.99986155e-01 -8.71214718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230418555 meters 0.2592294892824424 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.17, Z:-0.87 [[ 9.99981555e-01 -3.53548557e-03 -4.93853654e-03 -2.02840244e+01] [ 3.53070921e-03 9.99993291e-01 -9.75544277e-04 -3.16550590e+00] [ 4.94195243e-03 9.58089747e-04 9.99987330e-01 -8.70502189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260418554999998 meters 0.2536633476950304 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.87 [[ 9.99980750e-01 -2.29885554e-03 -5.76330927e-03 -2.03291656e+01] [ 2.29816254e-03 9.99997351e-01 -1.26862017e-04 -3.16704743e+00] [ 5.76358564e-03 1.13614553e-04 9.99983384e-01 -8.73833497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290418555 meters 0.25718176650566843 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.87 [[ 9.99980204e-01 -2.23066859e-03 -5.88347511e-03 -2.03289053e+01] [ 2.22988034e-03 9.99997504e-01 -1.40533701e-04 -3.16601450e+00] [ 5.88377391e-03 1.27411474e-04 9.99982682e-01 -8.73718703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320418555 meters 0.25684427580055 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.87 [[ 9.99980292e-01 -2.15451842e-03 -5.89697522e-03 -2.03289719e+01] [ 2.15500761e-03 9.99997675e-01 7.66026114e-05 -3.16721400e+00] [ 5.89679647e-03 -8.93091282e-05 9.99982610e-01 -8.73387122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350418554999997 meters 0.25900586017101684 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.17, Z:-0.87 [[ 9.99976394e-01 -4.08968143e-03 -5.52139594e-03 -2.02800299e+01] [ 4.08334658e-03 9.99990992e-01 -1.15811276e-03 -3.16708166e+00] [ 5.52608252e-03 1.13553964e-03 9.99984086e-01 -8.73447428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380418555 meters 0.25800215631360374 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.17, Z:-0.87 [[ 9.99975997e-01 -4.09596814e-03 -5.58826451e-03 -2.02800413e+01] [ 4.08983839e-03 9.99991023e-01 -1.10788402e-03 -3.16737020e+00] [ 5.59275220e-03 1.08500233e-03 9.99983772e-01 -8.73145309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410418555 meters 0.25642866093868577 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.87 [[ 9.99983197e-01 -1.58180872e-03 -5.57699542e-03 -2.03285040e+01] [ 1.58720305e-03 9.99998277e-01 9.62953844e-04 -3.16809032e+00] [ 5.57546260e-03 -9.71789488e-04 9.99983985e-01 -8.73912477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440418554999997 meters 0.2575280443801627 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.17, Z:-0.88 [[ 9.99994542e-01 2.97886200e-03 -1.42941876e-03 -2.03016969e+01] [-2.98423285e-03 9.99988440e-01 -3.77006340e-03 -3.16622786e+00] [ 1.41817174e-03 3.77430854e-03 9.99991872e-01 -8.80147626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470418555 meters 0.25582120049452983 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.17, Z:-0.88 [[ 9.99974862e-01 -2.85323513e-03 -6.49112924e-03 -2.03241739e+01] [ 2.85238590e-03 9.99995922e-01 -1.40083320e-04 -3.17079177e+00] [ 6.49150246e-03 1.21564593e-04 9.99978923e-01 -8.77854070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500418555 meters 0.25613872138582755 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.17, Z:-0.88 [[ 9.99975305e-01 -2.80794542e-03 -6.44244773e-03 -2.03245463e+01] [ 2.80746424e-03 9.99996056e-01 -8.37308589e-05 -3.17065055e+00] [ 6.44265743e-03 6.56418495e-05 9.99979244e-01 -8.77452475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530418554999997 meters 0.2579546283061376 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.17, Z:-0.89 [[ 9.99972476e-01 -5.01577619e-05 7.41920906e-03 -2.03205791e+01] [ 5.43519873e-05 9.99999839e-01 -5.65119202e-04 -3.16738421e+00] [-7.41917952e-03 5.65506897e-04 9.99972318e-01 -8.85509418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560418555 meters 0.25759295053049924 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.17, Z:-0.89 [[ 9.99972040e-01 -1.75436671e-05 7.47788713e-03 -2.03208088e+01] [ 2.07088625e-05 9.99999910e-01 -4.23196803e-04 -3.16840759e+00] [-7.47787904e-03 4.23339829e-04 9.99971951e-01 -8.85458488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590418555 meters 0.2564167840831129 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.17, Z:-0.89 [[ 9.99972653e-01 -8.18004009e-05 7.39501607e-03 -2.03199968e+01] [ 8.43346455e-05 9.99999938e-01 -3.42385107e-04 -3.16988286e+00] [-7.39498761e-03 3.42999400e-04 9.99972598e-01 -8.86463442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620418554999997 meters 0.2579071975146207 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.17, Z:-0.89 [[ 9.99973605e-01 -2.88830648e-05 7.26554954e-03 -2.03190842e+01] [ 3.32701860e-05 9.99999817e-01 -6.03704960e-04 -3.16754851e+00] [-7.26553078e-03 6.03930751e-04 9.99973423e-01 -8.87696436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650418554999998 meters 0.2570273691617037 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.17, Z:-0.89 [[ 9.99972825e-01 -4.15872666e-05 7.37203293e-03 -2.03203380e+01] [ 4.78268225e-05 9.99999641e-01 -8.46207714e-04 -3.16547899e+00] [-7.37199509e-03 8.46537299e-04 9.99972468e-01 -8.85972044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680418555 meters 0.256017291242836 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.87 [[ 9.99977236e-01 -1.37168907e-03 -6.60649753e-03 -2.03255266e+01] [ 1.37778036e-03 9.99998630e-01 9.17552333e-04 -3.16846730e+00] [ 6.60522988e-03 -9.26633749e-04 9.99977756e-01 -8.74216478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710418554999997 meters 0.25794013060438853 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.17, Z:-0.88 [[ 9.99990257e-01 3.24032012e-03 -2.99765346e-03 -2.02981891e+01] [-3.25230888e-03 9.99986698e-01 -4.00318839e-03 -3.16651226e+00] [ 2.98464197e-03 4.01289868e-03 9.99987494e-01 -8.80394592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740418554999998 meters 0.25794013060438853 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.17, Z:-0.88 [[ 9.99990257e-01 3.24032012e-03 -2.99765346e-03 -2.02981891e+01] [-3.25230888e-03 9.99986698e-01 -4.00318839e-03 -3.16651226e+00] [ 2.98464197e-03 4.01289868e-03 9.99987494e-01 -8.80394592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770418555 meters 0.25848676544277144 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.16, Z:-0.88 [[ 9.99990667e-01 3.14725584e-03 -2.95974166e-03 -2.02983830e+01] [-3.16003436e-03 9.99985664e-01 -4.32272421e-03 -3.16458299e+00] [ 2.94609451e-03 4.33203675e-03 9.99986277e-01 -8.80324066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800418555 meters 0.26018681631178436 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.88 [[ 9.99998372e-01 -1.74998761e-03 4.39301837e-04 -2.02778245e+01] [ 1.74951445e-03 9.99997892e-01 1.07515166e-03 -3.16296413e+00] [-4.41182413e-04 -1.07438135e-03 9.99999326e-01 -8.79984721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830418554999998 meters 0.25943438326623464 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.16, Z:-0.88 [[ 9.99987975e-01 4.72028475e-03 -1.33020124e-03 -2.03034955e+01] [-4.72435373e-03 9.99984120e-01 -3.07256508e-03 -3.16313969e+00] [ 1.31567673e-03 3.07881248e-03 9.99994395e-01 -8.77456648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860418555 meters 0.2626400804416576 Centerline is valid? [False, False] Translation: X:-20.27, Y:-3.17, Z:-0.89 [[ 9.99997542e-01 -1.09231902e-03 1.92969509e-03 -2.02739707e+01] [ 1.09023746e-03 9.99998823e-01 1.07942204e-03 -3.16583585e+00] [-1.93087189e-03 -1.07731556e-03 9.99997556e-01 -8.86017215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890418555 meters 0.26023721484890333 Centerline is valid? [False, False] Translation: X:-20.27, Y:-3.16, Z:-0.89 [[ 9.99997428e-01 -1.16494599e-03 1.94592889e-03 -2.02738420e+01] [ 1.16331516e-03 9.99998971e-01 8.38996747e-04 -3.16439092e+00] [-1.94690427e-03 -8.36730861e-04 9.99997755e-01 -8.86422139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920418554999998 meters 0.2597340874435755 Centerline is valid? [False, False] Translation: X:-20.27, Y:-3.16, Z:-0.89 [[ 9.99997278e-01 -1.11585789e-03 2.04896715e-03 -2.02747570e+01] [ 1.11475314e-03 9.99999233e-01 5.40237953e-04 -3.16116196e+00] [-2.04956840e-03 -5.37952390e-04 9.99997755e-01 -8.85338084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950418555 meters 0.2616723611444558 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.88 [[ 9.99997215e-01 -1.04579590e-03 2.11575207e-03 -2.02751477e+01] [ 1.04419395e-03 9.99999167e-01 7.58120233e-04 -3.16254998e+00] [-2.11654315e-03 -7.55908866e-04 9.99997474e-01 -8.84898793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980418555 meters 0.26210585016862686 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.88 [[ 9.99996945e-01 -1.12186904e-03 2.20276105e-03 -2.02755313e+01] [ 1.12036123e-03 9.99999137e-01 6.85625956e-04 -3.16269803e+00] [-2.20352833e-03 -6.83155973e-04 9.99997339e-01 -8.84772157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010418554999998 meters 0.2591655851660743 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.89 [[ 9.99996900e-01 -1.20672529e-03 2.17780113e-03 -2.02753074e+01] [ 1.20573702e-03 9.99999170e-01 4.55049434e-04 -3.16140009e+00] [-2.17834844e-03 -4.52422168e-04 9.99997525e-01 -8.85184653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040418555 meters 0.2584761418033382 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.89 [[ 9.99996985e-01 -1.19293702e-03 2.14643649e-03 -2.02753015e+01] [ 1.19178262e-03 9.99999145e-01 5.39018357e-04 -3.16189714e+00] [-2.14707767e-03 -5.36458646e-04 9.99997551e-01 -8.85117004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070418555 meters 0.2623653606273497 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.16, Z:-0.88 [[ 9.99993949e-01 -8.90856015e-04 3.36265707e-03 -2.02324619e+01] [ 8.86203169e-04 9.99998648e-01 1.38491787e-03 -3.16013454e+00] [-3.36388629e-03 -1.38192949e-03 9.99993387e-01 -8.80294011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100418554999997 meters 0.26216439801234726 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.16, Z:-0.88 [[ 9.99993756e-01 -8.63128328e-04 3.42688814e-03 -2.02324465e+01] [ 8.58173821e-04 9.99998585e-01 1.44698166e-03 -3.16028332e+00] [-3.42813223e-03 -1.44403176e-03 9.99993081e-01 -8.80608930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130418555 meters 0.25947568708027724 Centerline is valid? [False, False] Translation: X:-20.26, Y:-3.16, Z:-0.88 [[ 9.99972017e-01 -7.34358394e-03 -1.42753714e-03 -2.02567672e+01] [ 7.34958366e-03 9.99963985e-01 4.24404471e-03 -3.16371883e+00] [ 1.39631923e-03 -4.25441775e-03 9.99989975e-01 -8.76100417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160418555 meters 0.2620908009358089 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.87 [[ 9.99998273e-01 -5.57256923e-05 1.85778967e-03 -2.02370383e+01] [ 5.24368402e-05 9.99998432e-01 1.77030554e-03 -3.16534963e+00] [-1.85788541e-03 -1.77020506e-03 9.99996707e-01 -8.74519984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190418554999997 meters 0.2613787752193106 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99998322e-01 -6.03426576e-05 1.83121271e-03 -2.02363751e+01] [ 5.74710271e-05 9.99998769e-01 1.56816996e-03 -3.16353584e+00] [-1.83130508e-03 -1.56806209e-03 9.99997094e-01 -8.75488369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220418555 meters 0.2578869473456743 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.88 [[ 9.99998625e-01 -1.65783320e-03 3.22530926e-05 -2.02774783e+01] [ 1.65785488e-03 9.99998392e-01 -6.84183641e-04 -3.16423005e+00] [-3.11187783e-05 6.84236171e-04 9.99999765e-01 -8.81382696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250418555 meters 0.25960580362467583 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.16, Z:-0.88 [[ 9.99998523e-01 -1.30516991e-03 1.11824167e-03 -2.02328776e+01] [ 1.30461621e-03 9.99999026e-01 4.95735255e-04 -3.16427039e+00] [-1.11888760e-03 -4.94275647e-04 9.99999252e-01 -8.78196596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280418554999997 meters 0.26087259359924686 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.16, Z:-0.88 [[ 9.99998334e-01 -1.36620222e-03 1.21078345e-03 -2.02338820e+01] [ 1.36591153e-03 9.99999038e-01 2.40879584e-04 -3.16222381e+00] [-1.21111138e-03 -2.39225359e-04 9.99999238e-01 -8.76886916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310418555 meters 0.25799531410659454 Centerline is valid? [False, False] Translation: X:-20.26, Y:-3.16, Z:-0.87 [[ 9.99989500e-01 4.40176840e-03 -1.27444763e-03 -2.02624712e+01] [-4.40705153e-03 9.99981583e-01 -4.17273064e-03 -3.16169970e+00] [ 1.25605677e-03 4.17830339e-03 9.99990482e-01 -8.70635522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340418555 meters 0.26268798679012806 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.17, Z:-0.88 [[ 9.99996360e-01 -1.56659097e-03 2.19670659e-03 -2.02319466e+01] [ 1.56717101e-03 9.99998738e-01 -2.62353197e-04 -3.16524015e+00] [-2.19629282e-03 2.65794857e-04 9.99997553e-01 -8.80516440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370418554999997 meters 0.25962695428281624 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.16, Z:-0.88 [[ 9.99996367e-01 -1.61498964e-03 2.15797976e-03 -2.02319070e+01] [ 1.61587659e-03 9.99998611e-01 -4.09327387e-04 -3.16432706e+00] [-2.15731570e-03 4.12812929e-04 9.99997588e-01 -8.80449391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400418554999998 meters 0.2600075564760291 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.16, Z:-0.88 [[ 9.99996040e-01 -1.64843489e-03 2.28080590e-03 -2.02323449e+01] [ 1.64970970e-03 9.99998484e-01 -5.57161258e-04 -3.16324185e+00] [-2.27988399e-03 5.60921719e-04 9.99997244e-01 -8.80279910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430418555 meters 0.25943696612654843 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.16, Z:-0.88 [[ 9.99996226e-01 -1.54685884e-03 2.27060689e-03 -2.02328822e+01] [ 1.54858408e-03 9.99998513e-01 -7.58253631e-04 -3.16037600e+00] [-2.26943061e-03 7.61766995e-04 9.99997135e-01 -8.79359252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460418554999997 meters 0.2594966442586632 Centerline is valid? [False, False] Translation: X:-20.23, Y:-3.16, Z:-0.88 [[ 9.99996227e-01 -1.44559724e-03 2.33585516e-03 -2.02327373e+01] [ 1.44665974e-03 9.99998851e-01 -4.53242445e-04 -3.16232316e+00] [-2.33519727e-03 4.56619923e-04 9.99997169e-01 -8.79974962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490418554999998 meters 0.2578371913399757 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99990224e-01 -3.08129102e-03 3.17142760e-03 -2.02380942e+01] [ 3.08741292e-03 9.99993377e-01 -1.92724713e-03 -3.16336619e+00] [-3.16546818e-03 1.93701979e-03 9.99993114e-01 -8.75923212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520418555 meters 0.25865869734692937 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99993795e-01 1.09873798e-03 3.34695487e-03 -2.02389871e+01] [-1.10692628e-03 9.99996397e-01 2.44562458e-03 -3.16423407e+00] [-3.34425571e-03 -2.44931424e-03 9.99991408e-01 -8.75054887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550418555 meters 0.25845249593860253 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99993522e-01 1.10739440e-03 3.42482245e-03 -2.02392323e+01] [-1.11651322e-03 9.99995834e-01 2.66180192e-03 -3.16569286e+00] [-3.42186052e-03 -2.66560853e-03 9.99990593e-01 -8.75014774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580418554999998 meters 0.2587142695556266 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99989145e-01 -3.09241582e-03 3.48528433e-03 -2.02391616e+01] [ 3.09734372e-03 9.99994210e-01 -1.40940667e-03 -3.16696682e+00] [-3.48090568e-03 1.42018649e-03 9.99992933e-01 -8.75371902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610418555 meters 0.2598067040580885 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99989048e-01 -2.95833375e-03 3.62655386e-03 -2.02396457e+01] [ 2.96161529e-03 9.99995210e-01 -8.99828967e-04 -3.16985318e+00] [-3.62387449e-03 9.10559570e-04 9.99993019e-01 -8.75141971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640418555 meters 0.6180532643161551 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99989411e-01 -2.82441284e-03 3.63322674e-03 -2.02392141e+01] [ 2.82665449e-03 9.99995818e-01 -6.11999504e-04 -3.17077588e+00] [-3.63148301e-03 6.22262900e-04 9.99993213e-01 -8.75872315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670418554999998 meters 0.2634684086278807 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99989742e-01 -2.74276052e-03 3.60446501e-03 -2.02390138e+01] [ 2.74405995e-03 9.99996172e-01 -3.55609224e-04 -3.17197723e+00] [-3.60347586e-03 3.65496445e-04 9.99993441e-01 -8.76095820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700418555 meters 0.2610302431018357 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.17, Z:-0.88 [[ 9.99986414e-01 -4.79543125e-03 2.04342931e-03 -2.02810463e+01] [ 4.80133673e-03 9.99984283e-01 -2.89494681e-03 -3.17420423e+00] [-2.02951468e-03 2.90471867e-03 9.99993722e-01 -8.81060102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730418555 meters 0.26398437404270597 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.18, Z:-0.88 [[ 9.99981817e-01 -5.21164603e-03 3.03379156e-03 -2.02354113e+01] [ 5.21895862e-03 9.99983483e-01 -2.40747551e-03 -3.17612864e+00] [-3.02119455e-03 2.42326497e-03 9.99992500e-01 -8.79290754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760418554999998 meters 0.2658572070764208 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.18, Z:-0.88 [[ 9.99994686e-01 -9.45060818e-04 3.12001904e-03 -2.02356625e+01] [ 9.39092857e-04 9.99997728e-01 1.91370758e-03 -3.17646324e+00] [-3.12182052e-03 -1.91076743e-03 9.99993302e-01 -8.79386540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790418555 meters 0.26336250840523423 Centerline is valid? [False, False] Translation: X:-20.27, Y:-3.17, Z:-0.87 [[ 9.99985995e-01 5.24638188e-03 -6.97314342e-04 -2.02657604e+01] [-5.24782006e-03 9.99984073e-01 -2.07687989e-03 -3.16911260e+00] [ 6.86407131e-04 2.08051018e-03 9.99997600e-01 -8.69528182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820418555 meters 0.2670679366974996 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99991684e-01 -9.76642537e-04 3.95949886e-03 -2.02391033e+01] [ 9.71290241e-04 9.99998612e-01 1.35345849e-03 -3.17262518e+00] [-3.96081521e-03 -1.34960141e-03 9.99991245e-01 -8.76870458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850418554999997 meters 0.26596112003506917 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99991507e-01 -1.04988273e-03 3.98548825e-03 -2.02390445e+01] [ 1.04463626e-03 9.99998585e-01 1.31824860e-03 -3.17326224e+00] [-3.98686662e-03 -1.31407402e-03 9.99991189e-01 -8.77282571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880418555 meters 0.26666460494105526 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99987361e-01 3.13789368e-03 3.92818103e-03 -2.02382770e+01] [-3.15823784e-03 9.99981578e-01 5.18358472e-03 -3.17042588e+00] [-3.91184312e-03 -5.19592533e-03 9.99978850e-01 -8.78433723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910418555 meters 0.2652946370072578 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99987073e-01 2.95576483e-03 4.13741486e-03 -2.02394157e+01] [-2.97577088e-03 9.99983871e-01 4.83762271e-03 -3.16926392e+00] [-4.12304925e-03 -4.84987217e-03 9.99979739e-01 -8.77504226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940418554999997 meters 0.2637770018103182 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.17, Z:-0.88 [[ 9.99993335e-01 1.25540344e-03 3.42839612e-03 -2.02860669e+01] [-1.26281785e-03 9.99996867e-01 2.16133898e-03 -3.16856835e+00] [-3.42567202e-03 -2.16565402e-03 9.99991787e-01 -8.79142742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970418555 meters 0.2643221624229837 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99989682e-01 1.31996377e-03 4.34667980e-03 -2.02402739e+01] [-1.33044757e-03 9.99996211e-01 2.40990203e-03 -3.16485919e+00] [-4.34348235e-03 -2.41566019e-03 9.99987649e-01 -8.76754358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000418555 meters 0.26541072129500753 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99989777e-01 1.27476176e-03 4.33830089e-03 -2.02400060e+01] [-1.28459141e-03 9.99996613e-01 2.26375193e-03 -3.16403825e+00] [-4.33540045e-03 -2.26930173e-03 9.99988027e-01 -8.77164126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030418554999997 meters 0.2650575483193971 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.17, Z:-0.88 [[ 9.99989107e-01 1.24605334e-03 4.49823095e-03 -2.02405503e+01] [-1.25676011e-03 9.99996382e-01 2.37817502e-03 -3.16536286e+00] [-4.49525134e-03 -2.38380231e-03 9.99987055e-01 -8.77153853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060418555 meters 0.26563738331624165 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99988840e-01 1.13624463e-03 4.58565090e-03 -2.02413151e+01] [-1.14615326e-03 9.99997013e-01 2.15874033e-03 -3.16407948e+00] [-4.58318434e-03 -2.16397210e-03 9.99987156e-01 -8.76268014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090418555 meters 0.266367760295382 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99988474e-01 9.84792071e-04 4.69917592e-03 -2.02418638e+01] [-9.93230549e-04 9.99997898e-01 1.79374008e-03 -3.16228976e+00] [-4.69739958e-03 -1.79838677e-03 9.99987350e-01 -8.75884144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120418554999997 meters 0.266163840209048 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.16, Z:-0.88 [[ 9.99989104e-01 9.03054058e-04 4.58001046e-03 -2.02411847e+01] [-9.11119518e-04 9.99998037e-01 1.75923284e-03 -3.16339914e+00] [-4.57841279e-03 -1.76338661e-03 9.99987964e-01 -8.76456494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150418554999998 meters 0.2648623245694053 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.16, Z:-0.88 [[ 9.99993963e-01 7.58139237e-04 3.39116525e-03 -2.02862465e+01] [-7.61022217e-04 9.99999350e-01 8.48934989e-04 -3.16378774e+00] [-3.39051943e-03 -8.51510615e-04 9.99993890e-01 -8.79208690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180418555 meters 0.2661292674060044 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99979380e-01 3.28404878e-03 5.51850387e-03 -2.02470446e+01] [-3.30686226e-03 9.99986004e-01 4.12997123e-03 -3.16098825e+00] [-5.50486361e-03 -4.14813500e-03 9.99976244e-01 -8.71905532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210418554999997 meters 0.2666219031490619 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99978267e-01 3.29458781e-03 5.71067354e-03 -2.02477479e+01] [-3.31896315e-03 9.99985401e-01 4.26417568e-03 -3.16200359e+00] [-5.69654146e-03 -4.28303652e-03 9.99974602e-01 -8.71707532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240418554999998 meters 0.2645743545489301 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99977837e-01 7.22215183e-04 6.61844524e-03 -2.02528012e+01] [-7.32464201e-04 9.99998536e-01 1.54626060e-03 -3.16257280e+00] [-6.61731882e-03 -1.55107410e-03 9.99976902e-01 -8.68383642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270418555 meters 0.2655313116454209 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99977938e-01 5.86915158e-04 6.61664095e-03 -2.02523592e+01] [-5.93929833e-04 9.99999264e-01 1.05824148e-03 -3.15992999e+00] [-6.61601498e-03 -1.06214795e-03 9.99977550e-01 -8.69165625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300418555 meters 0.265132217067363 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99978370e-01 4.77394275e-04 6.55988780e-03 -2.02523238e+01] [-4.82579011e-04 9.99999572e-01 7.88809554e-04 -3.15847403e+00] [-6.55950842e-03 -7.91958156e-04 9.99978173e-01 -8.69104617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330418554999998 meters 0.2649160363437014 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99979312e-01 4.73959315e-04 6.41483192e-03 -2.02517160e+01] [-4.79204076e-04 9.99999552e-01 8.16086791e-04 -3.15873436e+00] [-6.41444226e-03 -8.19143922e-04 9.99979092e-01 -8.69489228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360418555 meters 0.26762037664927946 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99978976e-01 4.66509304e-04 6.46763460e-03 -2.02524409e+01] [-4.70926386e-04 9.99999657e-01 6.81445568e-04 -3.15751189e+00] [-6.46731448e-03 -6.84477021e-04 9.99978852e-01 -8.68423143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390418555 meters 0.2671774673313363 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99978049e-01 3.34850845e-04 6.61732718e-03 -2.02540343e+01] [-3.38110002e-04 9.99999822e-01 4.91405962e-04 -3.15677117e+00] [-6.61716145e-03 -4.93632560e-04 9.99977985e-01 -8.66541797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420418554999998 meters 0.2661881995251223 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99977354e-01 2.97329335e-04 6.72326777e-03 -2.02542817e+01] [-3.01170707e-04 9.99999792e-01 5.70349797e-04 -3.15768890e+00] [-6.72309679e-03 -5.72361732e-04 9.99977236e-01 -8.66707654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450418555 meters 0.26498345267392337 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99977205e-01 2.35433377e-04 6.74791635e-03 -2.02538703e+01] [-2.38310660e-04 9.99999881e-01 4.25594749e-04 -3.15710730e+00] [-6.74781535e-03 -4.27193148e-04 9.99977142e-01 -8.67674001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480418555 meters 0.2648451302498044 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99977952e-01 1.78241918e-04 6.63802401e-03 -2.02534408e+01] [-1.79963895e-04 9.99999950e-01 2.58814652e-04 -3.15629926e+00] [-6.63797755e-03 -2.60003550e-04 9.99977935e-01 -8.67861657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510418554999998 meters 0.26615969861971706 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.16, Z:-0.87 [[ 9.99977483e-01 1.49885057e-04 6.70900503e-03 -2.02543698e+01] [-1.51159016e-04 9.99999971e-01 1.89381243e-04 -3.15606694e+00] [-6.70897645e-03 -1.90391105e-04 9.99977476e-01 -8.66614356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540418555 meters 0.26524633618892884 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.15, Z:-0.87 [[ 9.99977389e-01 1.06514294e-04 6.72390868e-03 -2.02547370e+01] [-1.06565230e-04 9.99999994e-01 7.21701988e-06 -3.15461866e+00] [-6.72390787e-03 -7.93339156e-06 9.99977394e-01 -8.66020603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570418555 meters 0.26419991541937443 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.15, Z:-0.87 [[ 9.99984990e-01 1.04711780e-03 5.37796191e-03 -2.02983383e+01] [-1.04873023e-03 9.99999406e-01 2.97009251e-04 -3.15363324e+00] [-5.37764772e-03 -3.02644824e-04 9.99985495e-01 -8.69935254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600418554999997 meters 0.2654366120390855 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.15, Z:-0.87 [[ 9.99985791e-01 9.35702496e-04 5.24807431e-03 -2.02976039e+01] [-9.37124117e-04 9.99999525e-01 2.68431662e-04 -3.15472504e+00] [-5.24782064e-03 -2.73345945e-04 9.99986193e-01 -8.70517912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630418555 meters 0.2654366120390855 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.15, Z:-0.87 [[ 9.99985791e-01 9.35702496e-04 5.24807431e-03 -2.02976039e+01] [-9.37124117e-04 9.99999525e-01 2.68431662e-04 -3.15472504e+00] [-5.24782064e-03 -2.73345945e-04 9.99986193e-01 -8.70517912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660418555 meters 0.264084778975711 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.86 [[ 9.99984428e-01 -5.55720080e-03 5.11264263e-04 -2.03237210e+01] [ 5.55572727e-03 9.99980535e-01 2.83975557e-03 -3.15868460e+00] [-5.27035403e-04 -2.83687090e-03 9.99995837e-01 -8.64533393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690418554999997 meters 0.26389538835059834 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.86 [[ 9.99985192e-01 -5.40953571e-03 5.93570499e-04 -2.03245869e+01] [ 5.40793065e-03 9.99981804e-01 2.67315406e-03 -3.15551141e+00] [-6.08020221e-04 -2.66990449e-03 9.99996251e-01 -8.63567502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720418555 meters 0.26568020154114325 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.15, Z:-0.87 [[ 9.99986904e-01 1.01482157e-03 5.01609330e-03 -2.02983140e+01] [-1.01513337e-03 9.99999483e-01 5.96134758e-05 -3.15175814e+00] [-5.01603021e-03 -6.47046988e-05 9.99987418e-01 -8.68779621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750418555 meters 0.2648734002366746 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.15, Z:-0.87 [[ 9.99987371e-01 9.13154672e-04 4.94213362e-03 -2.02983114e+01] [-9.14243964e-04 9.99999558e-01 2.18154600e-04 -3.15415743e+00] [-4.94193223e-03 -2.22670161e-04 9.99987764e-01 -8.68450724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780418554999997 meters 0.2662132869409361 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.15, Z:-0.87 [[ 9.99982801e-01 -3.32748808e-03 4.82967276e-03 -2.02979882e+01] [ 3.34703572e-03 9.99986218e-01 -4.04498042e-03 -3.15433085e+00] [-4.81614658e-03 4.06107594e-03 9.99980156e-01 -8.68518986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810418555 meters 0.2668178656553871 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.16, Z:-0.87 [[ 9.99987690e-01 8.61954210e-04 4.88643375e-03 -2.02978325e+01] [-8.63853649e-04 9.99999552e-01 3.86619658e-04 -3.15590796e+00] [-4.88609832e-03 -3.90836062e-04 9.99987987e-01 -8.69095491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840418555 meters 0.263004160776563 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.16, Z:-0.87 [[ 9.99992649e-01 1.08017203e-03 3.67909561e-03 -2.03416947e+01] [-1.08019025e-03 9.99999417e-01 2.96463337e-06 -3.15612488e+00] [-3.67909026e-03 -6.93873479e-06 9.99993232e-01 -8.72996419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870418554999997 meters 0.26189809754569443 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.16, Z:-0.87 [[ 9.99992670e-01 1.13062207e-03 3.65804743e-03 -2.03416931e+01] [-1.13234430e-03 9.99999249e-01 4.68769695e-04 -3.15912917e+00] [-3.65751468e-03 -4.72908429e-04 9.99993199e-01 -8.72898080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900418554999998 meters 0.26579174804243655 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.16, Z:-0.87 [[ 9.99987479e-01 -1.10768328e-03 4.88005241e-03 -2.02987933e+01] [ 1.11093250e-03 9.99999163e-01 -6.63155684e-04 -3.16086796e+00] [-4.87931376e-03 6.68568790e-04 9.99987873e-01 -8.67892457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930418555 meters 0.2627894033655458 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.86 [[ 9.99974183e-01 -7.13725288e-03 8.32606877e-04 -2.03247058e+01] [ 7.13491444e-03 9.99970686e-01 2.77852785e-03 -3.16454024e+00] [-8.52413526e-04 -2.77251554e-03 9.99995793e-01 -8.62638427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960418554999997 meters 0.2637947685175302 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.86 [[ 9.99974879e-01 -7.04392239e-03 7.90396041e-04 -2.03245980e+01] [ 7.04158918e-03 9.99970953e-01 2.91689604e-03 -3.16472261e+00] [-8.10919472e-04 -2.91125712e-03 9.99995433e-01 -8.62646011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990418554999998 meters 0.26229233691881165 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.16, Z:-0.86 [[ 9.99990861e-01 -3.19454876e-04 -4.26339889e-03 -2.03465618e+01] [ 3.19517116e-04 9.99999949e-01 1.39175610e-05 -3.16444328e+00] [ 4.26339423e-03 -1.52796627e-05 9.99990912e-01 -8.59532358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020418555 meters 0.26313803335534985 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.17, Z:-0.86 [[ 9.99991608e-01 -2.90429231e-04 -4.08662801e-03 -2.03472891e+01] [ 2.92052042e-04 9.99999879e-01 3.96511697e-04 -3.16750517e+00] [ 4.08651236e-03 -3.97701878e-04 9.99991571e-01 -8.59081450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050418555 meters 0.26391483526660414 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.17, Z:-0.86 [[ 9.99992078e-01 -3.02713979e-04 -3.96902794e-03 -2.03483987e+01] [ 3.04979037e-04 9.99999791e-01 5.70090653e-04 -3.16895626e+00] [ 3.96885454e-03 -5.71296606e-04 9.99991961e-01 -8.57772464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080418554999998 meters 0.2670664254991039 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.17, Z:-0.86 [[ 9.99991700e-01 -2.14154140e-04 -4.06871897e-03 -2.03479325e+01] [ 2.16728747e-04 9.99999777e-01 6.32350420e-04 -3.16805284e+00] [ 4.06858264e-03 -6.33226980e-04 9.99991523e-01 -8.58106423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110418555 meters 0.26207290429498625 Centerline is valid? [False, False] Translation: X:-20.39, Y:-3.17, Z:-0.87 [[ 9.99983396e-01 -1.20487963e-03 -5.63524342e-03 -2.03886552e+01] [ 1.19903865e-03 9.99998741e-01 -1.03977306e-03 -3.16844661e+00] [ 5.63648912e-03 1.03299892e-03 9.99983581e-01 -8.65242422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140418555 meters 0.2630967028717548 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.17, Z:-0.88 [[ 9.99953426e-01 -3.69751855e-03 8.91479771e-03 -2.03825546e+01] [ 3.72698261e-03 9.99987640e-01 -3.29072836e-03 -3.17090872e+00] [-8.90252000e-03 3.32380039e-03 9.99954848e-01 -8.77102307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170418554999998 meters 0.2649985725069399 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.17, Z:-0.88 [[ 9.99953785e-01 -3.58269019e-03 8.92145994e-03 -2.03824171e+01] [ 3.60985697e-03 9.99988891e-01 -3.03086578e-03 -3.17203393e+00] [-8.91050218e-03 3.06293090e-03 9.99955610e-01 -8.77375035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200418555 meters 0.26464201044851876 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.17, Z:-0.88 [[ 9.99953987e-01 -3.50899585e-03 8.92805263e-03 -2.03831237e+01] [ 3.53503933e-03 9.99989538e-01 -2.90293256e-03 -3.17226357e+00] [-8.91777285e-03 2.93436001e-03 9.99955930e-01 -8.76171739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230418555 meters 0.2657558868339756 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.17, Z:-0.88 [[ 9.99954373e-01 -3.46230428e-03 8.90307960e-03 -2.03837181e+01] [ 3.48711545e-03 9.99990076e-01 -2.77279614e-03 -3.17303516e+00] [-8.89339098e-03 2.80371569e-03 9.99956522e-01 -8.75121498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260418554999998 meters 0.269475012315545 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.17, Z:-0.88 [[ 9.99955611e-01 -3.35892018e-03 8.80306171e-03 -2.03832249e+01] [ 3.38185145e-03 9.99990924e-01 -2.59133062e-03 -3.17345315e+00] [-8.79427774e-03 2.62098624e-03 9.99957895e-01 -8.75494117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290418555 meters 0.2629179933318149 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.17, Z:-0.88 [[ 9.99967041e-01 -2.68297872e-03 7.66275266e-03 -2.04270530e+01] [ 2.70360274e-03 9.99992748e-01 -2.68237427e-03 -3.17370835e+00] [-7.65550033e-03 2.70300291e-03 9.99967043e-01 -8.79350611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320418555 meters 0.27279150100764055 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.18, Z:-0.88 [[ 9.99955122e-01 -3.58894614e-03 8.76777962e-03 -2.03826281e+01] [ 3.61155991e-03 9.99990189e-01 -2.56471915e-03 -3.17620393e+00] [-8.75848896e-03 2.59626941e-03 9.99958273e-01 -8.76326784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350418554999997 meters 0.2621098072805207 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.18, Z:-0.87 [[ 9.99965553e-01 -5.89416095e-03 5.84390776e-03 -2.04097174e+01] [ 5.86662428e-03 9.99971661e-01 4.71802822e-03 -3.17676522e+00] [-5.87155096e-03 -4.68358169e-03 9.99971794e-01 -8.71373984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380418555 meters 0.4020575932585472 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.87 [[ 9.99967295e-01 -5.86304152e-03 5.57075591e-03 -2.04086190e+01] [ 5.83786887e-03 9.99972725e-01 4.52427967e-03 -3.17472464e+00] [-5.59713001e-03 -4.49161036e-03 9.99974248e-01 -8.71963664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410418555 meters 0.3983316079775459 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.18, Z:-0.87 [[ 9.99968631e-01 -5.82156209e-03 5.37086214e-03 -2.04075166e+01] [ 5.79625620e-03 9.99972084e-01 4.71529492e-03 -3.17641839e+00] [-5.39816259e-03 -4.68401611e-03 9.99974460e-01 -8.72968077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440418554999997 meters 0.2690283981974927 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.18, Z:-0.87 [[ 9.99997645e-01 -8.02077978e-04 2.01642813e-03 -2.04297973e+01] [ 8.03404693e-04 9.99999461e-01 -6.57229001e-04 -3.17758198e+00] [-2.01589989e-03 6.58847462e-04 9.99997751e-01 -8.71780178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470418555 meters 0.2719852475233668 Centerline is valid? [False, False] Translation: X:-20.39, Y:-3.18, Z:-0.87 [[ 9.99992262e-01 1.38789814e-03 3.68107477e-03 -2.03887516e+01] [-1.39623823e-03 9.99996462e-01 2.26406453e-03 -3.17666628e+00] [-3.67791945e-03 -2.26918667e-03 9.99990662e-01 -8.65815546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500418555 meters 0.38784190441577937 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.17, Z:-0.87 [[ 9.99990084e-01 3.18959317e-03 3.10780398e-03 -2.04346860e+01] [-3.19791978e-03 9.99991301e-01 2.67798553e-03 -3.17147947e+00] [-3.09923526e-03 -2.68789749e-03 9.99991585e-01 -8.67661616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530418554999997 meters 0.26598058165691846 Centerline is valid? [False, False] Translation: X:-20.39, Y:-3.17, Z:-0.87 [[ 9.99990593e-01 -7.00388454e-04 4.28053838e-03 -2.03892169e+01] [ 7.04191781e-04 9.99999359e-01 -8.87073469e-04 -3.17126228e+00] [-4.27991434e-03 8.90079444e-04 9.99990445e-01 -8.66038550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560418555 meters 0.26498531421403687 Centerline is valid? [False, False] Translation: X:-20.39, Y:-3.17, Z:-0.87 [[ 9.99990440e-01 -7.54793318e-04 4.30700505e-03 -2.03897589e+01] [ 7.59353051e-04 9.99999153e-01 -1.05714138e-03 -3.17056531e+00] [-4.30620348e-03 1.06040181e-03 9.99990166e-01 -8.65468625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590418555 meters 0.25743343415696723 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.17, Z:-0.86 [[ 9.99997071e-01 -2.37857319e-03 4.46573883e-04 -2.04150711e+01] [ 2.37553469e-03 9.99974830e-01 6.68553901e-03 -3.17067872e+00] [-4.62464687e-04 -6.68445858e-03 9.99977552e-01 -8.60958046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620418554999997 meters 0.26403751086565835 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.86 [[ 9.99997468e-01 -2.24972025e-03 4.68314338e-05 -2.04131402e+01] [ 2.24936617e-03 9.99976117e-01 6.53496189e-03 -3.16858471e+00] [-6.15321514e-05 -6.53484000e-03 9.99978646e-01 -8.62375854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650418554999998 meters 0.2629570416740652 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.17, Z:-0.86 [[ 9.99990130e-01 3.34391080e-03 -2.92551828e-03 -2.04352147e+01] [-3.33948629e-03 9.99993275e-01 1.51596446e-03 -3.16826801e+00] [ 2.93056785e-03 -1.50617977e-03 9.99994572e-01 -8.61960278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680418555 meters 0.2619762341334233 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.17, Z:-0.86 [[ 9.99990748e-01 3.24226162e-03 -2.82711498e-03 -2.04361794e+01] [-3.23850290e-03 9.99993867e-01 1.33309179e-03 -3.16753596e+00] [ 2.83141987e-03 -1.32392383e-03 9.99995115e-01 -8.60881215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710418554999997 meters 0.26328179326617374 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.87 [[ 9.99993774e-01 -3.38876765e-03 9.83914005e-04 -2.04095755e+01] [ 3.38431020e-03 9.99984161e-01 4.49718819e-03 -3.16796553e+00] [-9.99138346e-04 -4.49383032e-03 9.99989404e-01 -8.67345584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740418554999998 meters 0.26345190836780596 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.87 [[ 9.99993904e-01 -3.39724226e-03 8.06331908e-04 -2.04089001e+01] [ 3.39368729e-03 9.99984693e-01 4.36997909e-03 -3.16691020e+00] [-8.21165443e-04 -4.36721601e-03 9.99990127e-01 -8.67777005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770418555 meters 0.2611923792685822 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.16, Z:-0.86 [[ 9.99993588e-01 1.99305827e-03 -2.97515985e-03 -2.04379696e+01] [-1.99388096e-03 9.99997975e-01 -2.73579027e-04 -3.16212449e+00] [ 2.97460857e-03 2.79509387e-04 9.99995537e-01 -8.59513761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800418554999997 meters 0.26494758160694476 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.16, Z:-0.85 [[ 9.99999141e-01 -3.92135726e-04 -1.25038201e-03 -2.03969139e+01] [ 3.89823650e-04 9.99998215e-01 -1.84880308e-03 -3.16383299e+00] [ 1.25110476e-03 1.84831407e-03 9.99997509e-01 -8.53793656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830418554999998 meters 0.26143771574799196 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.17, Z:-0.85 [[ 9.99998081e-01 -3.78103435e-04 -1.92199016e-03 -2.04443976e+01] [ 3.73023380e-04 9.99996438e-01 -2.64279411e-03 -3.16534339e+00] [ 1.92298256e-03 2.64207209e-03 9.99994661e-01 -8.54534653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860418555 meters 0.26300535413840714 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.17, Z:-0.85 [[ 9.99993947e-01 3.29916354e-03 -1.10480655e-03 -2.03983705e+01] [-3.29673389e-03 9.99992159e-01 2.19381471e-03 -3.16541779e+00] [ 1.11203565e-03 -2.19015917e-03 9.99996983e-01 -8.52498718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890418555 meters 0.26194532188050845 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.17, Z:-0.85 [[ 9.99993589e-01 3.39048980e-03 -1.15216259e-03 -2.03978079e+01] [-3.38763085e-03 9.99991201e-01 2.47433171e-03 -3.16708323e+00] [ 1.16054165e-03 -2.47041275e-03 9.99996275e-01 -8.53323738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920418554999998 meters 0.2602853274189887 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.17, Z:-0.86 [[ 9.99995748e-01 1.06915743e-03 -2.71295202e-03 -2.04407872e+01] [-1.06998054e-03 9.99999382e-01 -3.01967157e-04 -3.17083852e+00] [ 2.71262750e-03 3.04868679e-04 9.99996274e-01 -8.57229237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950418555 meters 0.26313385471643375 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.17, Z:-0.86 [[ 9.99996024e-01 1.17968064e-03 -2.56116490e-03 -2.04414450e+01] [-1.17971147e-03 9.99999304e-01 -1.05269182e-05 -3.17224607e+00] [ 2.56115070e-03 1.35483119e-05 9.99996720e-01 -8.56829450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980418555 meters 0.26062835396651574 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.17, Z:-0.86 [[ 9.99995690e-01 1.26456106e-03 -2.64974314e-03 -2.04409202e+01] [-1.26410112e-03 9.99999186e-01 1.75248099e-04 -3.17278783e+00] [ 2.64996259e-03 -1.71897800e-04 9.99996474e-01 -8.57366235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010418554999998 meters 0.2648079199755012 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.18, Z:-0.86 [[ 9.99980727e-01 -5.91232953e-03 1.89470919e-03 -2.04143346e+01] [ 5.90614309e-03 9.99977263e-01 3.25423858e-03 -3.18176141e+00] [-1.91390625e-03 -3.24298544e-03 9.99992910e-01 -8.64505652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040418555 meters 0.26284352711934955 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.19, Z:-0.86 [[ 9.99997530e-01 2.98331159e-04 2.20235429e-03 -2.04413382e+01] [-2.96484458e-04 9.99999604e-01 -8.38791223e-04 -3.18558308e+00] [-2.20260365e-03 8.38136187e-04 9.99997223e-01 -8.63287999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070418555 meters 0.2626696380240115 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.19, Z:-0.86 [[ 9.99997605e-01 3.53362947e-04 2.15997343e-03 -2.04417941e+01] [-3.51746906e-04 9.99999658e-01 -7.48510378e-04 -3.18550183e+00] [-2.16023719e-03 7.47748821e-04 9.99997387e-01 -8.62283562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100418554999997 meters 0.26241348402689474 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.19, Z:-0.86 [[ 9.99997825e-01 5.55915229e-04 2.01045574e-03 -2.04410226e+01] [-5.55431910e-04 9.99999817e-01 -2.40952697e-04 -3.18824703e+00] [-2.01058932e-03 2.39835502e-04 9.99997950e-01 -8.62846150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130418555 meters 0.26282525858427513 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.19, Z:-0.86 [[ 9.99997631e-01 7.67098509e-04 2.03721007e-03 -2.04409412e+01] [-7.67709083e-04 9.99999661e-01 2.98945918e-04 -3.19116638e+00] [-2.03698006e-03 -3.00509195e-04 9.99997880e-01 -8.63110356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160418555 meters 0.2637427748836131 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.19, Z:-0.86 [[ 9.99997735e-01 7.92933842e-04 1.97491682e-03 -2.04405689e+01] [-7.93600833e-04 9.99999628e-01 3.36970212e-04 -3.19126524e+00] [-1.97464890e-03 -3.38536745e-04 9.99997993e-01 -8.63446203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190418554999997 meters 0.26210165935594726 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.19, Z:-0.87 [[ 9.99997148e-01 2.32499814e-03 5.47121912e-04 -2.04833621e+01] [-2.32559362e-03 9.99996701e-01 1.09026884e-03 -3.19153582e+00] [-5.44585235e-04 -1.09153811e-03 9.99999256e-01 -8.67778010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220418555 meters 0.26206783329762584 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.19, Z:-0.87 [[ 9.99997145e-01 2.36294088e-03 3.55442034e-04 -2.04823706e+01] [-2.36335772e-03 9.99996515e-01 1.17691780e-03 -3.19234492e+00] [-3.52659808e-04 -1.17775447e-03 9.99999244e-01 -8.68587883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250418555 meters 0.26230889085868925 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.19, Z:-0.87 [[ 9.99997204e-01 2.35859201e-03 1.70754366e-04 -2.04814383e+01] [-2.35876957e-03 9.99996670e-01 1.04718849e-03 -3.19141458e+00] [-1.68283907e-04 -1.04758833e-03 9.99999437e-01 -8.69444146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280418554999997 meters 0.2628460746702887 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.19, Z:-0.87 [[ 9.99978431e-01 6.56138954e-03 2.91580176e-04 -2.04822650e+01] [-6.56281873e-03 9.99964915e-01 5.20558012e-03 -3.19115452e+00] [-2.57414107e-04 -5.20738144e-03 9.99986408e-01 -8.68639514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310418555 meters 0.2641626347470966 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.19, Z:-0.87 [[ 9.99996336e-01 2.58591613e-03 8.00986854e-04 -2.04847619e+01] [-2.58645446e-03 9.99996429e-01 6.71775189e-04 -3.18753675e+00] [-7.99246840e-04 -6.73844443e-04 9.99999454e-01 -8.66654189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340418555 meters 0.26347110365285914 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.19, Z:-0.87 [[ 9.99996750e-01 2.41070793e-03 8.29196621e-04 -2.04852577e+01] [-2.41095448e-03 9.99997050e-01 2.96469029e-04 -3.18616147e+00] [-8.28479474e-04 -2.98467221e-04 9.99999612e-01 -8.66108469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370418554999997 meters 0.263890306639327 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.18, Z:-0.87 [[ 9.99988795e-01 -4.29438928e-03 1.99195650e-03 -2.04564411e+01] [ 4.28697089e-03 9.99983915e-01 3.71361048e-03 -3.18360240e+00] [-2.00787215e-03 -3.70502941e-03 9.99991121e-01 -8.71578600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400418554999998 meters 0.263773615527658 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.18, Z:-0.87 [[ 9.99996350e-01 1.79143971e-03 -2.02261081e-03 -2.04780274e+01] [-1.79246167e-03 9.99998267e-01 -5.03567770e-04 -3.18270777e+00] [ 2.02170519e-03 5.07191384e-04 9.99997828e-01 -8.70165837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430418555 meters 0.2602751301699043 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.18, Z:-0.87 [[ 9.99996414e-01 1.61482083e-03 -2.13633282e-03 -2.05263923e+01] [-1.61816682e-03 9.99997465e-01 -1.56542975e-03 -3.18235318e+00] [ 2.13379952e-03 1.56888108e-03 9.99996493e-01 -8.70925487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460418554999997 meters 0.2638379054840762 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.18, Z:-0.87 [[ 9.99998283e-01 1.45705326e-03 -1.14493122e-03 -2.04813790e+01] [-1.45852980e-03 9.99998104e-01 -1.28985652e-03 -3.18168235e+00] [ 1.14304966e-03 1.29152422e-03 9.99998513e-01 -8.68166138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490418554999998 meters 0.2628390175607684 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.18, Z:-0.87 [[ 9.99998137e-01 1.52085016e-03 -1.18834064e-03 -2.04810997e+01] [-1.52219642e-03 9.99998200e-01 -1.13281348e-03 -3.18247117e+00] [ 1.18661567e-03 1.13462026e-03 9.99998652e-01 -8.68480758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520418555 meters 0.26369674057217335 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.18, Z:-0.87 [[ 9.99997756e-01 1.61362813e-03 -1.37290734e-03 -2.04798128e+01] [-1.61500776e-03 9.99998191e-01 -1.00438660e-03 -3.18267092e+00] [ 1.37128415e-03 1.00660160e-03 9.99998553e-01 -8.69806794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550418554999997 meters 0.26369674057217335 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.18, Z:-0.87 [[ 9.99997756e-01 1.61362813e-03 -1.37290734e-03 -2.04798128e+01] [-1.61500776e-03 9.99998191e-01 -1.00438660e-03 -3.18267092e+00] [ 1.37128415e-03 1.00660160e-03 9.99998553e-01 -8.69806794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580418554999998 meters 0.262217445513105 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.19, Z:-0.87 [[ 9.99970930e-01 -3.93153772e-03 -6.53311249e-03 -2.05031575e+01] [ 3.95184725e-03 9.99987390e-01 3.09870987e-03 -3.19010239e+00] [ 6.52084741e-03 -3.12443765e-03 9.99973858e-01 -8.65932443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610418555 meters 0.2588763702406494 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.19, Z:-0.86 [[ 9.99972237e-01 -4.85670830e-03 -5.65130419e-03 -2.05080503e+01] [ 4.87132835e-03 9.99984817e-01 2.57613976e-03 -3.19193596e+00] [ 5.63870683e-03 -2.60359760e-03 9.99980713e-01 -8.62226870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640418555 meters 0.26330769685121863 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.19, Z:-0.87 [[ 9.99999753e-01 6.10699398e-04 -3.47207122e-04 -2.04848707e+01] [-6.10999256e-04 9.99999440e-01 -8.64177527e-04 -3.19073290e+00] [ 3.46679175e-04 8.64389457e-04 9.99999566e-01 -8.66078656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670418554999998 meters 0.26273970193434854 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.19, Z:-0.86 [[ 9.99999693e-01 -5.14496745e-04 5.91091141e-04 -2.04907344e+01] [ 5.15406039e-04 9.99998683e-01 -1.53920974e-03 -3.19320407e+00] [-5.90298444e-04 1.53951391e-03 9.99998641e-01 -8.61200787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700418555 meters 0.26285624007862246 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.20, Z:-0.86 [[ 9.99999853e-01 -3.97533274e-04 3.68375330e-04 -2.04894772e+01] [ 3.97831749e-04 9.99999592e-01 -8.10527391e-04 -3.19837005e+00] [-3.68052969e-04 8.10673823e-04 9.99999604e-01 -8.62258937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730418555 meters 0.25732668481663545 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.20, Z:-0.87 [[ 9.99999753e-01 -2.82829108e-04 -6.42941792e-04 -2.05335968e+01] [ 2.82464093e-04 9.99999799e-01 -5.67746347e-04 -3.20264654e+00] [ 6.43102238e-04 5.67564599e-04 9.99999632e-01 -8.66105958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760418554999998 meters 0.2651234168510204 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.21, Z:-0.86 [[ 9.99999956e-01 -2.94126768e-04 -4.08002293e-05 -2.04882480e+01] [ 2.94153591e-04 9.99999740e-01 6.59000539e-04 -3.20501623e+00] [ 4.06063890e-05 -6.59012512e-04 9.99999782e-01 -8.63218339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790418555 meters 0.263749402454809 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.21, Z:-0.86 [[ 9.99999968e-01 -2.51045252e-04 2.40722188e-05 -2.04884851e+01] [ 2.51015572e-04 9.99999218e-01 1.22512574e-03 -3.20933471e+00] [-2.43797619e-05 -1.22511965e-03 9.99999249e-01 -8.63011361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820418555 meters 0.2624346654196766 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.21, Z:-0.86 [[ 9.99990064e-01 2.94743225e-03 -3.34434576e-03 -2.05142281e+01] [-2.96539859e-03 9.99981131e-01 -5.37997490e-03 -3.21079538e+00] [ 3.32842554e-03 5.38983877e-03 9.99979935e-01 -8.58919119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850418554999997 meters 0.26346283378838176 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.21, Z:-0.86 [[ 9.99998970e-01 -7.26818166e-04 -1.23785622e-03 -2.04882219e+01] [ 7.28399446e-04 9.99998919e-01 1.27746280e-03 -3.21017760e+00] [ 1.23692640e-03 -1.27836314e-03 9.99998418e-01 -8.62169804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880418555 meters 0.2636546015341917 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.21, Z:-0.86 [[ 9.99998996e-01 -7.81993785e-04 -1.18187590e-03 -2.04888892e+01] [ 7.83407494e-04 9.99998978e-01 1.19616702e-03 -3.20996287e+00] [ 1.18093930e-03 -1.19709171e-03 9.99998586e-01 -8.61346334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910418555 meters 0.2586178740118493 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.21, Z:-0.85 [[ 9.99988370e-01 4.23593275e-03 -2.30580075e-03 -2.05206183e+01] [-4.24521565e-03 9.99982844e-01 -4.03599597e-03 -3.21025423e+00] [ 2.28866499e-03 4.04573765e-03 9.99989197e-01 -8.53720552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940418554999997 meters 0.26395068765087 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.21, Z:-0.86 [[ 9.99999757e-01 7.47624328e-05 6.92937729e-04 -2.04921039e+01] [-7.58079977e-05 9.99998859e-01 1.50898376e-03 -3.20914627e+00] [-6.92824123e-04 -1.50903593e-03 9.99998621e-01 -8.60235195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970418555 meters 0.26193636218803545 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.21, Z:-0.86 [[ 9.99999789e-01 -8.21053537e-05 6.44250011e-04 -2.04917408e+01] [ 8.14384182e-05 9.99999461e-01 1.03517018e-03 -3.20633600e+00] [-6.44334657e-04 -1.03511749e-03 9.99999257e-01 -8.60745879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000418555 meters 0.2564401682534453 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.21, Z:-0.86 [[ 9.99999803e-01 -1.97869939e-04 5.94995106e-04 -2.04916488e+01] [ 1.97402101e-04 9.99999671e-01 7.86244926e-04 -3.20523748e+00] [-5.95150485e-04 -7.86127318e-04 9.99999514e-01 -8.60757314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030418554999997 meters 0.25686759879628435 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.20, Z:-0.86 [[ 9.99999776e-01 -2.83036029e-04 6.06902948e-04 -2.04915465e+01] [ 2.82642727e-04 9.99999750e-01 6.48035555e-04 -3.20494397e+00] [-6.07086214e-04 -6.47863873e-04 9.99999606e-01 -8.60912349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060418555 meters 0.25673658836772084 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.20, Z:-0.86 [[ 9.99999827e-01 -3.78924638e-04 4.48951897e-04 -2.04910977e+01] [ 3.78731242e-04 9.99999835e-01 4.30778407e-04 -3.20390069e+00] [-4.49115056e-04 -4.30608300e-04 9.99999806e-01 -8.60995008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090418555 meters 0.25653595612769253 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.20, Z:-0.86 [[ 9.99999913e-01 -3.75786125e-04 1.80631243e-04 -2.04893220e+01] [ 3.75741998e-04 9.99999900e-01 2.44265600e-04 -3.20192674e+00] [-1.80723017e-04 -2.44197708e-04 9.99999954e-01 -8.62872293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120418554999997 meters 0.25619599525905506 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.20, Z:-0.86 [[ 9.99999885e-01 -4.71592164e-04 8.59405312e-05 -2.04890626e+01] [ 4.71600627e-04 9.99999884e-01 -9.84871255e-05 -3.19959895e+00] [-8.58940754e-05 9.85276438e-05 9.99999991e-01 -8.62762012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150418554999998 meters 0.2564788322672641 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.20, Z:-0.86 [[ 9.99998601e-01 -1.53789512e-03 6.57418217e-04 -2.04934313e+01] [ 1.53881407e-03 9.99997837e-01 -1.39961128e-03 -3.19673570e+00] [-6.55264340e-04 1.40062097e-03 9.99998804e-01 -8.58761369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180418555 meters 0.25767097132937244 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.19, Z:-0.86 [[ 9.99998328e-01 -1.67524368e-03 7.33413958e-04 -2.04938820e+01] [ 1.67667465e-03 9.99996684e-01 -1.95485293e-03 -3.19315297e+00] [-7.30136671e-04 1.95607936e-03 9.99997820e-01 -8.58393214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210418554999997 meters 0.25454472672479284 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.19, Z:-0.86 [[ 9.99999312e-01 6.62172115e-04 -9.68023984e-04 -2.05351329e+01] [-6.62891763e-04 9.99999504e-01 -7.43287214e-04 -3.18885324e+00] [ 9.67531320e-04 7.43928397e-04 9.99999255e-01 -8.64128647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240418554999998 meters 0.2571506786198959 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.19, Z:-0.86 [[ 9.99999820e-01 1.24602364e-04 -5.86600730e-04 -2.04860481e+01] [-1.25253848e-04 9.99999375e-01 -1.11070309e-03 -3.18737963e+00] [ 5.86461967e-04 1.11077636e-03 9.99999211e-01 -8.64514812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270418555 meters 0.25638502769098115 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.19, Z:-0.86 [[ 9.99999928e-01 9.53122488e-06 -3.80608871e-04 -2.04873673e+01] [-1.01138953e-05 9.99998828e-01 -1.53091763e-03 -3.18514815e+00] [ 3.80593833e-04 1.53092137e-03 9.99998756e-01 -8.63286084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300418554999997 meters 0.25583941220000533 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.18, Z:-0.86 [[ 9.99992152e-01 3.95870794e-03 -1.55459343e-04 -2.04887690e+01] [-3.95840794e-03 9.99990389e-01 1.88486987e-03 -3.18022219e+00] [ 1.62919499e-04 -1.88423970e-03 9.99998212e-01 -8.62053607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330418554999998 meters 0.25487164878889884 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.18, Z:-0.86 [[ 9.99992633e-01 3.83180729e-03 -2.27775730e-04 -2.04885644e+01] [-3.83143351e-03 9.99991349e-01 1.61938459e-03 -3.17898041e+00] [ 2.33978929e-04 -1.61849995e-03 9.99998663e-01 -8.62076348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360418555 meters 0.25498944466503815 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.18, Z:-0.86 [[ 9.99997460e-01 2.19425655e-03 5.15637196e-04 -2.04930045e+01] [-2.19427265e-03 9.99997592e-01 3.06607575e-05 -3.17878941e+00] [-5.15568676e-04 -3.17921282e-05 9.99999867e-01 -8.59083448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390418555 