+ python -m lidar_slam --no-model /working/f0c0db95-220b-4aae-bb3b-2fb615241d97 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/f0c0db95-220b-4aae-bb3b-2fb615241d97 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.011966746 Adjusted end_distance from 9.223372036854776e+18 to 55.363646746 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.011966746 meters 0.25008710948533336 Centerline is valid? [0, False] SLAMing on 0.041966746 meters 0.2512984451495967 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 9.99974402e-01 -5.56301644e-03 4.49974750e-03 2.47281685e-02] [ 5.54791667e-03 9.99978961e-01 3.36124280e-03 -2.38972401e-04] [-4.51835148e-03 -3.33619253e-03 9.99984227e-01 -4.36813444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.071966746 meters 0.2510919155788376 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999881e-01 -2.76595502e-05 4.87311775e-04 1.58070599e-03] [ 2.79077279e-05 9.99999870e-01 -5.09279785e-04 -5.63753162e-04] [-4.87297625e-04 5.09293324e-04 9.99999752e-01 -2.05556467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.101966746 meters 0.2511370983413237 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999838e-01 -3.32139275e-05 5.67655890e-04 1.31074473e-03] [ 3.36950035e-05 9.99999640e-01 -8.47489576e-04 2.26157437e-03] [-5.67627537e-04 8.47508566e-04 9.99999480e-01 -2.09547673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.131966746 meters 0.25183132459405805 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999800e-01 -9.50711829e-05 6.25220678e-04 1.15664082e-03] [ 9.57061522e-05 9.99999480e-01 -1.01564072e-03 3.18895986e-03] [-6.25123795e-04 1.01570036e-03 9.99999289e-01 -2.09677307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.161966746 meters 0.2517178084071186 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999851e-01 -1.16631769e-04 5.33756127e-04 1.60956042e-03] [ 1.17221751e-04 9.99999382e-01 -1.10544302e-03 3.72427902e-03] [-5.33626868e-04 1.10550543e-03 9.99999247e-01 -2.45350494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.191966746 meters 0.2528949701947116 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999811e-01 -1.50451799e-04 5.95687181e-04 1.13094923e-03] [ 1.51191644e-04 9.99999217e-01 -1.24215107e-03 4.49596592e-03] [-5.95499830e-04 1.24224090e-03 9.99999051e-01 -1.91185248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.221966746 meters 0.25195782562478636 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999723e-01 -1.19311366e-04 7.34248524e-04 2.19776607e-04] [ 1.20270498e-04 9.99999139e-01 -1.30637100e-03 5.35855606e-03] [-7.34092027e-04 1.30645895e-03 9.99998877e-01 -1.04512110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.251966746 meters 0.25015948828353335 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.00, Z:-0.01 [[ 9.99998304e-01 -9.46464209e-04 -1.57989916e-03 -3.96462243e-02] [ 9.45791352e-04 9.99999462e-01 -4.26578999e-04 4.05384686e-04] [ 1.58030205e-03 4.25084021e-04 9.99998661e-01 -7.40215040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28196674600000005 meters 0.25174725368332285 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:-0.01 [[ 9.99993928e-01 -2.32653256e-03 -2.59447155e-03 -3.27846007e-02] [ 2.32204579e-03 9.99995806e-01 -1.73103054e-03 5.12125655e-04] [ 2.59848797e-03 1.72499555e-03 9.99995136e-01 -1.30327908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31196674599999996 meters 0.25138887569784263 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.01 [[ 9.99997380e-01 -1.12918707e-03 -1.99101684e-03 -3.79304964e-02] [ 1.12874243e-03 9.99999338e-01 -2.24430776e-04 -1.81407796e-03] [ 1.99126895e-03 2.22182843e-04 9.99997993e-01 -8.43008740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.341966746 meters 0.2604062151983358 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:-0.01 [[ 9.99987138e-01 -4.31684520e-03 -2.66240419e-03 -8.46936529e-02] [ 4.31476606e-03 9.99990382e-01 -7.86176341e-04 -8.98086518e-03] [ 2.66577239e-03 7.74678578e-04 9.99996147e-01 -9.43964109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.371966746 meters 0.25130026066677785 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:-0.01 [[ 0.99998891 -0.00408232 -0.0023471 -0.03498583] [ 0.0040773 0.9999894 -0.0021406 -0.00699263] [ 0.00235581 0.00213101 0.99999495 -0.01026 ] [ 0. 0. 0. 1. ]] SLAMing on 0.40196674600000004 meters 0.2608274592940978 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:-0.01 [[ 0.999989 -0.0040494 -0.0023668 -0.03444286] [ 0.00404464 0.9999898 -0.00200954 -0.00759444] [ 0.00237492 0.00199995 0.99999518 -0.01112553] [ 0. 0. 0. 1. ]] SLAMing on 0.43196674599999996 meters 0.2517259769757844 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:-0.01 [[ 0.99998941 -0.00391537 -0.00241714 -0.03461854] [ 0.00391183 0.99999127 -0.00146819 -0.01087909] [ 0.00242286 0.00145872 0.999996 -0.01047276] [ 0. 0. 0. 1. ]] SLAMing on 0.461966746 meters 0.25119777882051775 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99990281e-01 -3.66663272e-03 -2.44840607e-03 -3.52569920e-02] [ 3.66505382e-03 9.99993073e-01 -6.49041482e-04 -1.54235632e-02] [ 2.45076890e-03 6.40061633e-04 9.99996792e-01 -9.26869619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.491966746 meters 0.2521715039399143 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 9.99990792e-01 -3.61241616e-03 -2.31639773e-03 -3.56350422e-02] [ 3.61098577e-03 9.99993287e-01 -6.21390605e-04 -1.45578535e-02] [ 2.31862690e-03 6.13020404e-04 9.99997124e-01 -9.39524329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.521966746 meters 0.2573872961175407 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99991631e-01 -3.47036125e-03 -2.16651010e-03 -3.64058569e-02] [ 3.46979217e-03 9.99993945e-01 -2.66372856e-04 -1.58832824e-02] [ 2.16742140e-03 2.58853287e-04 9.99997618e-01 -9.03534120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5519667460000001 meters 0.2510690300495772 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99988372e-01 -4.25286491e-03 -2.27348908e-03 -3.64121513e-02] [ 4.25200217e-03 9.99990886e-01 -3.84174599e-04 -2.01657549e-02] [ 2.27510221e-03 3.74503252e-04 9.99997342e-01 -8.30643983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.581966746 meters 0.25263229903239204 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:-0.01 [[ 9.99998222e-01 1.81466143e-03 -5.13327636e-04 -1.02169742e-02] [-1.81730002e-03 9.99984895e-01 -5.18727545e-03 -1.99975592e-02] [ 5.03906733e-04 5.18819909e-03 9.99986414e-01 -1.27992514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.611966746 meters 0.250839777703149 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-0.01 [[ 9.99979302e-01 -4.18148883e-03 -4.88984042e-03 -3.18791996e-02] [ 4.17967986e-03 9.99991193e-01 -3.80106635e-04 -2.20584030e-02] [ 4.89138676e-03 3.59660800e-04 9.99987972e-01 -1.08422350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.641966746 meters 0.25502770646903083 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-0.01 [[ 9.99980454e-01 -4.25341423e-03 -4.58257354e-03 -3.35388415e-02] [ 4.25322972e-03 9.99990954e-01 -5.00080499e-05 -2.48210556e-02] [ 4.58274479e-03 3.05163345e-05 9.99989499e-01 -9.44925451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.671966746 meters 0.2518351024936322 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:-0.01 [[ 9.99981163e-01 -4.22440442e-03 -4.45297129e-03 -3.43131149e-02] [ 4.22486255e-03 9.99991071e-01 9.34804332e-05 -2.54949557e-02] [ 4.45253663e-03 -1.12291864e-04 9.99990081e-01 -8.81408105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.701966746 meters 0.25159634171419204 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:-0.01 [[ 9.99980718e-01 -4.17843275e-03 -4.59402984e-03 -3.35897691e-02] [ 4.17932893e-03 9.99991249e-01 1.85492289e-04 -2.56388508e-02] [ 4.59321457e-03 -2.04688674e-04 9.99989430e-01 -9.42357473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.731966746 meters 0.2521083184580891 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:-0.01 [[ 9.99981336e-01 -4.05585744e-03 -4.56928342e-03 -3.38769085e-02] [ 4.05799035e-03 9.99991662e-01 4.57618300e-04 -2.70485500e-02] [ 4.56738928e-03 -4.76151867e-04 9.99989456e-01 -9.18109460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.761966746 meters 0.2506147997042219 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.03, Z:-0.01 [[ 0.99997539 0.00248883 -0.00655992 -0.06074746] [-0.0025051 0.9999938 -0.00247279 -0.02670204] [ 0.00655373 0.00248916 0.99997543 -0.00587448] [ 0. 0. 0. 1. ]] SLAMing on 0.791966746 meters 0.2512351712795926 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.01 [[ 0.99997582 0.0023037 -0.00656097 -0.06044276] [-0.00232331 0.99999285 -0.00298391 -0.02387202] [ 0.00655405 0.00299908 0.99997402 -0.00633201] [ 0. 0. 0. 1. ]] SLAMing on 0.821966746 meters 0.2531251440424861 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:-0.01 [[ 0.99999528 -0.00131562 -0.00277546 -0.03190119] [ 0.00132199 0.99999649 0.00229444 -0.02536097] [ 0.00277243 -0.0022981 0.99999352 -0.01344256] [ 0. 0. 0. 1. ]] SLAMing on 0.851966746 meters 0.25152034762132075 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-0.01 [[ 0.99999505 -0.00134941 -0.00284168 -0.03170331] [ 0.00135559 0.99999672 0.00217435 -0.02479073] [ 0.00283874 -0.00217819 0.9999936 -0.01341395] [ 0. 0. 0. 1. ]] SLAMing on 0.881966746 meters 0.25551979408099346 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:-0.02 [[ 9.99988143e-01 4.86889936e-03 8.82705772e-05 -8.46607489e-03] [-4.86865444e-03 9.99984794e-01 -2.58986783e-03 -2.40307305e-02] [-1.00879041e-04 2.58940736e-03 9.99996642e-01 -1.53990089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9119667459999999 meters 0.2572137475253394 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-0.01 [[ 0.99999714 -0.00139326 -0.00194604 -0.0324809 ] [ 0.00139719 0.99999698 0.00202333 -0.02276894] [ 0.00194321 -0.00202605 0.99999606 -0.01372552] [ 0. 0. 0. 1. ]] SLAMing on 0.941966746 meters 0.25976019624634944 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.01 [[ 0.99997763 0.00453936 -0.00491344 -0.05758315] [-0.00454587 0.9999888 -0.0013134 -0.02421346] [ 0.00490743 0.0013357 0.99998707 -0.01103063] [ 0. 0. 0. 1. ]] SLAMing on 0.971966746 meters 0.25976019624634944 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.01 [[ 0.99997763 0.00453936 -0.00491344 -0.05758315] [-0.00454587 0.9999888 -0.0013134 -0.02421346] [ 0.00490743 0.0013357 0.99998707 -0.01103063] [ 0. 0. 0. 1. ]] SLAMing on 1.001966746 meters 0.2525338477799436 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.01 [[ 0.99997746 0.00446954 -0.00501073 -0.05674812] [-0.00447673 0.99998897 -0.00142427 -0.02391241] [ 0.00500431 0.00144667 0.99998643 -0.01190106] [ 0. 0. 0. 1. ]] SLAMing on 1.031966746 meters 0.25759661327795197 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.01 [[ 0.99997783 0.0045311 -0.00488018 -0.0575192 ] [-0.00453886 0.99998845 -0.00158017 -0.02209446] [ 0.00487297 0.00160229 0.99998684 -0.01124761] [ 0. 0. 0. 1. ]] SLAMing on 1.061966746 meters 0.25328126945460655 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99999931e-01 3.14864740e-04 1.99147469e-04 -3.71957231e-02] [-3.15484139e-04 9.99995090e-01 3.11790230e-03 -2.18849168e-02] [-1.98164774e-04 -3.11796491e-03 9.99995120e-01 -1.14501868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.091966746 meters 0.25383319056356063 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99999918e-01 2.31725515e-04 3.33063255e-04 -3.81509078e-02] [-2.32664885e-04 9.99995988e-01 2.82312902e-03 -2.02881607e-02] [-3.32407728e-04 -2.82320628e-03 9.99995959e-01 -1.03872743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1219667459999998 meters 0.25489383595972254 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99999943e-01 1.84690406e-04 2.83987467e-04 -3.78391466e-02] [-1.85488836e-04 9.99996023e-01 2.81404427e-03 -2.09529384e-02] [-2.83466611e-04 -2.81409678e-03 9.99996000e-01 -1.05799602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1519667459999998 meters 0.2549050146854451 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-0.01 [[ 9.99999389e-01 -9.92564840e-04 -4.87311564e-04 -3.26065545e-02] [ 9.93322279e-04 9.99998295e-01 1.55654756e-03 -1.90824539e-02] [ 4.85765759e-04 -1.55703067e-03 9.99998670e-01 -1.48901885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1819667459999998 meters 0.25564897751311055 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-0.02 [[ 9.99999274e-01 -1.05686187e-03 -5.77977404e-04 -3.17640242e-02] [ 1.05757398e-03 9.99998680e-01 1.23315739e-03 -1.69665684e-02] [ 5.76673364e-04 -1.23376775e-03 9.99999073e-01 -1.59716501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2119667459999999 meters 0.25254924316377886 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99999953e-01 -1.32049007e-04 2.75006692e-04 -3.68414887e-02] [ 1.31542090e-04 9.99998294e-01 1.84249415e-03 -1.59751431e-02] [-2.75249523e-04 -1.84245789e-03 9.99998265e-01 -1.19259738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.241966746 meters 0.25584884852744944 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99999890e-01 -1.46079258e-04 4.45495062e-04 -3.81958457e-02] [ 1.45267801e-04 9.99998331e-01 1.82096190e-03 -1.62308598e-02] [-4.45760323e-04 -1.82089699e-03 9.99998243e-01 -1.01938852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.271966746 meters 0.2554998975780951 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99999825e-01 -1.67340335e-04 5.66788865e-04 -3.87316966e-02] [ 1.66347809e-04 9.99998454e-01 1.75073355e-03 -1.58040186e-02] [-5.67080957e-04 -1.75063896e-03 9.99998307e-01 -9.85529746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.301966746 meters 0.25402032949206077 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 9.99999887e-01 -3.09800875e-04 3.61554034e-04 -3.73082735e-02] [ 3.09364665e-04 9.99999225e-01 1.20591873e-03 -1.21475710e-02] [-3.61927348e-04 -1.20580674e-03 9.99999208e-01 -1.14787040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3319667459999998 meters 0.25280814734157336 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 9.99999883e-01 -4.06713479e-04 2.62483477e-04 -3.67404786e-02] [ 4.06470196e-04 9.99999488e-01 9.26239699e-04 -1.06704953e-02] [-2.62860057e-04 -9.26132899e-04 9.99999537e-01 -1.21476859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3619667459999998 meters 0.25434319601406036 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 9.99999866e-01 -4.34631735e-04 2.81669197e-04 -3.67347408e-02] [ 4.34350822e-04 9.99999409e-01 9.96609449e-04 -1.14541702e-02] [-2.82102188e-04 -9.96486972e-04 9.99999464e-01 -1.22979216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3919667459999998 meters 0.2565615303503475 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.01 [[ 9.99999932e-01 -3.65833283e-04 -4.14945505e-05 -3.59723059e-02] [ 3.65891978e-04 9.99998920e-01 1.42345830e-03 -1.44211527e-02] [ 4.09737572e-05 -1.42347339e-03 9.99998986e-01 -1.18971922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4219667459999998 meters 0.2566314419886085 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99999951e-01 -2.88434123e-04 1.17943694e-04 -3.67339909e-02] [ 2.88233107e-04 9.99998512e-01 1.70081739e-03 -1.61761559e-02] [-1.18434092e-04 -1.70078331e-03 9.99998547e-01 -1.13339296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4519667459999999 meters 0.2573555784334705 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-0.01 [[ 9.99999955e-01 -2.82039991e-04 9.74155813e-05 -3.67238808e-02] [ 2.81871601e-04 9.99998474e-01 1.72428037e-03 -1.63649304e-02] [-9.79017487e-05 -1.72425284e-03 9.99998509e-01 -1.11623959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.481966746 meters 0.25414391825680044 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.00 [[ 0.99998576 0.0035709 -0.00396639 -0.06488529] [-0.00358409 0.99998806 -0.00332199 -0.01508896] [ 0.00395448 0.00333616 0.99998662 -0.00416335] [ 0. 0. 0. 1. ]] SLAMing on 1.511966746 meters 0.25573108222239077 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.00 [[ 0.9999951 -0.00123936 -0.00287473 -0.03990958] [ 0.00124294 0.99999845 0.00124492 -0.01207877] [ 0.00287318 -0.00124848 0.99999509 -0.00487791] [ 0. 0. 0. 1. ]] SLAMing on 1.541966746 meters 0.25180429658783204 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:-0.00 [[ 9.99997850e-01 3.35363761e-05 -2.07360693e-03 -4.45562310e-02] [-2.89184712e-05 9.99997520e-01 2.22698130e-03 -9.00107378e-03] [ 2.07367647e-03 -2.22691655e-03 9.99995370e-01 -1.95675938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.571966746 meters 0.2558890988250269 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.00 [[ 9.99999723e-01 -7.44283231e-04 2.89730878e-05 -2.97865095e-03] [ 7.44277599e-04 9.99999704e-01 1.93905959e-04 -7.52786445e-03] [-2.91174002e-05 -1.93884341e-04 9.99999981e-01 2.54775704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6019667459999998 meters 0.2564513850736659 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.00 [[ 9.99999642e-01 -8.45174876e-04 -4.36477806e-05 -3.10773569e-03] [ 8.45200806e-04 9.99999464e-01 5.97531911e-04 -1.14899396e-02] [ 4.31427382e-05 -5.97568588e-04 9.99999821e-01 3.06659076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6319667459999998 meters 0.2533522903004808 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.00 [[ 9.99999626e-01 -8.37922292e-04 -2.14573617e-04 -2.15858019e-03] [ 8.38069604e-04 9.99999413e-01 6.87366604e-04 -1.20901290e-02] [ 2.13997531e-04 -6.87546174e-04 9.99999741e-01 2.12007895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6619667459999998 meters 0.6158178003839481 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99997508e-01 -1.93193430e-03 -1.11837135e-03 2.88189575e-03] [ 1.93175992e-03 9.99998122e-01 -1.56982501e-04 -1.27468034e-02] [ 1.11867253e-03 1.54821685e-04 9.99999362e-01 -1.20665945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6919667459999999 meters 0.2556109488491261 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:0.00 [[ 9.99997706e-01 -1.96930245e-03 -8.42532673e-04 1.16971892e-03] [ 1.96944747e-03 9.99998046e-01 1.71324513e-04 -1.51505917e-02] [ 8.42193636e-04 -1.72983444e-04 9.99999630e-01 4.99786955e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7219667459999999 meters 0.25581365874754863 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.00 [[ 9.99997901e-01 -1.96564495e-03 -5.78797947e-04 -2.42350563e-04] [ 1.96560639e-03 9.99998066e-01 -6.71843749e-05 -1.27950446e-02] [ 5.78928889e-04 6.60465449e-05 9.99999830e-01 1.41868332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.751966746 meters 0.2561083411959595 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.00 [[ 9.99997893e-01 -1.97945695e-03 -5.43459496e-04 -3.79221715e-05] [ 1.97940294e-03 9.99998036e-01 -9.99014604e-05 -1.24759599e-02] [ 5.43656179e-04 9.88255246e-05 9.99999847e-01 8.93091713e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.781966746 meters 0.25531426595254536 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99997800e-01 -1.98101923e-03 -6.89447558e-04 1.03658005e-03] [ 1.98104671e-03 9.99998037e-01 3.91852306e-05 -1.33108552e-02] [ 6.89368578e-04 -4.05509722e-05 9.99999762e-01 -4.50482083e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8119667459999997 meters 0.6000216581786857 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:0.00 [[ 0.99998659 0.00383552 -0.00347894 -0.02660649] [-0.00384667 0.99998747 -0.00320288 -0.01354576] [ 0.00346661 0.00321622 0.99998882 0.00449036] [ 0. 0. 0. 1. ]] SLAMing on 1.8419667459999998 meters 0.2549853507252989 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.02, Z:0.00 [[ 9.99994798e-01 -2.91789520e-03 1.37503392e-03 -3.51077586e-03] [ 2.91881904e-03 9.99995516e-01 -6.70341045e-04 -1.65649775e-02] [-1.37307177e-03 6.74351033e-04 9.99998830e-01 1.93694570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8719667459999998 meters 0.2546812122177894 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.01 [[ 0.99999491 0.00294174 0.00123542 -0.03249675] [-0.00293657 0.999987 -0.00416969 -0.01912342] [-0.00124767 0.00416604 0.99999054 0.00523774] [ 0. 0. 0. 1. ]] SLAMing on 1.9019667459999998 meters 0.25637738923648684 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.00 [[ 9.99995449e-01 2.86104244e-03 9.57076098e-04 -3.10959366e-02] [-2.85721158e-03 9.99987996e-01 -3.98036758e-03 -2.09562660e-02] [-9.68452610e-04 3.97761490e-03 9.99991620e-01 4.03266197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9319667459999998 meters 0.2544427638112028 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.00 [[ 9.99995359e-01 2.94072216e-03 7.95748066e-04 -3.03436307e-02] [-2.93774721e-03 9.99988787e-01 -3.71425508e-03 -2.23330221e-02] [-8.06661736e-04 3.71190013e-03 9.99992786e-01 3.36257863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9619667459999999 meters 0.256588032118226 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.00 [[ 9.99995173e-01 2.97364453e-03 9.00898677e-04 -3.12438705e-02] [-2.97020668e-03 9.99988393e-01 -3.79362875e-03 -2.12764244e-02] [-9.12169124e-04 3.79093459e-03 9.99992398e-01 4.37468051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.991966746 meters 0.258503845187028 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.00 [[ 9.99995024e-01 3.02078248e-03 9.09742240e-04 -3.15361375e-02] [-3.01738807e-03 9.99988567e-01 -3.70972682e-03 -2.17554037e-02] [-9.20938116e-04 3.70696331e-03 9.99992705e-01 4.84477629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.021966746 meters 0.25373285560924935 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.00 [[ 9.99994604e-01 3.17502760e-03 8.43446984e-04 -3.14394642e-02] [-3.17222234e-03 9.99989501e-01 -3.30671577e-03 -2.41690641e-02] [-8.53937043e-04 3.30402232e-03 9.99994177e-01 4.96721352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.051966746 meters 0.6259215446785292 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.00 [[ 9.99994838e-01 3.13395231e-03 7.08245259e-04 -3.09768379e-02] [-3.13145347e-03 9.99988964e-01 -3.50220247e-03 -2.27752089e-02] [-7.19213178e-04 3.49996656e-03 9.99993616e-01 4.86748432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.081966746 meters 0.2565691502407332 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.00 [[ 9.99995062e-01 3.02895547e-03 8.37499066e-04 -3.12873938e-02] [-3.02570039e-03 9.99987969e-01 -3.86099041e-03 -2.04671373e-02] [-8.49183758e-04 3.85843732e-03 9.99992196e-01 4.85411944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1119667460000002 meters 0.2549783315555011 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.01 [[ 9.99994567e-01 3.21247917e-03 7.38846206e-04 -3.11780590e-02] [-3.21010904e-03 9.99989769e-01 -3.18700245e-03 -2.51015907e-02] [-7.49076826e-04 3.18461336e-03 9.99994649e-01 5.07293804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.141966746 meters 0.2550530281519782 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.03, Z:0.01 [[ 0.99999347 -0.00160609 -0.00323768 -0.0567499 ] [ 0.00161428 0.9999955 0.00253047 -0.02807868] [ 0.0032336 -0.00253568 0.99999156 0.01044653] [ 0. 0. 0. 1. ]] SLAMing on 2.1719667460000003 meters 0.2555571863775439 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.01 [[ 9.99992881e-01 3.76211206e-03 2.91775888e-04 -3.12817782e-02] [-3.76130113e-03 9.99989195e-01 -2.73174560e-03 -2.62173572e-02] [-3.02049868e-04 2.73062869e-03 9.99996226e-01 5.35698278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.201966746 meters 0.2560730556339781 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.00 [[ 9.99988770e-01 -1.10722882e-03 4.60794314e-03 -5.54513344e-03] [ 1.10091524e-03 9.99998452e-01 1.37246228e-03 -2.65714780e-02] [-4.60945564e-03 -1.36737391e-03 9.99988442e-01 4.97983613e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.231966746 meters 0.25749108963597733 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.00 [[ 0.99998797 -0.00117497 0.00476215 -0.00645488] [ 0.00116988 0.99999874 0.0010734 -0.0246506 ] [-0.0047634 -0.00106782 0.99998808 0.00130524] [ 0. 0. 0. 1. ]] SLAMing on 2.261966746 meters 0.25635980349517656 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.00 [[ 0.99998817 -0.00109399 0.0047395 -0.00653097] [ 0.00108801 0.99999861 0.00126556 -0.02574557] [-0.00474088 -0.00126039 0.99998797 0.00153299] [ 0. 0. 0. 1. ]] SLAMing on 2.291966746 meters 0.25616081354244274 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.00 [[ 9.99989344e-01 -1.14660870e-03 4.47181397e-03 -5.23965980e-03] [ 1.13982678e-03 9.99998197e-01 1.51884636e-03 -2.82375229e-02] [-4.47354743e-03 -1.51373308e-03 9.99988848e-01 6.14758310e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.321966746 meters 0.25611647040052576 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.03, Z:0.00 [[ 9.99989699e-01 -1.17940168e-03 4.38300354e-03 -4.73985236e-03] [ 1.17313040e-03 9.99998285e-01 1.43311295e-03 -2.76020740e-02] [-4.38468624e-03 -1.42795635e-03 9.99989368e-01 9.34189162e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.351966746 meters 0.25604649860402356 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.03, Z:0.00 [[ 9.99989928e-01 -1.24875862e-03 4.31107778e-03 -4.86121226e-03] [ 1.24359104e-03 9.99998505e-01 1.20114885e-03 -2.63725582e-02] [-4.31257128e-03 -1.19577553e-03 9.99989986e-01 6.31367074e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3819667460000002 meters 0.2563636233482564 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.00 [[ 0.99998994 -0.00120903 0.00432051 -0.00531841] [ 0.0012034 0.99999842 0.00130599 -0.02715551] [-0.00432209 -0.00130078 0.99998981 0.00141291] [ 0. 0. 0. 1. ]] SLAMing on 2.411966746 meters 0.2561812533422295 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.00 [[ 0.99998985 -0.00113157 0.00436056 -0.00586399] [ 0.00112534 0.99999834 0.00143026 -0.02752987] [-0.00436217 -0.00142534 0.99998947 0.00214971] [ 0. 0. 0. 1. ]] SLAMing on 2.441966746 meters 0.2539821679967214 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.00 [[ 0.99999029 -0.00123349 0.00423137 -0.00531451] [ 0.00122851 0.99999855 0.00118106 -0.02611946] [-0.00423282 -0.00117585 0.99999035 0.00177462] [ 0. 0. 0. 1. ]] SLAMing on 2.471966746 meters 0.25525539941622316 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.00 [[ 0.99999026 -0.00124995 0.00423293 -0.00505463] [ 0.00124487 0.9999985 0.00120457 -0.02652226] [-0.00423442 -0.00119929 0.99999032 0.00141977] [ 0. 0. 0. 1. ]] SLAMing on 2.501966746 meters 0.2536119227953824 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 0.99999538 -0.00165353 0.00255224 -0.04842503] [ 0.00164835 0.99999658 0.00202959 -0.02577903] [-0.00255559 -0.00202538 0.99999468 -0.00184984] [ 0. 0. 0. 