meters 0.25621292510719557 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.18, Z:-0.86 [[ 9.99981218e-01 -4.46294239e-03 4.20070620e-03 -2.04686546e+01] [ 4.44880285e-03 9.99984428e-01 3.36933812e-03 -3.17675333e+00] [-4.21567795e-03 -3.35058673e-03 9.99985501e-01 -8.62541293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420418554999998 meters 0.25612368748177744 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.18, Z:-0.86 [[ 9.99981597e-01 -4.48368146e-03 4.08677468e-03 -2.04677430e+01] [ 4.47075167e-03 9.99984990e-01 3.16747678e-03 -3.17531021e+00] [-4.10091529e-03 -3.14914753e-03 9.99986633e-01 -8.63580925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450418555 meters 0.25626402271276744 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.87 [[ 9.99981907e-01 -4.54724408e-03 3.93813787e-03 -2.04662853e+01] [ 4.53572172e-03 9.99985422e-01 2.92984605e-03 -3.17414383e+00] [-3.95140318e-03 -2.91193074e-03 9.99987953e-01 -8.65567540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480418555 meters 0.25499615102381656 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.17, Z:-0.86 [[ 9.99996850e-01 2.34757284e-03 -8.87882432e-04 -2.04883323e+01] [-2.34780865e-03 9.99997209e-01 -2.64641745e-04 -3.17131689e+00] [ 8.87258688e-04 2.66725490e-04 9.99999571e-01 -8.62664940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510418554999998 meters 0.255643435813169 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.17, Z:-0.86 [[ 9.99990193e-01 -3.96710419e-03 1.96862692e-03 -2.04649255e+01] [ 3.95981553e-03 9.99985342e-01 3.69259694e-03 -3.16964654e+00] [-1.98324698e-03 -3.68476533e-03 9.99991245e-01 -8.63982065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540418555 meters 0.25449348372407815 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.17, Z:-0.86 [[ 9.99996862e-01 2.45478841e-03 -5.00770928e-04 -2.04915309e+01] [-2.45498973e-03 9.99996906e-01 -4.01801434e-04 -3.16854339e+00] [ 4.99783041e-04 4.03029560e-04 9.99999794e-01 -8.59197856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570418555 meters 0.2539319744100549 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.17, Z:-0.86 [[ 9.99997321e-01 2.27258699e-03 -4.39812081e-04 -2.04917393e+01] [-2.27299385e-03 9.99996987e-01 -9.26787860e-04 -3.16569148e+00] [ 4.37704550e-04 9.27785068e-04 9.99999474e-01 -8.59177482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600418554999997 meters 0.25402110985211673 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.86 [[ 9.99997384e-01 2.23804924e-03 -4.72000562e-04 -2.04914097e+01] [-2.23855238e-03 9.99996924e-01 -1.06816082e-03 -3.16482867e+00] [ 4.69608514e-04 1.06921462e-03 9.99999318e-01 -8.59592210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630418555 meters 0.25484967493511396 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.86 [[ 9.99988421e-01 -3.89963397e-03 2.81985147e-03 -2.04662800e+01] [ 3.89148787e-03 9.99988256e-01 2.88857998e-03 -3.16435791e+00] [-2.83108276e-03 -2.87757311e-03 9.99991852e-01 -8.63813794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660418555 meters 0.25523850959473754 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.86 [[ 9.99994528e-01 2.81880693e-03 1.73174556e-03 -2.04930034e+01] [-2.81688462e-03 9.99995415e-01 -1.11147824e-03 -3.16452537e+00] [-1.73487067e-03 1.10659403e-03 9.99997883e-01 -8.60628480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690418554999997 meters 0.2563258440494998 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.86 [[ 9.99983302e-01 -3.28144446e-03 4.75691918e-03 -2.04684047e+01] [ 3.26812521e-03 9.99990725e-01 2.80504802e-03 -3.16176713e+00] [-4.76607968e-03 -2.78945498e-03 9.99984752e-01 -8.63547835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720418555 meters 0.2579169045068428 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.86 [[ 9.99982909e-01 -3.39201713e-03 4.76194493e-03 -2.04687361e+01] [ 3.38011439e-03 9.99991149e-01 2.50538003e-03 -3.16013900e+00] [-4.77040108e-03 -2.48924129e-03 9.99985523e-01 -8.63092705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750418555 meters 0.25352257740031064 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.16, Z:-0.86 [[ 9.99999120e-01 1.08078177e-03 7.68741775e-04 -2.04956488e+01] [-1.07850909e-03 9.99995065e-01 -2.95066746e-03 -3.15784035e+00] [-7.71927009e-04 2.94983577e-03 9.99995351e-01 -8.56595778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780418554999997 meters 0.2558840010409661 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.86 [[ 9.99985222e-01 -4.44500459e-03 3.13019022e-03 -2.04655844e+01] [ 4.43907519e-03 9.99988345e-01 1.89866881e-03 -3.15967825e+00] [-3.13859332e-03 -1.88474560e-03 9.99993298e-01 -8.64528337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810418555 meters 0.25386152970209497 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.86 [[ 9.99998739e-01 1.46883319e-03 -6.04098422e-04 -2.04892541e+01] [-1.47021266e-03 9.99996298e-01 -2.28945626e-03 -3.16020156e+00] [ 6.00733357e-04 2.29034153e-03 9.99997197e-01 -8.61458338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840418555 meters 0.2553514386368312 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.86 [[ 9.99998655e-01 1.53007786e-03 -5.91254655e-04 -2.04891250e+01] [-1.53134065e-03 9.99996535e-01 -2.14127023e-03 -3.16087981e+00] [ 5.87976296e-04 2.14217276e-03 9.99997533e-01 -8.61720944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870418554999997 meters 0.25590931691347285 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.86 [[ 9.99998712e-01 1.40070419e-03 -7.82969063e-04 -2.04884575e+01] [-1.40269628e-03 9.99995766e-01 -2.54954062e-03 -3.15846420e+00] [ 7.79394596e-04 2.55063560e-03 9.99996443e-01 -8.62036295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900418554999998 meters 0.2535578050235432 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.86 [[ 9.99984806e-01 -1.83127760e-03 -5.19941658e-03 -2.05145699e+01] [ 1.84870484e-03 9.99992683e-01 3.34894389e-03 -3.16080747e+00] [ 5.19324569e-03 -3.35850519e-03 9.99980875e-01 -8.56697716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930418555 meters 0.2546868373560961 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.86 [[ 9.99993976e-01 3.39549334e-03 -7.19695983e-04 -2.04891915e+01] [-3.39611388e-03 9.99993861e-01 -8.62758360e-04 -3.15783490e+00] [ 7.16762075e-04 8.65197333e-04 9.99999369e-01 -8.61678911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960418554999997 meters 0.2558184754447866 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.86 [[ 9.99994578e-01 3.23732901e-03 -6.03299602e-04 -2.04899012e+01] [-3.23806651e-03 9.99994007e-01 -1.22549158e-03 -3.15616567e+00] [ 5.99328667e-04 1.22743846e-03 9.99999067e-01 -8.61196624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990418554999998 meters 0.2541206667682082 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.15, Z:-0.86 [[ 9.99995135e-01 3.08103462e-03 -4.87791049e-04 -2.04908646e+01] [-3.08181312e-03 9.99993966e-01 -1.60333834e-03 -3.15423162e+00] [ 4.82848164e-04 1.60483382e-03 9.99998596e-01 -8.60125051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020418555 meters 0.2563302426653092 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.86 [[ 9.99986791e-01 -2.48810254e-03 4.49751956e-03 -2.04699190e+01] [ 2.47641775e-03 9.99993549e-01 2.60175697e-03 -3.15432583e+00] [-4.50396398e-03 -2.59058487e-03 9.99986501e-01 -8.61949041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050418554999997 meters 0.2553929298219993 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.86 [[ 9.99986382e-01 -2.52279509e-03 4.56859229e-03 -2.04700544e+01] [ 2.51121784e-03 9.99993626e-01 2.53806257e-03 -3.15412969e+00] [-4.57496618e-03 -2.52655527e-03 9.99986343e-01 -8.62148481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080418554999998 meters 0.2560550687990771 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.15, Z:-0.87 [[ 9.99967874e-01 3.74650894e-03 7.08621026e-03 -2.04422967e+01] [-3.74055408e-03 9.99992640e-01 -8.53411425e-04 -3.15334269e+00] [-7.08935542e-03 8.26877656e-04 9.99974528e-01 -8.67569761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110418555 meters 0.25591565332743343 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.86 [[ 9.99994105e-01 -1.81642470e-03 2.91372270e-03 -2.04686479e+01] [ 1.80774312e-03 9.99993928e-01 2.97942132e-03 -3.15541597e+00] [-2.91911690e-03 -2.97413649e-03 9.99991317e-01 -8.61850259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140418555 meters 0.2559098151725268 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.15, Z:-0.86 [[ 9.99988453e-01 -3.07370508e-03 3.69415317e-03 -2.04216033e+01] [ 3.06469128e-03 9.99992319e-01 2.44320746e-03 -3.15460442e+00] [-3.70163450e-03 -2.43185780e-03 9.99990192e-01 -8.61145832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170418554999998 meters 0.25531110229753595 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.15, Z:-0.86 [[ 9.99996842e-01 2.43360120e-03 -6.27957323e-04 -2.04464776e+01] [-2.43494190e-03 9.99994739e-01 -2.14316920e-03 -3.15220058e+00] [ 6.22738400e-04 2.14469147e-03 9.99997506e-01 -8.56155572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200418555 meters 0.25242849851945326 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.85 [[ 9.99985206e-01 -1.31629266e-03 -5.27778000e-03 -2.04707931e+01] [ 1.33551253e-03 9.99992484e-01 3.63978874e-03 -3.15675940e+00] [ 5.27294930e-03 -3.64678343e-03 9.99979448e-01 -8.52304836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230418555 meters 0.25087022745676846 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.85 [[ 9.99985001e-01 -1.20554848e-03 -5.34266232e-03 -2.04706636e+01] [ 1.22695795e-03 9.99991224e-01 4.00580215e-03 -3.15894627e+00] [ 5.33778624e-03 -4.01229729e-03 9.99977705e-01 -8.52214318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260418554999998 meters 0.2545480438863259 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99993579e-01 3.58297341e-03 5.75931125e-05 -2.04516318e+01] [-3.58293499e-03 9.99993367e-01 -6.53880438e-04 -3.15681051e+00] [-5.99355667e-05 6.53669887e-04 9.99999785e-01 -8.51953810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290418555 meters 0.25508297355292575 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99993645e-01 3.55939671e-03 1.99664925e-04 -2.04526496e+01] [-3.55927318e-03 9.99993476e-01 -6.15660167e-04 -3.15737264e+00] [-2.01855001e-04 6.14945592e-04 9.99999791e-01 -8.50766215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320418555 meters 0.25737168563021834 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.86 [[ 9.99988095e-01 -3.06769124e-03 3.79463108e-03 -2.04267230e+01] [ 3.05702219e-03 9.99991367e-01 2.81422991e-03 -3.15813420e+00] [-3.80323151e-03 -2.80259614e-03 9.99988840e-01 -8.56203215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350418554999997 meters 0.2563355922278893 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99993780e-01 3.49973909e-03 4.38523602e-04 -2.04519079e+01] [-3.49941132e-03 9.99993599e-01 -7.45988576e-04 -3.15802834e+00] [-4.41131560e-04 7.44449361e-04 9.99999626e-01 -8.51717470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380418555 meters 0.2541138937290822 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99993710e-01 3.52372184e-03 4.03441093e-04 -2.04512180e+01] [-3.52347276e-03 9.99993603e-01 -6.16433158e-04 -3.15885007e+00] [-4.05610651e-04 6.15007767e-04 9.99999729e-01 -8.52901062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410418555 meters 0.2550822153274353 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99993554e-01 3.56940372e-03 3.89145266e-04 -2.04507538e+01] [-3.56920855e-03 9.99993505e-01 -5.01097030e-04 -3.15951666e+00] [-3.90931356e-04 4.99704859e-04 9.99999799e-01 -8.53608382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440418554999997 meters 0.2550822153274353 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99993554e-01 3.56940372e-03 3.89145266e-04 -2.04507538e+01] [-3.56920855e-03 9.99993505e-01 -5.01097030e-04 -3.15951666e+00] [-3.90931356e-04 4.99704859e-04 9.99999799e-01 -8.53608382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470418555 meters 0.2550276394920498 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99993693e-01 3.52084271e-03 4.66442466e-04 -2.04510873e+01] [-3.52057649e-03 9.99993640e-01 -5.70342317e-04 -3.15923787e+00] [-4.68447585e-04 5.68696573e-04 9.99999729e-01 -8.53383435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500418555 meters 0.25465493906061876 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99994157e-01 3.38590855e-03 4.69990678e-04 -2.04516083e+01] [-3.38551882e-03 9.99993927e-01 -8.27550589e-04 -3.15827456e+00] [-4.72789834e-04 8.25954591e-04 9.99999547e-01 -8.52497442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530418554999997 meters 0.2544244484903576 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99994579e-01 3.24306409e-03 5.69746624e-04 -2.04520777e+01] [-3.24241011e-03 9.99994088e-01 -1.14504444e-03 -3.15688693e+00] [-5.73456708e-04 1.14319088e-03 9.99999182e-01 -8.52313520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560418555 meters 0.2549995195629978 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99994933e-01 3.13448002e-03 5.56627553e-04 -2.04522283e+01] [-3.13367284e-03 9.99994046e-01 -1.44512985e-03 -3.15519829e+00] [-5.61153969e-04 1.44337824e-03 9.99998801e-01 -8.51950875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590418555 meters 0.2554364265957359 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.15, Z:-0.86 [[ 9.99991064e-01 -4.06416281e-03 1.16348519e-03 -2.04234759e+01] [ 4.06236901e-03 9.99990563e-01 1.53997803e-03 -3.15203966e+00] [-1.16973293e-03 -1.53523777e-03 9.99998137e-01 -8.57077063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620418554999997 meters 0.2559125328501812 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.15, Z:-0.86 [[ 9.99991494e-01 -4.00218274e-03 9.96965660e-04 -2.04223209e+01] [ 4.00074934e-03 9.99990966e-01 1.43563237e-03 -3.15093068e+00] [-1.00270232e-03 -1.43163155e-03 9.99998473e-01 -8.58391344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650418554999998 meters 0.2555885002862716 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.15, Z:-0.86 [[ 9.99991392e-01 -3.95574753e-03 1.25188646e-03 -2.04237586e+01] [ 3.95434414e-03 9.99991553e-01 1.12151289e-03 -3.14833466e+00] [-1.25631231e-03 -1.11655285e-03 9.99998587e-01 -8.57130361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680418555 meters 0.25404748033424607 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.86 [[ 9.99995161e-01 -2.83846755e-03 1.27337961e-03 -2.04731586e+01] [ 2.83688102e-03 9.99995200e-01 1.24600780e-03 -3.14821423e+00] [-1.27691025e-03 -1.24238935e-03 9.99998413e-01 -8.56492443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710418554999997 meters 0.2538059616972552 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.15, Z:-0.86 [[ 9.99979084e-01 3.10110552e-03 5.67585063e-03 -2.04497648e+01] [-3.08914779e-03 9.99992993e-01 -2.11432853e-03 -3.14617515e+00] [-5.68236762e-03 2.09675076e-03 9.99981657e-01 -8.59263682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740418554999998 meters 0.2557554927416357 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.15, Z:-0.86 [[ 9.99977945e-01 3.21355227e-03 5.81227314e-03 -2.04502960e+01] [-3.20404531e-03 9.99993515e-01 -1.64424350e-03 -3.14902989e+00] [-5.81751932e-03 1.62558445e-03 9.99981757e-01 -8.58811350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770418555 meters 0.2535525365450093 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.85 [[ 9.99996310e-01 -2.69208719e-03 3.63102928e-04 -2.04729453e+01] [ 2.69146725e-03 9.99994938e-01 1.69714425e-03 -3.15432077e+00] [-3.67669951e-04 -1.69616071e-03 9.99998494e-01 -8.54999957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800418554999997 meters 0.25395267914458 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.86 [[ 9.99996175e-01 -2.74094631e-03 3.69653228e-04 -2.04726135e+01] [ 2.74037407e-03 9.99995060e-01 1.53977169e-03 -3.15348213e+00] [-3.73871833e-04 -1.53875281e-03 9.99998746e-01 -8.55796748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830418554999998 meters 0.25498553952673686 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.86 [[ 9.99996309e-01 -2.70323143e-03 2.71545388e-04 -2.04720415e+01] [ 2.70281471e-03 9.99995187e-01 1.52341330e-03 -3.15283098e+00] [-2.75662220e-04 -1.52267374e-03 9.99998803e-01 -8.56386540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860418555 meters 0.2545493841633976 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.15, Z:-0.86 [[ 9.99995270e-01 -3.04910999e-03 4.02936335e-04 -2.04237774e+01] [ 3.04810834e-03 9.99992320e-01 2.46355775e-03 -3.15396261e+00] [-4.10444899e-04 -2.46231791e-03 9.99996884e-01 -8.56198051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890418555 meters 0.2541741924426984 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.16, Z:-0.86 [[ 9.99995510e-01 -2.98135580e-03 3.03896477e-04 -2.04237325e+01] [ 2.98051984e-03 9.99991872e-01 2.71510830e-03 -3.15535710e+00] [-3.11988711e-04 -2.71419034e-03 9.99996268e-01 -8.55768474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920418554999998 meters 0.25318287474185974 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.85 [[ 9.99992377e-01 3.56738954e-03 -1.58744561e-03 -2.04502930e+01] [-3.56953178e-03 9.99992720e-01 -1.34870299e-03 -3.15546716e+00] [ 1.58262270e-03 1.35435915e-03 9.99997831e-01 -8.51471960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950418555 meters 0.2534570518817218 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.15, Z:-0.85 [[ 9.99993058e-01 3.42156050e-03 -1.47544004e-03 -2.04510240e+01] [-3.42423901e-03 9.99992487e-01 -1.81671306e-03 -3.15283157e+00] [ 1.46921296e-03 1.82175270e-03 9.99997261e-01 -8.50693980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980418555 meters 0.2642877151180706 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.15, Z:-0.85 [[ 9.99993472e-01 3.35779494e-03 -1.33491804e-03 -2.04518633e+01] [-3.36035557e-03 9.99992510e-01 -1.92060153e-03 -3.15244026e+00] [ 1.32845905e-03 1.92507479e-03 9.99997265e-01 -8.49924972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010418555 meters 0.25763936436859963 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.15, Z:-0.86 [[ 9.99992846e-01 -3.37996004e-03 1.69800875e-03 -2.04255074e+01] [ 3.37765662e-03 9.99993374e-01 1.35758515e-03 -3.15276900e+00] [-1.70258608e-03 -1.35184015e-03 9.99997637e-01 -8.55438247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040418555 meters 0.2572054528340886 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.15, Z:-0.86 [[ 9.99993025e-01 -3.30015319e-03 1.74921943e-03 -2.04253443e+01] [ 3.29762675e-03 9.99993518e-01 1.44524381e-03 -3.15279640e+00] [-1.75397761e-03 -1.43946545e-03 9.99997426e-01 -8.56035283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070418555 meters 0.25616011964707674 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.15, Z:-0.86 [[ 9.99976159e-01 2.12358631e-03 6.57051732e-03 -2.04030167e+01] [-2.10819467e-03 9.99995020e-01 -2.34856999e-03 -3.15130685e+00] [-6.57547199e-03 2.33466207e-03 9.99975656e-01 -8.58424695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100418555000005 meters 0.25522468317883207 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.15, Z:-0.86 [[ 9.99975037e-01 2.22618192e-03 6.70593305e-03 -2.04034244e+01] [-2.21414778e-03 9.99995926e-01 -1.80144047e-03 -3.15464882e+00] [-6.70991606e-03 1.78654758e-03 9.99975892e-01 -8.58313288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.130418555 meters 0.2550618512369887 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.85 [[ 9.99990770e-01 -3.56278573e-03 2.40126760e-03 -2.04286707e+01] [ 3.55819446e-03 9.99991839e-01 1.91358868e-03 -3.15791275e+00] [-2.40806570e-03 -1.90502684e-03 9.99995286e-01 -8.53768503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160418555 meters 0.2533727161449259 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.86 [[ 9.99990878e-01 -3.49963270e-03 2.44885950e-03 -2.04280174e+01] [ 3.49452548e-03 9.99991717e-01 2.08673090e-03 -3.15900090e+00] [-2.45614201e-03 -2.07815427e-03 9.99994824e-01 -8.55416350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190418555 meters 0.25578764813062405 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.16, Z:-0.86 [[ 9.99989959e-01 3.53305087e-03 2.75666960e-03 -2.03974502e+01] [-3.53118893e-03 9.99993534e-01 -6.80007736e-04 -3.15884458e+00] [-2.75905427e-03 6.70266587e-04 9.99995969e-01 -8.60671085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220418555 meters 0.25234692666461844 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.16, Z:-0.85 [[ 9.99999492e-01 1.73101278e-04 -9.92624267e-04 -2.04247317e+01] [-1.67802771e-04 9.99985752e-01 5.33547920e-03 -3.16074282e+00] [ 9.93533702e-04 -5.33530992e-03 9.99985274e-01 -8.54501998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250418555 meters 0.2554051735523216 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.16, Z:-0.85 [[ 9.99979511e-01 4.83507773e-03 4.19523471e-03 -2.04048177e+01] [-4.83672055e-03 9.99988230e-01 3.81533050e-04 -3.15692605e+00] [-4.19334059e-03 -4.01816411e-04 9.99991127e-01 -8.54362930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280418555000004 meters 0.25354746443462284 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99981296e-01 3.57921707e-03 4.95942947e-03 -2.04102175e+01] [-3.57435956e-03 9.99993124e-01 -9.87966354e-04 -3.15490217e+00] [-4.96293152e-03 9.70221092e-04 9.99987214e-01 -8.49366835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310418555000005 meters 0.25517500683783567 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.16, Z:-0.85 [[ 9.99980845e-01 3.62507965e-03 5.01681147e-03 -2.04105045e+01] [-3.62129114e-03 9.99993151e-01 -7.64039041e-04 -3.15614319e+00] [-5.01954681e-03 7.45857071e-04 9.99987124e-01 -8.49149334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340418555 meters 0.25459948449936276 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.16, Z:-0.85 [[ 9.99975055e-01 -3.58260656e-03 6.08725541e-03 -2.03828637e+01] [ 3.56717799e-03 9.99990403e-01 2.54353853e-03 -3.15545798e+00] [-6.09630949e-03 -2.52176076e-03 9.99978238e-01 -8.53572619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370418555 meters 0.2535854846122075 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.16, Z:-0.85 [[ 9.99996098e-01 1.92818167e-03 2.02130635e-03 -2.04063033e+01] [-1.92434379e-03 9.99996345e-01 -1.89894342e-03 -3.15573591e+00] [-2.02496047e-03 1.89504632e-03 9.99996154e-01 -8.50556767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400418555 meters 0.25464258403328743 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.16, Z:-0.85 [[ 9.99996043e-01 1.97284326e-03 2.00557802e-03 -2.04059743e+01] [-1.96939918e-03 9.99996585e-01 -1.71777506e-03 -3.15724536e+00] [-2.00896007e-03 1.71381848e-03 9.99996513e-01 -8.51141205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430418555 meters 0.2527021236719434 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.16, Z:-0.85 [[ 9.99995895e-01 1.99105337e-03 2.06072018e-03 -2.04064614e+01] [-1.98718671e-03 9.99996265e-01 -1.87671180e-03 -3.15576140e+00] [-2.06444912e-03 1.87260906e-03 9.99996116e-01 -8.50605184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460418555000004 meters 0.25450696599654427 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.15, Z:-0.85 [[ 9.99984903e-01 -3.04437604e-03 4.57437340e-03 -2.03845916e+01] [ 3.02767015e-03 9.99988739e-01 3.65455887e-03 -3.15474871e+00] [-4.58544774e-03 -3.64065400e-03 9.99982860e-01 -8.50418935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490418555000005 meters 0.2552919814264761 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.16, Z:-0.85 [[ 9.99985379e-01 -2.82543919e-03 4.61075034e-03 -2.03844363e+01] [ 2.80575924e-03 9.99986951e-01 4.26917377e-03 -3.15792868e+00] [-4.62275247e-03 -4.25617470e-03 9.99980257e-01 -8.50762425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520418555 meters 0.25305863906065107 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.16, Z:-0.85 [[ 9.99999544e-01 9.03541617e-04 3.10169440e-04 -2.04075131e+01] [-9.02898016e-04 9.99997452e-01 -2.06890378e-03 -3.15619665e+00] [-3.12037990e-04 2.06862278e-03 9.99997812e-01 -8.47931972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550418555 meters 0.25275815959738107 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.16, Z:-0.85 [[ 9.99999599e-01 8.81869309e-04 1.54801330e-04 -2.04067626e+01] [-8.81522354e-04 9.99997131e-01 -2.22723642e-03 -3.15511719e+00] [-1.56765018e-04 2.22709906e-03 9.99997508e-01 -8.48631686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580418555 meters 0.2552200443766525 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.16, Z:-0.85 [[ 9.99985048e-01 -3.09572039e-03 4.50788948e-03 -2.03828217e+01] [ 3.07874812e-03 9.99988165e-01 3.76710004e-03 -3.15720708e+00] [-4.51949802e-03 -3.75316506e-03 9.99982744e-01 -8.52223474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610418555 meters 0.2535703035109482 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.16, Z:-0.85 [[ 9.99993280e-01 2.28600288e-03 2.86593681e-03 -2.04124348e+01] [-2.28213055e-03 9.99996480e-01 -1.35370127e-03 -3.15559474e+00] [-2.86902128e-03 1.34715173e-03 9.99994977e-01 -8.45547181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640418555000004 meters 0.2534619991504144 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99993763e-01 2.16987690e-03 2.78660078e-03 -2.04121947e+01] [-2.16513589e-03 9.99996206e-01 -1.70324987e-03 -3.15390522e+00] [-2.79028605e-03 1.69720588e-03 9.99994667e-01 -8.45625986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670418555000005 meters 0.25521363617343656 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99993849e-01 2.18847738e-03 2.74084865e-03 -2.04116965e+01] [-2.18343096e-03 9.99995918e-01 -1.84282723e-03 -3.15284251e+00] [-2.74487045e-03 1.83683144e-03 9.99994546e-01 -8.46406203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700418555 meters 0.25449111271127783 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99993608e-01 2.17033943e-03 2.84140011e-03 -2.04122522e+01] [-2.16498881e-03 9.99995880e-01 -1.88481629e-03 -3.15239393e+00] [-2.84547909e-03 1.87865264e-03 9.99994187e-01 -8.45905126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730418555 meters 0.2551696690828449 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99993604e-01 2.29143630e-03 2.74629129e-03 -2.04113707e+01] [-2.28688310e-03 9.99996007e-01 -1.65993901e-03 -3.15321704e+00] [-2.75008397e-03 1.65364795e-03 9.99994851e-01 -8.47021073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760418555 meters 0.25417086922589016 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99993546e-01 2.36164261e-03 2.70763342e-03 -2.04110100e+01] [-2.35771820e-03 9.99996167e-01 -1.45166611e-03 -3.15438345e+00] [-2.71105136e-03 1.44527291e-03 9.99995281e-01 -8.47505695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790418555 meters 0.25468352365829583 Centerline is valid? [False, False] Translation: X:-20.39, Y:-3.15, Z:-0.85 [[ 9.99974998e-01 -3.57984532e-03 6.09827850e-03 -2.03869607e+01] [ 3.56287739e-03 9.99989758e-01 2.79100788e-03 -3.15498821e+00] [-6.10820742e-03 -2.76921068e-03 9.99977510e-01 -8.50710949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820418555 meters 0.25476262573392716 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.16, Z:-0.85 [[ 9.99986092e-01 3.41354566e-03 4.02043212e-03 -2.04127502e+01] [-3.41129277e-03 9.99994021e-01 -5.67085323e-04 -3.15549899e+00] [-4.02234385e-03 5.53362565e-04 9.99991757e-01 -8.47251011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850418555000005 meters 0.25506589774218585 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99986776e-01 3.40651748e-03 3.85274888e-03 -2.04121001e+01] [-3.40381893e-03 9.99993957e-01 -7.06761783e-04 -3.15450516e+00] [-3.85513320e-03 6.93638377e-04 9.99992328e-01 -8.47610396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880418555 meters 0.25556274084072694 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.85 [[ 9.99995925e-01 -1.99413568e-03 -2.04270464e-03 -2.04325846e+01] [ 1.99968624e-03 9.99994305e-01 2.71883167e-03 -3.15648404e+00] [ 2.03727129e-03 -2.72290536e-03 9.99994218e-01 -8.45816440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910418555 meters 0.2543794964170812 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.85 [[ 9.99995869e-01 -2.02230500e-03 -2.04274972e-03 -2.04325210e+01] [ 2.02769259e-03 9.99994463e-01 2.63880055e-03 -3.15629449e+00] [ 2.03740195e-03 -2.64293172e-03 9.99994432e-01 -8.45952995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940418555 meters 0.2537459988612875 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.15, Z:-0.84 [[ 9.99995823e-01 -2.17447370e-03 -1.90409965e-03 -2.04336942e+01] [ 2.17875876e-03 9.99995092e-01 2.25126585e-03 -3.15448105e+00] [ 1.89919499e-03 -2.25540502e-03 9.99995653e-01 -8.44440419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970418555 meters 0.2547819935105106 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.15, Z:-0.84 [[ 9.99995900e-01 -2.29414116e-03 -1.71392063e-03 -2.04348797e+01] [ 2.29748246e-03 9.99995459e-01 1.95008739e-03 -3.15296091e+00] [ 1.70943907e-03 -1.95401710e-03 9.99996630e-01 -8.43430151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000418555 meters 0.2565890901613113 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99990502e-01 3.28319795e-03 2.86638069e-03 -2.04115381e+01] [-3.27775229e-03 9.99992818e-01 -1.90247368e-03 -3.15025035e+00] [-2.87260631e-03 1.89306033e-03 9.99994082e-01 -8.46245102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030418555000004 meters 0.2553590681313477 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99990300e-01 3.29769047e-03 2.91977195e-03 -2.04120253e+01] [-3.29262570e-03 9.99993069e-01 -1.73775980e-03 -3.15116941e+00] [-2.92548231e-03 1.72812922e-03 9.99994228e-01 -8.45606325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060418555000005 meters 0.25499203322718444 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99990642e-01 3.34315394e-03 2.74564698e-03 -2.04107937e+01] [-3.33937337e-03 9.99993472e-01 -1.38036491e-03 -3.15394500e+00] [-2.75024383e-03 1.37118326e-03 9.99995278e-01 -8.46905867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090418555 meters 0.25288026640420164 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.85 [[ 9.99993457e-01 -2.46880080e-03 -2.64395645e-03 -2.04304433e+01] [ 2.47450304e-03 9.99994615e-01 2.15561059e-03 -3.15682747e+00] [ 2.63862044e-03 -2.16213896e-03 9.99994181e-01 -8.46713122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120418555 meters 0.25466172207526827 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.85 [[ 9.99993004e-01 -2.42971879e-03 -2.84413302e-03 -2.04290967e+01] [ 2.43550459e-03 9.99994968e-01 2.03260260e-03 -3.15549697e+00] [ 2.83918006e-03 -2.03951528e-03 9.99993890e-01 -8.48138177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150418555 meters 0.25658630286920653 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.15, Z:-0.85 [[ 9.99993354e-01 2.86491343e-03 2.25476694e-03 -2.04087231e+01] [-2.86083900e-03 9.99994273e-01 -1.80818139e-03 -3.15473319e+00] [-2.25993431e-03 1.80171884e-03 9.99995823e-01 -8.48359686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180418555 meters 0.255012695808818 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.16, Z:-0.84 [[ 9.99994295e-01 1.09298489e-03 3.19618628e-03 -2.04153644e+01] [-1.08208671e-03 9.99993602e-01 -3.40948871e-03 -3.15587803e+00] [-3.19989235e-03 3.40601071e-03 9.99989080e-01 -8.42604986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210418555000004 meters 0.2544501576947515 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.16, Z:-0.84 [[ 9.99994167e-01 1.25631149e-03 3.17624728e-03 -2.04153872e+01] [-1.24681265e-03 9.99994750e-01 -2.99080116e-03 -3.15786985e+00] [-3.17998798e-03 2.98682353e-03 9.99990483e-01 -8.42544969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240418555000005 meters 0.2535579717669481 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.16, Z:-0.84 [[ 9.99994558e-01 1.28375275e-03 3.03898421e-03 -2.04146065e+01] [-1.27466868e-03 9.99994720e-01 -2.98923160e-03 -3.15753725e+00] [-3.04280560e-03 2.98534164e-03 9.99990914e-01 -8.43355828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270418555 meters 0.2553089469085308 Centerline is valid? [False, False] Translation: X:-20.39, Y:-3.16, Z:-0.85 [[ 9.99979744e-01 -3.74007477e-03 5.15008509e-03 -2.03857248e+01] [ 3.72754552e-03 9.99990075e-01 2.44027829e-03 -3.16029234e+00] [-5.15916080e-03 -2.42103168e-03 9.99983761e-01 -8.49434794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300418555 meters 0.2561584446882607 Centerline is valid? [False, False] Translation: X:-20.39, Y:-3.16, Z:-0.85 [[ 9.99980335e-01 -3.58064140e-03 5.14867600e-03 -2.03858275e+01] [ 3.56476961e-03 9.99988877e-01 3.08857237e-03 -3.16433721e+00] [-5.15967780e-03 -3.07015779e-03 9.99981976e-01 -8.49036149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330418555 meters 0.2563615864132442 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.85 [[ 9.99990759e-01 2.91316737e-03 3.16167874e-03 -2.04117402e+01] [-2.91157051e-03 9.99995632e-01 -5.09552479e-04 -3.16629238e+00] [-3.16314934e-03 5.00342319e-04 9.99994872e-01 -8.45590055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360418555 meters 0.2563615864132442 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.85 [[ 9.99990759e-01 2.91316737e-03 3.16167874e-03 -2.04117402e+01] [-2.91157051e-03 9.99995632e-01 -5.09552479e-04 -3.16629238e+00] [-3.16314934e-03 5.00342319e-04 9.99994872e-01 -8.45590055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390418555000004 meters 0.25489908250863486 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.17, Z:-0.84 [[ 9.99994327e-01 -3.36765415e-03 6.99347705e-05 -2.04364299e+01] [ 3.36741123e-03 9.99989135e-01 3.22339829e-03 -3.16858382e+00] [-8.07893013e-05 -3.22314451e-03 9.99994802e-01 -8.42433819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420418555000005 meters 0.25689624159284524 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.85 [[ 9.99989897e-01 -1.37450775e-03 4.27981814e-03 -2.04125662e+01] [ 1.39268427e-03 9.99990012e-01 -4.24695233e-03 -3.16854976e+00] [-4.27393793e-03 4.25286986e-03 9.99981823e-01 -8.45402711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450418555 meters 0.2557847268203856 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.85 [[ 9.99990281e-01 -1.31324392e-03 4.20872192e-03 -2.04124351e+01] [ 1.33057582e-03 9.99990636e-01 -4.11793973e-03 -3.16904216e+00] [-4.20327465e-03 4.12349973e-03 9.99982664e-01 -8.45490086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480418555 meters 0.25613656212093705 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.85 [[ 9.99993944e-01 5.24454648e-04 3.44039810e-03 -2.04065653e+01] [-5.16739759e-04 9.99997351e-01 -2.24294646e-03 -3.16914487e+00] [-3.44156531e-03 2.24115509e-03 9.99991566e-01 -8.50720783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510418555 meters 0.2547729249262139 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.85 [[ 9.99994238e-01 6.08990004e-04 3.33969265e-03 -2.04055657e+01] [-6.01841056e-04 9.99997527e-01 -2.14118793e-03 -3.16975796e+00] [-3.34098836e-03 2.13916563e-03 9.99992131e-01 -8.51878092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540418555 meters 0.25527929655137843 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.85 [[ 9.99993650e-01 5.82941966e-04 3.51573735e-03 -2.04064600e+01] [-5.75248468e-04 9.99997439e-01 -2.18891734e-03 -3.16969221e+00] [-3.51700436e-03 2.18688101e-03 9.99991424e-01 -8.51329076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570418555 meters 0.2562792252842302 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.17, Z:-0.86 [[ 9.99980196e-01 -2.93814034e-03 5.56543863e-03 -2.03793603e+01] [ 2.91333058e-03 9.99985807e-01 4.46070057e-03 -3.16735306e+00] [-5.57846580e-03 -4.44439827e-03 9.99974564e-01 -8.55546552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600418555000005 meters 0.2563418576611305 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.17, Z:-0.86 [[ 9.99980203e-01 -3.04155431e-03 5.50847694e-03 -2.03794405e+01] [ 3.01850570e-03 9.99986676e-01 4.18769940e-03 -3.16594474e+00] [-5.52114066e-03 -4.17098913e-03 9.99976060e-01 -8.55124957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.630418555 meters 0.2548876522235364 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.85 [[ 9.99990853e-01 1.92986118e-03 3.81713828e-03 -2.04111351e+01] [-1.92566215e-03 9.99997537e-01 -1.10341575e-03 -3.16591577e+00] [-3.81925831e-03 1.09605514e-03 9.99992106e-01 -8.46496771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660418555 meters 0.2572796304935607 Centerline is valid? [False, False] Translation: X:-20.37, Y:-3.16, Z:-0.84 [[ 9.99987215e-01 2.07924630e-03 4.60934063e-03 -2.03667887e+01] [-2.07481622e-03 9.99997381e-01 -9.65684064e-04 -3.16132486e+00] [-4.61133646e-03 9.56108183e-04 9.99988911e-01 -8.42769288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690418555 meters 0.25597199537997717 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99986261e-01 3.66673505e-03 3.74612008e-03 -2.03604438e+01] [-3.66838526e-03 9.99993177e-01 4.33736747e-04 -3.15938238e+00] [-3.74450413e-03 -4.47473000e-04 9.99992889e-01 -8.48317342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720418555 meters 0.25617837496830703 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99992771e-01 2.39981814e-03 2.94927902e-03 -2.03555143e+01] [-2.39663006e-03 9.99996541e-01 -1.08402924e-03 -3.15626521e+00] [-2.95187029e-03 1.07695308e-03 9.99995063e-01 -8.52361213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750418555 meters 0.25681292534501887 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99992604e-01 2.37172930e-03 3.02777266e-03 -2.03560749e+01] [-2.36913326e-03 9.99996823e-01 -8.60708148e-04 -3.15864928e+00] [-3.02980441e-03 8.53528585e-04 9.99995046e-01 -8.51836036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780418555000004 meters 0.2549412409529246 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99992689e-01 2.22355004e-03 3.11085134e-03 -2.03575571e+01] [-2.21992091e-03 9.99996852e-01 -1.16957218e-03 -3.15665529e+00] [-3.11344215e-03 1.16265778e-03 9.99994477e-01 -8.49648861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810418555000005 meters 0.25637529468919673 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99992321e-01 2.17683713e-03 3.25887913e-03 -2.03589211e+01] [-2.17305739e-03 9.99996963e-01 -1.16292308e-03 -3.15669589e+00] [-3.26140073e-03 1.15583242e-03 9.99994014e-01 -8.47916341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840418555 meters 0.25577400186638505 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99991824e-01 2.17246178e-03 3.41057646e-03 -2.03598285e+01] [-2.16896649e-03 9.99997119e-01 -1.02820192e-03 -3.15767848e+00] [-3.41280036e-03 1.02079609e-03 9.99993655e-01 -8.47088979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870418555 meters 0.25565805937967173 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99992359e-01 2.10161282e-03 3.29638080e-03 -2.03588377e+01] [-2.09767920e-03 9.99997084e-01 -1.19631761e-03 -3.15702049e+00] [-3.29888539e-03 1.18939372e-03 9.99993851e-01 -8.48230193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900418555 meters 0.2557133670562216 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99993203e-01 2.07335555e-03 3.04891431e-03 -2.03570573e+01] [-2.06985477e-03 9.99997196e-01 -1.15091338e-03 -3.15788735e+00] [-3.05129201e-03 1.14459474e-03 9.99994690e-01 -8.50109750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930418555 meters 0.2542776142822286 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99993372e-01 2.05036435e-03 3.00855106e-03 -2.03565047e+01] [-2.04695981e-03 9.99997262e-01 -1.13426414e-03 -3.15859350e+00] [-3.01086848e-03 1.12809824e-03 9.99994831e-01 -8.51020544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960418555000004 meters 0.2558770642373373 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99993656e-01 1.94274793e-03 2.98569338e-03 -2.03564546e+01] [-1.93836437e-03 9.99997040e-01 -1.47038132e-03 -3.15687830e+00] [-2.98854112e-03 1.46458463e-03 9.99994462e-01 -8.51074062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990418555000005 meters 0.25521118791300257 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.16, Z:-0.85 [[ 9.99980102e-01 -2.66416337e-03 5.71824388e-03 -2.03354442e+01] [ 2.63866536e-03 9.99986564e-01 4.46198539e-03 -3.15573550e+00] [-5.73005451e-03 -4.44680807e-03 9.99973696e-01 -8.49872727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020418555 meters 0.2550928515498868 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.16, Z:-0.85 [[ 9.99980289e-01 -2.57355300e-03 5.72697222e-03 -2.03357811e+01] [ 2.54639421e-03 9.99985503e-01 4.74450795e-03 -3.15693438e+00] [-5.73909944e-03 -4.72983130e-03 9.99972345e-01 -8.49183675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050418555 meters 0.2564876743396045 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.16, Z:-0.85 [[ 9.99980768e-01 -2.93314771e-03 5.46438514e-03 -2.03345854e+01] [ 2.90531940e-03 9.99982807e-01 5.09366672e-03 -3.16170554e+00] [-5.47923167e-03 -5.07769297e-03 9.99972097e-01 -8.49846962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080418555 meters 0.2548661553656736 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.84 [[ 9.99997641e-01 -9.56409604e-05 2.17019450e-03 -2.03605883e+01] [ 1.00395903e-04 9.99997595e-01 -2.19101815e-03 -3.16185082e+00] [-2.16997972e-03 2.19123086e-03 9.99995245e-01 -8.44772964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110418555 meters 0.2547037261421898 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.84 [[ 9.99997798e-01 -3.63407569e-05 2.09819736e-03 -2.03603606e+01] [ 4.07760463e-05 9.99997765e-01 -2.11385306e-03 -3.16208889e+00] [-2.09811586e-03 2.11393396e-03 9.99995565e-01 -8.44815369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140418555000004 meters 0.25431861312469695 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99997894e-01 1.03782599e-04 2.04977858e-03 -2.03600388e+01] [-1.00152751e-04 9.99998427e-01 -1.77087230e-03 -3.16385867e+00] [-2.04995914e-03 1.77066328e-03 9.99996331e-01 -8.45116884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170418555000005 meters 0.2550034177956487 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.17, Z:-0.85 [[ 9.99997984e-01 2.79676632e-04 1.98822110e-03 -2.03597206e+01] [-2.76984117e-04 9.99999044e-01 -1.35437965e-03 -3.16559450e+00] [-1.98859798e-03 1.35382621e-03 9.99997106e-01 -8.45274057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200418555 meters 0.25657421732072655 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.17, Z:-0.84 [[ 9.99997393e-01 3.43354159e-04 2.25739368e-03 -2.03612668e+01] [-3.40782345e-04 9.99999293e-01 -1.13957082e-03 -3.16669394e+00] [-2.25778336e-03 1.13879857e-03 9.99996803e-01 -8.43836596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.230418555 meters 0.2548633975357445 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.17, Z:-0.84 [[ 9.99996826e-01 4.19737946e-04 2.48433548e-03 -2.03625931e+01] [-4.17652951e-04 9.99999560e-01 -8.39715944e-04 -3.16846382e+00] [-2.48468685e-03 8.38675689e-04 9.99996561e-01 -8.42718959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260418555 meters 0.25421434536327914 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.17, Z:-0.85 [[ 9.99997394e-01 5.99019429e-04 2.20299511e-03 -2.03605354e+01] [-5.97490928e-04 9.99999580e-01 -6.94421132e-04 -3.16840025e+00] [-2.20341016e-03 6.93103053e-04 9.99997332e-01 -8.45298411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290418555 meters 0.2548081861291486 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.86 [[ 9.99988496e-01 -4.53226812e-03 1.57049101e-03 -2.03254658e+01] [ 4.52553696e-03 9.99980671e-01 4.26339081e-03 -3.16681634e+00] [-1.58978349e-03 -4.25623445e-03 9.99989678e-01 -8.55214340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320418555 meters 0.2549142366969283 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.85 [[ 9.99988237e-01 -4.57472798e-03 1.61175093e-03 -2.03260157e+01] [ 4.56772823e-03 9.99980236e-01 4.32018997e-03 -3.16773153e+00] [-1.63148277e-03 -4.31277711e-03 9.99989369e-01 -8.54367576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350418555000005 meters 0.25463038656384995 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.17, Z:-0.85 [[ 9.99998858e-01 3.23531883e-04 1.47624585e-03 -2.03587995e+01] [-3.21854862e-04 9.99999303e-01 -1.13610001e-03 -3.16767292e+00] [-1.47661238e-03 1.13562357e-03 9.99998265e-01 -8.45534508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380418555 meters 0.2556544026192139 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.83 [[ 9.99989862e-01 9.56944297e-04 4.40013019e-03 -2.03244096e+01] [-9.54830040e-04 9.99999428e-01 -4.82574237e-04 -3.16322157e+00] [-4.40058947e-03 4.78367968e-04 9.99990203e-01 -8.34530484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410418555 meters 0.25577286161054347 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.85 [[ 9.99992520e-01 3.42142450e-03 1.80392299e-03 -2.03594005e+01] [-3.42318700e-03 9.99993666e-01 9.74855018e-04 -3.16051438e+00] [-1.80057617e-03 -9.81022892e-04 9.99997898e-01 -8.46011177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440418555 meters 0.25505217937068475 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.16, Z:-0.86 [[ 9.99995889e-01 -1.90300284e-03 2.14501803e-03 -2.03260538e+01] [ 1.89090072e-03 9.99982364e-01 5.62994569e-03 -3.15893365e+00] [-2.15569401e-03 -5.62586653e-03 9.99981851e-01 -8.55401192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470418555 meters 0.2535401101747818 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.16, Z:-0.85 [[ 9.99996273e-01 2.01058692e-03 -1.84701717e-03 -2.03530896e+01] [-2.01135761e-03 9.99997891e-01 -4.15498551e-04 -3.15569078e+00] [ 1.84617787e-03 4.19212015e-04 9.99998208e-01 -8.48885070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500418555 meters 0.2556140935760368 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.16, Z:-0.85 [[ 9.99990425e-01 -4.30420027e-03 7.89387371e-04 -2.03295706e+01] [ 4.30121418e-03 9.99983732e-01 3.74626830e-03 -3.15500517e+00] [-8.05499219e-04 -3.74283710e-03 9.99992671e-01 -8.50192599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530418555000004 meters 0.25659699271470787 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.15, Z:-0.85 [[ 9.99988698e-01 6.49833309e-04 4.70976221e-03 -2.03058456e+01] [-6.45600948e-04 9.99999387e-01 -9.00100397e-04 -3.15230738e+00] [-4.71034424e-03 8.97049597e-04 9.99988504e-01 -8.52607375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560418555000005 meters 0.25369130897370534 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.15, Z:-0.85 [[ 9.99991302e-01 1.13177844e-04 4.16942335e-03 -2.03541314e+01] [-1.04875221e-04 9.99998012e-01 -1.99147672e-03 -3.15342005e+00] [-4.16964046e-03 1.99102213e-03 9.99989325e-01 -8.52603053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590418555 meters 0.25583031024427255 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.15, Z:-0.85 [[ 9.99978017e-01 -2.82637701e-03 5.99803675e-03 -2.03137089e+01] [ 2.85495777e-03 9.99984587e-01 -4.76181887e-03 -3.15307465e+00] [-5.98448561e-03 4.77883833e-03 9.99970674e-01 -8.46457748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620418555 meters 0.25455336374263215 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.16, Z:-0.84 [[ 9.99982243e-01 -5.87749126e-03 9.84360953e-04 -2.03372396e+01] [ 5.87592119e-03 9.99981472e-01 1.59038240e-03 -3.15694709e+00] [-9.93690173e-04 -1.58457013e-03 9.99998251e-01 -8.42847208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650418555 meters 0.2538837663047776 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.16, Z:-0.84 [[ 9.99997973e-01 -1.73271340e-03 1.02529981e-03 -2.03374050e+01] [ 1.72683008e-03 9.99982198e-01 5.71146737e-03 -3.15568503e+00] [-1.03517789e-03 -5.70968527e-03 9.99983164e-01 -8.42829961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680418555 meters 0.25065208274647566 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.16, Z:-0.84 [[ 9.99996308e-01 1.90503608e-03 -1.93755511e-03 -2.03641371e+01] [-1.90632384e-03 9.99997963e-01 -6.63000682e-04 -3.15507226e+00] [ 1.93628813e-03 6.66691842e-04 9.99997903e-01 -8.37056331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710418555000004 meters 0.25626060692154484 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.83 [[ 9.99999420e-01 -1.07626324e-03 -2.62764878e-05 -2.03242925e+01] [ 1.07618551e-03 9.99995507e-01 -2.79766781e-03 -3.15882816e+00] [ 2.92873968e-05 2.79763791e-03 9.99996086e-01 -8.30206015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740418555000005 meters 0.2566855710173887 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.83 [[ 9.99999562e-01 -9.34030439e-04 5.24351318e-05 -2.03245475e+01] [ 9.34156641e-04 9.99996536e-01 -2.46073086e-03 -3.16048025e+00] [-5.01365527e-05 2.46077877e-03 9.99996971e-01 -8.30132783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770418555 meters 0.25413582114016603 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.16, Z:-0.83 [[ 9.99985302e-01 -3.01321896e-03 -4.50745711e-03 -2.03458484e+01] [ 3.03683037e-03 9.99981656e-01 5.24065978e-03 -3.16245273e+00] [ 4.49158318e-03 -5.25427113e-03 9.99976109e-01 -8.29499507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800418555 meters 0.2551373734893694 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.16, Z:-0.83 [[ 9.99983991e-01 -3.07702441e-03 -4.74871647e-03 -2.03436594e+01] [ 3.10145634e-03 9.99981949e-01 5.14619428e-03 -3.16226839e+00] [ 4.73279578e-03 -5.16083983e-03 9.99975483e-01 -8.32216807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830418555 meters 0.2512887266708761 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.84 [[ 9.99996627e-01 4.12941978e-04 -2.56441063e-03 -2.03166154e+01] [-4.16467138e-04 9.99998969e-01 -1.37426533e-03 -3.16247884e+00] [ 2.56384049e-03 1.37532868e-03 9.99995768e-01 -8.36236328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860418555 meters 0.2529067207000406 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.83 [[ 9.99997284e-01 4.60209433e-04 -2.28483626e-03 -2.03184619e+01] [-4.63041164e-04 9.99999125e-01 -1.23898424e-03 -3.16368906e+00] [ 2.28426407e-03 1.24003885e-03 9.99996622e-01 -8.34279289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890418555000004 meters 0.2557519532500104 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.16, Z:-0.82 [[ 9.99998967e-01 1.35834835e-03 4.70581557e-04 -2.02837437e+01] [-1.35837906e-03 9.99999075e-01 6.49417581e-05 -3.16212962e+00] [-4.70492908e-04 -6.55809192e-05 9.99999887e-01 -8.22941731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920418555000005 meters 0.25428474123755673 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.16, Z:-0.83 [[ 9.99980573e-01 6.15907335e-03 -9.59088518e-04 -2.03282821e+01] [-6.15460559e-03 9.99970509e-01 4.59362690e-03 -3.16299620e+00] [ 9.87352719e-04 -4.58763485e-03 9.99988989e-01 -8.25727330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950418555 meters 0.2557807638579651 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.16, Z:-0.83 [[ 9.99997453e-01 -1.44165824e-03 1.73633301e-03 -2.03016414e+01] [ 1.42926297e-03 9.99973638e-01 7.11896943e-03 -3.16351995e+00] [-1.74655036e-03 -7.11646962e-03 9.99973152e-01 -8.30862131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980418555 meters 0.25380480580698483 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.17, Z:-0.83 [[ 9.99998830e-01 1.52066184e-03 -1.63080059e-04 -2.03281975e+01] [-1.52068206e-03 9.99998836e-01 -1.23936412e-04 -3.16708476e+00] [ 1.62891404e-04 1.24184260e-04 9.99999979e-01 -8.27636510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010418555 meters 0.25488716770404435 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.16, Z:-0.83 [[ 9.99998875e-01 1.48563073e-03 -2.07250436e-04 -2.03276239e+01] [-1.48572533e-03 9.99998792e-01 -4.57050870e-04 -3.16470757e+00] [ 2.06571176e-04 4.57358273e-04 9.99999874e-01 -8.28579373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040418555 meters 0.25251948437024035 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.16, Z:-0.83 [[ 9.99985336e-01 -5.95297138e-04 -5.38260870e-03 -2.03460219e+01] [ 6.33253493e-04 9.99974929e-01 7.05271300e-03 -3.16496023e+00] [ 5.37827530e-03 -7.05601814e-03 9.99960643e-01 -8.29860947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.070418555 meters 0.2547446190069063 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.17, Z:-0.83 [[ 9.99984886e-01 -6.09832716e-04 -5.46401023e-03 -2.03457296e+01] [ 6.48877008e-04 9.99974251e-01 7.14679995e-03 -3.16605502e+00] [ 5.45951118e-03 -7.15023741e-03 9.99959533e-01 -8.29844851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100418555000005 meters 0.25513172782402277 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.17, Z:-0.83 [[ 9.99985056e-01 -6.97511928e-04 -5.42237956e-03 -2.03459085e+01] [ 7.35742360e-04 9.99974866e-01 7.05169513e-03 -3.16649512e+00] [ 5.41732463e-03 -7.05557922e-03 9.99960435e-01 -8.29796698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.130418555 meters 0.25282523480342795 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.16, Z:-0.83 [[ 9.99984039e-01 -9.17099714e-04 -5.57503062e-03 -2.03451251e+01] [ 9.53251287e-04 9.99978516e-01 6.48535644e-03 -3.16381405e+00] [ 5.56896312e-03 -6.49056733e-03 9.99963429e-01 -8.30654216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160418555 meters 0.25397475400943903 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.84 [[ 9.99994322e-01 3.19410897e-03 -1.07366765e-03 -2.03179041e+01] [-3.19313246e-03 9.99994488e-01 9.09990863e-04 -3.15610781e+00] [ 1.07656834e-03 -9.06557333e-04 9.99999010e-01 -8.37882555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190418555 meters 0.2535285903074859 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.16, Z:-0.83 [[ 9.99988499e-01 -4.02044059e-03 -2.61492782e-03 -2.03471877e+01] [ 4.02952002e-03 9.99985839e-01 3.47620110e-03 -3.15605259e+00] [ 2.60091493e-03 -3.48669802e-03 9.99990539e-01 -8.32431800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220418555 meters 0.252545028363079 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.16, Z:-0.82 [[ 9.99998235e-01 8.19014797e-04 -1.69109045e-03 -2.03817370e+01] [-8.21776827e-04 9.99998329e-01 -1.63323515e-03 -3.15866621e+00] [ 1.68974998e-03 1.63462196e-03 9.99997236e-01 -8.23304133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250418555 meters 0.252545028363079 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.16, Z:-0.82 [[ 9.99998235e-01 8.19014797e-04 -1.69109045e-03 -2.03817370e+01] [-8.21776827e-04 9.99998329e-01 -1.63323515e-03 -3.15866621e+00] [ 1.68974998e-03 1.63462196e-03 9.99997236e-01 -8.23304133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280418555000004 meters 0.25381017916007625 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.16, Z:-0.82 [[ 9.99998194e-01 9.47361138e-04 -1.64728940e-03 -2.03816874e+01] [-9.49544861e-04 9.99998671e-01 -1.32536942e-03 -3.16022703e+00] [ 1.64603161e-03 1.32693120e-03 9.99997765e-01 -8.23481992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.310418555 meters 0.2538985946516958 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.16, Z:-0.83 [[ 9.99997620e-01 1.05507396e-03 -1.90966927e-03 -2.03797366e+01] [-1.05726953e-03 9.99998781e-01 -1.14906560e-03 -3.16055836e+00] [ 1.90845459e-03 1.15108190e-03 9.99997516e-01 -8.25689827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340418555 meters 0.2530834816392801 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.16, Z:-0.83 [[ 9.99996817e-01 1.16047429e-03 -2.24028412e-03 -2.03775470e+01] [-1.16341712e-03 9.99998462e-01 -1.31273925e-03 -3.15759849e+00] [ 2.23875728e-03 1.31534145e-03 9.99996629e-01 -8.28053643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370418555 meters 0.25734261579015016 Centerline is valid? [False, False] Translation: X:-20.37, Y:-3.16, Z:-0.83 [[ 9.99994662e-01 -4.16291931e-04 -3.24071927e-03 -2.03709280e+01] [ 4.07065772e-04 9.99995864e-01 -2.84708712e-03 -3.15700531e+00] [ 3.24189108e-03 2.84575274e-03 9.99990696e-01 -8.33432337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400418555 meters 0.2559728299439108 Centerline is valid? [False, False] Translation: X:-20.37, Y:-3.16, Z:-0.83 [[ 9.99984029e-01 -4.61198443e-03 -3.26655308e-03 -2.03710205e+01] [ 4.58977059e-03 9.99966512e-01 -6.77554928e-03 -3.15961321e+00] [ 3.29769242e-03 6.76044834e-03 9.99971710e-01 -8.33066496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430418555 meters 0.25357382140930174 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.83 [[ 9.99997633e-01 -1.51717997e-03 -1.55922380e-03 -2.04263140e+01] [ 1.51076620e-03 9.99990427e-01 -4.10641160e-03 -3.16061782e+00] [ 1.56543903e-03 4.10404626e-03 9.99990353e-01 -8.28765176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460418555000004 meters 0.2515811187549494 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.82 [[ 9.99999315e-01 9.92132944e-04 -6.20367613e-04 -2.04329210e+01] [-9.93099163e-04 9.99998291e-01 -1.55913054e-03 -3.15985677e+00] [ 6.18819688e-04 1.55974556e-03 9.99998592e-01 -8.22988033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490418555000005 meters 0.253749767386005 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.16, Z:-0.82 [[ 9.99999511e-01 7.31730781e-04 -6.65509618e-04 -2.03824954e+01] [-7.32326701e-04 9.99999331e-01 -8.95632203e-04 -3.16187818e+00] [ 6.64853811e-04 8.96119135e-04 9.99999377e-01 -8.24289511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520418555 meters 0.2519611316290063 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.83 [[ 9.99998409e-01 5.06017159e-04 -1.71081934e-03 -2.04273990e+01] [-5.08498455e-04 9.99998819e-01 -1.45023174e-03 -3.16379351e+00] [ 1.71008347e-03 1.45109938e-03 9.99997485e-01 -8.27722465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550418555 meters 0.25430052644448004 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.83 [[ 9.99989151e-01 -3.66748461e-03 2.87168818e-03 -2.04067720e+01] [ 3.65445040e-03 9.99983057e-01 4.53103296e-03 -3.16537572e+00] [-2.88825702e-03 -4.52048936e-03 9.99985611e-01 -8.28202522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580418555 meters 0.25420395196327816 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.83 [[ 9.99988699e-01 -3.66105215e-03 3.03290759e-03 -2.04077518e+01] [ 3.64688393e-03 9.99982474e-01 4.66393024e-03 -3.16639976e+00] [-3.04992933e-03 -4.65281687e-03 9.99984524e-01 -8.27246602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610418555 meters 0.2566963092607447 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.17, Z:-0.83 [[ 9.99989443e-01 -3.58588779e-03 2.87316853e-03 -2.04065206e+01] [ 3.57238490e-03 9.99982616e-01 4.69108241e-03 -3.16617715e+00] [-2.88994028e-03 -4.68076882e-03 9.99984869e-01 -8.28628293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640418555000004 meters 0.2556234152162205 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.16, Z:-0.83 [[ 9.99991209e-01 3.61569675e-03 -2.12343796e-03 -2.04206285e+01] [-3.61298235e-03 9.99992653e-01 1.28075167e-03 -3.16333417e+00] [ 2.12805317e-03 -1.27306847e-03 9.99996925e-01 -8.34515239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670418555000005 meters 0.25110194394820684 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.16, Z:-0.83 [[ 9.99979475e-01 -1.20183257e-03 -6.29325031e-03 -2.04442915e+01] [ 1.23811939e-03 9.99982614e-01 5.76527338e-03 -3.16308993e+00] [ 6.28621200e-03 -5.77294684e-03 9.99963578e-01 -8.31906788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700418555 meters 0.2533815811628273 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.83 [[ 9.99979931e-01 -1.36156795e-03 -6.18743817e-03 -2.04453218e+01] [ 1.39586301e-03 9.99983670e-01 5.54175638e-03 -3.16211284e+00] [ 6.17979165e-03 -5.55028198e-03 9.99965502e-01 -8.30481664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730418555 meters 0.2535274870244564 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.16, Z:-0.83 [[ 9.99999285e-01 3.19433140e-04 -1.15264526e-03 -2.04243072e+01] [-3.22094932e-04 9.99997280e-01 -2.30984357e-03 -3.15862063e+00] [ 1.15190428e-03 2.31021318e-03 9.99996668e-01 -8.31554428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760418555 meters 0.5776335605455707 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.16, Z:-0.84 [[ 9.99997604e-01 -1.11476713e-03 -1.88391198e-03 -2.04186756e+01] [ 1.10727235e-03 9.99991488e-01 -3.97468199e-03 -3.15634874e+00] [ 1.88832679e-03 3.97258647e-03 9.99990326e-01 -8.36580511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790418555 meters 0.2533521460401204 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.84 [[ 9.99997558e-01 9.44823895e-04 -1.99791437e-03 -2.04689197e+01] [-9.50165879e-04 9.99995972e-01 -2.67452321e-03 -3.15748648e+00] [ 1.99537937e-03 2.67641503e-03 9.99994428e-01 -8.35449259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820418555 meters 0.2550778362034041 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.84 [[ 9.99996155e-01 -2.05052404e-03 1.86699567e-03 -2.04468862e+01] [ 2.04193948e-03 9.99987388e-01 4.58841664e-03 -3.15737730e+00] [-1.87638078e-03 -4.58458670e-03 9.99987730e-01 -8.36390768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850418555000005 meters 0.25531051930739945 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.16, Z:-0.84 [[ 9.99995808e-01 -2.10185394e-03 1.99135998e-03 -2.04474620e+01] [ 2.09273454e-03 9.99987365e-01 4.57055625e-03 -3.15704970e+00] [-2.00094146e-03 -4.56636970e-03 9.99987572e-01 -8.35924715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880418555 meters 0.25627814914627295 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.16, Z:-0.84 [[ 9.99992658e-01 2.85708589e-03 2.55366854e-03 -2.04217530e+01] [-2.85642993e-03 9.99995886e-01 -2.60480399e-04 -3.15980430e+00] [-2.55440225e-03 2.53184111e-04 9.99996705e-01 -8.37292386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910418555 meters 0.25574922410774237 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.16, Z:-0.84 [[ 9.99992829e-01 2.82858417e-03 2.51804744e-03 -2.04210575e+01] [-2.82783947e-03 9.99995957e-01 -2.99255949e-04 -3.15970983e+00] [-2.51888373e-03 2.92133169e-04 9.99996785e-01 -8.38332238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940418555 meters 0.2524795941762104 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.16, Z:-0.84 [[ 9.99990031e-01 -3.63589315e-03 -2.59211878e-03 -2.04434795e+01] [ 3.64273872e-03 9.99989877e-01 2.64110678e-03 -3.16306677e+00] [ 2.58248975e-03 -2.65052286e-03 9.99993153e-01 -8.35729746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970418555 meters 0.25299708939907856 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.83 [[ 9.99990773e-01 -7.63314773e-04 -4.22734531e-03 -2.04706663e+01] [ 7.43279194e-04 9.99988494e-01 -4.73906284e-03 -3.16447295e+00] [ 4.23091407e-03 4.73587701e-03 9.99979835e-01 -8.31603976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000418555 meters 0.2549882707988101 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.82 [[ 9.99996345e-01 1.47246984e-03 -2.26763540e-03 -2.04308421e+01] [-1.47645024e-03 9.99997371e-01 -1.75463787e-03 -3.16352010e+00] [ 2.26504579e-03 1.75797950e-03 9.99995890e-01 -8.24590669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030418555000004 meters 0.2546194043718911 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.16, Z:-0.83 [[ 9.99995940e-01 1.50695446e-03 -2.41858930e-03 -2.04297373e+01] [-1.51094183e-03 9.99997501e-01 -1.64765808e-03 -3.16405526e+00] [ 2.41610031e-03 1.65130574e-03 9.99995718e-01 -8.25869560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.060418555 meters 0.2543063560335878 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.17, Z:-0.83 [[ 9.99994695e-01 1.19649139e-03 -3.02960575e-03 -2.04260566e+01] [-1.20052094e-03 9.99998397e-01 -1.32858878e-03 -3.16916044e+00] [ 3.02801125e-03 1.33221883e-03 9.99994528e-01 -8.29286501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090418555 meters 0.25400117888481755 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.17, Z:-0.83 [[ 9.99993740e-01 1.43596145e-03 -3.23394844e-03 -2.04248127e+01] [-1.43742031e-03 9.99998866e-01 -4.48829238e-04 -3.17421762e+00] [ 3.23330027e-03 4.53474971e-04 9.99994670e-01 -8.30546345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120418555 meters 0.24893402380117646 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.17, Z:-0.83 [[ 9.99989670e-01 3.37556603e-03 -3.04377863e-03 -2.04772158e+01] [-3.37263575e-03 9.99993845e-01 9.67331561e-04 -3.17360698e+00] [ 3.04702518e-03 -9.57056013e-04 9.99994900e-01 -8.27374382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150418555 meters 0.2544496116741191 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.18, Z:-0.82 [[ 9.99997053e-01 -1.99753434e-03 1.37951962e-03 -2.04588696e+01] [ 1.98912065e-03 9.99979577e-01 6.07366955e-03 -3.17557919e+00] [-1.39162381e-03 -6.07090763e-03 9.99980604e-01 -8.24905095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180418555 meters 0.25483512978683526 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.18, Z:-0.82 [[ 9.99996771e-01 -1.99695301e-03 1.57182046e-03 -2.04597133e+01] [ 1.98720034e-03 9.99978917e-01 6.18199810e-03 -3.17653575e+00] [-1.58413248e-03 -6.17885461e-03 9.99979656e-01 -8.24362295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210418555000004 meters 0.25510915114546645 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.18, Z:-0.82 [[ 9.99996676e-01 -2.06809086e-03 1.53982885e-03 -2.04593724e+01] [ 2.05866762e-03 9.99979298e-01 6.09631038e-03 -3.17660196e+00] [-1.55240470e-03 -6.09312012e-03 9.99980232e-01 -8.24872861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240418555000005 meters 0.2532662594699226 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.83 [[ 9.99994684e-01 1.43625820e-03 -2.92719813e-03 -2.04748653e+01] [-1.43997118e-03 9.99998161e-01 -1.26672788e-03 -3.17264646e+00] [ 2.92537340e-03 1.27093623e-03 9.99994913e-01 -8.29672174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270418555 meters 0.254738558545518 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.83 [[ 9.99994614e-01 1.41992062e-03 -2.95904175e-03 -2.04746051e+01] [-1.42418747e-03 9.99997949e-01 -1.44036066e-03 -3.17166162e+00] [ 2.95699048e-03 1.44456714e-03 9.99994585e-01 -8.30014998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300418555 meters 0.2532292361124053 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.83 [[ 9.99994219e-01 1.49190474e-03 -3.05538954e-03 -2.04739458e+01] [-1.49763019e-03 9.99997126e-01 -1.87245631e-03 -3.16812514e+00] [ 3.05258723e-03 1.87702133e-03 9.99993579e-01 -8.30955688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330418555 meters 0.25042846738172403 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.83 [[ 9.99991768e-01 2.20535581e-03 -3.40592229e-03 -2.04717040e+01] [-2.21099338e-03 9.99996191e-01 -1.65234673e-03 -3.16434304e+00] [ 3.40226530e-03 1.65986360e-03 9.99992835e-01 -8.33113978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360418555 meters 0.2544862601338439 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.83 [[ 9.99972866e-01 6.50055518e-03 -3.46543635e-03 -2.04710055e+01] [-6.49182062e-03 9.99975738e-01 2.52579721e-03 -3.16320452e+00] [ 3.48177135e-03 -2.50323169e-03 9.99990806e-01 -8.33888327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390418555000004 meters 0.2518381463406097 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.82 [[ 9.99990421e-01 -2.82110959e-03 -3.34660379e-03 -2.05060785e+01] [ 2.83136415e-03 9.99991299e-01 3.06339980e-03 -3.16596951e+00] [ 3.33793248e-03 -3.07284591e-03 9.99989708e-01 -8.24050414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420418555000005 meters 0.2546486011057436 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.17, Z:-0.82 [[ 9.99998934e-01 8.62157840e-04 1.17808128e-03 -2.04854034e+01] [-8.58725549e-04 9.99995395e-01 -2.91086442e-03 -3.16513534e+00] [-1.18058548e-03 2.90984967e-03 9.99995069e-01 -8.24216836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450418555 meters 0.2543173601464294 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.82 [[ 9.99998992e-01 6.93723491e-04 1.23919169e-03 -2.04856434e+01] [-6.89333720e-04 9.99993499e-01 -3.53936907e-03 -3.16177132e+00] [-1.24163898e-03 3.53851129e-03 9.99992969e-01 -8.24222474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480418555 meters 0.2509004122991991 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.16, Z:-0.83 [[ 9.99993601e-01 3.55254672e-03 -4.21683027e-04 -2.05255454e+01] [-3.55335246e-03 9.99991833e-01 -1.92565202e-03 -3.15735920e+00] [ 4.14838615e-04 1.92713809e-03 9.99998057e-01 -8.31830299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510418555 meters 0.2514486634735095 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.15, Z:-0.84 [[ 9.99998161e-01 -1.91544727e-03 -9.80529554e-05 -2.04933484e+01] [ 1.91570824e-03 9.99994426e-01 2.73444588e-03 -3.15476044e+00] [ 9.28147220e-05 -2.73462869e-03 9.99996257e-01 -8.39574840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540418555 meters 0.2521787682544219 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.15, Z:-0.84 [[ 9.99998129e-01 -1.93084325e-03 -1.17862219e-04 -2.04929945e+01] [ 1.93115820e-03 9.99994400e-01 2.73328018e-03 -3.15483501e+00] [ 1.12584024e-04 -2.73350267e-03 9.99996258e-01 -8.40097401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570418555 meters 0.2521847787314394 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.84 [[ 9.99997143e-01 -2.37721570e-03 2.51861343e-04 -2.04949204e+01] [ 2.37652540e-03 9.99993513e-01 2.70652723e-03 -3.15846700e+00] [-2.58293708e-04 -2.70592094e-03 9.99996306e-01 -8.38527347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600418555000005 meters 0.255141350693645 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.84 [[ 9.99986136e-01 3.21953761e-03 4.16689385e-03 -2.04749692e+01] [-3.21245460e-03 9.99993386e-01 -1.70540681e-03 -3.15791341e+00] [-4.17235691e-03 1.69199721e-03 9.99989864e-01 -8.37449135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.630418555 meters 0.2545635446888819 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.15, Z:-0.84 [[ 9.99985561e-01 3.51859232e-03 4.06175276e-03 -2.04751133e+01] [-3.51101335e-03 9.99992085e-01 -1.87156009e-03 -3.15347431e+00] [-4.06830587e-03 1.85727220e-03 9.99990000e-01 -8.36774268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660418555 meters 0.255826127714786 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.84 [[ 9.99985536e-01 3.57447502e-03 4.01877992e-03 -2.04747878e+01] [-3.56663215e-03 9.99991725e-01 -1.95703148e-03 -3.15179196e+00] [-4.02574203e-03 1.94266966e-03 9.99990010e-01 -8.37118361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690418555 meters 0.2502776599215849 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.84 [[ 9.99986705e-01 3.34316943e-03 3.92582544e-03 -2.04736765e+01] [-3.33701015e-03 9.99993193e-01 -1.57441512e-03 -3.15673429e+00] [-3.93106226e-03 1.56129367e-03 9.99991055e-01 -8.38735520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720418555 meters 0.2532563397974449 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.84 [[ 9.99987139e-01 3.34685971e-03 3.81064394e-03 -2.04726750e+01] [-3.34114797e-03 9.99993287e-01 -1.50427138e-03 -3.15738160e+00] [-3.81565295e-03 1.49152011e-03 9.99991608e-01 -8.39946869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750418555 meters 0.2548336864574979 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.84 [[ 9.99987728e-01 3.34410585e-03 3.65522367e-03 -2.04721167e+01] [-3.33877148e-03 9.99993354e-01 -1.46451146e-03 -3.15777253e+00] [-3.66009686e-03 1.45228953e-03 9.99992247e-01 -8.40129518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780418555000004 meters 0.6077710026738892 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.16, Z:-0.83 [[ 9.99993516e-01 -3.58779212e-03 3.08799871e-04 -2.04995935e+01] [ 3.58742264e-03 9.99992858e-01 1.18887329e-03 -3.15968615e+00] [-3.13063096e-04 -1.18775779e-03 9.99999246e-01 -8.33885806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.810418555 meters 0.2553850601519982 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.16, Z:-0.84 [[ 9.99986837e-01 1.63947658e-03 4.86191624e-03 -2.04767637e+01] [-1.62368073e-03 9.99993397e-01 -3.25106379e-03 -3.15663313e+00] [-4.86721418e-03 3.24312680e-03 9.99982896e-01 -8.36503210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840418555 meters 0.2533751941540283 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.83 [[ 9.99996780e-01 -1.64205094e-03 1.93494535e-03 -2.05058147e+01] [ 1.63637414e-03 9.99994363e-01 2.93176793e-03 -3.15718407e+00] [-1.93974856e-03 -2.92859219e-03 9.99993830e-01 -8.29403291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870418555 meters 0.2516417187722653 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.15, Z:-0.83 [[ 9.99996815e-01 -1.66468036e-03 1.89704779e-03 -2.05049224e+01] [ 1.65971394e-03 9.99995200e-01 2.61654765e-03 -3.15433414e+00] [-1.90139439e-03 -2.61339076e-03 9.99994777e-01 -8.30784899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900418555 meters 0.2495950863853835 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.16, Z:-0.83 [[ 9.99997264e-01 -1.72260799e-03 1.58247686e-03 -2.05029811e+01] [ 1.71811335e-03 9.99994499e-01 2.83723734e-03 -3.15618436e+00] [-1.58735560e-03 -2.83451070e-03 9.99994723e-01 -8.32795354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930418555 meters 0.2501748336203954 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.16, Z:-0.84 [[ 9.99986877e-01 -5.05571104e-03 8.27489111e-04 -2.04983132e+01] [ 5.05601790e-03 9.99987150e-01 -3.69164021e-04 -3.15859754e+00] [-8.25612092e-04 3.73342977e-04 9.99999589e-01 -8.36701466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960418555000004 meters 0.2540880798253038 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.16, Z:-0.83 [[ 9.99985985e-01 -5.19443229e-03 1.02326310e-03 -2.05001396e+01] [ 5.19464388e-03 9.99986487e-01 -2.04223754e-04 -3.16095034e+00] [-1.02218844e-03 2.09536379e-04 9.99999456e-01 -8.34221918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990418555000005 meters 0.2520591603789447 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.83 [[ 9.99994559e-01 -2.51682237e-03 2.13229692e-03 -2.05071683e+01] [ 2.51160962e-03 9.99993860e-01 2.44382360e-03 -3.15891838e+00] [-2.13843450e-03 -2.43845481e-03 9.99994741e-01 -8.28332545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020418555 meters 0.2537083548825541 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.83 [[ 9.99994627e-01 -2.50304555e-03 2.11671921e-03 -2.05065434e+01] [ 2.49812591e-03 9.99994180e-01 2.32364223e-03 -3.15755771e+00] [-2.12252308e-03 -2.31834192e-03 9.99995060e-01 -8.29287712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050418555 meters 0.2562881298680541 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.16, Z:-0.84 [[ 9.99994893e-01 5.18595450e-04 3.15362040e-03 -2.04761225e+01] [-5.05119000e-04 9.99990745e-01 -4.27262255e-03 -3.16002435e+00] [-3.15580697e-03 4.27100778e-03 9.99985900e-01 -8.35310349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080418555 meters 0.25238176139596924 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.16, Z:-0.84 [[ 9.99996637e-01 -2.28696103e-03 1.22339475e-03 -2.05159585e+01] [ 2.29594577e-03 9.99970030e-01 -7.39382035e-03 -3.16362899e+00] [-1.20644870e-03 7.39660433e-03 9.99971917e-01 -8.42599014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110418555 meters 0.25181317823929156 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.84 [[ 9.99959233e-01 -7.41639106e-03 5.15063920e-03 -2.04976304e+01] [ 7.42494260e-03 9.99971085e-01 -1.64315457e-03 -3.16571079e+00] [-5.13830399e-03 1.68133078e-03 9.99985385e-01 -8.40246619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140418555000004 meters 0.253223500137698 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.83 [[ 9.99966344e-01 -5.50512931e-03 6.08306546e-03 -2.05041853e+01] [ 5.50107286e-03 9.99984635e-01 6.83373349e-04 -3.16836063e+00] [-6.08673406e-03 -6.49886963e-04 9.99981264e-01 -8.34049741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170418555000005 meters 0.253223500137698 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.83 [[ 9.99966344e-01 -5.50512931e-03 6.08306546e-03 -2.05041853e+01] [ 5.50107286e-03 9.99984635e-01 6.83373349e-04 -3.16836063e+00] [-6.08673406e-03 -6.49886963e-04 9.99981264e-01 -8.34049741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200418555 meters 0.2530861225547953 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.83 [[ 9.99967479e-01 -5.39623258e-03 5.99344881e-03 -2.05034909e+01] [ 5.38703776e-03 9.99984290e-01 1.54923003e-03 -3.17395991e+00] [-6.00171465e-03 -1.51689271e-03 9.99980839e-01 -8.34846719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230418555 meters 0.2542121351764059 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.18, Z:-0.84 [[ 9.99956024e-01 -7.92032187e-03 5.02185241e-03 -2.04964796e+01] [ 7.92341242e-03 9.99968432e-01 -5.95822779e-04 -3.17752508e+00] [-5.01697477e-03 6.35586784e-04 9.99987213e-01 -8.41252842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260418555 meters 0.25431268648680927 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.18, Z:-0.84 [[ 9.99959221e-01 -7.64101312e-03 4.81368762e-03 -2.04952637e+01] [ 7.63994027e-03 9.99970786e-01 2.41223480e-04 -3.18186169e+00] [-4.81539018e-03 -2.04437357e-04 9.99988385e-01 -8.42524825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290418555 meters 0.2505461562269787 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.18, Z:-0.83 [[ 9.99991217e-01 -2.04929123e-03 3.65612959e-03 -2.05281599e+01] [ 2.06399345e-03 9.99989782e-01 -4.02202122e-03 -3.18319762e+00] [-3.64784994e-03 4.02953212e-03 9.99985228e-01 -8.33107777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320418555 meters 0.25265273490604323 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.18, Z:-0.83 [[ 9.99991635e-01 -1.96175874e-03 3.58909608e-03 -2.05282872e+01] [ 1.97504325e-03 9.99991199e-01 -3.70155845e-03 -3.18491736e+00] [-3.58180293e-03 3.70861611e-03 9.99986708e-01 -8.32403396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350418555000005 meters 0.24904126659867426 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.19, Z:-0.84 [[ 9.99982228e-01 -5.64329731e-03 1.92291486e-03 -2.05689578e+01] [ 5.65735245e-03 9.99956735e-01 -7.38397302e-03 -3.18880375e+00] [-1.88116171e-03 7.39472040e-03 9.99970889e-01 -8.38944152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380418555 meters 0.2527886073723535 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.20, Z:-0.84 [[ 9.99979776e-01 -6.04152259e-03 1.98693552e-03 -2.05205787e+01] [ 6.05347444e-03 9.99963283e-01 -6.06524486e-03 -3.19529036e+00] [-1.95021925e-03 6.07715006e-03 9.99979632e-01 -8.39194490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410418555 meters 0.2517546615887797 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.20, Z:-0.84 [[ 9.99995882e-01 -1.69880201e-03 2.31300605e-03 -2.05223028e+01] [ 1.70155438e-03 9.99997846e-01 -1.18850490e-03 -3.19888173e+00] [-2.31098203e-03 1.19243571e-03 9.99996619e-01 -8.37696354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440418555 meters 0.2518133734308038 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.20, Z:-0.83 [[ 9.99989401e-01 -1.91465841e-03 4.18712993e-03 -2.05336381e+01] [ 1.91950212e-03 9.99997493e-01 -1.15309593e-03 -3.20100071e+00] [-4.18491165e-03 1.16112091e-03 9.99990569e-01 -8.28095121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470418555 meters 0.25493464295350043 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.20, Z:-0.83 [[ 9.99988438e-01 -2.00369308e-03 4.37130788e-03 -2.05343612e+01] [ 2.00767392e-03 9.99997574e-01 -9.06475264e-04 -3.20395389e+00] [-4.36948098e-03 9.15240945e-04 9.99990035e-01 -8.27857268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500418555 meters 0.2570567452811158 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.20, Z:-0.84 [[ 9.99975720e-01 2.88821171e-03 6.34170636e-03 -2.05025984e+01] [-2.85351945e-03 9.99980953e-01 -5.47274219e-03 -3.20433700e+00] [-6.35739200e-03 5.45451313e-03 9.99964915e-01 -8.36881846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530418555000004 meters 0.25251208154303084 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.20, Z:-0.84 [[ 9.99999344e-01 2.58540123e-04 1.11568707e-03 -2.05195542e+01] [-2.59929549e-04 9.99999191e-01 1.24538979e-03 -3.20146616e+00] [-1.11536419e-03 -1.24567897e-03 9.99998602e-01 -8.39256379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560418555 meters 0.2519234033744365 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.20, Z:-0.84 [[ 9.99999694e-01 2.62550161e-04 7.37420783e-04 -2.05175533e+01] [-2.63154932e-04 9.99999629e-01 8.20138592e-04 -3.19824626e+00] [-7.37205182e-04 -8.20332397e-04 9.99999392e-01 -8.41142483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590418555 meters 0.25204540447874857 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.20, Z:-0.84 [[ 9.99998966e-01 1.41773510e-03 -2.41795139e-04 -2.05120987e+01] [-1.41729861e-03 9.99997383e-01 1.79592861e-03 -3.19778705e+00] [ 2.44340657e-04 -1.79558406e-03 9.99998358e-01 -8.44914651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620418555 meters 0.25490062639574146 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.20, Z:-0.84 [[ 9.99999267e-01 1.20810224e-03 7.99232783e-05 -2.05147561e+01] [-1.20819105e-03 9.99998642e-01 1.12065990e-03 -3.19543769e+00] [-7.85692981e-05 -1.12075564e-03 9.99999369e-01 -8.41482317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650418555 meters 0.2547289489741552 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.19, Z:-0.84 [[ 9.99999582e-01 5.63623711e-04 7.19621722e-04 -2.05188134e+01] [-5.63396543e-04 9.99999791e-01 -3.15840659e-04 -3.18997025e+00] [-7.19799588e-04 3.15435095e-04 9.99999691e-01 -8.37842824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680418555 meters 0.2541214372436253 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.18, Z:-0.84 [[ 9.99988032e-01 4.89113626e-03 1.16054953e-04 -2.05166310e+01] [-4.89145703e-03 9.99983695e-01 2.94665088e-03 -3.18257252e+00] [-1.01640589e-04 -2.94718329e-03 9.99995652e-01 -8.38750751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710418555000004 meters 0.25381614540820974 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.18, Z:-0.84 [[ 9.99988600e-01 4.77321541e-03 1.31112272e-04 -2.05165958e+01] [-4.77350568e-03 9.99985937e-01 2.31082592e-03 -3.17890235e+00] [-1.20080358e-04 -2.31142544e-03 9.99997321e-01 -8.38871654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740418555000005 meters 0.2566766445622323 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.18, Z:-0.84 [[ 9.99981544e-01 1.10580889e-03 5.97395587e-03 -2.04947475e+01] [-1.15190827e-03 9.99969546e-01 7.71880370e-03 -3.17986330e+00] [-5.96523842e-03 -7.72554269e-03 9.99952365e-01 -8.43384541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770418555 meters 0.255039185402923 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.17, Z:-0.84 [[ 9.99983273e-01 1.42496611e-03 5.60559195e-03 -2.04931653e+01] [-1.46596349e-03 9.99972161e-01 7.31636027e-03 -3.17469515e+00] [-5.59501033e-03 -7.32445548e-03 9.99957523e-01 -8.44472384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800418555 meters 0.2541880884830006 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.84 [[ 9.99973030e-01 7.33023006e-03 4.54967150e-04 -2.05134277e+01] [-7.33151841e-03 9.99968925e-01 2.89779117e-03 -3.16976371e+00] [-4.33711536e-04 -2.90104862e-03 9.99995698e-01 -8.43236943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830418555 meters 0.2546763789846017 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.84 [[ 9.99995215e-01 3.08056679e-03 2.83357628e-04 -2.05129541e+01] [-3.08014152e-03 9.99994147e-01 -1.48921115e-03 -3.16904974e+00] [-2.87943584e-04 1.48833124e-03 9.99998851e-01 -8.43320041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860418555 meters 0.2562346853644147 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.84 [[ 9.99995501e-01 2.96276104e-03 4.69139011e-04 -2.05144857e+01] [-2.96195196e-03 9.99994141e-01 -1.71601956e-03 -3.16802728e+00] [-4.74220418e-04 1.71462227e-03 9.99998418e-01 -8.41586073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890418555000004 meters 0.2560990701346827 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.84 [[ 9.99995573e-01 2.91540483e-03 5.96081691e-04 -2.05160775e+01] [-2.91418600e-03 9.99993682e-01 -2.03548682e-03 -3.16514569e+00] [-6.02012193e-04 2.03374072e-03 9.99997751e-01 -8.39443356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920418555000005 meters 0.25529479337854954 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.84 [[ 9.99995208e-01 3.02827985e-03 6.43190180e-04 -2.05160273e+01] [-3.02722024e-03 9.99994070e-01 -1.64205916e-03 -3.16757851e+00] [-6.48158981e-04 1.64010421e-03 9.99998445e-01 -8.39715433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950418555 meters 0.25766474398057493 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.85 [[ 9.99999101e-01 1.30034702e-03 -3.27402714e-04 -2.05089653e+01] [-1.30142935e-03 9.99993617e-01 -3.32757505e-03 -3.16729933e+00] [ 3.23073621e-04 3.32799815e-03 9.99994410e-01 -8.45945200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980418555 meters 0.2538965229924276 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.17, Z:-0.85 [[ 9.99977184e-01 -3.59247451e-03 -5.72068180e-03 -2.05283104e+01] [ 3.60058159e-03 9.99992527e-01 1.40748576e-03 -3.17096355e+00] [ 5.71558270e-03 -1.42805142e-03 9.99982646e-01 -8.46247639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010418555 meters 0.25504991946255534 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.17, Z:-0.84 [[ 9.99978592e-01 -3.50263832e-03 -5.52685138e-03 -2.05298216e+01] [ 3.51270484e-03 9.99992187e-01 1.81273000e-03 -3.17367778e+00] [ 5.52045886e-03 -1.83210539e-03 9.99983084e-01 -8.44488572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040418555 meters 0.25512483480175496 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.18, Z:-0.84 [[ 9.99980019e-01 -3.40920673e-03 -5.32350101e-03 -2.05314770e+01] [ 3.42123682e-03 9.99991611e-01 2.25233873e-03 -3.17625789e+00] [ 5.31577767e-03 -2.27050669e-03 9.99983294e-01 -8.42479579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070418555 meters 0.25327609948616814 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.17, Z:-0.84 [[ 9.99979611e-01 -3.26200004e-03 -5.48966170e-03 -2.05300109e+01] [ 3.27471568e-03 9.99991973e-01 2.30889586e-03 -3.17496581e+00] [ 5.48208601e-03 -2.32682586e-03 9.99982266e-01 -8.44338540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100418555000005 meters 0.24991822786882253 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.17, Z:-0.84 [[ 9.99979227e-01 -3.22674486e-03 -5.57972841e-03 -2.05293838e+01] [ 3.23938073e-03 9.99992206e-01 2.25705154e-03 -3.17383005e+00] [ 5.57240199e-03 -2.27507952e-03 9.99981886e-01 -8.44967500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.130418555 meters 0.25473644569283055 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.18, Z:-0.84 [[ 9.99997968e-01 -1.62801898e-03 -1.18921167e-03 -2.05102612e+01] [ 1.62113207e-03 9.99982043e-01 -5.76934722e-03 -3.17613491e+00] [ 1.19858292e-03 5.76740763e-03 9.99982650e-01 -8.43308726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160418555 meters 0.2552719415028406 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.18, Z:-0.84 [[ 9.99998113e-01 -1.48832455e-03 -1.24828241e-03 -2.05099127e+01] [ 1.48157700e-03 9.99984381e-01 -5.38908790e-03 -3.17880347e+00] [ 1.25628363e-03 5.38722830e-03 9.99984700e-01 -8.43596244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190418555 meters 0.24955824267957136 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.85 [[ 9.99991912e-01 3.14683723e-03 -2.50472537e-03 -2.05536731e+01] [-3.15034998e-03 9.99994058e-01 -1.39974361e-03 -3.17608882e+00] [ 2.50030573e-03 1.40762305e-03 9.99995884e-01 -8.47552834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220418555 meters 0.2539086340013325 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.84 [[ 9.99993295e-01 3.47663736e-03 -1.14988495e-03 -2.05108845e+01] [-3.47717736e-03 9.99993845e-01 -4.67943769e-04 -3.17496662e+00] [ 1.14825100e-03 4.71938985e-04 9.99999229e-01 -8.42519457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250418555 meters 0.25561569139732765 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.18, Z:-0.84 [[ 9.99993265e-01 3.50664626e-03 -1.08353605e-03 -2.05114820e+01] [-3.50681130e-03 9.99993840e-01 -1.50453289e-04 -3.17778197e+00] [ 1.08300179e-03 1.54252032e-04 9.99999402e-01 -8.41761074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280418555000004 meters 0.2569730187295223 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.18, Z:-0.84 [[ 9.99993839e-01 3.33187751e-03 -1.10515772e-03 -2.05110393e+01] [-3.33237813e-03 9.99994346e-01 -4.51450046e-04 -3.17743776e+00] [ 1.10364729e-03 4.55130068e-04 9.99999287e-01 -8.42560244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.310418555 meters 0.2540771654559408 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.84 [[ 9.99994008e-01 3.23627864e-03 -1.22887462e-03 -2.05099793e+01] [-3.23756155e-03 9.99994215e-01 -1.04341695e-03 -3.17330778e+00] [ 1.22549073e-03 1.04738925e-03 9.99998701e-01 -8.43998758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340418555 meters 0.2556039131901674 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.17, Z:-0.85 [[ 9.99995155e-01 -3.11269980e-03 -2.97630926e-05 -2.04831798e+01] [ 3.11277529e-03 9.99990625e-01 3.01009698e-03 -3.17051429e+00] [ 2.03932853e-05 -3.01017504e-03 9.99995469e-01 -8.47081251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370418555 meters 0.2521391407169398 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.17, Z:-0.85 [[ 9.99995144e-01 -3.11611583e-03 3.81599374e-05 -2.04836592e+01] [ 3.11597103e-03 9.99989569e-01 3.33945676e-03 -3.17297721e+00] [-4.85656735e-05 -3.33932164e-03 9.99994423e-01 -8.46500543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400418555 meters 0.25870578573346087 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.84 [[ 9.99996046e-01 7.82887182e-04 -2.70080374e-03 -2.05096736e+01] [-7.91239040e-04 9.99994905e-01 -3.09267893e-03 -3.17278588e+00] [ 2.69836876e-03 3.09480368e-03 9.99991570e-01 -8.42468476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430418555 meters 0.2508303637147909 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.84 [[ 9.99995856e-01 7.25504216e-04 -2.78582953e-03 -2.05095095e+01] [-7.34889632e-04 9.99994053e-01 -3.36944023e-03 -3.17080986e+00] [ 2.78336842e-03 3.37147355e-03 9.99990443e-01 -8.42294135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460418555000004 meters 0.25149267678686615 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.84 [[ 9.99995361e-01 7.81991862e-04 -2.94392051e-03 -2.05088081e+01] [-7.91771615e-04 9.99994168e-01 -3.32231805e-03 -3.17046610e+00] [ 2.94130532e-03 3.32463355e-03 9.99990148e-01 -8.42770648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490418555000005 meters 0.2546171229715186 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.18, Z:-0.85 [[ 9.99971022e-01 -7.35658652e-03 1.95840615e-03 -2.04864058e+01] [ 7.35861679e-03 9.99972393e-01 -1.03151488e-03 -3.17732661e+00] [-1.95076365e-03 1.04589615e-03 9.99997550e-01 -8.45396063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520418555 meters 0.255945492443594 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.18, Z:-0.84 [[ 9.99969353e-01 -7.41973961e-03 2.49801724e-03 -2.04890505e+01] [ 7.42122846e-03 9.99972290e-01 -5.87271934e-04 -3.18109274e+00] [-2.49359062e-03 6.05792292e-04 9.99996708e-01 -8.43246762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550418555 meters 0.2553408119816809 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.19, Z:-0.85 [[ 9.99990890e-01 -3.93492936e-03 1.65418811e-03 -2.04850581e+01] [ 3.92875205e-03 9.99985359e-01 3.72115376e-03 -3.18587635e+00] [-1.66880637e-03 -3.71462097e-03 9.99991708e-01 -8.46516562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580418555 meters 0.25358270843408953 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.18, Z:-0.85 [[ 9.99993172e-01 7.51410704e-04 -3.61814426e-03 -2.05052418e+01] [-7.56340258e-04 9.99998787e-01 -1.36127809e-03 -3.18455287e+00] [ 3.61711700e-03 1.36400534e-03 9.99992528e-01 -8.45172299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610418555 meters 0.24934361042739908 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.19, Z:-0.84 [[ 9.99994031e-01 8.27017338e-04 -3.35471697e-03 -2.05061399e+01] [-8.29979019e-04 9.99999267e-01 -8.81544714e-04 -3.18757171e+00] [ 3.35398546e-03 8.84323797e-04 9.99993984e-01 -8.44927540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640418555000004 meters 0.2562874963745555 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.19, Z:-0.84 [[ 9.99995260e-01 -2.82825864e-03 -1.21733943e-03 -2.04678802e+01] [ 2.82417641e-03 9.99990427e-01 -3.34216299e-03 -3.19379036e+00] [ 1.22678028e-03 3.33870917e-03 9.99993674e-01 -8.36293388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670418555000005 meters 0.25434321152002237 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.20, Z:-0.84 [[ 9.99995624e-01 -2.71822383e-03 -1.16743924e-03 -2.04680383e+01] [ 2.71464431e-03 9.99991643e-01 -3.05685283e-03 -3.19532635e+00] [ 1.17573869e-03 3.05367027e-03 9.99994646e-01 -8.36260538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700418555 meters 0.24993474117999487 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.20, Z:-0.84 [[ 9.99996390e-01 -2.46752657e-04 -2.67563392e-03 -2.05109330e+01] [ 2.43882151e-04 9.99999394e-01 -1.07310551e-03 -3.19514618e+00] [ 2.67589709e-03 1.07244910e-03 9.99995845e-01 -8.41178931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730418555 meters 0.25124227843937125 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.20, Z:-0.85 [[ 9.99990710e-01 -5.81358632e-04 -4.27102972e-03 -2.05005999e+01] [ 5.76326894e-04 9.99999139e-01 -1.17924528e-03 -3.19610172e+00] [ 4.27171160e-03 1.17677282e-03 9.99990184e-01 -8.49669170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760418555 meters 0.254747514092917 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.20, Z:-0.85 [[ 9.99990800e-01 -4.77175618e-04 -4.26289576e-03 -2.05005165e+01] [ 4.73350432e-04 9.99999485e-01 -8.98285055e-04 -3.19782421e+00] [ 4.26332220e-03 8.96258947e-04 9.99990510e-01 -8.49807938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790418555 meters 0.24836411391942767 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.19, Z:-0.85 [[ 9.99991867e-01 1.23148742e-03 -3.84039703e-03 -2.05530812e+01] [-1.23362866e-03 9.99999085e-01 -5.55239614e-04 -3.19393173e+00] [ 3.83970974e-03 5.59972722e-04 9.99992472e-01 -8.46831160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820418555 meters 0.2547375390812111 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.19, Z:-0.84 [[ 9.99988823e-01 3.82033941e-03 -2.78532617e-03 -2.05079011e+01] [-3.81437596e-03 9.99990429e-01 2.14320195e-03 -3.19225441e+00] [ 2.79348727e-03 -2.13255371e-03 9.99993824e-01 -8.44171190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850418555000005 meters 0.25392492228971153 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.19, Z:-0.84 [[ 9.99982563e-01 -1.24702934e-03 -5.77214540e-03 -2.05325079e+01] [ 1.28495502e-03 9.99977582e-01 6.57142704e-03 -3.18955046e+00] [ 5.76382124e-03 -6.57872940e-03 9.99961749e-01 -8.41561593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.880418555 meters 0.25345534409086656 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.18, Z:-0.84 [[ 9.99984281e-01 1.99686528e-03 -5.23925658e-03 -2.05369386e+01] [-1.94812546e-03 9.99954936e-01 9.29148135e-03 -3.18426534e+00] [ 5.25757431e-03 -9.28112857e-03 9.99943108e-01 -8.37119270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910418555 meters 0.2548484405794252 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.18, Z:-0.84 [[ 9.99970292e-01 7.29472560e-03 -2.49030096e-03 -2.04658000e+01] [-7.28147014e-03 9.99959492e-01 5.29103889e-03 -3.18110776e+00] [ 2.52879676e-03 -5.27274866e-03 9.99982902e-01 -8.37806321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940418555 meters 0.2508189030092723 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.17, Z:-0.84 [[ 9.99971126e-01 6.10304088e-03 -4.52767202e-03 -2.05052519e+01] [-6.09180823e-03 9.99978343e-01 2.49054517e-03 -3.17439611e+00] [ 4.54277386e-03 -2.46289155e-03 9.99986649e-01 -8.44829433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970418555 meters 0.2527884119234881 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.85 [[ 9.99973945e-01 1.96860969e-03 -6.94512941e-03 -2.04692031e+01] [-1.91696566e-03 9.99970524e-01 7.43484363e-03 -3.16587954e+00] [ 6.95956100e-03 -7.42133633e-03 9.99948243e-01 -8.54158605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000418555 meters 0.2510074336405305 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.85 [[ 9.99974180e-01 1.72089990e-03 -6.97699271e-03 -2.04697956e+01] [-1.67475077e-03 9.99976719e-01 6.61492791e-03 -3.16110535e+00] [ 6.98821390e-03 -6.60307239e-03 9.99953781e-01 -8.53018896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030418555000004 meters 0.2538579979118262 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.85 [[ 9.99975780e-01 1.46409326e-03 -6.80413774e-03 -2.04711492e+01] [-1.42308920e-03 9.99980823e-01 6.02728046e-03 -3.15885567e+00] [ 6.81283176e-03 -6.01745158e-03 9.99958687e-01 -8.51559954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.060418555 meters 0.2538579979118262 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.85 [[ 9.99975780e-01 1.46409326e-03 -6.80413774e-03 -2.04711492e+01] [-1.42308920e-03 9.99980823e-01 6.02728046e-03 -3.15885567e+00] [ 6.81283176e-03 -6.01745158e-03 9.99958687e-01 -8.51559954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090418555 meters 0.250126221316364 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.16, Z:-0.85 [[ 9.99978853e-01 1.42396517e-03 -6.34560237e-03 -2.04734892e+01] [-1.38834602e-03 9.99983277e-01 5.61407780e-03 -3.15668470e+00] [ 6.35349051e-03 -5.60514919e-03 9.99964107e-01 -8.49852579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120418555 meters 0.25387719864412805 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.86 [[ 9.99940813e-01 6.90512178e-03 8.40770946e-03 -2.04713587e+01] [-6.98331379e-03 9.99932309e-01 9.30646986e-03 -3.15035894e+00] [-8.34287803e-03 -9.36463272e-03 9.99921347e-01 -8.56841062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150418555 meters 0.25560468948969906 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.86 [[ 9.99942260e-01 6.90878237e-03 8.23079306e-03 -2.04705297e+01] [-6.98301880e-03 9.99934891e-01 9.02501729e-03 -3.14769743e+00] [-8.16790528e-03 -9.08197196e-03 9.99925399e-01 -8.57374924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180418555 meters 0.2554309930241957 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.14, Z:-0.86 [[ 9.99971492e-01 6.85811796e-03 3.15946514e-03 -2.04915100e+01] [-6.85400820e-03 9.99975653e-01 -1.30977277e-03 -3.14474134e+00] [-3.16837080e-03 1.28808043e-03 9.99994151e-01 -8.55494665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210418555000004 meters 0.24916884124934927 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.15, Z:-0.86 [[ 9.99991775e-01 2.70835452e-03 3.01895650e-03 -2.04899426e+01] [-2.69197738e-03 9.99981712e-01 -5.41569756e-03 -3.14564723e+00] [-3.03356892e-03 5.40752605e-03 9.99980778e-01 -8.57969722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240418555000005 meters 0.2533939565390871 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.14, Z:-0.86 [[ 9.99992028e-01 2.70313070e-03 2.93894481e-03 -2.04904151e+01] [-2.68654563e-03 9.99980528e-01 -5.63258399e-03 -3.14331884e+00] [-2.95411319e-03 5.62464348e-03 9.99979818e-01 -8.56669904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270418555 meters 0.25564511015366165 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.14, Z:-0.86 [[ 9.99972679e-01 -1.43834408e-03 7.25067060e-03 -2.04709732e+01] [ 1.43308828e-03 9.99998707e-01 7.30014673e-04 -3.14407332e+00] [-7.25171123e-03 -7.19603877e-04 9.99973447e-01 -8.55407477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300418555 meters 0.251153205247706 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.15, Z:-0.85 [[ 9.99982852e-01 1.57124506e-03 5.64157030e-03 -2.04992143e+01] [-1.53408485e-03 9.99977141e-01 -6.58515244e-03 -3.14550826e+00] [-5.65178823e-03 6.57638487e-03 9.99962404e-01 -8.49666451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330418555 meters 0.25208929240433137 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.15, Z:-0.85 [[ 9.99982532e-01 1.82007541e-03 5.62344133e-03 -2.04980408e+01] [-1.78664603e-03 9.99980738e-01 -5.94396351e-03 -3.14900687e+00] [-5.63415148e-03 5.93381258e-03 9.99966523e-01 -8.51760736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360418555 meters 0.24993930340149823 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.15, Z:-0.85 [[ 9.99998831e-01 -1.46221232e-03 4.47039550e-04 -2.05189780e+01] [ 1.46196215e-03 9.99998775e-01 5.59439792e-04 -3.15338071e+00] [-4.47857023e-04 -5.58785583e-04 9.99999744e-01 -8.50405405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390418555000004 meters 0.2532965614449721 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.16, Z:-0.85 [[ 9.99999056e-01 -1.36638039e-03 1.47273941e-04 -2.05176664e+01] [ 1.36621224e-03 9.99998422e-01 1.13585934e-03 -3.15550750e+00] [-1.48825725e-04 -1.13565706e-03 9.99999344e-01 -8.51209114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420418555000005 meters 0.2520708752364833 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.85 [[ 9.99987573e-01 -2.53547186e-04 4.97886050e-03 -2.04949886e+01] [ 2.87442450e-04 9.99976782e-01 -6.80830058e-03 -3.15662845e+00] [-4.97701867e-03 6.80964711e-03 9.99964428e-01 -8.54148794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450418555 meters 0.254470233361846 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.16, Z:-0.85 [[ 9.99986307e-01 -2.40374689e-04 5.22764379e-03 -2.04963216e+01] [ 2.72675910e-04 9.99980872e-01 -6.17909067e-03 -3.16209962e+00] [-5.22605850e-03 6.18043151e-03 9.99967245e-01 -8.53039518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480418555 meters 0.24877386089501086 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.85 [[ 9.99993640e-01 -3.47963322e-03 7.81849238e-04 -2.05207200e+01] [ 3.47942369e-03 9.99993911e-01 2.69193958e-04 -3.16564239e+00] [-7.82781173e-04 -2.66471862e-04 9.99999658e-01 -8.49265395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510418555 meters 0.2516745938717089 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.85 [[ 9.99996408e-01 -2.57222858e-03 7.53383301e-04 -2.04706077e+01] [ 2.57052584e-03 9.99994159e-01 2.25243921e-03 -3.16525122e+00] [-7.59172689e-04 -2.25049453e-03 9.99997179e-01 -8.50400905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540418555 meters 0.2510600303678095 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.85 [[ 9.99996471e-01 -2.51952811e-03 8.42309493e-04 -2.04711965e+01] [ 2.51723640e-03 9.99993157e-01 2.71082000e-03 -3.16852983e+00] [-8.49133716e-04 -2.70869014e-03 9.99995971e-01 -8.49608737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570418555 meters 0.25478431595823214 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.17, Z:-0.84 [[ 9.99984057e-01 -5.39087342e-03 1.68083904e-03 -2.04769559e+01] [ 5.39028053e-03 9.99985409e-01 3.57067141e-04 -3.17476938e+00] [-1.68273941e-03 -3.48001255e-04 9.99998524e-01 -8.44597939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600418555000005 meters 0.2552809718304604 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.17, Z:-0.85 [[ 9.99984100e-01 -5.36643912e-03 1.73220768e-03 -2.04768662e+01] [ 5.36589942e-03 9.99985554e-01 3.16066289e-04 -3.17387249e+00] [-1.73387881e-03 -3.06766411e-04 9.99998450e-01 -8.45016453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.630418555 meters 0.2534632993798802 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.84 [[ 9.99992164e-01 1.88962657e-03 -3.47868082e-03 -2.05007938e+01] [-1.89737421e-03 9.99995724e-01 -2.22522711e-03 -3.16889860e+00] [ 3.47446110e-03 2.23181003e-03 9.99991474e-01 -8.40021277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660418555 meters 0.2552855127596344 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.84 [[ 9.99957308e-01 -3.58360195e-03 -8.51702482e-03 -2.05213652e+01] [ 3.59965737e-03 9.99991772e-01 1.87051629e-03 -3.17201796e+00] [ 8.51025156e-03 -1.90109481e-03 9.99961980e-01 -8.39591883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690418555 meters 0.25597969518259117 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.84 [[ 9.99989913e-01 9.92713668e-04 -4.38047847e-03 -2.04986105e+01] [-1.00594587e-03 9.99994935e-01 -3.01955299e-03 -3.17252108e+00] [ 4.37745874e-03 3.02392905e-03 9.99985847e-01 -8.41392205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720418555 meters 0.25071892954457076 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.84 [[ 9.99990615e-01 9.25047299e-04 -4.23244295e-03 -2.04999530e+01] [-9.38431710e-04 9.99994562e-01 -3.16144447e-03 -3.17212206e+00] [ 4.22949545e-03 3.16538666e-03 9.99986046e-01 -8.39736562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750418555 meters 0.2512948492944993 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.84 [[ 9.99989585e-01 8.65038329e-04 -4.48129095e-03 -2.04987641e+01] [-8.81263523e-04 9.99993060e-01 -3.61994314e-03 -3.16899924e+00] [ 4.47812846e-03 3.62385463e-03 9.99983407e-01 -8.40690053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780418555000004 meters 0.2549136279512807 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.85 [[ 9.99995478e-01 -1.88682972e-03 -2.34168334e-03 -2.04705864e+01] [ 1.89550647e-03 9.99991326e-01 3.70867397e-03 -3.16741615e+00] [ 2.33466539e-03 -3.71309588e-03 9.99990381e-01 -8.46266678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.810418555 meters 0.25240103982902556 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.84 [[ 9.99975724e-01 4.52350300e-03 -5.29997975e-03 -2.04952990e+01] [-4.52491226e-03 9.99989730e-01 -2.53937607e-04 -3.16747117e+00] [ 5.29877663e-03 2.77913386e-04 9.99985923e-01 -8.43272775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840418555 meters 0.2538484962467102 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.85 [[ 9.99995160e-01 -2.57681447e-03 -1.74363074e-03 -2.04707729e+01] [ 2.58202978e-03 9.99992180e-01 2.99545202e-03 -3.16900664e+00] [ 1.73589838e-03 -2.99993963e-03 9.99993993e-01 -8.47118965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870418555 meters 0.25390911252118376 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.16, Z:-0.84 [[ 9.99981117e-01 3.34546908e-03 -5.15493601e-03 -2.05009198e+01] [-3.35277440e-03 9.99993387e-01 -1.40916199e-03 -3.16278131e+00] [ 5.15018761e-03 1.42641872e-03 9.99985720e-01 -8.38360552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900418555 meters 0.2533757129658233 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.16, Z:-0.84 [[ 9.99981704e-01 3.32363399e-03 -5.05423248e-03 -2.05506581e+01] [-3.33773963e-03 9.99990552e-01 -2.78498655e-03 -3.16031016e+00] [ 5.04492845e-03 2.80180531e-03 9.99983349e-01 -8.37791826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930418555 meters 0.2501849080768174 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.16, Z:-0.85 [[ 9.99998109e-01 -1.79560159e-03 -7.47432697e-04 -2.05219203e+01] [ 1.79689317e-03 9.99996887e-01 1.73095211e-03 -3.16407378e+00] [ 7.44322270e-04 -1.73229189e-03 9.99998223e-01 -8.46507622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960418555000004 meters 0.25566202530238663 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.16, Z:-0.86 [[ 9.99987237e-01 4.24497015e-03 2.73954456e-03 -2.04907033e+01] [-4.23904071e-03 9.99988668e-01 -2.16657691e-03 -3.15645606e+00] [-2.74871057e-03 2.15493622e-03 9.99993900e-01 -8.56459231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990418555000005 meters 0.24924607669469567 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.16, Z:-0.85 [[ 9.99992987e-01 3.08948563e-03 -2.11678757e-03 -2.05125020e+01] [-3.07680638e-03 9.99977463e-01 5.96715344e-03 -3.15630453e+00] [ 2.13517530e-03 -5.96059864e-03 9.99979956e-01 -8.54435773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020418555 meters 0.24872123505128627 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.15, Z:-0.86 [[ 9.99993191e-01 2.94936538e-03 -2.21778732e-03 -2.05119222e+01] [-2.93701473e-03 9.99980276e-01 5.55169150e-03 -3.15424488e+00] [ 2.23411755e-03 -5.54514003e-03 9.99982130e-01 -8.55083489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050418555 meters 0.25292510011459896 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.15, Z:-0.86 [[ 9.99985061e-01 5.01702882e-03 2.16963811e-03 -2.04877675e+01] [-5.01205301e-03 9.99984811e-01 -2.29277194e-03 -3.15047150e+00] [-2.18110806e-03 2.28186335e-03 9.99995018e-01 -8.59121911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080418555 meters 0.25296245924236954 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.15, Z:-0.86 [[ 9.99987444e-01 4.02295920e-04 4.99492574e-03 -2.04651565e+01] [-4.18830292e-04 9.99994435e-01 3.30962903e-03 -3.14821243e+00] [-4.99356650e-03 -3.31167950e-03 9.99982048e-01 -8.60556513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110418555 meters 0.250462188825481 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.14, Z:-0.85 [[ 9.99939988e-01 1.08833439e-02 1.25391851e-03 -2.04929404e+01] [-1.08873897e-02 9.99935396e-01 3.26624627e-03 -3.14268600e+00] [-1.21828982e-03 -3.27970215e-03 9.99993880e-01 -8.53082981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140418555000004 meters 0.25339054771803887 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.14, Z:-0.85 [[ 9.99968629e-01 6.17270199e-03 4.96377360e-03 -2.04707950e+01] [-6.21511259e-03 9.99943924e-01 8.57447793e-03 -3.14069867e+00] [-4.91056756e-03 -8.60505935e-03 9.99950918e-01 -8.54793887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170418555000005 meters 0.251311317389357 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.14, Z:-0.86 [[ 9.99987499e-01 2.14667138e-03 4.51595377e-03 -2.04691187e+01] [-2.16378632e-03 9.99990483e-01 3.78841826e-03 -3.13528997e+00] [-4.50777831e-03 -3.79814246e-03 9.99982627e-01 -8.55787743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200418555 meters 0.2502474624746127 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.13, Z:-0.85 [[ 9.99979029e-01 6.43613605e-03 7.19457442e-04 -2.04949424e+01] [-6.43435152e-03 9.99976284e-01 -2.45578164e-03 -3.13054543e+00] [-7.35246124e-04 2.45110090e-03 9.99996726e-01 -8.50122164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230418555 meters 0.24886325380661814 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.13, Z:-0.85 [[ 9.99999962e-01 5.75591124e-05 -2.70238602e-04 -2.05241507e+01] [-5.74073321e-05 9.99999841e-01 5.61626947e-04 -3.12847200e+00] [ 2.70270886e-04 -5.61611412e-04 9.99999806e-01 -8.45471006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260418555 meters 0.2528697330078239 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.12, Z:-0.84 [[ 9.99999628e-01 5.35507305e-04 6.75665354e-04 -2.04784028e+01] [-5.36122536e-04 9.99999442e-01 9.10703493e-04 -3.12145696e+00] [-6.75177289e-04 -9.11065394e-04 9.99999357e-01 -8.43653738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290418555 meters 0.25054491996246736 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.12, Z:-0.85 [[ 9.99999832e-01 4.94109090e-04 3.01483803e-04 -2.04765838e+01] [-4.94141565e-04 9.99999872e-01 1.07653291e-04 -3.11531886e+00] [-3.01430572e-04 -1.07802248e-04 9.99999949e-01 -8.45159276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320418555 meters 0.25368288395364086 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.11, Z:-0.85 [[ 9.99999869e-01 4.07044767e-04 3.09346533e-04 -2.04763047e+01] [-4.06966275e-04 9.99999885e-01 -2.53757757e-04 -3.11317091e+00] [-3.09449788e-04 2.53631830e-04 9.99999920e-01 -8.45752230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350418555000005 meters 0.25080099501766767 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.11, Z:-0.85 [[ 9.99999913e-01 3.25613177e-04 2.62509933e-04 -2.04757380e+01] [-3.25495265e-04 9.99999846e-01 -4.49090764e-04 -3.11273914e+00] [-2.62656122e-04 4.49005279e-04 9.99999865e-01 -8.46666254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.380418555 meters 0.24812131042027674 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.11, Z:-0.85 [[ 9.99999378e-01 1.98678226e-04 -1.09789059e-03 -2.05196914e+01] [-2.00223532e-04 9.99998989e-01 -1.40759152e-03 -3.11428149e+00] [ 1.09760983e-03 1.40781047e-03 9.99998407e-01 -8.50352750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410418555 meters 0.2510032185158986 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.11, Z:-0.85 [[ 9.99992167e-01 -3.20166953e-03 2.32715903e-03 -2.04958200e+01] [ 3.18886765e-03 9.99979878e-01 5.48412711e-03 -3.11391513e+00] [-2.34467056e-03 -5.47666315e-03 9.99982254e-01 -8.53419922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440418555 meters 0.24841164460228052 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.11, Z:-0.85 [[ 9.99982203e-01 3.66252159e-03 4.70946489e-03 -2.05243531e+01] [-3.67245710e-03 9.99991046e-01 2.10277367e-03 -3.11411060e+00] [-4.70172126e-03 -2.12003156e-03 9.99986700e-01 -8.51124613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470418555 meters 0.2529538009377481 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.12, Z:-0.85 [[ 9.99989771e-01 -4.05702197e-04 4.50472471e-03 -2.05231935e+01] [ 4.13512908e-04 9.99998413e-01 -1.73309689e-03 -3.11662887e+00] [-4.50401444e-03 1.73494192e-03 9.99988352e-01 -8.52103026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500418555 meters 0.2512202960547208 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.12, Z:-0.85 [[ 9.99990812e-01 -2.11389393e-04 4.28153178e-03 -2.05213585e+01] [ 2.16577176e-04 9.99999243e-01 -1.21123774e-03 -3.11958491e+00] [-4.28127249e-03 1.21215389e-03 9.99990101e-01 -8.54434896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530418555000004 meters 0.2531865212110858 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.12, Z:-0.85 [[ 9.99990631e-01 7.16900281e-05 4.32817763e-03 -2.05220083e+01] [-6.80527422e-05 9.99999644e-01 -8.40514950e-04 -3.11877654e+00] [-4.32823635e-03 8.40212531e-04 9.99990280e-01 -8.53486784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560418555 meters 0.25434079506594437 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.13, Z:-0.85 [[ 9.99965779e-01 -6.87713540e-03 4.59849677e-03 -2.05736793e+01] [ 6.91249057e-03 9.99946329e-01 -7.71724360e-03 -3.12698588e+00] [-4.54517744e-03 7.74876657e-03 9.99959648e-01 -8.50801201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590418555 meters 0.24917432831697373 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.13, Z:-0.85 [[ 9.99944473e-01 -8.76184295e-03 5.85506029e-03 -2.05310773e+01] [ 8.81036661e-03 9.99926627e-01 -8.31372003e-03 -3.13011072e+00] [-5.78178718e-03 8.36484362e-03 9.99948299e-01 -8.45828315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620418555 meters 0.2525729047901215 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.13, Z:-0.85 [[ 9.99973093e-01 -4.42907218e-03 5.84778751e-03 -2.05309187e+01] [ 4.45137447e-03 9.99982848e-01 -3.80630869e-03 -3.13059135e+00] [-5.83082880e-03 3.83223697e-03 9.99975657e-01 -8.46032207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650418555 meters 0.2551426935861021 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.13, Z:-0.84 [[ 9.99973350e-01 -4.97516777e-03 -5.34289024e-03 -2.04984348e+01] [ 4.96578393e-03 9.99986107e-01 -1.76815462e-03 -3.13322129e+00] [ 5.35161287e-03 1.74157586e-03 9.99984163e-01 -8.37905077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680418555 meters 0.2509331450434525 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.14, Z:-0.84 [[ 9.99943324e-01 -9.05802038e-03 -5.59464536e-03 -2.04962528e+01] [ 9.02768946e-03 9.99944544e-01 -5.42308647e-03 -3.13706085e+00] [ 5.64345753e-03 5.37227239e-03 9.99969645e-01 -8.40238148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710418555000004 meters 0.24946048366950987 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.14, Z:-0.84 [[ 9.99938448e-01 -6.53358804e-03 -8.96733123e-03 -2.05209951e+01] [ 6.41908480e-03 9.99898253e-01 -1.27388600e-02 -3.14010630e+00] [ 9.04964930e-03 1.26805138e-02 9.99878647e-01 -8.36775216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740418555000005 meters 0.24926988775029907 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.14, Z:-0.83 [[ 9.99949276e-01 -5.50539049e-03 -8.43424124e-03 -2.05255879e+01] [ 5.41004020e-03 9.99921670e-01 -1.12865478e-02 -3.14326824e+00] [ 8.49571744e-03 1.12403457e-02 9.99900734e-01 -8.32225073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770418555 meters 0.24980200441054892 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.15, Z:-0.83 [[ 9.99968336e-01 -1.37563563e-03 -7.83807976e-03 -2.05282113e+01] [ 1.32420075e-03 9.99977583e-01 -6.56359371e-03 -3.14761054e+00] [ 7.84693316e-03 6.55300669e-03 9.99947741e-01 -8.30473847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800418555 meters 0.2506163279730656 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.15, Z:-0.84 [[ 9.99958010e-01 -8.54499790e-03 -3.31067648e-03 -2.05023545e+01] [ 8.53317292e-03 9.99957221e-01 -3.56958300e-03 -3.15279171e+00] [ 3.34103693e-03 3.54118254e-03 9.99988149e-01 -8.37025644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830418555 meters 0.2546926755392089 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.16, Z:-0.84 [[ 9.99957318e-01 -8.42191053e-03 -3.79913965e-03 -2.04993503e+01] [ 8.41123353e-03 9.99960655e-01 -2.81765193e-03 -3.15833978e+00] [ 3.82272019e-03 2.78557622e-03 9.99988814e-01 -8.39720852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860418555 meters 0.25323995168914337 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.16, Z:-0.85 [[ 9.99963039e-01 -6.34025752e-03 -5.80703152e-03 -2.05392916e+01] [ 6.33462095e-03 9.99979447e-01 -9.88524023e-04 -3.16211251e+00] [ 5.81317967e-03 9.51702143e-04 9.99982650e-01 -8.47082617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890418555000004 meters 0.2510339794658646 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.16, Z:-0.85 [[ 9.99999378e-01 1.11009373e-03 -1.03650688e-04 -2.05173150e+01] [-1.11030460e-03 9.99997268e-01 -2.05698258e-03 -3.16150495e+00] [ 1.01366961e-04 2.05709639e-03 9.99997879e-01 -8.50189617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920418555000005 meters 0.2539760445362459 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.17, Z:-0.85 [[ 9.99985578e-01 -2.99378050e-03 4.45883060e-03 -2.04934548e+01] [ 2.97420570e-03 9.99985940e-01 4.39029930e-03 -3.16822819e+00] [-4.47191150e-03 -4.37697450e-03 9.99980422e-01 -8.53837258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950418555 meters 0.25622647786148744 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.17, Z:-0.85 [[ 9.99984734e-01 -2.92468477e-03 4.68802782e-03 -2.04942204e+01] [ 2.90190911e-03 9.99983991e-01 4.85772059e-03 -3.17161791e+00] [-4.70216006e-03 -4.84404221e-03 9.99977212e-01 -8.53583451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980418555 meters 0.25622647786148744 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.17, Z:-0.85 [[ 9.99984734e-01 -2.92468477e-03 4.68802782e-03 -2.04942204e+01] [ 2.90190911e-03 9.99983991e-01 4.85772059e-03 -3.17161791e+00] [-4.70216006e-03 -4.84404221e-03 9.99977212e-01 -8.53583451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010418555 meters 0.2498899337119293 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.85 [[ 9.99999874e-01 1.10094807e-04 4.90751478e-04 -2.05184736e+01] [-1.09041852e-04 9.99997693e-01 -2.14510708e-03 -3.17047646e+00] [-4.90986512e-04 2.14505329e-03 9.99997579e-01 -8.49715439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040418555 meters 0.24917201317269827 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.85 [[ 9.99999905e-01 2.70339774e-04 3.42566281e-04 -2.05172124e+01] [-2.69720413e-04 9.99998331e-01 -1.80676337e-03 -3.17228163e+00] [-3.43054149e-04 1.80667080e-03 9.99998309e-01 -8.51302352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070418555 meters 0.25122886233868863 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.85 [[ 9.99999709e-01 7.62748991e-04 -2.00304660e-05 -2.04666624e+01] [-7.62759619e-04 9.99999565e-01 -5.36008883e-04 -3.17175484e+00] [ 1.96216171e-05 5.36024006e-04 9.99999856e-01 -8.52189048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100418555000005 meters 0.25362784369770525 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.17, Z:-0.85 [[ 9.99999724e-01 7.37946811e-04 -8.85052692e-05 -2.04666611e+01] [-7.38005601e-04 9.99999506e-01 -6.66069692e-04 -3.17073820e+00] [ 8.80137015e-05 6.66134825e-04 9.99999774e-01 -8.51764785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.130418555 meters 0.24884166593796547 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.85 [[ 9.99999478e-01 8.41179247e-04 -5.80174503e-04 -2.05155988e+01] [-8.41943097e-04 9.99998778e-01 -1.31760152e-03 -3.17146922e+00] [ 5.79065455e-04 1.31808931e-03 9.99998964e-01 -8.51153634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160418555 meters 0.25243290906345256 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.85 [[ 9.99999530e-01 8.77177840e-04 -4.12832593e-04 -2.05169212e+01] [-8.77748960e-04 9.99998655e-01 -1.38527481e-03 -3.17107780e+00] [ 4.11616906e-04 1.38563652e-03 9.99998955e-01 -8.49641538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190418555 meters 0.24980022864206225 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.84 [[ 9.99994954e-01 -1.82753183e-03 -2.59833068e-03 -2.05452651e+01] [ 1.84177479e-03 9.99983235e-01 5.48979709e-03 -3.17022095e+00] [ 2.58825434e-03 -5.49455493e-03 9.99981555e-01 -8.44455422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220418555 meters 0.25041660047321246 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.84 [[ 9.99994811e-01 -1.95157349e-03 -2.56300472e-03 -2.05451923e+01] [ 1.96456662e-03 9.99985183e-01 5.07679806e-03 -3.16763201e+00] [ 2.55305900e-03 -5.08180691e-03 9.99983828e-01 -8.44731632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250418555 meters 0.25064298976428157 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.17, Z:-0.85 [[ 9.99989427e-01 -3.37109228e-03 -3.12771273e-03 -2.05398122e+01] [ 3.38214701e-03 9.99988029e-01 3.53591202e-03 -3.16592826e+00] [ 3.11575541e-03 -3.54645302e-03 9.99988857e-01 -8.50281730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280418555000004 meters 0.25158952564968334 Centerline is valid? [False, False] Translation: X:-20.58, Y:-3.17, Z:-0.86 [[ 9.99976138e-01 -3.75523917e-03 -5.79836322e-03 -2.05750308e+01] [ 3.76929843e-03 9.99989978e-01 2.41567280e-03 -3.16659165e+00] [ 5.78923368e-03 -2.43747092e-03 9.99980272e-01 -8.61692844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.310418555 meters 0.24906567316661696 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.17, Z:-0.87 [[ 9.99993614e-01 1.19813636e-03 -3.36700044e-03 -2.05417544e+01] [-1.20489135e-03 9.99997264e-01 -2.00492346e-03 -3.16501854e+00] [ 3.36458906e-03 2.00896753e-03 9.99992322e-01 -8.71946490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340418555 meters 0.2546272534462776 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.16, Z:-0.87 [[ 9.99993958e-01 1.22299268e-03 -3.25402034e-03 -2.05433811e+01] [-1.23038661e-03 9.99996664e-01 -2.27121591e-03 -3.16232189e+00] [ 3.25123180e-03 2.27520589e-03 9.99992126e-01 -8.69561649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370418555 meters 0.2535985285251311 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.16, Z:-0.87 [[ 9.99995362e-01 1.57469790e-03 -2.60686511e-03 -2.05471820e+01] [-1.57944502e-03 9.99997097e-01 -1.81994948e-03 -3.16419061e+00] [ 2.60399167e-03 1.82405844e-03 9.99994946e-01 -8.65990250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400418555 meters 0.25358541695164244 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.86 [[ 9.99996031e-01 1.68219831e-03 -2.26028929e-03 -2.05491922e+01] [-1.68573688e-03 9.99997355e-01 -1.56454713e-03 -3.16602562e+00] [ 2.25765144e-03 1.56835117e-03 9.99996222e-01 -8.64279755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430418555 meters 0.25508351113848843 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.17, Z:-0.87 [[ 9.99998934e-01 -1.08729566e-03 -9.74880355e-04 -2.05200429e+01] [ 1.09326953e-03 9.99980501e-01 6.14835743e-03 -3.16547754e+00] [ 9.68176263e-04 -6.14941668e-03 9.99980623e-01 -8.70609456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460418555000004 meters 0.24985819363742015 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.16, Z:-0.87 [[ 9.99975706e-01 2.62045342e-03 -6.45914733e-03 -2.05425536e+01] [-2.61932774e-03 9.99996553e-01 1.82730453e-04 -3.16194541e+00] [ 6.45960390e-03 -1.65807390e-04 9.99979123e-01 -8.66363404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490418555000005 meters 0.25472332887832777 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.16, Z:-0.86 [[ 9.99983334e-01 1.55920668e-03 -5.55879607e-03 -2.05472648e+01] [-1.56176380e-03 9.99998677e-01 -4.55702377e-04 -3.16455568e+00] [ 5.55807817e-03 4.64376309e-04 9.99984446e-01 -8.63118679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520418555 meters 0.253136849061895 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.86 [[ 9.99988855e-01 -1.14238159e-03 -4.58101883e-03 -2.05533136e+01] [ 1.12889408e-03 9.99995024e-01 -2.94572222e-03 -3.16837567e+00] [ 4.58436118e-03 2.94051790e-03 9.99985168e-01 -8.58353481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550418555 meters 0.25229683139370224 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.86 [[ 9.99988380e-01 -1.22898717e-03 -4.66146096e-03 -2.05527237e+01] [ 1.21381168e-03 9.99993959e-01 -3.25695557e-03 -3.16654166e+00] [ 4.66543556e-03 3.25125959e-03 9.99983831e-01 -8.58993222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580418555 meters 0.2579677155738464 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.86 [[ 9.99987756e-01 -1.16142382e-03 -4.81020859e-03 -2.05513836e+01] [ 1.14538186e-03 9.99993778e-01 -3.33639536e-03 -3.16542809e+00] [ 4.81405363e-03 3.33084498e-03 9.99982865e-01 -8.60721211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610418555 meters 0.2534142943635882 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.86 [[ 9.99988021e-01 -1.10668253e-03 -4.76788127e-03 -2.05516285e+01] [ 1.09113908e-03 9.99994086e-01 -3.26140142e-03 -3.16559034e+00] [ 4.77146241e-03 3.25615993e-03 9.99983315e-01 -8.60550487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640418555000004 meters 0.2529066261326674 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.16, Z:-0.86 [[ 9.99988345e-01 -1.08462917e-03 -4.70461048e-03 -2.05521393e+01] [ 1.06903487e-03 9.99993931e-01 -3.31593244e-03 -3.16477679e+00] [ 4.70817849e-03 3.31086440e-03 9.99983435e-01 -8.59935201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670418555000005 meters 0.2541547664954759 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.86 [[ 9.99988669e-01 -8.51784933e-04 -4.68359588e-03 -2.05525870e+01] [ 8.39443440e-04 9.99996172e-01 -2.63638127e-03 -3.16829011e+00] [ 4.68582358e-03 2.63241978e-03 9.99985557e-01 -8.59148695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700418555 meters 0.2513113836291469 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.86 [[ 9.99988831e-01 -5.88551678e-04 -4.68951570e-03 -2.05523416e+01] [ 5.79521497e-04 9.99997976e-01 -1.92673673e-03 -3.17191178e+00] [ 4.69064019e-03 1.92399753e-03 9.99987148e-01 -8.59453799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730418555 meters 0.2529217492072716 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.86 [[ 9.99988797e-01 -4.41131856e-04 -4.71298071e-03 -2.05525428e+01] [ 4.34015195e-04 9.99998764e-01 -1.51092878e-03 -3.17424832e+00] [ 4.71364141e-03 1.50886635e-03 9.99987752e-01 -8.58958271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760418555 meters 0.2510273198132915 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.17, Z:-0.86 [[ 9.99988668e-01 -3.93098963e-04 -4.74435704e-03 -2.05521859e+01] [ 3.86173480e-04 9.99998859e-01 -1.46055845e-03 -3.17439691e+00] [ 4.74492577e-03 1.45870976e-03 9.99987679e-01 -8.59462102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790418555 meters 0.24849267855688703 Centerline is valid? [False, False] Translation: X:-20.60, Y:-3.17, Z:-0.86 [[ 9.99984763e-01 4.77416004e-04 -5.49954937e-03 -2.05990148e+01] [-4.83676115e-04 9.99999237e-01 -1.13702153e-03 -3.17414800e+00] [ 5.49900234e-03 1.13966420e-03 9.99984231e-01 -8.61316249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820418555 meters 0.25378505500066584 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.86 [[ 9.99989980e-01 7.35941927e-06 -4.47652972e-03 -2.05531026e+01] [-1.09778861e-05 9.99999673e-01 -8.08295603e-04 -3.17638424e+00] [ 4.47652230e-03 8.08336647e-04 9.99989654e-01 -8.59010518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850418555000005 meters 0.2520405312340639 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.86 [[ 9.99990360e-01 1.35080748e-04 -4.38869693e-03 -2.05530229e+01] [-1.36807313e-04 9.99999913e-01 -3.93113925e-04 -3.17892428e+00] [ 4.38864345e-03 3.93710542e-04 9.99990292e-01 -8.59638930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.880418555 meters 0.25148230251702525 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.87 [[ 9.99984485e-01 1.80842748e-03 -5.26864506e-03 -2.05465256e+01] [-1.80189840e-03 9.99997603e-01 1.24371731e-03 -3.17945072e+00] [ 5.27088160e-03 -1.23420445e-03 9.99985347e-01 -8.65388504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910418555 meters 0.2532192271495523 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.87 [[ 9.99984421e-01 1.76946279e-03 -5.29399750e-03 -2.05464914e+01] [-1.76323781e-03 9.99997749e-01 1.18029170e-03 -3.17914438e+00] [ 5.29607407e-03 -1.17093873e-03 9.99985290e-01 -8.65295802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940418555 meters 0.2514200633800199 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.86 [[ 9.99985737e-01 1.77507381e-03 -5.03730292e-03 -2.05479740e+01] [-1.76686679e-03 9.99997105e-01 1.63323211e-03 -3.18287383e+00] [ 5.04018744e-03 -1.62430857e-03 9.99985979e-01 -8.64027516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970418555 meters 0.2513775233867282 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.86 [[ 9.99990654e-01 3.25386980e-04 -4.31106239e-03 -2.05541063e+01] [-3.24444313e-04 9.99999923e-01 2.19359948e-04 -3.18215062e+00] [ 4.31113344e-03 -2.17959198e-04 9.99990683e-01 -8.58220305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000418555 meters 0.2545341548654691 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.86 [[ 9.99990734e-01 2.09759816e-04 -4.29984955e-03 -2.05539894e+01] [-2.10348345e-04 9.99999969e-01 -1.36420215e-04 -3.17995181e+00] [ 4.29982080e-03 1.37323417e-04 9.99990746e-01 -8.58589073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030418555000004 meters 0.2503807038143033 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.86 [[ 9.99990187e-01 2.67878989e-04 -4.42207304e-03 -2.05527216e+01] [-2.66742988e-04 9.99999931e-01 2.57481163e-04 -3.18298491e+00] [ 4.42214171e-03 -2.56299079e-04 9.99990189e-01 -8.60258751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060418555 meters 0.2547439235240637 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.18, Z:-0.87 [[ 9.99994657e-01 3.25065142e-03 -3.43977476e-04 -2.05269692e+01] [-3.25276864e-03 9.99974581e-01 -6.34482730e-03 -3.18214511e+00] [ 3.23343911e-04 6.34591228e-03 9.99979812e-01 -8.65061920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090418555 meters 0.25048686299305795 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.19, Z:-0.86 [[ 9.99994405e-01 -5.77708864e-04 -3.29478258e-03 -2.05554356e+01] [ 5.76705072e-04 9.99999787e-01 -3.05602938e-04 -3.18523478e+00] [ 3.29495843e-03 3.03701110e-04 9.99994525e-01 -8.58527539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120418555 meters 0.25148340533515556 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.19, Z:-0.86 [[ 9.99995459e-01 -2.96227955e-03 5.53661841e-04 -2.05314361e+01] [ 2.95801403e-03 9.99967105e-01 7.55246043e-03 -3.18626244e+00] [-5.76016127e-04 -7.55078840e-03 9.99971326e-01 -8.61896722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150418555 meters 0.24874492642544746 Centerline is valid? [False, False] Translation: X:-20.58, Y:-3.19, Z:-0.87 [[ 9.99987561e-01 -4.92286674e-03 -8.01607506e-04 -2.05752601e+01] [ 4.92713407e-03 9.99973219e-01 5.41148631e-03 -3.18831344e+00] [ 7.74946012e-04 -5.41536863e-03 9.99985037e-01 -8.65900613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180418555 meters 0.25240891670800936 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.19, Z:-0.87 [[ 9.99994176e-01 -1.58197742e-03 3.02410895e-03 -2.05478580e+01] [ 1.58386399e-03 9.99998553e-01 -6.21549815e-04 -3.18850677e+00] [-3.02312129e-03 6.26335973e-04 9.99995234e-01 -8.72131677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210418555000004 meters 0.2529180755317023 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.19, Z:-0.87 [[ 9.99994001e-01 -1.58429663e-03 3.08040499e-03 -2.05479619e+01] [ 1.58654062e-03 9.99998478e-01 -7.26162916e-04 -3.18751958e+00] [-3.07924984e-03 7.31045747e-04 9.99994992e-01 -8.72219534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240418555 meters 0.24949953450565698 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99998183e-01 -1.29235501e-03 1.40157026e-03 -2.05909041e+01] [ 1.29330309e-03 9.99998935e-01 -6.75748880e-04 -3.18989645e+00] [-1.40069546e-03 6.77560307e-04 9.99998789e-01 -8.76530304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270418555 meters 0.2544384339513598 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.19, Z:-0.88 [[ 9.99998256e-01 -9.89844881e-04 1.58388961e-03 -2.05416658e+01] [ 9.89088605e-04 9.99999397e-01 4.78192079e-04 -3.19268166e+00] [-1.58436199e-03 -4.76624638e-04 9.99998631e-01 -8.76733311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300418555 meters 0.25648286425364236 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.19, Z:-0.87 [[ 9.99995198e-01 1.99409559e-03 2.37228163e-03 -2.05473232e+01] [-2.00229643e-03 9.99992011e-01 3.45960459e-03 -3.19093641e+00] [-2.36536390e-03 -3.46433799e-03 9.99991202e-01 -8.71688832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330418555 meters 0.2545677652768641 Centerline is valid? [False, False] Translation: X:-20.60, Y:-3.19, Z:-0.87 [[ 9.99997669e-01 1.40617478e-04 2.15468181e-03 -2.05970107e+01] [-1.42965306e-04 9.99999396e-01 1.08952515e-03 -3.19058594e+00] [-2.15452730e-03 -1.08983065e-03 9.99997085e-01 -8.70807786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360418555 meters 0.25100019254003275 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.19, Z:-0.88 [[ 9.99982998e-01 3.88865077e-03 4.34544945e-03 -2.05667278e+01] [-3.86721137e-03 9.99980363e-01 -4.93131616e-03 -3.19097975e+00] [-4.36454028e-03 4.91442754e-03 9.99978399e-01 -8.78292923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390418555000004 meters 0.2524448825979568 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.19, Z:-0.88 [[ 9.99979099e-01 5.55630990e-03 3.30589422e-03 -2.05598233e+01] [-5.54555992e-03 9.99979335e-01 -3.25209259e-03 -3.19192137e+00] [-3.32389554e-03 3.23369158e-03 9.99989247e-01 -8.84052662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420418555000005 meters 0.2581944186825676 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99992751e-01 2.40883717e-04 3.79999074e-03 -2.05869065e+01] [-2.46553485e-04 9.99998857e-01 1.49165005e-03 -3.19073989e+00] [-3.79962708e-03 -1.49257613e-03 9.99991667e-01 -8.83104019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450418555 meters 0.2502411854448395 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99988651e-01 -1.02004412e-03 4.65373851e-03 -2.05925633e+01] [ 1.01855528e-03 9.99999429e-01 3.22283212e-04 -3.18990100e+00] [-4.65406460e-03 -3.17539465e-04 9.99989119e-01 -8.78212233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480418555 meters 0.25951204057829963 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99989025e-01 -9.13291527e-04 4.59508477e-03 -2.05916925e+01] [ 9.10177002e-04 9.99999355e-01 6.79840451e-04 -3.19234778e+00] [-4.59570270e-03 -6.75650650e-04 9.99989211e-01 -8.79502359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510418555 meters 0.25392895136330385 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99988901e-01 -9.55899992e-04 4.61339068e-03 -2.05917009e+01] [ 9.53497984e-04 9.99999409e-01 5.22831272e-04 -3.19160024e+00] [-4.61388773e-03 -5.18426611e-04 9.99989222e-01 -8.79624879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540418555 meters 0.2517916844912997 Centerline is valid? [False, False] Translation: X:-20.60, Y:-3.19, Z:-0.87 [[ 9.99983958e-01 7.85675698e-04 5.60951052e-03 -2.05989037e+01] [-7.98551025e-04 9.99997051e-01 2.29339684e-03 -3.19229317e+00] [-5.60769212e-03 -2.29783953e-03 9.99981637e-01 -8.73242555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570418555 meters 0.25043307229714634 Centerline is valid? [False, False] Translation: X:-20.60, Y:-3.19, Z:-0.87 [[ 9.99984755e-01 7.16965140e-04 5.47492848e-03 -2.05980199e+01] [-7.28156638e-04 9.99997649e-01 2.04241641e-03 -3.19080507e+00] [-5.47345127e-03 -2.04637188e-03 9.99982927e-01 -8.74272983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600418555000005 meters 0.2551338206035222 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99989243e-01 -3.30287238e-04 4.62655530e-03 -2.05920630e+01] [ 3.26545977e-04 9.99999619e-01 8.09381414e-04 -3.18867729e+00] [-4.62682086e-03 -8.07861925e-04 9.99988970e-01 -8.80113200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.630418555 meters 0.2516822979895814 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99988767e-01 -2.69844518e-04 4.73215587e-03 -2.05929832e+01] [ 2.64898790e-04 9.99999418e-01 1.04572769e-03 -3.19013553e+00] [-4.73243530e-03 -1.04446240e-03 9.99988257e-01 -8.78896014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660418555 meters 0.2552429163382605 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99988298e-01 -2.50550643e-04 4.83125820e-03 -2.05941080e+01] [ 2.44612314e-04 9.99999214e-01 1.22969909e-03 -3.19153170e+00] [-4.83156251e-03 -1.22850291e-03 9.99987573e-01 -8.77347786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690418555 meters 0.2554169241154581 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99990134e-01 2.23395289e-03 3.83950240e-03 -2.05872526e+01] [-2.24755401e-03 9.99991202e-01 3.54176007e-03 -3.18793809e+00] [-3.83155650e-03 -3.55035462e-03 9.99986357e-01 -8.83319533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720418555 meters 0.2590338416835169 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.19, Z:-0.88 [[ 9.99989995e-01 2.21084799e-03 3.88863791e-03 -2.05878240e+01] [-2.22469960e-03 9.99991184e-01 3.56136001e-03 -3.18838859e+00] [-3.88073000e-03 -3.56997543e-03 9.99986098e-01 -8.82578832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750418555 meters 0.25131451831549245 Centerline is valid? [False, False] Translation: X:-20.60, Y:-3.19, Z:-0.87 [[ 9.99983907e-01 -1.39337107e-03 5.49942869e-03 -2.05983566e+01] [ 1.39403778e-03 9.99999021e-01 -1.17401014e-04 -3.18943631e+00] [-5.49925973e-03 1.25065536e-04 9.99984871e-01 -8.73574247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780418555000004 meters 0.2527395938345523 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.19, Z:-0.88 [[ 9.99985789e-01 1.38160964e-03 5.14906315e-03 -2.05466497e+01] [-1.39648374e-03 9.99994860e-01 2.88622527e-03 -3.18647015e+00] [-5.14504905e-03 -2.89337483e-03 9.99982578e-01 -8.75978020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.810418555 meters 0.2512192986556282 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.18, Z:-0.88 [[ 9.99986923e-01 1.32104744e-03 4.94053294e-03 -2.05453273e+01] [-1.33381542e-03 9.99995777e-01 2.58193073e-03 -3.18426153e+00] [-4.93710122e-03 -2.58848672e-03 9.99984462e-01 -8.77286188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840418555 meters 0.2506346783475408 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.19, Z:-0.87 [[ 9.99984375e-01 3.64184078e-03 4.24100119e-03 -2.05746869e+01] [-3.62137455e-03 9.99981809e-01 -4.82352268e-03 -3.19176746e+00] [-4.25849055e-03 4.80808906e-03 9.99979374e-01 -8.71825991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870418555 meters 0.2506346783475408 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.19, Z:-0.87 [[ 9.99984375e-01 3.64184078e-03 4.24100119e-03 -2.05746869e+01] [-3.62137455e-03 9.99981809e-01 -4.82352268e-03 -3.19176746e+00] [-4.25849055e-03 4.80808906e-03 9.99979374e-01 -8.71825991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900418555 meters 0.25091095115300893 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.19, Z:-0.87 [[ 9.99984058e-01 3.72451890e-03 4.24404476e-03 -2.05748078e+01] [-3.70463396e-03 9.99982169e-01 -4.68364083e-03 -3.19193186e+00] [-4.26141339e-03 4.66784353e-03 9.99980026e-01 -8.71703904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930418555 meters 0.252491089169505 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.19, Z:-0.88 [[ 9.99988134e-01 -1.07674805e-03 4.75114208e-03 -2.05426440e+01] [ 1.07148770e-03 9.99998810e-01 1.10958168e-03 -3.19204839e+00] [-4.75233117e-03 -1.10447772e-03 9.99988098e-01 -8.79054576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960418555000004 meters 0.25115194466814134 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.20, Z:-0.88 [[ 9.99976268e-01 -4.94757931e-03 4.79420784e-03 -2.05424451e+01] [ 4.95662844e-03 9.99985953e-01 -1.87747345e-03 -3.19888729e+00] [-4.78485155e-03 1.90119200e-03 9.99986745e-01 -8.79412099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.990418555 meters 0.2515710543506802 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.20, Z:-0.88 [[ 9.99944291e-01 -9.16107976e-03 5.24296620e-03 -2.05447623e+01] [ 9.19003263e-03 9.99942507e-01 -5.52504033e-03 -3.20339162e+00] [-5.19204943e-03 5.57291557e-03 9.99970992e-01 -8.77275804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020418555 meters 0.25980192573977967 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.21, Z:-0.88 [[ 9.99970595e-01 -5.57677048e-03 5.26400242e-03 -2.05449519e+01] [ 5.58118579e-03 9.99984085e-01 -8.24458515e-04 -3.21014898e+00] [-5.25932083e-03 8.53813647e-04 9.99985805e-01 -8.77198709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050418555 meters 0.2546851221766598 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.21, Z:-0.88 [[ 9.99999955e-01 3.01271979e-04 -7.40482828e-06 -2.05661878e+01] [-3.01300563e-04 9.99991038e-01 -4.22300825e-03 -3.21148043e+00] [ 6.13248786e-06 4.22301029e-03 9.99991083e-01 -8.75012608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080418555 meters 0.2545131175036618 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.22, Z:-0.88 [[ 9.99999827e-01 5.88717054e-04 -4.05113816e-07 -2.05658601e+01] [-5.88715053e-04 9.99994099e-01 -3.38465069e-03 -3.21579693e+00] [-1.58749016e-06 3.38465034e-03 9.99994272e-01 -8.75748181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110418555 meters 0.2533993791233993 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.22, Z:-0.87 [[ 9.99969323e-01 -7.06389842e-03 -3.38440492e-03 -2.05931470e+01] [ 7.06189280e-03 9.99974882e-01 -6.04189217e-04 -3.22219207e+00] [ 3.38858784e-03 5.80270378e-04 9.99994090e-01 -8.70185789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140418555000004 meters 0.24818420466037588 Centerline is valid? [False, False] Translation: X:-20.59, Y:-3.23, Z:-0.87 [[ 9.99970945e-01 -6.83674809e-03 -3.37176977e-03 -2.05929067e+01] [ 6.83716367e-03 9.99976620e-01 1.11741098e-04 -3.22593799e+00] [ 3.37092699e-03 -1.34791193e-04 9.99994309e-01 -8.70724094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170418555000005 meters 0.2512551209229375 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.23, Z:-0.87 [[ 9.99998322e-01 -1.55737229e-03 -9.64955557e-04 -2.05678466e+01] [ 1.55363380e-03 9.99991332e-01 -3.86297910e-03 -3.23241584e+00] [ 9.70963289e-04 3.86147343e-03 9.99992073e-01 -8.73635999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200418555 meters 0.2496820762022186 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.24, Z:-0.87 [[ 9.99998912e-01 -1.38965817e-03 -4.95617195e-04 -2.05702958e+01] [ 1.38815776e-03 9.99994491e-01 -3.01497510e-03 -3.23747750e+00] [ 4.99804250e-04 3.01428382e-03 9.99995332e-01 -8.71653088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230418555 meters 0.25599794861896363 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.24, Z:-0.88 [[ 9.99998256e-01 5.95989316e-04 -1.77003151e-03 -2.06139636e+01] [-5.98137077e-04 9.99999085e-01 -1.21312131e-03 -3.23656841e+00] [ 1.76930688e-03 1.21417792e-03 9.99997698e-01 -8.75732919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260418555 meters 0.2528908384091754 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.24, Z:-0.88 [[ 9.99997922e-01 -1.43858261e-03 -1.44427990e-03 -2.05632117e+01] [ 1.43537410e-03 9.99996505e-01 -2.22011499e-03 -3.24328786e+00] [ 1.44746867e-03 2.21803730e-03 9.99996493e-01 -8.77827822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290418555 meters 0.25054465475798177 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.25, Z:-0.87 [[ 9.99989841e-01 -4.45459152e-03 -6.89146459e-04 -2.05680344e+01] [ 4.45114217e-03 9.99977949e-01 -4.92833188e-03 -3.24757481e+00] [ 7.11084968e-04 4.92521433e-03 9.99987618e-01 -8.74095855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320418555 meters 0.2538733330274738 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.25, Z:-0.87 [[ 9.99990392e-01 -4.34119849e-03 -6.08445152e-04 -2.05681133e+01] [ 4.33828982e-03 9.99979531e-01 -4.70295795e-03 -3.24832910e+00] [ 6.28849171e-04 4.70027315e-03 9.99988756e-01 -8.74410922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350418555000005 meters 0.2555435104566751 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.25, Z:-0.88 [[ 9.99998073e-01 -6.35935771e-04 -1.85752737e-03 -2.06121970e+01] [ 6.34290981e-04 9.99999406e-01 -8.85927747e-04 -3.24937279e+00] [ 1.85808966e-03 8.84747827e-04 9.99997882e-01 -8.78505125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380418555 meters 0.2516978014525491 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.26, Z:-0.88 [[ 9.99998926e-01 -7.22259982e-04 -1.27535197e-03 -2.05636746e+01] [ 7.22143792e-04 9.99999735e-01 -9.15629069e-05 -3.25565022e+00] [ 1.27541776e-03 9.06418211e-05 9.99999183e-01 -8.78437462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410418555 meters 0.2502589863893409 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.26, Z:-0.88 [[ 9.99999111e-01 -5.61141382e-04 -1.20981700e-03 -2.05639384e+01] [ 5.61645654e-04 9.99999756e-01 4.16517528e-04 -3.25866682e+00] [ 1.20958298e-03 -4.17196646e-04 9.99999181e-01 -8.78500683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440418555 meters 0.2552156614125441 Centerline is valid? [False, False] Translation: X:-20.56, Y:-3.26, Z:-0.88 [[ 9.99999075e-01 -5.43903699e-04 -1.24681677e-03 -2.05643252e+01] [ 5.44516421e-04 9.99999731e-01 4.91142208e-04 -3.25929725e+00] [ 1.24654930e-03 -4.91820666e-04 9.99999102e-01 -8.77611908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470418555 meters 0.25479403649725385 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.26, Z:-0.87 [[ 9.99999499e-01 9.94006047e-04 -1.21746537e-04 -2.05189741e+01] [-9.93750197e-04 9.99997335e-01 2.08382538e-03 -3.26059806e+00] [ 1.23817548e-04 -2.08370335e-03 9.99997821e-01 -8.74839971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500418555 meters 0.2501190088795976 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.26, Z:-0.88 [[ 9.99998958e-01 1.15814542e-03 -8.61380856e-04 -2.05662700e+01] [-1.15643402e-03 9.99997362e-01 1.98465900e-03 -3.25896752e+00] [ 8.63677107e-04 -1.98366080e-03 9.99997660e-01 -8.75960264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530418555000004 meters 0.25060059413803293 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.26, Z:-0.88 [[ 9.99998965e-01 1.06789165e-03 -9.64372825e-04 -2.05658851e+01] [-1.06621505e-03 9.99997922e-01 1.73738905e-03 -3.25790310e+00] [ 9.66226164e-04 -1.73635902e-03 9.99998026e-01 -8.76125850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560418555 meters 0.25063214931544886 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.26, Z:-0.88 [[ 9.99998966e-01 1.03759871e-03 -9.95843086e-04 -2.05654975e+01] [-1.03596740e-03 9.99998123e-01 1.63723636e-03 -3.25726606e+00] [ 9.97540011e-04 -1.63620301e-03 9.99998164e-01 -8.76655705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590418555 meters 0.2507581181420734 Centerline is valid? [False, False] Translation: X:-20.57, Y:-3.26, Z:-0.88 [[ 9.99999087e-01 1.00518382e-03 -9.02654122e-04 -2.05663078e+01] [-1.00371483e-03 9.99998174e-01 1.62639874e-03 -3.25743649e+00] [ 9.04287303e-04 -1.62549125e-03 9.99998270e-01 -8.75684111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620418555 meters 0.2493004346044198 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.26, Z:-0.88 [[ 9.99998620e-01 -1.52866948e-04 -1.65437979e-03 -2.06125127e+01] [ 1.53264809e-04 9.99999959e-01 2.40365234e-04 -3.25668882e+00] [ 1.65434297e-03 -2.40618461e-04 9.99998603e-01 -8.77757733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650418555 meters 0.2500561788954309 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.26, Z:-0.88 [[ 9.99998279e-01 -6.73260481e-05 -1.85409998e-03 -2.06113277e+01] [ 6.76198914e-05 9.99999985e-01 1.58420770e-04 -3.25599825e+00] [ 1.85408929e-03 -1.58545872e-04 9.99998269e-01 -8.78940210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680418555 meters 0.2506504250546969 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.26, Z:-0.88 [[ 9.99998243e-01 -5.05192511e-05 -1.87365776e-03 -2.06109225e+01] [ 5.08588980e-05 9.99999982e-01 1.81227603e-04 -3.25609698e+00] [ 1.87364857e-03 -1.81322577e-04 9.99998228e-01 -8.79587726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710418555000004 meters 0.25000950083431267 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.26, Z:-0.88 [[ 9.99998404e-01 2.27435807e-06 -1.78684413e-03 -2.06114961e+01] [-1.81830244e-06 9.99999967e-01 2.55231246e-04 -3.25602464e+00] [ 1.78684465e-03 -2.55227589e-04 9.99998371e-01 -8.78999157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740418555 meters 0.25891199369018647 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.26, Z:-0.88 [[ 9.99998233e-01 9.94544537e-06 -1.87990297e-03 -2.06110317e+01] [-9.49322806e-06 9.99999971e-01 2.40562311e-04 -3.25573225e+00] [ 1.87990531e-03 -2.40544039e-04 9.99998204e-01 -8.79295273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770418555 meters 0.2500121194831066 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.26, Z:-0.88 [[ 9.99997799e-01 7.89144629e-05 -2.09682537e-03 -2.06099055e+01] [-7.78861569e-05 9.99999877e-01 4.90488010e-04 -3.25756560e+00] [ 2.09686382e-03 -4.90323616e-04 9.99997681e-01 -8.80210526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800418555 meters 0.25617715727409196 Centerline is valid? [False, False] Translation: X:-20.61, Y:-3.26, Z:-0.88 [[ 9.99997683e-01 1.86952142e-04 -2.14436516e-03 -2.06099483e+01] [-1.85235825e-04 9.99999662e-01 8.00555372e-04 -3.25991600e+00] [ 2.14451411e-03 -8.00156304e-04 9.99997380e-01 -8.79875144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830418555 meters 0.24927075490174402 Centerline is valid? [False, False] Translation: X:-20.66, Y:-3.26, Z:-0.88 [[ 9.99990176e-01 3.72369839e-03 -2.40444896e-03 -2.06591057e+01] [-3.71307285e-03 9.99983389e-01 4.40856103e-03 -3.25880611e+00] [ 2.42082517e-03 -4.39958983e-03 9.99987392e-01 -8.79676452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860418555 meters 0.2566412805912001 Centerline is valid? [False, False] Translation: X:-20.65, Y:-3.26, Z:-0.89 [[ 9.99921006e-01 3.93900030e-03 1.19359234e-02 -2.06533613e+01] [-3.96970689e-03 9.99988869e-01 2.55002005e-03 -3.25588149e+00] [-1.19257460e-02 -2.59720073e-03 9.99925513e-01 -8.91342540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890418555000004 meters 0.25437247834161875 Centerline is valid? [False, False] Translation: X:-20.64, Y:-3.26, Z:-0.90 [[ 9.99946588e-01 3.05553749e-04 1.03309368e-02 -2.06443234e+01] [-2.95067263e-04 9.99999440e-01 -1.01656562e-03 -3.25812196e+00] [-1.03312416e-02 1.01346301e-03 9.99946118e-01 -8.98339067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920418555000005 meters 0.25632781730867515 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.26, Z:-0.89 [[ 9.99936692e-01 1.70113932e-03 1.11229090e-02 -2.06979569e+01] [-1.70731384e-03 9.99998394e-01 5.45645926e-04 -3.25808719e+00] [-1.11219629e-02 -5.64601678e-04 9.99937990e-01 -8.94202639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950418555 meters 0.25509553960046594 Centerline is valid? [False, False] Translation: X:-20.66, Y:-3.26, Z:-0.89 [[ 9.99914200e-01 1.03499645e-03 1.30583969e-02 -2.06587508e+01] [-1.02952589e-03 9.99999379e-01 -4.25645749e-04 -3.25686606e+00] [-1.30588294e-02 4.12165270e-04 9.99914645e-01 -8.86258978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980418555 meters 0.25525186072783357 Centerline is valid? [False, False] Translation: X:-20.65, Y:-3.26, Z:-0.89 [[ 9.99927456e-01 -1.79747964e-03 1.19101680e-02 -2.06522862e+01] [ 1.83594804e-03 9.99993131e-01 -3.21973275e-03 -3.25993951e+00] [-1.19042988e-02 3.24136563e-03 9.99923888e-01 -8.91396098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010418555 meters 0.24953020837125645 Centerline is valid? [False, False] Translation: X:-20.69, Y:-3.26, Z:-0.90 [[ 9.99951014e-01 -9.96166445e-05 9.89748721e-03 -2.06924238e+01] [ 1.13869533e-04 9.99998957e-01 -1.43949814e-03 -3.26032599e+00] [-9.89733350e-03 1.44055464e-03 9.99949983e-01 -8.97794285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040418555 meters 0.25243949696852885 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.26, Z:-0.90 [[ 9.99914530e-01 -4.97562150e-04 1.30646395e-02 -2.06707250e+01] [ 3.88415503e-04 9.99965016e-01 8.35556450e-03 -3.25811721e+00] [-1.30683398e-02 -8.34977584e-03 9.99879743e-01 -8.97577856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070418555 meters 0.253778909357942 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.26, Z:-0.89 [[ 9.99944864e-01 2.94372494e-03 1.00798498e-02 -2.06963360e+01] [-2.96091910e-03 9.99994186e-01 1.69129641e-03 -3.25790526e+00] [-1.00748125e-02 -1.72104877e-03 9.99947767e-01 -8.93149330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100418555000005 meters 0.25600863276419256 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.26, Z:-0.88 [[ 9.99992904e-01 -2.97769489e-04 -3.75542035e-03 -2.07041556e+01] [ 2.98174519e-04 9.99999950e-01 1.07292852e-04 -3.26448528e+00] [ 3.75538821e-03 -1.08411861e-04 9.99992943e-01 -8.82623538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.130418555 meters 0.2538595977058629 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.26, Z:-0.88 [[ 9.99985367e-01 3.92574148e-03 -3.72205419e-03 -2.07039074e+01] [-3.91021184e-03 9.99983659e-01 4.17046848e-03 -3.26282062e+00] [ 3.73836554e-03 -4.15585344e-03 9.99984377e-01 -8.83287913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160418555 meters 0.25298987607110557 Centerline is valid? [False, False] Translation: X:-20.66, Y:-3.26, Z:-0.88 [[ 9.99978042e-01 6.37654436e-03 -1.80407403e-03 -2.06637928e+01] [-6.36461746e-03 9.99958350e-01 6.54134725e-03 -3.26076040e+00] [ 1.84571008e-03 -6.52972138e-03 9.99976978e-01 -8.76392232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190418555 meters 0.25415282238487913 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.26, Z:-0.87 [[ 9.99998900e-01 6.71942006e-04 -1.32207155e-03 -2.06681684e+01] [-6.70764240e-04 9.99999378e-01 8.91091039e-04 -3.26176977e+00] [ 1.32266949e-03 -8.90203261e-04 9.99998729e-01 -8.72489205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220418555 meters 0.2538447355501715 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.26, Z:-0.87 [[ 9.99998650e-01 7.29887921e-04 -1.47236584e-03 -2.06667168e+01] [-7.28054283e-04 9.99998959e-01 1.24552057e-03 -3.26467042e+00] [ 1.47327339e-03 -1.24444692e-03 9.99998140e-01 -8.74383754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250418555 meters 0.2503592975523407 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.26, Z:-0.88 [[ 9.99985203e-01 5.21687700e-03 -1.54220399e-03 -2.06651908e+01] [-5.20866881e-03 9.99972499e-01 5.27931997e-03 -3.25883507e+00] [ 1.56970314e-03 -5.27120902e-03 9.99984875e-01 -8.76643220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280418555000004 meters 0.2505217203620959 Centerline is valid? [False, False] Translation: X:-20.66, Y:-3.26, Z:-0.88 [[ 9.99997694e-01 9.40636135e-04 -1.93083399e-03 -2.06633580e+01] [-9.37795689e-04 9.99998478e-01 1.47147644e-03 -3.26333758e+00] [ 1.93221517e-03 -1.46966232e-03 9.99997053e-01 -8.77793665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.310418555 meters 0.2533361765050017 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.27, Z:-0.87 [[ 9.99997195e-01 -2.06425169e-03 -1.16098118e-03 -2.06687720e+01] [ 2.06298297e-03 9.99997275e-01 -1.09293583e-03 -3.26927204e+00] [ 1.16323411e-03 1.09053768e-03 9.99998729e-01 -8.72909882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340418555 meters 0.253579025839261 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.27, Z:-0.87 [[ 9.99999584e-01 9.11189575e-04 -3.17213083e-05 -2.06758194e+01] [-9.11130638e-04 9.99997945e-01 1.81088632e-03 -3.26534016e+00] [ 3.33713039e-05 -1.81085667e-03 9.99998360e-01 -8.66791074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370418555 meters 0.2517845106530905 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.26, Z:-0.87 [[ 9.99999519e-01 9.80439284e-04 -1.02078250e-05 -2.06765220e+01] [-9.80418246e-04 9.99997734e-01 1.88950989e-03 -3.26482178e+00] [ 1.20603515e-05 -1.88949898e-03 9.99998215e-01 -8.65617262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400418555 meters 0.25445477734977173 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.27, Z:-0.88 [[ 9.99986999e-01 -4.37258001e-03 -2.62331698e-03 -2.07116960e+01] [ 4.36439722e-03 9.99985618e-01 -3.11691192e-03 -3.26991922e+00] [ 2.63690820e-03 3.10542220e-03 9.99991701e-01 -8.76221985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430418555 meters 0.2544207864004379 Centerline is valid? [False, False] Translation: X:-20.66, Y:-3.27, Z:-0.88 [[ 9.99984006e-01 -5.13089599e-03 -2.37935363e-03 -2.06631606e+01] [ 5.12146391e-03 9.99979070e-01 -3.95342844e-03 -3.27121590e+00] [ 2.39958846e-03 3.94117944e-03 9.99989354e-01 -8.75796416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460418555000004 meters 0.25247468205071955 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.27, Z:-0.87 [[ 9.99998351e-01 -1.57978049e-03 -8.96028341e-04 -2.07173357e+01] [ 1.58020841e-03 9.99998638e-01 4.77073220e-04 -3.27135145e+00] [ 8.95273449e-04 -4.78488345e-04 9.99999485e-01 -8.72294593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.490418555 meters 0.2509251660802886 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.28, Z:-0.87 [[ 9.99998480e-01 -1.50560841e-03 -8.78956794e-04 -2.07173050e+01] [ 1.50650343e-03 9.99998347e-01 1.01849694e-03 -3.27534789e+00] [ 8.77421884e-04 -1.01981955e-03 9.99999095e-01 -8.72370653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520418555 meters 0.2498794542497546 Centerline is valid? [False, False] Translation: X:-20.73, Y:-3.28, Z:-0.88 [[ 9.99981245e-01 1.85609728e-03 -5.83646781e-03 -2.07337522e+01] [-1.88635265e-03 9.99984791e-01 -5.18262372e-03 -3.27815236e+00] [ 5.82675959e-03 5.19353616e-03 9.99969538e-01 -8.76235497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550418555 meters 0.2507568720348088 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.28, Z:-0.88 [[ 9.99988784e-01 -9.45105689e-04 -4.64093573e-03 -2.07047211e+01] [ 9.54787375e-04 9.99997372e-01 2.08437745e-03 -3.27814152e+00] [ 4.63895357e-03 -2.08878518e-03 9.99987058e-01 -8.81618011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580418555 meters 0.2510126526817053 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.28, Z:-0.88 [[ 9.99988743e-01 -8.78627684e-04 -4.66292023e-03 -2.07054809e+01] [ 8.89118669e-04 9.99997077e-01 2.24827856e-03 -3.27883573e+00] [ 4.66093120e-03 -2.25239914e-03 9.99986601e-01 -8.80029691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610418555 meters 0.2498831422442829 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.28, Z:-0.87 [[ 9.99990047e-01 -2.66067671e-03 -3.58143803e-03 -2.07130524e+01] [ 2.66310154e-03 9.99996228e-01 6.72456240e-04 -3.28005175e+00] [ 3.57963533e-03 -6.81987280e-04 9.99993361e-01 -8.73244131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640418555000004 meters 0.25189714223129483 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.28, Z:-0.87 [[ 9.99995037e-01 -1.82256545e-03 -2.56982792e-03 -2.07185906e+01] [ 1.82803341e-03 9.99996067e-01 2.12701281e-03 -3.28432008e+00] [ 2.56594120e-03 -2.13169999e-03 9.99994436e-01 -8.68598457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670418555000005 meters 0.2541561869894786 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.29, Z:-0.87 [[ 9.99993222e-01 -2.36644249e-03 -2.82052394e-03 -2.07173596e+01] [ 2.37266893e-03 9.99994751e-01 2.20625046e-03 -3.28958229e+00] [ 2.81528817e-03 -2.21292767e-03 9.99993589e-01 -8.69358927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700418555 meters 0.2523291662573346 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.29, Z:-0.87 [[ 9.99992271e-01 -2.45070717e-03 -3.07438720e-03 -2.07152376e+01] [ 2.45688276e-03 9.99994969e-01 2.00655504e-03 -3.28955195e+00] [ 3.06945426e-03 -2.01409294e-03 9.99993261e-01 -8.72192182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730418555 meters 0.24920321223917877 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.28, Z:-0.87 [[ 9.99956468e-01 4.76442865e-03 -8.02265092e-03 -2.07402828e+01] [-4.76642209e-03 9.99988614e-01 -2.29374594e-04 -3.28304892e+00] [ 8.02146674e-03 2.67603949e-04 9.99967792e-01 -8.67186069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760418555 meters 0.24987239188333393 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.29, Z:-0.87 [[ 9.99991140e-01 -1.89846117e-03 -3.75697036e-03 -2.07149300e+01] [ 1.90822825e-03 9.99994805e-01 2.59784968e-03 -3.28603995e+00] [ 3.75201893e-03 -2.60499582e-03 9.99989568e-01 -8.71717575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790418555 meters 0.24987239188333393 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.29, Z:-0.87 [[ 9.99991140e-01 -1.89846117e-03 -3.75697036e-03 -2.07149300e+01] [ 1.90822825e-03 9.99994805e-01 2.59784968e-03 -3.28603995e+00] [ 3.75201893e-03 -2.60499582e-03 9.99989568e-01 -8.71717575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820418555 meters 0.2536572509658836 Centerline is valid? [False, False] Translation: X:-20.69, Y:-3.29, Z:-0.87 [[ 9.99994197e-01 3.36179214e-03 -5.51654030e-04 -2.06936322e+01] [-3.36306368e-03 9.99991653e-01 -2.32044272e-03 -3.28842885e+00] [ 5.43848579e-04 2.32228450e-03 9.99997156e-01 -8.71306669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850418555000005 meters 0.2505590781140043 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.29, Z:-0.87 [[ 9.99992825e-01 -1.82990151e-03 -3.31680847e-03 -2.07171428e+01] [ 1.83909955e-03 9.99994466e-01 2.77223544e-03 -3.28783623e+00] [ 3.31171720e-03 -2.77831549e-03 9.99990657e-01 -8.69497478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880418555 meters 0.5719807465027049 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.29, Z:-0.87 [[ 9.99993015e-01 -1.80651402e-03 -3.27207659e-03 -2.07173327e+01] [ 1.81569126e-03 9.99994421e-01 2.80391724e-03 -3.28783534e+00] [ 3.26699302e-03 -2.80983873e-03 9.99990716e-01 -8.69429746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910418555 meters 0.25003499825707076 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.29, Z:-0.87 [[ 9.99994212e-01 -1.69347798e-03 -2.95080049e-03 -2.07195041e+01] [ 1.70206941e-03 9.99994313e-01 2.91148153e-03 -3.28765562e+00] [ 2.94585318e-03 -2.91648715e-03 9.99991408e-01 -8.66977412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940418555 meters 0.25548623610847515 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.28, Z:-0.87 [[ 9.99990035e-01 3.81912909e-03 2.31175239e-03 -2.06979661e+01] [-3.81593617e-03 9.99991762e-01 -1.38401049e-03 -3.28422260e+00] [-2.31701906e-03 1.37517520e-03 9.99996370e-01 -8.69536306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970418555 meters 0.24926984097262003 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.29, Z:-0.87 [[ 9.99991178e-01 -2.49902820e-03 -3.37621083e-03 -2.07182825e+01] [ 2.50491404e-03 9.99995349e-01 1.74022520e-03 -3.28710321e+00] [ 3.37184626e-03 -1.74866697e-03 9.99992786e-01 -8.68070897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000418555 meters 0.2506609002396317 Centerline is valid? [False, False] Translation: X:-20.69, Y:-3.29, Z:-0.88 [[ 9.99992839e-01 2.79892314e-03 -2.54728373e-03 -2.06857672e+01] [-2.80795223e-03 9.99989764e-01 -3.54794974e-03 -3.28846443e+00] [ 2.53732722e-03 3.55507698e-03 9.99990462e-01 -8.76337390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030418555000004 meters 0.2553469042861976 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.29, Z:-0.87 [[ 9.99956275e-01 9.33452842e-03 -5.61157215e-04 -2.07427884e+01] [-9.33279926e-03 9.99951922e-01 3.00886396e-03 -3.28616612e+00] [ 5.89216562e-04 -3.00349523e-03 9.99995316e-01 -8.70596848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060418555 meters 0.2500517119388139 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.28, Z:-0.87 [[ 9.99980274e-01 5.60021310e-03 2.84431322e-03 -2.07215479e+01] [-5.62515098e-03 9.99945134e-01 8.83664045e-03 -3.28139545e+00] [-2.79467010e-03 -8.85246582e-03 9.99956911e-01 -8.70269874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090418555 meters 0.2510087904239561 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.28, Z:-0.87 [[ 9.99995949e-01 1.26750402e-03 2.54865832e-03 -2.07197723e+01] [-1.27871039e-03 9.99989502e-01 4.40015532e-03 -3.28131268e+00] [-2.54305435e-03 -4.40339649e-03 9.99987071e-01 -8.72060067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120418555 meters 0.25325826660805556 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.28, Z:-0.87 [[ 9.99993887e-01 -2.82840469e-03 2.05577467e-03 -2.07178212e+01] [ 2.82807835e-03 9.99995988e-01 1.61632403e-04 -3.28123144e+00] [-2.05622358e-03 -1.55817523e-04 9.99997874e-01 -8.73239120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150418555 meters 0.2532440026056839 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.28, Z:-0.87 [[ 9.99996954e-01 1.26533275e-03 2.11902038e-03 -2.07185241e+01] [-1.27356843e-03 9.99991624e-01 3.88972526e-03 -3.27770606e+00] [-2.11408083e-03 -3.89241213e-03 9.99990190e-01 -8.72432663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180418555 meters 0.25089134955095627 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.28, Z:-0.87 [[ 9.99997138e-01 1.10025946e-03 2.12459725e-03 -2.07187972e+01] [-1.10752302e-03 9.99993536e-01 3.42064869e-03 -3.27529542e+00] [-2.12081992e-03 -3.42299194e-03 9.99991893e-01 -8.71843737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210418555000004 meters 0.2516759155775 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.27, Z:-0.87 [[ 9.99992364e-01 -3.01153545e-03 2.49039939e-03 -2.07202491e+01] [ 3.01449855e-03 9.99994752e-01 -1.18691310e-03 -3.27317293e+00] [-2.48681189e-03 1.19441134e-03 9.99996195e-01 -8.70966691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240418555 meters 0.2505746751462359 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.27, Z:-0.87 [[ 9.99991922e-01 -3.15311413e-03 2.49282246e-03 -2.07202995e+01] [ 3.15710976e-03 9.99993735e-01 -1.60054603e-03 -3.27118367e+00] [-2.48776014e-03 1.60840322e-03 9.99995612e-01 -8.70935623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270418555 meters 0.2550019336986843 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.27, Z:-0.87 [[ 9.99992279e-01 1.29096675e-04 3.92759203e-03 -2.06774755e+01] [-1.32075766e-04 9.99999704e-01 7.58253202e-04 -3.26531912e+00] [-3.92749298e-03 -7.58766087e-04 9.99992000e-01 -8.67020300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300418555 meters 0.2543569116200812 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.26, Z:-0.87 [[ 9.99992735e-01 2.93476341e-05 3.81169177e-03 -2.06766040e+01] [-3.07196876e-05 9.99999935e-01 3.59901158e-04 -3.26316654e+00] [-3.81168096e-03 -3.60015637e-04 9.99992671e-01 -8.68062700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330418555 meters 0.2511543603369139 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.27, Z:-0.87 [[ 9.99997727e-01 -4.06065443e-04 2.09289569e-03 -2.07190878e+01] [ 4.05759410e-04 9.99999907e-01 1.46647139e-04 -3.26502530e+00] [-2.09295504e-03 -1.45797594e-04 9.99997799e-01 -8.72185737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360418555 meters 0.2544736946141138 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.27, Z:-0.87 [[ 9.99997690e-01 -4.40513927e-04 2.10390220e-03 -2.07195353e+01] [ 4.40379849e-04 9.99999901e-01 6.41911413e-05 -3.26510258e+00] [-2.10393027e-03 -6.32644769e-05 9.99997785e-01 -8.71329570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390418555000004 meters 0.25565548599355287 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.26, Z:-0.87 [[ 9.99997447e-01 -6.91800203e-05 2.25853360e-03 -2.07211773e+01] [ 6.87283818e-05 9.99999978e-01 2.00046778e-04 -3.26218911e+00] [-2.25854738e-03 -1.99891042e-04 9.99997430e-01 -8.69347892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420418555000005 meters 0.25466136378417625 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.26, Z:-0.87 [[ 9.99997127e-01 -5.55420609e-05 2.39658702e-03 -2.07217108e+01] [ 5.50651569e-05 9.99999979e-01 1.99058505e-04 -3.26164520e+00] [-2.39659802e-03 -1.98925965e-04 9.99997108e-01 -8.69245344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450418555 meters 0.2505551310416747 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.27, Z:-0.88 [[ 9.99996137e-01 -2.48518949e-03 1.24467638e-03 -2.07140839e+01] [ 2.48792610e-03 9.99994481e-01 -2.20195199e-03 -3.26546685e+00] [-1.23919724e-03 2.20504015e-03 9.99996801e-01 -8.76385264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480418555 meters 0.25095736200332663 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.26, Z:-0.88 [[ 9.99995966e-01 -2.56269103e-03 1.22467382e-03 -2.07143141e+01] [ 2.56570553e-03 9.99993667e-01 -2.46627321e-03 -3.26411979e+00] [-1.21834577e-03 2.46940541e-03 9.99996209e-01 -8.75985982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510418555 meters 0.2509337667072511 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.27, Z:-0.87 [[ 9.99997246e-01 -8.28295507e-04 2.19569462e-03 -2.07217406e+01] [ 8.29040508e-04 9.99999599e-01 -3.38412112e-04 -3.26543023e+00] [-2.19541343e-03 3.40231500e-04 9.99997532e-01 -8.68232120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540418555 meters 0.2535368657486264 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.26, Z:-0.87 [[ 9.99996526e-01 -7.16874415e-04 2.53657486e-03 -2.06749359e+01] [ 7.18087873e-04 9.99999628e-01 -4.77506077e-04 -3.26488401e+00] [-2.53623160e-03 4.79325902e-04 9.99996669e-01 -8.66206525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570418555 meters 0.2523489734726935 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.27, Z:-0.87 [[ 9.99997156e-01 -7.28356479e-04 2.27093762e-03 -2.06731710e+01] [ 7.28634606e-04 9.99999727e-01 -1.21647492e-04 -3.26847044e+00] [-2.27084839e-03 1.23301830e-04 9.99997414e-01 -8.68014694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600418555000005 meters 0.25444576620319 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.27, Z:-0.87 [[ 9.99996885e-01 -6.38249271e-04 2.41313374e-03 -2.06741765e+01] [ 6.37988630e-04 9.99999791e-01 1.08777521e-04 -3.26928121e+00] [-2.41320267e-03 -1.07237630e-04 9.99997082e-01 -8.66858777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.630418555 meters 0.25495360836897457 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.27, Z:-0.87 [[ 9.99996835e-01 -4.74501352e-04 2.47095465e-03 -2.06748086e+01] [ 4.73243844e-04 9.99999758e-01 5.09475852e-04 -3.27077785e+00] [-2.47119580e-03 -5.08304875e-04 9.99996817e-01 -8.65920747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660418555 meters 0.2540150597435616 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.28, Z:-0.87 [[ 9.99998033e-01 -8.48326224e-04 1.79269331e-03 -2.06712128e+01] [ 8.46558140e-04 9.99999155e-01 9.86800899e-04 -3.27775885e+00] [-1.79352893e-03 -9.85281339e-04 9.99997906e-01 -8.68825427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690418555 meters 0.25252980050957613 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.28, Z:-0.87 [[ 9.99998191e-01 -7.49169735e-04 1.74816365e-03 -2.06709376e+01] [ 7.47009164e-04 9.99998957e-01 1.23623462e-03 -3.27883518e+00] [-1.74908798e-03 -1.23492648e-03 9.99997708e-01 -8.69306747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720418555 meters 0.24970531210897062 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.28, Z:-0.86 [[ 9.99996872e-01 3.05000882e-04 2.48260081e-03 -2.06759770e+01] [-3.11298671e-04 9.99996734e-01 2.53677973e-03 -3.28089419e+00] [-2.48181898e-03 -2.53754463e-03 9.99993701e-01 -8.64914709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750418555 meters 0.25103868437186405 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.29, Z:-0.86 [[ 9.99990041e-01 -3.78650048e-03 2.36231414e-03 -2.06758362e+01] [ 3.78901922e-03 9.99992257e-01 -1.06265232e-03 -3.28576132e+00] [-2.35827211e-03 1.07159259e-03 9.99996645e-01 -8.64293852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780418555000004 meters 0.25507783616628854 Centerline is valid? [False, False] Translation: X:-20.65, Y:-3.29, Z:-0.87 [[ 9.99981919e-01 1.79709691e-03 5.73866299e-03 -2.06526640e+01] [-1.76478570e-03 9.99982591e-01 -5.63055046e-03 -3.28755772e+00] [-5.74868173e-03 5.62032114e-03 9.99967682e-01 -8.66203509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.810418555 meters 0.25330230221574307 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.29, Z:-0.86 [[ 9.99988628e-01 -1.50740672e-03 4.52446563e-03 -2.06827088e+01] [ 1.49988068e-03 9.99997487e-01 1.66634073e-03 -3.28647659e+00] [-4.52696611e-03 -1.65953562e-03 9.99988376e-01 -8.60088282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840418555 meters 0.2542856600298089 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.29, Z:-0.87 [[ 9.99989627e-01 -2.83098577e-03 3.56813355e-03 -2.06765976e+01] [ 2.82914695e-03 9.99995863e-01 5.20288685e-04 -3.28693110e+00] [-3.56959172e-03 -5.10188514e-04 9.99993499e-01 -8.65043112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870418555 meters 0.253379302499131 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.29, Z:-0.87 [[ 9.99983058e-01 -5.29620254e-03 2.41523864e-03 -2.06691833e+01] [ 5.30020330e-03 9.99984587e-01 -1.65308326e-03 -3.29240354e+00] [-2.40644635e-03 1.66585651e-03 9.99995717e-01 -8.71404026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900418555 meters 0.25176211589391007 Centerline is valid? [False, False] Translation: X:-20.69, Y:-3.30, Z:-0.87 [[ 9.99994600e-01 2.68274539e-03 -1.89836202e-03 -2.06902826e+01] [-2.68818475e-03 9.99992272e-01 -2.86856572e-03 -3.29647689e+00] [ 