1. ]] SLAMing on 2.531966746 meters 0.25696089166721386 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.00 [[ 9.99994212e-01 -1.27396833e-03 3.15474688e-03 1.30626746e-04] [ 1.27168847e-03 9.99998929e-01 7.24576989e-04 -2.41028085e-02] [-3.15566659e-03 -7.20560940e-04 9.99994761e-01 -2.11440667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.561966746 meters 0.2545689728070421 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99994473e-01 -1.18958312e-03 3.10464625e-03 1.76919255e-04] [ 1.18656123e-03 9.99998821e-01 9.75004594e-04 -2.56422207e-02] [-3.10580243e-03 -9.71315353e-04 9.99994705e-01 -1.98418137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.591966746 meters 0.2549410173487965 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99994575e-01 -1.16445280e-03 3.08130871e-03 1.87007411e-04] [ 1.16104407e-03 9.99998712e-01 1.10781651e-03 -2.64970383e-02] [-3.08259474e-03 -1.10423296e-03 9.99994639e-01 -1.98824334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.621966746 meters 0.25544805860555553 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99994957e-01 -1.21422421e-03 2.93441559e-03 1.07024899e-03] [ 1.21148558e-03 9.99998829e-01 9.34875595e-04 -2.53126823e-02] [-2.93554730e-03 -9.31315878e-04 9.99995258e-01 -2.83238173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.651966746 meters 0.2550026467357387 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99995037e-01 -1.23975118e-03 2.89641237e-03 1.45363793e-03] [ 1.23687468e-03 9.99998740e-01 9.94703490e-04 -2.59049428e-02] [-2.89764191e-03 -9.91116054e-04 9.99995311e-01 -3.28432695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.681966746 meters 0.2526129201392324 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.00 [[ 9.99990329e-01 4.34520959e-03 6.78525630e-04 -2.57422471e-02] [-4.34334846e-03 9.99986866e-01 -2.72069800e-03 -2.68940318e-02] [-6.90338722e-04 2.71772462e-03 9.99996069e-01 1.06583357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.711966746 meters 0.25396937032998235 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.00 [[ 9.99990161e-01 4.37375588e-03 7.41019566e-04 -2.61377218e-02] [-4.37181002e-03 9.99987044e-01 -2.60750332e-03 -2.76807148e-02] [-7.52414548e-04 2.60423807e-03 9.99996326e-01 1.48497537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.741966746 meters 0.25974906584703283 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99993556e-01 -1.70313193e-03 3.16023226e-03 7.46372856e-04] [ 1.70078284e-03 9.99998276e-01 7.45865806e-04 -2.79182261e-02] [-3.16149712e-03 -7.40486131e-04 9.99994728e-01 -2.52221787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.771966746 meters 0.26044836678003586 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.00 [[ 0.99998942 0.00399084 -0.00228661 -0.02291311] [-0.00399631 0.99998914 -0.0023959 -0.02376532] [ 0.00227702 0.00240501 0.99999452 0.00175267] [ 0. 0. 0. 1. ]] SLAMing on 2.801966746 meters 0.25757943624506785 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.00 [[ 0.99998966 0.00390014 -0.00233692 -0.02249551] [-0.00390618 0.99998903 -0.0025831 -0.02269217] [ 0.00232682 0.0025922 0.99999393 0.0013056 ] [ 0. 0. 0. 1. ]] SLAMing on 2.831966746 meters 0.2556450315944319 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 0.99998926 0.00395834 -0.00240918 -0.02230263] [-0.00396378 0.99998959 -0.0022595 -0.0250584 ] [ 0.00240021 0.00226903 0.99999455 0.00140069] [ 0. 0. 0. 1. ]] SLAMing on 2.8619667460000002 meters 0.25454841702938896 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 0.99998906 0.00403206 -0.00236945 -0.02267769] [-0.00403701 0.99998967 -0.00208826 -0.02605506] [ 0.00236101 0.00209781 0.99999501 0.00178346] [ 0. 0. 0. 1. ]] SLAMing on 2.891966746 meters 0.25454841702938896 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 0.99998906 0.00403206 -0.00236945 -0.02267769] [-0.00403701 0.99998967 -0.00208826 -0.02605506] [ 0.00236101 0.00209781 0.99999501 0.00178346] [ 0. 0. 0. 1. ]] SLAMing on 2.921966746 meters 0.254681188798186 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 0.9999888 0.00410979 -0.00234592 -0.02317336] [-0.00411403 0.99998991 -0.00180197 -0.02809033] [ 0.00233849 0.00181161 0.99999562 0.0025829 ] [ 0. 0. 0. 1. ]] SLAMing on 2.951966746 meters 0.2545474000945324 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 0.99998853 0.00415289 -0.00238741 -0.023368 ] [-0.00415696 0.99998991 -0.00170079 -0.02878186] [ 0.00238032 0.0017107 0.9999957 0.0031431 ] [ 0. 0. 0. 1. ]] SLAMing on 2.981966746 meters 0.25354479607209685 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 0.99998833 0.00412653 -0.00251116 -0.02307832] [-0.00413078 0.99999004 -0.00168989 -0.02930499] [ 0.00250417 0.00170024 0.99999542 0.0033663 ] [ 0. 0. 0. 1. ]] SLAMing on 3.011966746 meters 0.2560420513178397 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 0.99998838 0.00412128 -0.00250084 -0.02341311] [-0.00412558 0.99999002 -0.00171525 -0.02902452] [ 0.00249375 0.00172555 0.9999954 0.00386224] [ 0. 0. 0. 1. ]] SLAMing on 3.041966746 meters 0.25574912749384715 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:0.00 [[ 0.99999278 -0.00181747 -0.00333719 -0.04678474] [ 0.00182874 0.99999263 0.00337662 -0.02686008] [ 0.00333103 -0.0033827 0.99998873 0.00291098] [ 0. 0. 0. 1. ]] SLAMing on 3.071966746 meters 0.25296595670779104 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:0.00 [[ 0.99999246 -0.00195766 -0.00335426 -0.0469267 ] [ 0.00196758 0.99999369 0.00295683 -0.02430352] [ 0.00334845 -0.00296341 0.99999 0.00322717] [ 0. 0. 0. 1. ]] SLAMing on 3.101966746 meters 0.25085293044189666 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:0.00 [[ 0.99999237 -0.00197651 -0.00336974 -0.04673314] [ 0.00198616 0.99999393 0.00286182 -0.02369324] [ 0.00336407 -0.00286849 0.99999023 0.0029166 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1319667460000002 meters 0.2530518935432389 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 0.99999212 0.00371542 -0.00139541 -0.02315705] [-0.00371845 0.99999073 -0.00217205 -0.02713689] [ 0.00138732 0.00217722 0.99999667 0.00187574] [ 0. 0. 0. 1. ]] SLAMing on 3.161966746 meters 0.2537624673290151 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 0.99999163 0.0038668 -0.00133847 -0.02334387] [-0.00386907 0.99999108 -0.00169576 -0.03017924] [ 0.0013319 0.00170093 0.99999767 0.0019116 ] [ 0. 0. 0. 1. ]] SLAMing on 3.191966746 meters 0.25428507694017854 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.00 [[ 0.99998215 -0.0023682 -0.00548494 -0.04398303] [ 0.00238311 0.99999348 0.00271417 -0.03033558] [ 0.00547848 -0.00272719 0.99998127 0.0028002 ] [ 0. 0. 0. 1. ]] SLAMing on 3.221966746 meters 0.25380755118239645 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.00 [[ 0.99998262 -0.00242129 -0.005376 -0.04419863] [ 0.00243482 0.99999388 0.00251034 -0.0289871 ] [ 0.00536989 -0.00252338 0.9999824 0.00263735] [ 0. 0. 0. 1. ]] SLAMing on 3.251966746 meters 0.2540984194309573 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.00 [[ 0.99998337 -0.00252758 -0.00518307 -0.04484139] [ 0.00253846 0.99999459 0.0020923 -0.02609942] [ 0.00517775 -0.00210542 0.99998438 0.00274002] [ 0. 0. 0. 1. ]] SLAMing on 3.281966746 meters 0.2573615150452026 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:0.00 [[ 0.99998345 -0.00261347 -0.00512477 -0.04512803] [ 0.00262271 0.99999495 0.00179652 -0.02401845] [ 0.00512005 -0.00180993 0.99998525 0.00286949] [ 0. 0. 0. 1. ]] SLAMing on 3.311966746 meters 0.25496739473900776 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.00 [[ 0.99998354 -0.00252037 -0.00515369 -0.04488896] [ 0.00253115 0.99999462 0.00208646 -0.02575048] [ 0.00514841 -0.00209947 0.99998454 0.00252436] [ 0. 0. 0. 1. ]] SLAMing on 3.341966746 meters 0.25534920613571066 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.00 [[ 0.99998332 -0.0024618 -0.00522529 -0.04459557] [ 0.00247399 0.99999423 0.00232604 -0.0274709 ] [ 0.00521954 -0.00233892 0.99998364 0.00239022] [ 0. 0. 0. 1. ]] SLAMing on 3.371966746 meters 0.25184998729359737 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.00 [[ 0.99998407 -0.00240214 -0.00510748 -0.04496925] [ 0.00241449 0.99999417 0.00241384 -0.02759044] [ 0.00510165 -0.00242614 0.99998404 0.00232629] [ 0. 0. 0. 1. ]] SLAMing on 3.401966746 meters 0.2567084767300706 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:-0.00 [[ 9.99993828e-01 3.41263171e-03 -8.35169593e-04 -2.17219916e-02] [-3.41453440e-03 9.99991554e-01 -2.28748708e-03 -2.58268384e-02] [ 8.27356188e-04 2.29032467e-03 9.99997035e-01 -1.48528081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.431966746 meters 0.2526983680967179 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 9.99992154e-01 -3.31597438e-03 -2.16719094e-03 -4.60397289e-02] [ 3.32032240e-03 9.99992476e-01 2.00578509e-03 -2.51677521e-02] [ 2.16052351e-03 -2.01296512e-03 9.99995640e-01 -2.61803858e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.461966746 meters 0.25605856546054856 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 9.99991835e-01 -3.28879459e-03 -2.34831417e-03 -4.53660682e-02] [ 3.29389030e-03 9.99992222e-01 2.16938357e-03 -2.64629486e-02] [ 2.34116124e-03 -2.17710095e-03 9.99994890e-01 -3.62446426e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.491966746 meters 0.25123005605558707 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 9.99975345e-01 2.80608304e-03 -6.43706069e-03 -6.92380565e-02] [-2.81231744e-03 9.99995585e-01 -9.59668631e-04 -2.58649653e-02] [ 6.43433936e-03 9.77748028e-04 9.99978821e-01 2.08156619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.521966746 meters 0.25429535351887605 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 0.99999482 -0.00280171 -0.00158425 -0.04556594] [ 0.00280546 0.99999326 0.00236897 -0.0265799 ] [ 0.0015776 -0.0023734 0.99999594 -0.00168639] [ 0. 0. 0. 1. ]] SLAMing on 3.551966746 meters 0.2505589204971463 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:0.01 [[ 0.99998665 0.00136441 -0.00498447 -0.0759868 ] [-0.00137578 0.99999645 -0.00227994 -0.02497349] [ 0.00498134 0.00228677 0.99998498 0.00671141] [ 0. 0. 0. 1. ]] SLAMing on 3.581966746 meters 0.2529207054931355 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:0.00 [[ 9.99995136e-01 -3.11878407e-03 1.58817832e-05 -4.93760688e-02] [ 3.11874293e-03 9.99992846e-01 2.14055728e-03 -3.08513806e-02] [-2.25576056e-05 -2.14049734e-03 9.99997709e-01 1.75633459e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.611966746 meters 0.2517468854052282 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 0.9999888 0.00280077 -0.00381469 -0.07329516] [-0.00280543 0.99999532 -0.00121809 -0.0306074 ] [ 0.00381126 0.00122878 0.99999198 0.00254569] [ 0. 0. 0. 1. ]] SLAMing on 3.641966746 meters 0.2547715718144172 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 9.99996709e-01 -2.54908764e-03 -2.90932957e-04 -4.53633783e-02] [ 2.54975863e-03 9.99994035e-01 2.32977307e-03 -3.07003115e-02] [ 2.84992426e-04 -2.33050721e-03 9.99997244e-01 -3.85445213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.671966746 meters 0.25388887798190574 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-0.00 [[ 9.99996503e-01 -2.62563683e-03 -3.15429979e-04 -4.48042207e-02] [ 2.62631465e-03 9.99994201e-01 2.16804491e-03 -2.96866278e-02] [ 3.09735651e-04 -2.16886575e-03 9.99997600e-01 -4.77441317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.701966746 meters 0.2538294390999946 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-0.00 [[ 0.99998827 0.00280324 -0.00395113 -0.06932056] [-0.00280956 0.99999478 -0.00159566 -0.0299877 ] [ 0.00394663 0.00160674 0.99999092 -0.00173104] [ 0. 0. 0. 1. ]] SLAMing on 3.731966746 meters 0.25497917787115587 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-0.00 [[ 0.99998795 0.00286265 -0.00398689 -0.06927654] [-0.00286789 0.99999503 -0.00130843 -0.03198841] [ 0.00398313 0.00131984 0.9999912 -0.00155797] [ 0. 0. 0. 1. ]] SLAMing on 3.761966746 meters 0.25285673383200336 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-0.00 [[ 9.99988218e-01 2.87463722e-03 -3.91162712e-03 -6.97779575e-02] [-2.87985754e-03 9.99994969e-01 -1.32958698e-03 -3.19358287e-02] [ 3.90778536e-03 1.34083624e-03 9.99991466e-01 -9.92636182e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.791966746 meters 0.2531630579488403 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-0.00 [[ 0.99998843 0.00281749 -0.00389794 -0.0697242 ] [-0.00282369 0.99999476 -0.00158396 -0.03020154] [ 0.00389346 0.00159495 0.99999115 -0.00120506] [ 0. 0. 0. 1. ]] SLAMing on 3.821966746 meters 0.2501081802248834 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:0.00 [[ 0.99997187 -0.00233173 -0.00712927 -0.09693512] [ 0.00235961 0.99998959 0.00390414 -0.03130468] [ 0.00712009 -0.00392086 0.99996697 0.00479331] [ 0. 0. 0. 1. ]] SLAMing on 3.851966746 meters 0.2544370219070273 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-0.00 [[ 9.99994930e-01 1.60129913e-03 -2.75237722e-03 -7.18292464e-02] [-1.60802106e-03 9.99995726e-01 -2.44174901e-03 -3.00335542e-02] [ 2.74845549e-03 2.44616251e-03 9.99993231e-01 -8.25780794e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.881966746 meters 0.25395822552413455 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 0.99999341 -0.00338841 0.00130107 -0.04857939] [ 0.00338601 0.99999257 0.00184479 -0.03109371] [-0.00130731 -0.00184037 0.99999745 -0.0030193 ] [ 0. 0. 0. 1. ]] SLAMing on 3.911966746 meters 0.2529390242908287 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 0.99999353 -0.00336282 0.00127638 -0.0484008 ] [ 0.0033604 0.99999257 0.00189075 -0.03130725] [-0.00128272 -0.00188645 0.9999974 -0.00327528] [ 0. 0. 0. 1. ]] SLAMing on 3.941966746 meters 0.2513644399032199 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 0.99999408 -0.00320434 0.00125343 -0.04873017] [ 0.00320146 0.99999226 0.00228626 -0.03352083] [-0.00126074 -0.00228224 0.9999966 -0.00252841] [ 0. 0. 0. 1. ]] SLAMing on 3.971966746 meters 0.25112303568913164 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.03, Z:-0.00 [[ 0.99999458 -0.00305404 0.00123254 -0.04882181] [ 0.00305087 0.99999204 0.0025701 -0.03491187] [-0.00124038 -0.00256633 0.99999594 -0.00224331] [ 0. 0. 0. 1. ]] SLAMing on 4.001966746 meters 0.2541767221815861 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:-0.00 [[ 0.99999086 0.00395288 0.00163064 -0.02335129] [-0.00395053 0.99999116 -0.00144016 -0.03558489] [-0.00163631 0.00143371 0.99999763 -0.00397666] [ 0. 0. 0. 1. ]] SLAMing on 4.031966745999999 meters 0.25446302600852677 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:-0.00 [[ 0.99999121 0.00389451 0.00155505 -0.02305542] [-0.00389226 0.99999138 -0.0014455 -0.03575754] [-0.00156066 0.00143944 0.99999775 -0.00405159] [ 0. 0. 0. 1. ]] SLAMing on 4.0619667459999995 meters 0.2562987998811875 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:-0.00 [[ 9.99994729e-01 -3.22597536e-03 3.66696903e-04 -4.86575838e-02] [ 3.22502330e-03 9.99991502e-01 2.56791368e-03 -3.58349689e-02] [-3.74977813e-04 -2.56671754e-03 9.99996636e-01 -1.49378036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.091966746 meters 0.6260852392505902 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.04, Z:-0.00 [[ 0.99998665 0.00357405 0.00373077 -0.02572873] [-0.00356868 0.99999259 -0.00144302 -0.03529 ] [-0.0037359 0.00142969 0.999992 -0.00350078] [ 0. 0. 0. 1. ]] SLAMing on 4.121966745999999 meters 0.25470228950377033 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:-0.00 [[ 0.99998734 0.00343688 0.00367627 -0.02530541] [-0.00343042 0.99999256 -0.00176429 -0.03362902] [-0.0036823 0.00175166 0.99999169 -0.00394437] [ 0. 0. 0. 1. ]] SLAMing on 4.151966745999999 meters 0.25397906068392617 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:-0.00 [[ 9.99994460e-01 -3.32826759e-03 -4.82741206e-05 -4.85764786e-02] [ 3.32836969e-03 9.99991823e-01 2.29675198e-03 -3.57148231e-02] [ 4.06295207e-05 -2.29689993e-03 9.99997361e-01 -7.00259583e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.181966746 meters 0.2548572230412839 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:-0.00 [[ 9.99994763e-01 -3.23272512e-03 -1.53279192e-04 -4.81584387e-02] [ 3.23312638e-03 9.99991144e-01 2.69414416e-03 -3.82168233e-02] [ 1.44568407e-04 -2.69462562e-03 9.99996359e-01 -8.20430623e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.211966746 meters 0.2539435246434875 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:-0.00 [[ 9.99995044e-01 -3.14811143e-03 -4.34131079e-05 -4.87696784e-02] [ 3.14822267e-03 9.99990959e-01 2.85859630e-03 -3.86018851e-02] [ 3.44135358e-05 -2.85871880e-03 9.99995913e-01 -5.08350011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.241966745999999 meters 0.25473636648264225 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:-0.00 [[ 9.99994961e-01 -3.17324406e-03 -9.11528425e-05 -4.85461878e-02] [ 3.17349308e-03 9.99990830e-01 2.87563527e-03 -3.89914685e-02] [ 8.20269141e-05 -2.87591005e-03 9.99995861e-01 -5.83324953e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2719667459999995 meters 0.25639600650100985 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:-0.00 [[ 9.99994984e-01 -3.15956048e-03 -2.20789740e-04 -4.78861998e-02] [ 3.16020280e-03 9.99990590e-01 2.97204721e-03 -3.97958910e-02] [ 2.11397300e-04 -2.97273005e-03 9.99995559e-01 -9.14898600e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.301966746 meters 0.25363424948402413 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:0.00 [[ 9.99989286e-01 3.03418256e-03 -3.49595035e-03 -7.33955588e-02] [-3.03487707e-03 9.99995376e-01 -1.93373456e-04 -3.85464774e-02] [ 3.49534746e-03 2.03981164e-04 9.99993870e-01 2.52145797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.331966746 meters 0.25413448335074984 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:0.00 [[ 9.99989661e-01 3.04466180e-03 -3.37742530e-03 -7.41423924e-02] [-3.04557797e-03 9.99995327e-01 -2.66153094e-04 -3.79289772e-02] [ 3.37659917e-03 2.76436554e-04 9.99994261e-01 3.04933927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.361966745999999 meters 0.25658469565348324 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:0.00 [[ 9.99989809e-01 2.89563043e-03 -3.46373090e-03 -7.33252021e-02] [-2.89769706e-03 9.99995627e-01 -5.91780236e-04 -3.59899952e-02] [ 3.46200218e-03 6.01811048e-04 9.99993826e-01 2.05755006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.391966746 meters 0.2546840449382129 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.00 [[ 9.99990085e-01 2.80119884e-03 -3.46179287e-03 -7.27404173e-02] [-2.80420232e-03 9.99995696e-01 -8.63059525e-04 -3.41420815e-02] [ 3.45936037e-03 8.72758535e-04 9.99993636e-01 9.51511962e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.421966746 meters 0.25502955677790834 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:-0.00 [[ 0.99999041 0.0011428 -0.00422862 -0.06766338] [-0.00115277 0.99999656 -0.00235782 -0.03656512] [ 0.00422592 0.00236267 0.99998828 -0.00268289] [ 0. 0. 0. 1. ]] SLAMing on 4.451966745999999 meters 0.25115825771725875 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:-0.00 [[ 0.99999022 0.00141234 -0.00419081 -0.06839871] [-0.00141955 0.99999752 -0.0017175 -0.04016425] [ 0.00418837 0.00172343 0.99998974 -0.00154371] [ 0. 0. 0. 1. ]] SLAMing on 4.4819667459999994 meters 0.25128233401878625 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:-0.00 [[ 9.99990520e-01 1.50416884e-03 -4.08629337e-03 -6.90283349e-02] [-1.51035349e-03 9.99997718e-01 -1.51084665e-03 -4.13161127e-02] [ 4.08401148e-03 1.51700408e-03 9.99990510e-01 -8.81775268e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.511966746 meters 0.25480697113026707 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.01 [[ 0.99999594 -0.00255618 0.00125621 -0.04498617] [ 0.00255228 0.99999193 0.00310101 -0.04360898] [-0.00126413 -0.00309779 0.9999944 -0.00539596] [ 0. 0. 0. 1. ]] SLAMing on 4.541966746 meters 0.2540021382614829 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:-0.00 [[ 0.99999114 0.00222134 -0.00357569 -0.06745531] [-0.00222535 0.9999969 -0.00111801 -0.04256104] [ 0.0035732 0.00112596 0.99999298 -0.00301441] [ 0. 0. 0. 1. ]] SLAMing on 4.571966745999999 meters 0.25284550258242294 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:-0.00 [[ 0.99999114 0.00214017 -0.00362601 -0.06674784] [-0.00214561 0.99999658 -0.00149704 -0.0398202 ] [ 0.00362279 0.0015048 0.99999231 -0.00410695] [ 0. 0. 0. 1. ]] SLAMing on 4.6019667459999996 meters 0.252197114791381 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.01 [[ 9.99995375e-01 -3.02783789e-03 -2.87880480e-04 -4.17576429e-02] [ 3.02851649e-03 9.99992566e-01 2.38674379e-03 -3.76841375e-02] [ 2.80651666e-04 -2.38760460e-03 9.99997110e-01 -6.90507331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.631966746 meters 0.25270590592705844 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.01 [[ 9.99995311e-01 -3.02496901e-03 -4.76580770e-04 -4.11506819e-02] [ 3.02638493e-03 9.99990924e-01 2.99884255e-03 -4.29756985e-02] [ 4.67505039e-04 -3.00027080e-03 9.99995390e-01 -6.90988256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.661966745999999 meters 0.2518378691613231 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:-0.01 [[ 9.99985768e-01 9.54403164e-04 -5.24905843e-03 -6.28328396e-02] [-9.64140176e-04 9.99997819e-01 -1.85278425e-03 -4.37985562e-02] [ 5.24727868e-03 1.85781871e-03 9.99984507e-01 -5.46844137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.691966745999999 meters 0.2523712464060087 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:-0.01 [[ 0.99998673 0.00107866 -0.00503808 -0.06338884] [-0.00109016 0.99999681 -0.00228029 -0.03858639] [ 0.00503561 0.00228576 0.99998471 -0.00558435] [ 0. 0. 0. 1. ]] SLAMing on 4.721966746 meters 0.25648977382612653 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:-0.00 [[ 0.99998698 0.00114315 -0.00497261 -0.06403911] [-0.00115429 0.99999683 -0.00223859 -0.03864267] [ 0.00497004 0.0022443 0.99998513 -0.00474752] [ 0. 0. 0. 1. ]] SLAMing on 4.751966746 meters 0.25485777639455154 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.01 [[ 9.99993000e-01 -3.74103613e-03 -7.06834587e-05 -3.85426712e-02] [ 3.74114853e-03 9.99991619e-01 1.66322926e-03 -4.31860525e-02] [ 6.44606655e-05 -1.66348205e-03 9.99998614e-01 -1.01416755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.781966745999999 meters 0.25485777639455154 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.01 [[ 9.99993000e-01 -3.74103613e-03 -7.06834587e-05 -3.85426712e-02] [ 3.74114853e-03 9.99991619e-01 1.66322926e-03 -4.31860525e-02] [ 6.44606655e-05 -1.66348205e-03 9.99998614e-01 -1.01416755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8119667459999995 meters 0.25672621773655807 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:-0.01 [[ 0.9999939 0.00292662 0.00190769 -0.014973 ] [-0.00292149 0.99999212 -0.00268878 -0.04422737] [-0.00191554 0.00268319 0.99999457 -0.01166379] [ 0. 0. 0. 1. ]] SLAMing on 4.841966746 meters 0.2542434977924111 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.01 [[ 9.99993827e-01 -3.38773538e-03 -9.32000131e-04 -3.72353783e-02] [ 3.38959084e-03 9.99992262e-01 1.99650748e-03 -4.34268922e-02] [ 9.25229280e-04 -1.99965425e-03 9.99997573e-01 -1.09177221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.871966745999999 meters 0.2522616495734204 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:-0.01 [[ 9.99994019e-01 -3.34490625e-03 -8.79178606e-04 -3.77798728e-02] [ 3.34670623e-03 9.99992290e-01 2.05391017e-03 -4.34950833e-02] [ 8.72301691e-04 -2.05684024e-03 9.99997504e-01 -1.02215352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.901966745999999 meters 0.2518901420704235 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:-0.01 [[ 0.99999331 0.00276407 -0.00239628 -0.0654941 ] [-0.00276706 0.99999539 -0.00124674 -0.04403356] [ 0.00239282 0.00125336 0.99999635 -0.00654674] [ 0. 0. 0. 1. ]] SLAMing on 4.931966746 meters 0.2562695837271008 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:-0.01 [[ 0.99999322 -0.00237325 0.00281641 -0.04149115] [ 0.00236654 0.99999437 0.002381 -0.04781917] [-0.00282205 -0.00237432 0.9999932 -0.01027682] [ 0. 0. 0. 1. ]] SLAMing on 4.961966746 meters 0.2570158936808048 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:-0.01 [[ 0.99999335 -0.00242881 0.0027205 -0.04060721] [ 0.00242225 0.99999416 0.00241064 -0.04872807] [-0.00272634 -0.00240403 0.99999339 -0.01125059] [ 0. 0. 0. 1. ]] SLAMing on 4.991966745999999 meters 0.2556021213270336 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:-0.01 [[ 0.99999419 0.00272041 -0.00205245 -0.06341183] [-0.00272338 0.99999525 -0.00144366 -0.04667647] [ 0.00204851 0.00144924 0.99999685 -0.00905442] [ 0. 0. 0. 1. ]] SLAMing on 5.0219667459999995 meters 0.25179070300133166 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:-0.01 [[ 0.99997498 0.0067612 -0.00207798 -0.06258877] [-0.00675653 0.99997464 0.00224929 -0.04300794] [ 0.00209314 -0.00223519 0.99999531 -0.01033309] [ 0. 0. 0. 1. ]] SLAMing on 5.051966746 meters 0.25274302366873896 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:-0.01 [[ 0.99997571 0.00670058 -0.00191761 -0.06363458] [-0.00669689 0.99997572 0.00192427 -0.0407571 ] [ 0.00193046 -0.00191138 0.99999631 -0.00923544] [ 0. 0. 0. 1. ]] SLAMing on 5.081966745999999 meters 0.2527167113580084 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:-0.01 [[ 0.99999533 0.0025014 -0.00175528 -0.06468642] [-0.00250537 0.99999431 -0.00225994 -0.04106936] [ 0.00174961 0.00226433 0.99999591 -0.0080871 ] [ 0. 0. 0. 1. ]] SLAMing on 5.111966745999999 meters 0.2550430637723614 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:-0.01 [[ 0.99999488 0.0026193 -0.00183708 -0.06464988] [-0.00262216 0.99999535 -0.00156015 -0.0458493 ] [ 0.00183298 0.00156496 0.9999971 -0.00785005] [ 0. 0. 0. 1. ]] SLAMing on 5.141966746 meters 0.2564571726481821 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:-0.01 [[ 0.99999456 0.00262786 -0.00199377 -0.06382669] [-0.00263054 0.99999564 -0.00134359 -0.04730945] [ 0.00199023 0.00134883 0.99999711 -0.00857346] [ 0. 0. 0. 1. ]] SLAMing on 5.171966746 meters 0.25359426635822474 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:-0.01 [[ 0.99999436 0.00263139 -0.0020892 -0.06322364] [-0.00263397 0.99999577 -0.0012344 -0.04822937] [ 0.00208594 0.00123989 0.99999706 -0.00917826] [ 0. 0. 0. 1. ]] SLAMing on 5.201966745999999 meters 0.2555858894708745 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:-0.01 [[ 0.99999433 0.00269747 -0.00201593 -0.06296573] [-0.0027006 0.99999516 -0.00154769 -0.04518708] [ 0.00201174 0.00155313 0.99999677 -0.01000882] [ 0. 0. 0. 1. ]] SLAMing on 5.2319667459999994 meters 0.25265995966351124 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:-0.01 [[ 9.99995229e-01 1.97325471e-03 -2.37656137e-03 -1.10401843e-01] [-1.97521283e-03 9.99997712e-01 -8.21865378e-04 -4.39265386e-02] [ 2.37493418e-03 8.26555672e-04 9.99996838e-01 -1.10268089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.261966746 meters 0.25562875073653346 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.01 [[ 0.99998828 -0.00376158 0.00304923 -0.08757876] [ 0.00375473 0.99999042 0.00224782 -0.04733332] [-0.00305766 -0.00223635 0.99999282 -0.01411499] [ 0. 0. 0. 1. ]] SLAMing on 5.291966745999999 meters 0.25561061196881885 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.01 [[ 0.99998852 -0.00369313 0.00305141 -0.08767603] [ 0.00368537 0.99998997 0.00254671 -0.04916329] [-0.00306078 -0.00253543 0.9999921 -0.01395964] [ 0. 0. 0. 1. ]] SLAMing on 5.321966745999999 meters 0.25584451192685437 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.01 [[ 0.99998874 -0.00368564 0.00298929 -0.0874251 ] [ 0.00367782 0.99998981 0.00261888 -0.04969036] [-0.00299891 -0.00260786 0.9999921 -0.01404047] [ 0. 0. 0. 1. ]] SLAMing on 5.3519667459999996 meters 0.2559138917205073 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.01 [[ 0.99998933 -0.00369981 0.00276757 -0.08661495] [ 0.00369266 0.99998984 0.00258598 -0.04979283] [-0.00277711 -0.00257573 0.99999283 -0.0144027 ] [ 0. 0. 0. 1. ]] SLAMing on 5.381966746 meters 0.251943692189154 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.02 [[ 0.99999003 -0.00365128 0.00257178 -0.08547876] [ 0.00364423 0.9999896 0.00274188 -0.05084538] [-0.00258177 -0.00273248 0.99999293 -0.01557791] [ 0. 0. 0. 1. ]] SLAMing on 5.411966745999999 meters 0.25205585362767813 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.01 [[ 0.99998983 -0.00367496 0.00261262 -0.08613144] [ 0.00366813 0.99998985 0.00261479 -0.04975338] [-0.0026222 -0.00260518 0.99999317 -0.01465168] [ 0. 0. 0. 1. ]] SLAMing on 5.441966745999999 meters 0.25464965070912987 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.01 [[ 0.99998883 -0.00373943 0.00288938 -0.08751548] [ 0.00373313 0.99999065 0.00218069 -0.04615596] [-0.00289751 -0.00216988 0.99999345 -0.01369237] [ 0. 0. 0. 1. ]] SLAMing on 5.471966746 meters 0.256178178493632 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.01 [[ 0.99998848 -0.00369544 0.00306216 -0.08827827] [ 0.00368802 0.99999026 0.00242518 -0.04774916] [-0.00307109 -0.00241386 0.99999237 -0.01314086] [ 0. 0. 0. 1. ]] SLAMing on 5.501966746 meters 0.2526073591566562 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:-0.01 [[ 0.99998913 -0.00353469 0.00304156 -0.08827849] [ 0.00352594 0.99998965 0.00287531 -0.0503253 ] [-0.00305169 -0.00286456 0.99999124 -0.01308235] [ 0. 0. 0. 1. ]] SLAMing on 5.531966745999999 meters 0.2532179499852736 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.01 [[ 9.99997569e-01 -1.13102950e-04 -2.20219224e-03 -1.07575345e-01] [ 1.07617760e-04 9.99996892e-01 -2.49074543e-03 -5.33865609e-02] [ 2.20246710e-03 2.49050238e-03 9.99994473e-01 -1.32894945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5619667459999995 meters 0.25190155912593487 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.01 [[ 9.99997390e-01 -1.06122066e-04 -2.28217919e-03 -1.06988845e-01] [ 1.00492820e-04 9.99996953e-01 -2.46658334e-03 -5.35309274e-02] [ 2.28243399e-03 2.46634756e-03 9.99994354e-01 -1.38766366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.591966746 meters 0.251029830502939 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.01 [[ 9.99997589e-01 -1.76977112e-04 -2.18883047e-03 -1.07220228e-01] [ 1.70678139e-04 9.99995845e-01 -2.87763195e-03 -5.02883964e-02] [ 2.18933065e-03 2.87725142e-03 9.99993464e-01 -1.40886487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.621966745999999 meters 0.2533301932843414 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.05, Z:-0.02 [[ 0.99999318 -0.00284506 0.00235324 -0.08294709] [ 0.00283709 0.99999026 0.00338111 -0.05117811] [-0.00236284 -0.00337442 0.99999152 -0.01770361] [ 0. 0. 0. 1. ]] SLAMing on 5.651966745999999 meters 0.2564665143734688 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.05, Z:-0.02 [[ 0.99999319 -0.0028276 0.00237193 -0.08312309] [ 0.0028194 0.99999006 0.00345294 -0.05170471] [-0.00238167 -0.00344623 0.99999123 -0.01738837] [ 0. 0. 0. 1. ]] SLAMing on 5.681966746 meters 0.2570544410667804 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.01 [[ 9.99998352e-01 -6.66916277e-04 -1.68855975e-03 -1.06985628e-01] [ 6.61550504e-04 9.99994737e-01 -3.17628866e-03 -5.35745985e-02] [ 1.69066918e-03 3.17516636e-03 9.99993530e-01 -1.45972710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.711966746 meters 0.25228717895359576 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.01 [[ 9.99998297e-01 -6.21842929e-04 -1.73780401e-03 -1.06771964e-01] [ 6.16616616e-04 9.99995291e-01 -3.00634305e-03 -5.46980246e-02] [ 1.73966530e-03 3.00526637e-03 9.99993971e-01 -1.47828878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.741966745999999 meters 0.25397440275364075 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.01 [[ 9.99998401e-01 -6.11466127e-04 -1.68033832e-03 -1.06922597e-01] [ 6.06061529e-04 9.99994648e-01 -3.21500376e-03 -5.27989598e-02] [ 1.68229520e-03 3.21398023e-03 9.99993420e-01 -1.49039401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7719667459999995 meters 0.25357217300112067 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.01 [[ 9.99991957e-01 3.62520189e-03 -1.71569563e-03 -1.07042317e-01] [-3.62351000e-03 9.99992947e-01 9.88208948e-04 -5.24575976e-02] [ 1.71926599e-03 -9.81984159e-04 9.99998040e-01 -1.45059084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.801966746 meters 0.25118684769930605 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.01 [[ 9.99992515e-01 3.56002821e-03 -1.51532910e-03 -1.08106661e-01] [-3.55894240e-03 9.99993409e-01 7.18642702e-04 -5.06605226e-02] [ 1.51787750e-03 -7.13244353e-04 9.99998594e-01 -1.37411524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.831966745999999 meters 0.25717002128076427 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:-0.01 [[ 9.99998452e-01 -6.53847038e-04 -1.63325972e-03 -1.07744245e-01] [ 6.48356487e-04 9.99994145e-01 -3.35998376e-03 -5.16641108e-02] [ 1.63544707e-03 3.35891962e-03 9.99993021e-01 -1.38199975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.861966745999999 meters 0.2547319118888673 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:-0.02 [[ 9.99971655e-01 -6.49856361e-03 3.80231928e-03 -8.27012010e-02] [ 6.49979598e-03 9.99978827e-01 -3.11843025e-04 -5.94635897e-02] [-3.80021224e-03 3.36548485e-04 9.99992723e-01 -1.94014525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.891966746 meters 0.25360468760701427 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.02 [[ 9.99997155e-01 -9.87653802e-04 2.17107300e-03 -1.09691892e-01] [ 9.95954633e-04 9.99992186e-01 -3.82562651e-03 -6.42640268e-02] [-2.16727765e-03 3.82777792e-03 9.99990325e-01 -1.60239529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.921966746 meters 0.25649365683661496 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.02 [[ 9.99997699e-01 -9.75312735e-04 1.91071984e-03 -1.08373110e-01] [ 9.82862254e-04 9.99991699e-01 -3.95419237e-03 -6.33449364e-02] [-1.90684740e-03 3.95606125e-03 9.99990357e-01 -1.69740463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.951966745999999 meters 0.2549887237911455 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.02 [[ 9.99993539e-01 3.07331255e-03 1.86485994e-03 -1.07227479e-01] [-3.07304182e-03 9.99995267e-01 -1.48023018e-04 -6.07519471e-02] [-1.86530603e-03 1.42291269e-04 9.99998250e-01 -1.87836510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9819667459999994 meters 0.25191115972204925 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:-0.02 [[ 9.99997723e-01 -2.10789192e-03 -3.31790562e-04 -1.30267226e-01] [ 2.10963524e-03 9.99983492e-01 5.34467557e-03 -5.48539220e-02] [ 3.20519086e-04 -5.34536335e-03 9.99985662e-01 -1.80992611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.011966746 meters 0.2556335839065561 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.02 [[ 9.99990019e-01 3.09561580e-03 3.22178168e-03 -1.09173022e-01] [-3.09513170e-03 9.99995198e-01 -1.55235219e-04 -5.58216676e-02] [-3.22224676e-03 1.45261831e-04 9.99994798e-01 -1.94472075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.041966745999999 meters 0.2527278238998596 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.02 [[ 9.99994588e-01 -9.16273090e-04 3.15986987e-03 -1.09449949e-01] [ 9.27991257e-04 9.99992691e-01 -3.70896340e-03 -6.03410109e-02] [-3.15644835e-03 3.71187566e-03 9.99988129e-01 -1.85378339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.071966745999999 meters 0.2535370158024954 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.02 [[ 0.99998323 -0.00485116 0.00316225 -0.10996885] [ 0.00487441 0.99996084 -0.00738642 -0.06368083] [-0.0031263 0.00740171 0.99996772 -0.01754365] [ 0. 0. 0. 1. ]] SLAMing on 6.1019667459999996 meters 0.25944622047402555 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:-0.02 [[ 9.99994661e-01 -4.60806670e-04 3.23492448e-03 -1.10121464e-01] [ 4.70371659e-04 9.99995518e-01 -2.95665096e-03 -6.38596581e-02] [-3.23354753e-03 2.95815679e-03 9.99990397e-01 -1.78345380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.131966746 meters 0.254103461253527 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.06, Z:-0.02 [[ 9.99983902e-01 3.65630448e-03 4.33902758e-03 -6.50641913e-02] [-3.65201852e-03 9.99992836e-01 -9.95281915e-04 -5.90362428e-02] [-4.34263555e-03 9.79419684e-04 9.99990091e-01 -1.56836652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.161966745999999 meters 0.25564455992490653 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:-0.01 [[ 0.99999757 -0.00110372 0.00190874 -0.09177818] [ 0.00109419 0.99998696 0.00498772 -0.0567738 ] [-0.00191422 -0.00498562 0.99998574 -0.01073968] [ 0. 0. 0. 1. ]] SLAMing on 6.191966745999999 meters 0.2604182973062173 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:-0.01 [[ 0.99999754 0.00149398 -0.00164236 -0.11723854] [-0.00149649 0.99999771 -0.00153255 -0.05640935] [ 0.00164007 0.001535 0.99999748 -0.0067389 ] [ 0. 0. 0. 1. ]] SLAMing on 6.221966746 meters 0.25473471740251447 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:-0.01 [[ 0.9999833 -0.00458434 0.00352023 -0.09286016] [ 0.0045797 0.99998864 0.0013233 -0.06400539] [-0.00352625 -0.00130716 0.99999293 -0.01117725] [ 0. 0. 0. 1. ]] SLAMing on 6.251966746 meters 0.2560054628270321 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:-0.01 [[ 9.99998666e-01 -8.34437097e-04 -1.40431792e-03 -1.13922307e-01] [ 8.29206688e-04 9.99992733e-01 -3.72098902e-03 -6.56452130e-02] [ 1.40741264e-03 3.71981959e-03 9.99992091e-01 -1.00088942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.281966745999999 meters 0.25433312339007336 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.02 [[ 0.99998669 -0.00416009 0.0030502 -0.08585153] [ 0.00415502 0.99998998 0.00166789 -0.06937116] [-0.00305711 -0.0016552 0.99999396 -0.01709521] [ 0. 0. 0. 1. ]] SLAMing on 6.3119667459999995 meters 0.2567704198954115 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.01 [[ 0.99998811 -0.00313209 0.00373637 -0.0904418 ] [ 0.00312274 0.99999199 0.00250426 -0.06926601] [-0.00374418 -0.00249256 0.99998988 -0.01323021] [ 0. 0. 0. 1. ]] SLAMing on 6.341966746 meters 0.2562612758626249 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:-0.01 [[ 0.99998734 -0.00324557 0.00384581 -0.09021974] [ 0.00323818 0.9999929 0.00192476 -0.06465132] [-0.00385203 -0.00191228 0.99999075 -0.01428945] [ 0. 0. 0. 1. ]] SLAMing on 6.371966745999999 meters 0.2533421495906704 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:-0.01 [[ 0.99998693 -0.00331029 0.00389541 -0.09048251] [ 0.0033038 0.99999315 0.00167161 -0.06270396] [-0.00390092 -0.00165872 0.99999102 -0.01429099] [ 0. 0. 0. 1. ]] SLAMing on 6.401966745999999 meters 0.25654879167799055 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:-0.02 [[ 0.99998736 -0.00342982 0.00367775 -0.08920685] [ 0.00342362 0.99999271 0.00169043 -0.06354568] [-0.00368352 -0.00167782 0.99999181 -0.01540063] [ 0. 0. 0. 1. ]] SLAMing on 6.431966746 meters 0.2553424227670046 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.02 [[ 0.99998847 -0.00334623 0.00344357 -0.0884352 ] [ 0.00333821 0.99999171 0.0023306 -0.06871774] [-0.00345134 -0.00231908 0.99999136 -0.01560981] [ 0. 0. 0. 1. ]] SLAMing on 6.461966746 meters 0.2527263020064363 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.01 [[ 9.99970050e-01 -6.45765025e-03 4.26596228e-03 -9.29795052e-02] [ 6.46061069e-03 9.99978898e-01 -6.80550808e-04 -7.15115492e-02] [-4.26147750e-03 7.08091147e-04 9.99990669e-01 -1.22585040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.491966745999999 meters 0.25537506464581317 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.01 [[ 9.99970871e-01 -6.36690137e-03 4.20951876e-03 -9.28039238e-02] [ 6.36866523e-03 9.99979638e-01 -4.05745793e-04 -7.31496069e-02] [-4.20684970e-03 4.32542990e-04 9.99991058e-01 -1.22264502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5219667459999995 meters 0.2563820165916981 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.01 [[ 0.99998934 -0.00221815 0.00404857 -0.0922147 ] [ 0.00220364 0.99999114 0.00358538 -0.07169303] [-0.00405649 -0.00357642 0.99998538 -0.0125638 ] [ 0. 0. 0. 1. ]] SLAMing on 6.551966746 meters 0.2572711385120434 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.01 [[ 0.99998808 -0.00241048 0.00424622 -0.0925541 ] [ 0.0023985 0.99999313 0.00282509 -0.06657157] [-0.004253 -0.00281487 0.99998699 -0.01296164] [ 0. 0. 0. 1. ]] SLAMing on 6.581966745999999 meters 0.2555966045968246 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.01 [[ 0.99998774 -0.00255353 0.0042432 -0.09256878] [ 0.00254273 0.99999352 0.00255006 -0.06531599] [-0.00424969 -0.00253924 0.99998775 -0.01294306] [ 0. 0. 0. 1. ]] SLAMing on 6.611966745999999 meters 0.2568033008759922 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:-0.01 [[ 0.99998528 0.0020067 0.00504029 -0.07069028] [-0.00198754 0.99999079 -0.00380402 -0.06937771] [-0.00504788 0.00379394 0.99998006 -0.01101294] [ 0. 0. 0. 1. ]] SLAMing on 6.641966746 meters 0.2507545447454487 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:-0.01 [[ 9.99989412e-01 1.45775681e-04 4.59938465e-03 -1.19170983e-01] [-1.28354117e-04 9.99992818e-01 -3.78787120e-03 -7.15901983e-02] [-4.59990380e-03 3.78724075e-03 9.99982249e-01 -1.05126270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.671966746 meters 0.6188206816601026 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:-0.01 [[ 0.99998068 0.00241952 0.00572593 -0.07497878] [-0.0024004 0.99999153 -0.00334397 -0.07122954] [-0.00573397 0.00333016 0.99997802 -0.00710998] [ 0. 0. 0. 1. ]] SLAMing on 6.701966745999999 meters 0.6188206816601026 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:-0.01 [[ 0.99998068 0.00241952 0.00572593 -0.07497878] [-0.0024004 0.99999153 -0.00334397 -0.07122954] [-0.00573397 0.00333016 0.99997802 -0.00710998] [ 0. 0. 0. 1. ]] SLAMing on 6.7319667459999994 meters 0.2545440610066633 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:-0.01 [[ 9.99997431e-01 -2.25446794e-04 2.25550921e-03 -9.60454405e-02] [ 2.14687859e-04 9.99988604e-01 4.76917489e-03 -6.81505981e-02] [-2.25655870e-03 -4.76867840e-03 9.99986084e-01 -6.63787512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.761966746 meters 0.2607935015719514 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:-0.01 [[ 9.99997509e-01 -3.18898088e-04 2.20928078e-03 -9.57294117e-02] [ 3.08598353e-04 9.99989091e-01 4.66080426e-03 -6.78070782e-02] [-2.21074300e-03 -4.66011087e-03 9.99986698e-01 -6.99594489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.791966745999999 meters 0.6179227095063781 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:-0.01 [[ 9.99987191e-01 -4.49812506e-03 2.32035534e-03 -9.64824359e-02] [ 4.49690247e-03 9.99989747e-01 5.31845246e-04 -6.84032322e-02] [-2.32272386e-03 -5.21404022e-04 9.99997167e-01 -6.21274495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.821966745999999 meters 0.25644021390394195 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:-0.01 [[ 0.99998834 -0.00439178 0.00201025 -0.09557003] [ 0.00438923 0.99998956 0.00127175 -0.07419436] [-0.00201582 -0.00126291 0.99999717 -0.00615976] [ 0. 0. 0. 1. ]] SLAMing on 6.8519667459999996 meters 0.2549034328330376 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:-0.01 [[ 0.99998899 -0.00421814 0.00205672 -0.09590856] [ 0.00421475 0.99998976 0.00165093 -0.07617407] [-0.00206366 -0.00164225 0.99999652 -0.00580718] [ 0. 0. 0. 1. ]] SLAMing on 6.881966746 meters 0.5544830039414145 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:-0.01 [[ 9.99997845e-01 -1.86317665e-04 2.06789318e-03 -9.53127900e-02] [ 1.75297685e-04 9.99985791e-01 5.32798806e-03 -7.26473479e-02] [-2.06885650e-03 -5.32761408e-03 9.99983668e-01 -7.03655021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.911966745999999 meters 0.25400172753313044 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:-0.01 [[ 9.99997882e-01 -4.49775426e-04 2.00844747e-03 -9.44527729e-02] [ 4.40483520e-04 9.99989210e-01 4.62446042e-03 -6.84282963e-02] [-2.01050577e-03 -4.62356594e-03 9.99987290e-01 -8.27064649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.941966745999999 meters 0.2516448951389398 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:-0.01 [[ 9.99992987e-01 2.72747595e-03 -2.56656033e-03 -1.16049192e-01] [-2.72981291e-03 9.99995862e-01 -9.07478088e-04 -7.17279133e-02] [ 2.56407458e-03 9.14477953e-04 9.99996295e-01 -6.89064568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.971966746 meters 0.25550309350116535 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:-0.01 [[ 9.99992886e-01 2.74792455e-03 -2.58378346e-03 -1.16301836e-01] [-2.75004433e-03 9.99995885e-01 -8.17221445e-04 -7.23001034e-02] [ 2.58152716e-03 8.24321151e-04 9.99996328e-01 -6.30331558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.001966745999999 meters 0.2521817906006895 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:-0.01 [[ 0.99999326 0.00268653 -0.00250139 -0.11680698] [-0.0026891 0.99999586 -0.00102425 -0.07098559] [ 0.00249863 0.00103097 0.99999635 -0.00583208] [ 0. 0. 0. 1. ]] SLAMing on 7.031966745999999 meters 0.2567170008609543 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:-0.01 [[ 0.99999317 0.00263889 -0.00258784 -0.11652679] [-0.00264157 0.99999598 -0.00103222 -0.07134393] [ 0.0025851 0.00103905 0.99999612 -0.00580951] [ 0. 0. 0. 1. ]] SLAMing on 7.0619667459999995 meters 0.2542107888556128 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:-0.01 [[ 9.99993039e-01 2.68238187e-03 -2.59376726e-03 -1.16461807e-01] [-2.68466329e-03 9.99996012e-01 -8.76493682e-04 -7.26637910e-02] [ 2.59140582e-03 8.83450972e-04 9.99996252e-01 -5.77216471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.091966746 meters 0.2550333047371193 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:-0.01 [[ 9.99992963e-01 2.74556246e-03 -2.55664666e-03 -1.16890188e-01] [-2.74745244e-03 9.99995955e-01 -7.36023243e-04 -7.34527537e-02] [ 2.55461552e-03 7.43042329e-04 9.99996461e-01 -5.25094171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.121966745999999 meters 0.2537506397807657 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.00 [[ 0.99998552 -0.00377797 -0.00383201 -0.14105688] [ 0.0037923 0.99998581 0.00374033 -0.07105301] [ 0.00381782 -0.0037548 0.99998566 -0.00460912] [ 0. 0. 0. 1. ]] SLAMing on 7.151966745999999 meters 0.25817254715099863 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:-0.01 [[ 9.99994924e-01 2.99505986e-03 -1.08688384e-03 -1.17026625e-01] [-2.99559583e-03 9.99995392e-01 -4.91838077e-04 -6.95129435e-02] [ 1.08540574e-03 4.95091445e-04 9.99999288e-01 -8.02758659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.181966746 meters 0.2564968918512717 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:-0.01 [[ 9.99994548e-01 3.08061864e-03 -1.18921474e-03 -1.17161491e-01] [-3.08074949e-03 9.99995249e-01 -1.08212214e-04 -7.23668875e-02] [ 1.18887572e-03 1.11875296e-04 9.99999287e-01 -7.33565339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.211966745999999 meters 0.2548393088958306 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-0.00 [[ 9.99997269e-01 2.23844425e-03 6.72395250e-04 -7.56603852e-02] [-2.23683850e-03 9.99994667e-01 -2.37943280e-03 -7.55152833e-02] [-6.77717892e-04 2.37792226e-03 9.99996943e-01 -2.09272417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.241966745999999 meters 0.2558940851728194 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:-0.00 [[ 9.99997061e-01 2.28232287e-03 8.17657066e-04 -7.64019395e-02] [-2.28031257e-03 9.99994396e-01 -2.45116659e-03 -7.44859780e-02] [-8.23246837e-04 2.44929487e-03 9.99996662e-01 -1.63520044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2719667459999995 meters 0.25288744307485844 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:0.00 [[ 0.99999626 -0.00227975 -0.00151223 -0.10278145] [ 0.00228542 0.99999032 0.00376107 -0.07287024] [ 0.00150364 -0.00376451 0.99999178 0.00228099] [ 0. 0. 0. 1. ]] SLAMing on 7.301966746 meters 0.25162831984795353 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:0.00 [[ 0.99999572 -0.0024145 -0.00165526 -0.10205926] [ 0.00242038 0.99999074 0.0035597 -0.07216249] [ 0.00164665 -0.0035637 0.99999229 0.00166032] [ 0. 0. 0. 1. ]] SLAMing on 7.331966745999999 meters 0.2562728854291962 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:-0.00 [[ 0.9999963 0.00252504 0.00101262 -0.07595186] [-0.00252273 0.99999423 -0.00227589 -0.07269586] [-0.00101837 0.00227333 0.9999969 -0.00265552] [ 0. 0. 0. 1. ]] SLAMing on 7.361966745999999 meters 0.25395828887158745 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:-0.00 [[ 0.99999599 0.00263936 0.00102837 -0.07620373] [-0.00263734 0.99999459 -0.00196435 -0.07462605] [-0.00103355 0.00196163 0.99999754 -0.00222908] [ 0. 0. 0. 1. ]] SLAMing on 7.391966746 meters 0.2558052018118064 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:-0.01 [[ 0.999983 -0.00323387 0.00485217 -0.05130709] [ 0.00322767 0.99999397 0.00128423 -0.07658009] [-0.0048563 -0.00126855 0.9999874 -0.00568725] [ 0. 0. 0. 1. ]] SLAMing on 7.421966746 meters 0.25230350837893617 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:-0.01 [[ 0.99998405 -0.00306103 0.00474758 -0.05096714] [ 0.00305276 0.99999381 0.00174722 -0.0791428 ] [-0.0047529 -0.0017327 0.9999872 -0.00571254] [ 0. 0. 0. 1. ]] SLAMing on 7.451966745999999 meters 0.2532901529899723 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:-0.01 [[ 0.99998417 -0.00309336 0.00470065 -0.05077067] [ 0.00308571 0.9999939 0.001635 -0.07847181] [-0.00470568 -0.00162047 0.99998762 -0.00573622] [ 0. 0. 0. 1. ]] SLAMing on 7.4819667459999994 meters 0.2537463088109534 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:-0.01 [[ 0.99998331 -0.00318494 0.00482074 -0.05117358] [ 0.00317964 0.99999433 0.00110706 -0.07447102] [-0.00482424 -0.00109172 0.99998777 -0.00578462] [ 0. 0. 0. 1. ]] SLAMing on 7.511966746 meters 0.2578236591184556 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:-0.01 [[ 9.99982239e-01 -3.25397423e-03 4.99337787e-03 -5.16031653e-02] [ 3.25097428e-03 9.99994530e-01 6.08784442e-04 -7.01026649e-02] [-4.99533152e-03 -5.92540286e-04 9.99987348e-01 -5.92900505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.541966745999999 meters 0.25372746287568815 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:-0.01 [[ 9.99981172e-01 -3.24020421e-03 5.21122344e-03 -5.26440290e-02] [ 3.23760213e-03 9.99994630e-01 5.07680618e-04 -6.88149360e-02] [-5.21284044e-03 -4.90799191e-04 9.99986293e-01 -5.44148804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.571966745999999 meters 0.2565668344788161 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-0.01 [[ 0.99997669 0.00111049 0.00673739 -0.0254022 ] [-0.00107046 0.99998178 -0.00594157 -0.07081756] [-0.00674387 0.00593422 0.99995965 -0.01003702] [ 0. 0. 0. 1. ]] SLAMing on 7.6019667459999996 meters 0.2552234990351575 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:-0.00 [[ 0.99998499 -0.00512063 0.00194758 -0.04962722] [ 0.00512319 0.99998601 -0.00131416 -0.07741502] [-0.00194082 0.00132412 0.99999724 -0.00413011] [ 0. 0. 0. 1. ]] SLAMing on 7.631966746 meters 0.25160364242556416 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-0.01 [[ 9.99973143e-01 -7.31217932e-03 4.95563909e-04 -9.45088497e-02] [ 7.31295304e-03 9.99972015e-01 -1.57788216e-03 -8.27121267e-02] [-4.84012283e-04 1.58146382e-03 9.99998632e-01 -5.43457965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.661966745999999 meters 0.2554536545812542 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 9.99995919e-01 3.12390443e-04 2.83965874e-03 -6.79120125e-02] [-2.98653847e-04 9.99988259e-01 -4.83654853e-03 -8.39653735e-02] [-2.84113630e-03 4.83568071e-03 9.99984272e-01 -1.04240197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.691966745999999 meters 0.2549979713170683 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.9999863 0.00436724 0.00288448 -0.06771906] [-0.0043639 0.9999898 -0.00116528 -0.08016725] [-0.00288954 0.00115267 0.99999516 -0.01107157] [ 0. 0. 0. 1. ]] SLAMing on 7.721966746 meters 0.25373331401561083 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.99998651 0.00424027 0.00299924 -0.06781594] [-0.00423521 0.9999896 -0.00169209 -0.076327 ] [-0.00300639 0.00167937 0.99999407 -0.01160877] [ 0. 0. 0. 1. ]] SLAMing on 7.751966745999999 meters 0.25295750767695113 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-0.01 [[ 9.99996550e-01 -2.50735110e-03 7.83151277e-04 -9.09160649e-02] [ 2.50531966e-03 9.99993523e-01 2.58422574e-03 -7.56073698e-02] [-7.89625766e-04 -2.58225478e-03 9.99996354e-01 -1.01956101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.781966745999999 meters 0.2563066069141836 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.9999872 0.00309941 0.00400003 -0.06897013] [-0.0030897 0.99999227 -0.00243138 -0.07840118] [-0.00400753 0.00241899 0.99998904 -0.01178709] [ 0. 0. 0. 1. ]] SLAMing on 7.8119667459999995 meters 0.2536611147236016 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.99998701 0.00318978 0.00397452 -0.06937275] [-0.00318257 0.99999328 -0.00181958 -0.08282534] [-0.00398029 0.00180691 0.99999045 -0.01103912] [ 0. 0. 0. 1. ]] SLAMing on 7.841966746 meters 0.2547761826488449 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.99998701 0.00326806 0.00391087 -0.06919929] [-0.00326204 0.99999348 -0.00154605 -0.08472638] [-0.0039159 0.00153327 0.99999116 -0.01097003] [ 0. 0. 0. 1. ]] SLAMing on 7.871966745999999 meters 0.2532439313378874 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 9.99979547e-01 4.37932210e-03 4.66121832e-03 -7.41520717e-02] [-4.37605560e-03 9.99990172e-01 -7.10750818e-04 -8.31530845e-02] [-4.66428512e-03 6.90338530e-04 9.99988884e-01 -7.21893696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.901966745999999 meters 0.25236303567690077 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 9.99980131e-01 4.32920455e-03 4.58200089e-03 -7.36792229e-02] [-4.32586646e-03 9.99990371e-01 -7.38183343e-04 -8.32493247e-02] [-4.58515252e-03 7.18347552e-04 9.99989230e-01 -7.67752261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.931966746 meters 0.25479120423488283 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 9.99981308e-01 4.27853801e-03 4.36783717e-03 -7.26729282e-02] [-4.27566762e-03 9.99990637e-01 -6.66291474e-04 -8.40981513e-02] [-4.37064703e-03 6.47603600e-04 9.99990239e-01 -8.38115788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.961966745999999 meters 0.2589920286779812 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 9.99981697e-01 4.18037444e-03 4.37381863e-03 -7.26269926e-02] [-4.17610643e-03 9.99990795e-01 -9.84486931e-04 -8.23105483e-02] [-4.37789389e-03 9.66203379e-04 9.99989950e-01 -8.37926571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.991966745999999 meters 0.2552448698150114 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.99998194 0.00407154 0.00442178 -0.07235411] [-0.00406625 0.99999101 -0.001205 -0.081431 ] [-0.00442665 0.001187 0.9999895 -0.00897572] [ 0. 0. 0. 1. ]] SLAMing on 8.021966746 meters 0.2579886847417367 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.99998191 0.00407365 0.00442556 -0.07281837] [-0.00406819 0.99999095 -0.00124303 -0.08111744] [-0.00443058 0.00122501 0.99998943 -0.00826825] [ 0. 0. 0. 1. ]] SLAMing on 8.051966746 meters 0.2558419184760045 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.99998061 0.00404756 0.00473352 -0.0744625 ] [-0.00404033 0.99999066 -0.00153608 -0.07854892] [-0.00473969 0.00151692 0.99998762 -0.00716135] [ 0. 0. 0. 1. ]] SLAMing on 8.081966746 meters 0.2568174879320087 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.9999808 0.00411529 0.00463396 -0.07403191] [-0.00411001 0.9999909 -0.001147 -0.08148273] [-0.00463863 0.00112793 0.99998861 -0.00738673] [ 0. 0. 0. 1. ]] SLAMing on 8.111966746 meters 0.2537451932454781 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:-0.00 [[ 9.99996744e-01 -2.52041736e-03 -3.98112290e-04 -9.68980625e-02] [ 2.52152240e-03 9.99992901e-01 2.80002764e-03 -8.56179525e-02] [ 3.91052226e-04 -2.80102238e-03 9.99996001e-01 -2.17841625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.141966746 meters 0.2545261719185212 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-0.01 [[ 9.99993123e-01 -3.57618750e-03 -9.82577636e-04 -9.18333678e-02] [ 3.57789112e-03 9.99992090e-01 1.73756902e-03 -8.45787673e-02] [ 9.76355991e-04 -1.74107263e-03 9.99998008e-01 -7.09228421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.171966746 meters 0.25260445885743954 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:-0.01 [[ 0.99999333 -0.00347502 -0.00112238 -0.09122495] [ 0.00347729 0.9999919 0.00202693 -0.086281 ] [ 0.00111533 -0.00203082 0.99999732 -0.00750965] [ 0. 0. 0. 1. ]] SLAMing on 8.201966746 meters 0.25304721720900764 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-0.01 [[ 0.99999323 -0.0035357 -0.0010154 -0.09122983] [ 0.0035374 0.99999233 0.00168305 -0.08395996] [ 0.00100944 -0.00168663 0.99999807 -0.00798086] [ 0. 0. 0. 1. ]] SLAMing on 8.231966746 meters 0.2568586272529377 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.99999105 0.00223034 0.00359623 -0.06810363] [-0.00221894 0.99999251 -0.00316982 -0.08120431] [-0.00360327 0.00316181 0.99998851 -0.01247222] [ 0. 0. 0. 