1.89065172e-03 2.87365337e-03 9.99994084e-01 -8.70483611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930418555 meters 0.25133341355650507 Centerline is valid? [False, False] Translation: X:-20.69, Y:-3.30, Z:-0.87 [[ 9.99994339e-01 2.78271212e-03 -1.89170666e-03 -2.06908743e+01] [-2.78779636e-03 9.99992495e-01 -2.69034852e-03 -3.29679718e+00] [ 1.88420600e-03 2.69560698e-03 9.99994592e-01 -8.69452777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960418555000004 meters 0.2541733334169217 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.30, Z:-0.87 [[ 9.99996093e-01 -7.11458587e-04 2.70345567e-03 -2.06664927e+01] [ 7.02387333e-04 9.99994126e-01 3.35489853e-03 -3.30056854e+00] [-2.70582666e-03 -3.35298654e-03 9.99990718e-01 -8.73434778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.990418555 meters 0.252364608192526 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.30, Z:-0.87 [[ 9.99994323e-01 3.24103090e-03 9.21686999e-04 -2.06963755e+01] [-3.23888291e-03 9.99992058e-01 -2.32251805e-03 -3.30197720e+00] [-9.29207032e-04 2.31951963e-03 9.99996878e-01 -8.66769354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020418555 meters 0.2535493882155474 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.30, Z:-0.87 [[ 9.99994320e-01 3.26392445e-03 8.41093033e-04 -2.06956993e+01] [-3.26209687e-03 9.99992335e-01 -2.16514961e-03 -3.30315740e+00] [-8.48153471e-04 2.16239358e-03 9.99997302e-01 -8.67579191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050418555 meters 0.2514842647526373 Centerline is valid? [False, False] Translation: X:-20.72, Y:-3.31, Z:-0.86 [[ 9.99989817e-01 -1.96501927e-03 -4.06262464e-03 -2.07180725e+01] [ 1.97587082e-03 9.99994487e-01 2.66878173e-03 -3.30658605e+00] [ 4.05735804e-03 -2.67678178e-03 9.99988186e-01 -8.64837102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080418555 meters 0.2519098646325445 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.31, Z:-0.86 [[ 9.99992488e-01 3.82715551e-03 -6.13697527e-04 -2.06967264e+01] [-3.82835555e-03 9.99990739e-01 -1.96632245e-03 -3.30674980e+00] [ 6.06166421e-04 1.96865713e-03 9.99997878e-01 -8.64469997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110418555 meters 0.2515743429473413 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.31, Z:-0.86 [[ 9.99992351e-01 3.87588197e-03 -5.24090172e-04 -2.06972174e+01] [-3.87683904e-03 9.99990797e-01 -1.83764414e-03 -3.30752201e+00] [ 5.16962857e-04 1.83966190e-03 9.99998174e-01 -8.64036893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140418555000004 meters 0.2531235288852323 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.31, Z:-0.87 [[ 9.99998969e-01 1.43344503e-03 8.03201817e-05 -2.06694592e+01] [-1.43387183e-03 9.99983332e-01 5.59284323e-03 -3.30579998e+00] [-7.23018096e-05 -5.59295263e-03 9.99984357e-01 -8.67757707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170418555000005 meters 0.2536097469568745 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.31, Z:-0.87 [[ 9.99996327e-01 -2.71041163e-03 -2.52289481e-05 -2.06688017e+01] [ 2.71044397e-03 9.99995368e-01 1.38493026e-03 -3.30539199e+00] [ 2.14751001e-05 -1.38499356e-03 9.99999041e-01 -8.68403588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200418555 meters 0.6782806170731406 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.31, Z:-0.87 [[ 9.99996586e-01 -2.60394296e-03 2.17710218e-04 -2.06705317e+01] [ 2.60353101e-03 9.99994859e-01 1.87155367e-03 -3.30867458e+00] [-2.22582518e-04 -1.87098047e-03 9.99998225e-01 -8.66455671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230418555 meters 0.25349916068986794 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.31, Z:-0.87 [[ 9.99997006e-01 -2.42741515e-03 3.09427825e-04 -2.06710796e+01] [ 2.42681645e-03 9.99995211e-01 1.92076054e-03 -3.30724899e+00] [-3.14088827e-04 -1.92000387e-03 9.99998107e-01 -8.66067706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260418555 meters 0.2525940292562274 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.31, Z:-0.87 [[ 9.99993602e-01 -3.45782468e-03 -9.15670844e-04 -2.07147845e+01] [ 3.45970950e-03 9.99991883e-01 2.06487529e-03 -3.31358345e+00] [ 9.08523435e-04 -2.06803004e-03 9.99997449e-01 -8.70057072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290418555 meters 0.25298214910254313 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.32, Z:-0.87 [[ 9.99993251e-01 -3.50938187e-03 -1.08684707e-03 -2.07142825e+01] [ 3.51189816e-03 9.99991137e-01 2.32202386e-03 -3.31657468e+00] [ 1.07868857e-03 -2.32582509e-03 9.99996713e-01 -8.69901922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320418555 meters 0.2536635718025501 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.32, Z:-0.87 [[ 9.99993549e-01 -3.38586220e-03 -1.19895440e-03 -2.07134847e+01] [ 3.38917416e-03 9.99990417e-01 2.77120716e-03 -3.31952602e+00] [ 1.18955999e-03 -2.77525275e-03 9.99995441e-01 -8.70753985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350418555000005 meters 0.2543235875337554 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.32, Z:-0.86 [[ 9.99999749e-01 5.56874731e-04 4.37089404e-04 -2.06720845e+01] [-5.59526033e-04 9.99981303e-01 6.08931080e-03 -3.31840980e+00] [-4.33690248e-04 -6.08955383e-03 9.99981364e-01 -8.64907520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380418555 meters 0.25316332441322226 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.32, Z:-0.86 [[ 9.99985948e-01 4.56055538e-03 -2.70278156e-03 -2.07021663e+01] [-4.55800589e-03 9.99989162e-01 9.48695789e-04 -3.31731323e+00] [ 2.70707885e-03 -9.36363164e-04 9.99995897e-01 -8.56663704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410418555 meters 0.2550706834011112 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.32, Z:-0.86 [[ 9.99990838e-01 2.08171512e-03 -3.74040704e-03 -2.06958100e+01] [-2.08658406e-03 9.99996980e-01 -1.29828348e-03 -3.32108621e+00] [ 3.73769309e-03 1.30607626e-03 9.99992162e-01 -8.61613731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440418555 meters 0.25354090498845877 Centerline is valid? [False, False] Translation: X:-20.69, Y:-3.33, Z:-0.86 [[ 9.99988604e-01 2.27206181e-03 -4.19874334e-03 -2.06937786e+01] [-2.27370777e-03 9.99997340e-01 -3.87279991e-04 -3.32622704e+00] [ 4.19785225e-03 3.96822293e-04 9.99991110e-01 -8.63328186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470418555 meters 0.250573265211025 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.33, Z:-0.86 [[ 9.99987439e-01 1.81223764e-03 -4.67314370e-03 -2.07415787e+01] [-1.81013952e-03 9.99998259e-01 4.53164923e-04 -3.32836781e+00] [ 4.67395680e-03 -4.44700188e-04 9.99988978e-01 -8.64369129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500418555 meters 0.2540758780638691 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.33, Z:-0.85 [[ 9.99995989e-01 -1.51767180e-03 -2.39142852e-03 -2.07047703e+01] [ 1.50884907e-03 9.99992065e-01 -3.68680817e-03 -3.33092608e+00] [ 2.39700491e-03 3.68318507e-03 9.99990344e-01 -8.54478894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530418555000004 meters 0.2542679117182221 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.33, Z:-0.85 [[ 9.99995614e-01 -1.48531818e-03 -2.56231354e-03 -2.07044296e+01] [ 1.47601981e-03 9.99992333e-01 -3.62697897e-03 -3.33153727e+00] [ 2.56768111e-03 3.62318103e-03 9.99990140e-01 -8.54194277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.560418555 meters 0.25516437505246986 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.33, Z:-0.85 [[ 9.99995940e-01 -1.41516530e-03 -2.47336002e-03 -2.07045366e+01] [ 1.40630156e-03 9.99992597e-01 -3.58175467e-03 -3.33097921e+00] [ 2.47841049e-03 3.57826183e-03 9.99990527e-01 -8.54539701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590418555 meters 0.25616950953150863 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.33, Z:-0.85 [[ 9.99996302e-01 -1.14987216e-03 -2.46454352e-03 -2.07043984e+01] [ 1.14270341e-03 9.99995118e-01 -2.90819260e-03 -3.33401180e+00] [ 2.46787554e-03 2.90536561e-03 9.99992734e-01 -8.54734648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620418555 meters 0.25794400281019203 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.34, Z:-0.86 [[ 9.99990697e-01 -7.95521174e-04 -4.23948553e-03 -2.07455801e+01] [ 7.89883033e-04 9.99998802e-01 -1.33142012e-03 -3.33853477e+00] [ 4.24053962e-03 1.32805903e-03 9.99990127e-01 -8.60652952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650418555 meters 0.2543419217344014 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.34, Z:-0.87 [[ 9.99984548e-01 -5.49816675e-03 -8.20726957e-04 -2.07146747e+01] [ 5.50076158e-03 9.99979771e-01 3.19358634e-03 -3.34271671e+00] [ 8.03151484e-04 -3.19805162e-03 9.99994564e-01 -8.69804270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680418555 meters 0.2543419217344014 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.34, Z:-0.87 [[ 9.99984548e-01 -5.49816675e-03 -8.20726957e-04 -2.07146747e+01] [ 5.50076158e-03 9.99979771e-01 3.19358634e-03 -3.34271671e+00] [ 8.03151484e-04 -3.19805162e-03 9.99994564e-01 -8.69804270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710418555000004 meters 0.2543691953209847 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.35, Z:-0.87 [[ 9.99999760e-01 6.24208163e-04 -3.01146463e-04 -2.07426311e+01] [-6.24214017e-04 9.99999805e-01 -1.93461793e-05 -3.34727983e+00] [ 3.01134328e-04 1.95341545e-05 9.99999954e-01 -8.67810700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.740418555 meters 0.2556860185489928 Centerline is valid? [False, False] Translation: X:-20.71, Y:-3.35, Z:-0.86 [[ 9.99994861e-01 2.27544322e-03 2.25819110e-03 -2.07052123e+01] [-2.27788877e-03 9.99996821e-01 1.08099038e-03 -3.34526921e+00] [-2.25572419e-03 -1.08612874e-03 9.99996866e-01 -8.59488713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770418555 meters 0.2569645308340577 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.35, Z:-0.86 [[ 9.99995803e-01 -1.93354608e-03 2.15749193e-03 -2.07049793e+01] [ 1.94006812e-03 9.99993543e-01 -3.02498587e-03 -3.34648648e+00] [-2.15162905e-03 3.02915886e-03 9.99993097e-01 -8.59383873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800418555 meters 0.25655235915279584 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.35, Z:-0.86 [[ 9.99996228e-01 -2.04632255e-03 1.83227248e-03 -2.07034482e+01] [ 2.05124071e-03 9.99994288e-01 -2.68633901e-03 -3.35116616e+00] [-1.82676490e-03 2.69008731e-03 9.99994713e-01 -8.60225496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830418555 meters 0.25532976929170004 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.35, Z:-0.86 [[ 9.99995809e-01 2.25635192e-03 1.81407873e-03 -2.07028278e+01] [-2.25913209e-03 9.99996275e-01 1.53197133e-03 -3.34969894e+00] [-1.81061531e-03 -1.53606315e-03 9.99997181e-01 -8.61459899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860418555 meters 0.25137983843018 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.35, Z:-0.87 [[ 9.99997421e-01 2.26508956e-03 1.64997183e-04 -2.07448250e+01] [-2.26551774e-03 9.99993941e-01 2.64281450e-03 -3.35136442e+00] [-1.59009972e-04 -2.64318149e-03 9.99996494e-01 -8.66551567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890418555000004 meters 0.24974848896875523 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.36, Z:-0.87 [[ 9.99999405e-01 -9.95221874e-04 -4.46374982e-04 -2.07916389e+01] [ 9.95700556e-04 9.99998928e-01 1.07343719e-03 -3.35823244e+00] [ 4.45306195e-04 -1.07388101e-03 9.99999324e-01 -8.67632413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920418555000005 meters 0.2549099784473463 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.36, Z:-0.86 [[ 9.99996584e-01 -2.54437379e-03 5.99029035e-04 -2.07473981e+01] [ 2.54523247e-03 9.99995728e-01 -1.43709015e-03 -3.35862232e+00] [-5.95369981e-04 1.43860991e-03 9.99998788e-01 -8.63707913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950418555 meters 0.2561300791225673 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.36, Z:-0.86 [[ 9.99998327e-01 1.76918658e-03 4.63715878e-04 -2.07467401e+01] [-1.77056866e-03 9.99993941e-01 2.99717372e-03 -3.35953194e+00] [-4.58410509e-04 -2.99798974e-03 9.99995401e-01 -8.64217085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980418555 meters 0.2552595101596014 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.36, Z:-0.86 [[ 9.99998085e-01 1.88384560e-03 5.30377481e-04 -2.07473020e+01] [-1.88559998e-03 9.99992688e-01 3.32695491e-03 -3.36116728e+00] [-5.24106134e-04 -3.32794861e-03 9.99994325e-01 -8.63602262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010418555 meters 0.25492293237335206 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.36, Z:-0.86 [[ 9.99997725e-01 2.05294567e-03 5.79712338e-04 -2.07475190e+01] [-2.05513077e-03 9.99990690e-01 3.79419454e-03 -3.36365332e+00] [-5.71917666e-04 -3.79537729e-03 9.99992634e-01 -8.63468163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040418555 meters 0.2544922654324054 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.36, Z:-0.86 [[ 9.99997695e-01 2.05807225e-03 6.11295384e-04 -2.07477044e+01] [-2.06041371e-03 9.99990448e-01 3.85471688e-03 -3.36405592e+00] [-6.03356259e-04 -3.85596752e-03 9.99992384e-01 -8.63190724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070418555 meters 0.25659947537577643 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.37, Z:-0.86 [[ 9.99997439e-01 2.18145887e-03 6.02630840e-04 -2.07474109e+01] [-2.18400183e-03 9.99988576e-01 4.25182960e-03 -3.36656670e+00] [-5.93348765e-04 -4.25313486e-03 9.99990779e-01 -8.63488370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100418555000005 meters 0.256334158778491 Centerline is valid? [False, False] Translation: X:-20.75, Y:-3.37, Z:-0.86 [[ 9.99998358e-01 -8.55763839e-04 1.59725324e-03 -2.07522770e+01] [ 8.53995885e-04 9.99999022e-01 1.10722590e-03 -3.36729058e+00] [-1.59819920e-03 -1.10586004e-03 9.99998111e-01 -8.60647112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.130418555 meters 0.25188359961523094 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.37, Z:-0.87 [[ 9.99999724e-01 -7.17372210e-04 -1.91331089e-04 -2.07932743e+01] [ 7.17845744e-04 9.99996651e-01 2.48646825e-03 -3.36990058e+00] [ 1.89546725e-04 -2.48660491e-03 9.99996890e-01 -8.66708568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160418555 meters 0.25200187271055946 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.37, Z:-0.87 [[ 9.99999777e-01 -5.44270137e-04 -3.85980506e-04 -2.07923789e+01] [ 5.45470101e-04 9.99994998e-01 3.11561071e-03 -3.37352505e+00] [ 3.84282841e-04 -3.11582056e-03 9.99995072e-01 -8.67244856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.190418555 meters 0.25426897775396895 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.38, Z:-0.87 [[ 9.99985830e-01 3.66297942e-03 3.86286649e-03 -2.07738833e+01] [-3.65290128e-03 9.99989915e-01 -2.61281547e-03 -3.37866096e+00] [-3.87239822e-03 2.59866778e-03 9.99989126e-01 -8.65324254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220418555 meters 0.2553770443085352 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.38, Z:-0.87 [[ 9.99986307e-01 3.67139228e-03 3.72905817e-03 -2.07727913e+01] [-3.66198767e-03 9.99990105e-01 -2.52568437e-03 -3.37902817e+00] [-3.73829405e-03 2.51199402e-03 9.99989857e-01 -8.66672368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.250418555 meters 0.25506353408441634 Centerline is valid? [False, False] Translation: X:-20.77, Y:-3.38, Z:-0.87 [[ 9.99985917e-01 3.85228246e-03 3.65042966e-03 -2.07722031e+01] [-3.84517994e-03 9.99990705e-01 -1.95069092e-03 -3.38196571e+00] [-3.65791034e-03 1.93662689e-03 9.99991435e-01 -8.67354062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280418555000004 meters 0.2545721321123986 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.39, Z:-0.86 [[ 9.99990703e-01 6.96987130e-04 4.25541582e-03 -2.07764694e+01] [-6.78047801e-04 9.99989867e-01 -4.45046295e-03 -3.38865910e+00] [-4.25847462e-03 4.44753620e-03 9.99981042e-01 -8.63353141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.310418555 meters 0.2543879857315499 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.39, Z:-0.86 [[ 9.99990698e-01 8.29724697e-04 4.23255393e-03 -2.07762267e+01] [-8.12233122e-04 9.99991131e-01 -4.13267522e-03 -3.39044527e+00] [-4.23594537e-03 4.12919896e-03 9.99982503e-01 -8.63774120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340418555 meters 0.2540468035394203 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.39, Z:-0.86 [[ 9.99990651e-01 1.12346494e-03 4.17550401e-03 -2.07757963e+01] [-1.10961403e-03 9.99993880e-01 -3.31802073e-03 -3.39460327e+00] [-4.17920614e-03 3.31335652e-03 9.99985778e-01 -8.64287098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370418555 meters 0.2549532634795927 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.40, Z:-0.86 [[ 9.99990697e-01 1.34112696e-03 4.09961488e-03 -2.07753205e+01] [-1.33009716e-03 9.99995492e-01 -2.69199178e-03 -3.39769275e+00] [-4.10320670e-03 2.68651385e-03 9.99987973e-01 -8.64744367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400418555 meters 0.25018693360607525 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.40, Z:-0.87 [[ 9.99995260e-01 -3.35636212e-04 3.06075367e-03 -2.08195113e+01] [ 3.43703208e-04 9.99996468e-01 -2.63547887e-03 -3.40301754e+00] [-3.05985830e-03 2.63651836e-03 9.99991843e-01 -8.67970881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430418555 meters 0.25374208842385315 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.41, Z:-0.86 [[ 9.99990034e-01 8.72049294e-04 4.37846604e-03 -2.07767250e+01] [-8.62226577e-04 9.99997109e-01 -2.24480174e-03 -3.40537021e+00] [-4.38041095e-03 2.24100414e-03 9.99987895e-01 -8.63429334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460418555000004 meters 0.24904535260461327 Centerline is valid? [False, False] Translation: X:-20.83, Y:-3.41, Z:-0.86 [[ 9.99986496e-01 1.71654748e-03 4.90520164e-03 -2.08284002e+01] [-1.72082150e-03 9.99998143e-01 8.67235410e-04 -3.41062473e+00] [-4.90370388e-03 -8.75664676e-04 9.99987593e-01 -8.60827234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.490418555 meters 0.2524415597090325 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.41, Z:-0.86 [[ 9.99978616e-01 1.26243235e-03 6.41666051e-03 -2.07862721e+01] [-1.25808911e-03 9.99998977e-01 -6.80860257e-04 -3.41099820e+00] [-6.41751349e-03 6.72772967e-04 9.99979181e-01 -8.56060135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520418555 meters 0.2548723923333805 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.41, Z:-0.86 [[ 9.99984472e-01 -3.95343453e-04 5.55870121e-03 -2.07800339e+01] [ 4.08070868e-04 9.99997298e-01 -2.28869048e-03 -3.41325701e+00] [-5.55778137e-03 2.29092328e-03 9.99981931e-01 -8.61431438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550418555 meters 0.25149479696879645 Centerline is valid? [False, False] Translation: X:-20.80, Y:-3.42, Z:-0.86 [[ 9.99993851e-01 -3.36880901e-03 9.74087778e-04 -2.08007771e+01] [ 3.36350209e-03 9.99979767e-01 5.39934986e-03 -3.41565512e+00] [-9.92257447e-04 -5.39604031e-03 9.99984949e-01 -8.60259541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580418555 meters 0.2520514995170662 Centerline is valid? [False, False] Translation: X:-20.80, Y:-3.42, Z:-0.86 [[ 9.99994317e-01 -3.26835321e-03 8.26783679e-04 -2.08005328e+01] [ 3.26353965e-03 9.99978098e-01 5.75787789e-03 -3.41793420e+00] [-8.45584349e-04 -5.75514693e-03 9.99983081e-01 -8.59691923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610418555 meters 0.25051716074960195 Centerline is valid? [False, False] Translation: X:-20.83, Y:-3.42, Z:-0.85 [[ 9.99999693e-01 2.76466640e-04 -7.33638362e-04 -2.08321736e+01] [-2.76344967e-04 9.99999948e-01 1.65945231e-04 -3.42236567e+00] [ 7.33684202e-04 -1.65742442e-04 9.99999717e-01 -8.51108022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640418555000004 meters 0.2520348628193421 Centerline is valid? [False, False] Translation: X:-20.83, Y:-3.42, Z:-0.85 [[ 9.99999774e-01 3.19439958e-04 -5.90969368e-04 -2.08328410e+01] [-3.19315014e-04 9.99999927e-01 2.11504627e-04 -3.42250741e+00] [ 5.91036888e-04 -2.11315874e-04 9.99999803e-01 -8.50544160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670418555000005 meters 0.2551948184098725 Centerline is valid? [False, False] Translation: X:-20.80, Y:-3.42, Z:-0.86 [[ 9.99999307e-01 -1.02679588e-03 5.76235581e-04 -2.08035376e+01] [ 1.02195503e-03 9.99964706e-01 8.33914903e-03 -3.42004699e+00] [-5.84777847e-04 -8.33855437e-03 9.99965063e-01 -8.56467891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700418555 meters 0.2553039973525814 Centerline is valid? [False, False] Translation: X:-20.80, Y:-3.42, Z:-0.86 [[ 9.99999403e-01 -1.00595910e-03 4.25634488e-04 -2.08023255e+01] [ 1.00228156e-03 9.99962912e-01 8.55389775e-03 -3.42160461e+00] [-4.34223574e-04 -8.55346604e-03 9.99963324e-01 -8.57729684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730418555 meters 0.2539557181438443 Centerline is valid? [False, False] Translation: X:-20.80, Y:-3.42, Z:-0.86 [[ 9.99987298e-01 -5.00382901e-03 6.05065035e-04 -2.08033071e+01] [ 5.00082684e-03 9.99975659e-01 4.86542145e-03 -3.42466319e+00] [-6.29396044e-04 -4.86233382e-03 9.99987981e-01 -8.56673042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760418555 meters 0.2560368961963114 Centerline is valid? [False, False] Translation: X:-20.78, Y:-3.42, Z:-0.86 [[ 9.99983928e-01 7.53172603e-04 5.61924574e-03 -2.07832890e+01] [-7.54347553e-04 9.99999694e-01 2.06977271e-04 -3.42403129e+00] [-5.61908814e-03 -2.11212809e-04 9.99984190e-01 -8.57850664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790418555 meters 0.2522034655047022 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.43, Z:-0.87 [[ 9.99991344e-01 3.13293725e-03 2.73805241e-03 -2.08180759e+01] [-3.14435253e-03 9.99986342e-01 4.17481284e-03 -3.42686200e+00] [-2.72493559e-03 -4.18338611e-03 9.99987537e-01 -8.68375763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820418555 meters 0.2514488661247462 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.43, Z:-0.87 [[ 9.99995968e-01 -1.10049738e-03 2.61775525e-03 -2.08176038e+01] [ 1.10056240e-03 9.99999394e-01 -2.33972146e-05 -3.42738230e+00] [-2.61772791e-03 2.62781233e-05 9.99996573e-01 -8.68570546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850418555000005 meters 0.2529901367627879 Centerline is valid? [False, False] Translation: X:-20.83, Y:-3.43, Z:-0.86 [[ 9.99989369e-01 -1.87032441e-03 4.21478445e-03 -2.08273493e+01] [ 1.87236270e-03 9.99998132e-01 -4.79709862e-04 -3.42993563e+00] [-4.21387936e-03 4.87596367e-04 9.99991003e-01 -8.60702312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.880418555 meters 0.25611385102854295 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.43, Z:-0.86 [[ 9.99983656e-01 8.54651913e-04 5.65307086e-03 -2.07850077e+01] [-8.58954447e-04 9.99999343e-01 7.58712760e-04 -3.42768930e+00] [-5.65241871e-03 -7.63556090e-04 9.99983733e-01 -8.55996734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910418555 meters 0.25213275811729124 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.43, Z:-0.86 [[ 9.99994058e-01 -3.80930237e-04 3.42605963e-03 -2.08239157e+01] [ 3.77265895e-04 9.99999356e-01 1.07013254e-03 -3.43119355e+00] [-3.42646507e-03 -1.06883364e-03 9.99993558e-01 -8.62924423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940418555 meters 0.2522353336845252 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.43, Z:-0.86 [[ 9.99994158e-01 -3.83346060e-04 3.39651625e-03 -2.08234236e+01] [ 3.79508744e-04 9.99999289e-01 1.13035248e-03 -3.43154531e+00] [-3.39694715e-03 -1.12905687e-03 9.99993593e-01 -8.63678469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970418555 meters 0.2526273272566181 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.43, Z:-0.86 [[ 9.99994532e-01 -4.17291890e-04 3.28054342e-03 -2.08226494e+01] [ 4.13610554e-04 9.99999284e-01 1.12277103e-03 -3.43186867e+00] [-3.28100960e-03 -1.12140802e-03 9.99993989e-01 -8.64456025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000418555 meters 0.2534565043793976 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.43, Z:-0.86 [[ 9.99995160e-01 -3.97191597e-04 3.08581204e-03 -2.08223534e+01] [ 3.93301569e-04 9.99999127e-01 1.26112201e-03 -3.43305271e+00] [-3.08631025e-03 -1.25990225e-03 9.99994444e-01 -8.63843792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030418555000004 meters 0.2542746247294686 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.43, Z:-0.86 [[ 9.99994535e-01 -2.94882155e-04 3.29286079e-03 -2.08239281e+01] [ 2.90246020e-04 9.99998966e-01 1.40832452e-03 -3.43330512e+00] [-3.29327267e-03 -1.40736109e-03 9.99993587e-01 -8.61893167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060418555 meters 0.2532171579798868 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.43, Z:-0.86 [[ 9.99994286e-01 -1.91741764e-04 3.37504340e-03 -2.08242785e+01] [ 1.86265150e-04 9.99998666e-01 1.62291913e-03 -3.43412583e+00] [-3.37535007e-03 -1.62228120e-03 9.99992988e-01 -8.61787925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090418555 meters 0.25411500200202886 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.43, Z:-0.87 [[ 9.99995737e-01 -1.53770944e-03 2.48230013e-03 -2.08179275e+01] [ 1.53685656e-03 9.99998759e-01 3.45455184e-04 -3.43472393e+00] [-2.48282826e-03 -3.41638772e-04 9.99996859e-01 -8.67352244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120418555 meters 0.25440627680039485 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.44, Z:-0.87 [[ 9.99996065e-01 -1.35453088e-03 2.45682315e-03 -2.08180679e+01] [ 1.35254533e-03 9.99998758e-01 8.09659258e-04 -3.43678700e+00] [-2.45791681e-03 -8.06333107e-04 9.99996654e-01 -8.66950337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150418555 meters 0.2550846689688508 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.44, Z:-0.87 [[ 9.99996177e-01 -1.22863391e-03 2.47732874e-03 -2.08184306e+01] [ 1.22580144e-03 9.99998594e-01 1.14455140e-03 -3.43826500e+00] [-2.47873149e-03 -1.14151031e-03 9.99996276e-01 -8.66318758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180418555 meters 0.2532421126204814 Centerline is valid? [False, False] Translation: X:-20.84, Y:-3.44, Z:-0.87 [[ 9.99992256e-01 3.02726425e-03 -2.51462404e-03 -2.08388104e+01] [-3.03600818e-03 9.99989334e-01 -3.48072398e-03 -3.43926814e+00] [ 2.50406015e-03 3.48833145e-03 9.99990781e-01 -8.65594309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210418555000004 meters 0.2533077294171453 Centerline is valid? [False, False] Translation: X:-20.84, Y:-3.44, Z:-0.87 [[ 9.99991300e-01 3.05781703e-03 -2.83713544e-03 -2.08372352e+01] [-3.06604108e-03 9.99991098e-01 -2.89891120e-03 -3.44391603e+00] [ 2.82824584e-03 2.90758475e-03 9.99991773e-01 -8.66657865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.240418555 meters 0.25494391367907293 Centerline is valid? [False, False] Translation: X:-20.82, Y:-3.45, Z:-0.87 [[ 9.99995486e-01 -2.19841361e-03 2.04798606e-03 -2.08164450e+01] [ 2.19624670e-03 9.99997027e-01 1.05971863e-03 -3.44593726e+00] [-2.05030967e-03 -1.05521597e-03 9.99997341e-01 -8.66806653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270418555 meters 0.25279393333616373 Centerline is valid? [False, False] Translation: X:-20.84, Y:-3.45, Z:-0.86 [[ 9.99994013e-01 2.57689369e-03 -2.30926647e-03 -2.08444950e+01] [-2.58270727e-03 9.99993494e-01 -2.51806344e-03 -3.44505526e+00] [ 2.30276267e-03 2.52401253e-03 9.99994163e-01 -8.59280022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300418555 meters 0.2535115632680402 Centerline is valid? [False, False] Translation: X:-20.84, Y:-3.45, Z:-0.86 [[ 9.99993778e-01 2.66201918e-03 -2.31453622e-03 -2.08442425e+01] [-2.66721625e-03 9.99993922e-01 -2.24522319e-03 -3.44647177e+00] [ 2.30854533e-03 2.25138259e-03 9.99994801e-01 -8.59784338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.330418555 meters 0.2543017116838636 Centerline is valid? [False, False] Translation: X:-20.84, Y:-3.45, Z:-0.86 [[ 9.99993425e-01 1.72075896e-03 -3.19214183e-03 -2.08399961e+01] [-1.72952948e-03 9.99994732e-01 -2.74681012e-03 -3.45056704e+00] [ 3.18739841e-03 2.75231296e-03 9.99991133e-01 -8.62169764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360418555 meters 0.2535923108546682 Centerline is valid? [False, False] Translation: X:-20.84, Y:-3.45, Z:-0.86 [[ 9.99993798e-01 1.73399494e-03 -3.06563799e-03 -2.08406095e+01] [-1.74282893e-03 9.99994330e-01 -2.88129467e-03 -3.44898146e+00] [ 3.06062446e-03 2.88661968e-03 9.99991150e-01 -8.61813301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390418555000004 meters 0.25164916811577503 Centerline is valid? [False, False] Translation: X:-20.88, Y:-3.45, Z:-0.87 [[ 9.99989054e-01 1.81094250e-03 -4.31431656e-03 -2.08839691e+01] [-1.81351755e-03 9.99998180e-01 -5.93024091e-04 -3.45335892e+00] [ 4.31323477e-03 6.00841688e-04 9.99990517e-01 -8.65498591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420418555000005 meters 0.25393723175461047 Centerline is valid? [False, False] Translation: X:-20.86, Y:-3.46, Z:-0.87 [[ 9.99989894e-01 -4.48178835e-03 3.53540209e-04 -2.08578684e+01] [ 4.48107151e-03 9.99987954e-01 2.00298935e-03 -3.45791637e+00] [-3.62512925e-04 -2.00138487e-03 9.99997932e-01 -8.71321448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450418555 meters 0.2520036550586146 Centerline is valid? [False, False] Translation: X:-20.86, Y:-3.46, Z:-0.87 [[ 9.99990796e-01 -4.27526219e-03 3.61745373e-04 -2.08583006e+01] [ 4.27435897e-03 9.99987835e-01 2.46181660e-03 -3.45994860e+00] [-3.72265883e-04 -2.46024771e-03 9.99996904e-01 -8.70571449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480418555 meters 0.2534100246974353 Centerline is valid? [False, False] Translation: X:-20.86, Y:-3.46, Z:-0.87 [[ 9.99990775e-01 -4.28967333e-03 2.19383921e-04 -2.08575344e+01] [ 4.28909737e-03 9.99987521e-01 2.56168382e-03 -3.46076123e+00] [-2.30369970e-04 -2.56071923e-03 9.99996695e-01 -8.71123652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510418555 meters 0.26099318569330326 Centerline is valid? [False, False] Translation: X:-20.93, Y:-3.47, Z:-0.87 [[ 9.99999698e-01 -2.75195812e-05 -7.76391039e-04 -2.09309727e+01] [ 2.86644871e-05 9.99998912e-01 1.47467852e-03 -3.46767352e+00] [ 7.76349612e-04 -1.47470032e-03 9.99998611e-01 -8.68654830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540418555 meters 0.2604393917574596 Centerline is valid? [False, False] Translation: X:-20.93, Y:-3.47, Z:-0.87 [[ 9.99999805e-01 9.18604989e-05 -6.17453285e-04 -2.09319823e+01] [-9.07811043e-05 9.99998468e-01 1.74794049e-03 -3.46892659e+00] [ 6.17612906e-04 -1.74788410e-03 9.99998282e-01 -8.67560244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570418555 meters 0.25446131282167295 Centerline is valid? [False, False] Translation: X:-20.88, Y:-3.47, Z:-0.87 [[ 9.99999737e-01 -7.25090249e-04 2.41940094e-05 -2.08848899e+01] [ 7.25110465e-04 9.99999379e-01 -8.46292953e-04 -3.46746766e+00] [-2.35803556e-05 8.46310273e-04 9.99999642e-01 -8.66613096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600418555000005 meters 0.25446131282167295 Centerline is valid? [False, False] Translation: X:-20.88, Y:-3.47, Z:-0.87 [[ 9.99999737e-01 -7.25090249e-04 2.41940094e-05 -2.08848899e+01] [ 7.25110465e-04 9.99999379e-01 -8.46292953e-04 -3.46746766e+00] [-2.35803556e-05 8.46310273e-04 9.99999642e-01 -8.66613096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.630418555 meters 0.25139545149161363 Centerline is valid? [False, False] Translation: X:-20.91, Y:-3.47, Z:-0.86 [[ 9.99978595e-01 4.61772958e-03 -4.63538429e-03 -2.09080999e+01] [-4.63743907e-03 9.99980215e-01 -4.25026114e-03 -3.46721541e+00] [ 4.61566602e-03 4.27166648e-03 9.99980224e-01 -8.64257569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660418555 meters 0.25459424106672035 Centerline is valid? [False, False] Translation: X:-20.88, Y:-3.47, Z:-0.87 [[ 9.99999615e-01 -5.06911644e-04 -7.16332471e-04 -2.08807122e+01] [ 5.06574364e-04 9.99999761e-01 -4.70946780e-04 -3.47027453e+00] [ 7.16571028e-04 4.70583723e-04 9.99999633e-01 -8.70237818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690418555 meters 0.2541954324893465 Centerline is valid? [False, False] Translation: X:-20.89, Y:-3.47, Z:-0.86 [[ 9.99999562e-01 -2.98710185e-04 8.86541011e-04 -2.08904691e+01] [ 2.98842502e-04 9.99999944e-01 -1.49122199e-04 -3.47079279e+00] [-8.86496417e-04 1.49387070e-04 9.99999596e-01 -8.62400432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720418555 meters 0.2619368891558656 Centerline is valid? [False, False] Translation: X:-20.90, Y:-3.47, Z:-0.86 [[ 9.99998018e-01 8.45326793e-04 1.80274361e-03 -2.08959241e+01] [-8.46852149e-04 9.99999284e-01 8.45534564e-04 -3.46966511e+00] [-1.80202757e-03 -8.47059545e-04 9.99998018e-01 -8.58485635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750418555 meters 0.25231904342725214 Centerline is valid? [False, False] Translation: X:-20.90, Y:-3.47, Z:-0.86 [[ 9.99997904e-01 9.68584825e-04 1.80404830e-03 -2.08960732e+01] [-9.70785468e-04 9.99998785e-01 1.21935992e-03 -3.47188669e+00] [-1.80286506e-03 -1.22110871e-03 9.99997629e-01 -8.58199946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780418555000004 meters 0.25118674178502837 Centerline is valid? [False, False] Translation: X:-20.89, Y:-3.48, Z:-0.86 [[ 9.99998520e-01 -1.49305454e-03 8.54378237e-04 -2.08895006e+01] [ 1.49399089e-03 9.99998283e-01 -1.09636159e-03 -3.47532880e+00] [-8.52739842e-04 1.09763640e-03 9.99999034e-01 -8.63964339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.810418555 meters 0.2529638915264874 Centerline is valid? [False, False] Translation: X:-20.89, Y:-3.47, Z:-0.86 [[ 9.99998567e-01 -1.36045333e-03 1.00723104e-03 -2.08897877e+01] [ 1.36178005e-03 9.99998205e-01 -1.31768584e-03 -3.47172402e+00] [-1.00543658e-03 1.31905557e-03 9.99998625e-01 -8.64491300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840418555 meters 0.25189795728065273 Centerline is valid? [False, False] Translation: X:-20.89, Y:-3.47, Z:-0.86 [[ 9.99998606e-01 -1.24257633e-03 1.11492770e-03 -2.08908191e+01] [ 1.24391763e-03 9.99998503e-01 -1.20314577e-03 -3.47175711e+00] [-1.11343103e-03 1.20453097e-03 9.99998655e-01 -8.63097310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870418555 meters 0.25412456144553247 Centerline is valid? [False, False] Translation: X:-20.89, Y:-3.48, Z:-0.86 [[ 9.99998078e-01 -1.67169234e-03 1.02427208e-03 -2.08913714e+01] [ 1.67302051e-03 9.99997759e-01 -1.29720833e-03 -3.47609591e+00] [-1.02210125e-03 1.29891947e-03 9.99998634e-01 -8.61455620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900418555 meters 0.2518113758117947 Centerline is valid? [False, False] Translation: X:-20.89, Y:-3.47, Z:-0.86 [[ 9.99996338e-01 2.51358002e-03 1.00333227e-03 -2.08907833e+01] [-2.51636299e-03 9.99992964e-01 2.78217759e-03 -3.47499009e+00] [-9.96331986e-04 -2.78469215e-03 9.99995626e-01 -8.62558360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930418555 meters 0.2558951553878244 Centerline is valid? [False, False] Translation: X:-20.86, Y:-3.47, Z:-0.87 [[ 9.99993051e-01 -2.34667075e-03 2.89678681e-03 -2.08643564e+01] [ 2.32615569e-03 9.99972336e-01 7.06517504e-03 -3.47148089e+00] [-2.91328632e-03 -7.05838757e-03 9.99970846e-01 -8.65593108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960418555000004 meters 0.25315234673586445 Centerline is valid? [False, False] Translation: X:-20.89, Y:-3.47, Z:-0.86 [[ 9.99998993e-01 1.05635460e-03 -9.47640912e-04 -2.08927552e+01] [-1.05490444e-03 9.99998274e-01 1.52948956e-03 -3.46889808e+00] [ 9.49254960e-04 -1.52848835e-03 9.99998381e-01 -8.58039845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.990418555 meters 0.25318446018321866 Centerline is valid? [False, False] Translation: X:-20.89, Y:-3.47, Z:-0.86 [[ 9.99998694e-01 -6.83633405e-04 -1.46416966e-03 -2.08897560e+01] [ 6.83364054e-04 9.99999749e-01 -1.84454185e-04 -3.47099417e+00] [ 1.46429540e-03 1.83453383e-04 9.99998911e-01 -8.59604493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020418555 meters 0.254780216404925 Centerline is valid? [False, False] Translation: X:-20.88, Y:-3.47, Z:-0.86 [[ 9.99997612e-01 5.54774665e-04 -2.11372571e-03 -2.08846431e+01] [-5.52910750e-04 9.99999458e-01 8.82297265e-04 -3.47089946e+00] [ 2.11421404e-03 -8.81126457e-04 9.99997377e-01 -8.64417236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050418555 meters 0.2539426034021333 Centerline is valid? [False, False] Translation: X:-20.88, Y:-3.47, Z:-0.87 [[ 9.99997723e-01 5.14490963e-04 -2.07096536e-03 -2.08841712e+01] [-5.13418546e-04 9.99999734e-01 5.18332816e-04 -3.46794538e+00] [ 2.07123148e-03 -5.17268364e-04 9.99997721e-01 -8.65616742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080418555 meters 0.2532657169902399 Centerline is valid? [False, False] Translation: X:-20.88, Y:-3.47, Z:-0.87 [[ 9.99997521e-01 4.54092563e-04 -2.17966871e-03 -2.08832439e+01] [-4.53050422e-04 9.99999783e-01 4.78588904e-04 -3.46836975e+00] [ 2.17988556e-03 -4.77600218e-04 9.99997510e-01 -8.66562243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110418555 meters 0.25197298099202137 Centerline is valid? [False, False] Translation: X:-20.93, Y:-3.47, Z:-0.87 [[ 9.99992738e-01 -1.57815744e-03 -3.46887489e-03 -2.09279136e+01] [ 1.57950950e-03 9.99998678e-01 3.87065323e-04 -3.47164605e+00] [ 3.46825945e-03 -3.92541633e-04 9.99993909e-01 -8.68844631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140418555000004 meters 0.25336500482280505 Centerline is valid? [False, False] Translation: X:-20.93, Y:-3.47, Z:-0.87 [[ 9.99992988e-01 -1.58117372e-03 -3.39469899e-03 -2.09283874e+01] [ 1.58226183e-03 9.99998698e-01 3.17870111e-04 -3.47106717e+00] [ 3.39419197e-03 -3.23239185e-04 9.99994187e-01 -8.68448918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170418555000005 meters 0.2552239170765149 Centerline is valid? [False, False] Translation: X:-20.93, Y:-3.47, Z:-0.87 [[ 9.99929773e-01 -6.69856982e-04 1.18321733e-02 -2.09282339e+01] [ 6.53770658e-04 9.99998857e-01 1.36335645e-03 -3.46783258e+00] [-1.18330731e-02 -1.35552518e-03 9.99929068e-01 -8.72765271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200418555 meters 0.2537311508549042 Centerline is valid? [False, False] Translation: X:-20.93, Y:-3.47, Z:-0.87 [[ 9.99929942e-01 -7.35089565e-04 1.18140221e-02 -2.09282719e+01] [ 7.21182035e-04 9.99999042e-01 1.18142242e-03 -3.46671304e+00] [-1.18148793e-02 -1.17281959e-03 9.99929514e-01 -8.72672744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230418555 meters 0.2550297491396407 Centerline is valid? [False, False] Translation: X:-20.93, Y:-3.47, Z:-0.87 [[ 9.99934202e-01 -1.02096780e-03 1.14258021e-02 -2.09262003e+01] [ 1.01012547e-03 9.99999034e-01 9.54664187e-04 -3.46746243e+00] [-1.14267658e-02 -9.43059879e-04 9.99934268e-01 -8.74248935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260418555 meters 0.252732989784866 Centerline is valid? [False, False] Translation: X:-20.95, Y:-3.47, Z:-0.87 [[ 9.99974257e-01 1.81502703e-03 6.94194888e-03 -2.09504794e+01] [-1.77891637e-03 9.99984874e-01 -5.20444662e-03 -3.46610512e+00] [-6.95129009e-03 5.19196349e-03 9.99962361e-01 -8.69971585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290418555 meters 0.2538473116793676 Centerline is valid? [False, False] Translation: X:-20.95, Y:-3.46, Z:-0.87 [[ 9.99974499e-01 1.70714084e-03 6.93446946e-03 -2.09503349e+01] [-1.66926084e-03 9.99983675e-01 -5.46468667e-03 -3.46449941e+00] [-6.94368524e-03 5.45297188e-03 9.99961024e-01 -8.70276611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320418555 meters 0.25281203388276485 Centerline is valid? [False, False] Translation: X:-20.95, Y:-3.46, Z:-0.87 [[ 9.99974103e-01 1.74787461e-03 6.98130617e-03 -2.09505469e+01] [-1.71003526e-03 9.99983837e-01 -5.42239314e-03 -3.46419676e+00] [-6.99067099e-03 5.41031444e-03 9.99960929e-01 -8.70306455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350418555000005 meters 0.2530771208627824 Centerline is valid? [False, False] Translation: X:-20.95, Y:-3.47, Z:-0.87 [[ 9.99974831e-01 1.71886750e-03 6.88346222e-03 -2.09499480e+01] [-1.68245633e-03 9.99984582e-01 -5.29196063e-03 -3.46559010e+00] [-6.89245228e-03 5.28024631e-03 9.99962306e-01 -8.70772221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380418555 meters 0.25147569568580813 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.47, Z:-0.88 [[ 9.99986157e-01 -2.10425990e-03 4.82265508e-03 -2.09896739e+01] [ 2.13921615e-03 9.99971396e-01 -7.25468128e-03 -3.46849189e+00] [-4.80725140e-03 7.26489756e-03 9.99962055e-01 -8.77034235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410418555 meters 0.25175344090589424 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.47, Z:-0.88 [[ 9.99987061e-01 -1.92560014e-03 4.70856020e-03 -2.09896930e+01] [ 1.95700836e-03 9.99975807e-01 -6.67496666e-03 -3.47176110e+00] [-4.69559297e-03 6.68409499e-03 9.99966637e-01 -8.76361988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440418555 meters 0.2530656075271538 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.48, Z:-0.87 [[ 9.99986050e-01 -1.25658381e-03 5.13030431e-03 -2.09930422e+01] [ 1.28486603e-03 9.99983977e-01 -5.51320691e-03 -3.47579764e+00] [-5.12329430e-03 5.51972175e-03 9.99971642e-01 -8.72841113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470418555 meters 0.25330057188187965 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.48, Z:-0.87 [[ 9.99983906e-01 -1.03213798e-03 5.57870691e-03 -2.09953606e+01] [ 1.05855807e-03 9.99988230e-01 -4.73500514e-03 -3.47951602e+00] [-5.57375407e-03 4.74083432e-03 9.99973229e-01 -8.70843323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500418555 meters 0.25404181758053507 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.48, Z:-0.87 [[ 9.99985163e-01 -9.76969216e-04 5.35905015e-03 -2.09940557e+01] [ 9.99927006e-04 9.99990328e-01 -4.28292370e-03 -3.48249670e+00] [-5.35481404e-03 4.28821882e-03 9.99976468e-01 -8.72191698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530418555000004 meters 0.251868687228325 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.49, Z:-0.87 [[ 9.99987589e-01 -1.00715140e-03 4.87930878e-03 -2.09916931e+01] [ 1.02575024e-03 9.99992213e-01 -3.81077606e-03 -3.48574618e+00] [-4.87543276e-03 3.81573372e-03 9.99980835e-01 -8.74274705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560418555 meters 0.25105924681535047 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.49, Z:-0.88 [[ 9.99985840e-01 -3.57123490e-03 3.94540332e-03 -2.09851005e+01] [ 3.59375505e-03 9.99977208e-01 -5.71567938e-03 -3.49102693e+00] [-3.92490136e-03 5.72977726e-03 9.99975882e-01 -8.80432557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590418555 meters 0.24758323824459025 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.50, Z:-0.88 [[ 9.99975012e-01 -6.35287432e-03 3.10118329e-03 -2.10309382e+01] [ 6.37165507e-03 9.99961192e-01 -6.08415329e-03 -3.49508496e+00] [-3.06241108e-03 6.10376092e-03 9.99976683e-01 -8.81391578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620418555 meters 0.2515585098790285 Centerline is valid? [False, False] Translation: X:-20.98, Y:-3.50, Z:-0.87 [[ 9.99847526e-01 -1.23667490e-02 1.23283516e-02 -2.09769906e+01] [ 1.24250346e-02 9.99911936e-01 -4.66244241e-03 -3.49945391e+00] [-1.22696067e-02 4.81491170e-03 9.99913133e-01 -8.74628754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650418555 meters 0.25573836533634847 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.50, Z:-0.87 [[ 9.99821224e-01 -1.40620796e-02 1.26403103e-02 -2.10274998e+01] [ 1.41101852e-02 9.99893509e-01 -3.72463572e-03 -3.50389242e+00] [-1.25865880e-02 3.90232697e-03 9.99913171e-01 -8.72015056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680418555 meters 0.25038587737360324 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.51, Z:-0.87 [[ 9.99908662e-01 -4.03642226e-03 1.28986205e-02 -2.10037437e+01] [ 4.09118771e-03 9.99982717e-01 -4.22227600e-03 -3.51055693e+00] [-1.28813546e-02 4.27466103e-03 9.99907895e-01 -8.72334822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710418555000004 meters 0.25039573455029374 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.51, Z:-0.88 [[ 9.99914318e-01 -5.20939930e-03 1.20091375e-02 -2.09980070e+01] [ 5.26876407e-03 9.99974031e-01 -4.91697361e-03 -3.51286433e+00] [-1.19832112e-02 4.97982562e-03 9.99915798e-01 -8.77607101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740418555 meters 0.2509132666583029 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.52, Z:-0.88 [[ 9.99920090e-01 -5.31820699e-03 1.14686506e-02 -2.09959240e+01] [ 5.36974321e-03 9.99975603e-01 -4.46755885e-03 -3.51678984e+00] [-1.14446114e-02 4.52878556e-03 9.99924253e-01 -8.78750072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770418555 meters 0.2504334744248776 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.52, Z:-0.88 [[ 9.99922034e-01 -9.81289783e-03 7.72223874e-03 -2.10182738e+01] [ 9.79409207e-03 9.99948988e-01 2.46933386e-03 -3.51976673e+00] [-7.74607613e-03 -2.39350902e-03 9.99967134e-01 -8.76381094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800418555 meters 0.25233500956422866 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.52, Z:-0.88 [[ 9.99918181e-01 -4.07042377e-03 1.21269902e-02 -2.09963163e+01] [ 4.09358324e-03 9.99989844e-01 -1.88553596e-03 -3.52275274e+00] [-1.21191921e-02 1.93502453e-03 9.99924688e-01 -8.79860680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830418555 meters 0.24901359475991755 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.52, Z:-0.88 [[ 9.99950516e-01 -5.56432016e-03 8.24641386e-03 -2.10208575e+01] [ 5.66769224e-03 9.99904988e-01 -1.25654986e-02 -3.52247234e+00] [-8.17571189e-03 1.26116149e-02 9.99887046e-01 -8.75833183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860418555 meters 0.24985213966348196 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.53, Z:-0.88 [[ 9.99966601e-01 -1.57591932e-03 8.01960765e-03 -2.10205991e+01] [ 1.63944070e-03 9.99967290e-01 -7.92035979e-03 -3.52666667e+00] [-8.00686348e-03 7.93324293e-03 9.99936475e-01 -8.75622541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890418555000004 meters 0.25429630684767146 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.53, Z:-0.88 [[ 9.99920652e-01 -3.91267824e-03 1.19741950e-02 -2.09963539e+01] [ 3.92220054e-03 9.99992010e-01 -7.71854556e-04 -3.52725028e+00] [-1.19710793e-02 8.18758504e-04 9.99928009e-01 -8.79373265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920418555000005 meters 0.24940691654759028 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.53, Z:-0.87 [[ 9.99958342e-01 -1.86975400e-03 8.93416240e-03 -2.10240343e+01] [ 1.93852976e-03 9.99968509e-01 -7.69561585e-03 -3.52828875e+00] [-8.91949215e-03 7.71261440e-03 9.99930477e-01 -8.73371330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950418555 meters 0.25193291566739245 Centerline is valid? [False, False] Translation: X:-20.98, Y:-3.53, Z:-0.87 [[ 9.99939861e-01 -1.79383849e-03 1.08192617e-02 -2.09833764e+01] [ 1.89146752e-03 9.99957529e-01 -9.02015941e-03 -3.53197935e+00] [-1.08026215e-02 9.04008123e-03 9.99900785e-01 -8.68390534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980418555 meters 0.25322705820668595 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.53, Z:-0.87 [[ 9.99969569e-01 -4.27156675e-03 6.52792716e-03 -2.10036768e+01] [ 4.27450775e-03 9.99990769e-01 -4.36639457e-04 -3.53327024e+00] [-6.52600177e-03 4.64529845e-04 9.99978598e-01 -8.67715555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010418555 meters 0.251095447291716 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.53, Z:-0.88 [[ 9.99983067e-01 -3.37910099e-03 4.73796893e-03 -2.09926467e+01] [ 3.37520985e-03 9.99993960e-01 8.29023107e-04 -3.53478415e+00] [-4.74074166e-03 -8.13017430e-04 9.99988432e-01 -8.76983600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040418555 meters 0.25782220506355374 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.88 [[ 9.99983431e-01 -3.33914044e-03 4.68905785e-03 -2.09935973e+01] [ 3.33342262e-03 9.99993692e-01 1.22668206e-03 -3.53850545e+00] [-4.69312433e-03 -1.21103112e-03 9.99988254e-01 -8.75017448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070418555 meters 0.24917265684702372 Centerline is valid? [False, False] Translation: X:-21.05, Y:-3.54, Z:-0.87 [[ 9.99968164e-01 -4.66146981e-03 6.47627769e-03 -2.10528474e+01] [ 4.64862061e-03 9.99987200e-01 1.99767937e-03 -3.53860753e+00] [-6.48550691e-03 -1.96751001e-03 9.99977033e-01 -8.65258678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100418555000005 meters 0.25184686844986953 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.54, Z:-0.86 [[ 9.99970855e-01 -1.69708009e-03 7.44377804e-03 -2.10067765e+01] [ 1.67321549e-03 9.99993445e-01 3.21103590e-03 -3.53851932e+00] [-7.44917863e-03 -3.19848727e-03 9.99967139e-01 -8.64608643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.130418555 meters 0.25032828715835514 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.54, Z:-0.86 [[ 9.99996344e-01 2.31512776e-03 1.39728595e-03 -2.10270936e+01] [-2.31320007e-03 9.99996373e-01 -1.37963784e-03 -3.53572146e+00] [-1.40047492e-03 1.37640059e-03 9.99998072e-01 -8.62981921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160418555 meters 0.24899235446464849 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.54, Z:-0.86 [[ 9.99996161e-01 2.41938862e-03 1.35039142e-03 -2.10272697e+01] [-2.41773223e-03 9.99996325e-01 -1.22688697e-03 -3.53643233e+00] [-1.35335478e-03 1.22361738e-03 9.99998336e-01 -8.62383023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190418555 meters 0.25497867054458967 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.54, Z:-0.86 [[ 9.99996324e-01 2.39615875e-03 1.26881069e-03 -2.10269256e+01] [-2.39462625e-03 9.99996403e-01 -1.20797458e-03 -3.53670929e+00] [-1.27170063e-03 1.20493181e-03 9.99998465e-01 -8.62538942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220418555 meters 0.25015309284095455 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.54, Z:-0.86 [[ 9.99996491e-01 2.39097693e-03 1.14106334e-03 -2.10265837e+01] [-2.38964920e-03 9.99996468e-01 -1.16353053e-03 -3.53721627e+00] [-1.14384129e-03 1.16079970e-03 9.99998672e-01 -8.62452607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250418555 meters 0.2515692152123046 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.54, Z:-0.87 [[ 9.99984448e-01 -4.53771680e-04 5.55862791e-03 -2.10000118e+01] [ 4.26751219e-04 9.99988093e-01 4.86121667e-03 -3.53997782e+00] [-5.56076761e-03 -4.85876892e-03 9.99972735e-01 -8.68740096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280418555000004 meters 0.2484676793766213 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.54, Z:-0.87 [[ 9.99991802e-01 -1.70304158e-03 3.67361050e-03 -2.10412853e+01] [ 1.68363383e-03 9.99984645e-01 5.27965763e-03 -3.54082925e+00] [-3.68254557e-03 -5.27342933e-03 9.99979315e-01 -8.73185372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.310418555 meters 0.25621510605409087 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.54, Z:-0.88 [[ 9.99972105e-01 2.25980016e-03 7.11918318e-03 -2.10157689e+01] [-2.24855108e-03 9.99996212e-01 -1.58771623e-03 -3.53994566e+00] [-7.12274413e-03 1.57166409e-03 9.99973398e-01 -8.78258992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340418555 meters 0.25155580146387724 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.54, Z:-0.88 [[ 9.99970799e-01 2.33734030e-03 7.27583186e-03 -2.10169113e+01] [-2.32542602e-03 9.99995942e-01 -1.64554466e-03 -3.53906921e+00] [-7.27964854e-03 1.62857720e-03 9.99972177e-01 -8.77012227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370418555 meters 0.2511669223677097 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.54, Z:-0.88 [[ 9.99970390e-01 2.35841972e-03 7.32510970e-03 -2.10168665e+01] [-2.34350820e-03 9.99995166e-01 -2.04358801e-03 -3.53563375e+00] [-7.32989393e-03 2.02636105e-03 9.99971083e-01 -8.77276893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400418555 meters 0.24995077446584676 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.54, Z:-0.88 [[ 9.99970140e-01 2.53081108e-03 7.30171080e-03 -2.10172153e+01] [-2.51976276e-03 9.99995667e-01 -1.52191585e-03 -3.53877777e+00] [-7.30553084e-03 1.50347183e-03 9.99972184e-01 -8.76549712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430418555 meters 0.24911320599315456 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.54, Z:-0.87 [[ 9.99987201e-01 -4.03705112e-03 3.04946968e-03 -2.10434482e+01] [ 4.02928292e-03 9.99988633e-01 2.54925489e-03 -3.54383966e+00] [-3.05972649e-03 -2.53693509e-03 9.99992101e-01 -8.68357887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460418555000004 meters 0.25341785318694665 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.54, Z:-0.88 [[ 9.99969406e-01 5.17652026e-03 5.86439809e-03 -2.10158124e+01] [-5.18193753e-03 9.99986161e-01 9.08938323e-04 -3.54240510e+00] [-5.85961179e-03 -9.39299460e-04 9.99982391e-01 -8.75315853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.490418555 meters 0.25341785318694665 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.54, Z:-0.88 [[ 9.99969406e-01 5.17652026e-03 5.86439809e-03 -2.10158124e+01] [-5.18193753e-03 9.99986161e-01 9.08938323e-04 -3.54240510e+00] [-5.85961179e-03 -9.39299460e-04 9.99982391e-01 -8.75315853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520418555 meters 0.2501549283551307 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.54, Z:-0.87 [[ 9.99925310e-01 7.87302439e-03 -9.34822851e-03 -2.10174120e+01] [-7.82405046e-03 9.99955537e-01 5.26391123e-03 -3.54148605e+00] [ 9.38925576e-03 -5.19037706e-03 9.99942449e-01 -8.69197068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550418555 meters 0.25592217520058774 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.54, Z:-0.87 [[ 9.99948833e-01 3.59834256e-03 -9.45426771e-03 -2.10167908e+01] [-3.58779209e-03 9.99992922e-01 1.13267166e-03 -3.54266167e+00] [ 9.45827653e-03 -1.09869376e-03 9.99954666e-01 -8.69779884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580418555 meters 0.2508782887101073 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.55, Z:-0.87 [[ 9.99988618e-01 -1.54636199e-03 -4.51352267e-03 -2.09917641e+01] [ 1.56708636e-03 9.99988230e-01 4.59169961e-03 -3.54573331e+00] [ 4.50636912e-03 -4.59872043e-03 9.99979272e-01 -8.74902671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610418555 meters 0.2561319235205719 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.87 [[ 9.99990576e-01 -1.39887104e-03 -4.10980032e-03 -2.09943877e+01] [ 1.41628904e-03 9.99990015e-01 4.23831392e-03 -3.54143611e+00] [ 4.10383044e-03 -4.24409465e-03 9.99982573e-01 -8.72420921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640418555000004 meters 0.25627602767987756 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.54, Z:-0.87 [[ 9.99990853e-01 -1.32520527e-03 -4.06655665e-03 -2.09953406e+01] [ 1.34336109e-03 9.99989129e-01 4.46518846e-03 -3.54320572e+00] [ 4.06059515e-03 -4.47061047e-03 9.99981762e-01 -8.70989689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.670418555 meters 0.255108797197363 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.87 [[ 9.99990496e-01 -1.39974082e-03 -4.12909731e-03 -2.09946393e+01] [ 1.41814127e-03 9.99989063e-01 4.45673212e-03 -3.54395103e+00] [ 4.12281389e-03 -4.46254540e-03 9.99981544e-01 -8.71894277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700418555 meters 0.2500222500385875 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.87 [[ 9.99989737e-01 -1.57200182e-03 -4.24916678e-03 -2.09935752e+01] [ 1.58899613e-03 9.99990741e-01 3.99903307e-03 -3.54137425e+00] [ 4.24284096e-03 -4.00574394e-03 9.99982976e-01 -8.73192479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730418555 meters 0.25189415590618197 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.54, Z:-0.87 [[ 9.99991620e-01 -1.47408580e-03 -3.81920096e-03 -2.09959100e+01] [ 1.48779628e-03 9.99992451e-01 3.58953141e-03 -3.53731980e+00] [ 3.81388085e-03 -3.59518352e-03 9.99986264e-01 -8.70983745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760418555 meters 0.25142905912573343 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.87 [[ 9.99988634e-01 -2.11698947e-03 -4.27201062e-03 -2.09923126e+01] [ 2.13033533e-03 9.99992858e-01 3.12189491e-03 -3.53833193e+00] [ 4.26537109e-03 -3.13096024e-03 9.99986002e-01 -8.74664961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790418555 meters 0.2505972609036565 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.88 [[ 9.99983009e-01 -3.08381414e-03 -4.94684709e-03 -2.09870887e+01] [ 3.09315102e-03 9.99993447e-01 1.88090253e-03 -3.53514820e+00] [ 4.94101432e-03 -1.89617192e-03 9.99985995e-01 -8.79739402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820418555 meters 0.25115489696283866 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.87 [[ 9.99990225e-01 -1.73427440e-03 -4.06717639e-03 -2.09935074e+01] [ 1.74712871e-03 9.99993484e-01 3.15907952e-03 -3.53512625e+00] [ 4.06167118e-03 -3.16615452e-03 9.99986739e-01 -8.74103046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850418555000005 meters 0.2531062400412046 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.53, Z:-0.87 [[ 9.99993775e-01 -2.58592052e-03 -2.40053361e-03 -2.10035455e+01] [ 2.59089456e-03 9.99994499e-01 2.07126316e-03 -3.53240459e+00] [ 2.39516428e-03 -2.07746980e-03 9.99994974e-01 -8.65833373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880418555 meters 0.25403164899394975 Centerline is valid? [False, False] Translation: X:-20.97, Y:-3.53, Z:-0.87 [[ 9.99994119e-01 2.25968508e-03 -2.57985422e-03 -2.09730414e+01] [-2.27028495e-03 9.99988964e-01 -4.11320054e-03 -3.53375824e+00] [ 2.57053121e-03 4.11903336e-03 9.99988213e-01 -8.71750034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910418555 meters 0.25225615186532024 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.87 [[ 9.99962044e-01 -3.22084709e-03 -8.09548858e-03 -2.09912516e+01] [ 3.22926860e-03 9.99994258e-01 1.02741600e-03 -3.53688696e+00] [ 8.09213295e-03 -1.05351951e-03 9.99966703e-01 -8.70944349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940418555 meters 0.2506063884601665 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.53, Z:-0.87 [[ 9.99972998e-01 -3.79400444e-04 -7.33884973e-03 -2.09968884e+01] [ 4.05005091e-04 9.99993836e-01 3.48774673e-03 -3.53270595e+00] [ 7.33748123e-03 -3.49062483e-03 9.99966988e-01 -8.66043899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970418555 meters 0.2544160666655465 Centerline is valid? [False, False] Translation: X:-20.98, Y:-3.53, Z:-0.86 [[ 9.99990810e-01 -4.03283921e-03 -1.45485877e-03 -2.09800358e+01] [ 4.04561851e-03 9.99952294e-01 8.89056621e-03 -3.53442247e+00] [ 1.41893514e-03 -8.89637030e-03 9.99959420e-01 -8.64012685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000418555 meters 0.25148928185033637 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.54, Z:-0.87 [[ 9.99970594e-01 -2.33298485e-03 -7.30538744e-03 -2.09957010e+01] [ 2.34870928e-03 9.99994942e-01 2.14460374e-03 -3.53814939e+00] [ 7.30034717e-03 -2.16169890e-03 9.99971016e-01 -8.67180632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030418555000004 meters 0.25016838929736246 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.87 [[ 9.99961104e-01 -3.37978921e-03 -8.14662293e-03 -2.09900259e+01] [ 3.38967929e-03 9.99993534e-01 1.20050787e-03 -3.53814862e+00] [ 8.14251279e-03 -1.22807562e-03 9.99966095e-01 -8.71977318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060418555 meters 0.25608113359557116 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.54, Z:-0.87 [[ 9.99955935e-01 3.14329637e-03 -8.84582815e-03 -2.10210050e+01] [-3.15350136e-03 9.99994378e-01 -1.13993885e-03 -3.54033907e+00] [ 8.84219525e-03 1.16778395e-03 9.99960225e-01 -8.65751384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090418555 meters 0.2545363843376554 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.54, Z:-0.86 [[ 9.99994306e-01 -1.41951047e-03 -3.06164208e-03 -2.10059677e+01] [ 1.43022664e-03 9.99992849e-01 3.50079193e-03 -3.54371038e+00] [ 3.05665078e-03 -3.50515084e-03 9.99989185e-01 -8.61129211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120418555 meters 0.24986543745285586 Centerline is valid? [False, False] Translation: X:-21.05, Y:-3.55, Z:-0.86 [[ 9.99990462e-01 -2.33734908e-03 -3.68946046e-03 -2.10507804e+01] [ 2.35501589e-03 9.99985748e-01 4.79139408e-03 -3.54537921e+00] [ 3.67820871e-03 -4.80003712e-03 9.99981715e-01 -8.64690898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150418555 meters 0.2535541858014532 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.87 [[ 9.99984255e-01 -2.56689967e-03 -4.99007571e-03 -2.09932132e+01] [ 2.57699405e-03 9.99994644e-01 2.01751402e-03 -3.54436195e+00] [ 4.98487023e-03 -2.03034165e-03 9.99985514e-01 -8.72433369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180418555 meters 0.2531417285301429 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.55, Z:-0.88 [[ 9.99974018e-01 -4.02375443e-03 -5.98108492e-03 -2.09861464e+01] [ 4.02818452e-03 9.99991621e-01 7.28821778e-04 -3.54604123e+00] [ 5.97810221e-03 -7.52895755e-04 9.99981848e-01 -8.78520245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210418555000004 meters 0.2531773792396956 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.55, Z:-0.88 [[ 9.99975561e-01 -3.85624365e-03 -5.83157565e-03 -2.09871096e+01] [ 3.86196291e-03 9.99992072e-01 9.69796464e-04 -3.54659204e+00] [ 5.82778965e-03 -9.92294092e-04 9.99982526e-01 -8.77825100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240418555 meters 0.2528233255862166 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.54, Z:-0.87 [[ 9.99983239e-01 -2.57081440e-03 -5.18767497e-03 -2.09929876e+01] [ 2.58211263e-03 9.99994307e-01 2.17237794e-03 -3.54489228e+00] [ 5.18206065e-03 -2.18573670e-03 9.99984184e-01 -8.72459171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270418555 meters 0.24989580853754978 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.55, Z:-0.87 [[ 9.99944980e-01 1.95565893e-04 -1.04880106e-02 -2.10128654e+01] [-2.34199144e-04 9.99993192e-01 -3.68246166e-03 -3.54517419e+00] [ 1.04872190e-02 3.68471534e-03 9.99938219e-01 -8.72440611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300418555 meters 0.2508733610788577 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.55, Z:-0.88 [[ 9.99984117e-01 -3.45761436e-03 4.45094779e-03 -2.10110605e+01] [ 3.49420086e-03 9.99959957e-01 -8.23857183e-03 -3.55028426e+00] [-4.42228375e-03 8.25399348e-03 9.99956157e-01 -8.76943021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330418555 meters 0.25386455193482976 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.55, Z:-0.87 [[ 9.99987579e-01 6.16053370e-04 4.94592507e-03 -2.10139464e+01] [-5.96139154e-04 9.99991715e-01 -4.02685352e-03 -3.55010074e+00] [-4.94836485e-03 4.02385504e-03 9.99979661e-01 -8.74288713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360418555 meters 0.25475688957785414 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.55, Z:-0.87 [[ 9.99975136e-01 4.85476658e-03 5.11449660e-03 -2.10149257e+01] [-4.85685068e-03 9.99988127e-01 3.95147077e-04 -3.55070254e+00] [-5.11251753e-03 -4.19977599e-04 9.99986843e-01 -8.73506515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390418555000004 meters 0.24970057529220535 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.56, Z:-0.88 [[ 9.99989753e-01 -4.52666573e-03 -5.22608390e-05 -2.10271662e+01] [ 4.52678502e-03 9.99986457e-01 2.56807866e-03 -3.55779502e+00] [ 4.06352976e-05 -2.56828892e-03 9.99996701e-01 -8.80074269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420418555 meters 0.24937431712213726 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.56, Z:-0.88 [[ 9.99989739e-01 -4.51508910e-03 -3.69082554e-04 -2.10260040e+01] [ 4.51624816e-03 9.99984674e-01 3.20230583e-03 -3.56237001e+00] [ 3.54618202e-04 -3.20393983e-03 9.99994804e-01 -8.80760114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450418555 meters 0.2504023403138099 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.56, Z:-0.87 [[ 9.99994708e-01 -3.20537956e-03 5.56981282e-04 -2.10330273e+01] [ 3.20272749e-03 9.99983831e-01 4.69888116e-03 -3.56360873e+00] [-5.72033974e-04 -4.69707243e-03 9.99988805e-01 -8.73814729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480418555 meters 0.256211952272744 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.56, Z:-0.88 [[ 9.99990648e-01 1.76963146e-03 3.94629001e-03 -2.10084422e+01] [-1.76553140e-03 9.99997898e-01 -1.04220724e-03 -3.56355587e+00] [-3.94812604e-03 1.03523019e-03 9.99991670e-01 -8.78218918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510418555 meters 0.2518055583192494 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.57, Z:-0.88 [[ 9.99994664e-01 -6.27780898e-04 3.20604870e-03 -2.10026141e+01] [ 6.36810648e-04 9.99995832e-01 -2.81622944e-03 -3.56947983e+00] [-3.20426736e-03 2.81825606e-03 9.99990895e-01 -8.83789119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540418555 meters 0.2534921349044483 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.57, Z:-0.89 [[ 9.99995010e-01 -2.35859069e-03 2.10150481e-03 -2.09952362e+01] [ 2.36679006e-03 9.99989564e-01 -3.90775684e-03 -3.57389016e+00] [-2.09226608e-03 3.91271117e-03 9.99990157e-01 -8.90861785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570418555 meters 0.24984754376811616 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.58, Z:-0.89 [[ 9.99995405e-01 -2.21901380e-03 2.06544617e-03 -2.09955886e+01] [ 2.22643018e-03 9.99991058e-01 -3.59534598e-03 -3.57501774e+00] [-2.05744958e-03 3.59992803e-03 9.99991404e-01 -8.90280614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600418555000005 meters 0.2498749673520361 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.58, Z:-0.88 [[ 9.99987081e-01 -3.46859812e-03 3.71573405e-03 -2.10071278e+01] [ 3.48538414e-03 9.99983708e-01 -4.52064244e-03 -3.57882843e+00] [-3.69999322e-03 4.53353480e-03 9.99982878e-01 -8.79473132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.630418555 meters 0.25902172521266587 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.59, Z:-0.88 [[ 9.99968754e-01 -6.61764615e-03 4.32401789e-03 -2.10116595e+01] [ 6.64722096e-03 9.99954366e-01 -6.86146546e-03 -3.58632669e+00] [-4.27841382e-03 6.88999377e-03 9.99967111e-01 -8.75313728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660418555 meters 0.2499931419204188 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.59, Z:-0.87 [[ 9.99957552e-01 -9.18601195e-03 7.14646167e-04 -2.10325889e+01] [ 9.18448784e-03 9.99955601e-01 2.10749375e-03 -3.58884626e+00] [-7.33973901e-04 -2.10084063e-03 9.99997524e-01 -8.74948128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690418555 meters 0.2560993681053191 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.59, Z:-0.88 [[ 9.99984845e-01 -4.84402415e-03 2.61625424e-03 -2.10034157e+01] [ 4.85402787e-03 9.99980881e-01 -3.83096096e-03 -3.59403246e+00] [-2.59764695e-03 3.84360227e-03 9.99989239e-01 -8.82915739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720418555 meters 0.26029313883640565 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.60, Z:-0.88 [[ 9.99957926e-01 -8.79183932e-03 2.61728447e-03 -2.10038475e+01] [ 8.81068486e-03 9.99934698e-01 -7.27813822e-03 -3.59924996e+00] [-2.55312534e-03 7.30089207e-03 9.99970089e-01 -8.82172937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750418555 meters 0.2504704561810516 Centerline is valid? [False, False] Translation: X:-21.05, Y:-3.60, Z:-0.88 [[ 9.99959411e-01 -8.73055110e-03 2.22569817e-03 -2.10510743e+01] [ 8.74050242e-03 9.99951670e-01 -4.50128658e-03 -3.60168459e+00] [-2.18629189e-03 4.52055760e-03 9.99987392e-01 -8.82546092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780418555000004 meters 0.25231561221351767 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.60, Z:-0.89 [[ 9.99982629e-01 2.06234408e-03 5.52163742e-03 -2.10221180e+01] [-2.04325346e-03 9.99991924e-01 -3.46083131e-03 -3.60441622e+00] [-5.52873025e-03 3.44948909e-03 9.99978767e-01 -8.93200943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.810418555 meters 0.2724921784702169 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.61, Z:-0.90 [[ 9.99989276e-01 -3.47779879e-04 4.61811550e-03 -2.10160567e+01] [ 3.71241949e-04 9.99987025e-01 -5.08055742e-03 -3.61210243e+00] [-4.61628866e-03 5.08221737e-03 9.99976430e-01 -8.98723666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840418555 meters 0.25187459284989333 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.62, Z:-0.90 [[ 9.99991722e-01 -6.25476621e-04 4.02046416e-03 -2.10135556e+01] [ 6.43252745e-04 9.99990018e-01 -4.42163941e-03 -3.61956905e+00] [-4.01765839e-03 4.42418898e-03 9.99982142e-01 -9.00286352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870418555 meters 0.2611899969311693 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.62, Z:-0.89 [[ 9.99987264e-01 9.85347416e-04 4.94978648e-03 -2.10209625e+01] [-9.72288817e-04 9.99996043e-01 -2.63992857e-03 -3.62110664e+00] [-4.95236814e-03 2.63508232e-03 9.99984265e-01 -8.92906023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900418555 meters 0.2573694247691822 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.62, Z:-0.89 [[ 9.99986773e-01 1.03167151e-03 5.03870715e-03 -2.10225032e+01] [-1.02054095e-03 9.99997035e-01 -2.21108427e-03 -3.62448319e+00] [-5.04097333e-03 2.20591281e-03 9.99984861e-01 -8.90614178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930418555 meters 0.25459732706734195 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.64, Z:-0.90 [[ 9.99990546e-01 -1.56367492e-03 4.05745126e-03 -2.10165962e+01] [ 1.57850934e-03 9.99992073e-01 -3.65546876e-03 -3.63535002e+00] [-4.05170313e-03 3.66183893e-03 9.99985087e-01 -8.95724534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960418555000004 meters 0.2606335947706678 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.64, Z:-0.90 [[ 9.99995228e-01 1.24576389e-04 3.08671384e-03 -2.10095710e+01] [-1.20586457e-04 9.99999157e-01 -1.29276707e-03 -3.64089396e+00] [-3.08687229e-03 1.29238869e-03 9.99994400e-01 -9.02566752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.990418555 meters 0.2627739760001201 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.64, Z:-0.90 [[ 9.99992367e-01 1.50344941e-03 3.60624322e-03 -2.10135160e+01] [-1.50448056e-03 9.99998828e-01 2.83239267e-04 -3.64250520e+00] [-3.60581316e-03 -2.88662628e-04 9.99993457e-01 -8.99531933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020418555 meters 0.26063821746982885 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.65, Z:-0.90 [[ 9.99990386e-01 -2.44493980e-03 3.63999064e-03 -2.10144472e+01] [ 2.45678291e-03 9.99991692e-01 -3.25270247e-03 -3.64629815e+00] [-3.63200774e-03 3.26161387e-03 9.99988085e-01 -8.98184021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050418555 meters 0.25917283074101843 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.65, Z:-0.89 [[ 9.99975233e-01 -5.67424200e-03 4.16372721e-03 -2.10185477e+01] [ 5.69834298e-03 9.99966947e-01 -5.79946801e-03 -3.65312814e+00] [-4.13068200e-03 5.82305072e-03 9.99974514e-01 -8.94383206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080418555 meters 0.2618443853578132 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.66, Z:-0.89 [[ 9.99989630e-01 -1.77078615e-03 4.19571191e-03 -2.10192627e+01] [ 1.77495960e-03 9.99997934e-01 -9.91178305e-04 -3.65863824e+00] [-4.19394808e-03 9.98615246e-04 9.99990707e-01 -8.93903204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110418555 meters 0.26337652655094596 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.66, Z:-0.90 [[ 9.99991426e-01 -1.80836837e-03 3.72529598e-03 -2.10173096e+01] [ 1.80913076e-03 9.99998343e-01 -2.01293056e-04 -3.66428771e+00] [-3.72492579e-03 2.08030878e-04 9.99993041e-01 -8.95475971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140418555000004 meters 0.2611330247182236 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.67, Z:-0.89 [[ 9.99992368e-01 -1.86063727e-03 3.43543395e-03 -2.10173151e+01] [ 1.85918730e-03 9.99998181e-01 4.25209504e-04 -3.67106193e+00] [-3.43621886e-03 -4.18819143e-04 9.99994008e-01 -8.94217015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.170418555 meters 0.2545123574798698 Centerline is valid? [False, False] Translation: X:-20.98, Y:-3.68, Z:-0.89 [[ 9.99981479e-01 -1.59155201e-03 5.87445365e-03 -2.09802990e+01] [ 1.60048619e-03 9.99997569e-01 -1.51646526e-03 -3.67503656e+00] [-5.87202584e-03 1.52583916e-03 9.99981595e-01 -8.86089612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200418555 meters 0.2629296373233162 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.67, Z:-0.88 [[ 9.99988491e-01 4.70313043e-03 9.48218790e-04 -2.10067417e+01] [-4.69988968e-03 9.99983204e-01 -3.39146739e-03 -3.67091568e+00] [-9.64153378e-04 3.38697183e-03 9.99993799e-01 -8.79712060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230418555 meters 0.2588356350940607 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.67, Z:-0.88 [[ 9.99997797e-01 1.22571707e-03 -1.70422034e-03 -2.10287890e+01] [-1.21716989e-03 9.99986723e-01 5.00732584e-03 -3.67294828e+00] [ 1.71033528e-03 -5.00524048e-03 9.99986011e-01 -8.79120269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260418555 meters 0.26714192239159995 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.68, Z:-0.89 [[ 9.99991566e-01 3.95436899e-03 -1.10908317e-03 -2.09976009e+01] [-3.95765147e-03 9.99987748e-01 -2.97322114e-03 -3.67659804e+00] [ 1.09731237e-03 2.97758543e-03 9.99994965e-01 -8.88386730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290418555 meters 0.2556903690799277 Centerline is valid? [False, False] Translation: X:-20.99, Y:-3.68, Z:-0.89 [[ 9.99995462e-01 -2.00953467e-03 -2.24441750e-03 -2.09911451e+01] [ 1.99059989e-03 9.99962679e-01 -8.40700083e-03 -3.68295227e+00] [ 2.26122790e-03 8.40249495e-03 9.99962142e-01 -8.92775222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320418555 meters 0.26459905076537393 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.69, Z:-0.89 [[ 9.99998032e-01 -9.65122845e-04 -1.73318227e-03 -2.09969326e+01] [ 9.53250732e-04 9.99976168e-01 -6.83770422e-03 -3.69016458e+00] [ 1.73974019e-03 6.83603861e-03 9.99975121e-01 -8.86475128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350418555000005 meters 0.25819005074822626 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.69, Z:-0.89 [[ 9.99993149e-01 3.41530320e-03 -1.42722339e-03 -2.09986061e+01] [-3.41842662e-03 9.99991755e-01 -2.19178035e-03 -3.69180136e+00] [ 1.41972603e-03 2.19664419e-03 9.99996580e-01 -8.85345939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380418555 meters 0.2546919083259563 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.69, Z:-0.89 [[ 9.99992613e-01 -1.65350743e-03 -3.46984887e-03 -2.10162638e+01] [ 1.67127347e-03 9.99985478e-01 5.12348208e-03 -3.69371484e+00] [ 3.46132677e-03 -5.12924330e-03 9.99980855e-01 -8.90163508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410418555 meters 0.2546919083259563 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.69, Z:-0.89 [[ 9.99992613e-01 -1.65350743e-03 -3.46984887e-03 -2.10162638e+01] [ 1.67127347e-03 9.99985478e-01 5.12348208e-03 -3.69371484e+00] [ 3.46132677e-03 -5.12924330e-03 9.99980855e-01 -8.90163508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440418555 meters 0.2621544090914288 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.70, Z:-0.89 [[ 9.99962201e-01 1.34197764e-03 -8.59049267e-03 -2.10388859e+01] [-1.33818404e-03 9.99999005e-01 4.47337454e-04 -3.69674567e+00] [ 8.59108443e-03 -4.35824884e-04 9.99963001e-01 -8.87548890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470418555 meters 0.2644037977049835 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.70, Z:-0.88 [[ 9.99946520e-01 -6.23672639e-03 -8.24981199e-03 -2.10427732e+01] [ 6.18057716e-03 9.99957683e-01 -6.81419642e-03 -3.70265253e+00] [ 8.29196115e-03 6.76284340e-03 9.99942752e-01 -8.83043421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500418555 meters 0.260836806265501 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.71, Z:-0.88 [[ 9.99963146e-01 -1.78597722e-03 -8.39746160e-03 -2.10426724e+01] [ 1.77044563e-03 9.99996709e-01 -1.85662711e-03 -3.70737160e+00] [ 8.40074986e-03 1.84169143e-03 9.99963017e-01 -8.82820339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530418555000004 meters 0.26362024022417874 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.71, Z:-0.89 [[ 9.99995370e-01 1.23513938e-03 2.78119765e-03 -2.10730348e+01] [-1.24122811e-03 9.99996835e-01 2.18858343e-03 -3.70553008e+00] [-2.77848564e-03 -2.19202540e-03 9.99993738e-01 -8.93443708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560418555 meters 0.2642742682580593 Centerline is valid? [False, False] Translation: X:-21.06, Y:-3.71, Z:-0.90 [[ 9.99997302e-01 1.60234263e-03 1.68161315e-03 -2.10642406e+01] [-1.60813773e-03 9.99992754e-01 3.45048284e-03 -3.71031294e+00] [-1.67607211e-03 -3.45317779e-03 9.99992633e-01 -9.02090803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590418555 meters 0.2607090918168223 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.71, Z:-0.90 [[ 9.99982957e-01 4.38620340e-03 -3.85323455e-03 -2.10892482e+01] [-4.39259479e-03 9.99988988e-01 -1.65181357e-03 -3.70757600e+00] [ 3.84594693e-03 1.66871112e-03 9.99991212e-01 -8.96517656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620418555 meters 0.2673195688877048 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.71, Z:-0.90 [[ 9.99991529e-01 -1.77472150e-03 3.71389523e-03 -2.10723550e+01] [ 1.77866579e-03 9.99997857e-01 -1.05900137e-03 -3.71290311e+00] [-3.71200784e-03 1.06559818e-03 9.99992543e-01 -8.97182978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650418555 meters 0.2651189157935522 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.71, Z:-0.89 [[ 9.99991324e-01 -1.65298495e-03 3.82352891e-03 -2.10741121e+01] [ 1.65787881e-03 9.99997810e-01 -1.27711761e-03 -3.71252259e+00] [-3.82140948e-03 1.28344548e-03 9.99991875e-01 -8.94317963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680418555 meters 0.26221638693714167 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.70, Z:-0.90 [[ 9.99954306e-01 8.94989819e-03 -3.35948039e-03 -2.10904761e+01] [-8.94447028e-03 9.99958673e-01 1.62726343e-03 -3.70401366e+00] [ 3.37390540e-03 -1.59714030e-03 9.99993033e-01 -8.95950544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710418555000004 meters 0.2617882083923471 Centerline is valid? [False, False] Translation: X:-21.05, Y:-3.70, Z:-0.90 [[ 9.99951616e-01 7.28990103e-03 -6.60483412e-03 -2.10537855e+01] [-7.23767064e-03 9.99942620e-01 7.89759252e-03 -3.70298719e+00] [ 6.66202780e-03 -7.84940679e-03 9.99947001e-01 -9.03294379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740418555 meters 0.2618778263319635 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.70, Z:-0.90 [[ 9.99925284e-01 1.17773429e-02 -3.27435299e-03 -2.10395160e+01] [-1.17778121e-02 9.99930631e-01 -1.24041840e-04 -3.70197199e+00] [ 3.27266497e-03 1.62597287e-04 9.99994632e-01 -8.96960563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770418555 meters 0.25282639854673855 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.70, Z:-0.89 [[ 9.99914179e-01 1.28575696e-02 -2.51352829e-03 -2.10442822e+01] [-1.28571256e-02 9.99917325e-01 1.92748730e-04 -3.69784451e+00] [ 2.51579876e-03 -1.60415439e-04 9.99996823e-01 -8.92767282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800418555 meters 0.2525061996545885 Centerline is valid? [False, False] Translation: X:-21.06, Y:-3.69, Z:-0.90 [[ 9.99870315e-01 1.41399279e-02 -7.70820027e-03 -2.10572121e+01] [-1.40448549e-02 9.99826304e-01 1.22516788e-02 -3.69296373e+00] [ 7.88009924e-03 -1.21418294e-02 9.99895235e-01 -8.96896368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830418555 meters 0.25795980798452894 Centerline is valid? [False, False] Translation: X:-21.06, Y:-3.69, Z:-0.90 [[ 9.99871095e-01 1.40596327e-02 -7.75377166e-03 -2.10568590e+01] [-1.39710272e-02 9.99837804e-01 1.13655741e-02 -3.68793384e+00] [ 7.91230982e-03 -1.12557809e-02 9.99905347e-01 -8.96838930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860418555 meters 0.251810583210892 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.68, Z:-0.90 [[ 9.99755769e-01 2.16779726e-02 -4.29750490e-03 -2.10375827e+01] [-2.16487086e-02 9.99742900e-01 6.74295117e-03 -3.68264440e+00] [ 4.44257353e-03 -6.64826890e-03 9.99968032e-01 -8.95497175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890418555000004 meters 0.25114192099869337 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.67, Z:-0.89 [[ 9.99929967e-01 1.01146045e-02 -6.14460275e-03 -2.10357008e+01] [-1.00354421e-02 9.99867968e-01 1.27802919e-02 -3.67453320e+00] [ 6.27305907e-03 -1.27177331e-02 9.99899449e-01 -8.93462917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920418555 meters 0.24916437684659984 Centerline is valid? [False, False] Translation: X:-21.05, Y:-3.67, Z:-0.90 [[ 9.99965347e-01 8.27260475e-03 -9.31809737e-04 -2.10502534e+01] [-8.26721868e-03 9.99949904e-01 5.64291747e-03 -3.66664758e+00] [ 9.78444683e-04 -5.63501846e-03 9.99983644e-01 -9.03021304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950418555 meters 0.2545558676588551 Centerline is valid? [False, False] Translation: X:-21.05, Y:-3.66, Z:-0.90 [[ 9.99965718e-01 8.23843264e-03 -8.31522004e-04 -2.10501608e+01] [-8.23445882e-03 9.99955171e-01 4.67431372e-03 -3.66052754e+00] [ 8.69993747e-04 -4.66730634e-03 9.99988730e-01 -9.03517941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980418555 meters 0.2504640851015759 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.66, Z:-0.90 [[ 9.99887020e-01 1.38871099e-02 5.75286989e-03 -2.10351390e+01] [-1.39890475e-02 9.99738761e-01 1.80753138e-02 -3.65673564e+00] [-5.50035315e-03 -1.81537489e-02 9.99820078e-01 -9.00093944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010418555 meters 0.2504155495535975 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.65, Z:-0.90 [[ 9.99936227e-01 9.70160359e-03 5.78103163e-03 -2.10347456e+01] [-9.77736291e-03 9.99864756e-01 1.32239145e-02 -3.65263203e+00] [-5.65195661e-03 -1.32795944e-02 9.99895848e-01 -9.00920386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040418555 meters 0.2539834875557746 Centerline is valid? [False, False] Translation: X:-21.05, Y:-3.65, Z:-0.91 [[ 9.99915233e-01 1.29696023e-02 -1.14736325e-03 -2.10460950e+01] [-1.29612234e-02 9.99891277e-01 7.03138416e-03 -3.64684749e+00] [ 1.23843276e-03 -7.01591690e-03 9.99974621e-01 -9.06771324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070418555 meters 0.2522829710539566 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.64, Z:-0.91 [[ 9.99893512e-01 1.40863962e-02 3.81279407e-03 -2.10269778e+01] [-1.41470611e-02 9.99765730e-01 1.63812708e-02 -3.64275926e+00] [-3.58114777e-03 -1.64334663e-02 9.99858548e-01 -9.06008815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100418555000005 meters 0.25448899117046375 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.64, Z:-0.90 [[ 9.99909524e-01 7.71767426e-03 1.10173227e-02 -2.10159222e+01] [-7.91447690e-03 9.99807873e-01 1.79326090e-02 -3.64196877e+00] [-1.08768079e-02 -1.80181829e-02 9.99778496e-01 -8.99290321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.130418555 meters 0.25530192147468445 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.64, Z:-0.89 [[ 9.99937195e-01 9.45611295e-03 6.01560166e-03 -2.10406876e+01] [-9.52242157e-03 9.99893147e-01 1.10913231e-02 -3.63616846e+00] [-5.91007807e-03 -1.11479096e-02 9.99920394e-01 -8.94812623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160418555 meters 0.2512710258793684 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.63, Z:-0.90 [[ 9.99986294e-01 3.01639679e-03 4.27945280e-03 -2.10049522e+01] [-3.06942797e-03 9.99917908e-01 1.24400783e-02 -3.63086322e+00] [-4.24157728e-03 -1.24530433e-02 9.99913462e-01 -9.04635527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190418555 meters 0.24935059632819576 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.63, Z:-0.91 [[ 9.99989113e-01 4.05582511e-03 -2.30740394e-03 -2.10203795e+01] [-4.04476784e-03 9.99980411e-01 4.77673278e-03 -3.62565842e+00] [ 2.32673233e-03 -4.76734787e-03 9.99985929e-01 -9.07585027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220418555 meters 0.2512617196720265 Centerline is valid? [False, False] Translation: X:-21.00, Y:-3.63, Z:-0.91 [[ 9.99990434e-01 -2.45395023e-03 3.62069387e-03 -2.09977973e+01] [ 2.43208686e-03 9.99978859e-01 6.03054395e-03 -3.62836917e+00] [-3.63541597e-03 -6.02168042e-03 9.99975261e-01 -9.11439405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250418555 meters 0.25074987605691 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.62, Z:-0.90 [[ 9.99996397e-01 2.61383043e-03 6.11296341e-04 -2.10331417e+01] [-2.61563930e-03 9.99992147e-01 2.97722128e-03 -3.62085822e+00] [-6.03509589e-04 -2.97880948e-03 9.99995381e-01 -8.97807793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280418555000004 meters 0.2510473894641759 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.62, Z:-0.90 [[ 9.99996414e-01 2.58853809e-03 6.86094717e-04 -2.10333684e+01] [-2.59086414e-03 9.99990825e-01 3.41136226e-03 -3.62338491e+00] [-6.77257981e-04 -3.41312761e-03 9.99993946e-01 -8.97987118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.310418555 meters 0.2509477370132566 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.63, Z:-0.90 [[ 9.99997284e-01 -2.32600802e-03 -1.49501400e-04 -2.10290499e+01] [ 2.32588493e-03 9.99996960e-01 -8.18291636e-04 -3.62814929e+00] [ 1.51404299e-04 8.17941690e-04 9.99999654e-01 -9.01263551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340418555 meters 0.2509306096677183 Centerline is valid? [False, False] Translation: X:-21.02, Y:-3.64, Z:-0.91 [[ 9.99956743e-01 -9.24562546e-03 -1.01496091e-03 -2.10231693e+01] [ 9.23863857e-03 9.99934975e-01 -6.68530188e-03 -3.63694310e+00] [ 1.07670471e-03 6.67563584e-03 9.99977138e-01 -9.06682364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370418555 meters 0.2530629415960109 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.64, Z:-0.90 [[ 9.99926983e-01 -1.20771062e-02 -4.14365489e-04 -2.10731388e+01] [ 1.20747928e-02 9.99913613e-01 -5.19289549e-03 -3.64428582e+00] [ 4.77044843e-04 5.18751294e-03 9.99986431e-01 -9.04404727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400418555 meters 0.24994585134792474 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.65, Z:-0.90 [[ 9.99922801e-01 -1.22800295e-02 1.89533262e-03 -2.10358264e+01] [ 1.22921464e-02 9.99903195e-01 -6.51952710e-03 -3.65249456e+00] [-1.81508916e-03 6.54232151e-03 9.99976951e-01 -8.97313147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430418555 meters 0.25468064099872784 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.66, Z:-0.89 [[ 9.99962987e-01 -7.89218438e-03 3.42594537e-03 -2.10419284e+01] [ 7.89227298e-03 9.99968855e-01 -1.23439592e-05 -3.66414851e+00] [-3.42574125e-03 3.93819984e-05 9.99994131e-01 -8.93959353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460418555000004 meters 0.2511846005355613 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.68, Z:-0.90 [[ 9.99800388e-01 -1.97665438e-02 2.90985298e-03 -2.10370919e+01] [ 1.97951568e-02 9.99752466e-01 -1.01567080e-02 -3.67561945e+00] [-2.70836968e-03 1.02122816e-02 9.99944185e-01 -8.99168733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.490418555 meters 0.2743548631718681 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.68, Z:-0.90 [[ 9.99797366e-01 -1.99958297e-02 2.32259790e-03 -2.10087901e+01] [ 2.00399278e-02 9.99582033e-01 -2.08365344e-02 -3.68498798e+00] [-1.90498334e-03 2.08788569e-02 9.99780198e-01 -9.04451007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520418555 meters 0.25807088030747877 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.69, Z:-0.90 [[ 9.99909815e-01 -1.30824412e-02 -3.03495871e-03 -2.10313998e+01] [ 1.30144728e-02 9.99685702e-01 -2.14270941e-02 -3.68751440e+00] [ 3.31432353e-03 2.13856634e-02 9.99765807e-01 -9.01319957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550418555 meters 0.26066055644626934 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.70, Z:-0.91 [[ 9.99822533e-01 -1.87345318e-02 1.97972686e-03 -2.10074148e+01] [ 1.87669561e-02 9.99664094e-01 -1.78746020e-02 -3.69505924e+00] [-1.64418956e-03 1.79085833e-02 9.99838277e-01 -9.05982907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580418555 meters 0.2603068781461659 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.70, Z:-0.90 [[ 9.99749783e-01 -2.02551230e-02 9.49217269e-03 -2.10331678e+01] [ 2.04517493e-02 9.99568232e-01 -2.10967974e-02 -3.70467251e+00] [-9.06075605e-03 2.12856502e-02 9.99732376e-01 -9.03949485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610418555 meters 0.264963448289169 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.71, Z:-0.90 [[ 9.99826611e-01 -1.59827142e-02 9.55512156e-03 -2.10342240e+01] [ 1.61322725e-02 9.99745251e-01 -1.57855395e-02 -3.71055846e+00] [-9.30039164e-03 1.59369483e-02 9.99829744e-01 -9.03480141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640418555000004 meters 0.2648296691891165 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.72, Z:-0.91 [[ 9.99717793e-01 -2.20779384e-02 8.76922739e-03 -2.10278786e+01] [ 2.22574027e-02 9.99533288e-01 -2.09239895e-02 -3.71831200e+00] [-8.30317613e-03 2.11132649e-02 9.99742611e-01 -9.09610176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.670418555 meters 0.2762289435008277 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.73, Z:-0.91 [[ 9.99725243e-01 -2.03108059e-02 1.17008433e-02 -2.10071229e+01] [ 2.06538148e-02 9.99337071e-01 -2.99806383e-02 -3.72564686e+00] [-1.10841555e-02 3.02140680e-02 9.99481992e-01 -9.11794199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700418555 meters 0.26001475172018196 Centerline is valid? [False, False] Translation: X:-21.01, Y:-3.73, Z:-0.91 [[ 9.99736807e-01 -1.92429582e-02 1.24909695e-02 -2.10127416e+01] [ 1.95924587e-02 9.99402091e-01 -2.84885409e-02 -3.72991365e+00] [-1.19352972e-02 2.87257718e-02 9.99516072e-01 -9.06970297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730418555 meters 0.26716642663885 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.73, Z:-0.90 [[ 9.99723192e-01 -2.17452513e-02 8.98239161e-03 -2.10358638e+01] [ 2.19139361e-02 9.99576849e-01 -1.91285782e-02 -3.73339277e+00] [-8.56263496e-03 1.93201228e-02 9.99776682e-01 -9.03129482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760418555 meters 0.2685103348376456 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.74, Z:-0.91 [[ 9.99752706e-01 -2.12446376e-02 -6.57214111e-03 -2.10295798e+01] [ 2.11437700e-02 9.99663098e-01 -1.50542995e-02 -3.74234426e+00] [ 6.88975008e-03 1.49116168e-02 9.99865078e-01 -9.08912610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790418555 meters 0.26099711784642654 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.75, Z:-0.90 [[ 9.99832592e-01 -1.82345382e-02 -1.51310125e-03 -2.10722251e+01] [ 1.82029870e-02 9.99658480e-01 -1.87503055e-02 -3.74747145e+00] [ 1.85448766e-03 1.87196236e-02 9.99823053e-01 -8.95646239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820418555 meters 0.2717896839677695 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.76, Z:-0.89 [[ 9.99888653e-01 -1.48494642e-02 1.47477059e-03 -2.10384702e+01] [ 1.48727729e-02 9.99739663e-01 -1.73034041e-02 -3.75835333e+00] [-1.21744038e-03 1.73234114e-02 9.99849197e-01 -8.86711103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850418555000005 meters 0.2665303390002648 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.76, Z:-0.89 [[ 9.99942880e-01 -1.06095167e-02 1.29413792e-03 -2.10373665e+01] [ 1.06249887e-02 9.99864164e-01 -1.26001344e-02 -3.76129798e+00] [-1.16028079e-03 1.26131649e-02 9.99919778e-01 -8.88257832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880418555 meters 0.2701865980937873 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.77, Z:-0.89 [[ 9.99967993e-01 -7.99985964e-03 1.24121330e-04 -2.10305963e+01] [ 8.00067282e-03 9.99923841e-01 -9.39692302e-03 -3.76849008e+00] [-4.89378120e-05 9.39761530e-03 9.99955840e-01 -8.93382694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910418555 meters 0.26808673086455986 Centerline is valid? [False, False] Translation: X:-21.03, Y:-3.77, Z:-0.89 [[ 9.99969628e-01 -7.79351771e-03 -5.69270902e-05 -2.10305004e+01] [ 7.79271922e-03 9.99931210e-01 -8.76639838e-03 -3.77268422e+00] [ 1.25244255e-04 8.76568851e-03 9.99961573e-01 -8.92579419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940418555 meters 0.27712456993265716 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.77, Z:-0.89 [[ 9.99980067e-01 -6.27293660e-03 7.18694040e-04 -2.10372242e+01] [ 6.27791200e-03 9.99954779e-01 -7.14342406e-03 -3.77475288e+00] [-6.73851293e-04 7.14779357e-03 9.99974227e-01 -8.85901753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970418555 meters 0.2666053672729214 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.78, Z:-0.88 [[ 9.99998177e-01 -1.69073680e-03 8.87523727e-04 -2.10388339e+01] [ 1.69295193e-03 9.99995439e-01 -2.50106370e-03 -3.77566837e+00] [-8.83291039e-04 2.50256168e-03 9.99996478e-01 -8.83838390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000418555 meters 0.2673573857727671 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.78, Z:-0.89 [[ 9.99998800e-01 -1.43085757e-03 5.94510004e-04 -2.10361888e+01] [ 1.43205828e-03 9.99996926e-01 -2.02417251e-03 -3.77718868e+00] [-5.91611873e-04 2.02502146e-03 9.99997775e-01 -8.87112720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030418555000004 meters 0.26774975722034117 Centerline is valid? [False, False] Translation: X:-21.05, Y:-3.78, Z:-0.90 [[ 9.99974450e-01 3.11557814e-03 -6.43374034e-03 -2.10459456e+01] [-3.14735430e-03 9.99982871e-01 -4.93478203e-03 -3.78027680e+00] [ 6.41825544e-03 4.95490521e-03 9.99967127e-01 -8.95690352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060418555 meters 0.26172258394461434 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.79, Z:-0.89 [[ 9.99995883e-01 -3.78423377e-04 2.84446507e-03 -2.10370459e+01] [ 3.84601669e-04 9.99997568e-01 -2.17180698e-03 -3.78693236e+00] [-2.84363629e-03 2.17289202e-03 9.99993596e-01 -8.91706889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090418555 meters 0.26328591021168196 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.79, Z:-0.88 [[ 9.99992853e-01 1.32372661e-03 3.54142445e-03 -2.10439310e+01] [-1.32135564e-03 9.99998901e-01 -6.71752876e-04 -3.78835717e+00] [-3.54230977e-03 6.67068594e-04 9.99993504e-01 -8.83457915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120418555 meters 0.26163207158903484 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.79, Z:-0.88 [[ 9.99927961e-01 5.44128722e-03 -1.06988110e-02 -2.10425055e+01] [-5.42570071e-03 9.99984178e-01 1.48533108e-03 -3.78781477e+00] [ 1.07067238e-02 -1.42717553e-03 9.99941663e-01 -8.83631798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150418555 meters 0.2622547274515373 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.79, Z:-0.89 [[ 9.99919819e-01 4.79875329e-03 -1.17186988e-02 -2.10356306e+01] [-4.78637322e-03 9.99987957e-01 1.08425468e-03 -3.78778814e+00] [ 1.17237608e-02 -1.02807767e-03 9.99930746e-01 -8.90003254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180418555 meters 0.2636898593654234 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.79, Z:-0.88 [[ 9.99937204e-01 3.14926940e-03 -1.07549668e-02 -2.10430542e+01] [-3.15687503e-03 9.99994779e-01 -6.90270353e-04 -3.78690974e+00] [ 1.07527368e-02 7.24179093e-04 9.99941925e-01 -8.82665807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210418555000004 meters 0.26038963380234065 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.79, Z:-0.88 [[ 9.99983557e-01 4.45810383e-03 -3.60703279e-03 -2.10714985e+01] [-4.47243768e-03 9.99982096e-01 -3.97560325e-03 -3.78962544e+00] [ 3.58924456e-03 3.99167011e-03 9.99985592e-01 -8.79720855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240418555 meters 0.25899635057236287 Centerline is valid? [False, False] Translation: X:-21.06, Y:-3.80, Z:-0.89 [[ 9.99965286e-01 6.75141130e-03 -4.88320589e-03 -2.10630203e+01] [-6.75656239e-03 9.99976634e-01 -1.03912972e-03 -3.79542629e+00] [ 4.87607620e-03 1.07208733e-03 9.99987537e-01 -8.87809280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270418555 meters 0.25746200109903344 Centerline is valid? [False, False] Translation: X:-21.06, Y:-3.79, Z:-0.89 [[ 9.99934099e-01 1.01590700e-02 -5.34712417e-03 -2.10583117e+01] [-1.01474718e-02 9.99946111e-01 2.19173323e-03 -3.79154453e+00] [ 5.36910199e-03 -2.13732900e-03 9.99983302e-01 -8.92816327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300418555 meters 0.25746200109903344 Centerline is valid? [False, False] Translation: X:-21.06, Y:-3.79, Z:-0.89 [[ 9.99934099e-01 1.01590700e-02 -5.34712417e-03 -2.10583117e+01] [-1.01474718e-02 9.99946111e-01 2.19173323e-03 -3.79154453e+00] [ 5.36910199e-03 -2.13732900e-03 9.99983302e-01 -8.92816327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330418555 meters 0.2644425043520048 Centerline is valid? [False, False] Translation: X:-21.05, Y:-3.79, Z:-0.89 [[ 9.99983648e-01 4.77795150e-03 3.14258607e-03 -2.10493052e+01] [-4.78937904e-03 9.99981910e-01 3.63893081e-03 -3.79411190e+00] [-3.12514258e-03 -3.65392234e-03 9.99988441e-01 -8.86103253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360418555 meters 0.26001569070812514 Centerline is valid? [False, False] Translation: X:-21.06, Y:-3.80, Z:-0.88 [[ 9.99990854e-01 -2.29849911e-03 3.60664260e-03 -2.10553492e+01] [ 2.31064620e-03 9.99991661e-01 -3.36743304e-03 -3.79941323e+00] [-3.59887248e-03 3.37573591e-03 9.99987826e-01 -8.78709859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390418555000004 meters 0.2593017773135915 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.80, Z:-0.89 [[ 9.99993313e-01 -1.45865802e-03 -3.35340154e-03 -2.10726334e+01] [ 1.46674998e-03 9.99996016e-01 2.41186916e-03 -3.79506836e+00] [ 3.34987009e-03 -2.41677163e-03 9.99991469e-01 -8.93196579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420418555 meters 0.2594700670382027 Centerline is valid? [False, False] Translation: X:-21.04, Y:-3.80, Z:-0.90 [[ 9.99955214e-01 9.35480254e-03 -1.43451064e-03 -2.10435943e+01] [-9.35228029e-03 9.99954726e-01 1.75500776e-03 -3.79590219e+00] [ 1.45086344e-03 -1.74151321e-03 9.99997431e-01 -9.01571414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450418555 meters 0.257412324339345 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.80, Z:-0.90 [[ 9.99997305e-01 -1.45944628e-03 1.80574621e-03 -2.10683065e+01] [ 1.45621824e-03 9.99997342e-01 1.78767440e-03 -3.79585429e+00] [-1.80835043e-03 -1.78504002e-03 9.99996772e-01 -9.00300359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480418555 meters 0.2591071751569294 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.80, Z:-0.90 [[ 9.99997094e-01 -1.43393478e-03 1.93774785e-03 -2.10689769e+01] [ 1.43057998e-03 9.99997478e-01 1.73156599e-03 -3.79507246e+00] [-1.94022591e-03 -1.72878885e-03 9.99996623e-01 -8.99862327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510418555 meters 0.25782293916627724 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.79, Z:-0.89 [[ 9.99988077e-01 3.63431734e-03 -3.26152804e-03 -2.10945630e+01] [-3.63816509e-03 9.99992692e-01 -1.17458267e-03 -3.78812960e+00] [ 3.25723540e-03 1.18643464e-03 9.99993991e-01 -8.94184643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540418555 meters 0.25941250800319654 Centerline is valid? [False, False] Translation: X:-21.06, Y:-3.79, Z:-0.90 [[ 9.99998178e-01 -1.81169060e-03 -6.00645440e-04 -2.10634731e+01] [ 1.81266527e-03 9.99997035e-01 1.62615377e-03 -3.79444935e+00] [ 5.97697572e-04 -1.62723958e-03 9.99998497e-01 -9.02698246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570418555 meters 0.25585180794037754 Centerline is valid? [False, False] Translation: X:-21.08, Y:-3.79, Z:-0.90 [[ 9.99970984e-01 2.67643000e-03 -7.13210526e-03 -2.10827081e+01] [-2.68599792e-03 9.99995505e-01 -1.33228692e-03 -3.79164604e+00] [ 7.12850743e-03 1.35140509e-03 9.99973679e-01 -9.02201626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600418555000005 meters 0.25931409125932725 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.80, Z:-0.90 [[ 9.99997359e-01 -2.29127171e-03 1.80824876e-04 -2.10653963e+01] [ 2.29107601e-03 9.99996798e-01 1.07515555e-03 -3.79830382e+00] [-1.83287770e-04 -1.07473843e-03 9.99999406e-01 -9.02286075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.630418555 meters 0.26223755873431315 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.80, Z:-0.90 [[ 9.99997795e-01 -2.09949106e-03 3.36583881e-05 -2.10658978e+01] [ 2.09942557e-03 9.99996103e-01 1.84005226e-03 -3.80348345e+00] [-3.75214302e-05 -1.83997754e-03 9.99998307e-01 -9.00915347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660418555 meters 0.2588486151900375 Centerline is valid? [False, False] Translation: X:-21.06, Y:-3.80, Z:-0.90 [[ 9.99997837e-01 -2.07814501e-03 8.73773738e-05 -2.10649994e+01] [ 2.07797875e-03 9.99996108e-01 1.86171208e-03 -3.80224051e+00] [-9.12459414e-05 -1.86152649e-03 9.99998263e-01 -9.03063110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690418555 meters 0.25812809093756345 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.80, Z:-0.90 [[ 9.99997658e-01 2.14716956e-03 2.70176185e-04 -2.10654104e+01] [-2.14881440e-03 9.99978206e-01 6.24258055e-03 -3.80232079e+00] [-2.56766418e-04 -6.24314649e-03 9.99980478e-01 -9.03702999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720418555 meters 0.2590212577172183 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.81, Z:-0.90 [[ 9.99954265e-01 -9.53705046e-03 7.15900761e-04 -2.10701793e+01] [ 9.54072919e-03 9.99940312e-01 -5.32424239e-03 -3.80710911e+00] [-6.65080462e-04 5.33082910e-03 9.99985570e-01 -8.97969647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750418555 meters 0.25864390520640196 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.81, Z:-0.90 [[ 9.99985634e-01 -5.32797291e-03 5.86421234e-04 -2.10699924e+01] [ 5.32845183e-03 9.99985469e-01 -8.18166995e-04 -3.80918754e+00] [-5.82053541e-04 8.21279959e-04 9.99999493e-01 -8.98022892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780418555000004 meters 0.2614519611129819 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.80, Z:-0.90 [[ 9.99998943e-01 -1.08505689e-03 9.67371665e-04 -2.10708158e+01] [ 1.08217914e-03 9.99995003e-01 2.97039113e-03 -3.80356339e+00] [-9.70589874e-04 -2.96934112e-03 9.99995120e-01 -8.98790239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.810418555 meters 0.25974332242131803 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.81, Z:-0.90 [[ 9.99996116e-01 -2.78073143e-03 1.88862523e-04 -2.10652589e+01] [ 2.78040696e-03 9.99994695e-01 1.69713334e-03 -3.80793674e+00] [-1.93580793e-04 -1.69660164e-03 9.99998542e-01 -9.03386778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840418555 meters 0.26007894700998585 Centerline is valid? [False, False] Translation: X:-21.08, Y:-3.81, Z:-0.90 [[ 9.99982740e-01 -8.38920284e-04 -5.81511745e-03 -2.10849149e+01] [ 8.14753025e-04 9.99991027e-01 -4.15706028e-03 -3.80842231e+00] [ 5.81855272e-03 4.15225065e-03 9.99974451e-01 -9.01763977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870418555 meters 0.25684981069383256 Centerline is valid? [False, False] Translation: X:-21.08, Y:-3.81, Z:-0.90 [[ 9.99981430e-01 -8.18579338e-04 -6.03905200e-03 -2.10843274e+01] [ 7.95669477e-04 9.99992482e-01 -3.79504647e-03 -3.81139795e+00] [ 6.04211315e-03 3.79017090e-03 9.99974563e-01 -9.01737606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900418555 meters 0.25678819492790955 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99976105e-01 4.49393773e-03 -5.25292441e-03 -2.10894788e+01] [-4.48650626e-03 9.99988919e-01 1.42565875e-03 -3.81169519e+00] [ 5.25927302e-03 -1.40205740e-03 9.99985187e-01 -8.97768618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930418555 meters 0.26029632469020175 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.81, Z:-0.90 [[ 9.99998907e-01 1.05335663e-03 1.03750154e-03 -2.10710708e+01] [-1.05955438e-03 9.99981490e-01 5.99140582e-03 -3.81458895e+00] [-1.03117124e-03 -5.99249856e-03 9.99981513e-01 -8.98146845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960418555000004 meters 0.259726326902082 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.81, Z:-0.90 [[ 9.99994642e-01 -3.09720897e-03 1.06018159e-03 -2.10714165e+01] [ 3.09532573e-03 9.99993637e-01 1.77339861e-03 -3.81451008e+00] [-1.06566743e-03 -1.77010750e-03 9.99997866e-01 -8.97478280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.990418555 meters 0.26062525197115 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.82, Z:-0.90 [[ 9.99991785e-01 -4.04937973e-03 1.81990571e-04 -2.10657739e+01] [ 4.04917939e-03 9.99991210e-01 1.08803487e-03 -3.81613514e+00] [-1.86394838e-04 -1.08728902e-03 9.99999392e-01 -9.02201257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020418555 meters 0.26190951989239725 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.82, Z:-0.90 [[ 9.99999992e-01 7.51769938e-05 1.01350174e-04 -2.10652745e+01] [-7.57416589e-05 9.99984412e-01 5.58298426e-03 -3.81785655e+00] [-1.00928882e-04 -5.58299190e-03 9.99984410e-01 -9.03029379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050418555 meters 0.2610169423513656 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.89 [[ 9.99988591e-01 2.62036172e-03 -3.99387984e-03 -2.10946314e+01] [-2.61990337e-03 9.99996561e-01 1.19990283e-04 -3.81179096e+00] [ 3.99418052e-03 -1.09525334e-04 9.99992017e-01 -8.94325915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080418555 meters 0.2639491067394074 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99988587e-01 2.42312878e-03 -4.11744316e-03 -2.10934705e+01] [-2.42414483e-03 9.99997033e-01 -2.41796195e-04 -3.81044175e+00] [ 4.11684503e-03 2.51774714e-04 9.99991494e-01 -8.95430669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110418555 meters 0.25768549618761233 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.89 [[ 9.99987995e-01 2.47480707e-03 -4.22902194e-03 -2.10934903e+01] [-2.47538449e-03 9.99996928e-01 -1.31309542e-04 -3.81143659e+00] [ 4.22868399e-03 1.41776421e-04 9.99991049e-01 -8.94773036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140418555000004 meters 0.2557241561596565 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.81, Z:-0.89 [[ 9.99966518e-01 -5.38898238e-03 -6.15812487e-03 -2.11147157e+01] [ 5.41330269e-03 9.99977588e-01 3.93948526e-03 -3.80898806e+00] [ 6.13675703e-03 -3.97268915e-03 9.99973279e-01 -8.94642937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.170418555 meters 0.2638830266157794 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99997754e-01 1.27403732e-03 -1.69394148e-03 -2.10923213e+01] [-1.27530420e-03 9.99998908e-01 -7.47023424e-04 -3.80745688e+00] [ 1.69298789e-03 7.49182036e-04 9.99998286e-01 -9.00754197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200418555 meters 0.2639849971291088 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99997728e-01 1.25875984e-03 -1.72017819e-03 -2.10926132e+01] [-1.26018109e-03 9.99998865e-01 -8.25391008e-04 -3.80736568e+00] [ 1.71913727e-03 8.27556869e-04 9.99998180e-01 -8.99863725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230418555 meters 0.26001280171233454 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99997300e-01 7.03202438e-04 -2.21502487e-03 -2.10912302e+01] [-7.05023708e-04 9.99999414e-01 -8.21560983e-04 -3.81275945e+00] [ 2.21444585e-03 8.23120409e-04 9.99997209e-01 -8.99902058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260418555 meters 0.2587472155339898 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99997274e-01 7.27384646e-04 -2.21892700e-03 -2.10909646e+01] [-7.28348016e-04 9.99999641e-01 -4.33383142e-04 -3.81489419e+00] [ 2.21861096e-03 4.34998112e-04 9.99997444e-01 -9.00782378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290418555 meters 0.2663291157076813 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99998091e-01 1.13997265e-03 -1.58727804e-03 -2.10930169e+01] [-1.14054257e-03 9.99999285e-01 -3.58195712e-04 -3.81042766e+00] [ 1.58686858e-03 3.60005386e-04 9.99998676e-01 -9.00546899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320418555 meters 0.2642116412430486 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99998442e-01 1.05833790e-03 -1.41302141e-03 -2.10931388e+01] [-1.05848170e-03 9.99999435e-01 -1.01023067e-04 -3.81217607e+00] [ 1.41291369e-03 1.02518567e-04 9.99998997e-01 -9.01505568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350418555000005 meters 0.2636214047064904 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.82, Z:-0.90 [[ 9.99997792e-01 7.45954020e-04 -1.96463740e-03 -2.10914883e+01] [-7.45358103e-04 9.99999676e-01 3.04036632e-04 -3.81779689e+00] [ 1.96486356e-03 -3.02571602e-04 9.99998024e-01 -9.01904140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380418555 meters 0.2630997118802862 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.82, Z:-0.90 [[ 9.99991517e-01 -3.38706947e-03 -2.34374715e-03 -2.10911634e+01] [ 3.37919369e-03 9.99988659e-01 -3.35617534e-03 -3.82423418e+00] [ 2.35508817e-03 3.34822690e-03 9.99991621e-01 -9.00564319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410418555 meters 0.2604378628899975 Centerline is valid? [False, False] Translation: X:-21.10, Y:-3.82, Z:-0.90 [[ 9.99997413e-01 1.76069450e-03 -1.43999708e-03 -2.10963701e+01] [-1.75832155e-03 9.99997097e-01 1.64749010e-03 -3.82325863e+00] [ 1.44289363e-03 -1.64495386e-03 9.99997606e-01 -8.97182560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440418555 meters 0.2635064099978757 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.82, Z:-0.90 [[ 9.99984638e-01 5.23733253e-03 -1.81507607e-03 -2.10921805e+01] [-5.22708186e-03 9.99970619e-01 5.60697844e-03 -3.82221733e+00] [ 1.84438835e-03 -5.59740476e-03 9.99982633e-01 -9.02425545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470418555 meters 0.2616458576550585 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.83, Z:-0.90 [[ 9.99996975e-01 4.20616720e-04 -2.42327714e-03 -2.10902644e+01] [-4.17328482e-04 9.99998992e-01 1.35728431e-03 -3.82921258e+00] [ 2.42384560e-03 -1.35626890e-03 9.99996143e-01 -9.02603356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500418555 meters 0.26683339167078707 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.83, Z:-0.90 [[ 9.99994354e-01 -2.79140214e-03 -1.87083915e-03 -2.10946300e+01] [ 2.78677707e-03 9.99993066e-01 -2.47025758e-03 -3.82663416e+00] [ 1.87772166e-03 2.46503002e-03 9.99995199e-01 -8.98271507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530418555000004 meters 0.26453693443947307 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.82, Z:-0.90 [[ 9.99997581e-01 1.56822097e-03 -1.54230002e-03 -2.10944622e+01] [-1.56637676e-03 9.99998058e-01 1.19623498e-03 -3.81803160e+00] [ 1.54417299e-03 -1.19381626e-03 9.99998095e-01 -8.99935761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560418555 meters 0.2626239680450587 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99997618e-01 1.46220236e-03 -1.62072508e-03 -2.10936659e+01] [-1.46147427e-03 9.99998831e-01 4.50328480e-04 -3.81340838e+00] [ 1.62138166e-03 -4.47958759e-04 9.99998585e-01 -9.00455162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590418555 meters 0.2584647159238652 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.81, Z:-0.90 [[ 9.99996871e-01 8.46912667e-04 -2.35396595e-03 -2.10919282e+01] [-8.49255878e-04 9.99999145e-01 -9.94609742e-04 -3.81061923e+00] [ 2.35312159e-03 9.96605749e-04 9.99996735e-01 -8.99417582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620418555 meters 0.2563756087729507 Centerline is valid? [False, False] Translation: X:-21.09, Y:-3.80, Z:-0.90 [[ 9.99984755e-01 5.00319652e-03 -2.33638509e-03 -2.10907417e+01] [-4.99854735e-03 9.99985524e-01 1.99151527e-03 -3.80270560e+00] [ 2.34631521e-03 -1.97980638e-03 9.99995288e-01 -9.01028782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650418555 meters 0.2580991969602303 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.80, Z:-0.90 [[ 9.99927181e-01 1.12672526e-02 4.32232286e-03 -2.10692392e+01] [-1.13262637e-02 9.99839516e-01 1.38801596e-02 -3.79702327e+00] [-4.16523793e-03 -1.39281047e-02 9.99894324e-01 -9.04737835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680418555 meters 0.2548438090864171 Centerline is valid? [False, False] Translation: X:-21.07, Y:-3.79, Z:-0.90 [[ 9.99924350e-01 1.15937181e-02 4.10852850e-03 -2.10690094e+01] [-1.16461554e-02 9.99847962e-01 1.29776499e-02 -3.79024078e+00] [-3.95744463e-03 -1.30245167e-02 9.99907346e-01 -9.03905274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710418555000004 meters 0.2518738960485015 Centerline is valid? [False, False] Translation: X:-21.08, Y:-3.78, Z:-0.90 [[ 9.99701411e-01 2.43028880e-02 -2.54150040e-03 -2.10846302e+01] [-2.42572629e-02 9.99566912e-01 1.66605283e-02 -3.78262973e+00] [ 2.94529866e-03 -1.65939038e-02 9.99857974e-01 -9.04896433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740418555 meters 0.2520440498768867 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.77, Z:-0.91 [[ 9.99904257e-01 1.36390320e-02 -2.33527608e-03 -2.11060172e+01] [-1.35984336e-02 9.99769773e-01 1.65977066e-02 -3.77296004e+00] [ 2.56111509e-03 -1.65643614e-02 9.99859521e-01 -9.05395426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770418555 meters 0.2524498103712664 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.77, Z:-0.90 [[ 9.99946146e-01 1.01337647e-02 -2.23854822e-03 -2.11066931e+01] [-1.01052455e-02 9.99872008e-01 1.24037102e-02 -3.76896819e+00] [ 2.36395798e-03 -1.23804211e-02 9.99920565e-01 -9.04804833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800418555 meters 0.2529788628739287 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.77, Z:-0.90 [[ 9.99945358e-01 1.02734462e-02 -1.93307058e-03 -2.11081204e+01] [-1.02488375e-02 9.99871378e-01 1.23364916e-02 -3.76711347e+00] [ 2.05956022e-03 -1.23160058e-02 9.99922034e-01 -9.03996685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830418555 meters 0.25288262198335826 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.77, Z:-0.90 [[ 9.99979043e-01 6.22757034e-03 -1.76934616e-03 -2.11099651e+01] [-6.21250251e-03 9.99945441e-01 8.39759944e-03 -3.76790370e+00] [ 1.82154627e-03 -8.38643139e-03 9.99963174e-01 -9.01885305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860418555 meters 0.25217538383818616 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.77, Z:-0.90 [[ 9.99998282e-01 -1.37377595e-03 -1.24417689e-03 -2.11142823e+01] [ 1.37541738e-03 9.99998184e-01 1.31939514e-03 -3.77269866e+00] [ 1.24236207e-03 -1.32110414e-03 9.99998356e-01 -8.97853918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890418555000004 meters 0.252653853175835 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.77, Z:-0.90 [[ 9.99997559e-01 -1.60509016e-03 -1.51858813e-03 -2.11125846e+01] [ 1.60678595e-03 9.99998086e-01 1.11613114e-03 -3.77214398e+00] [ 1.51679373e-03 -1.11856846e-03 9.99998224e-01 -8.99673689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920418555 meters 0.2514205182455204 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.77, Z:-0.91 [[ 9.99996569e-01 1.58467261e-03 -2.08604743e-03 -2.11075796e+01] [-1.57620373e-03 9.99990536e-01 4.05517647e-03 -3.76812729e+00] [ 2.09245382e-03 -4.05187452e-03 9.99989602e-01 -9.05083193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950418555 meters 0.253639341420913 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.77, Z:-0.90 [[ 9.99993849e-01 -2.28537931e-03 -2.66074938e-03 -2.11067421e+01] [ 2.28475195e-03 9.99997361e-01 -2.38797879e-04 -3.76886741e+00] [ 2.66128811e-03 2.32717257e-04 9.99996432e-01 -9.03286159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980418555 meters 0.2539201734049715 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.77, Z:-0.90 [[ 9.99994929e-01 2.03128872e-03 -2.45283598e-03 -2.11075012e+01] [-2.02239827e-03 9.99991397e-01 3.62161783e-03 -3.76596007e+00] [ 2.46017143e-03 -3.61663885e-03 9.99990434e-01 -9.02795200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010418555 meters 0.2539924033118124 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.76, Z:-0.90 [[ 9.99994987e-01 1.94346529e-03 -2.49989063e-03 -2.11071825e+01] [-1.93517123e-03 9.99992630e-01 3.31592134e-03 -3.76392743e+00] [ 2.50631658e-03 -3.31106700e-03 9.99991378e-01 -9.03035888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040418555 meters 0.2511479234119564 Centerline is valid? [False, False] Translation: X:-21.15, Y:-3.77, Z:-0.90 [[ 9.99988868e-01 -3.59396641e-03 -3.05730919e-03 -2.11519153e+01] [ 3.60372516e-03 9.99988411e-01 3.19244557e-03 -3.77373532e+00] [ 3.04580022e-03 -3.20342774e-03 9.99990231e-01 -9.03317114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070418555 meters 0.25252712650277037 Centerline is valid? [False, False] Translation: X:-21.15, Y:-3.78, Z:-0.90 [[ 9.99988105e-01 -3.73308361e-03 -3.13910579e-03 -2.11517551e+01] [ 3.74389132e-03 9.99987061e-01 3.44412511e-03 -3.77546415e+00] [ 3.12620796e-03 -3.45583661e-03 9.99989142e-01 -9.03632863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100418555000005 meters 0.2519763946139548 Centerline is valid? [False, False] Translation: X:-21.15, Y:-3.77, Z:-0.90 [[ 9.99988573e-01 -3.81049208e-03 -2.88672620e-03 -2.11521488e+01] [ 3.82036582e-03 9.99986845e-01 3.42263429e-03 -3.77480948e+00] [ 2.87364631e-03 -3.43362354e-03 9.99989976e-01 -9.04536459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.130418555 meters 0.25185491150092076 Centerline is valid? [False, False] Translation: X:-21.13, Y:-3.78, Z:-0.91 [[ 9.99994556e-01 -2.58316677e-03 -2.05320816e-03 -2.11267813e+01] [ 2.56799162e-03 9.99969621e-01 -7.35953259e-03 -3.77632027e+00] [ 2.07215669e-03 7.35421990e-03 9.99970810e-01 -9.07987663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160418555 meters 0.2531065550969128 Centerline is valid? [False, False] Translation: X:-21.13, Y:-3.77, Z:-0.91 [[ 9.99983135e-01 5.56527880e-03 -1.66072079e-03 -2.11275988e+01] [-5.56536368e-03 9.99984512e-01 -4.64944514e-05 -3.76797573e+00] [ 1.66043632e-03 5.57361824e-05 9.99998620e-01 -9.08641918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190418555 meters 0.25284664220492953 Centerline is valid? [False, False] Translation: X:-21.13, Y:-3.76, Z:-0.91 [[ 9.99994336e-01 3.08050345e-03 -1.35563207e-03 -2.11305806e+01] [-3.08459442e-03 9.99990664e-01 -3.02609193e-03 -3.76427104e+00] [ 1.34629753e-03 3.03025637e-03 9.99994502e-01 -9.05660168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220418555 meters 0.25284664220492953 Centerline is valid? [False, False] Translation: X:-21.13, Y:-3.76, Z:-0.91 [[ 9.99994336e-01 3.08050345e-03 -1.35563207e-03 -2.11305806e+01] [-3.08459442e-03 9.99990664e-01 -3.02609193e-03 -3.76427104e+00] [ 1.34629753e-03 3.03025637e-03 9.99994502e-01 -9.05660168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250418555 meters 0.25295719699745606 Centerline is valid? [False, False] Translation: X:-21.13, Y:-3.76, Z:-0.91 [[ 9.99995303e-01 2.81558283e-03 -1.21090387e-03 -2.11307543e+01] [-2.82080280e-03 9.99986643e-01 -4.33091368e-03 -3.75706005e+00] [ 1.19869365e-03 4.33430906e-03 9.99989888e-01 -9.05756306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280418555000004 meters 0.2527362083060648 Centerline is valid? [False, False] Translation: X:-21.13, Y:-3.75, Z:-0.91 [[ 9.99975365e-01 6.93599839e-03 -1.07739034e-03 -2.11313699e+01] [-6.93677043e-03 9.99975685e-01 -7.14505475e-04 -3.75266484e+00] [ 1.07240834e-03 7.21961483e-04 9.99999164e-01 -9.05446353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.310418555 meters 0.2538474898031875 Centerline is valid? [False, False] Translation: X:-21.13, Y:-3.75, Z:-0.91 [[ 9.99978593e-01 6.47955787e-03 -9.10283767e-04 -2.11316533e+01] [-6.48134464e-03 9.99977048e-01 -1.97383040e-03 -3.74567071e+00] [ 8.97473326e-04 1.97968801e-03 9.99997638e-01 -9.05621793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340418555 meters 0.2532351284875067 Centerline is valid? [False, False] Translation: X:-21.15, Y:-3.74, Z:-0.91 [[ 9.99998079e-01 -1.28889129e-03 -1.47673771e-03 -2.11549228e+01] [ 1.29141683e-03 9.99997703e-01 1.71053885e-03 -3.73983839e+00] [ 1.47452962e-03 -1.71244265e-03 9.99997447e-01 -9.05031871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370418555 meters 0.25444295991598204 Centerline is valid? [False, False] Translation: X:-21.16, Y:-3.74, Z:-0.90 [[ 9.99997699e-01 -1.54895611e-03 -1.48399917e-03 -2.11551132e+01] [ 1.55070651e-03 9.99998103e-01 1.17909193e-03 -3.73749999e+00] [ 1.48216999e-03 -1.18139047e-03 9.99998204e-01 -9.04667802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400418555 meters 0.25376056109540257 Centerline is valid? [False, False] Translation: X:-21.15, Y:-3.74, Z:-0.91 [[ 9.99996566e-01 -2.00332125e-03 -1.68972530e-03 -2.11537032e+01] [ 2.00407534e-03 9.99997893e-01 4.44707028e-04 -3.73558034e+00] [ 1.68883085e-03 -4.48091838e-04 9.99998474e-01 -9.05883746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430418555 meters 0.2538364154887747 Centerline is valid? [False, False] Translation: X:-21.15, Y:-3.73, Z:-0.91 [[ 9.99996666e-01 2.06822982e-03 -1.54607049e-03 -2.11541074e+01] [-2.06198782e-03 9.99989761e-01 4.02808328e-03 -3.73126073e+00] [ 1.55438567e-03 -4.02488188e-03 9.99990692e-01 -9.06018333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460418555000004 meters 0.2501867205060009 Centerline is valid? [False, False] Translation: X:-21.16, Y:-3.73, Z:-0.91 [[ 9.99979956e-01 6.22337711e-03 -1.16464562e-03 -2.11558415e+01] [-6.21434892e-03 9.99951800e-01 7.60126848e-03 -3.72578855e+00] [ 1.21189505e-03 -7.59387861e-03 9.99970432e-01 -9.05074916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.490418555 meters 0.2542101865691564 Centerline is valid? [False, False] Translation: X:-21.17, Y:-3.72, Z:-0.91 [[ 9.99989726e-01 1.56869172e-03 -4.25300190e-03 -2.11735945e+01] [-1.51028062e-03 9.99904973e-01 1.37026857e-02 -3.71605143e+00] [ 4.27409304e-03 -1.36961216e-02 9.99897069e-01 -9.07036631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520418555 meters 0.2529246677156664 Centerline is valid? [False, False] Translation: X:-21.17, Y:-3.71, Z:-0.91 [[ 9.99956523e-01 8.39017904e-03 -4.06893522e-03 -2.11680591e+01] [-8.39016220e-03 9.99964802e-01 2.12085418e-05 -3.70927800e+00] [ 4.06896994e-03 1.29314067e-05 9.99991722e-01 -9.14502046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550418555 meters 0.2540994331591651 Centerline is valid? [False, False] Translation: X:-21.17, Y:-3.70, Z:-0.91 [[ 9.99959705e-01 8.09291726e-03 -3.88500347e-03 -2.11687536e+01] [-8.09772517e-03 9.99966464e-01 -1.22342702e-03 -3.70164519e+00] [ 3.87497209e-03 1.25483741e-03 9.99991705e-01 -9.14035381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580418555 meters 0.25586508358362575 Centerline is valid? [False, False] Translation: X:-21.18, Y:-3.69, Z:-0.91 [[ 9.99940758e-01 1.05750788e-02 -2.57823777e-03 -2.11752233e+01] [-1.05744719e-02 9.99944058e-01 2.48880835e-04 -3.68928091e+00] [ 2.58072548e-03 -2.21602588e-04 9.99996645e-01 -9.09946461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610418555 meters 0.2548711121020275 Centerline is valid? [False, False] Translation: X:-21.19, Y:-3.68, Z:-0.91 [[ 9.99989725e-01 1.49554232e-03 -4.27930998e-03 -2.11947565e+01] [-1.48547386e-03 9.99996124e-01 2.35503641e-03 -3.68289664e+00] [ 4.28281545e-03 -2.34865541e-03 9.99988071e-01 -9.11546001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640418555000004 meters 0.2552868735033257 Centerline is valid? [False, False] Translation: X:-21.19, Y:-3.68, Z:-0.92 [[ 9.99988731e-01 2.72591558e-04 -4.73961113e-03 -2.11908830e+01] [-2.70178759e-04 9.99999834e-01 5.09703927e-04 -3.67704932e+00] [ 4.73974929e-03 -5.08417641e-04 9.99988638e-01 -9.15259076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.670418555 meters 0.25384379791309897 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.67, Z:-0.92 [[ 9.99967828e-01 -5.88312212e-03 -5.45262551e-03 -2.12139342e+01] [ 5.91229421e-03 9.99968213e-01 5.34951192e-03 -3.66914579e+00] [ 5.42098036e-03 -5.38157735e-03 9.99970825e-01 -9.15645123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700418555 meters 0.25122434064625127 Centerline is valid? [False, False] Translation: X:-21.19, Y:-3.66, Z:-0.92 [[ 9.99999875e-01 -4.57596387e-04 -2.01590194e-04 -2.11901053e+01] [ 4.57513679e-04 9.99999811e-01 -4.10134604e-04 -3.65864823e+00] [ 2.01777832e-04 4.10042322e-04 9.99999896e-01 -9.23031052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730418555 meters 0.2510989220988409 Centerline is valid? [False, False] Translation: X:-21.18, Y:-3.65, Z:-0.93 [[ 9.99999334e-01 -3.34597143e-05 -1.15405832e-03 -2.11820917e+01] [ 3.30216662e-05 9.99999927e-01 -3.79588877e-04 -3.65427806e+00] [ 1.15407093e-03 3.79550515e-04 9.99999262e-01 -9.30436886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760418555 meters 0.25458857375523436 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.65, Z:-0.93 [[ 9.99994860e-01 -1.56998363e-03 -2.79554433e-03 -2.12245400e+01] [ 1.57068997e-03 9.99998735e-01 2.50487934e-04 -3.65026739e+00] [ 2.79514754e-03 -2.54877580e-04 9.99996061e-01 -9.34237938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790418555 meters 0.24872261140972174 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.65, Z:-0.93 [[ 9.99994449e-01 -2.06111423e-03 -2.61786261e-03 -2.12262489e+01] [ 2.05939679e-03 9.99997663e-01 -6.58572978e-04 -3.64798171e+00] [ 2.61921388e-03 6.53178104e-04 9.99996357e-01 -9.31984870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820418555 meters 0.25017476667588096 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.64, Z:-0.93 [[ 9.99994917e-01 1.85526784e-03 -2.59319784e-03 -2.12258737e+01] [-1.84819805e-03 9.99994576e-01 2.72602661e-03 -3.64332808e+00] [ 2.59824128e-03 -2.72122001e-03 9.99992922e-01 -9.32836117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850418555000005 meters 0.25025805719359545 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.64, Z:-0.93 [[ 9.99980391e-01 5.76184478e-03 -2.45346580e-03 -2.12255162e+01] [-5.74723559e-03 9.99965958e-01 5.92050259e-03 -3.63615830e+00] [ 2.48749530e-03 -5.90628584e-03 9.99979464e-01 -9.34116616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880418555 meters 0.2522027292207314 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.63, Z:-0.93 [[ 9.99981225e-01 5.86229144e-03 -1.78409229e-03 -2.12282257e+01] [-5.85361189e-03 9.99971193e-01 4.83191571e-03 -3.62625524e+00] [ 1.81236699e-03 -4.82138160e-03 9.99986735e-01 -9.32522217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910418555 meters 0.2564481401487903 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.62, Z:-0.93 [[ 9.99997086e-01 1.83467698e-03 -1.56883163e-03 -2.12287205e+01] [-1.83491654e-03 9.99998305e-01 -1.51271296e-04 -3.62018452e+00] [ 1.56855144e-03 1.54149530e-04 9.99998758e-01 -9.32646947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940418555 meters 0.25410315604348865 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.61, Z:-0.94 [[ 9.99990675e-01 2.17430674e-03 -3.73135347e-03 -2.12685195e+01] [-2.16889105e-03 9.99996590e-01 1.45483475e-03 -3.61153829e+00] [ 3.73450400e-03 -1.44672829e-03 9.99991980e-01 -9.38762441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970418555 meters 0.25166288930174696 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.60, Z:-0.94 [[ 9.99982769e-01 4.76709784e-03 -3.42592671e-03 -2.12210070e+01] [-4.76779596e-03 9.99988615e-01 -1.95636870e-04 -3.59962093e+00] [ 3.42495508e-03 2.11967618e-04 9.99994112e-01 -9.39443117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000418555 meters 0.24872713323926654 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.60, Z:-0.94 [[ 9.99987349e-01 2.85475416e-03 -4.14155293e-03 -2.12694973e+01] [-2.85717522e-03 9.99995751e-01 -5.78778255e-04 -3.59516939e+00] [ 4.13988306e-03 5.90604075e-04 9.99991256e-01 -9.38095376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030418555000004 meters 0.2513430909940875 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.59, Z:-0.94 [[ 9.99997692e-01 -2.14768242e-03 5.79112904e-05 -2.12448296e+01] [ 2.14753783e-03 9.99994836e-01 2.39076695e-03 -3.58959226e+00] [-6.30455996e-05 -2.39063707e-03 9.99997140e-01 -9.42388141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060418555 meters 0.25151672862843627 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.58, Z:-0.94 [[ 9.99996836e-01 -2.48302978e-03 4.03185865e-04 -2.12454550e+01] [ 2.48259777e-03 9.99996348e-01 1.06847589e-03 -3.58140738e+00] [-4.05837450e-04 -1.06747156e-03 9.99999348e-01 -9.42930933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090418555 meters 0.25084010940122176 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.58, Z:-0.94 [[ 9.99996808e-01 -2.50940175e-03 2.94759671e-04 -2.12451880e+01] [ 2.50909900e-03 9.99996329e-01 1.02304627e-03 -3.58155817e+00] [-2.97325823e-04 -1.02230342e-03 9.99999433e-01 -9.42845502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120418555 meters 0.25110165745524765 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.57, Z:-0.94 [[ 9.99981695e-01 3.92985265e-03 -4.60068998e-03 -2.12722116e+01] [-3.93532621e-03 9.99991559e-01 -1.18127987e-03 -3.57358513e+00] [ 4.59600889e-03 1.19936346e-03 9.99988719e-01 -9.35674994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150418555 meters 0.25249598212316116 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.57, Z:-0.94 [[ 9.99982912e-01 3.77904318e-03 -4.46039153e-03 -2.12728716e+01] [-3.78686125e-03 9.99991306e-01 -1.74563384e-03 -3.56996276e+00] [ 4.45375593e-03 1.76249490e-03 9.99988529e-01 -9.35053857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180418555 meters 0.25573659071335003 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.57, Z:-0.93 [[ 9.99982539e-01 3.76747350e-03 -4.55274269e-03 -2.12727405e+01] [-3.77550461e-03 9.99991330e-01 -1.75671180e-03 -3.57021776e+00] [ 4.54608485e-03 1.77387002e-03 9.99988093e-01 -9.34801338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210418555000004 meters 0.256268765443643 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.57, Z:-0.94 [[ 9.99983494e-01 2.47627530e-03 -5.18455205e-03 -2.12671147e+01] [-2.49433682e-03 9.99990833e-01 -3.48015617e-03 -3.56662082e+00] [ 5.17588670e-03 3.49303075e-03 9.99980504e-01 -9.40310398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240418555 meters 0.25588868763227013 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.57, Z:-0.94 [[ 9.99983186e-01 2.58231249e-03 -5.19232519e-03 -2.12672571e+01] [-2.60010816e-03 9.99990760e-01 -3.42347796e-03 -3.56657921e+00] [ 5.18343672e-03 3.43692100e-03 9.99980660e-01 -9.40029704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270418555 meters 0.25621586792041257 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.56, Z:-0.94 [[ 9.99999500e-01 -5.57835612e-04 -8.29684289e-04 -2.12456844e+01] [ 5.59595966e-04 9.99997590e-01 2.12299899e-03 -3.56289653e+00] [ 8.28498005e-04 -2.12346222e-03 9.99997402e-01 -9.41557140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300418555 meters 0.25050721901232004 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.56, Z:-0.94 [[ 9.99999532e-01 -5.78424954e-04 -7.75557518e-04 -2.12460306e+01] [ 5.79872917e-04 9.99998087e-01 1.86807292e-03 -3.56108633e+00] [ 7.74475495e-04 -1.86852177e-03 9.99997954e-01 -9.41050448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330418555 meters 0.2507407620137023 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.56, Z:-0.94 [[ 9.99994118e-01 -3.42632250e-03 1.55584837e-04 -2.12522872e+01] [ 3.42644467e-03 9.99993816e-01 -7.91865059e-04 -3.56442395e+00] [-1.52870689e-04 7.92393505e-04 9.99999674e-01 -9.35452325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360418555 meters 0.24976795308613825 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.57, Z:-0.94 [[ 9.99999733e-01 6.99579637e-04 -2.09546351e-04 -2.12502947e+01] [-6.98831864e-04 9.99993463e-01 3.54759965e-03 -3.56505814e+00] [ 2.12026810e-04 -3.54745226e-03 9.99993685e-01 -9.37740193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390418555000004 meters 0.25468600215378173 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.57, Z:-0.94 [[ 9.99999752e-01 6.10677391e-04 -3.49702221e-04 -2.12494804e+01] [-6.09429355e-04 9.99993485e-01 3.55790836e-03 -3.56522131e+00] [ 3.51872677e-04 -3.55769436e-03 9.99993609e-01 -9.38686847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.420418555 meters 0.2560124320811671 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.57, Z:-0.94 [[ 9.99993811e-01 -3.50506223e-03 -3.02722262e-04 -2.12503555e+01] [ 3.50496189e-03 9.99993803e-01 -3.31328440e-04 -3.56777444e+00] [ 3.03881713e-04 3.30265360e-04 9.99999899e-01 -9.37076269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450418555 meters 0.2575541412479693 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.57, Z:-0.94 [[ 9.99992262e-01 -5.27857565e-04 3.89839179e-03 -2.12301334e+01] [ 5.60417786e-04 9.99964932e-01 -8.35585485e-03 -3.56656473e+00] [-3.89384438e-03 8.35797492e-03 9.99957490e-01 -9.38293928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480418555 meters 0.2485083567998319 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.57, Z:-0.95 [[ 9.99997885e-01 -8.53924136e-04 1.87111520e-03 -2.12693161e+01] [ 8.65521021e-04 9.99980369e-01 -6.20582684e-03 -3.56879183e+00] [-1.86577916e-03 6.20743321e-03 9.99978993e-01 -9.45267057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510418555 meters 0.2528298891750713 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.57, Z:-0.95 [[ 9.99998138e-01 -7.46041932e-04 1.77957659e-03 -2.12688599e+01] [ 7.56182285e-04 9.99983444e-01 -5.70433254e-03 -3.57166230e+00] [-1.77529146e-03 5.70566761e-03 9.99982147e-01 -9.45929167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540418555 meters 0.2501748547246175 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.57, Z:-0.95 [[ 9.99995425e-01 1.25758482e-03 2.75094262e-03 -2.12212960e+01] [-1.24202846e-03 9.99983271e-01 -5.64933639e-03 -3.57099776e+00] [-2.75800112e-03 5.64589379e-03 9.99980258e-01 -9.46945458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570418555 meters 0.2511849773719942 Centerline is valid? [False, False] Translation: X:-21.20, Y:-3.57, Z:-0.95 [[ 9.99969512e-01 -3.15332507e-03 7.14367970e-03 -2.11955319e+01] [ 3.16324352e-03 9.99994048e-01 -1.37755028e-03 -3.57301641e+00] [-7.13929332e-03 1.40010548e-03 9.99973535e-01 -9.52230678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.600418555 meters 0.25496334953224936 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.57, Z:-0.95 [[ 9.99992421e-01 -4.14666820e-04 3.87125457e-03 -2.12237386e+01] [ 4.44160399e-04 9.99970862e-01 -7.62086153e-03 -3.57309746e+00] [-3.86798166e-03 7.62252323e-03 9.99963467e-01 -9.45556711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.630418555 meters 0.2536456287847446 Centerline is valid? [False, False] Translation: X:-21.20, Y:-3.57, Z:-0.95 [[ 9.99956558e-01 -1.88397715e-03 9.12870082e-03 -2.12024129e+01] [ 1.88932168e-03 9.99998049e-01 -5.76876382e-04 -3.57213877e+00] [-9.12759618e-03 5.94098373e-04 9.99958166e-01 -9.47432759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660418555 meters 0.25552718301640537 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.57, Z:-0.94 [[ 9.99987162e-01 3.58518528e-03 3.58088950e-03 -2.12255982e+01] [-3.57230272e-03 9.99987148e-01 -3.59752620e-03 -3.56960082e+00] [-3.59374128e-03 3.58468800e-03 9.99987117e-01 -9.43207431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690418555 meters 0.2506208485476311 Centerline is valid? [False, False] Translation: X:-21.20, Y:-3.57, Z:-0.95 [[ 9.99966676e-01 -2.89160299e-03 7.63449562e-03 -2.11986903e+01] [ 2.90152841e-03 9.99994959e-01 -1.28931969e-03 -3.57455002e+00] [-7.63072893e-03 1.31142843e-03 9.99970026e-01 -9.49317516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720418555 meters 0.25098998052631805 Centerline is valid? [False, False] Translation: X:-21.20, Y:-3.57, Z:-0.95 [[ 9.99964808e-01 -2.84775990e-03 7.89138018e-03 -2.11995125e+01] [ 2.86070163e-03 9.99994581e-01 -1.62918086e-03 -3.57112055e+00] [-7.88669790e-03 1.65169841e-03 9.99967535e-01 -9.49277263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750418555 meters 0.24991546574737772 Centerline is valid? [False, False] Translation: X:-21.20, Y:-3.57, Z:-0.95 [[ 9.99961692e-01 -2.36104674e-04 8.74975493e-03 -2.12048802e+01] [ 2.27250595e-04 9.99999461e-01 1.01290345e-03 -3.56920876e+00] [-8.74998936e-03 -1.01087626e-03 9.99961207e-01 -9.45289049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780418555000004 meters 0.25530716740997456 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.57, Z:-0.94 [[ 9.99950166e-01 -4.38240878e-03 8.96995839e-03 -2.12060588e+01] [ 4.41133428e-03 9.99985126e-01 -3.20746787e-03 -3.56937662e+00] [-8.95576854e-03 3.24687751e-03 9.99954625e-01 -9.44125151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.810418555 meters 0.24974487420238373 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.57, Z:-0.94 [[ 9.99949806e-01 -4.35456201e-03 9.02351623e-03 -2.12064515e+01] [ 4.38372117e-03 9.99985226e-01 -3.21420800e-03 -3.56907609e+00] [-9.00938644e-03 3.25360325e-03 9.99954121e-01 -9.43758152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840418555 meters 0.24860845165287992 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.57, Z:-0.93 [[ 9.99986052e-01 -1.74071327e-03 -4.98645939e-03 -2.12120333e+01] [ 1.73064151e-03 9.99996455e-01 -2.02342562e-03 -3.56686286e+00] [ 4.98996391e-03 2.01476763e-03 9.99985520e-01 -9.33107218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870418555 meters 0.25437274302058793 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.57, Z:-0.94 [[ 9.99958109e-01 -7.13654519e-03 -5.73149202e-03 -2.12065879e+01] [ 7.09351209e-03 9.99946762e-01 -7.49373950e-03 -3.56587273e+00] [ 5.78466630e-03 7.45276917e-03 9.99955496e-01 -9.37551680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900418555 meters 0.25541691797017146 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.57, Z:-0.93 [[ 9.99965380e-01 -6.40726686e-03 -5.30907319e-03 -2.12103940e+01] [ 6.37257190e-03 9.99958397e-01 -6.52637862e-03 -3.56912559e+00] [ 5.35066856e-03 6.49232023e-03 9.99964609e-01 -9.33670976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930418555 meters 0.2466220781570199 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.57, Z:-0.93 [[ 9.99989495e-01 -1.52043857e-03 -4.32406239e-03 -2.12648517e+01] [ 1.52596406e-03 9.99998023e-01 1.27483490e-03 -3.56977065e+00] [ 4.32211553e-03 -1.28141987e-03 9.99989839e-01 -9.29047471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960418555000004 meters 0.2546181585203568 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.57, Z:-0.93 [[ 9.99983657e-01 3.56802684e-03 -4.46712936e-03 -2.12127940e+01] [-3.55007374e-03 9.99985616e-01 4.02043432e-03 -3.56650079e+00] [ 4.48141012e-03 -4.00450997e-03 9.99981940e-01 -9.32864566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.990418555 meters 0.2547342508371475 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.57, Z:-0.93 [[ 9.99987801e-01 -9.00980997e-04 -4.85662293e-03 -2.12112019e+01] [ 9.00609902e-04 9.99999591e-01 -7.85966334e-05 -3.57080815e+00] [ 4.85669175e-03 7.42217519e-05 9.99988203e-01 -9.33330394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020418555 meters 0.24968828652715347 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.57, Z:-0.93 [[ 9.99989069e-01 -9.99644369e-04 -4.56758942e-03 -2.12124204e+01] [ 9.97235521e-04 9.99999363e-01 -5.29625445e-04 -3.56760715e+00] [ 4.56811595e-03 5.25064693e-04 9.99989428e-01 -9.32742695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050418555 meters 0.24876068932299303 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.56, Z:-0.93 [[ 9.99984528e-01 3.93976348e-04 -5.54882859e-03 -2.12581529e+01] [-3.79913265e-04 9.99996714e-01 2.53524979e-03 -3.56279880e+00] [ 5.54980918e-03 -2.53310249e-03 9.99981391e-01 -9.34665105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080418555 meters 0.2549589501607629 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.56, Z:-0.94 [[ 9.99983389e-01 4.50150687e-03 -3.59985912e-03 -2.12269225e+01] [-4.51818022e-03 9.99979042e-01 -4.63702524e-03 -3.56022042e+00] [ 3.57891008e-03 4.65321302e-03 9.99982769e-01 -9.44365350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110418555 meters 0.2549589501607629 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.56, Z:-0.94 [[ 9.99983389e-01 4.50150687e-03 -3.59985912e-03 -2.12269225e+01] [-4.51818022e-03 9.99979042e-01 -4.63702524e-03 -3.56022042e+00] [ 3.57891008e-03 4.65321302e-03 9.99982769e-01 -9.44365350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140418555000004 meters 0.2530969950442855 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.56, Z:-0.94 [[ 9.99968816e-01 -1.37160958e-03 -7.77731822e-03 -2.12542109e+01] [ 1.37185595e-03 9.99999059e-01 2.63438459e-05 -3.56302995e+00] [ 7.77727476e-03 -3.70123847e-05 9.99969756e-01 -9.36168233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.170418555 meters 0.24984601161379985 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.56, Z:-0.93 [[ 9.99985775e-01 1.26563855e-03 -5.18154481e-03 -2.12168366e+01] [-1.26271696e-03 9.99999042e-01 5.67077882e-04 -3.55897777e+00] [ 5.18225756e-03 -5.60526991e-04 9.99986415e-01 -9.28447913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200418555 meters 0.2510115401648747 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.55, Z:-0.92 [[ 9.99985105e-01 3.50207804e-03 -4.18620371e-03 -2.12235069e+01] [-3.49165685e-03 9.99990794e-01 2.49413573e-03 -3.55353595e+00] [ 4.19489983e-03 -2.47948179e-03 9.99988127e-01 -9.22954157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230418555 meters 0.24702555920457642 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.55, Z:-0.93 [[ 9.99979662e-01 1.27828982e-04 -6.37646820e-03 -2.12628463e+01] [-1.23581237e-04 9.99999770e-01 6.66549113e-04 -3.55188400e+00] [ 6.37655194e-03 -6.65747545e-04 9.99979448e-01 -9.29671183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260418555 meters 0.25149286502668916 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.55, Z:-0.93 [[ 9.99979427e-01 -1.04032671e-04 -6.41358875e-03 -2.12620280e+01] [ 1.04224139e-04 9.99999994e-01 2.95192443e-05 -3.54853224e+00] [ 6.41358564e-03 -3.01870878e-05 9.99979432e-01 -9.31098804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290418555 meters 0.2488021251922129 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.54, Z:-0.93 [[ 9.99989147e-01 8.10837882e-04 -4.58786501e-03 -2.12215146e+01] [-8.18220889e-04 9.99998373e-01 -1.60759873e-03 -3.54179843e+00] [ 4.58655405e-03 1.61133517e-03 9.99988183e-01 -9.25318201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320418555 meters 0.254192849861772 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.54, Z:-0.92 [[ 9.99988984e-01 7.94181872e-04 -4.62616844e-03 -2.12219153e+01] [-8.01683938e-04 9.99998366e-01 -1.62003015e-03 -3.54242567e+00] [ 4.62487429e-03 1.62372103e-03 9.99987987e-01 -9.24266673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.350418555 meters 0.2545139094591395 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.54, Z:-0.93 [[ 9.99988368e-01 6.14408648e-04 -4.78396642e-03 -2.12207417e+01] [-6.23724619e-04 9.99997912e-01 -1.94608379e-03 -3.54122083e+00] [ 4.78276074e-03 1.94904503e-03 9.99986663e-01 -9.25469558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380418555 meters 0.2542073904011835 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.53, Z:-0.93 [[ 9.99977648e-01 4.12174311e-03 -5.26440458e-03 -2.12162135e+01] [-4.11773375e-03 9.99991224e-01 7.72209773e-04 -3.53265376e+00] [ 5.26754123e-03 -7.50515097e-04 9.99985845e-01 -9.30326919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410418555 meters 0.2497993695591671 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.53, Z:-0.93 [[ 9.99978883e-01 4.19979784e-03 -4.95937921e-03 -2.12173964e+01] [-4.19899419e-03 9.99991169e-01 1.72447227e-04 -3.52701835e+00] [ 4.96005966e-03 -1.51619181e-04 9.99987687e-01 -9.29698147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440418555 meters 0.2548069172891729 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.53, Z:-0.93 [[ 9.99988827e-01 5.60560380e-05 -4.72686734e-03 -2.12183029e+01] [-7.62336172e-05 9.99990886e-01 -4.26862800e-03 -3.52548032e+00] [ 4.72658497e-03 4.26894065e-03 9.99979718e-01 -9.28929520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470418555 meters 0.254494289314377 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.52, Z:-0.93 [[ 9.99979965e-01 2.63548928e-03 -5.75529531e-03 -2.12114846e+01] [-2.64857681e-03 9.99993922e-01 -2.26756035e-03 -3.52323122e+00] [ 5.74928419e-03 2.28275826e-03 9.99980867e-01 -9.34589971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500418555 meters 0.2546228695009063 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.52, Z:-0.93 [[ 9.99960080e-01 7.02649297e-03 -5.51965051e-03 -2.12126804e+01] [-7.01682595e-03 9.99973817e-01 1.76879907e-03 -3.52107209e+00] [ 5.53193444e-03 -1.72999803e-03 9.99983202e-01 -9.33386644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530418555000004 meters 0.2508788938421294 Centerline is valid? [False, False] Translation: X:-21.20, Y:-3.53, Z:-0.93 [[ 9.99998091e-01 1.25059887e-03 1.50120381e-03 -2.11989332e+01] [-1.25739702e-03 9.99988921e-01 4.53609935e-03 -3.52508605e+00] [-1.49551434e-03 -4.53797830e-03 9.99988585e-01 -9.29589807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560418555 meters 0.24994182563398526 Centerline is valid? [False, False] Translation: X:-21.20, Y:-3.53, Z:-0.93 [[ 9.99994723e-01 -2.80801644e-03 1.63400347e-03 -2.11997183e+01] [ 2.80700025e-03 9.99995866e-01 6.23860937e-04 -3.52619412e+00] [-1.63574853e-03 -6.19270996e-04 9.99998470e-01 -9.29062966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590418555 meters 0.25621544049839684 Centerline is valid? [False, False] Translation: X:-21.20, Y:-3.53, Z:-0.93 [[ 9.99995602e-01 -2.60515129e-03 1.41736599e-03 -2.11986334e+01] [ 2.60300399e-03 9.99995465e-01 1.51473532e-03 -3.53123486e+00] [-1.42130568e-03 -1.51103925e-03 9.99997848e-01 -9.30098883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620418555 meters 0.24933540547085611 Centerline is valid? [False, False] Translation: X:-21.20, Y:-3.54, Z:-0.93 [[ 9.99979746e-01 -5.97830147e-03 2.18341991e-03 -2.12022806e+01] [ 5.97914341e-03 9.99982053e-01 -3.79282308e-04 -3.54156148e+00] [-2.18111326e-03 3.92329607e-04 9.99997544e-01 -9.27497705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650418555 meters 0.2502273652388453 Centerline is valid? [False, False] Translation: X:-21.18, Y:-3.55, Z:-0.93 [[ 9.99999992e-01 1.22959094e-04 -2.26158048e-05 -2.11779392e+01] [-1.23061782e-04 9.99989422e-01 -4.59801093e-03 -3.54724229e+00] [ 2.20501983e-05 4.59801367e-03 9.99989429e-01 -9.25959425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680418555 meters 0.2501700723696775 Centerline is valid? [False, False] Translation: X:-21.18, Y:-3.55, Z:-0.93 [[ 9.99999902e-01 1.93286777e-04 -3.98796265e-04 -2.11767430e+01] [-1.94731425e-04 9.99993408e-01 -3.62566750e-03 -3.55352506e+00] [ 3.98092843e-04 3.62574480e-03 9.99993348e-01 -9.26396103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710418555000004 meters 0.24861837271470485 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.56, Z:-0.92 [[ 9.99970971e-01 -7.59900137e-03 -5.58409778e-04 -2.12257500e+01] [ 7.59409361e-03 9.99936550e-01 -8.32015440e-03 -3.56031967e+00] [ 6.21599212e-04 8.31567226e-03 9.99965231e-01 -9.24620562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740418555 meters 0.25455314527685685 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.57, Z:-0.92 [[ 9.99994753e-01 -3.15463211e-03 -7.36802566e-04 -2.12255937e+01] [ 3.15221209e-03 9.99989709e-01 -3.26287539e-03 -3.56517925e+00] [ 7.47088155e-04 3.26053572e-03 9.99994405e-01 -9.24268418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770418555 meters 0.24832086865948763 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.56, Z:-0.93 [[ 9.99999031e-01 1.04802727e-03 -9.15979362e-04 -2.12242551e+01] [-1.04721338e-03 9.99999057e-01 8.88582475e-04 -3.56411995e+00] [ 9.16909757e-04 -8.87622389e-04 9.99999186e-01 -9.26073605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800418555 meters 0.253653561063395 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.57, Z:-0.93 [[ 9.99995851e-01 1.50009220e-03 -2.45911961e-03 -2.12142473e+01] [-1.49632311e-03 9.99997704e-01 1.53382127e-03 -3.56709649e+00] [ 2.46141484e-03 -1.53013527e-03 9.99995800e-01 -9.34174855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830418555 meters 0.2534459854374695 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.57, Z:-0.93 [[ 9.99998989e-01 6.88404341e-04 -1.24421271e-03 -2.12233322e+01] [-6.87721412e-04 9.99999613e-01 5.49228959e-04 -3.56629940e+00] [ 1.24459032e-03 -5.48372732e-04 9.99999075e-01 -9.26298609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860418555 meters 0.2556579463772808 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.56, Z:-0.93 [[ 9.99999310e-01 6.39723823e-04 -9.85070446e-04 -2.12244686e+01] [-6.39635810e-04 9.99999791e-01 8.96587447e-05 -3.56270453e+00] [ 9.85127598e-04 -8.90285965e-05 9.99999511e-01 -9.25687754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890418555000004 meters 0.2488697428067846 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.56, Z:-0.93 [[ 9.99999436e-01 5.21704473e-04 -9.25135751e-04 -2.12244090e+01] [-5.22030198e-04 9.99999802e-01 -3.51876572e-04 -3.55977764e+00] [ 9.24951992e-04 3.52359323e-04 9.99999510e-01 -9.26163434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920418555 meters 0.24949878186224603 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.57, Z:-0.93 [[ 9.99999247e-01 -2.51647962e-04 -1.20115479e-03 -2.12239962e+01] [ 2.51091931e-04 9.99999861e-01 -4.63042167e-04 -3.56537155e+00] [ 1.20127115e-03 4.62740218e-04 9.99999171e-01 -9.25421864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950418555 meters 0.2496229573010576 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.57, Z:-0.93 [[ 9.99996786e-01 -1.42907668e-03 -2.09427621e-03 -2.12185800e+01] [ 1.42611890e-03 9.99997985e-01 -1.41312967e-03 -3.56514746e+00] [ 2.09629146e-03 1.41013844e-03 9.99996809e-01 -9.29928653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980418555 meters 0.2538537724561921 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.57, Z:-0.93 [[ 9.99991173e-01 -1.63400002e-03 -3.87085770e-03 -2.12603613e+01] [ 1.63632201e-03 9.99998483e-01 5.96771359e-04 -3.56502182e+00] [ 3.86987671e-03 -6.03100061e-04 9.99992330e-01 -9.34692370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010418555 meters 0.250154226381712 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.56, Z:-0.93 [[ 9.99998931e-01 -4.53376001e-04 -1.39043438e-03 -2.12216530e+01] [ 4.53392810e-04 9.99999897e-01 1.17738219e-05 -3.56292136e+00] [ 1.39042890e-03 -1.24042223e-05 9.99999033e-01 -9.28635534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040418555 meters 0.2530953577749233 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.56, Z:-0.93 [[ 9.99996692e-01 -2.12528694e-03 -1.44865841e-03 -2.12716815e+01] [ 2.12581125e-03 9.99997675e-01 3.60487346e-04 -3.56170727e+00] [ 1.44788890e-03 -3.63565728e-04 9.99998886e-01 -9.27003912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070418555 meters 0.24900183295800443 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.56, Z:-0.93 [[ 9.99992310e-01 3.85693858e-03 7.09840962e-04 -2.12423857e+01] [-3.85333792e-03 9.99980047e-01 -5.00580542e-03 -3.55771456e+00] [-7.29133882e-04 5.00303167e-03 9.99987219e-01 -9.34760797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100418555 meters 0.2541511828534877 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.55, Z:-0.93 [[ 9.99992039e-01 3.81577106e-03 1.16708149e-03 -2.12436507e+01] [-3.80847030e-03 9.99973558e-01 -6.19510081e-03 -3.54948407e+00] [-1.19068972e-03 6.19060670e-03 9.99980129e-01 -9.34442302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.130418555 meters 0.2536008654827401 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.54, Z:-0.93 [[ 9.99996012e-01 -2.31556980e-03 1.61698568e-03 -2.12687933e+01] [ 2.31829139e-03 9.99995896e-01 -1.68328493e-03 -3.54401945e+00] [-1.61308128e-03 1.68702686e-03 9.99997276e-01 -9.33210838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160418555 meters 0.24873702561949923 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.54, Z:-0.93 [[ 9.99997491e-01 1.62961902e-03 1.53677523e-03 -2.12682734e+01] [-1.63210959e-03 9.99997355e-01 1.62078833e-03 -3.53911690e+00] [-1.53412990e-03 -1.62329245e-03 9.99997506e-01 -9.33618037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190418555 meters 0.2547089260851559 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.53, Z:-0.94 [[ 9.99987539e-01 4.93825010e-03 7.31716087e-04 -2.12623285e+01] [-4.94118066e-03 9.99979555e-01 4.05888325e-03 -3.53159797e+00] [-7.11657346e-04 -4.06244821e-03 9.99991495e-01 -9.39544232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220418555 meters 0.2531049862884818 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.53, Z:-0.94 [[ 9.99988217e-01 4.81944781e-03 5.82618626e-04 -2.12620464e+01] [-4.82163081e-03 9.99981135e-01 3.80541087e-03 -3.53077977e+00] [-5.64267656e-04 -3.80817520e-03 9.99992590e-01 -9.39081277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250418555 meters 0.24772806028268973 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.53, Z:-0.94 [[ 9.99989215e-01 4.59217165e-03 6.94006519e-04 -2.12627090e+01] [-4.59429352e-03 9.99984680e-01 3.08738657e-03 -3.52706880e+00] [-6.79818077e-04 -3.09054174e-03 9.99994993e-01 -9.38275128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280418555000004 meters 0.2547935623182446 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.52, Z:-0.94 [[ 9.99987983e-01 4.76970867e-03 1.13332516e-03 -2.12648064e+01] [-4.77246345e-03 9.99985634e-01 2.44056902e-03 -3.51953658e+00] [-1.12166807e-03 -2.44594845e-03 9.99996380e-01 -9.36813722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.310418555 meters 0.2557738941912188 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.52, Z:-0.94 [[ 9.99988187e-01 4.66332864e-03 1.37117624e-03 -2.12660341e+01] [-4.66616697e-03 9.99986962e-01 2.07413517e-03 -3.51739168e+00] [-1.36148599e-03 -2.08050880e-03 9.99996909e-01 -9.35930635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340418555 meters 0.2550236263584416 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.52, Z:-0.94 [[ 9.99999002e-01 2.42940760e-04 1.39140385e-03 -2.12657327e+01] [-2.39339053e-04 9.99996622e-01 -2.58812403e-03 -3.51539356e+00] [-1.39202791e-03 2.58778844e-03 9.99995683e-01 -9.36593003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370418555 meters 0.25374393069133927 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.51, Z:-0.95 [[ 9.99996333e-01 -2.69427496e-03 -2.75249844e-04 -2.12545452e+01] [ 2.69269760e-03 9.99980813e-01 -5.57872318e-03 -3.51312351e+00] [ 2.90275177e-04 5.57796156e-03 9.99984401e-01 -9.46720362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400418555 meters 0.2534365451508819 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.51, Z:-0.95 [[ 9.99998964e-01 1.39325259e-03 -3.61735613e-04 -2.12543308e+01] [-1.39369470e-03 9.99998279e-01 -1.22482293e-03 -3.51458885e+00] [ 3.60028503e-04 1.22532581e-03 9.99999184e-01 -9.46903450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430418555 meters 0.2539664018354401 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.51, Z:-0.95 [[ 9.99999034e-01 1.37294433e-03 -2.17731943e-04 -2.12553735e+01] [-1.37326300e-03 9.99997976e-01 -1.47027495e-03 -3.51291828e+00] [ 2.15712897e-04 1.47057254e-03 9.99998895e-01 -9.45808131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460418555000004 meters 0.2544543106293634 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.51, Z:-0.95 [[ 9.99999324e-01 1.14246500e-03 -2.18420937e-04 -2.12555482e+01] [-1.14291895e-03 9.99997164e-01 -2.08963427e-03 -3.50971173e+00] [ 2.16032984e-04 2.08988249e-03 9.99997793e-01 -9.45412454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.490418555 meters 0.2531366731584241 Centerline is valid? [False, False] Translation: X:-21.28, Y:-3.51, Z:-0.94 [[ 9.99988793e-01 -3.85108368e-03 -2.75361995e-03 -2.12840283e+01] [ 3.86036224e-03 9.99986863e-01 3.37224600e-03 -3.50834381e+00] [ 2.74059698e-03 -3.38283818e-03 9.99990523e-01 -9.38708823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520418555 meters 0.2549486868492793 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.50, Z:-0.94 [[ 9.99999055e-01 1.04585031e-03 8.92500873e-04 -2.12597633e+01] [-1.04339031e-03 9.99995668e-01 -2.75232789e-03 -3.50462790e+00] [-8.95375529e-04 2.75139406e-03 9.99995814e-01 -9.42053365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550418555 meters 0.2547949700448093 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.50, Z:-0.94 [[ 9.99998982e-01 9.37170335e-04 1.07596781e-03 -2.12603524e+01] [-9.33464466e-04 9.99993649e-01 -3.43957078e-03 -3.50010518e+00] [-1.07918444e-03 3.43856290e-03 9.99993506e-01 -9.42017010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580418555 meters 0.25407508999778017 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.49, Z:-0.94 [[ 9.99986299e-01 5.01238573e-03 1.50930651e-03 -2.12623027e+01] [-5.01225315e-03 9.99987434e-01 -9.16123524e-05 -3.49365987e+00] [-1.50974674e-03 8.40460709e-05 9.99998857e-01 -9.40781346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610418555 meters 0.25871504416082153 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.49, Z:-0.94 [[ 9.99998646e-01 6.20206202e-04 1.52442663e-03 -2.12624019e+01] [-6.12943260e-04 9.99988482e-01 -4.76023496e-03 -3.49171903e+00] [-1.52736139e-03 4.75929413e-03 9.99987508e-01 -9.40582014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640418555000004 meters 0.24986218111502592 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.49, Z:-0.94 [[ 9.99998882e-01 4.63334379e-04 1.42147202e-03 -2.12612024e+01] [-4.56088137e-04 9.99986923e-01 -5.09379849e-03 -3.49021294e+00] [-1.42381357e-03 5.09314448e-03 9.99986016e-01 -9.42228902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.670418555 meters 0.25498492140801454 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.48, Z:-0.94 [[ 9.99989405e-01 4.36322155e-03 1.46676423e-03 -2.12611308e+01] [-4.36046809e-03 9.99988735e-01 -1.87522267e-03 -3.48449639e+00] [-1.47492972e-03 1.86880702e-03 9.99997166e-01 -9.42538276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700418555 meters 0.2546847959091755 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.48, Z:-0.94 [[ 9.99996261e-01 1.21403329e-03 2.45021864e-03 -2.12665240e+01] [-1.20062138e-03 9.99984331e-01 -5.46782902e-03 -3.48325683e+00] [-2.45681837e-03 5.46486679e-03 9.99982049e-01 -9.38510144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730418555 meters 0.25530931911042554 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.48, Z:-0.94 [[ 9.99995456e-01 1.21898499e-03 2.75719953e-03 -2.12678866e+01] [-1.20313788e-03 9.99982791e-01 -5.74191273e-03 -3.48145236e+00] [-2.76415139e-03 5.73856934e-03 9.99979714e-01 -9.37696577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760418555 meters 0.255560353811076 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.48, Z:-0.94 [[ 9.99960878e-01 8.58880406e-03 2.11551005e-03 -2.12629284e+01] [-8.59161713e-03 9.99962215e-01 1.32425603e-03 -3.47522887e+00] [-2.10405634e-03 -1.34237988e-03 9.99996885e-01 -9.42403035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790418555 meters 0.2546234190918087 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.47, Z:-0.94 [[ 9.99989547e-01 4.12180895e-03 1.97898567e-03 -2.12620329e+01] [-4.11521626e-03 9.99986008e-01 -3.32394196e-03 -3.47398629e+00] [-1.99265864e-03 3.31576326e-03 9.99992517e-01 -9.43360010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820418555 meters 0.25400750039673897 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.47, Z:-0.94 [[ 9.99998120e-01 -1.91625745e-04 1.92972746e-03 -2.12617221e+01] [ 2.06444367e-04 9.99970473e-01 -7.68185821e-03 -3.47415658e+00] [-1.92819844e-03 7.68224215e-03 9.99968632e-01 -9.43601037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.850418555 meters 0.254621823293147 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.47, Z:-0.95 [[ 9.99991774e-01 3.58555418e-03 1.89634281e-03 -2.12601640e+01] [-3.57717581e-03 9.99983907e-01 -4.40326452e-03 -3.46914437e+00] [-1.91210044e-03 4.39644474e-03 9.99988508e-01 -9.46215610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880418555 meters 0.25295405037263335 Centerline is valid? [False, False] Translation: X:-21.29, Y:-3.47, Z:-0.94 [[ 9.99998609e-01 -7.04435767e-04 -1.51183787e-03 -2.12857151e+01] [ 7.06831504e-04 9.99998495e-01 1.58470342e-03 -3.46715938e+00] [ 1.51071928e-03 -1.58576983e-03 9.99997602e-01 -9.41193014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910418555 meters 0.2546415424699213 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.47, Z:-0.94 [[ 9.99993996e-01 1.84413433e-03 2.93386242e-03 -2.12645317e+01] [-1.82499956e-03 9.99977135e-01 -6.51140525e-03 -3.46528136e+00] [-2.94580325e-03 6.50601186e-03 9.99974497e-01 -9.42447528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940418555 meters 0.25640039908813805 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.47, Z:-0.94 [[ 9.99957677e-01 -2.76857360e-03 8.77382962e-03 -2.12473989e+01] [ 2.78571476e-03 9.99994234e-01 -1.94204986e-03 -3.46686525e+00] [-8.76840233e-03 1.96640905e-03 9.99959623e-01 -9.40619956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970418555 meters 0.25522105752364665 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.46, Z:-0.93 [[ 9.99987487e-01 1.73701997e-05 -5.00251470e-03 -2.12529396e+01] [-2.51371947e-05 9.99998794e-01 -1.55255944e-03 -3.46055628e+00] [ 5.00248170e-03 1.55266576e-03 9.99986282e-01 -9.32465151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000418555 meters 0.2544239450163852 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.46, Z:-0.93 [[ 9.99986930e-01 -2.99715650e-06 -5.11275965e-03 -2.12519155e+01] [-5.28530946e-06 9.99998688e-01 -1.61994569e-03 -3.46013066e+00] [ 5.11275779e-03 1.61995154e-03 9.99985618e-01 -9.33691538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030418555000004 meters 0.2544239450163852 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.46, Z:-0.93 [[ 9.99986930e-01 -2.99715650e-06 -5.11275965e-03 -2.12519155e+01] [-5.28530946e-06 9.99998688e-01 -1.61994569e-03 -3.46013066e+00] [ 5.11275779e-03 1.61995154e-03 9.99985618e-01 -9.33691538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060418555 meters 0.252764219999739 Centerline is valid? [False, False] Translation: X:-21.30, Y:-3.46, Z:-0.94 [[ 9.99976576e-01 -2.38863459e-03 -6.41415976e-03 -2.12968068e+01] [ 2.36959873e-03 9.99992771e-01 -2.97374852e-03 -3.46140663e+00] [ 6.42121659e-03 2.95847988e-03 9.99975007e-01 -9.35875589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090418555 meters 0.2544077420868929 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.46, Z:-0.94 [[ 9.99980452e-01 -5.80045511e-03 -2.33454029e-03 -2.12691448e+01] [ 5.80655572e-03 9.99979723e-01 2.61495692e-03 -3.46265046e+00] [ 2.31932501e-03 -2.62846145e-03 9.99993856e-01 -9.42542264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120418555 meters 0.25325406652505095 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.46, Z:-0.94 [[ 9.99980788e-01 -5.71246664e-03 -2.40645578e-03 -2.12682144e+01] [ 5.71944986e-03 9.99979424e-01 2.90505047e-03 -3.46364848e+00] [ 2.38981126e-03 -2.91875826e-03 9.99992885e-01 -9.43917374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150418555 meters 0.2538333278491954 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.47, Z:-0.95 [[ 9.99990292e-01 -4.36844613e-03 5.77277417e-04 -2.12454812e+01] [ 4.37173448e-03 9.99973488e-01 -5.82341530e-03 -3.46871970e+00] [-5.51822836e-04 5.82588247e-03 9.99982877e-01 -9.45163753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180418555 meters 0.2564455048710852 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.47, Z:-0.94 [[ 9.99988986e-01 -3.22872277e-03 3.40638244e-03 -2.12092819e+01] [ 3.24636243e-03 9.99981285e-01 -5.18565802e-03 -3.47426011e+00] [-3.38957564e-03 5.19665926e-03 9.99980753e-01 -9.36115612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210418555000004 meters 0.2544146388302516 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.47, Z:-0.94 [[ 9.99996055e-01 -1.40657270e-03 2.43129991e-03 -2.12553223e+01] [ 1.41084803e-03 9.99997460e-01 -1.75763549e-03 -3.47398542e+00] [-2.42882150e-03 1.76105875e-03 9.99995500e-01 -9.37853107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240418555 meters 0.24948785076484703 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.48, Z:-0.94 [[ 9.99991116e-01 -2.61326738e-03 3.30724931e-03 -2.12092669e+01] [ 2.62520702e-03 9.99990035e-01 -3.61096725e-03 -3.47833567e+00] [-3.29777993e-03 3.61961739e-03 9.99988011e-01 -9.35752719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270418555 meters 0.2562620298719652 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.48, Z:-0.93 [[ 9.99990999e-01 -2.49025295e-03 3.43522628e-03 -2.12101324e+01] [ 2.50173866e-03 9.99991282e-01 -3.34327525e-03 -3.47964243e+00] [-3.42687073e-03 3.35183919e-03 9.99988511e-01 -9.34864160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300418555 meters 0.2546824381344912 Centerline is valid? [False, False] Translation: X:-21.26, Y:-3.48, Z:-0.93 [[ 9.99995276e-01 -1.24722868e-03 2.80948331e-03 -2.12582018e+01] [ 1.24977776e-03 9.99998809e-01 -9.05740774e-04 -3.47806338e+00] [-2.80835030e-03 9.09247725e-04 9.99995643e-01 -9.34554008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330418555 meters 0.25592289331181434 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.48, Z:-0.94 [[ 9.99996776e-01 -5.48572531e-04 2.47951319e-03 -2.12073880e+01] [ 5.54850113e-04 9.99996641e-01 -2.53180177e-03 -3.47598007e+00] [-2.47811598e-03 2.53316937e-03 9.99993721e-01 -9.36474897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360418555 meters 0.2546467931674787 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.47, Z:-0.93 [[ 9.99994201e-01 1.03477879e-03 3.24459166e-03 -2.12111222e+01] [-1.03020356e-03 9.99998473e-01 -1.41146383e-03 -3.47404821e+00] [-3.24604726e-03 1.40811305e-03 9.99993740e-01 -9.34535271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390418555000004 meters 0.25469572448790606 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.47, Z:-0.93 [[ 9.99981555e-01 5.06401753e-03 3.35339122e-03 -2.12112757e+01] [-5.07116439e-03 9.99984881e-01 2.12617102e-03 -3.46948360e+00] [-3.34257356e-03 -2.14313740e-03 9.99992117e-01 -9.34772555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420418555 meters 0.2542523558907421 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.47, Z:-0.93 [[ 9.99982427e-01 4.85870072e-03 3.39683000e-03 -2.12117513e+01] [-4.86374313e-03 9.99987080e-01 1.47776537e-03 -3.46628724e+00] [-3.38960609e-03 -1.49426071e-03 9.99993139e-01 -9.33921232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450418555 meters 0.2537463758201831 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.46, Z:-0.93 [[ 9.99994248e-01 5.79721420e-04 3.34187753e-03 -2.12117151e+01] [-5.68565185e-04 9.99994266e-01 -3.33829735e-03 -3.46308818e+00] [-3.34379365e-03 3.33637807e-03 9.99988844e-01 -9.33666927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480418555 meters 0.2503183516518213 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.46, Z:-0.93 [[ 9.99993802e-01 4.85287111e-04 3.48718581e-03 -2.12120349e+01] [-4.71234859e-04 9.99991771e-01 -4.02937477e-03 -3.45898286e+00] [-3.48911251e-03 4.02770651e-03 9.99985802e-01 -9.33634913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510418555 meters 0.2567907533815128 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.45, Z:-0.93 [[ 9.99984356e-01 3.49818420e-03 4.36460837e-03 -2.12174796e+01] [-3.49152621e-03 9.99992731e-01 -1.53213928e-03 -3.45373981e+00] [-4.36993635e-03 1.51687617e-03 9.99989301e-01 -9.29084822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540418555 meters 0.2573051593693971 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.45, Z:-0.93 [[ 9.99984882e-01 3.48573916e-03 4.25263038e-03 -2.12161024e+01] [-3.47795133e-03 9.99992264e-01 -1.83732006e-03 -3.45089614e+00] [-4.25900190e-03 1.82250184e-03 9.99989270e-01 -9.30948440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570418555 meters 0.2564138005772707 Centerline is valid? [False, False] Translation: X:-21.21, Y:-3.45, Z:-0.94 [[ 9.99974589e-01 6.28807257e-03 3.35887328e-03 -2.12097887e+01] [-6.29097053e-03 9.99979848e-01 8.52909888e-04 -3.44803354e+00] [-3.35344244e-03 -8.74018787e-04 9.99993995e-01 -9.36641281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600418555 meters 0.25471151008882076 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.45, Z:-0.93 [[ 9.99997142e-01 -1.72026454e-03 -1.66018426e-03 -2.12343293e+01] [ 1.72494309e-03 9.99994534e-01 2.82078381e-03 -3.45047937e+00] [ 1.65532270e-03 -2.82363948e-03 9.99994643e-01 -9.30428893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.630418555 meters 0.2553653334217443 Centerline is valid? [False, False] Translation: X:-21.23, Y:-3.45, Z:-0.93 [[ 9.99996552e-01 -1.94642118e-03 -1.76281223e-03 -2.12345823e+01] [ 1.95114863e-03 9.99994494e-01 2.68402680e-03 -3.45203539e+00] [ 1.75757827e-03 -2.68745706e-03 9.99994844e-01 -9.29402195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660418555 meters 0.25617199432862486 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.45, Z:-0.93 [[ 9.99998769e-01 1.13874792e-03 -1.07922347e-03 -2.12394638e+01] [-1.13315567e-03 9.99986002e-01 5.16825810e-03 -3.44568498e+00] [ 1.08509370e-03 -5.16702881e-03 9.99986062e-01 -9.25038467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690418555 meters 0.2567787415111085 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.44, Z:-0.92 [[ 9.99986470e-01 5.13625119e-03 -8.23908215e-04 -2.12406133e+01] [-5.12905208e-03 9.99950601e-01 8.51403577e-03 -3.43952442e+00] [ 8.67597741e-04 -8.50969470e-03 9.99963416e-01 -9.24373008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720418555 meters 0.25718054666521445 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.44, Z:-0.92 [[ 9.99999313e-01 7.10512054e-04 -9.31870824e-04 -2.12400457e+01] [-7.06763624e-04 9.99991683e-01 4.01665755e-03 -3.43911028e+00] [ 9.34716957e-04 -4.01599618e-03 9.99991499e-01 -9.24860559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750418555 meters 0.25744770377245896 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.44, Z:-0.92 [[ 9.99993312e-01 -3.55685045e-03 -8.51760149e-04 -2.12404166e+01] [ 3.55670960e-03 9.99993661e-01 -1.66826869e-04 -3.44008338e+00] [ 8.52348128e-04 1.63796289e-04 9.99999623e-01 -9.24512236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780418555000004 meters 0.25062017475813636 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.44, Z:-0.92 [[ 9.99999522e-01 6.87639641e-04 -6.95628463e-04 -2.12414284e+01] [-6.84857103e-04 9.99991796e-01 3.99239710e-03 -3.43833279e+00] [ 6.98368086e-04 -3.99191879e-03 9.99991788e-01 -9.23701933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.810418555 meters 0.25684960026166737 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.44, Z:-0.93 [[ 9.99999510e-01 4.99553516e-04 -8.54325133e-04 -2.12398556e+01] [-4.96403603e-04 9.99993094e-01 3.68326517e-03 -3.43664548e+00] [ 8.56159221e-04 -3.68283927e-03 9.99992852e-01 -9.25726021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840418555 meters 0.2559243952267842 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.44, Z:-0.93 [[ 9.99992659e-01 -3.69906922e-03 -9.99479575e-04 -2.12389283e+01] [ 3.69885899e-03 9.99993137e-01 -2.12107738e-04 -3.43910948e+00] [ 1.00025732e-03 2.08409246e-04 9.99999478e-01 -9.26728646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870418555 meters 0.25484056983466397 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.44, Z:-0.93 [[ 9.99988877e-01 -4.52331728e-03 -1.33610215e-03 -2.12376917e+01] [ 4.52292427e-03 9.99989727e-01 -2.97019688e-04 -3.44394539e+00] [ 1.33743194e-03 2.90973295e-04 9.99999063e-01 -9.27157610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900418555 meters 0.2504819474476712 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.44, Z:-0.93 [[ 9.99989467e-01 -4.41109038e-03 -1.26807616e-03 -2.12384452e+01] [ 4.41100940e-03 9.99990269e-01 -6.66486818e-05 -3.44490945e+00] [ 1.26835782e-03 6.10544840e-05 9.99999194e-01 -9.26104947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930418555 meters 0.2502197509101387 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.44, Z:-0.92 [[ 9.99997718e-01 -2.13601760e-03 -2.41507107e-05 -2.12467203e+01] [ 2.13606455e-03 9.99995412e-01 2.14768898e-03 -3.44399539e+00] [ 1.95630984e-05 -2.14773566e-03 9.99997693e-01 -9.18786726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960418555000004 meters 0.2493476301787605 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.44, Z:-0.92 [[ 9.99997975e-01 -1.99921218e-03 2.31898278e-04 -2.12474321e+01] [ 1.99876420e-03 9.99996167e-01 1.91620123e-03 -3.44094509e+00] [-2.35728282e-04 -1.91573384e-03 9.99998137e-01 -9.18824103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.990418555 meters 0.24935833277967606 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.44, Z:-0.92 [[ 9.99997754e-01 -2.11602288e-03 1.19309687e-04 -2.12462261e+01] [ 2.11584741e-03 9.99996707e-01 1.45221372e-03 -3.43805652e+00] [-1.22382212e-04 -1.45195802e-03 9.99998938e-01 -9.20445937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020418555 meters 0.25660271349540437 Centerline is valid? [False, False] Translation: X:-21.22, Y:-3.44, Z:-0.93 [[ 9.99993540e-01 2.50016701e-03 2.58259846e-03 -2.12171175e+01] [-2.48797297e-03 9.99985794e-01 -4.71408641e-03 -3.43638371e+00] [-2.59434777e-03 4.70763052e-03 9.99985554e-01 -9.27703691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050418555 meters 0.2493360603724649 Centerline is valid? [False, False] Translation: X:-21.24, Y:-3.44, Z:-0.92 [[ 9.99995737e-01 -2.17112302e-03 -1.95260771e-03 -2.12446382e+01] [ 2.17110833e-03 9.99997643e-01 -9.63911317e-06 -3.43522417e+00] [ 1.95262403e-03 5.39974921e-06 9.99998094e-01 -9.19114963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080418555 meters 0.25104709536953174 Centerline is valid? [False, False] Translation: X:-21.25, Y:-3.43, Z:-0.92 [[ 9.99996253e-01 1.91048093e-03 -1.96048137e-03 -2.12452032e+01] [-1.90342515e-03 9.99991728e-01 3.59457934e-03 -3.43140290e+00] [ 1.96733253e-03 -3.59083424e-03 9.99991618e-01 -9.17993338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110418555 meters 0.24958435254880615 Centerline is valid? [False, False] Translation: X:-21.29, Y:-3.43, Z:-0.92 [[ 9.99996602e-01 5.09216306e-04 -2.55682723e-03 -2.12923683e+01] [-5.01636983e-04 9.99995481e-01 2.96411380e-03 -3.43001223e+00] [ 2.55832505e-03 -2.96282113e-03 9.99992338e-01 -9.19116530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140418555000004 meters 0.2508612271544884 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.42, Z:-0.93 [[ 9.99984955e-01 5.12873502e-03 1.94564322e-03 -2.12661632e+01] [-5.12311704e-03 9.99982725e-01 -2.88154565e-03 -3.42323273e+00] [-1.96038829e-03 2.87153454e-03 9.99993956e-01 -9.26025813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.170418555 meters 0.2569114919561629 Centerline is valid? [False, False] Translation: X:-21.28, Y:-3.42, Z:-0.93 [[ 9.99997551e-01 -9.12236462e-04 -2.01661515e-03 -2.12811245e+01] [ 9.15678579e-04 9.99998124e-01 1.70661501e-03 -3.41938199e+00] [ 2.01505453e-03 -1.70845740e-03 9.99996510e-01 -9.31226193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200418555 meters 0.2507499802924605 Centerline is valid? [False, False] Translation: X:-21.28, Y:-3.42, Z:-0.93 [[ 9.99983704e-01 -5.25846285e-03 -2.22250869e-03 -2.12798523e+01] [ 5.25264444e-03 9.99982784e-01 -2.61572627e-03 -3.41954438e+00] [ 2.23622512e-03 2.60400960e-03 9.99994109e-01 -9.32300375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230418555 meters 0.25656378093929333 Centerline is