1. ]] SLAMing on 8.261966746 meters 0.25215080022735176 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:-0.01 [[ 0.99999219 0.00180086 0.00351905 -0.11829232] [-0.00179559 0.99999726 -0.00150084 -0.08118667] [-0.00352174 0.00149451 0.99999268 -0.01084087] [ 0. 0. 0. 1. ]] SLAMing on 8.291966746 meters 0.2584671915763441 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-0.01 [[ 0.99998366 0.00262826 0.00507709 -0.07424795] [-0.00261568 0.9999935 -0.00248287 -0.08036135] [-0.00508358 0.00246955 0.99998403 -0.00814047] [ 0. 0. 0. 1. ]] SLAMing on 8.321966746000001 meters 0.25530775727051525 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:-0.00 [[ 0.99999456 -0.00307397 0.00119286 -0.09982606] [ 0.00307074 0.99999165 0.00269682 -0.08475474] [-0.00120114 -0.00269314 0.99999565 -0.00196651] [ 0. 0. 0. 1. ]] SLAMing on 8.351966746 meters 0.25083296007290434 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.00 [[ 9.99986015e-01 -3.56476919e-03 -3.90678648e-03 -1.20627788e-01] [ 3.53948407e-03 9.99972870e-01 -6.46001570e-03 -8.73378565e-02] [ 3.92970895e-03 6.44609734e-03 9.99971502e-01 -7.50563528e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.381966746 meters 0.25288157345699147 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.01 [[ 9.99988431e-01 -8.62051678e-04 -4.73230030e-03 -1.15124287e-01] [ 8.45596580e-04 9.99993594e-01 -3.47808834e-03 -8.97239173e-02] [ 4.73526827e-03 3.47404648e-03 9.99982754e-01 -5.10982666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.411966746000001 meters 0.25618469323224274 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:-0.00 [[ 9.99989726e-01 -7.97691219e-04 -4.46218483e-03 -1.16003823e-01] [ 7.80037652e-04 9.99991868e-01 -3.95660318e-03 -8.49513885e-02] [ 4.46530469e-03 3.95308186e-03 9.99982217e-01 -4.94789697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.441966746 meters 0.2528377708482942 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-0.01 [[ 9.99983253e-01 3.29459571e-03 -4.75798661e-03 -1.14405661e-01] [-3.29342576e-03 9.99994544e-01 2.53704379e-04 -8.54048772e-02] [ 4.75879651e-03 -2.38030055e-04 9.99988649e-01 -6.36960228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.471966746 meters 0.2546154901544872 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-0.01 [[ 9.99982843e-01 3.35758857e-03 -4.80000903e-03 -1.14088673e-01] [-3.35459840e-03 9.99994174e-01 6.30865104e-04 -8.78736662e-02] [ 4.80209926e-03 -6.14752178e-04 9.99988281e-01 -6.81125131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.501966746 meters 0.2551983108193337 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.01 [[ 9.99983212e-01 3.43564145e-03 -4.66596408e-03 -1.15249453e-01] [-3.43120266e-03 9.99993654e-01 9.58983246e-04 -8.98782224e-02] [ 4.66922920e-03 -9.42957278e-04 9.99988655e-01 -5.54396093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.531966746 meters 0.25579050009540244 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.01 [[ 9.99983536e-01 3.33261928e-03 -4.67125181e-03 -1.15282414e-01] [-3.32921939e-03 9.99994188e-01 7.35418512e-04 -8.87691193e-02] [ 4.67367553e-03 -7.19854783e-04 9.99988819e-01 -5.52359450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.561966746 meters 0.251953270305451 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-0.01 [[ 9.99983430e-01 3.29721930e-03 -4.71884558e-03 -1.14855174e-01] [-3.29422169e-03 9.99994367e-01 6.42873926e-04 -8.80975894e-02] [ 4.72093870e-03 -6.27318351e-04 9.99988660e-01 -6.13962985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.591966746 meters 0.251953270305451 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-0.01 [[ 9.99983430e-01 3.29721930e-03 -4.71884558e-03 -1.14855174e-01] [-3.29422169e-03 9.99994367e-01 6.42873926e-04 -8.80975894e-02] [ 4.72093870e-03 -6.27318351e-04 9.99988660e-01 -6.13962985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.621966746 meters 0.25578687979467646 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:-0.01 [[ 9.99996231e-01 -2.63654277e-03 -7.66460193e-04 -8.77842096e-02] [ 2.63932817e-03 9.99989833e-01 3.65609766e-03 -9.07889547e-02] [ 7.56812943e-04 -3.65810681e-03 9.99993023e-01 -1.16757338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.651966746000001 meters 0.25465515989049897 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.01 [[ 9.99988860e-01 8.07222478e-04 -4.65068593e-03 -1.15891749e-01] [-8.15023328e-04 9.99998264e-01 -1.67570379e-03 -8.92142571e-02] [ 4.64932519e-03 1.67947554e-03 9.99987781e-01 -5.09994948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.681966746 meters 0.2545255219371428 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.00 [[ 9.99988990e-01 9.31160706e-04 -4.59920133e-03 -1.16478789e-01] [-9.37297256e-04 9.99998673e-01 -1.33228916e-03 -9.11993880e-02] [ 4.59795466e-03 1.33658531e-03 9.99988536e-01 -4.25207059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.711966746 meters 0.25650249868641156 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.00 [[ 9.99988704e-01 9.56948273e-04 -4.65586921e-03 -1.15874831e-01] [-9.62391959e-04 9.99998856e-01 -1.16710951e-03 -9.24549801e-02] [ 4.65474702e-03 1.17157710e-03 9.99988480e-01 -4.88572963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.741966746000001 meters 0.256690198657083 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.00 [[ 0.99998819 0.00100586 -0.00475474 -0.11552955] [-0.00101094 0.99999892 -0.00106672 -0.09295528] [ 0.00475367 0.00107151 0.99998813 -0.00494861] [ 0. 0. 0. 1. ]] SLAMing on 8.771966746 meters 0.25784406057445847 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.00 [[ 9.99988203e-01 1.07739959e-03 -4.73631168e-03 -1.15634030e-01] [-1.08194514e-03 9.99998957e-01 -9.57265413e-04 -9.33838906e-02] [ 4.73527538e-03 9.62378549e-04 9.99988325e-01 -4.85599813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.801966746 meters 0.25617515786731576 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:-0.00 [[ 0.99997526 -0.00381708 -0.00590875 -0.1428811 ] [ 0.00384719 0.99997964 0.00509179 -0.09165615] [ 0.0058892 -0.0051144 0.99996958 -0.0013213 ] [ 0. 0. 0. 1. ]] SLAMing on 8.831966746 meters 0.25749688814336635 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.01 [[ 9.99995780e-01 1.84426044e-03 -2.24490107e-03 -1.18681709e-01] [-1.84450359e-03 9.99998293e-01 -1.06245151e-04 -8.88710771e-02] [ 2.24470130e-03 1.10385430e-04 9.99997475e-01 -5.80633464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.861966746 meters 0.6024807618653659 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.09, Z:-0.01 [[ 9.99993550e-01 -3.64547852e-04 -3.57308803e-03 -1.62568624e-01] [ 3.63651945e-04 9.99999902e-01 -2.51383839e-04 -9.10785594e-02] [ 3.57317932e-03 2.50082857e-04 9.99993585e-01 -9.40728991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.891966746 meters 0.2555853894567129 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.01 [[ 9.99997052e-01 -7.31704534e-04 -2.31541000e-03 -1.17718102e-01] [ 7.26805101e-04 9.99997497e-01 -2.11614534e-03 -9.43145839e-02] [ 2.31695260e-03 2.11445625e-03 9.99995080e-01 -6.57694058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.921966746 meters 0.2549190097022027 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.01 [[ 9.99997001e-01 -7.08503003e-04 -2.34444447e-03 -1.17723145e-01] [ 7.03339050e-04 9.99997327e-01 -2.20272561e-03 -9.34736104e-02] [ 2.34599884e-03 2.20107007e-03 9.99994826e-01 -6.42557408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.951966746 meters 0.26350931328105975 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-0.01 [[ 9.99997207e-01 -5.31729704e-04 -2.30293124e-03 -1.18199217e-01] [ 5.27540498e-04 9.99998206e-01 -1.81930079e-03 -9.54736168e-02] [ 2.30389449e-03 1.81808081e-03 9.99995693e-01 -5.78172610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.981966746 meters 0.25398730338176173 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-0.01 [[ 9.99997281e-01 -2.51351148e-04 -2.31826726e-03 -1.18179147e-01] [ 2.48715567e-04 9.99999323e-01 -1.13709367e-03 -9.91710975e-02] [ 2.31855150e-03 1.13651399e-03 9.99996666e-01 -5.73989200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.011966746 meters 0.2565971912158166 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-0.01 [[ 9.99997264e-01 -3.61626845e-04 -2.31097629e-03 -1.18104292e-01] [ 3.57977881e-04 9.99998689e-01 -1.57918939e-03 -9.61983088e-02] [ 2.31154434e-03 1.57835779e-03 9.99996083e-01 -5.98612941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.041966746 meters 0.2555264164156838 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-0.01 [[ 9.99997703e-01 -3.39185117e-04 -2.11646808e-03 -1.18839003e-01] [ 3.35330956e-04 9.99998286e-01 -1.82112319e-03 -9.37772432e-02] [ 2.11708215e-03 1.82040929e-03 9.99996102e-01 -5.82212823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.071966746000001 meters 0.6444982912716257 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-0.00 [[ 9.99997842e-01 -2.14323277e-04 -2.06660704e-03 -1.19664522e-01] [ 2.11133526e-04 9.99998786e-01 -1.54356701e-03 -9.50670211e-02] [ 2.06693535e-03 1.54312735e-03 9.99996673e-01 -4.66299335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.101966746 meters 0.25840586770110435 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.10, Z:-0.01 [[ 0.99998301 -0.00524505 0.00254348 -0.09221673] [ 0.00523882 0.99998328 0.00244908 -0.10127663] [-0.00255628 -0.00243572 0.99999377 -0.01188816] [ 0. 0. 0. 1. ]] SLAMing on 9.131966746 meters 0.2559211598549652 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.11, Z:-0.01 [[ 0.99998405 -0.00518876 0.0022323 -0.09069504] [ 0.00518202 0.99998204 0.00301183 -0.10552478] [-0.00224789 -0.00300021 0.99999297 -0.01285935] [ 0. 0. 0. 1. ]] SLAMing on 9.161966746000001 meters 0.25468057747810996 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-0.01 [[ 9.99996981e-01 -2.88384829e-04 -2.44042407e-03 -1.17369898e-01] [ 2.86693123e-04 9.99999718e-01 -6.93522786e-04 -1.04280488e-01] [ 2.44062338e-03 6.92821039e-04 9.99996782e-01 -6.60451378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.191966746 meters 0.2573518368154808 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.10, Z:-0.00 [[ 9.99996557e-01 2.44684443e-03 -9.47710783e-04 -7.32650751e-02] [-2.44685056e-03 9.99997006e-01 -5.30166324e-06 -1.02068110e-01] [ 9.47694973e-04 7.62055164e-06 9.99999551e-01 -4.21270727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.221966746 meters 0.2561512982162843 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.10, Z:-0.00 [[ 0.99999308 -0.00319853 -0.00190132 -0.09827719] [ 0.00320844 0.99998119 0.00522761 -0.09717297] [ 0.00188456 -0.00523367 0.99998453 -0.00260492] [ 0. 0. 0. 1. ]] SLAMing on 9.251966746 meters 0.25561678046659675 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.10, Z:-0.00 [[ 9.99969885e-01 -7.51265569e-03 -1.94679288e-03 -9.76299401e-02] [ 7.51443756e-03 9.99971353e-01 9.09590377e-04 -9.71826006e-02] [ 1.93990367e-03 -9.24192038e-04 9.99997691e-01 -3.14525064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.281966746 meters 0.2549197252833519 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.10, Z:-0.00 [[ 9.99998873e-01 -1.32510261e-03 -7.05682254e-04 -7.32987088e-02] [ 1.32257882e-03 9.99992771e-01 -3.56491729e-03 -1.03859572e-01] [ 7.10401034e-04 3.56397995e-03 9.99993397e-01 -4.28100660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.311966746 meters 0.733519267330307 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.10, Z:-0.00 [[ 9.99999030e-01 -1.26459940e-03 -5.84282622e-04 -7.39978643e-02] [ 1.26241185e-03 9.99992249e-01 -3.72931720e-03 -1.02141173e-01] [ 5.88994186e-04 3.72857598e-03 9.99992875e-01 -3.77314724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.341966746 meters 0.2571146416367019 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.10, Z:-0.00 [[ 9.99999010e-01 -1.33670123e-03 -4.40610523e-04 -7.45915515e-02] [ 1.33488478e-03 9.99990715e-01 -4.09741719e-03 -9.93451455e-02] [ 4.46083454e-04 4.09682497e-03 9.99991508e-01 -3.69432173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.371966746 meters 0.25660640535237744 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.10, Z:-0.00 [[ 9.99999020e-01 -1.36167280e-03 -3.25229295e-04 -7.46590630e-02] [ 1.36029862e-03 9.99990302e-01 -4.18873331e-03 -9.85278086e-02] [ 3.30929825e-04 4.18828680e-03 9.99991174e-01 -4.28041110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.401966746 meters 0.2539617216650083 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.10, Z:0.00 [[ 0.99997084 -0.00680025 -0.00347419 -0.10090332] [ 0.00680528 0.99997581 0.00143606 -0.10114605] [ 0.00346434 -0.00145966 0.99999293 0.00123747] [ 0. 0. 0. 1. ]] SLAMing on 9.431966746 meters 0.25639399490388687 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.10, Z:-0.00 [[ 9.99999943e-01 1.74996778e-04 -2.88526987e-04 -7.62045395e-02] [-1.75631256e-04 9.99997564e-01 -2.20046731e-03 -1.03419061e-01] [ 2.88141209e-04 2.20051786e-03 9.99997537e-01 -3.26386782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.461966746 meters 0.2543475632243514 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99999908e-01 3.76145319e-04 -2.05731435e-04 -7.70215448e-02] [-3.76494055e-04 9.99998488e-01 -1.69769744e-03 -1.06427143e-01] [ 2.05092543e-04 1.69777474e-03 9.99998538e-01 -2.30387416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.491966746000001 meters 0.2565595905025421 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99999806e-01 6.00668606e-04 -1.62011005e-04 -7.79302526e-02] [-6.00883119e-04 9.99998939e-01 -1.32727970e-03 -1.08044100e-01] [ 1.61213578e-04 1.32737680e-03 9.99999106e-01 -9.29503309e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.521966746 meters 0.2563127529828532 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99999808e-01 6.18515378e-04 -3.77664062e-05 -7.81001076e-02] [-6.18570219e-04 9.99998729e-01 -1.46979635e-03 -1.06751397e-01] [ 3.68572665e-05 1.46981943e-03 9.99998919e-01 -1.30293628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.551966746 meters 0.25628763925177567 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-0.01 [[ 0.99998147 -0.0046459 0.00393278 -0.05166143] [ 0.00463674 0.99998652 0.00233493 -0.10994484] [-0.00394357 -0.00231665 0.99998954 -0.00630534] [ 0. 0. 0. 1. ]] SLAMing on 9.581966746 meters 0.2553770599729777 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-0.01 [[ 0.99998194 -0.00465549 0.00379988 -0.05090188] [ 0.0046463 0.99998627 0.00242358 -0.11058399] [-0.00381111 -0.00240589 0.99998984 -0.00695805] [ 0. 0. 0. 1. ]] SLAMing on 9.611966746 meters 0.2550585598741323 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99998657e-01 9.30076286e-04 -1.34950171e-03 -7.58011310e-02] [-9.30805698e-04 9.99999421e-01 -5.39976895e-04 -1.08359085e-01] [ 1.34899871e-03 5.41232293e-04 9.99998944e-01 -1.74098442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.641966746 meters 0.25352602063779167 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99998722e-01 8.68382054e-04 -1.34245539e-03 -7.51343966e-02] [-8.68991516e-04 9.99999520e-01 -4.53473721e-04 -1.09547978e-01] [ 1.34206096e-03 4.54639724e-04 9.99998996e-01 -2.85356665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.671966746 meters 0.25371539017544736 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99998556e-01 1.06171330e-03 -1.32681815e-03 -7.56303011e-02] [-1.06170298e-03 9.99999436e-01 8.48347162e-06 -1.11912831e-01] [ 1.32682641e-03 -7.07477259e-06 9.99999120e-01 -2.14812098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.701966746 meters 0.2561595005069417 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.11, Z:-0.01 [[ 0.99999194 -0.00374395 0.00144974 -0.04995838] [ 0.00373772 0.99998387 0.00427605 -0.10913803] [-0.00146572 -0.00427059 0.99998981 -0.00526772] [ 0. 0. 0. 1. ]] SLAMing on 9.731966746 meters 0.2575476366954767 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.10, Z:-0.00 [[ 9.99992601e-01 1.84332060e-03 -3.37625764e-03 -7.43627890e-02] [-1.84045092e-03 9.99997943e-01 8.52866668e-04 -1.04297890e-01] [ 3.37782280e-03 -8.46646522e-04 9.99993937e-01 -1.47846118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.761966746 meters 0.2522639812733788 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.10, Z:0.00 [[ 9.99996344e-01 5.73646460e-04 -2.64249785e-03 -7.92880570e-02] [-5.74230661e-04 9.99999811e-01 -2.20325751e-04 -1.04887658e-01] [ 2.64237097e-03 2.21842349e-04 9.99996484e-01 2.56040336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.791966746 meters 0.2545227037237784 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:0.00 [[ 9.99996406e-01 7.31799253e-04 -2.57928716e-03 -8.00265021e-02] [-7.31001895e-04 9.99999685e-01 3.10068027e-04 -1.08381585e-01] [ 2.57951325e-03 -3.08181449e-04 9.99996626e-01 3.44789421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.821966746000001 meters 0.639631515651002 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:-0.00 [[ 0.99998521 -0.00480363 0.00255225 -0.05516789] [ 0.00479494 0.99998273 0.0033993 -0.11213711] [-0.00256854 -0.00338701 0.99999097 -0.00173471] [ 0. 0. 0. 1. ]] SLAMing on 9.851966746 meters 0.2562653345912737 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99997058e-01 1.52195835e-03 -1.88855482e-03 -7.71565094e-02] [-1.52076004e-03 9.99998642e-01 6.35785733e-04 -1.12646420e-01] [ 1.88951989e-03 -6.32911825e-04 9.99998015e-01 -3.35855769e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.881966746 meters 0.25537566707089987 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99996994e-01 1.47432300e-03 -1.95940006e-03 -7.65631214e-02] [-1.47322835e-03 9.99998758e-01 5.59991210e-04 -1.12519429e-01] [ 1.96022324e-03 -5.57102882e-04 9.99997924e-01 -8.45269520e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.911966746000001 meters 0.2544724050737865 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.00 [[ 0.99998387 -0.00334839 -0.00458679 -0.10378276] [ 0.00337818 0.99997316 0.00650165 -0.1124933 ] [ 0.0045649 -0.00651704 0.99996834 0.00478913] [ 0. 0. 0. 1. ]] SLAMing on 9.941966746 meters 0.25444306945967277 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:0.00 [[ 9.99995258e-01 3.07635184e-03 1.39411891e-04 -8.07880288e-02] [-3.07663001e-03 9.99993184e-01 2.04107709e-03 -1.07650356e-01] [-1.33131870e-04 -2.04149633e-03 9.99997907e-01 6.93025808e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.971966746 meters 0.25402636379415816 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99995527e-01 2.98759575e-03 1.42742592e-04 -8.07051980e-02] [-2.98785627e-03 9.99993804e-01 1.86116976e-03 -1.06735447e-01] [-1.37181285e-04 -1.86158792e-03 9.99998258e-01 -1.30847274e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.001966746 meters 0.25264704351709993 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:-0.00 [[ 9.99995436e-01 3.02052697e-03 6.32991535e-05 -8.05663946e-02] [-3.02064976e-03 9.99993359e-01 2.03883244e-03 -1.07852439e-01] [-5.71403848e-05 -2.03901434e-03 9.99997920e-01 -2.34421917e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.031966746 meters 0.25230243288863957 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:0.00 [[ 9.99999267e-01 -1.20281765e-03 1.41856573e-04 -8.09897054e-02] [ 1.20313728e-03 9.99996688e-01 -2.27507921e-03 -1.07264748e-01] [-1.39119598e-04 2.27524822e-03 9.99997402e-01 2.78770628e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.061966746 meters 0.25612242874525243 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.01 [[ 9.99997632e-01 -2.25280808e-04 2.16468214e-03 -3.99801538e-02] [ 2.31316862e-04 9.99996085e-01 -2.78857928e-03 -1.10253966e-01] [-2.16404545e-03 2.78907341e-03 9.99993769e-01 5.27284039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.091966746 meters 0.252301496330685 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.01 [[ 9.99997833e-01 -1.79674917e-04 2.07425531e-03 -3.96715996e-02] [ 1.85198680e-04 9.99996437e-01 -2.66312527e-03 -1.10727911e-01] [-2.07376942e-03 2.66350365e-03 9.99994303e-01 5.13444113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.121966746 meters 0.25159187147017037 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.01 [[ 9.99997667e-01 -1.25165771e-05 2.16010191e-03 -4.01958219e-02] [ 1.75309016e-05 9.99997306e-01 -2.32133369e-03 -1.12324220e-01] [-2.16006704e-03 2.32136615e-03 9.99994973e-01 5.54796109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.151966746 meters 0.25381161906391597 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.01 [[ 9.99997721e-01 7.93711906e-05 2.13364839e-03 -4.01076374e-02] [-7.50418352e-05 9.99997939e-01 -2.02908919e-03 -1.14110361e-01] [-2.13380504e-03 2.02892446e-03 9.99995665e-01 5.56656919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.181966746 meters 0.2515240484321182 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.01 [[ 9.99997609e-01 1.79722016e-04 2.17926647e-03 -4.04682223e-02] [-1.75603726e-04 9.99998199e-01 -1.88980395e-03 -1.14560190e-01] [-2.17960218e-03 1.88941675e-03 9.99995840e-01 5.88606495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.211966746 meters 0.2533733977647385 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.12, Z:-0.00 [[ 9.99970933e-01 -3.41314446e-03 6.81782414e-03 -1.35381426e-02] [ 3.39128529e-03 9.99989081e-01 3.21517040e-03 -1.17415548e-01] [-6.82872354e-03 -3.19195576e-03 9.99971590e-01 -4.99620390e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.241966746000001 meters 0.25149396807805086 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99994985e-01 2.02598057e-03 2.43431440e-03 -3.90301056e-02] [-2.02573270e-03 9.99997943e-01 -1.04287559e-04 -1.15817703e-01] [-2.43452068e-03 9.93557658e-05 9.99997032e-01 4.48485772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.271966746 meters 0.25405200094667474 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99995168e-01 1.93408241e-03 2.43383960e-03 -3.88719878e-02] [-1.93351125e-03 9.99998103e-01 -2.37006890e-04 -1.15236325e-01] [-2.43429337e-03 2.32299888e-04 9.99997010e-01 4.17113791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.301966746 meters 0.2574690676820223 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99995194e-01 1.89764881e-03 2.45184817e-03 -3.86712695e-02] [-1.89702579e-03 9.99998168e-01 -2.56401892e-04 -1.15220924e-01] [-2.45233024e-03 2.51749441e-04 9.99996961e-01 3.68239740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.331966746 meters 0.25350418030437394 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99995614e-01 1.78203508e-03 2.36581286e-03 -3.78623668e-02] [-1.78138808e-03 9.99998375e-01 -2.75558868e-04 -1.15688576e-01] [-2.36630007e-03 2.71343228e-04 9.99997163e-01 2.70423147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.361966746 meters 0.2523113339575593 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99995529e-01 1.89229243e-03 2.31551255e-03 -3.79456568e-02] [-1.89226070e-03 9.99998210e-01 -1.58930564e-05 -1.16811917e-01] [-2.31553848e-03 1.15114319e-05 9.99997319e-01 2.97593964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.391966746 meters 0.2524713883131289 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99995544e-01 2.02218507e-03 2.19629341e-03 -3.80236519e-02] [-2.02309083e-03 9.99997869e-01 4.10262787e-04 -1.19565872e-01] [-2.19545910e-03 -4.14704259e-04 9.99997504e-01 3.71528098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.421966746 meters 0.25204404906257866 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99995243e-01 2.12339234e-03 2.23706771e-03 -3.84794225e-02] [-2.12492514e-03 9.99997509e-01 6.83027264e-04 -1.21348224e-01] [-2.23561180e-03 -6.87777616e-04 9.99997264e-01 4.28936772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.451966746 meters 0.25201782509824433 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99995679e-01 2.03108176e-03 2.12544554e-03 -3.76615806e-02] [-2.03213693e-03 9.99997813e-01 4.94402577e-04 -1.20470625e-01] [-2.12443671e-03 -4.98719637e-04 9.99997619e-01 3.54246840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.481966746 meters 0.2523419101715148 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99995825e-01 1.90526803e-03 2.17231956e-03 -3.78233688e-02] [-1.90560971e-03 9.99998172e-01 1.55229022e-04 -1.18504959e-01] [-2.17201984e-03 -1.59367967e-04 9.99997628e-01 3.56486889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.511966746 meters 0.2523419101715148 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99995825e-01 1.90526803e-03 2.17231956e-03 -3.78233688e-02] [-1.90560971e-03 9.99998172e-01 1.55229022e-04 -1.18504959e-01] [-2.17201984e-03 -1.59367967e-04 9.99997628e-01 3.56486889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.541966746 meters 0.2524167457366122 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996007e-01 1.74594192e-03 2.22195973e-03 -3.77922512e-02] [-1.74543649e-03 9.99998450e-01 -2.29389902e-04 -1.16226411e-01] [-2.22235679e-03 2.25510696e-04 9.99997505e-01 3.20940213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.571966746 meters 0.2517245751165039 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996260e-01 1.82200207e-03 2.03989011e-03 -3.74617199e-02] [-1.82216516e-03 9.99998337e-01 7.80919377e-05 -1.18246779e-01] [-2.03974444e-03 -8.18086623e-05 9.99997916e-01 3.50290919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.601966746 meters 0.2521754885050129 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996179e-01 1.88667103e-03 2.02074844e-03 -3.70919453e-02] [-1.88754660e-03 9.99998125e-01 4.31470440e-04 -1.20771378e-01] [-2.01993061e-03 -4.35283048e-04 9.99997865e-01 3.02615366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.631966746 meters 0.2522707843482074 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996275e-01 1.90378829e-03 1.95596900e-03 -3.71285299e-02] [-1.90480802e-03 9.99998051e-01 5.19613007e-04 -1.21388051e-01] [-1.95497595e-03 -5.23336817e-04 9.99997952e-01 3.44370941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.661966746000001 meters 0.2524683148567066 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996443e-01 1.85995106e-03 1.91187870e-03 -3.68331338e-02] [-1.86093160e-03 9.99998138e-01 5.11218229e-04 -1.21542349e-01] [-1.91092430e-03 -5.14774286e-04 9.99998042e-01 3.10169959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.691966746 meters 0.2557852795945791 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996717e-01 1.78558884e-03 1.83777805e-03 -3.65687830e-02] [-1.78622719e-03 9.99998345e-01 3.45762716e-04 -1.20800365e-01] [-1.83715762e-03 -3.49044270e-04 9.99998252e-01 3.11877682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.721966746 meters 0.2526035369217679 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996555e-01 1.80127154e-03 1.90944790e-03 -3.74169730e-02] [-1.80186455e-03 9.99998329e-01 3.08888500e-04 -1.20360455e-01] [-1.90888832e-03 -3.12328002e-04 9.99998129e-01 4.10587465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.751966746 meters 0.2529851809460503 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996489e-01 1.86441120e-03 1.88324602e-03 -3.72414834e-02] [-1.86549569e-03 9.99998095e-01 5.74268706e-04 -1.22221817e-01] [-1.88217176e-03 -5.77779877e-04 9.99998062e-01 4.02226157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.781966746 meters 0.25243081660544847 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996389e-01 1.90977972e-03 1.89073243e-03 -3.74853880e-02] [-1.91100237e-03 9.99997966e-01 6.45059082e-04 -1.22446468e-01] [-1.88949666e-03 -6.48669946e-04 9.99998005e-01 4.32497098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.811966746 meters 0.25186342851677773 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99996760e-01 1.82336040e-03 1.77652715e-03 -3.71716474e-02] [-1.82420396e-03 9.99998224e-01 4.73333311e-04 -1.21719212e-01] [-1.77566094e-03 -4.76572525e-04 9.99998310e-01 4.27441537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.841966746 meters 0.2540759555056251 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99997016e-01 1.74295250e-03 1.71191990e-03 -3.65297942e-02] [-1.74363395e-03 9.99998401e-01 3.96647520e-04 -1.21686343e-01] [-1.71122583e-03 -3.99631298e-04 9.99998456e-01 3.58173067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.871966746 meters 0.2536702521015062 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99997333e-01 1.63519560e-03 1.63070952e-03 -3.60877033e-02] [-1.63558133e-03 9.99998635e-01 2.35232705e-04 -1.21124027e-01] [-1.63032264e-03 -2.37899236e-04 9.99998643e-01 3.28509451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.901966746 meters 0.2578884050227595 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99997270e-01 1.76508661e-03 1.53124035e-03 -3.62737711e-02] [-1.76617583e-03 9.99998188e-01 7.10270807e-04 -1.24298937e-01] [-1.52998388e-03 -7.12973307e-04 9.99998575e-01 4.14958133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.931966746 meters 0.2548369166996379 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.00 [[ 0.99999706 0.00186613 0.00154555 -0.03653357] [-0.00186782 0.99999765 0.00109773 -0.12692914] [-0.00154349 -0.00110061 0.9999982 0.00451417] [ 0. 0. 0. 1. ]] SLAMing on 10.961966746 meters 0.6296524284168056 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99997257e-01 1.74283995e-03 1.56448352e-03 -3.65928818e-02] [-1.74374208e-03 9.99998314e-01 5.75455534e-04 -1.23130328e-01] [-1.56347795e-03 -5.78182011e-04 9.99998611e-01 4.46141245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.991966746000001 meters 0.2571401917742295 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99997673e-01 1.53509640e-03 1.51550256e-03 -3.59260580e-02] [-1.53529824e-03 9.99998813e-01 1.32030324e-04 -1.20704039e-01] [-1.51529808e-03 -1.34356765e-04 9.99998843e-01 3.55808854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.021966746 meters 0.2553582372056553 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.00 [[ 9.99997976e-01 1.54961010e-03 1.28320214e-03 -3.50383839e-02] [-1.55011346e-03 9.99998722e-01 3.91373613e-04 -1.22987833e-01] [-1.28259403e-03 -3.93361929e-04 9.99999100e-01 3.32737485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.051966746 meters 0.2575391948084748 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.00 [[ 9.99997916e-01 1.66930877e-03 1.17492790e-03 -3.51385134e-02] [-1.67030272e-03 9.99998248e-01 8.45498333e-04 -1.25926373e-01] [-1.17351444e-03 -8.47459056e-04 9.99998952e-01 3.94803226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.081966746 meters 0.25461843675330315 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.00 [[ 0.99999763 0.0017694 0.0012659 -0.03588669] [-0.00177071 0.99999789 0.00104052 -0.12694352] [-0.00126406 -0.00104275 0.99999866 0.00474418] [ 0. 0. 0. 1. ]] SLAMing on 11.111966746 meters 0.2523885209862272 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.00 [[ 9.99999475e-01 4.35118092e-04 9.27964869e-04 -8.40972801e-02] [-4.36883301e-04 9.99998094e-01 1.90288354e-03 -1.27835109e-01] [-9.27135121e-04 -1.90328796e-03 9.99997759e-01 4.75397795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.141966746 meters 0.25504160588534575 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.01 [[ 9.99998103e-01 7.35125439e-04 1.80353665e-03 -3.87161631e-02] [-7.35092884e-04 9.99999730e-01 -1.87136727e-05 -1.27937529e-01] [-1.80354992e-03 1.73878702e-05 9.99998373e-01 7.11776879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.171966746 meters 0.2559963105125919 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.01 [[ 9.99998394e-01 6.94998105e-04 1.65181285e-03 -3.78538306e-02] [-6.95028300e-04 9.99999758e-01 1.77059968e-05 -1.28633752e-01] [-1.65180015e-03 -1.88540250e-05 9.99998636e-01 6.45509131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.201966746 meters 0.25475834734263414 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.01 [[ 9.99998538e-01 6.64574714e-04 1.57547193e-03 -3.75485854e-02] [-6.64504304e-04 9.99999778e-01 -4.52146446e-05 -1.28174815e-01] [-1.57550163e-03 4.41676707e-05 9.99998758e-01 6.18010895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.231966746 meters 0.25720365665190575 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.01 [[ 9.99998658e-01 4.81101146e-04 1.56587837e-03 -3.74292084e-02] [-4.80280240e-04 9.99999747e-01 -5.24579833e-04 -1.24962510e-01] [-1.56613035e-03 5.23827068e-04 9.99998636e-01 5.96759848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.261966746 meters 0.2566149781069056 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.01 [[ 9.99998571e-01 4.14870858e-04 1.63856633e-03 -3.74899452e-02] [-4.13769643e-04 9.99999688e-01 -6.72341627e-04 -1.24041970e-01] [-1.63884476e-03 6.71662677e-04 9.99998432e-01 5.65809688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.291966746 meters 0.2571719859152186 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.01 [[ 9.99998381e-01 5.28096200e-04 1.72039095e-03 -3.81055314e-02] [-5.27282407e-04 9.99999749e-01 -4.73447168e-04 -1.24759398e-01] [-1.72064055e-03 4.72539270e-04 9.99998408e-01 6.21255091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.321966746 meters 0.25601456212759033 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.01 [[ 9.99998609e-01 5.23518794e-04 1.58365949e-03 -3.75370335e-02] [-5.23128475e-04 9.99999833e-01 -2.46870223e-04 -1.26806198e-01] [-1.58378846e-03 2.46041422e-04 9.99998716e-01 6.04272367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.351966746 meters 0.255563124461876 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.01 [[ 9.99998651e-01 7.08046273e-04 1.48244054e-03 -3.75790030e-02] [-7.08422276e-04 9.99999717e-01 2.53128015e-04 -1.29969186e-01] [-1.48226089e-03 -2.54177867e-04 9.99998869e-01 6.58231048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.381966746 meters 0.2566790993370212 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.01 [[ 9.99998536e-01 8.39074534e-04 1.49099526e-03 -3.80493364e-02] [-8.39935091e-04 9.99999481e-01 5.76636781e-04 -1.31803082e-01] [-1.49051065e-03 -5.77888276e-04 9.99998722e-01 7.35407643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.411966746000001 meters 0.25554823745620403 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:0.01 [[ 9.99993507e-01 1.73693791e-03 3.15736051e-03 4.07840588e-03] [-1.73437126e-03 9.99998163e-01 -8.15466270e-04 -1.29856936e-01] [-3.15877112e-03 8.09984940e-04 9.99994683e-01 1.17025436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.441966746 meters 0.2531462579766267 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.01 [[ 9.99997007e-01 1.20538088e-03 2.12927790e-03 -4.09026051e-02] [-1.20713959e-03 9.99998931e-01 8.24872032e-04 -1.29894147e-01] [-2.12828134e-03 -8.27439899e-04 9.99997393e-01 9.26714455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.471966746 meters 0.2546551958430532 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.01 [[ 0.99999622 0.00106775 0.00253261 0.00597217] [-0.00106354 0.99999806 -0.00166043 -0.12880008] [-0.00253438 0.00165773 0.99999541 0.01064125] [ 0. 0. 0. 1. ]] SLAMing on 11.501966746 meters 0.2561642724624448 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.01 [[ 9.99996675e-01 9.81674605e-04 2.38477374e-03 6.98126156e-03] [-9.77493789e-04 9.99997985e-01 -1.75366255e-03 -1.28538009e-01] [-2.38649046e-03 1.75132561e-03 9.99995619e-01 9.75508830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.531966746 meters 0.257349987745475 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.01 [[ 9.99996864e-01 9.73408723e-04 2.30767466e-03 7.24088622e-03] [-9.69593119e-04 9.99998162e-01 -1.65398355e-03 -1.29469556e-01] [-2.30928042e-03 1.65174086e-03 9.99995969e-01 9.80199202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.561966746 meters 0.25621607705771615 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.01 [[ 0.99999652 0.00113168 0.00238373 0.00676852] [-0.00112842 0.99999843 -0.00136986 -0.13064187] [-0.00238528 0.00136716 0.99999622 0.01015491] [ 0. 0. 0. 1. ]] SLAMing on 11.591966746 meters 0.255598450580247 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.01 [[ 0.99999612 0.00125109 0.0024874 0.00587257] [-0.001248 0.99999845 -0.00124344 -0.13097005] [-0.00248895 0.00124033 0.99999613 0.01126845] [ 0. 0. 0. 1. ]] SLAMing on 11.621966746 meters 0.25527049099109994 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.01 [[ 9.99995919e-01 1.38718447e-03 2.49735682e-03 5.49386780e-03] [-1.38477772e-03 9.99998575e-01 -9.65189956e-04 -1.32315091e-01] [-2.49869216e-03 9.61727733e-04 9.99996416e-01 1.17854777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.651966746 meters 0.25590975674491656 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.01 [[ 9.99996277e-01 1.34364588e-03 2.37517046e-03 6.29891365e-03] [-1.34155191e-03 9.99998710e-01 -8.82978824e-04 -1.33158373e-01] [-2.37635381e-03 8.79789122e-04 9.99996789e-01 1.10469103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.681966746 meters 0.25409199575539543 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.01 [[ 0.99999584 0.00125908 0.0025933 0.00579508] [-0.00125541 0.9999982 -0.00141966 -0.12909827] [-0.00259508 0.00141639 0.99999563 0.01069842] [ 0. 0. 0. 1. ]] SLAMing on 11.711966746 meters 0.2547088278329721 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.01 [[ 0.99999578 0.00121084 0.00264079 0.00534972] [-0.00120655 0.99999795 -0.00162587 -0.12743889] [-0.00264275 0.00162268 0.99999519 0.01117138] [ 0. 0. 0. 1. ]] SLAMing on 11.741966746000001 meters 0.25495333204675924 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:0.01 [[ 0.99999552 0.00126089 0.00271471 0.00481896] [-0.00125657 0.99999794 -0.00159546 -0.12736091] [-0.00271671 0.00159204 0.99999504 0.01162182] [ 0. 0. 0. 1. ]] SLAMing on 11.771966746 meters 0.2557346642675606 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.01 [[ 0.99996239 -0.00457918 0.0073661 0.03062094] [ 0.00457 0.99998876 0.00126206 -0.13302278] [-0.0073718 -0.00122835 0.99997207 0.00662746] [ 0. 0. 0. 1. ]] SLAMing on 11.801966746 meters 0.25553016818964225 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.01 [[ 0.99996313 -0.00439498 0.00737682 0.03032543] [ 0.00438314 0.99998908 0.00161954 -0.13472176] [-0.00738386 -0.00158714 0.99997148 0.00709007] [ 0. 0. 0. 1. ]] SLAMing on 11.831966746 meters 0.2572511017369784 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.01 [[ 0.99996194 -0.00450153 0.00747321 0.03031956] [ 0.00449225 0.99998912 0.00125779 -0.13209958] [-0.00747879 -0.00122417 0.99997128 0.00652072] [ 0. 0. 0. 1. ]] SLAMing on 11.861966746 meters 0.25624574042667964 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.01 [[ 0.99996198 -0.00449871 0.0074701 0.03027129] [ 0.00448982 0.99998919 0.00120616 -0.1314526 ] [-0.00747544 -0.00117257 0.99997137 0.00651903] [ 0. 0. 0. 1. ]] SLAMing on 11.891966746 meters 0.25543141806563346 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:0.00 [[ 9.99991840e-01 -3.97147942e-03 7.39574768e-04 1.55403485e-02] [ 3.97594871e-03 9.99973228e-01 -6.14294463e-03 -1.37260163e-01] [-7.15158389e-04 6.14583502e-03 9.99980858e-01 3.60237679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.921966746 meters 0.2525011209472338 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:0.00 [[ 9.99999752e-01 3.34494617e-04 6.19689957e-04 1.55541732e-02] [-3.33532313e-04 9.99998740e-01 -1.55233263e-03 -1.39702975e-01] [-6.20208422e-04 1.55212555e-03 9.99998603e-01 4.12020738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.951966746 meters 0.2540144616662095 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.01 [[ 0.99998571 -0.00468074 -0.00258268 -0.01212804] [ 0.0046921 0.99997926 0.00441268 -0.14311392] [ 0.00256197 -0.00442473 0.99998693 0.01187003] [ 0. 0. 0. 1. ]] SLAMing on 11.981966746 meters 0.2514499994783413 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:0.01 [[ 9.99998740e-01 1.57624027e-03 -1.89082904e-04 9.64352286e-03] [-1.57635874e-03 9.99998560e-01 -6.28071127e-04 -1.44756100e-01] [ 1.88092640e-04 6.28368398e-04 9.99999785e-01 1.14855325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.011966746 meters 0.25543299687631915 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:0.01 [[ 9.99999044e-01 1.37524150e-03 -1.47141892e-04 9.89092257e-03] [-1.37540241e-03 9.99998450e-01 -1.09910749e-03 -1.42075811e-01] [ 1.45630126e-04 1.09930882e-03 9.99999385e-01 1.08690796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.041966746 meters 0.25600701041615437 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:0.01 [[ 9.99999097e-01 1.33915604e-03 -1.13680392e-04 1.01563357e-02] [-1.33929823e-03 9.99998309e-01 -1.26008625e-03 -1.40545903e-01] [ 1.11992748e-04 1.26023737e-03 9.99999200e-01 1.02496143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.071966746 meters 0.2563939239765115 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:0.01 [[ 9.99999147e-01 1.28860057e-03 -2.12328531e-04 1.03679054e-02] [-1.28885919e-03 9.99998422e-01 -1.22244660e-03 -1.41318405e-01] [ 2.10752951e-04 1.22271922e-03 9.99999230e-01 1.04324672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.101966746 meters 0.2511349031326466 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.01 [[ 9.99999541e-01 9.18176890e-05 -9.54200076e-04 -3.66705494e-02] [-9.16481152e-05 9.99999980e-01 1.77755264e-04 -1.43204711e-01] [ 9.54216378e-04 -1.77667732e-04 9.99999529e-01 9.85403208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.131966746 meters 0.2529755859916689 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:0.01 [[ 9.99999366e-01 5.86753796e-04 9.61184156e-04 5.42073817e-03] [-5.85407313e-04 9.99998848e-01 -1.40054107e-03 -1.43667827e-01] [-9.62004821e-04 1.39997749e-03 9.99998557e-01 1.39114897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.161966746000001 meters 0.2562274401577802 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.14, Z:0.01 [[ 9.99999212e-01 6.91895336e-04 1.04708392e-03 4.64016653e-03] [-6.90579835e-04 9.99998973e-01 -1.25618781e-03 -1.44120310e-01] [-1.04795200e-03 1.25546372e-03 9.99998663e-01 1.46720317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.191966746 meters 0.25641120843057397 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.01 [[ 9.99999305e-01 7.05519551e-04 9.44603399e-04 5.26521498e-03] [-7.04525242e-04 9.99999198e-01 -1.05254045e-03 -1.45732598e-01] [-9.45345229e-04 1.05187422e-03 9.99999000e-01 1.42426138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.221966746 meters 0.25627871728190704 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.01 [[ 9.99999345e-01 7.46165311e-04 8.68274308e-04 5.36317124e-03] [-7.45416966e-04 9.99999351e-01 -8.61880856e-04 -1.47031687e-01] [-8.68916850e-04 8.61233064e-04 9.99999252e-01 1.45420471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.251966746 meters 0.2559237484595557 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.02 [[ 9.99999223e-01 8.64488449e-04 8.98452700e-04 4.90550913e-03] [-8.63908029e-04 9.99999418e-01 -6.46209109e-04 -1.48009295e-01] [-8.99010818e-04 6.45432426e-04 9.99999388e-01 1.50750507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.281966746 meters 0.25592873355886514 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.02 [[ 9.99999070e-01 8.60392502e-04 1.05813987e-03 4.05741993e-03] [-8.59473251e-04 9.99999253e-01 -8.68891224e-04 -1.45810040e-01] [-1.05888667e-03 8.67980973e-04 9.99999063e-01 1.55606055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.311966746 meters 0.2587209325858673 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.02 [[ 9.99999168e-01 7.97879337e-04 1.01392621e-03 4.19159391e-03] [-7.96894322e-04 9.99999211e-01 -9.71519489e-04 -1.45327067e-01] [-1.01470057e-03 9.70710689e-04 9.99999014e-01 1.55756880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.341966746 meters 0.2512679423580201 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.01 [[ 9.99999319e-01 -1.16720618e-03 -1.62861382e-05 -4.10068991e-02] [ 1.16719948e-03 9.99999237e-01 -4.05701729e-04 -1.47020554e-01] [ 1.67596633e-05 4.05682443e-04 9.99999918e-01 1.34851784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.371966746 meters 0.25571591105409774 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.01 [[ 9.99999274e-01 -1.20447535e-03 -3.34837051e-05 -4.08010634e-02] [ 1.20445908e-03 9.99999159e-01 -4.81716824e-04 -1.46639336e-01] [ 3.40638929e-05 4.81676145e-04 9.99999883e-01 1.32655634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.401966746 meters 0.25571591105409774 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.01 [[ 9.99999274e-01 -1.20447535e-03 -3.34837051e-05 -4.08010634e-02] [ 1.20445908e-03 9.99999159e-01 -4.81716824e-04 -1.46639336e-01] [ 3.40638929e-05 4.81676145e-04 9.99999883e-01 1.32655634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.431966746 meters 0.2567055675682999 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.01 [[ 9.99999240e-01 -1.23321160e-03 6.28838584e-06 -4.07430752e-02] [ 1.23321504e-03 9.99999072e-01 -5.79237538e-04 -1.45904824e-01] [-5.57405755e-06 5.79244853e-04 9.99999832e-01 1.30399737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.461966746 meters 0.25570403751042414 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.01 [[ 9.99999343e-01 -1.14623347e-03 -2.57935807e-05 -4.05077756e-02] [ 1.14622750e-03 9.99999317e-01 -2.30157421e-04 -1.48025110e-01] [ 2.60573773e-05 2.30127705e-04 9.99999973e-01 1.29011908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.491966746000001 meters 0.2519451820955025 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.01 [[ 9.99999559e-01 -9.25688697e-04 -1.61288126e-04 -4.07010189e-02] [ 9.25753256e-04 9.99999491e-01 4.00662949e-04 -1.52066501e-01] [ 1.60917155e-04 -4.00812085e-04 9.99999907e-01 1.38568132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.521966746 meters 0.25419719310960537 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.01 [[ 9.99999686e-01 -7.78879783e-04 -1.49392007e-04 -4.13748855e-02] [ 7.78973485e-04 9.99999499e-01 6.28197252e-04 -1.53109684e-01] [ 1.48902642e-04 -6.28313426e-04 9.99999792e-01 1.49379272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.551966746 meters 0.25442420418303274 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.02 [[ 9.99999790e-01 4.36473843e-04 4.78703595e-04 4.96519314e-03] [-4.36125331e-04 9.99999640e-01 -7.27896218e-04 -1.51564118e-01] [-4.79021131e-04 7.27687291e-04 9.99999621e-01 1.57959322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.581966746 meters 0.25436167140300425 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.02 [[ 9.99999754e-01 5.18462380e-04 4.71580788e-04 4.99405021e-03] [-5.18207346e-04 9.99999720e-01 -5.40768292e-04 -1.52465329e-01] [-4.71861024e-04 5.40523783e-04 9.99999743e-01 1.57376039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.611966746 meters 0.2562628581555851 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.02 [[ 9.99999761e-01 5.45689755e-04 4.23382192e-04 5.22732262e-03] [-5.45551187e-04 9.99999798e-01 -3.27335294e-04 -1.54177349e-01] [-4.23560730e-04 3.27104239e-04 9.99999857e-01 1.57364904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.641966746 meters 0.2542128642664792 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.02 [[ 9.99999854e-01 4.72140905e-04 2.63735653e-04 6.03144186e-03] [-4.72023118e-04 9.99999789e-01 -4.46494216e-04 -1.53472435e-01] [-2.63946406e-04 4.46369661e-04 9.99999866e-01 1.50639395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.671966746 meters 0.2538674972848676 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.02 [[ 9.99999802e-01 5.13089651e-04 3.64796738e-04 5.53612293e-03] [-5.12915805e-04 9.99999755e-01 -4.76490529e-04 -1.52698638e-01] [-3.65041131e-04 4.76303325e-04 9.99999820e-01 1.52472690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.701966746 meters 0.25383215595170555 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.02 [[ 9.99999799e-01 5.27808168e-04 3.50288291e-04 5.60893737e-03] [-5.27709466e-04 9.99999821e-01 -2.81804711e-04 -1.54048505e-01] [-3.50436967e-04 2.81619804e-04 9.99999899e-01 1.51545246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.731966746 meters 0.26132264890433177 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.02 [[ 9.99999791e-01 5.79806797e-04 2.86384391e-04 5.68451036e-03] [-5.79763060e-04 9.99999820e-01 -1.52781839e-04 -1.54745686e-01] [-2.86472924e-04 1.52615772e-04 9.99999947e-01 1.52710899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.761966746 meters 0.2561938827516721 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.99999765 0.00101195 0.00191662 0.04886667] [-0.00100826 0.99999763 -0.00192909 -0.1560126 ] [-0.00191856 0.00192715 0.9999963 0.01847242] [ 0. 0. 0. 1. ]] SLAMing on 12.791966746 meters 0.2554471857712295 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.99999739 0.00117258 0.00195866 0.04845415] [-0.00116938 0.99999798 -0.00163442 -0.15734638] [-0.00196057 0.00163212 0.99999675 0.01895645] [ 0. 0. 0. 1. ]] SLAMing on 12.821966746 meters 0.25270724766271496 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.99999738 0.0012213 0.00193458 0.04843375] [-0.00121833 0.99999808 -0.00153564 -0.15772426] [-0.00193645 0.00153328 0.99999695 0.01906918] [ 0. 0. 0. 1. ]] SLAMing on 12.851966746 meters 0.25502089125552085 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.9999971 0.00126143 0.00204929 0.04798512] [-0.00125829 0.99999804 -0.00153142 -0.15743967] [-0.00205121 0.00152883 0.99999673 0.01913699] [ 0. 0. 0. 1. ]] SLAMing on 12.881966746 meters 0.25777588482087554 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.99999707 0.00130166 0.00204238 0.04766525] [-0.00129872 0.99999812 -0.00143898 -0.1579874 ] [-0.00204425 0.00143633 0.99999688 0.01983227] [ 0. 0. 0. 1. ]] SLAMing on 12.911966746000001 meters 0.25593326451323034 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.99999707 0.00139718 0.0019786 0.04779573] [-0.00139512 0.99999848 -0.00104252 -0.1607602 ] [-0.00198006 0.00103976 0.9999975 0.01996889] [ 0. 0. 0. 1. ]] SLAMing on 12.941966746 meters 0.2548988110563413 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99997198e-01 1.46121831e-03 1.86249010e-03 4.80934042e-02] [-1.45989677e-03 9.99998682e-01 -7.10714714e-04 -1.63075369e-01] [-1.86352615e-03 7.07993679e-04 9.99998013e-01 1.99620205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.971966746 meters 0.2525726342642966 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.16, Z:0.02 [[ 9.99999192e-01 1.23709696e-03 2.92212472e-04 4.08785073e-03] [-1.23747933e-03 9.99998374e-01 1.31198890e-03 -1.62231740e-01] [-2.90588940e-04 -1.31234944e-03 9.99999097e-01 1.74838673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.001966746 meters 0.2549627093041358 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99997252e-01 1.78350288e-03 1.52139578e-03 4.82995184e-02] [-1.78224649e-03 9.99998070e-01 -8.26773266e-04 -1.59235977e-01] [-1.52286739e-03 8.24059492e-04 9.99998501e-01 2.00732671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.031966746 meters 0.2552540049515234 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.99999718 0.00179076 0.00156252 0.04794014] [-0.00178917 0.99999788 -0.00101704 -0.15749622] [-0.00156434 0.00101424 0.99999826 0.02036268] [ 0. 0. 0. 1. ]] SLAMing on 13.061966746 meters 0.256575607275323 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.99999728 0.00174875 0.001545 0.04787636] [-0.00174697 0.99999781 -0.00115045 -0.15654793] [-0.00154701 0.00114775 0.99999814 0.020455 ] [ 0. 0. 0. 1. ]] SLAMing on 13.091966746 meters 0.25425306294589317 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.02 [[ 0.99997597 -0.00420731 0.00551018 0.07268923] [ 0.00419691 0.99998939 0.00189854 -0.15901101] [-0.00551811 -0.00187537 0.99998302 0.01703065] [ 0. 0. 0. 1. ]] SLAMing on 13.121966746 meters 0.25633907699333514 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99998830e-01 3.48777686e-04 1.48945104e-03 4.99814213e-02] [-3.45199505e-04 9.99997056e-01 -2.40193106e-03 -1.59677859e-01] [-1.49028439e-03 2.40141409e-03 9.99996006e-01 1.86125868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.151966746 meters 0.2559904993886842 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99999009e-01 4.91569885e-04 1.31914714e-03 5.05907635e-02] [-4.88929713e-04 9.99997878e-01 -2.00100038e-03 -1.62047243e-01] [-1.32012797e-03 2.00035343e-03 9.99997128e-01 1.85579506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.181966746 meters 0.2549473109508951 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99998998e-01 5.02531802e-04 1.32358357e-03 5.08226462e-02] [-5.00006923e-04 9.99998056e-01 -1.90724858e-03 -1.62767177e-01] [-1.32453945e-03 1.90658486e-03 9.99997305e-01 1.82780280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.211966746 meters 0.2564455516178924 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99998934e-01 5.35423614e-04 1.35837232e-03 5.04591136e-02] [-5.32802289e-04 9.99997997e-01 -1.92938226e-03 -1.62305205e-01] [-1.35940264e-03 1.92865646e-03 9.99997216e-01 1.86223820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.241966746 meters 0.254523004001621 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99998813e-01 5.47875162e-04 1.44039735e-03 5.01958848e-02] [-5.44974003e-04 9.99997824e-01 -2.01375949e-03 -1.61432339e-01] [-1.44149750e-03 2.01297212e-03 9.99996935e-01 1.86297312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.271966746 meters 0.2545750690959539 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99998531e-01 5.69178138e-04 1.61709370e-03 4.95415563e-02] [-5.65639951e-04 9.99997447e-01 -2.18760719e-03 -1.59733951e-01] [-1.61833471e-03 2.18668928e-03 9.99996300e-01 1.87575521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.301966746 meters 0.2554377313104812 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.02 [[ 0.99999165 0.00203479 0.00354433 0.09145199] [-0.00202456 0.99999378 -0.00288685 -0.16006814] [-0.00355018 0.00287965 0.99998955 0.02287941] [ 0. 0. 0. 1. ]] SLAMing on 13.331966746 meters 0.25459889334789276 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99996208e-01 1.72531515e-03 2.14655945e-03 4.68979124e-02] [-1.72417545e-03 9.99998372e-01 -5.32679391e-04 -1.62453743e-01] [-2.14747500e-03 5.28976326e-04 9.99997554e-01 2.11598690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.361966746 meters 0.2555140444142099 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99996477e-01 1.69585851e-03 2.04189532e-03 4.77665382e-02] [-1.69511261e-03 9.99998496e-01 -3.66973317e-04 -1.63982650e-01] [-2.04251459e-03 3.63510782e-04 9.99997848e-01 2.02871531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.391966746 meters 0.2536686347367812 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.17, Z:0.02 [[ 9.99999391e-01 6.88057981e-05 1.10125320e-03 1.26933449e-03] [-6.94556059e-05 9.99999824e-01 5.90034750e-04 -1.65270374e-01] [-1.10121241e-03 -5.90110879e-04 9.99999220e-01 1.98450812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.421966746 meters 0.2570009928893626 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.99999764 0.00104251 0.00190822 0.04765248] [-0.00104051 0.99999891 -0.00104431 -0.16456296] [-0.0019093 0.00104232 0.99999763 0.02042989] [ 0. 0. 0. 1. ]] SLAMing on 13.451966746 meters 0.2542835694488221 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 0.99999769 0.00101271 0.00189554 0.04748974] [-0.00101045 0.99999877 -0.00119618 -0.16354037] [-0.00189675 0.00119426 0.99999749 0.02076914] [ 0. 0. 0. 