valid? [False, False] Translation: X:-21.31, Y:-3.43, Z:-0.93 [[ 9.99990460e-01 -4.18726600e-03 -1.24333104e-03 -2.13115025e+01] [ 4.17416151e-03 9.99937604e-01 -1.03617126e-02 -3.42689364e+00] [ 1.28664071e-03 1.03564239e-02 9.99945543e-01 -9.26961335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260418555 meters 0.24921649498903892 Centerline is valid? [False, False] Translation: X:-21.34, Y:-3.43, Z:-0.92 [[ 9.99968765e-01 -7.33025116e-03 -2.95581451e-03 -2.13370266e+01] [ 7.32337713e-03 9.99970470e-01 -2.32975207e-03 -3.42761972e+00] [ 2.97280489e-03 2.30803276e-03 9.99992918e-01 -9.24760467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290418555 meters 0.25545505023030163 Centerline is valid? [False, False] Translation: X:-21.31, Y:-3.43, Z:-0.93 [[ 9.99999596e-01 -8.91756046e-04 -1.16859562e-04 -2.13120876e+01] [ 8.91085389e-04 9.99983818e-01 -5.61860539e-03 -3.43345195e+00] [ 1.21868096e-04 5.61849898e-03 9.99984209e-01 -9.28927652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320418555 meters 0.2505798520224366 Centerline is valid? [False, False] Translation: X:-21.28, Y:-3.44, Z:-0.94 [[ 9.99945461e-01 -9.74038627e-03 3.76830867e-03 -2.12823459e+01] [ 9.75970324e-03 9.99939151e-01 -5.14219281e-03 -3.44002925e+00] [-3.71799243e-03 5.17868993e-03 9.99979679e-01 -9.37484641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.350418555 meters 0.2533203949053838 Centerline is valid? [False, False] Translation: X:-21.28, Y:-3.44, Z:-0.94 [[ 9.99947382e-01 -9.63675417e-03 3.51660234e-03 -2.12807943e+01] [ 9.65341072e-03 9.99942119e-01 -4.75071822e-03 -3.44218614e+00] [-3.47061729e-03 4.78441545e-03 9.99982532e-01 -9.39073294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.380418555 meters 0.2506923441665321 Centerline is valid? [False, False] Translation: X:-21.29, Y:-3.44, Z:-0.94 [[ 9.99981262e-01 -4.40357212e-03 4.25257996e-03 -2.12858375e+01] [ 4.40110675e-03 9.99990142e-01 5.88918272e-04 -3.44286683e+00] [-4.25513138e-03 -5.70191179e-04 9.99990784e-01 -9.35059040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410418555 meters 0.25023637647255237 Centerline is valid? [False, False] Translation: X:-21.29, Y:-3.45, Z:-0.93 [[ 9.99981218e-01 -4.25697322e-03 4.40929808e-03 -2.12872826e+01] [ 4.25257868e-03 9.99990452e-01 1.00555013e-03 -3.44525866e+00] [-4.41353658e-03 -9.86780357e-04 9.99989773e-01 -9.33219483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440418555 meters 0.24819458803954314 Centerline is valid? [False, False] Translation: X:-21.31, Y:-3.45, Z:-0.93 [[ 9.99999783e-01 -6.58391471e-04 -1.34778472e-05 -2.13081659e+01] [ 6.58321576e-04 9.99988942e-01 -4.65633949e-03 -3.44753569e+00] [ 1.65433924e-05 4.65632961e-03 9.99989159e-01 -9.32838716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470418555 meters 0.2528291042230462 Centerline is valid? [False, False] Translation: X:-21.33, Y:-3.45, Z:-0.93 [[ 9.99984198e-01 -3.97041214e-03 -3.97985949e-03 -2.13342229e+01] [ 3.97868668e-03 9.99989936e-01 2.07334579e-03 -3.44841285e+00] [ 3.97158740e-03 -2.08914765e-03 9.99989931e-01 -9.27070588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500418555 meters 0.5641612547629649 Centerline is valid? [False, False] Translation: X:-21.27, Y:-3.45, Z:-0.93 [[ 9.99986296e-01 4.78384493e-03 2.12672892e-03 -2.12701609e+01] [-4.78419417e-03 9.99988543e-01 1.59159425e-04 -3.44586246e+00] [-2.12594316e-03 -1.69331928e-04 9.99997726e-01 -9.26862064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530418555000004 meters 0.25079512186329195 Centerline is valid? [False, False] Translation: X:-21.29, Y:-3.45, Z:-0.92 [[ 9.99996124e-01 -2.15440886e-03 -1.76390538e-03 -2.12933435e+01] [ 2.16075995e-03 9.99991162e-01 3.60662980e-03 -3.44693101e+00] [ 1.75611963e-03 -3.61042720e-03 9.99991940e-01 -9.23820984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560418555 meters 0.25493025583508705 Centerline is valid? [False, False] Translation: X:-21.31, Y:-3.45, Z:-0.92 [[ 9.99977115e-01 2.28235901e-03 -6.36875914e-03 -2.13136692e+01] [-2.29173018e-03 9.99996302e-01 -1.46451760e-03 -3.44642856e+00] [ 6.36539303e-03 1.47907956e-03 9.99978647e-01 -9.23723131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590418555 meters 0.25533059054440177 Centerline is valid? [False, False] Translation: X:-21.31, Y:-3.45, Z:-0.92 [[ 9.99977369e-01 2.29577809e-03 -6.32391321e-03 -2.13139089e+01] [-2.30481507e-03 9.99996333e-01 -1.42209925e-03 -3.44654800e+00] [ 6.32062520e-03 1.43664252e-03 9.99978993e-01 -9.23591062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620418555 meters 0.2587439010190066 Centerline is valid? [False, False] Translation: X:-21.31, Y:-3.45, Z:-0.92 [[ 9.99977635e-01 2.37618550e-03 -6.25164140e-03 -2.13147198e+01] [-2.38421027e-03 9.99996343e-01 -1.27648748e-03 -3.44701441e+00] [ 6.24858536e-03 1.29136416e-03 9.99979644e-01 -9.22494360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650418555 meters 0.2552844011331156 Centerline is valid? [False, False] Translation: X:-21.31, Y:-3.45, Z:-0.92 [[ 9.99976794e-01 2.52298915e-03 -6.32823538e-03 -2.13142685e+01] [-2.52791350e-03 9.99996508e-01 -7.70276858e-04 -3.44982022e+00] [ 6.32626989e-03 7.86256214e-04 9.99979680e-01 -9.22925898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680418555 meters 0.2540277025967065 Centerline is valid? [False, False] Translation: X:-21.31, Y:-3.45, Z:-0.92 [[ 9.99975872e-01 2.59552896e-03 -6.44355380e-03 -2.13133282e+01] [-2.59853106e-03 9.99996519e-01 -4.57579167e-04 -3.45164925e+00] [ 6.44234371e-03 4.74311901e-04 9.99979135e-01 -9.24253554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710418555000004 meters 0.25197624509032673 Centerline is valid? [False, False] Translation: X:-21.29, Y:-3.45, Z:-0.93 [[ 9.99992860e-01 -3.37128276e-03 -1.70734275e-03 -2.12894162e+01] [ 3.37565938e-03 9.99991008e-01 2.56705163e-03 -3.45259714e+00] [ 1.69867314e-03 -2.57279671e-03 9.99995248e-01 -9.27570473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740418555 meters 0.2505645511850557 Centerline is valid? [False, False] Translation: X:-21.30, Y:-3.45, Z:-0.92 [[ 9.99986086e-01 -5.25671789e-03 -4.41508768e-04 -2.12972659e+01] [ 5.25703530e-03 9.99985922e-01 7.20856811e-04 -3.45180973e+00] [ 4.37713212e-04 -7.23167808e-04 9.99999643e-01 -9.21077788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770418555 meters 0.25648073661066706 Centerline is valid? [False, False] Translation: X:-21.30, Y:-3.45, Z:-0.92 [[ 9.99986425e-01 -5.19150824e-03 -4.44697139e-04 -2.12966805e+01] [ 5.19190761e-03 9.99986115e-01 9.01678321e-04 -3.45258827e+00] [ 4.40009894e-04 -9.03974908e-04 9.99999495e-01 -9.22178961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800418555 meters 0.25274953016680046 Centerline is valid? [False, False] Translation: X:-21.36, Y:-3.45, Z:-0.92 [[ 9.99987245e-01 4.77226598e-04 -5.02813049e-03 -2.13632934e+01] [-4.81039770e-04 9.99999598e-01 -7.57185801e-04 -3.45211729e+00] [ 5.02776711e-03 7.59594873e-04 9.99987072e-01 -9.23814177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830418555 meters 0.2528280841775541 Centerline is valid? [False, False] Translation: X:-21.36, Y:-3.45, Z:-0.92 [[ 9.99987551e-01 5.30938277e-04 -4.96143937e-03 -2.13637018e+01] [-5.34104468e-04 9.99999655e-01 -6.36856609e-04 -3.45290706e+00] [ 4.96109952e-03 6.39498608e-04 9.99987489e-01 -9.23392721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860418555 meters 0.24850576110042147 Centerline is valid? [False, False] Translation: X:-21.36, Y:-3.45, Z:-0.93 [[ 9.99955355e-01 3.30173033e-04 9.44348549e-03 -2.13592592e+01] [-3.21457012e-04 9.99999521e-01 -9.24469497e-04 -3.45206229e+00] [-9.44378620e-03 9.21392550e-04 9.99954982e-01 -9.31576310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890418555000004 meters 0.25352208731099474 Centerline is valid? [False, False] Translation: X:-21.36, Y:-3.45, Z:-0.93 [[ 9.99957587e-01 6.90524021e-04 9.18411040e-03 -2.13579027e+01] [-6.79500563e-04 9.99999045e-01 -1.20334131e-03 -3.44722098e+00] [-9.18493257e-03 1.19704966e-03 9.99957101e-01 -9.32912821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920418555 meters 0.25352208731099474 Centerline is valid? [False, False] Translation: X:-21.36, Y:-3.45, Z:-0.93 [[ 9.99957587e-01 6.90524021e-04 9.18411040e-03 -2.13579027e+01] [-6.79500563e-04 9.99999045e-01 -1.20334131e-03 -3.44722098e+00] [-9.18493257e-03 1.19704966e-03 9.99957101e-01 -9.32912821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950418555 meters 0.2545099521853281 Centerline is valid? [False, False] Translation: X:-21.36, Y:-3.44, Z:-0.93 [[ 9.99958801e-01 4.88766919e-04 9.06411825e-03 -2.13572503e+01] [-4.70879813e-04 9.99997938e-01 -1.97542640e-03 -3.44276782e+00] [-9.06506508e-03 1.97107690e-03 9.99956969e-01 -9.33310972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980418555 meters 0.2493173908252513 Centerline is valid? [False, False] Translation: X:-21.36, Y:-3.45, Z:-0.93 [[ 9.99957106e-01 3.34264912e-04 9.25602126e-03 -2.13591958e+01] [-3.16389962e-04 9.99998083e-01 -1.93256684e-03 -3.44530906e+00] [-9.25664950e-03 1.92955543e-03 9.99955295e-01 -9.30611923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010418555 meters 0.25591994904141724 Centerline is valid? [False, False] Translation: X:-21.36, Y:-3.44, Z:-0.93 [[ 9.99956498e-01 2.15037598e-04 9.32504118e-03 -2.13598141e+01] [-1.91976129e-04 9.99996921e-01 -2.47389349e-03 -3.44244821e+00] [-9.32554445e-03 2.47199569e-03 9.99953461e-01 -9.29677104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040418555 meters 0.2497784277183549 Centerline is valid? [False, False] Translation: X:-21.35, Y:-3.43, Z:-0.93 [[ 9.99954373e-01 4.06272336e-03 8.64557010e-03 -2.13549856e+01] [-4.06541518e-03 9.99991693e-01 2.93801979e-04 -3.43225429e+00] [-8.64430464e-03 -3.28936406e-04 9.99962583e-01 -9.34305480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070418555 meters 0.25345082008746384 Centerline is valid? [False, False] Translation: X:-21.37, Y:-3.43, Z:-0.93 [[ 9.99968857e-01 6.95200140e-03 3.73557796e-03 -2.13744087e+01] [-6.92787386e-03 9.99955307e-01 -6.43343345e-03 -3.43154395e+00] [-3.78013624e-03 6.40735348e-03 9.99972328e-01 -9.34563935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100418555 meters 0.25691033449658124 Centerline is valid? [False, False] Translation: X:-21.37, Y:-3.43, Z:-0.93 [[ 9.99970980e-01 6.80684291e-03 3.42140258e-03 -2.13734733e+01] [-6.78383074e-03 9.99954590e-01 -6.69314417e-03 -3.43146037e+00] [-3.46680639e-03 6.66973972e-03 9.99971748e-01 -9.34530156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.130418555 meters 0.2562074629427552 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.42, Z:-0.93 [[ 9.99949325e-01 9.87266959e-03 1.96897176e-03 -2.13988572e+01] [-9.88558161e-03 9.99928960e-01 6.65952532e-03 -3.42422639e+00] [-1.90308459e-03 -6.67865229e-03 9.99975887e-01 -9.32153819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160418555 meters 0.25621699278981847 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.42, Z:-0.93 [[ 9.99977425e-01 6.43777312e-03 1.92464914e-03 -2.13985066e+01] [-6.44241580e-03 9.99976329e-01 2.41582876e-03 -3.41834349e+00] [-1.90905103e-03 -2.42817361e-03 9.99995230e-01 -9.32532550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190418555 meters 0.2560848680499414 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.42, Z:-0.93 [[ 9.99996804e-01 1.73316687e-03 1.84094826e-03 -2.13988839e+01] [-1.72812181e-03 9.99994757e-01 -2.73853151e-03 -3.41704291e+00] [-1.84568494e-03 2.73534137e-03 9.99994556e-01 -9.31513323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220418555 meters 0.2571471205973995 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.41, Z:-0.93 [[ 9.99981469e-01 5.82147724e-03 1.78128957e-03 -2.13983148e+01] [-5.82331658e-03 9.99982515e-01 1.02915254e-03 -3.41443082e+00] [-1.77526724e-03 -1.03950648e-03 9.99997884e-01 -9.32302194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250418555 meters 0.25605025903347467 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.41, Z:-0.93 [[ 9.99950914e-01 9.76176530e-03 1.69615949e-03 -2.13977947e+01] [-9.76903926e-03 9.99942887e-01 4.33447247e-03 -3.40912317e+00] [-1.65375052e-03 -4.35082956e-03 9.99989168e-01 -9.32667242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280418555000004 meters 0.25642049029917746 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.41, Z:-0.93 [[ 9.99981987e-01 5.57091656e-03 2.23385304e-03 -2.14000256e+01] [-5.56972148e-03 9.99984343e-01 -5.40848350e-04 -3.40511597e+00] [-2.23683109e-03 5.28396669e-04 9.99997359e-01 -9.31082698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.310418555 meters 0.25173497059978295 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.40, Z:-0.93 [[ 9.99982353e-01 5.40718231e-03 2.46074075e-03 -2.14016168e+01] [-5.40515355e-03 9.99985047e-01 -8.30358718e-04 -3.40478858e+00] [-2.46519385e-03 8.17043383e-04 9.99996628e-01 -9.29232920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340418555 meters 0.2596598264047412 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.40, Z:-0.93 [[ 9.99993772e-01 3.43091404e-03 -8.27152453e-04 -2.14228686e+01] [-3.42428042e-03 9.99962994e-01 7.89211307e-03 -3.40380576e+00] [ 8.54199004e-04 -7.88923152e-03 9.99968515e-01 -9.29597150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370418555 meters 0.2574411465064074 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.40, Z:-0.93 [[ 9.99995972e-01 2.31956817e-03 -1.63593751e-03 -2.14172723e+01] [-2.30893273e-03 9.99976382e-01 6.47332583e-03 -3.40046839e+00] [ 1.65091420e-03 -6.46952249e-03 9.99977710e-01 -9.34862737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400418555 meters 0.2584400055450106 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.40, Z:-0.94 [[ 9.99996570e-01 -1.92366682e-03 -1.77741983e-03 -2.14166960e+01] [ 1.92669491e-03 9.99996693e-01 1.70350454e-03 -3.39749394e+00] [ 1.77413698e-03 -1.70692325e-03 9.99996969e-01 -9.35316878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430418555 meters 0.24999265040687965 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.40, Z:-0.93 [[ 9.99999673e-01 -3.90533425e-04 -7.08795284e-04 -2.14235914e+01] [ 3.92927988e-04 9.99994206e-01 3.38136671e-03 -3.40008782e+00] [ 7.07470640e-04 -3.38164411e-03 9.99994032e-01 -9.29148352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460418555000004 meters 0.25814707332394876 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.40, Z:-0.93 [[ 9.99999741e-01 -5.16008713e-04 -5.00772565e-04 -2.14247414e+01] [ 5.17446330e-04 9.99995734e-01 2.87492628e-03 -3.39634260e+00] [ 4.99286941e-04 -2.87518466e-03 9.99995742e-01 -9.28330997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.490418555 meters 0.2510343034541534 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.40, Z:-0.93 [[ 9.99983238e-01 5.77518867e-03 4.12705409e-04 -2.13981477e+01] [-5.77449100e-03 9.99981929e-01 -1.67212197e-03 -3.39592699e+00] [-4.22354771e-04 1.66971078e-03 9.99998517e-01 -9.31313921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520418555 meters 0.2513045580196352 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.40, Z:-0.93 [[ 9.99998704e-01 1.56955674e-03 3.59301148e-04 -2.13973685e+01] [-1.56750550e-03 9.99982868e-01 -5.63979550e-03 -3.39820649e+00] [-3.68146971e-04 5.63922498e-03 9.99984032e-01 -9.32625601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550418555 meters 0.2583971045446616 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.40, Z:-0.93 [[ 9.99998370e-01 1.75265626e-03 4.34469575e-04 -2.13982276e+01] [-1.75036220e-03 9.99984815e-01 -5.22546946e-03 -3.39990296e+00] [-4.43621429e-04 5.22470046e-03 9.99986253e-01 -9.31514380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580418555 meters 0.2588382466448295 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.40, Z:-0.93 [[ 9.99997970e-01 1.95306221e-03 4.95117200e-04 -2.13990069e+01] [-1.95067472e-03 9.99986685e-01 -4.77754004e-03 -3.40165052e+00] [-5.04441441e-04 4.77656453e-03 9.99988465e-01 -9.30404985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610418555 meters 0.25045238284290133 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.41, Z:-0.93 [[ 9.99997733e-01 2.05453466e-03 5.59238121e-04 -2.13995618e+01] [-2.05252965e-03 9.99991548e-01 -3.56252112e-03 -3.40840058e+00] [-5.66552717e-04 3.56136519e-03 9.99993498e-01 -9.29463067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640418555000004 meters 0.25780209652955294 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.41, Z:-0.93 [[ 9.99998257e-01 1.85924732e-03 1.68235986e-04 -2.13978373e+01] [-1.85872609e-03 9.99993630e-01 -3.04709137e-03 -3.41222247e+00] [-1.73900211e-04 3.04677336e-03 9.99995343e-01 -9.30757692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.670418555 meters 0.24856489354692793 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.42, Z:-0.93 [[ 9.99970275e-01 -6.84253374e-03 -3.55360681e-03 -2.14210229e+01] [ 6.83995460e-03 9.99976335e-01 -7.37428676e-04 -3.41647660e+00] [ 3.55856860e-03 7.13100247e-04 9.99993414e-01 -9.28574480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700418555 meters 0.2550848760455786 Centerline is valid? [False, False] Translation: X:-21.44, Y:-3.42, Z:-0.93 [[ 9.99909071e-01 -1.16779898e-02 -6.74339813e-03 -2.14433441e+01] [ 1.15774598e-02 9.99824047e-01 -1.47593114e-02 -3.42109475e+00] [ 6.91457069e-03 1.46798980e-02 9.99868336e-01 -9.27754765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730418555 meters 0.25468424118063143 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.43, Z:-0.93 [[ 9.99816795e-01 -1.89810844e-02 -2.46896767e-03 -2.14166378e+01] [ 1.89486842e-02 9.99741767e-01 -1.25437737e-02 -3.42635178e+00] [ 2.70642453e-03 1.24946919e-02 9.99918276e-01 -9.33704255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760418555 meters 0.25388606864100316 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.43, Z:-0.93 [[ 9.99937960e-01 -1.08214473e-02 -2.64044894e-03 -2.14166249e+01] [ 1.08126002e-02 9.99935957e-01 -3.34215711e-03 -3.43186550e+00] [ 2.67644682e-03 3.31339965e-03 9.99990929e-01 -9.33537013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790418555 meters 0.25565077907394085 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.44, Z:-0.93 [[ 9.99970659e-01 -7.41677143e-03 -1.91660785e-03 -2.14201254e+01] [ 7.41878899e-03 9.99971932e-01 1.04771522e-03 -3.43739618e+00] [ 1.90878339e-03 -1.06190339e-03 9.99997614e-01 -9.30743891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820418555 meters 0.26087737723088716 Centerline is valid? [False, False] Translation: X:-21.39, Y:-3.45, Z:-0.93 [[ 9.99995105e-01 -1.98627064e-03 -2.41766664e-03 -2.13946182e+01] [ 1.97886686e-03 9.99993357e-01 -3.06091358e-03 -3.44869290e+00] [ 2.42373038e-03 3.05611435e-03 9.99992393e-01 -9.31476453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.850418555 meters 0.2553948214832926 Centerline is valid? [False, False] Translation: X:-21.43, Y:-3.45, Z:-0.94 [[ 9.99952039e-01 -3.57011446e-03 9.11992953e-03 -2.14260197e+01] [ 3.59884325e-03 9.99988608e-01 -3.13564454e-03 -3.45239629e+00] [-9.10863103e-03 3.16831535e-03 9.99953496e-01 -9.41858405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.880418555 meters 0.25666787302799665 Centerline is valid? [False, False] Translation: X:-21.43, Y:-3.46, Z:-0.94 [[ 9.99953873e-01 -3.50715106e-03 8.94159644e-03 -2.14255077e+01] [ 3.53088022e-03 9.99990283e-01 -2.63939105e-03 -3.45564793e+00] [-8.93225281e-03 2.67084101e-03 9.99956540e-01 -9.41928007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910418555 meters 0.2564631628297378 Centerline is valid? [False, False] Translation: X:-21.43, Y:-3.46, Z:-0.93 [[ 9.99985353e-01 -2.66954395e-03 -4.70829833e-03 -2.14339458e+01] [ 2.66513224e-03 9.99996004e-01 -9.43033202e-04 -3.46085296e+00] [ 4.71079698e-03 9.30471151e-04 9.99988471e-01 -9.26587757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940418555 meters 0.25628844310583776 Centerline is valid? [False, False] Translation: X:-21.43, Y:-3.46, Z:-0.93 [[ 9.99986345e-01 -2.55408045e-03 -4.55917356e-03 -2.14347494e+01] [ 2.55064192e-03 9.99996458e-01 -7.59855176e-04 -3.46126810e+00] [ 4.56109815e-03 7.48215981e-04 9.99989318e-01 -9.25985612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970418555 meters 0.25786574206128093 Centerline is valid? [False, False] Translation: X:-21.41, Y:-3.46, Z:-0.93 [[ 9.99996568e-01 2.56218133e-03 -5.47306052e-04 -2.14079910e+01] [-2.56522423e-03 9.99980842e-01 -5.63337236e-03 -3.46054045e+00] [ 5.32861846e-04 5.63475699e-03 9.99983983e-01 -9.32666162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000418555 meters 0.255303227492382 Centerline is valid? [False, False] Translation: X:-21.43, Y:-3.47, Z:-0.93 [[ 9.99985710e-01 -1.96141547e-03 -4.97325567e-03 -2.14328281e+01] [ 1.96346039e-03 9.99997990e-01 4.06335546e-04 -3.46726830e+00] [ 4.97244868e-03 -4.16094530e-04 9.99987551e-01 -9.27771112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030418555000004 meters 0.2552307956715465 Centerline is valid? [False, False] Translation: X:-21.43, Y:-3.47, Z:-0.93 [[ 9.99986118e-01 -1.86078357e-03 -4.92963748e-03 -2.14326515e+01] [ 1.86408579e-03 9.99998041e-01 6.65361369e-04 -3.46862641e+00] [ 4.92838973e-03 -6.74541399e-04 9.99987628e-01 -9.28332412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.060418555 meters 0.2548853942497074 Centerline is valid? [False, False] Translation: X:-21.43, Y:-3.47, Z:-0.93 [[ 9.99985740e-01 -1.77855404e-03 -5.03557925e-03 -2.14326285e+01] [ 1.78252007e-03 9.99998105e-01 7.83223946e-04 -3.46928050e+00] [ 5.03417669e-03 -7.92188798e-04 9.99987015e-01 -9.27666783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090418555 meters 0.2551674828357131 Centerline is valid? [False, False] Translation: X:-21.41, Y:-3.47, Z:-0.93 [[ 9.99984377e-01 5.44018798e-03 -1.28420926e-03 -2.14099331e+01] [-5.44371429e-03 9.99981378e-01 -2.75856390e-03 -3.46758380e+00] [ 1.26917824e-03 2.76551168e-03 9.99995371e-01 -9.29802838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120418555 meters 0.25269170694054427 Centerline is valid? [False, False] Translation: X:-21.46, Y:-3.47, Z:-0.93 [[ 9.99970913e-01 7.48510416e-03 -1.46504970e-03 -2.14585167e+01] [-7.48449145e-03 9.99971901e-01 4.23251476e-04 -3.46561437e+00] [ 1.46817662e-03 -4.12274013e-04 9.99998837e-01 -9.29864030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150418555 meters 0.2491187871422852 Centerline is valid? [False, False] Translation: X:-21.44, Y:-3.47, Z:-0.93 [[ 9.99984851e-01 4.34405100e-03 3.38038037e-03 -2.14366580e+01] [-4.36528459e-03 9.99970629e-01 6.29960212e-03 -3.46681216e+00] [-3.35291529e-03 -6.31426301e-03 9.99974444e-01 -9.31675562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180418555 meters 0.24976039350906232 Centerline is valid? [False, False] Translation: X:-21.43, Y:-3.47, Z:-0.93 [[ 9.99996104e-01 5.35033276e-04 2.73981973e-03 -2.14340122e+01] [-5.41173209e-04 9.99997343e-01 2.24074787e-03 -3.46718641e+00] [-2.73861358e-03 -2.24222185e-03 9.99993736e-01 -9.33123352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210418555000004 meters 0.24944803872075538 Centerline is valid? [False, False] Translation: X:-21.43, Y:-3.47, Z:-0.93 [[ 9.99996182e-01 4.23656176e-04 2.73066380e-03 -2.14338957e+01] [-4.28802176e-04 9.99998133e-01 1.88421379e-03 -3.46515199e+00] [-2.72986044e-03 -1.88537751e-03 9.99994497e-01 -9.33437916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240418555 meters 0.2534059565640339 Centerline is valid? [False, False] Translation: X:-21.48, Y:-3.46, Z:-0.94 [[ 9.99993314e-01 3.16720630e-03 1.82782359e-03 -2.14789132e+01] [-3.17754015e-03 9.99978828e-01 5.67869864e-03 -3.46286117e+00] [-1.80979928e-03 -5.68446865e-03 9.99982206e-01 -9.36726840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270418555 meters 0.24853464386691856 Centerline is valid? [False, False] Translation: X:-21.45, Y:-3.46, Z:-0.94 [[ 9.99972599e-01 6.33280071e-03 3.83359917e-03 -2.14532293e+01] [-6.32476222e-03 9.99977782e-01 -2.10535469e-03 -3.46384544e+00] [-3.84684679e-03 2.08105039e-03 9.99990435e-01 -9.39550252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300418555 meters 0.25433742139388055 Centerline is valid? [False, False] Translation: X:-21.48, Y:-3.47, Z:-0.93 [[ 9.99998767e-01 -1.17643155e-03 -1.04061890e-03 -2.14768026e+01] [ 1.17698929e-03 9.99999164e-01 5.35519257e-04 -3.46670633e+00] [ 1.03998803e-03 -5.36743394e-04 9.99999315e-01 -9.33902277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330418555 meters 0.25009920752264153 Centerline is valid? [False, False] Translation: X:-21.44, Y:-3.46, Z:-0.93 [[ 9.99993507e-01 3.50400620e-03 8.40970398e-04 -2.14360551e+01] [-3.50727651e-03 9.99986169e-01 3.91928094e-03 -3.46471691e+00] [-8.27225581e-04 -3.92220501e-03 9.99991966e-01 -9.28463098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360418555 meters 0.2549827508664987 Centerline is valid? [False, False] Translation: X:-21.48, Y:-3.47, Z:-0.93 [[ 9.99994218e-01 3.32330059e-03 -7.20719716e-04 -2.14781072e+01] [-3.31958222e-03 9.99981483e-01 5.10048660e-03 -3.46600839e+00] [ 7.37656820e-04 -5.09806462e-03 9.99986733e-01 -9.33249225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390418555000004 meters 0.2546075824539861 Centerline is valid? [False, False] Translation: X:-21.47, Y:-3.47, Z:-0.94 [[ 9.99997923e-01 4.61029273e-05 -2.03749277e-03 -2.14722377e+01] [-4.28364747e-05 9.99998714e-01 1.60318720e-03 -3.46687550e+00] [ 2.03756406e-03 -1.60309659e-03 9.99996639e-01 -9.36829572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420418555 meters 0.254711656175044 Centerline is valid? [False, False] Translation: X:-21.47, Y:-3.46, Z:-0.94 [[ 9.99998006e-01 -6.72038480e-05 -1.99590787e-03 -2.14721026e+01] [ 6.93713961e-05 9.99999408e-01 1.08594671e-03 -3.46388321e+00] [ 1.99583371e-03 -1.08608301e-03 9.99997419e-01 -9.37401151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450418555 meters 0.248578323666724 Centerline is valid? [False, False] Translation: X:-21.47, Y:-3.46, Z:-0.94 [[ 9.99989481e-01 4.25788627e-03 -1.70509691e-03 -2.14740284e+01] [-4.24921168e-03 9.99978174e-01 5.05915732e-03 -3.46126226e+00] [ 1.72660101e-03 -5.05185879e-03 9.99985749e-01 -9.35174732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480418555 meters 0.25566807909958816 Centerline is valid? [False, False] Translation: X:-21.48, Y:-3.46, Z:-0.93 [[ 9.99998985e-01 7.23886885e-05 -1.42304183e-03 -2.14753992e+01] [-7.16253809e-05 9.99999854e-01 5.36435169e-04 -3.45914819e+00] [ 1.42308045e-03 -5.36332699e-04 9.99998844e-01 -9.33924492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510418555 meters 0.25011296692937957 Centerline is valid? [False, False] Translation: X:-21.47, Y:-3.46, Z:-0.94 [[ 9.99998788e-01 -6.19005006e-05 -1.55563903e-03 -2.14741240e+01] [ 6.21559367e-05 9.99999985e-01 1.64152317e-04 -3.45750935e+00] [ 1.55562885e-03 -1.64248810e-04 9.99998777e-01 -9.35594481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540418555 meters 0.2546671253304622 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.46, Z:-0.94 [[ 9.99994354e-01 8.15677169e-04 -3.25999138e-03 -2.15148728e+01] [-8.09266260e-04 9.99997737e-01 1.96737701e-03 -3.45614434e+00] [ 3.26158875e-03 -1.96472770e-03 9.99992751e-01 -9.42117587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570418555 meters 0.24904256106692574 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.46, Z:-0.94 [[ 9.99994065e-01 7.51527747e-04 -3.36245671e-03 -2.15141947e+01] [-7.45295007e-04 9.99998003e-01 1.85449600e-03 -3.45606977e+00] [ 3.36384370e-03 -1.85197897e-03 9.99992627e-01 -9.42634703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600418555 meters 0.2565441166081731 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.46, Z:-0.94 [[ 9.99994209e-01 9.20068613e-04 -3.27664076e-03 -2.15151691e+01] [-9.13179124e-04 9.99997371e-01 2.10348328e-03 -3.45695274e+00] [ 3.27856749e-03 -2.10047894e-03 9.99992419e-01 -9.41270989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.630418555 meters 0.2588087767299355 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.46, Z:-0.94 [[ 9.99998406e-01 -1.42320027e-03 1.07826669e-03 -2.14915264e+01] [ 1.41336791e-03 9.99957911e-01 9.06520413e-03 -3.45846353e+00] [-1.09112290e-03 -9.06366569e-03 9.99958329e-01 -9.44552752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660418555 meters 0.24874303050859406 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.46, Z:-0.94 [[ 9.99998384e-01 -1.40256292e-03 1.12450442e-03 -2.14918590e+01] [ 1.39218325e-03 9.99956906e-01 9.17868772e-03 -3.45918129e+00] [-1.13732965e-03 -9.17710738e-03 9.99957243e-01 -9.44314713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690418555 meters 0.25502442882377496 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.46, Z:-0.94 [[ 9.99993955e-01 -1.51476060e-03 -3.12969115e-03 -2.15118722e+01] [ 1.51436360e-03 9.99998845e-01 -1.29214607e-04 -3.46238684e+00] [ 3.12988327e-03 1.24474336e-04 9.99995094e-01 -9.44739475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720418555 meters 0.2603483025113948 Centerline is valid? [False, False] Translation: X:-21.47, Y:-3.46, Z:-0.94 [[ 9.99997975e-01 -2.55949812e-04 -1.99587859e-03 -2.14676312e+01] [ 2.55428823e-04 9.99999933e-01 -2.61282833e-04 -3.46068322e+00] [ 1.99594533e-03 2.60772499e-04 9.99997974e-01 -9.41474318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750418555 meters 0.25701423444943694 Centerline is valid? [False, False] Translation: X:-21.47, Y:-3.46, Z:-0.94 [[ 9.99998305e-01 -1.64712116e-04 -1.83379791e-03 -2.14688826e+01] [ 1.64131009e-04 9.99999936e-01 -3.17033085e-04 -3.45863452e+00] [ 1.83385001e-03 3.16731565e-04 9.99998268e-01 -9.40250335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780418555000004 meters 0.2562871508840333 Centerline is valid? [False, False] Translation: X:-21.47, Y:-3.46, Z:-0.94 [[ 9.99989460e-01 -4.22348478e-03 -1.80047542e-03 -2.14690605e+01] [ 4.21640220e-03 9.99983429e-01 -3.91954058e-03 -3.46253123e+00] [ 1.81699971e-03 3.91190774e-03 9.99990698e-01 -9.39973268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.810418555 meters 0.25563507880594266 Centerline is valid? [False, False] Translation: X:-21.47, Y:-3.47, Z:-0.94 [[ 9.99989669e-01 -4.08910873e-03 -1.98510024e-03 -2.14680661e+01] [ 4.08240151e-03 9.99985985e-01 -3.37115454e-03 -3.46586283e+00] [ 1.99885744e-03 3.36301574e-03 9.99992347e-01 -9.40910804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840418555 meters 0.25563507880594266 Centerline is valid? [False, False] Translation: X:-21.47, Y:-3.47, Z:-0.94 [[ 9.99989669e-01 -4.08910873e-03 -1.98510024e-03 -2.14680661e+01] [ 4.08240151e-03 9.99985985e-01 -3.37115454e-03 -3.46586283e+00] [ 1.99885744e-03 3.36301574e-03 9.99992347e-01 -9.40910804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870418555 meters 0.2500923979566832 Centerline is valid? [False, False] Translation: X:-21.44, Y:-3.47, Z:-0.94 [[ 9.99973761e-01 -6.83323068e-03 2.40513787e-03 -2.14443220e+01] [ 6.82482597e-03 9.99970636e-01 3.48551205e-03 -3.46793266e+00] [-2.42888455e-03 -3.46900594e-03 9.99991033e-01 -9.44487287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900418555 meters 0.24887970762876716 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.48, Z:-0.94 [[ 9.99996904e-01 -2.43991031e-03 4.88724213e-04 -2.15155696e+01] [ 2.43903663e-03 9.99995441e-01 1.78036641e-03 -3.47527175e+00] [-4.93065919e-04 -1.77916888e-03 9.99998296e-01 -9.42757631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930418555 meters 0.2484886520551974 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.48, Z:-0.94 [[ 9.99996976e-01 -2.43095300e-03 3.71253861e-04 -2.15153007e+01] [ 2.43006447e-03 9.99994226e-01 2.37530324e-03 -3.47996095e+00] [-3.77025968e-04 -2.37439389e-03 9.99997110e-01 -9.42640481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960418555000004 meters 0.25332021363431023 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.48, Z:-0.94 [[ 9.99991622e-01 2.80462588e-03 -2.98174847e-03 -2.15424511e+01] [-2.80740414e-03 9.99995629e-01 -9.27976093e-04 -3.48263934e+00] [ 2.97913281e-03 9.36339291e-04 9.99995124e-01 -9.37516270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.990418555 meters 0.24895864733073095 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.48, Z:-0.94 [[ 9.99999834e-01 -5.34697986e-04 2.12821859e-04 -2.15137924e+01] [ 5.33657988e-04 9.99988062e-01 4.85712706e-03 -3.48339644e+00] [-2.15416414e-04 -4.85701268e-03 9.99988181e-01 -9.43871875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02041855499999 meters 0.2518560835991673 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.48, Z:-0.94 [[ 9.99989327e-01 2.42616835e-03 -3.93190669e-03 -2.15404397e+01] [-2.42982523e-03 9.99996620e-01 -9.25544656e-04 -3.48341577e+00] [ 3.92964787e-03 9.35088624e-04 9.99991842e-01 -9.37836726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050418555 meters 0.2547165990668741 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.49, Z:-0.94 [[ 9.99991119e-01 -4.09651619e-03 9.90208214e-04 -2.15151229e+01] [ 4.09495684e-03 9.99990381e-01 1.57169520e-03 -3.48940759e+00] [-9.96637164e-04 -1.56762639e-03 9.99998275e-01 -9.43118959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080418555 meters 0.25456434732469535 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.49, Z:-0.95 [[ 9.99989190e-01 3.33377504e-03 3.24132644e-03 -2.14910809e+01] [-3.32687225e-03 9.99992192e-01 -2.13268284e-03 -3.48767760e+00] [-3.24841102e-03 2.12187631e-03 9.99992473e-01 -9.45758862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110418555 meters 0.25404706442991926 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.49, Z:-0.95 [[ 9.99966675e-01 7.47080571e-03 3.29189113e-03 -2.14907852e+01] [-7.47663369e-03 9.99970498e-01 1.76167234e-03 -3.48502512e+00] [-3.27863290e-03 -1.78622590e-03 9.99993030e-01 -9.46460734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140418555 meters 0.24943580489503123 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.49, Z:-0.95 [[ 9.99988652e-01 3.33185096e-03 3.40517270e-03 -2.14916403e+01] [-3.32404316e-03 9.99991839e-01 -2.29601594e-03 -3.48622831e+00] [-3.41279490e-03 2.28467095e-03 9.99991567e-01 -9.45458868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170418555 meters 0.2543403237137734 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.49, Z:-0.95 [[ 9.99988699e-01 3.36072436e-03 3.36256192e-03 -2.14917098e+01] [-3.35364297e-03 9.99992152e-01 -2.10937693e-03 -3.48800510e+00] [-3.36962456e-03 2.09807626e-03 9.99992122e-01 -9.45122572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200418555 meters 0.25499419536501355 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.48, Z:-0.94 [[ 9.99998803e-01 1.42001936e-03 6.14082373e-04 -2.15136284e+01] [-1.42408271e-03 9.99976755e-01 6.66792185e-03 -3.48475157e+00] [-6.04599520e-04 -6.66878837e-03 9.99977581e-01 -9.44876663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.230418555 meters 0.2537169171243867 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.48, Z:-0.94 [[ 9.99998935e-01 1.31233906e-03 6.37857290e-04 -2.15139220e+01] [-1.31638549e-03 9.99978747e-01 6.38530861e-03 -3.48358065e+00] [-6.29464043e-04 -6.38614148e-03 9.99979410e-01 -9.44380200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26041855499999 meters 0.2581612045764968 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.48, Z:-0.95 [[ 9.99982207e-01 4.79328446e-03 3.55101819e-03 -2.14899152e+01] [-4.78907027e-03 9.99987819e-01 -1.19430868e-03 -3.48196125e+00] [-3.55669960e-03 1.17728136e-03 9.99992982e-01 -9.47164013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29041855499999 meters 0.2536818571549046 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.48, Z:-0.95 [[ 9.99985581e-01 5.11521722e-03 1.63451993e-03 -2.15312621e+01] [-5.11582602e-03 9.99986846e-01 3.68498227e-04 -3.48034293e+00] [-1.63261348e-03 -3.76854833e-04 9.99998596e-01 -9.52780993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32041855499999 meters 0.25474328818695496 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.48, Z:-0.95 [[ 9.99978800e-01 5.68463198e-03 3.17572439e-03 -2.14886999e+01] [-5.68235218e-03 9.99983591e-01 -7.26445757e-04 -3.47760464e+00] [-3.17980186e-03 7.08384771e-04 9.99994694e-01 -9.48109040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35041855499999 meters 0.2545743279522964 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.48, Z:-0.95 [[ 9.99992781e-01 -2.71086674e-03 2.66267813e-03 -2.15099340e+01] [ 2.70612143e-03 9.99994747e-01 1.78414639e-03 -3.47539160e+00] [-2.66750072e-03 -1.77692798e-03 9.99994863e-01 -9.50218489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38041855499999 meters 0.25002457956425644 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.48, Z:-0.95 [[ 9.99993308e-01 -2.74646873e-03 2.41697661e-03 -2.15091175e+01] [ 2.74204433e-03 9.99994563e-01 1.83196493e-03 -3.47611755e+00] [-2.42199490e-03 -1.82532522e-03 9.99995401e-01 -9.50311092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41041855499999 meters 0.25275941760443954 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.48, Z:-0.95 [[ 9.99993902e-01 -3.11869265e-03 1.57135115e-03 -2.15564801e+01] [ 3.11427199e-03 9.99991208e-01 2.80792569e-03 -3.47550788e+00] [-1.58009440e-03 -2.80301495e-03 9.99994823e-01 -9.51161761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440418555 meters 0.2549855164980381 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.47, Z:-0.96 [[ 9.99982911e-01 3.24496507e-03 4.86292685e-03 -2.15269956e+01] [-3.23814450e-03 9.99993763e-01 -1.40978402e-03 -3.47005297e+00] [-4.86747122e-03 1.39401307e-03 9.99987182e-01 -9.60289077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470418555 meters 0.2546677960485266 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.47, Z:-0.96 [[ 9.99989586e-01 2.12242143e-03 4.04012865e-03 -2.15217536e+01] [-2.11271961e-03 9.99994878e-01 -2.40412006e-03 -3.47044842e+00] [-4.04521052e-03 2.39555937e-03 9.99988949e-01 -9.64404328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500418555 meters 0.25610031520391346 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.47, Z:-0.96 [[ 9.99990287e-01 2.02423176e-03 3.91523198e-03 -2.15215037e+01] [-2.01548000e-03 9.99995465e-01 -2.23796678e-03 -3.47305286e+00] [-3.91974439e-03 2.23005397e-03 9.99989831e-01 -9.64246958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530418555 meters 0.25630635720600387 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.47, Z:-0.96 [[ 9.99989484e-01 2.18695479e-03 4.03108545e-03 -2.15216472e+01] [-2.17718868e-03 9.99994688e-01 -2.42549745e-03 -3.46910760e+00] [-4.03636849e-03 2.41669551e-03 9.99988934e-01 -9.64622835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560418555 meters 0.2536715940669452 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.47, Z:-0.97 [[ 9.99993731e-01 2.26260664e-03 2.72367831e-03 -2.15662726e+01] [-2.26116600e-03 9.99997302e-01 -5.31897222e-04 -3.47156986e+00] [-2.72487443e-03 5.25735199e-04 9.99996149e-01 -9.66966717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.590418555 meters 0.25496091973394874 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.48, Z:-0.97 [[ 9.99994819e-01 -1.94413077e-03 2.56574214e-03 -2.15659202e+01] [ 1.95470252e-03 9.99989585e-01 -4.12429183e-03 -3.47758735e+00] [-2.55769726e-03 4.12928572e-03 9.99988204e-01 -9.66708606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.620418555 meters 0.25044027935377006 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.48, Z:-0.97 [[ 9.99998143e-01 4.35323666e-04 1.87738442e-03 -2.15614826e+01] [-4.32409187e-04 9.99998701e-01 -1.55254163e-03 -3.47787945e+00] [-1.87805784e-03 1.55172694e-03 9.99997033e-01 -9.70139583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65041855499999 meters 0.25499007011301345 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.48, Z:-0.97 [[ 9.99997887e-01 5.52766141e-04 1.98024517e-03 -2.15620806e+01] [-5.50053274e-04 9.99998910e-01 -1.37024795e-03 -3.47786822e+00] [-1.98100043e-03 1.36915581e-03 9.99997101e-01 -9.69763658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68041855499999 meters 0.24983786281567744 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.49, Z:-0.97 [[ 9.99991838e-01 -3.64126911e-03 1.75073914e-03 -2.15614630e+01] [ 3.64951778e-03 9.99982146e-01 -4.73165488e-03 -3.48537946e+00] [-1.73347866e-03 4.73800561e-03 9.99987273e-01 -9.69688894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71041855499999 meters 0.25426891717289934 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.49, Z:-0.97 [[ 9.99992107e-01 -3.48593708e-03 1.90632580e-03 -2.15624001e+01] [ 3.49397193e-03 9.99984959e-01 -4.22787109e-03 -3.48813198e+00] [-1.89155903e-03 4.23449836e-03 9.99989245e-01 -9.68984936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74041855499999 meters 0.2500192137683761 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.49, Z:-0.97 [[ 9.99997901e-01 5.62695065e-04 1.97027236e-03 -2.15629318e+01] [-5.63374353e-04 9.99999782e-01 3.44230411e-04 -3.49101676e+00] [-1.97007824e-03 -3.45339689e-04 9.99998000e-01 -9.68524192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77041855499999 meters 0.24878645907015973 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.50, Z:-0.97 [[ 9.99992093e-01 -3.58159856e-03 1.72782783e-03 -2.15614709e+01] [ 3.58716278e-03 9.99988356e-01 -3.22807554e-03 -3.49548622e+00] [-1.71624604e-03 3.23424802e-03 9.99993297e-01 -9.70003218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800418555 meters 0.25526204938412694 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.50, Z:-0.97 [[ 9.99992979e-01 -3.37741220e-03 1.62338816e-03 -2.15612316e+01] [ 3.38141518e-03 9.99991234e-01 -2.46942859e-03 -3.50008895e+00] [-1.61503365e-03 2.47490060e-03 9.99995633e-01 -9.69948365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830418555 meters 0.2543178268957074 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.50, Z:-0.97 [[ 9.99992975e-01 -3.22714449e-03 1.90651708e-03 -2.15629120e+01] [ 3.23127917e-03 9.99992426e-01 -2.16962529e-03 -3.50124373e+00] [-1.89950095e-03 2.17577054e-03 9.99995829e-01 -9.68498232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860418555 meters 0.25092794110142846 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.50, Z:-0.97 [[ 9.99998163e-01 -1.42307386e-03 1.28419984e-03 -2.15577421e+01] [ 1.42317434e-03 9.99998984e-01 -7.73291898e-05 -3.50382968e+00] [-1.28408849e-03 7.91566880e-05 9.99999172e-01 -9.73197121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890418555 meters 0.2544939778405574 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.50, Z:-0.97 [[ 9.99998130e-01 -1.42665009e-03 1.30583966e-03 -2.15572436e+01] [ 1.42696964e-03 9.99998952e-01 -2.43808401e-04 -3.50215358e+00] [-1.30549046e-03 2.45671339e-04 9.99999118e-01 -9.74221997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920418555 meters 0.25512620326661073 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.51, Z:-0.97 [[ 9.99997889e-01 -1.68913606e-03 1.17016947e-03 -2.15571148e+01] [ 1.68900082e-03 9.99998567e-01 1.16548310e-04 -3.50845833e+00] [-1.17036466e-03 -1.14571647e-04 9.99999309e-01 -9.73788686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.950418555 meters 0.25419700453930644 Centerline is valid? [False, False] Translation: X:-21.59, Y:-3.51, Z:-0.97 [[ 9.99991130e-01 4.06771760e-03 -1.09253007e-03 -2.15854108e+01] [-4.07145194e-03 9.99985802e-01 -3.43787009e-03 -3.50815949e+00] [ 1.07853027e-03 3.44228778e-03 9.99993494e-01 -9.68677306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980418555 meters 0.2533887171128735 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.51, Z:-0.97 [[ 9.99992981e-01 2.22581951e-03 3.01387317e-03 -2.15618661e+01] [-2.23689634e-03 9.99990738e-01 3.67691200e-03 -3.50612005e+00] [-3.00566112e-03 -3.68362792e-03 9.99988698e-01 -9.70897711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01041855499999 meters 0.25114384784978994 Centerline is valid? [False, False] Translation: X:-21.63, Y:-3.50, Z:-0.97 [[ 9.99976434e-01 6.55966553e-03 -2.02550375e-03 -2.16282476e+01] [-6.55759176e-03 9.99977970e-01 1.02877576e-03 -3.50498469e+00] [ 2.03220755e-03 -1.01546909e-03 9.99997419e-01 -9.71781217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04041855499999 meters 0.2541888393496245 Centerline is valid? [False, False] Translation: X:-21.60, Y:-3.51, Z:-0.98 [[ 9.99994783e-01 4.64188437e-04 3.19662829e-03 -2.16031289e+01] [-4.75227752e-04 9.99993924e-01 3.45353142e-03 -3.50889778e+00] [-3.19500577e-03 -3.45503253e-03 9.99988927e-01 -9.77622540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07041855499999 meters 0.24955825896190248 Centerline is valid? [False, False] Translation: X:-21.60, Y:-3.50, Z:-0.98 [[ 9.99981614e-01 5.01250819e-03 3.41282893e-03 -2.16037780e+01] [-5.03736168e-03 9.99960571e-01 7.31314291e-03 -3.50191021e+00] [-3.37603718e-03 -7.33020010e-03 9.99967435e-01 -9.77563075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10041855499999 meters 0.2544093961733428 Centerline is valid? [False, False] Translation: X:-21.60, Y:-3.50, Z:-0.98 [[ 9.99993244e-01 1.17509613e-03 3.48288366e-03 -2.16037424e+01] [-1.18432648e-03 9.99995789e-01 2.64932845e-03 -3.49645138e+00] [-3.47975578e-03 -2.65343543e-03 9.99990425e-01 -9.77819226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13041855499999 meters 0.2529134457351736 Centerline is valid? [False, False] Translation: X:-21.63, Y:-3.50, Z:-0.97 [[ 9.99989630e-01 4.54987289e-03 1.98511272e-04 -2.16325874e+01] [-4.54920226e-03 9.99984348e-01 -3.25717647e-03 -3.49584227e+00] [-2.13327903e-04 3.25623963e-03 9.99994676e-01 -9.70584166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16041855499999 meters 0.25463061116070806 Centerline is valid? [False, False] Translation: X:-21.61, Y:-3.49, Z:-0.97 [[ 9.99986112e-01 1.68480931e-03 4.99371018e-03 -2.16090526e+01] [-1.69650655e-03 9.99995825e-01 2.33908413e-03 -3.49334269e+00] [-4.98974842e-03 -2.34752351e-03 9.99984796e-01 -9.74569269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.190418555 meters 0.6515911609136938 Centerline is valid? [False, False] Translation: X:-21.60, Y:-3.49, Z:-0.98 [[ 9.99980318e-01 4.63920680e-03 4.22380358e-03 -2.16036715e+01] [-4.65967326e-03 9.99977389e-01 4.84862803e-03 -3.48946674e+00] [-4.20121429e-03 -4.86821415e-03 9.99979325e-01 -9.78930851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220418555 meters 0.2542337768049229 Centerline is valid? [False, False] Translation: X:-21.63, Y:-3.48, Z:-0.97 [[ 9.99970202e-01 7.71788523e-03 1.70339359e-04 -2.16299697e+01] [-7.71759054e-03 9.99968828e-01 -1.66773813e-03 -3.48414856e+00] [-1.83205461e-04 1.66637383e-03 9.99998595e-01 -9.73660917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250418555 meters 0.25706431451111394 Centerline is valid? [False, False] Translation: X:-21.63, Y:-3.48, Z:-0.97 [[ 9.99969086e-01 7.85271459e-03 4.02533597e-04 -2.16308951e+01] [-7.85181947e-03 9.99966800e-01 -2.17904436e-03 -3.47940310e+00] [-4.19631646e-04 2.17581638e-03 9.99997545e-01 -9.73042311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280418555 meters 0.25812034632140457 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.97 [[ 9.99988509e-01 2.59592502e-03 -4.03030185e-03 -2.16520267e+01] [-2.58507389e-03 9.99993026e-01 2.69526572e-03 -3.47746079e+00] [ 4.03727045e-03 -2.68481612e-03 9.99988246e-01 -9.70709993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.310418555 meters 0.25730901225335484 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.97 [[ 9.99988348e-01 2.49086321e-03 -4.13526232e-03 -2.16510012e+01] [-2.48122685e-03 9.99994198e-01 2.33378673e-03 -3.47550352e+00] [ 4.14105148e-03 -2.32349902e-03 9.99988726e-01 -9.71920704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.340418555 meters 0.25048965456576155 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.47, Z:-0.97 [[ 9.99989058e-01 2.45218988e-03 -3.98379642e-03 -2.16517934e+01] [-2.44352640e-03 9.99994643e-01 2.17809539e-03 -3.47426659e+00] [ 3.98911618e-03 -2.16833704e-03 9.99989693e-01 -9.71344541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.370418555 meters 0.25140160179904036 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.97 [[ 9.99989821e-01 2.49325578e-03 -3.76051658e-03 -2.16531154e+01] [-2.48394165e-03 9.99993841e-01 2.47946180e-03 -3.47604726e+00] [ 3.76667535e-03 -2.47009566e-03 9.99989855e-01 -9.70114690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40041855499999 meters 0.2585270949388238 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.97 [[ 9.99989656e-01 2.53143822e-03 -3.77885293e-03 -2.16528448e+01] [-2.52110817e-03 9.99993079e-01 2.73590987e-03 -3.47776779e+00] [ 3.78575257e-03 -2.72635467e-03 9.99989117e-01 -9.70558444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43041855499999 meters 0.25014348469150105 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.98 [[ 9.99988341e-01 5.84066378e-04 -4.79337935e-03 -2.16457815e+01] [-5.80436085e-04 9.99999544e-01 7.58712016e-04 -3.47801714e+00] [ 4.79382030e-03 -7.55920920e-04 9.99988224e-01 -9.76296373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46041855499999 meters 0.24907565358160716 Centerline is valid? [False, False] Translation: X:-21.64, Y:-3.48, Z:-0.98 [[ 9.99980907e-01 -3.64219782e-03 -4.99206674e-03 -2.16447534e+01] [ 3.62598150e-03 9.99988133e-01 -3.25362799e-03 -3.48058855e+00] [ 5.00385785e-03 3.23546473e-03 9.99982246e-01 -9.76938195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49041855499999 meters 0.2561499599555264 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.97 [[ 9.99990200e-01 -1.46186475e-03 -4.17875073e-03 -2.16504811e+01] [ 1.45766581e-03 9.99998430e-01 -1.00770210e-03 -3.48007579e+00] [ 4.18021730e-03 1.00160101e-03 9.99990761e-01 -9.72526074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52041855499999 meters 0.2569689676160424 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.97 [[ 9.99991074e-01 -1.11681778e-03 -4.07491200e-03 -2.16513995e+01] [ 1.11369347e-03 9.99999084e-01 -7.68905761e-04 -3.47813832e+00] [ 4.07576700e-03 7.64360695e-04 9.99991402e-01 -9.71702852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.550418555 meters 0.2555290256038491 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.97 [[ 9.99979313e-01 -4.99458563e-03 -4.05316376e-03 -2.16519307e+01] [ 4.97876740e-03 9.99979987e-01 -3.90343620e-03 -3.48445472e+00] [ 4.07257869e-03 3.88317569e-03 9.99984167e-01 -9.70721828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580418555 meters 0.2475168851430487 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.49, Z:-0.97 [[ 9.99995828e-01 7.19010177e-04 -2.79776596e-03 -2.16820623e+01] [-7.37471897e-04 9.99977926e-01 -6.60330929e-03 -3.49097001e+00] [ 2.79295636e-03 6.60534501e-03 9.99974284e-01 -9.67327310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610418555 meters 0.25502410453256574 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.49, Z:-0.97 [[ 9.99989941e-01 3.01232681e-03 -3.32313875e-03 -2.16776988e+01] [-3.02581233e-03 9.99987178e-01 -4.06053172e-03 -3.49257739e+00] [ 3.31086449e-03 4.07054607e-03 9.99986234e-01 -9.71223597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640418555 meters 0.2538527108420163 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.49, Z:-0.97 [[ 9.99989055e-01 3.02271411e-03 -3.57113026e-03 -2.16762284e+01] [-3.03629534e-03 9.99988156e-01 -3.80378215e-03 -3.49494178e+00] [ 3.55959022e-03 3.81458352e-03 9.99986389e-01 -9.72492345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670418555 meters 0.2492479198211528 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.50, Z:-0.98 [[ 9.99998980e-01 -9.15568372e-04 1.09637481e-03 -2.16471288e+01] [ 9.14720037e-04 9.99999282e-01 7.74014814e-04 -3.49940199e+00] [-1.09708269e-03 -7.73011149e-04 9.99999099e-01 -9.81108579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.700418555 meters 0.2539069973958633 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.50, Z:-0.97 [[ 9.99989727e-01 3.86144446e-03 -2.37381212e-03 -2.16761590e+01] [-3.87019973e-03 9.99985685e-01 -3.69481164e-03 -3.49653590e+00] [ 2.35951083e-03 3.70396081e-03 9.99990357e-01 -9.73660380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.730418555 meters 0.2539069973958633 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.50, Z:-0.97 [[ 9.99989727e-01 3.86144446e-03 -2.37381212e-03 -2.16761590e+01] [-3.87019973e-03 9.99985685e-01 -3.69481164e-03 -3.49653590e+00] [ 2.35951083e-03 3.70396081e-03 9.99990357e-01 -9.73660380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76041855499999 meters 0.24703609822323574 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.49, Z:-0.97 [[ 9.99989770e-01 3.93632762e-03 -2.22838046e-03 -2.16762407e+01] [-3.94491079e-03 9.99984767e-01 -3.86055040e-03 -3.49455795e+00] [ 2.21315013e-03 3.86930167e-03 9.99990065e-01 -9.74276408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79041855499999 meters 0.24829617322035186 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.49, Z:-0.97 [[ 9.99999783e-01 -1.42101450e-05 6.59089855e-04 -2.16534280e+01] [ 1.30782170e-05 9.99998525e-01 1.71738317e-03 -3.49400959e+00] [-6.59113287e-04 -1.71737418e-03 9.99998308e-01 -9.74979292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82041855499999 meters 0.25351410751961984 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.49, Z:-0.97 [[ 9.99983731e-01 4.19619727e-03 -3.86388275e-03 -2.16785456e+01] [-4.20825459e-03 9.99986285e-01 -3.11769252e-03 -3.49200268e+00] [ 3.85074731e-03 3.13390200e-03 9.99987675e-01 -9.70356358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85041855499999 meters 0.25349258498305355 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.49, Z:-0.97 [[ 9.99982153e-01 4.16843427e-03 -4.27984881e-03 -2.16773533e+01] [-4.18187380e-03 9.99986338e-01 -3.13605591e-03 -3.49281055e+00] [ 4.26671789e-03 3.15389773e-03 9.99985924e-01 -9.70283479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88041855499999 meters 0.2553181655782986 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.49, Z:-0.97 [[ 9.99983594e-01 4.17523400e-03 -3.92156559e-03 -2.16788699e+01] [-4.18916202e-03 9.99984923e-01 -3.55017433e-03 -3.48889473e+00] [ 3.90668365e-03 3.56654416e-03 9.99986009e-01 -9.69391451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91041855499999 meters 0.25454174955534753 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.49, Z:-0.96 [[ 9.99981330e-01 5.28072451e-03 -3.07469155e-03 -2.16844653e+01] [-5.28882438e-03 9.99982550e-01 -2.63222489e-03 -3.48867128e+00] [ 3.06073784e-03 2.64843725e-03 9.99991809e-01 -9.64870595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940418555 meters 0.2556969839413241 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.49, Z:-0.97 [[ 9.99982011e-01 5.12893879e-03 -3.11005336e-03 -2.16841578e+01] [-5.13823584e-03 9.99982333e-01 -2.98876929e-03 -3.48802249e+00] [ 3.09466920e-03 3.00469571e-03 9.99990697e-01 -9.65100236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970418555 meters 0.24875692169095695 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.49, Z:-0.97 [[ 9.99995351e-01 2.46767053e-03 1.79130452e-03 -2.16594501e+01] [-2.47297081e-03 9.99992553e-01 2.96273378e-03 -3.48858930e+00] [-1.78398013e-03 -2.96714985e-03 9.99994007e-01 -9.70047740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000418555 meters 0.25737759258000104 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.48, Z:-0.97 [[ 9.99994769e-01 2.66890364e-03 1.82727983e-03 -2.16588317e+01] [-2.67350515e-03 9.99993250e-01 2.52043232e-03 -3.48294381e+00] [-1.82054070e-03 -2.52530438e-03 9.99995154e-01 -9.71469528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030418555 meters 0.2575286426019084 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.48, Z:-0.97 [[ 9.99995353e-01 2.56488124e-03 1.64813344e-03 -2.16576200e+01] [-2.56885720e-03 9.99993785e-01 2.41483259e-03 -3.48310154e+00] [-1.64192944e-03 -2.41905518e-03 9.99995726e-01 -9.72724456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060418555 meters 0.2582933319536113 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.48, Z:-0.97 [[ 9.99996966e-01 7.18292549e-04 2.35635301e-03 -2.16634803e+01] [-7.18952659e-04 9.99999703e-01 2.79305286e-04 -3.47936807e+00] [-2.35615169e-03 -2.80998544e-04 9.99997185e-01 -9.67345513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.090418555 meters 0.247221314848715 Centerline is valid? [False, False] Translation: X:-21.62, Y:-3.48, Z:-0.96 [[ 9.99989388e-01 1.12174946e-03 4.46818189e-03 -2.16230757e+01] [-1.11684638e-03 9.99998772e-01 -1.09967577e-03 -3.47547808e+00] [-4.46940996e-03 1.09467383e-03 9.99989413e-01 -9.61314104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120418555 meters 0.25759678581521633 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.95 [[ 9.99992119e-01 -3.94487981e-03 -4.46365721e-04 -2.16482109e+01] [ 3.94662128e-03 9.99984331e-01 3.97025168e-03 -3.47891121e+00] [ 4.30696561e-04 -3.97198202e-03 9.99992019e-01 -9.54329631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15041855499999 meters 0.24736674797096625 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.48, Z:-0.96 [[ 9.99991789e-01 -4.01743859e-03 -5.31513635e-04 -2.16474704e+01] [ 4.01926688e-03 9.99985851e-01 3.48463456e-03 -3.47549950e+00] [ 5.17506809e-04 -3.48674224e-03 9.99993787e-01 -9.55447631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18041855499999 meters 0.25489368716904887 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.47, Z:-0.95 [[ 9.99991892e-01 -4.00670614e-03 -4.02573904e-04 -2.16482596e+01] [ 4.00803891e-03 9.99986302e-01 3.36624554e-03 -3.47412838e+00] [ 3.89080833e-04 -3.36783178e-03 9.99994253e-01 -9.54814121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21041855499999 meters 0.2569230489990013 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.47, Z:-0.96 [[ 9.99991816e-01 -4.01778494e-03 -4.75194302e-04 -2.16478274e+01] [ 4.01938909e-03 9.99986059e-01 3.42442977e-03 -3.47484410e+00] [ 4.61429055e-04 -3.42631173e-03 9.99994024e-01 -9.55072741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24041855499999 meters 0.24772215893901758 Centerline is valid? [False, False] Translation: X:-21.63, Y:-3.47, Z:-0.96 [[ 9.99994521e-01 2.02369852e-03 2.61967976e-03 -2.16256089e+01] [-2.01942360e-03 9.99996627e-01 -1.63346398e-03 -3.47319617e+00] [-2.62297656e-03 1.62816479e-03 9.99995235e-01 -9.56006911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27041855499999 meters 0.2595591145942975 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.47, Z:-0.95 [[ 9.99990653e-01 -3.77572727e-03 -2.10639341e-03 -2.16492100e+01] [ 3.78154660e-03 9.99989026e-01 2.76558957e-03 -3.47496958e+00] [ 2.09592819e-03 -2.77352915e-03 9.99993957e-01 -9.51058077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3206.83 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 ... 0%| | 0/2210 [00:00