1. ]] SLAMing on 13.481966746 meters 0.2545968689095696 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99997618e-01 1.12845857e-03 1.86835612e-03 4.72449724e-02] [-1.12682631e-03 9.99998983e-01 -8.74459898e-04 -1.65434161e-01] [-1.86934101e-03 8.72352502e-04 9.99997872e-01 2.12468246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.511966746 meters 0.25526427766663823 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99997478e-01 1.19928494e-03 1.89882610e-03 4.70485015e-02] [-1.19790582e-03 9.99999018e-01 -7.27271654e-04 -1.66056181e-01] [-1.89969644e-03 7.24995205e-04 9.99997933e-01 2.13777521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.541966746 meters 0.2537457811233295 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99997503e-01 1.16266369e-03 1.90859465e-03 4.74471367e-02] [-1.16137332e-03 9.99999096e-01 -6.77049572e-04 -1.66544762e-01] [-1.90938010e-03 6.74831291e-04 9.99997949e-01 2.06178430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.571966746 meters 0.2600772289328847 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99997449e-01 1.19811818e-03 1.91458482e-03 4.70364707e-02] [-1.19670393e-03 9.99999010e-01 -7.39651000e-04 -1.65716372e-01] [-1.91546911e-03 7.37357922e-04 9.99997894e-01 2.12228168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.601966746 meters 0.25120486734363173 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.02 [[ 9.99999803e-01 6.17442085e-04 1.12945976e-04 5.14087776e-03] [-6.17538485e-04 9.99999443e-01 8.55469464e-04 -1.65086993e-01] [-1.12417710e-04 -8.55539044e-04 9.99999628e-01 1.70330580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.631966746 meters 0.2544921707692335 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.02 [[ 9.99999106e-01 4.30893314e-04 1.26615999e-03 5.09973767e-02] [-4.28578175e-04 9.99998237e-01 -1.82817584e-03 -1.64472123e-01] [-1.26694551e-03 1.82763156e-03 9.99997527e-01 1.78228080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.661966746000001 meters 0.2522734718748002 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99998898e-01 5.90333132e-04 1.36239208e-03 5.03445724e-02] [-5.88237094e-04 9.99998644e-01 -1.53838681e-03 -1.65673646e-01] [-1.36329839e-03 1.53758370e-03 9.99997889e-01 1.83356356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.691966746 meters 0.2554264843642155 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999099e-01 5.90019808e-04 1.20577205e-03 5.12238317e-02] [-5.88393970e-04 9.99998918e-01 -1.34828892e-03 -1.67147986e-01] [-1.20656627e-03 1.34757824e-03 9.99998364e-01 1.77276483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.721966746 meters 0.2558766403044063 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999197e-01 6.84163036e-04 1.06642017e-03 5.17952130e-02] [-6.83171716e-04 9.99999334e-01 -9.29665022e-04 -1.69995806e-01] [-1.06705550e-03 9.28935728e-04 9.99998999e-01 1.75289730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.751966746 meters 0.252511694658492 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.17, Z:0.02 [[ 9.99999738e-01 -6.27766708e-04 3.59419449e-04 4.52940010e-03] [ 6.27634973e-04 9.99999736e-01 3.66516702e-04 -1.71500281e-01] [-3.59649442e-04 -3.66291022e-04 9.99999868e-01 1.74168000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.781966746 meters 0.2545859928948107 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999343e-01 4.10245585e-04 1.07040430e-03 5.02637365e-02] [-4.08969243e-04 9.99999206e-01 -1.19233953e-03 -1.71538053e-01] [-1.07089261e-03 1.19190098e-03 9.99998716e-01 1.91514552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.811966746 meters 0.25444293684394387 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999257e-01 3.55081833e-04 1.16575400e-03 5.00723555e-02] [-3.53442585e-04 9.99998949e-01 -1.40607441e-03 -1.70163499e-01] [-1.16625204e-03 1.40566134e-03 9.99998332e-01 1.89399582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.841966746 meters 0.2547689803550725 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999021e-01 3.41873264e-04 1.35705963e-03 4.90693229e-02] [-3.39566836e-04 9.99998498e-01 -1.69944417e-03 -1.67660672e-01] [-1.35763859e-03 1.69898169e-03 9.99997635e-01 1.95560698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.871966746 meters 0.25578147706627224 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.02 [[ 0.99997523 -0.00482727 0.0051223 0.07396387] [ 0.00481743 0.99998653 0.00193284 -0.16727014] [-0.00513157 -0.00190812 0.99998501 0.01616183] [ 0. 0. 0. 1. ]] SLAMing on 13.901966746 meters 0.25451226089678514 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999631e-01 2.37808246e-04 8.25499265e-04 4.80436573e-02] [-2.36672411e-04 9.99999026e-01 -1.37576242e-03 -1.67779164e-01] [-8.25825628e-04 1.37556654e-03 9.99998713e-01 2.13279581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.931966746 meters 0.2552223835910907 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999581e-01 3.79441272e-04 8.32970642e-04 4.78284396e-02] [-3.78553207e-04 9.99999360e-01 -1.06604065e-03 -1.69387255e-01] [-8.33374609e-04 1.06572488e-03 9.99999085e-01 2.16704245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.961966746 meters 0.2563602658695403 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.02 [[ 0.9999754 -0.00503582 0.00488206 0.07200222] [ 0.00502441 0.99998462 0.00234672 -0.17041402] [-0.0048938 -0.00232213 0.99998533 0.01864412] [ 0. 0. 0. 1. ]] SLAMing on 13.991966746 meters 0.25269205815604534 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999377e-01 1.05903321e-03 3.53891143e-04 4.94462557e-02] [-1.05892600e-03 9.99999393e-01 -3.02976704e-04 -1.70850337e-01] [-3.54211791e-04 3.02601770e-04 9.99999891e-01 2.09969633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.021966746 meters 0.25523575486786937 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999378e-01 1.07485706e-03 2.97589259e-04 4.97958711e-02] [-1.07480353e-03 9.99999406e-01 -1.79994085e-04 -1.71766857e-01] [-2.97782550e-04 1.79674123e-04 9.99999940e-01 2.07349283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.051966746 meters 0.2573831375189856 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999467e-01 9.74545410e-04 3.42335346e-04 5.00480053e-02] [-9.74430558e-04 9.99999469e-01 -3.35501344e-04 -1.71139507e-01] [-3.42662126e-04 3.35167583e-04 9.99999885e-01 2.00816873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.081966746 meters 0.256715649711441 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999472e-01 9.64451239e-04 3.55353871e-04 4.98306123e-02] [-9.64292366e-04 9.99999435e-01 -4.46985343e-04 -1.70310588e-01] [-3.55784766e-04 4.46642442e-04 9.99999837e-01 2.03240737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.111966746 meters 0.2583886863578154 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999368e-01 1.01464043e-03 4.85096745e-04 4.93232456e-02] [-1.01443651e-03 9.99999397e-01 -4.20440682e-04 -1.70104863e-01] [-4.85523048e-04 4.19948316e-04 9.99999794e-01 2.04607048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.141966746 meters 0.2551451742525685 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999476e-01 9.09591431e-04 4.70010135e-04 4.95291492e-02] [-9.09306835e-04 9.99999403e-01 -6.05370966e-04 -1.69349412e-01] [-4.70560495e-04 6.04943265e-04 9.99999706e-01 2.01862118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.171966746 meters 0.2532261476358396 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999420e-01 9.84184398e-04 4.36344856e-04 4.94076631e-02] [-9.83978691e-04 9.99999405e-01 -4.71396040e-04 -1.69880516e-01] [-4.36808537e-04 4.70966412e-04 9.99999794e-01 2.04843985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.201966746 meters 0.2540079957038488 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999453e-01 9.82663877e-04 3.58916367e-04 4.96071709e-02] [-9.82551845e-04 9.99999469e-01 -3.12181491e-04 -1.71217579e-01] [-3.59222945e-04 3.11828666e-04 9.99999887e-01 2.05892041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.231966746 meters 0.2548230121077909 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999222e-01 1.16535609e-03 4.45673655e-04 4.89533256e-02] [-1.16541096e-03 9.99999313e-01 1.22876920e-04 -1.73477178e-01] [-4.45530154e-04 -1.23396217e-04 9.99999893e-01 2.12183833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.261966746 meters 0.25647549197335956 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999211e-01 1.18247886e-03 4.24353277e-04 4.90955099e-02] [-1.18259010e-03 9.99999266e-01 2.61976999e-04 -1.74589121e-01] [-4.24043183e-04 -2.62478628e-04 9.99999876e-01 2.10803139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.291966746 meters 0.25420817683828145 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999161e-01 1.22324430e-03 4.26560285e-04 4.90324127e-02] [-1.22339372e-03 9.99999190e-01 3.50191222e-04 -1.75053904e-01] [-4.26131570e-04 -3.50712779e-04 9.99999848e-01 2.10365974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.321966746 meters 0.25420817683828145 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999161e-01 1.22324430e-03 4.26560285e-04 4.90324127e-02] [-1.22339372e-03 9.99999190e-01 3.50191222e-04 -1.75053904e-01] [-4.26131570e-04 -3.50712779e-04 9.99999848e-01 2.10365974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.351966746 meters 0.2543272098660606 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999203e-01 1.23882968e-03 2.44441048e-04 4.92810558e-02] [-1.23895018e-03 9.99999111e-01 4.93430336e-04 -1.76135679e-01] [-2.43829555e-04 -4.93732793e-04 9.99999848e-01 2.16399255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.381966746 meters 0.25270677244156897 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999184e-01 1.22832848e-03 3.51429630e-04 4.89928694e-02] [-1.22847964e-03 9.99999153e-01 4.30238699e-04 -1.75487007e-01] [-3.50900858e-04 -4.30670072e-04 9.99999846e-01 2.14413083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.411966746 meters 0.25427852206109697 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999309e-01 1.11586464e-03 3.69218468e-04 4.89225674e-02] [-1.11591691e-03 9.99999367e-01 1.41388339e-04 -1.73760044e-01] [-3.69060465e-04 -1.41800259e-04 9.99999922e-01 2.13235292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.441966746 meters 0.2545323522618266 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999357e-01 1.04809366e-03 4.32028005e-04 4.89054183e-02] [-1.04812183e-03 9.99999449e-01 6.49956647e-05 -1.73451304e-01] [-4.31959645e-04 -6.54484409e-05 9.99999905e-01 2.10281171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.471966746 meters 0.25486092326059656 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99999178e-01 1.15919732e-03 5.48021981e-04 4.82808339e-02] [-1.15936800e-03 9.99999280e-01 3.11231163e-04 -1.74703624e-01] [-5.47660808e-04 -3.11866266e-04 9.99999801e-01 2.13735088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.501966746 meters 0.25619399188159436 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.02 [[ 0.99997818 -0.00466845 0.00467446 0.07452698] [ 0.00465367 0.99998416 0.00316679 -0.17720253] [-0.00468917 -0.00314497 0.99998406 0.01643901] [ 0. 0. 0. 1. ]] SLAMing on 14.531966746 meters 0.2532940225553985 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999629e-01 7.19494922e-04 4.74471116e-04 5.04738001e-02] [-7.19417070e-04 9.99999728e-01 -1.64231760e-04 -1.77221577e-01] [-4.74589151e-04 1.63890357e-04 9.99999874e-01 1.98431874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.561966746 meters 0.2546591840988348 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999568e-01 7.93004821e-04 4.84744092e-04 5.02710756e-02] [-7.93019984e-04 9.99999685e-01 3.10899987e-05 -1.78396661e-01] [-4.84719284e-04 -3.14743970e-05 9.99999882e-01 2.02018062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.591966746 meters 0.252322417624644 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999450e-01 8.96387111e-04 5.44648362e-04 5.02134175e-02] [-8.96537949e-04 9.99999560e-01 2.76764774e-04 -1.79534058e-01] [-5.44400033e-04 -2.77252919e-04 9.99999813e-01 1.98415785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.621966746 meters 0.25144758316300053 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999376e-01 9.50850271e-04 5.85591381e-04 4.97553642e-02] [-9.51050267e-04 9.99999489e-01 3.41345066e-04 -1.79644697e-01] [-5.85266514e-04 -3.41901780e-04 9.99999770e-01 2.03554411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.651966746 meters 0.25280788370351753 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999452e-01 8.77252094e-04 5.70986392e-04 4.99143322e-02] [-8.77369266e-04 9.99999594e-01 2.04993070e-04 -1.79077294e-01] [-5.70806329e-04 -2.05493923e-04 9.99999816e-01 2.01595419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.681966746 meters 0.2551487106587565 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999515e-01 8.22768124e-04 5.40938197e-04 5.00140348e-02] [-8.22843233e-04 9.99999652e-01 1.38643035e-04 -1.78887862e-01] [-5.40823937e-04 -1.39088075e-04 9.99999844e-01 2.01740986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.711966746 meters 0.2517893529098911 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999406e-01 9.65380779e-04 5.05107205e-04 4.97972950e-02] [-9.65599465e-04 9.99999440e-01 4.32886147e-04 -1.80303287e-01] [-5.04689022e-04 -4.33373621e-04 9.99999779e-01 2.07633651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.741966746 meters 0.2550434298099824 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999484e-01 9.41265755e-04 3.81917025e-04 5.01681556e-02] [-9.41442302e-04 9.99999450e-01 4.62347080e-04 -1.80748946e-01] [-3.81481624e-04 -4.62706394e-04 9.99999820e-01 2.08567596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.771966746 meters 0.25555262324449785 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999576e-01 8.33927445e-04 3.91558312e-04 5.05024933e-02] [-8.34038801e-04 9.99999612e-01 2.84312877e-04 -1.80005705e-01] [-3.91321064e-04 -2.84639331e-04 9.99999883e-01 2.02184882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.801966746 meters 0.25448059327464145 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999567e-01 8.46310866e-04 3.87672540e-04 5.06596776e-02] [-8.46467079e-04 9.99999561e-01 4.02964041e-04 -1.80797434e-01] [-3.87331337e-04 -4.03292019e-04 9.99999844e-01 1.99875103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.831966746 meters 0.2515397400729992 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999490e-01 9.49596458e-04 3.44076267e-04 5.06594672e-02] [-9.49824230e-04 9.99999330e-01 6.62423940e-04 -1.82105875e-01] [-3.43447001e-04 -6.62750414e-04 9.99999721e-01 2.01428149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.861966746 meters 0.25281807012881957 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999419e-01 1.03854447e-03 2.89787496e-04 5.07114362e-02] [-1.03881390e-03 9.99999027e-01 9.31130392e-04 -1.83603925e-01] [-2.88820194e-04 -9.31430886e-04 9.99999525e-01 2.02733559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.891966746 meters 0.2541928285272646 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999503e-01 9.66204968e-04 2.45114114e-04 5.10657351e-02] [-9.66411015e-04 9.99999179e-01 8.41896940e-04 -1.83340663e-01] [-2.44300468e-04 -8.42133402e-04 9.99999616e-01 1.99446022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.921966746 meters 0.2545837930241493 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999533e-01 9.52929389e-04 1.63250202e-04 5.12340720e-02] [-9.53055796e-04 9.99999245e-01 7.75993411e-04 -1.82960186e-01] [-1.62510611e-04 -7.76148635e-04 9.99999686e-01 2.00603468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.951966746 meters 0.25188104255551796 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999504e-01 9.64057341e-04 2.49721363e-04 5.10086391e-02] [-9.64239138e-04 9.99999269e-01 7.28903575e-04 -1.82370240e-01] [-2.49018476e-04 -7.29144005e-04 9.99999703e-01 1.99370363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.981966746 meters 0.250676965352208 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.02 [[ 9.99999469e-01 9.85894683e-04 2.99870436e-04 5.05910058e-02] [-9.86094670e-04 9.99999291e-01 6.67494379e-04 -1.81737024e-01] [-2.99212144e-04 -6.67789725e-04 9.99999732e-01 2.02675513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.011966746 meters 0.25553719648562595 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.18, Z:0.02 [[ 9.99998360e-01 9.33410445e-04 1.55197378e-03 9.46373153e-02] [-9.30337604e-04 9.99997608e-01 -1.97950159e-03 -1.81136764e-01] [-1.55381776e-03 1.97805448e-03 9.99996836e-01 2.23775377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.041966746 meters 0.2549384104545264 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.18, Z:0.02 [[ 0.99999824 0.00109601 0.00152085 0.09442291] [-0.00109374 0.99999829 -0.0014896 -0.1838874 ] [-0.00152248 0.00148793 0.99999773 0.02284775] [ 0. 0. 0. 1. ]] SLAMing on 15.071966746 meters 0.25363047985149023 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.02 [[ 0.99999796 0.00124856 0.0015847 0.09411259] [-0.00124671 0.99999854 -0.00117048 -0.18541385] [-0.00158616 0.0011685 0.99999806 0.02301139] [ 0. 0. 0. 1. ]] SLAMing on 15.101966746 meters 0.2510192954529907 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.02 [[ 9.99997979e-01 1.34177708e-03 1.49732789e-03 9.41453143e-02] [-1.34030878e-03 9.99998620e-01 -9.81189615e-04 -1.86349417e-01] [-1.49864236e-03 9.79180750e-04 9.99998398e-01 2.34190581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.131966746 meters 0.25085769168365474 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.02 [[ 9.99997666e-01 1.43641358e-03 1.61409014e-03 9.36580497e-02] [-1.43515636e-03 9.99998666e-01 -7.79789830e-04 -1.87243323e-01] [-1.61520809e-03 7.77471538e-04 9.99998393e-01 2.35941496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.161966746 meters 0.2516010345164583 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.02 [[ 0.99999782 0.00134695 0.00159726 0.0936182 ] [-0.00134532 0.99999857 -0.00102038 -0.18586706] [-0.00159863 0.00101823 0.9999982 0.02378914] [ 0. 0. 0. 1. ]] SLAMing on 15.191966746 meters 0.2543650075844692 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.18, Z:0.02 [[ 0.99999786 0.00126277 0.00163582 0.09360881] [-0.00126079 0.99999847 -0.00121592 -0.18470506] [-0.00163735 0.00121386 0.99999792 0.02359374] [ 0. 0. 0. 1. ]] SLAMing on 15.221966746 meters 0.2523620805915544 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.02 [[ 0.99999768 0.00137753 0.00165613 0.09310578] [-0.00137579 0.9999985 -0.0010483 -0.18533254] [-0.00165758 0.00104602 0.99999808 0.02434418] [ 0. 0. 0. 1. ]] SLAMing on 15.251966746 meters 0.2528643185068066 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.02 [[ 9.99997636e-01 1.40241184e-03 1.66165994e-03 9.31095623e-02] [-1.40082785e-03 9.99998564e-01 -9.54038577e-04 -1.85898693e-01] [-1.66299551e-03 9.51708622e-04 9.99998164e-01 2.43025930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.281966746 meters 0.25258991702547273 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.02 [[ 9.99997729e-01 1.41912163e-03 1.59012809e-03 9.33592844e-02] [-1.41787365e-03 9.99998686e-01 -7.85683198e-04 -1.87201396e-01] [-1.59124098e-03 7.83426813e-04 9.99998427e-01 2.43136771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.311966746 meters 0.2520332233242643 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:0.03 [[ 0.9999868 -0.00468718 -0.00210383 0.06753301] [ 0.00469594 0.99998026 0.00417551 -0.1901699 ] [ 0.00208422 -0.00418534 0.99998907 0.03086694] [ 0. 0. 0. 1. ]] SLAMing on 15.341966746 meters 0.2542363322165927 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:0.03 [[ 0.99998648 -0.00470741 -0.00221125 0.06800721] [ 0.0047167 0.99998001 0.00421216 -0.1905962 ] [ 0.00219138 -0.00422254 0.99998868 0.03072377] [ 0. 0. 0. 1. ]] SLAMing on 15.371966746 meters 0.2552195625750926 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.03 [[ 9.99996571e-01 2.41619681e-03 -1.01005241e-03 9.06435214e-02] [-2.41643966e-03 9.99997052e-01 -2.39283600e-04 -1.91769257e-01] [ 1.00947128e-03 2.41723510e-04 9.99999461e-01 3.06871970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.401966746 meters 0.2511955446802468 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.19, Z:0.03 [[ 9.99996814e-01 1.05449740e-03 -2.29364841e-03 4.75397962e-02] [-1.05246251e-03 9.99999052e-01 8.88210664e-04 -1.91842369e-01] [ 2.29458285e-03 -8.85793855e-04 9.99996975e-01 2.72942402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.431966746 meters 0.2546603265298313 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:0.02 [[ 0.9999879 -0.00445644 0.00208164 0.07198586] [ 0.00444852 0.99998291 0.00379416 -0.1913405 ] [-0.00209851 -0.00378485 0.99999064 0.02374051] [ 0. 0. 0. 1. ]] SLAMing on 15.461966746 meters 0.2537312221478062 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:0.02 [[ 0.99998772 -0.00446435 0.00215252 0.07186409] [ 0.00445634 0.99998318 0.00371328 -0.19055369] [-0.00216906 -0.00370364 0.99999079 0.02354822] [ 0. 0. 0. 1. ]] SLAMing on 15.491966746 meters 0.25391967315996966 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:0.02 [[ 0.99998755 -0.00454859 0.00205021 0.07231632] [ 0.00454122 0.99998327 0.00358421 -0.19005129] [-0.00206648 -0.00357485 0.99999148 0.0232993 ] [ 0. 0. 0. 1. ]] SLAMing on 15.521966746 meters 0.25227286948992234 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:0.02 [[ 0.99998722 -0.00460523 0.00208502 0.07231888] [ 0.00459795 0.99998336 0.0034837 -0.18972429] [-0.00210103 -0.00347407 0.99999176 0.02316185] [ 0. 0. 0. 1. ]] SLAMing on 15.551966746 meters 0.2542901510148293 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:0.02 [[ 0.99998761 -0.00455738 0.00200465 0.07236364] [ 0.00454998 0.99998287 0.00368199 -0.19094249] [-0.0020214 -0.00367282 0.99999121 0.02348995] [ 0. 0. 0. 1. ]] SLAMing on 15.581966746 meters 0.25191069602190297 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.19, Z:0.03 [[ 9.99998084e-01 6.55393362e-04 -1.84479555e-03 4.88657955e-02] [-6.55178566e-04 9.99999779e-01 1.17035078e-04 -1.91188094e-01] [ 1.84487184e-03 -1.15826183e-04 9.99998292e-01 2.54490952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.611966746 meters 0.25193674943153904 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.19, Z:0.03 [[ 9.99998219e-01 7.01152019e-04 -1.75197990e-03 4.83474149e-02] [-7.00848177e-04 9.99999739e-01 1.74035717e-04 -1.91427052e-01] [ 1.75210147e-03 -1.72807535e-04 9.99998450e-01 2.58853616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.641966746 meters 0.2519587391945719 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.19, Z:0.03 [[ 9.99998137e-01 6.48362229e-04 -1.81817862e-03 4.88936208e-02] [-6.48041499e-04 9.99999774e-01 1.76985567e-04 -1.91872224e-01] [ 1.81829296e-03 -1.75806982e-04 9.99998331e-01 2.52633803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.671966746 meters 0.25286238605405154 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.19, Z:0.03 [[ 9.99998137e-01 5.32403367e-04 -1.85543507e-03 4.91144914e-02] [-5.32547543e-04 9.99999855e-01 -7.72115140e-05 -1.90757634e-01] [ 1.85539370e-03 7.81994775e-05 9.99998276e-01 2.51622718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.701966746 meters 0.2540054748347781 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.19, Z:0.03 [[ 9.99998337e-01 5.40886017e-04 -1.74144995e-03 4.87222418e-02] [-5.41081164e-04 9.99999847e-01 -1.11590654e-04 -1.90308542e-01] [ 1.74138932e-03 1.12532735e-04 9.99998477e-01 2.51993196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.731966746 meters 0.2559523298886398 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:0.02 [[ 9.99996340e-01 -1.81162746e-04 -2.69931632e-03 3.34297410e-03] [ 1.85752347e-04 9.99998538e-01 1.70012880e-03 -1.90217091e-01] [ 2.69900437e-03 -1.70062399e-03 9.99994912e-01 2.37323365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.761966746 meters 0.2562252901757121 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.19, Z:0.03 [[ 9.99999030e-01 5.56572731e-04 -1.27706543e-03 4.52373139e-02] [-5.55996961e-04 9.99999744e-01 4.51164586e-04 -1.94658594e-01] [ 1.27731621e-03 -4.50454103e-04 9.99999083e-01 3.01261272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.791966746 meters 0.25574447453267124 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.20, Z:0.03 [[ 9.99998822e-01 5.31644924e-04 -1.44006161e-03 4.55858414e-02] [-5.30659215e-04 9.99999625e-01 6.84786084e-04 -1.96506565e-01] [ 1.44042513e-03 -6.84021095e-04 9.99998729e-01 3.03108047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.821966746 meters 0.25411592841718134 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.20, Z:0.03 [[ 0.99999253 -0.00359781 -0.00141273 0.04537286] [ 0.00359324 0.99998833 -0.00322867 -0.19821118] [ 0.00142433 0.00322357 0.99999379 0.03049193] [ 0. 0. 0. 1. ]] SLAMing on 15.851966746 meters 0.2573311352986261 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:0.03 [[ 9.99999323e-01 -1.15923035e-03 -1.01016657e-04 8.88892495e-02] [ 1.15891649e-03 9.99994666e-01 -3.05353070e-03 -2.00414862e-01] [ 1.04555864e-04 3.05341156e-03 9.99995333e-01 3.36005349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.881966746 meters 0.25546087525036026 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.04 [[ 9.99999021e-01 1.16806088e-03 7.70400653e-04 8.28687969e-02] [-1.16741775e-03 9.99998970e-01 -8.34717606e-04 -1.98324298e-01] [-7.71374860e-04 8.33817410e-04 9.99999355e-01 3.83327518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.911966746 meters 0.25618486094451237 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.04 [[ 9.99998952e-01 1.20377290e-03 8.04119789e-04 8.23781202e-02] [-1.20302320e-03 9.99998842e-01 -9.32151167e-04 -1.97342917e-01] [-8.05240956e-04 9.31182815e-04 9.99999242e-01 3.90115544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.941966746 meters 0.2559849622862643 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.04 [[ 9.99998811e-01 1.27860566e-03 8.62391665e-04 8.19267171e-02] [-1.27792986e-03 9.99998876e-01 -7.83728710e-04 -1.97909500e-01] [-8.63392776e-04 7.82625702e-04 9.99999321e-01 3.93986030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.971966746 meters 0.2561403126479725 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.04 [[ 9.99998583e-01 1.41912662e-03 9.05671883e-04 8.16502385e-02] [-1.41891075e-03 9.99998965e-01 -2.38953017e-04 -2.01064446e-01] [-9.06010050e-04 2.37667611e-04 9.99999561e-01 3.94878571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.001966746 meters 0.25685926405157444 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.04 [[ 0.99999729 0.00156673 0.00171938 0.12673002] [-0.00156171 0.99999453 -0.00291443 -0.19996115] [-0.00172393 0.00291173 0.99999427 0.04133017] [ 0. 0. 0. 1. ]] SLAMing on 16.031966746 meters 0.2562351197299417 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.05 [[ 0.99999322 -0.00321985 -0.00178927 0.09905233] [ 0.0032258 0.99998925 0.00333061 -0.20185774] [ 0.00177852 -0.00333635 0.99999285 0.0498037 ] [ 0. 0. 0. 1. ]] SLAMing on 16.061966746 meters 0.25583295433660785 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.05 [[ 0.9999935 -0.00313636 -0.00178041 0.09878351] [ 0.00314247 0.99998913 0.00344416 -0.20220544] [ 0.00176959 -0.00344974 0.99999248 0.05026677] [ 0. 0. 0. 1. ]] SLAMing on 16.091966745999997 meters 0.25589296713444387 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.20, Z:0.05 [[ 9.99994746e-01 3.22961442e-03 2.77293979e-04 1.20327093e-01] [-3.22916042e-03 9.99993470e-01 -1.62237774e-03 -2.04648596e-01] [-2.82531823e-04 1.62147379e-03 9.99998645e-01 4.98174397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.121966746 meters 0.2566542283434817 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.06 [[ 0.99999243 -0.00307144 -0.00238791 0.09433257] [ 0.00307957 0.99998946 0.00340626 -0.20597203] [ 0.00237742 -0.00341359 0.99999135 0.05531354] [ 0. 0. 0. 1. ]] SLAMing on 16.151966746 meters 0.2576048373948319 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.20, Z:0.05 [[ 9.99996369e-01 2.54294629e-03 8.91926746e-04 1.20763035e-01] [-2.54094184e-03 9.99994260e-01 -2.24131163e-03 -2.03129169e-01] [-8.97621162e-04 2.23903716e-03 9.99997090e-01 4.87490352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.181966745999997 meters 0.25685861768850654 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.20, Z:0.05 [[ 9.99996201e-01 2.57355752e-03 9.87693964e-04 1.20383785e-01] [-2.57108785e-03 9.99993586e-01 -2.49361673e-03 -2.00942899e-01] [-9.94105095e-04 2.49106781e-03 9.99996403e-01 4.88789227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.211966745999998 meters 0.25685861768850654 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.20, Z:0.05 [[ 9.99996201e-01 2.57355752e-03 9.87693964e-04 1.20383785e-01] [-2.57108785e-03 9.99993586e-01 -2.49361673e-03 -2.00942899e-01] [-9.94105095e-04 2.49106781e-03 9.99996403e-01 4.88789227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.241966746 meters 0.2562832772769299 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.20, Z:0.05 [[ 0.999996 0.00261041 0.00108932 0.11982708] [-0.00260767 0.99999346 -0.00250607 -0.20057229] [-0.00109586 0.00250322 0.99999627 0.04930067] [ 0. 0. 0. 1. ]] SLAMing on 16.271966745999997 meters 0.25206731573027275 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:0.05 [[ 9.99999481e-01 8.06664507e-04 6.22868268e-04 7.29238375e-02] [-8.05772079e-04 9.99998650e-01 -1.43169552e-03 -2.01375871e-01] [-6.24022325e-04 1.43119288e-03 9.99998781e-01 4.89244865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.301966745999998 meters 0.2561512096894726 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:0.05 [[ 9.99999507e-01 8.82047114e-04 4.55781864e-04 7.35419219e-02] [-8.81578069e-04 9.99999083e-01 -1.02827632e-03 -2.04234371e-01] [-4.56688434e-04 1.02787400e-03 9.99999367e-01 4.87860981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.331966746 meters 0.2537154856490925 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.05 [[ 9.99999355e-01 1.00258129e-03 5.32811467e-04 7.32321236e-02] [-1.00214390e-03 9.99999161e-01 -8.20554279e-04 -2.05045377e-01] [-5.33633692e-04 8.20019796e-04 9.99999521e-01 4.89337308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.361966745999997 meters 0.25572703293862237 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.20, Z:0.05 [[ 0.99999545 0.00232188 0.00192437 0.11610133] [-0.00231757 0.99999482 -0.00223457 -0.20453057] [-0.00192955 0.0022301 0.99999565 0.0522441 ] [ 0. 0. 0. 1. ]] SLAMing on 16.391966745999998 meters 0.2568523801634095 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.20, Z:0.05 [[ 0.99999557 0.00228187 0.00191292 0.11629773] [-0.00227751 0.9999948 -0.00228173 -0.20442317] [-0.00191811 0.00227736 0.99999557 0.05197522] [ 0. 0. 0. 1. ]] SLAMing on 16.421966746 meters 0.258137141613503 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:0.06 [[ 9.99991031e-01 -4.15758057e-03 -8.07523363e-04 9.21034527e-02] [ 4.15973788e-03 9.99987734e-01 2.68846640e-03 -2.04915818e-01] [ 7.96335943e-04 -2.69180138e-03 9.99996060e-01 5.61344584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.451966745999997 meters 0.25584069473162147 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.06 [[ 9.99991479e-01 -4.05146861e-03 -7.91761162e-04 9.18448676e-02] [ 4.05373280e-03 9.99987638e-01 2.87931569e-03 -2.05621409e-01] [ 7.80085917e-04 -2.88250074e-03 9.99995541e-01 5.64034433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.481966745999998 meters 0.2553288759901005 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.06 [[ 9.99991254e-01 -4.10059209e-03 -8.22361486e-04 9.21675708e-02] [ 4.10295510e-03 9.99987399e-01 2.89265205e-03 -2.06013478e-01] [ 8.10489538e-04 -2.89600087e-03 9.99995478e-01 5.60054970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.511966746 meters 0.25517165257898144 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.06 [[ 9.99991200e-01 -4.11613545e-03 -8.10641105e-04 9.21364352e-02] [ 4.11849081e-03 9.99987239e-01 2.92563936e-03 -2.06253826e-01] [ 7.98588433e-04 -2.92895223e-03 9.99995392e-01 5.60750346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.541966746 meters 0.25740175522520026 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.06 [[ 9.99991204e-01 -4.08239447e-03 -9.62147822e-04 9.26601547e-02] [ 4.08550719e-03 9.99986354e-01 3.25572556e-03 -2.08657092e-01] [ 9.48843536e-04 -3.25962779e-03 9.99994237e-01 5.59700870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.571966745999998 meters 0.2555232824014352 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.06 [[ 9.99991712e-01 -3.96865514e-03 -9.09099895e-04 9.22456018e-02] [ 3.97178006e-03 9.99986120e-01 3.46176201e-03 -2.09595031e-01] [ 8.95348738e-04 -3.46534406e-03 9.99993595e-01 5.64775123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.601966746 meters 0.255697150641558 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.06 [[ 9.99991938e-01 -3.93717549e-03 -7.89639582e-04 9.18438346e-02] [ 3.93984104e-03 9.99986449e-01 3.40299323e-03 -2.08922233e-01] [ 7.76230700e-04 -3.40607684e-03 9.99993898e-01 5.65901981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.631966746 meters 0.25754034499588213 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.21, Z:0.05 [[ 9.99990880e-01 3.18749906e-03 2.84250897e-03 1.15838348e-01] [-3.18528275e-03 9.99994620e-01 -7.83889681e-04 -2.06129696e-01] [-2.84499233e-03 7.74828337e-04 9.99995653e-01 5.15631197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.661966745999997 meters 0.2541695417125283 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.05 [[ 9.99996109e-01 2.11603605e-03 1.81768619e-03 7.09618080e-02] [-2.11768469e-03 9.99997348e-01 9.05556025e-04 -2.05196034e-01] [-1.81576518e-03 -9.09401788e-04 9.99997938e-01 4.97931908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.691966746 meters 0.2569619080782898 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.21, Z:0.05 [[ 0.99999413 0.00167836 0.00298642 0.11574571] [-0.00167184 0.99999622 -0.0021821 -0.20633839] [-0.00299007 0.00217709 0.99999316 0.05124813] [ 0. 0. 0. 1. ]] SLAMing on 16.721966746 meters 0.25579686128643814 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.06 [[ 9.99989093e-01 -4.62901434e-03 -6.22045859e-04 8.95112040e-02] [ 4.63087765e-03 9.99984692e-01 3.02816924e-03 -2.11853264e-01] [ 6.08018898e-04 -3.03101683e-03 9.99995222e-01 5.83273195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.751966745999997 meters 0.2563672835399014 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:0.06 [[ 9.99998723e-01 1.48933857e-03 5.80287735e-04 1.11713672e-01] [-1.48800840e-03 9.99996280e-01 -2.28599405e-03 -2.14849912e-01] [-5.83690196e-04 2.28512766e-03 9.99997219e-01 5.80416308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.781966746 meters 0.2530696122490345 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:0.06 [[ 9.99998756e-01 1.47541003e-03 5.58382877e-04 1.11759258e-01] [-1.47403327e-03 9.99995893e-01 -2.45806607e-03 -2.13602047e-01] [-5.62007239e-04 2.45723994e-03 9.99996823e-01 5.79759952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.811966746 meters 0.25460446920426383 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:0.06 [[ 9.99998911e-01 1.39312341e-03 4.87288174e-04 1.12352824e-01] [-1.39177858e-03 9.99995252e-01 -2.74934818e-03 -2.11546281e-01] [-4.91116042e-04 2.74866699e-03 9.99996102e-01 5.73330768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.841966745999997 meters 0.2561181551109068 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:0.06 [[ 9.99998772e-01 1.47423796e-03 5.30846853e-04 1.12380783e-01] [-1.47288234e-03 9.99995677e-01 -2.54509104e-03 -2.12569146e-01] [-5.34596628e-04 2.54430604e-03 9.99996620e-01 5.70161380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.871966746 meters 0.25202394976963644 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.06 [[ 0.99998659 -0.00426599 -0.00293493 0.08644708] [ 0.00427483 0.99998633 0.00301039 -0.21589811] [ 0.00292205 -0.00302289 0.99999116 0.0633518 ] [ 0. 0. 0. 1. ]] SLAMing on 16.901966746 meters 0.2534932540067472 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.06 [[ 0.99998711 -0.00416218 -0.00290852 0.08628911] [ 0.00417164 0.999986 0.00325489 -0.21723452] [ 0.00289494 -0.00326698 0.99999047 0.06358823] [ 0. 0. 0. 1. ]] SLAMing on 16.931966745999997 meters 0.25708005282051 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99998673e-01 1.62790678e-03 5.57948650e-05 1.13620227e-01] [-1.62778542e-03 9.99996449e-01 -2.11019801e-03 -2.16676100e-01] [-5.92298725e-05 2.11010439e-03 9.99997772e-01 5.64326612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.961966745999998 meters 0.2524195747814547 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.06 [[ 0.9999899 -0.00378482 -0.00242345 0.08746315] [ 0.00379391 0.99998575 0.00375646 -0.21672663] [ 0.0024092 -0.00376562 0.99999001 0.06146264] [ 0. 0. 0. 1. ]] SLAMing on 16.991966746 meters 0.2546430628734566 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99994551e-01 3.28475541e-03 3.30257437e-04 1.09995634e-01] [-3.28456498e-03 9.99994440e-01 -5.75492845e-04 -2.17952122e-01] [-3.32145954e-04 5.74404956e-04 9.99999780e-01 5.91347471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.021966745999997 meters 0.252069148082894 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99994200e-01 3.39533496e-03 2.68254434e-04 1.09849179e-01] [-3.39525697e-03 9.99994194e-01 -2.90666204e-04 -2.19646142e-01] [-2.69239785e-04 2.89753725e-04 9.99999922e-01 5.97754107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.051966745999998 meters 0.25475467550860076 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99994505e-01 3.31194594e-03 1.47576526e-04 1.10607678e-01] [-3.31188982e-03 9.99994444e-01 -3.78958368e-04 -2.19441253e-01] [-1.48830795e-04 3.78467528e-04 9.99999917e-01 5.91391190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.081966746 meters 0.25763257854389165 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:0.05 [[ 0.99999211 -0.00215983 0.00333403 0.13742078] [ 0.0021511 0.99999425 0.00262274 -0.21934521] [-0.00333967 -0.00261555 0.999991 0.05454554] [ 0. 0. 0. 1. ]] SLAMing on 17.111966745999997 meters 0.25399213647018953 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99995098e-01 2.71379577e-03 -1.56199035e-03 1.11936768e-01] [-2.71465999e-03 9.99996163e-01 -5.51426157e-04 -2.17620293e-01] [ 1.56048790e-03 5.55663727e-04 9.99998628e-01 5.96853723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.141966745999998 meters 0.25088813148904016 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.06 [[ 9.99996986e-01 9.11124848e-04 -2.27993087e-03 6.63178278e-02] [-9.09754161e-04 9.99999405e-01 6.02161670e-04 -2.18548474e-01] [ 2.28047816e-03 -6.00085678e-04 9.99997220e-01 5.82990912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.171966746 meters 0.2553596887566473 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99999048e-01 8.33567014e-04 -1.09980621e-03 1.10534490e-01] [-8.35957400e-04 9.99997286e-01 -2.17479444e-03 -2.19299746e-01] [ 1.09799039e-03 2.17571176e-03 9.99997030e-01 6.02138802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.201966745999997 meters 0.25356542261390713 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99998989e-01 9.13934337e-04 -1.08982354e-03 1.10449929e-01] [-9.16101915e-04 9.99997600e-01 -1.99008828e-03 -2.20159237e-01] [ 1.08800211e-03 1.99108465e-03 9.99997426e-01 6.02396339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.231966745999998 meters 0.2535655648183702 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99999068e-01 8.45858298e-04 -1.07189543e-03 1.10811383e-01] [-8.48050052e-04 9.99997547e-01 -2.04594386e-03 -2.19996003e-01] [ 1.07016222e-03 2.04685098e-03 9.99997333e-01 5.95267032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.261966746 meters 0.25301659655563574 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99999056e-01 8.32520131e-04 -1.09290305e-03 1.10989310e-01] [-8.34855987e-04 9.99997365e-01 -2.13858154e-03 -2.19269706e-01] [ 1.09111975e-03 2.13949194e-03 9.99997116e-01 5.93173831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.291966746 meters 0.2521706303504601 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99999082e-01 8.94337771e-04 -1.01757759e-03 1.10638171e-01] [-8.96425191e-04 9.99997491e-01 -2.05275793e-03 -2.19480521e-01] [ 1.01573917e-03 2.05366822e-03 9.99997375e-01 5.95095787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.321966745999998 meters 0.2528036496043412 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.06 [[ 9.99979085e-01 -5.11451823e-03 3.95858133e-03 1.33828273e-01] [ 5.11250487e-03 9.99986797e-01 5.18557280e-04 -2.23554674e-01] [-3.96118123e-03 -4.98308168e-04 9.99992030e-01 5.58984707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.351966746 meters 0.2505583561126636 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99999924e-01 2.97272420e-04 -2.53141688e-04 1.07971091e-01] [-2.97844337e-04 9.99997397e-01 -2.26224244e-03 -2.23676547e-01] [ 2.52468526e-04 2.26231766e-03 9.99997409e-01 6.09873437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.381966746 meters 0.2525620900516869 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99999945e-01 2.50939873e-04 -2.14863955e-04 1.08125873e-01] [-2.51435818e-04 9.99997297e-01 -2.31127206e-03 -2.23684608e-01] [ 2.14283384e-04 2.31132596e-03 9.99997306e-01 6.06239640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.411966745999997 meters 0.25111344718550344 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99999941e-01 3.12607412e-04 -1.39920532e-04 1.07764149e-01] [-3.12931754e-04 9.99997250e-01 -2.32405711e-03 -2.23158331e-01] [ 1.39193630e-04 2.32410076e-03 9.99997290e-01 6.07948506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.441966746 meters 0.2510939521411731 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.06 [[ 9.99999917e-01 3.94425596e-04 -1.00320379e-04 1.07472376e-01] [-3.94645074e-04 9.99997508e-01 -2.19724223e-03 -2.23525957e-01] [ 9.94534800e-05 2.19728164e-03 9.99997581e-01 6.10357612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.471966746 meters 0.2514208130645395 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.23, Z:0.05 [[ 0.99998444 -0.00308257 0.0046487 0.13479717] [ 0.00307132 0.99999234 0.00242541 -0.22706081] [-0.00465614 -0.00241109 0.99998625 0.05410825] [ 0. 0. 0. 1. ]] SLAMing on 17.501966745999997 meters 0.25096665438326377 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99998036e-01 1.94039412e-03 -4.02660876e-04 1.10164589e-01] [-1.94061156e-03 9.99997971e-01 -5.40323844e-04 -2.26409618e-01] [ 4.01611618e-04 5.41104191e-04 9.99999773e-01 5.89972139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.531966746 meters 0.2518217604239548 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99998020e-01 1.94961051e-03 -3.99989498e-04 1.10160182e-01] [-1.94981513e-03 9.99997968e-01 -5.11802686e-04 -2.26576146e-01] [ 3.98990870e-04 5.12581578e-04 9.99999789e-01 5.89517709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.561966746 meters 0.25358893734032395 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99998050e-01 1.91424112e-03 -4.84729664e-04 1.10598417e-01] [-1.91447090e-03 9.99998055e-01 -4.74029472e-04 -2.27167018e-01] [ 4.83821315e-04 4.74956549e-04 9.99999770e-01 5.87370180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.591966745999997 meters 0.25047370945720676 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99997781e-01 2.05585924e-03 -4.60418260e-04 1.10231864e-01] [-2.05589584e-03 9.99997884e-01 -7.90303204e-05 -2.29308683e-01] [ 4.60254811e-04 7.99767170e-05 9.99999891e-01 5.91702834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.621966746 meters 0.2515777672938898 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.23, Z:0.05 [[ 0.99998596 -0.00386123 0.0036298 0.13563154] [ 0.00385205 0.99998938 0.00253129 -0.23147716] [-0.00363954 -0.00251727 0.99999021 0.05490133] [ 0. 0. 0. 1. ]] SLAMing on 17.651966746 meters 0.25303134138628386 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.23, Z:0.05 [[ 0.99998625 -0.00385303 0.003557 0.13578099] [ 0.00384406 0.99998943 0.00252309 -0.23134106] [-0.00356669 -0.00250939 0.99999049 0.0549619 ] [ 0. 0. 0. 1. ]] SLAMing on 17.681966745999997 meters 0.2547193386254604 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.23, Z:0.05 [[ 0.99998606 -0.00386161 0.00359982 0.13591358] [ 0.00385207 0.99998906 0.00265221 -0.2324613 ] [-0.00361002 -0.00263831 0.99999 0.05451454] [ 0. 0. 0. 1. ]] SLAMing on 17.711966745999998 meters 0.25147514729937637 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99998496e-01 1.30938016e-03 -1.13690389e-03 1.11404559e-01] [-1.30977100e-03 9.99999083e-01 -3.43097132e-04 -2.31333916e-01] [ 1.13645360e-03 3.44585699e-04 9.99999295e-01 5.88065032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.741966746 meters 0.2505796210448786 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99998532e-01 1.33743355e-03 -1.07138246e-03 1.11054173e-01] [-1.33776725e-03 9.99999057e-01 -3.10803398e-04 -2.31441478e-01] [ 1.07096577e-03 3.12236202e-04 9.99999378e-01 5.90235428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.771966745999997 meters 0.6234599186066454 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99998515e-01 1.30787875e-03 -1.12247278e-03 1.11360537e-01] [-1.30822220e-03 9.99999098e-01 -3.05299740e-04 -2.31531667e-01] [ 1.12207248e-03 3.06767730e-04 9.99999323e-01 5.87500578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.801966745999998 meters 0.25252494735489467 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99998409e-01 1.30756774e-03 -1.21363371e-03 1.11774153e-01] [-1.30774291e-03 9.99999135e-01 -1.43551851e-04 -2.32812394e-01] [ 1.21344496e-03 1.45138743e-04 9.99999253e-01 5.84602332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.831966746 meters 0.25054732055184775 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99998283e-01 1.42866711e-03 -1.18007998e-03 1.11336146e-01] [-1.42861862e-03 9.99998979e-01 4.19401022e-05 -2.33533057e-01] [ 1.18013869e-03 -4.02541460e-05 9.99999303e-01 5.89818605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.861966745999997 meters 0.25281099446728705 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.24, Z:0.05 [[ 0.99998991 -0.00278158 0.00352765 0.13808124] [ 0.00276778 0.99998852 0.00391088 -0.23621055] [-0.00353849 -0.00390108 0.99998613 0.05266859] [ 0. 0. 0. 1. ]] SLAMing on 17.891966745999998 meters 0.2529550216255015 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.24, Z:0.05 [[ 0.99999015 -0.00280221 0.00344196 0.13829677] [ 0.00278889 0.99998863 0.00386729 -0.23627631] [-0.00345275 -0.00385765 0.9999866 0.05279985] [ 0. 0. 0. 1. ]] SLAMing on 17.921966746 meters 0.2504215369903444 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99997357e-01 1.92882523e-03 -1.25087132e-03 1.14267905e-01] [-1.92847465e-03 9.99998101e-01 2.81415958e-04 -2.34365940e-01] [ 1.25141175e-03 -2.79002941e-04 9.99999178e-01 5.63846189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.951966745999997 meters 0.2510819057339958 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.06 [[ 9.99997167e-01 1.94546731e-03 -1.37145235e-03 1.14651560e-01] [-1.94497410e-03 9.99998043e-01 3.60865165e-04 -2.34981202e-01] [ 1.37215172e-03 -3.58196703e-04 9.99998994e-01 5.64743016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.981966745999998 meters 0.2528885612990562 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:0.06 [[ 9.99997105e-01 1.89895418e-03 -1.47760651e-03 1.15064936e-01] [-1.89832387e-03 9.99998107e-01 4.27858289e-04 -2.35788145e-01] [ 1.47841619e-03 -4.25052074e-04 9.99998817e-01 5.63074032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.011966746 meters 0.2514025271582105 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:0.06 [[ 9.99996973e-01 1.98641587e-03 -1.45203707e-03 1.14771356e-01] [-1.98557393e-03 9.99997860e-01 5.81046717e-04 -2.36386944e-01] [ 1.45318816e-03 -5.78161831e-04 9.99998777e-01 5.66165097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.041966745999996 meters 0.249997993459663 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:0.05 [[ 9.99996208e-01 8.27951524e-04 -2.62642223e-03 7.04275842e-02] [-8.22224406e-04 9.99997284e-01 2.18090880e-03 -2.35441193e-01] [ 2.62822078e-03 -2.17874103e-03 9.99994173e-01 5.47344920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.071966745999998 meters 0.2541862709873962 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.23, Z:0.06 [[ 9.99997920e-01 1.13404585e-03 -1.69550628e-03 1.16087675e-01] [-1.13543512e-03 9.99999020e-01 -8.18645078e-04 -2.34276982e-01] [ 1.69457624e-03 8.20568512e-04 9.99998228e-01 5.54608929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.101966746 meters 0.25384278270237487 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:0.06 [[ 9.99997843e-01 1.12629244e-03 -1.74485426e-03 1.16452479e-01] [-1.12743011e-03 9.99999152e-01 -6.51170095e-04 -2.35685887e-01] [ 1.74411937e-03 6.53135892e-04 9.99998266e-01 5.51332800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.131966746 meters 0.25384278270237487 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:0.06 [[ 9.99997843e-01 1.12629244e-03 -1.74485426e-03 1.16452479e-01] [-1.12743011e-03 9.99999152e-01 -6.51170095e-04 -2.35685887e-01] [ 1.74411937e-03 6.53135892e-04 9.99998266e-01 5.51332800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.161966745999997 meters 0.25322900645282687 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:0.06 [[ 9.99997552e-01 1.32380348e-03 -1.77291866e-03 1.16328105e-01] [-1.32408090e-03 9.99999111e-01 -1.55312183e-04 -2.38358434e-01] [ 1.77271148e-03 1.57659291e-04 9.99998416e-01 5.54829944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.191966746 meters 0.25262655816915713 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:0.05 [[ 9.99997631e-01 1.19272385e-03 -1.82092632e-03 1.16899528e-01] [-1.19342549e-03 9.99999214e-01 -3.84284081e-04 -2.37404696e-01] [ 1.82046654e-03 3.86456310e-04 9.99998268e-01 5.48102921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.221966746 meters 0.25141235684127 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:0.05 [[ 9.99993995e-01 4.19102129e-04 -3.44017220e-03 7.47712964e-02] [-4.13425607e-04 9.99998552e-01 1.65061456e-03 -2.36561454e-01] [ 3.44085899e-03 -1.64918239e-03 9.99992720e-01 5.10977068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.251966745999997 meters 0.25074814037275134 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:0.05 [[ 9.99993879e-01 4.71234945e-04 -3.46686548e-03 7.47571543e-02] [-4.65304482e-04 9.99998428e-01 1.71122026e-03 -2.36675503e-01] [ 3.46766641e-03 -1.70959664e-03 9.99992526e-01 5.12353305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.281966746 meters 0.2509994467781327 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:0.05 [[ 9.99993542e-01 3.86522901e-04 -3.57300933e-03 7.53444744e-02] [-3.80615164e-04 9.99998560e-01 1.65396654e-03 -2.37010969e-01] [ 3.57364348e-03 -1.65259592e-03 9.99992249e-01 5.08509986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.311966746 meters 0.25270771920631824 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:0.05 [[ 9.99996486e-01 1.17985268e-03 -2.37397325e-03 1.20842037e-01] [-1.18193359e-03 9.99998918e-01 -8.75340625e-04 -2.36113931e-01] [ 2.37293791e-03 8.78143428e-04 9.99996799e-01 5.12541626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.341966745999997 meters 0.2515069999681866 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:0.05 [[ 9.99996505e-01 1.21271305e-03 -2.34923480e-03 1.20621459e-01] [-1.21481841e-03 9.99998862e-01 -8.94972795e-04 -2.35664988e-01] [ 2.34814678e-03 8.97823561e-04 9.99996840e-01 5.14103696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.371966746 meters 0.2536759792963501 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:0.05 [[ 9.99996515e-01 1.23668708e-03 -2.33251653e-03 1.20549362e-01] [-1.23874243e-03 9.99998846e-01 -8.79931611e-04 -2.35418722e-01] [ 2.33142564e-03 8.82817931e-04 9.99996893e-01 5.13970575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.401966746 meters 0.2522061125070979 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:0.05 [[ 9.99996380e-01 1.25949154e-03 -2.37781106e-03 1.20835795e-01] [-1.26076683e-03 9.99999062e-01 -5.34906891e-04 -2.37820932e-01] [ 2.37713512e-03 5.37902820e-04 9.99997030e-01 5.10363328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.431966745999997 meters 0.25211670628738675 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:0.05 [[ 9.99994601e-01 -4.77421153e-04 -3.25104671e-03 7.55668020e-02] [ 4.81059923e-04 9.99999259e-01 1.11857126e-03 -2.39925422e-01] [ 3.25051027e-03 -1.12012917e-03 9.99994090e-01 4.99954801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.461966745999998 meters 0.2506512726367524 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:0.05 [[ 9.99994695e-01 -5.24778264e-04 -3.21465434e-03 7.59163114e-02] [ 5.28405461e-04 9.99999225e-01 1.12758668e-03 -2.40167860e-01] [ 3.21406012e-03 -1.12927934e-03 9.99994197e-01 4.91883058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.491966746 meters 0.2512667776384039 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:0.05 [[ 0.99995983 0.00456245 -0.00771542 0.05041384] [-0.00457792 0.99998754 -0.0019881 -0.2378679 ] [ 0.00770625 0.00202334 0.99996826 0.05379072] [ 0. 0. 0. 1. ]] SLAMing on 18.521966745999997 meters 0.2515393895325732 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:0.05 [[ 9.99997030e-01 -6.29628605e-04 -2.35467066e-03 7.30868047e-02] [ 6.31897554e-04 9.99999337e-01 9.62975377e-04 -2.40111026e-01] [ 2.35406278e-03 -9.64460428e-04 9.99996764e-01 5.05506600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.551966745999998 meters 0.2519093759753695 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:0.05 [[ 9.99997081e-01 -5.08247281e-04 -2.36226005e-03 7.29820520e-02] [ 5.11278183e-04 9.99999047e-01 1.28262495e-03 -2.42103511e-01] [ 2.36160591e-03 -1.28382897e-03 9.99996387e-01 5.08000443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.581966746 meters 0.25322877171188457 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.25, Z:0.05 [[ 9.99993746e-01 -1.65299364e-03 -3.12667388e-03 7.78035645e-02] [ 1.65464779e-03 9.99998492e-01 5.26530762e-04 -2.45158032e-01] [ 3.12579881e-03 -5.31701013e-04 9.99994973e-01 4.74324866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.611966745999997 meters 0.2553228071884864 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:0.05 [[ 0.99998835 -0.00317016 -0.00363924 0.03109291] [ 0.00317921 0.99999186 0.00248305 -0.24792042] [ 0.00363133 -0.00249459 0.9999903 0.04696506] [ 0. 0. 0. 1. ]] SLAMing on 18.641966745999998 meters 0.25245382225273466 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99996097e-01 2.76609993e-03 -3.93395588e-04 5.71698325e-02] [-2.76720793e-03 9.99992126e-01 -2.84441789e-03 -2.46602936e-01] [ 3.85524546e-04 2.84549540e-03 9.99995877e-01 4.04677235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.671966746 meters 0.24937481186559837 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.25, Z:0.04 [[ 9.99996372e-01 2.37106467e-03 -1.27868390e-03 1.20996127e-02] [-2.37109427e-03 9.99997189e-01 -2.16347761e-05 -2.46999447e-01] [ 1.27862901e-03 2.46665777e-05 9.99999182e-01 3.90306912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.701966745999997 meters 0.25163440011569227 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99996799e-01 2.52844376e-03 -9.45700524e-05 5.67847311e-02] [-2.52871388e-03 9.99992379e-01 -2.97448001e-03 -2.47401802e-01] [ 8.70485263e-05 2.97470963e-03 9.99995572e-01 4.02532626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.731966745999998 meters 0.25531802978196105 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99996388e-01 2.68758408e-03 -3.43398360e-05 5.63090393e-02] [-2.68766763e-03 9.99992680e-01 -2.72322027e-03 -2.48205932e-01] [ 2.70207012e-05 2.72330273e-03 9.99996291e-01 4.06590807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.761966746 meters 0.25495860421560534 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99996470e-01 2.65628750e-03 -5.67187781e-05 5.67871677e-02] [-2.65643442e-03 9.99992636e-01 -2.76986026e-03 -2.47918880e-01] [ 4.93608152e-05 2.77000115e-03 9.99996162e-01 4.00413146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.791966745999996 meters 0.2517007737502211 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99996378e-01 2.68944108e-03 -1.07398255e-04 5.67084721e-02] [-2.68972465e-03 9.99992646e-01 -2.73384685e-03 -2.47861370e-01] [ 1.00044945e-04 2.73412582e-03 9.99996257e-01 4.04189779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.821966745999998 meters 0.2549649335767469 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.25, Z:0.04 [[ 9.99998149e-01 1.68690969e-03 -9.25854834e-04 1.17105894e-02] [-1.68740887e-03 9.99998431e-01 -5.38635878e-04 -2.48357687e-01] [ 9.24944752e-04 5.40197177e-04 9.99999426e-01 3.90582150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.851966746 meters 0.24994455142089037 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.25, Z:0.03 [[ 0.9999867 -0.00333163 0.00393762 0.03796822] [ 0.00332194 0.99999144 0.0024652 -0.25061362] [-0.0039458 -0.00245208 0.99998921 0.03258231] [ 0. 0. 0. 1. ]] SLAMing on 18.881966746 meters 0.25106131239204627 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.25, Z:0.03 [[ 0.99998718 -0.00334919 0.0037971 0.03853207] [ 0.00333948 0.99999114 0.00256166 -0.25154935] [-0.00380565 -0.00254894 0.99998951 0.03240952] [ 0. 0. 0. 1. ]] SLAMing on 18.911966745999997 meters 0.2520812841473047 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.25, Z:0.03 [[ 0.9999874 -0.00337708 0.00371392 0.03920152] [ 0.00336728 0.99999084 0.00264095 -0.25229326] [-0.0037228 -0.00262841 0.99998962 0.03174883] [ 0. 0. 0. 1. ]] SLAMing on 18.941966746 meters 0.25063657812476525 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.25, Z:0.04 [[ 9.99997884e-01 1.83581455e-03 -9.28307475e-04 1.48751197e-02] [-1.83605921e-03 9.99998280e-01 -2.62776785e-04 -2.52267156e-01] [ 9.27823469e-04 2.64480656e-04 9.99999535e-01 3.59231708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.971966746 meters 0.249928199556452 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.25, Z:0.04 [[ 9.99997551e-01 1.99270160e-03 -9.63239594e-04 1.46882637e-02] [-1.99262310e-03 9.99998011e-01 8.24438220e-05 -2.54087168e-01] [ 9.63401965e-04 -8.05242466e-05 9.99999533e-01 3.64375840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.001966745999997 meters 0.24918203059648097 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.26, Z:0.04 [[ 0.99998121 -0.00467734 -0.0039633 -0.00943413] [ 0.00469695 0.99997671 0.0049515 -0.25542725] [ 0.00394005 -0.00497002 0.99997989 0.04128522] [ 0. 0. 0. 1. ]] SLAMing on 19.031966746 meters 0.2523084545849646 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.25, Z:0.03 [[ 9.99999361e-01 9.75253994e-04 -5.71169278e-04 1.71618786e-02] [-9.75700033e-04 9.99999219e-01 -7.81165100e-04 -2.52907902e-01] [ 5.70406998e-04 7.81721891e-04 9.99999532e-01 3.38019434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.061966746 meters 0.25137141068549634 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.25, Z:0.03 [[ 9.99999415e-01 9.40009963e-04 -5.35235713e-04 1.72486395e-02] [-9.40496486e-04 9.99999144e-01 -9.09464206e-04 -2.52050407e-01] [ 5.34380349e-04 9.09967061e-04 9.99999443e-01 3.35553213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.091966745999997 meters 0.25378299956610184 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.25, Z:0.03 [[ 9.99999545e-01 8.37231485e-04 -4.57604843e-04 1.73665441e-02] [-8.37797618e-04 9.99998882e-01 -1.23837893e-03 -2.50047361e-01] [ 4.56567522e-04 1.23876175e-03 9.99999129e-01 3.29714145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.121966746 meters 0.25149418609507784 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.25, Z:0.03 [[ 9.99999457e-01 8.99022700e-04 -5.26323577e-04 1.73290775e-02] [-8.99611403e-04 9.99998969e-01 -1.11935412e-03 -2.50552163e-01] [ 5.25316709e-04 1.11982700e-03 9.99999235e-01 3.33290222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.151966746 meters 0.25233679988739743 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.25, Z:0.03 [[ 9.99999387e-01 9.46344871e-04 -5.74953940e-04 1.77112234e-02] [-9.46780377e-04 9.99999265e-01 -7.57661730e-04 -2.53178834e-01] [ 5.74236508e-04 7.58205621e-04 9.99999548e-01 3.29612621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.181966745999997 meters 0.2546916735946928 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.03 [[ 9.99999169e-01 1.11579050e-03 -6.45698687e-04 1.77507022e-02] [-1.11601770e-03 9.99999315e-01 -3.51600855e-04 -2.55410601e-01] [ 6.45305932e-04 3.52321174e-04 9.99999730e-01 3.32132404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.211966745999998 meters 0.253072686882979 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.26, Z:0.04 [[ 0.99998636 -0.00413042 -0.00319703 -0.00876903] [ 0.00414888 0.99997464 0.00578821 -0.25535577] [ 0.00317304 -0.00580139 0.99997814 0.03965142] [ 0. 0. 0. 1. ]] SLAMing on 19.241966746 meters 0.2550225837290301 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.25, Z:0.04 [[ 9.99997135e-01 2.39172742e-03 -1.01592559e-04 1.50041528e-02] [-2.39165537e-03 9.99996893e-01 7.03540411e-04 -2.53774783e-01] [ 1.03274920e-04 -7.03295420e-04 9.99999747e-01 3.53396047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.271966745999997 meters 0.25342620946778766 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.25, Z:0.04 [[ 9.99997046e-01 2.42852755e-03 -9.65286251e-05 1.47986763e-02] [-2.42844562e-03 9.99996699e-01 8.39952215e-04 -2.54715120e-01] [ 9.85681535e-05 -8.39715320e-04 9.99999643e-01 3.55858275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.301966745999998 meters 0.25273637907820645 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99996273e-01 2.55397903e-03 9.64992110e-04 5.95400938e-02] [-2.55168836e-03 9.99993942e-01 -2.36759157e-03 -2.54022299e-01] [-9.71033043e-04 2.36512039e-03 9.99996732e-01 3.69043775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.331966746 meters 0.25372865368936537 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99996568e-01 2.44645952e-03 9.37014185e-04 5.99358405e-02] [-2.44396589e-03 9.99993494e-01 -2.65322012e-03 -2.52577193e-01] [-9.43499084e-04 2.65092099e-03 9.99996041e-01 3.63878024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.361966745999997 meters 0.2519110382833729 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 0.99999631 0.00249586 0.0010747 0.05947262] [-0.00249302 0.9999934 -0.00264113 -0.25238081] [-0.00108128 0.00263844 0.99999593 0.0365185 ] [ 0. 0. 0. 1. ]] SLAMing on 19.391966745999998 meters 0.2546581807259711 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99996362e-01 2.51190720e-03 9.82863558e-04 5.97923072e-02] [-2.50938402e-03 9.99993575e-01 -2.56003877e-03 -2.53213318e-01] [-9.89287822e-04 2.55756307e-03 9.99996240e-01 3.66354639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.421966746 meters 0.2512065301409126 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 0.99999604 0.00263144 0.00100146 0.0592995 ] [-0.00262898 0.99999355 -0.00244881 -0.25329178] [-0.00100789 0.00244616 0.9999965 0.03734767] [ 0. 0. 0. 1. ]] SLAMing on 19.451966745999997 meters 0.2513353178798406 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99996287e-01 2.56025148e-03 9.33815168e-04 5.97826901e-02] [-2.55779392e-03 9.99993287e-01 -2.62350938e-03 -2.52535304e-01] [-9.40525744e-04 2.62111113e-03 9.99996123e-01 3.69269866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.481966745999998 meters 0.25487111773396787 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:0.04 [[ 0.9999948 -0.00194959 -0.00256949 0.03262474] [ 0.00196018 0.99998958 0.00412257 -0.25446494] [ 0.00256142 -0.00412759 0.9999882 0.04490897] [ 0. 0. 0. 1. ]] SLAMing on 19.511966746 meters 0.2541040872687788 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.25, Z:0.04 [[ 0.99999509 -0.00200412 -0.0024073 0.03208923] [ 0.00201349 0.99999039 0.00389532 -0.25296347] [ 0.00239947 -0.00390015 0.99998952 0.04496997] [ 0. 0. 0. 1. ]] SLAMing on 19.541966745999996 meters 0.2559030676701785 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 0.99999435 0.00297746 0.00156057 0.0576142 ] [-0.0029738 0.99999283 -0.00234261 -0.25007702] [-0.00156754 0.00233796 0.99999604 0.03777119] [ 0. 0. 0. 1. ]] SLAMing on 19.571966745999998 meters 0.2549346584414572 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 0.99999404 0.00301534 0.00168427 0.05703424] [-0.0030114 0.99999273 -0.00233932 -0.24961444] [-0.00169131 0.00233423 0.99999585 0.03803752] [ 0. 0. 0. 1. ]] SLAMing on 19.601966746 meters 0.2544609535838457 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.25, Z:0.04 [[ 9.99988844e-01 -4.65576222e-03 -7.97849727e-04 3.53769068e-02] [ 4.65716113e-03 9.99987606e-01 1.76055456e-03 -2.50178153e-01] [ 7.89643115e-04 -1.76425063e-03 9.99998132e-01 3.94812645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.631966746 meters 0.2544423990755788 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99997907e-01 2.03510631e-03 -2.11136617e-04 5.77537372e-02] [-2.03578222e-03 9.99992640e-01 -3.25202478e-03 -2.52238727e-01] [ 2.04516847e-04 3.25244780e-03 9.99994690e-01 3.96605575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.661966745999997 meters 0.25224679285517604 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.25, Z:0.04 [[ 9.99986781e-01 -3.37044399e-03 3.88299007e-03 8.22786484e-02] [ 3.37095611e-03 9.99994310e-01 -1.25351463e-04 -2.54169859e-01] [-3.88254549e-03 1.38439195e-04 9.99992453e-01 3.63368652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.691966746 meters 0.25557787015930694 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.25, Z:0.04 [[ 9.99986984e-01 -3.26874328e-03 3.91745985e-03 8.19668042e-02] [ 3.26868393e-03 9.99994658e-01 2.15519187e-05 -2.54731040e-01] [-3.91750937e-03 -8.74670011e-06 9.99992326e-01 3.67273651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.721966746 meters 0.2550096745180741 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.04 [[ 9.99986943e-01 -3.17645172e-03 4.00302879e-03 8.14981831e-02] [ 3.17584143e-03 9.99994944e-01 1.58805619e-04 -2.55122387e-01] [-4.00351299e-03 -1.46090561e-04 9.99991975e-01 3.70861010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.751966745999997 meters 0.25227321663009455 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.25, Z:0.04 [[ 9.99986404e-01 -3.32272930e-03 4.01876803e-03 8.17957941e-02] [ 3.32345374e-03 9.99994462e-01 -1.73599407e-04 -2.53516788e-01] [-4.01816895e-03 1.86953236e-04 9.99991910e-01 3.65078044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.781966746 meters 0.2516675550812441 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.25, Z:0.04 [[ 9.99986303e-01 -3.31225199e-03 4.05256616e-03 8.14902324e-02] [ 3.31324359e-03 9.99994483e-01 -2.37994166e-04 -2.52701859e-01] [-4.05175550e-03 2.51418045e-04 9.99991760e-01 3.67417643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.811966746 meters 0.25195314548303566 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.25, Z:0.04 [[ 9.99986611e-01 -3.30989589e-03 3.97781412e-03 8.17549464e-02] [ 3.31022513e-03 9.99994518e-01 -7.61882031e-05 -2.53941532e-01] [-3.97754014e-03 8.93546432e-05 9.99992086e-01 3.66305675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.841966745999997 meters 0.25479033521332695 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:0.04 [[ 9.99999492e-01 6.49608001e-04 -7.70577847e-04 5.70147033e-02] [-6.52729132e-04 9.99991557e-01 -4.05706463e-03 -2.54074772e-01] [ 7.67935840e-04 4.05756555e-03 9.99991473e-01 4.11650771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.871966746 meters 0.25585340290060876 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.03 [[ 9.99985312e-01 -2.84516088e-03 4.61315021e-03 8.32040873e-02] [ 2.84288348e-03 9.99995834e-01 5.00157187e-04 -2.59042179e-01] [-4.61455401e-03 -4.87035192e-04 9.99989234e-01 3.44627303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.901966746 meters 0.2643251915695771 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.04 [[ 9.99985508e-01 -2.72448946e-03 4.64334428e-03 8.26436310e-02] [ 2.72164075e-03 9.99996104e-01 6.19711992e-04 -2.59309710e-01] [-4.64501459e-03 -6.07065496e-04 9.99989028e-01 3.53725645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.931966745999997 meters 0.25138554223549275 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.04 [[ 9.99985798e-01 -2.75396082e-03 4.56287644e-03 8.27971228e-02] [ 2.75185379e-03 9.99996104e-01 4.67990588e-04 -2.58316435e-01] [-4.56414749e-03 -4.55427573e-04 9.99989481e-01 3.54426214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.961966745999998 meters 0.2565709887861571 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.04 [[ 9.99985933e-01 -2.68940425e-03 4.57169423e-03 8.27468912e-02] [ 2.68705856e-03 9.99996255e-01 5.19155400e-04 -2.58085648e-01] [-4.57307332e-03 -5.06863687e-04 9.99989415e-01 3.54247146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.991966746 meters 0.25293052875167327 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.04 [[ 9.99985942e-01 -2.63055093e-03 4.60381430e-03 8.25790369e-02] [ 2.62731358e-03 9.99996297e-01 7.09094676e-04 -2.59126288e-01] [-4.60566257e-03 -6.96989044e-04 9.99989151e-01 3.53828281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.021966745999997 meters 0.25293052875167327 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.04 [[ 9.99985942e-01 -2.63055093e-03 4.60381430e-03 8.25790369e-02] [ 2.62731358e-03 9.99996297e-01 7.09094676e-04 -2.59126288e-01] [-4.60566257e-03 -6.96989044e-04 9.99989151e-01 3.53828281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.051966745999998 meters 0.25569609362953083 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 9.99999731e-01 6.59783724e-04 -3.20737753e-04 5.75705199e-02] [-6.61065700e-04 9.99991728e-01 -4.01342025e-03 -2.57966692e-01] [ 3.18087111e-04 4.01363120e-03 9.99991895e-01 4.05801687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.081966746 meters 0.2565390716978419 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.03 [[ 9.99982859e-01 -2.96951269e-03 5.04609642e-03 8.27148198e-02] [ 2.96716923e-03 9.99995487e-01 4.71833309e-04 -2.61286523e-01] [-5.04747476e-03 -4.56852599e-04 9.99987157e-01 3.47473745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.111966745999997 meters 0.2557502012333419 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.03 [[ 9.99982736e-01 -2.98820577e-03 5.05942402e-03 8.27938482e-02] [ 2.98651538e-03 9.99995482e-01 3.41628772e-04 -2.60400210e-01] [-5.06042202e-03 -3.26512826e-04 9.99987143e-01 3.44588224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.141966745999998 meters 0.25663532455626287 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.26, Z:0.03 [[ 9.99983015e-01 -2.97707770e-03 5.01070892e-03 8.31172655e-02] [ 2.97507713e-03 9.99995492e-01 4.06665181e-04 -2.60667164e-01] [-5.01189701e-03 -3.91751028e-04 9.99987364e-01 3.41561060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.171966746 meters 0.25522991835408376 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 9.99997195e-01 2.33540969e-03 -3.95147412e-04 5.91956804e-02] [-2.33628939e-03 9.99994761e-01 -2.24064692e-03 -2.57875996e-01] [ 3.89912514e-04 2.24156381e-03 9.99997412e-01 3.88100316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.201966745999997 meters 0.25159259053354616 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 9.99997355e-01 2.25885484e-03 -4.32978829e-04 5.94199971e-02] [-2.25981785e-03 9.99994945e-01 -2.23670570e-03 -2.58478159e-01] [ 4.27924247e-04 2.23767823e-03 9.99997405e-01 3.86457606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.231966745999998 meters 0.25314458105295606 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 9.99997124e-01 2.34422197e-03 -5.05772871e-04 5.94439531e-02] [-2.34513801e-03 9.99995597e-01 -1.81825447e-03 -2.61127475e-01] [ 5.01508252e-04 1.81943535e-03 9.99998219e-01 3.89333592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.261966746 meters 0.2554684778264538 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 9.99996835e-01 2.45094698e-03 -5.68786760e-04 5.93746399e-02] [-2.45182432e-03 9.99995798e-01 -1.54692504e-03 -2.62588438e-01] [ 5.64992939e-04 1.54831471e-03 9.99998642e-01 3.93472698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.291966745999996 meters 0.26218293617065463 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:0.03 [[ 0.99998962 -0.00287232 0.00353763 0.08555511] [ 0.0028675 0.99999496 0.00136502 -0.26381093] [-0.00354153 -0.00135486 0.99999281 0.03393623] [ 0. 0. 0. 1. ]] SLAMing on 20.321966745999998 meters 0.25126687835938216 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:0.03 [[ 0.99998962 -0.00289024 0.00352317 0.08569509] [ 0.00288592 0.99999508 0.00123194 -0.26280017] [-0.00352671 -0.00122176 0.99999303 0.03373098] [ 0. 0. 0. 1. ]] SLAMing on 20.351966746 meters 0.2510425650045098 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999571 0.00239352 -0.00168889 0.06302577] [-0.00239628 0.99999579 -0.00163535 -0.26180902] [ 0.00168497 0.00163939 0.99999724 0.03712308] [ 0. 0. 0. 1. ]] SLAMing on 20.381966746 meters 0.25195475165620423 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999564 0.00235736 -0.00177749 0.06353038] [-0.00235991 0.99999619 -0.0014342 -0.26353497] [ 0.0017741 0.00143839 0.99999739 0.03666592] [ 0. 0. 0. 1. ]] SLAMing on 20.411966745999997 meters 0.6299981046040908 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.27, Z:0.04 [[ 0.99999533 0.0023529 -0.00194795 0.06424338] [-0.00235522 0.99999652 -0.00119101 -0.26566785] [ 0.00194514 0.00119559 0.99999739 0.0364443 ] [ 0. 0. 0. 1. ]] SLAMing on 20.441966746 meters 0.2551586382475426 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.27, Z:0.04 [[ 0.99999459 0.00118377 -0.00306853 0.01875049] [-0.00118055 0.99999875 0.00105066 -0.26696939] [ 0.00306977 -0.00104703 0.99999474 0.03592107] [ 0. 0. 0. 1. ]] SLAMing on 20.471966746 meters 0.2560203005528567 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.27, Z:0.04 [[ 9.99994499e-01 1.04161745e-03 -3.14902886e-03 1.93508858e-02] [-1.03929639e-03 9.99999187e-01 7.38618472e-04 -2.65492348e-01] [ 3.14979566e-03 -7.35341635e-04 9.99994769e-01 3.53831889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.501966745999997 meters 0.25190537267410285 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.03 [[ 9.99994781e-01 8.60767667e-04 -3.11405033e-03 1.96096405e-02] [-8.59844393e-04 9.99999586e-01 2.97813147e-04 -2.63105872e-01] [ 3.11430539e-03 -2.95133994e-04 9.99995107e-01 3.47850064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.531966746 meters 0.2506227780605848 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.04 [[ 9.99995049e-01 9.18498589e-04 -3.00954837e-03 1.91507297e-02] [-9.17444987e-04 9.99999517e-01 3.51448362e-04 -2.63103753e-01] [ 3.00986972e-03 -3.48685527e-04 9.99995410e-01 3.50349305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.561966746 meters 0.25566413280192485 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.03 [[ 9.99994542e-01 8.75620018e-04 -3.18572441e-03 1.99008178e-02] [-8.74104060e-04 9.99999504e-01 4.77220909e-04 -2.64530096e-01] [ 3.18614069e-03 -4.74433650e-04 9.99994812e-01 3.47090888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.591966745999997 meters 0.2505466206097746 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.03 [[ 9.99994574e-01 9.27423718e-04 -3.16108465e-03 1.96376576e-02] [-9.25680378e-04 9.99999419e-01 5.52919095e-04 -2.64696622e-01] [ 3.16159560e-03 -5.49989941e-04 9.99994851e-01 3.49053810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.621966746 meters 0.2567736197554001 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.03 [[ 9.99995010e-01 8.54809083e-04 -3.04110404e-03 1.93339409e-02] [-8.54016193e-04 9.99999601e-01 2.62013296e-04 -2.62924544e-01] [ 3.04132680e-03 -2.59414836e-04 9.99995342e-01 3.49088596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.651966746 meters 0.2557611256260754 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.04 [[ 9.99995201e-01 9.09955582e-04 -2.96138194e-03 1.87713679e-02] [-9.09279070e-04 9.99999560e-01 2.29782929e-04 -2.62369147e-01] [ 2.96158973e-03 -2.27089104e-04 9.99995589e-01 3.54314753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.681966745999997 meters 0.6375613911225234 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.04 [[ 9.99995159e-01 8.76880873e-04 -2.98556665e-03 1.89860478e-02] [-8.76091990e-04 9.99999581e-01 2.65529860e-04 -2.62928251e-01] [ 2.98579824e-03 -2.62912943e-04 9.99995508e-01 3.51947048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.711966745999998 meters 0.2513536718154836 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.04 [[ 9.99994941e-01 9.05511706e-04 -3.04915288e-03 1.92100632e-02] [-9.04199678e-04 9.99999498e-01 4.31643687e-04 -2.64031781e-01] [ 3.04954221e-03 -4.28884461e-04 9.99995258e-01 3.51580037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.741966746 meters 0.2519078404435731 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.04 [[ 9.99995064e-01 8.46972905e-04 -3.02581046e-03 1.90725358e-02] [-8.46064267e-04 9.99999597e-01 3.01563209e-04 -2.63379750e-01] [ 3.02606466e-03 -2.99001691e-04 9.99995377e-01 3.52618447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.771966745999997 meters 0.2566972058072326 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.04 [[ 9.99995263e-01 9.36768015e-04 -2.93205146e-03 1.82797827e-02] [-9.35719019e-04 9.99999498e-01 3.59119856e-04 -2.63235803e-01] [ 2.93238640e-03 -3.56374579e-04 9.99995637e-01 3.60283592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.801966745999998 meters 0.25601858501316055 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.26, Z:0.04 [[ 9.99995126e-01 1.02528394e-03 -2.94909801e-03 1.79031327e-02] [-1.02394298e-03 9.99999372e-01 4.56177404e-04 -2.63510082e-01] [ 2.94956387e-03 -4.53155472e-04 9.99995547e-01 3.69297881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.831966746 meters 0.2567110057092691 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.03 [[ 0.99998908 -0.00401474 0.00239176 0.04249653] [ 0.00400693 0.99998665 0.00326331 -0.26634263] [-0.00240483 -0.00325369 0.99999182 0.03165701] [ 0. 0. 0. 1. ]] SLAMing on 20.861966745999997 meters 0.2517038795536666 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.03 [[ 0.99998907 -0.00401973 0.00238665 0.04264427] [ 0.00401202 0.99998675 0.00322646 -0.26619853] [-0.00239959 -0.00321685 0.99999195 0.03150372] [ 0. 0. 0. 1. ]] SLAMing on 20.891966745999998 meters 0.2559269493787045 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.03 [[ 0.99998925 -0.00402064 0.00230786 0.04310583] [ 0.00401316 0.99998671 0.00323496 -0.26638271] [-0.00232084 -0.00322566 0.9999921 0.03103418] [ 0. 0. 0. 1. ]] SLAMing on 20.921966746 meters 0.25063745515049835 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.03 [[ 0.99998882 -0.00414938 0.00226608 0.04390375] [ 0.00414236 0.99998663 0.00309633 -0.26612229] [-0.0022789 -0.0030869 0.99999264 0.0298489 ] [ 0. 0. 0. 1. ]] SLAMing on 20.951966745999997 meters 0.2563163876770457 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.03 [[ 0.99998852 -0.00416267 0.00237299 0.04374578] [ 0.00415566 0.99998701 0.00295094 -0.26501838] [-0.00238525 -0.00294104 0.99999283 0.02951366] [ 0. 0. 0. 1. ]] SLAMing on 20.981966745999998 meters 0.257216009264881 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.26, Z:0.02 [[ 0.99997733 0.00188494 0.00646466 0.06954753] [-0.00187006 0.99999559 -0.00230622 -0.26156261] [-0.00646898 0.00229408 0.99997644 0.02180297] [ 0. 0. 0. 1. ]] SLAMing on 21.011966746 meters 0.25688805082494887 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.26, Z:0.02 [[ 0.99997585 0.00194499 0.00667225 0.06856168] [-0.00192966 0.99999548 -0.00230401 -0.26110322] [-0.00667671 0.00229108 0.99997509 0.02229227] [ 0. 0. 0. 1. ]] SLAMing on 21.041966745999996 meters 0.25078628930192937 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.26, Z:0.03 [[ 0.99998797 -0.00365609 0.00326984 0.04256006] [ 0.00364451 0.99998709 0.0035407 -0.26294908] [-0.00328274 -0.00352874 0.99998839 0.02928773] [ 0. 0. 0. 1. ]] SLAMing on 21.071966745999998 meters 0.2567145648546926 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999587 0.00202782 0.00203557 0.06014263] [-0.0020226 0.99999466 -0.00256623 -0.26157229] [-0.00204076 0.0025621 0.99999464 0.03585483] [ 0. 0. 0. 1. ]] SLAMing on 21.101966746 meters 0.2569183739108222 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999568 0.00214532 0.00200848 0.05969143] [-0.00214042 0.99999473 -0.0024413 -0.26188097] [-0.00201371 0.00243699 0.999995 0.03677369] [ 0. 0. 0. 1. ]] SLAMing on 21.131966745999996 meters 0.25316449660690976 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999571 0.00212633 0.00201233 0.05999983] [-0.00212162 0.99999502 -0.00233594 -0.26285994] [-0.00201729 0.00233167 0.99999525 0.03632031] [ 0. 0. 0. 1. ]] SLAMing on 21.161966745999997 meters 0.25790077951920265 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999559 0.00219969 0.00199588 0.05967898] [-0.00219513 0.99999498 -0.00228288 -0.26280796] [-0.0020009 0.00227849 0.9999954 0.03696888] [ 0. 0. 0. 1. ]] SLAMing on 21.191966746 meters 0.25137122582022886 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999544 0.0022175 0.00205148 0.05923957] [-0.00221239 0.99999445 -0.00249202 -0.26118781] [-0.002057 0.00248747 0.99999479 0.03747275] [ 0. 0. 0. 1. ]] SLAMing on 21.221966746 meters 0.25659982241566653 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999577 0.00211419 0.00199983 0.05969322] [-0.00210897 0.99999437 -0.00261051 -0.2609363 ] [-0.00200534 0.00260628 0.99999459 0.03701262] [ 0. 0. 0. 1. ]] SLAMing on 21.251966745999997 meters 0.2568692032472498 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999564 0.00220075 0.00196882 0.05979947] [-0.00219602 0.9999947 -0.00240243 -0.26200269] [-0.00197409 0.0023981 0.99999518 0.03694248] [ 0. 0. 0. 1. ]] SLAMing on 21.281966746 meters 0.25684741365676056 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999534 0.00229789 0.00201035 0.05963835] [-0.00229351 0.999995 -0.00217485 -0.26320761] [-0.00201534 0.00217023 0.99999561 0.03701328] [ 0. 0. 0. 1. ]] SLAMing on 21.311966746 meters 0.25694868507537555 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999527 0.00231248 0.00202813 0.05939858] [-0.00230784 0.99999472 -0.00228828 -0.26217028] [-0.00203341 0.00228359 0.99999533 0.03722085] [ 0. 0. 0. 1. ]] SLAMing on 21.341966745999997 meters 0.25784575686216477 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999563 0.00210625 0.00207554 0.05956307] [-0.00210049 0.99999395 -0.00277336 -0.25956815] [-0.00208137 0.00276899 0.999994 0.03663737] [ 0. 0. 0. 1. ]] SLAMing on 21.371966746 meters 0.25795494085669646 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.9999958 0.00202804 0.0020714 0.05990137] [-0.00202223 0.99999403 -0.00280323 -0.25962471] [-0.00207708 0.00279903 0.99999393 0.03602029] [ 0. 0. 0. 1. ]] SLAMing on 21.401966746 meters 0.25101539185830557 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.26, Z:0.04 [[ 0.99998954 -0.00425659 -0.00167656 0.03510806] [ 0.00426083 0.9999877 0.00253789 -0.263206 ] [ 0.00166573 -0.002545 0.99999537 0.0423336 ] [ 0. 0. 0. 1. ]] SLAMing on 21.431966745999997 meters 0.2566938025489634 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.04 [[ 0.99998878 -0.00434991 -0.00187766 0.03608191] [ 0.00435525 0.99998646 0.00284815 -0.26618456] [ 0.00186524 -0.00285629 0.99999418 0.0417005 ] [ 0. 0. 0. 1. ]] SLAMing on 21.461966745999998 meters 0.2527755837162334 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.27, Z:0.04 [[ 0.99999479 0.00303092 0.00110803 0.05842243] [-0.00302933 0.99999438 -0.00143383 -0.2658334 ] [-0.00111237 0.00143047 0.99999836 0.03862681] [ 0. 0. 0. 1. ]] SLAMing on 21.491966746 meters 0.25693082543322493 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.26, Z:0.04 [[ 0.99999463 0.00305352 0.00118972 0.05792525] [-0.00305172 0.9999942 -0.001512 -0.26478785] [-0.00119433 0.00150836 0.99999815 0.03884934] [ 0. 0. 0. 1. ]] SLAMing on 21.521966745999997 meters 0.2549982186982191 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:0.04 [[ 0.99999379 -0.00293953 -0.00194294 0.0321464 ] [ 0.00294727 0.99998768 0.00399427 -0.26637589] [ 0.00193117 -0.00399997 0.99999014 0.04479949] [ 0. 0. 0. 1. ]] SLAMing on 21.551966745999998 meters 0.25702985335109124 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.27, Z:0.04 [[ 0.99999795 0.0013667 0.00149497 0.05858465] [-0.00136243 0.99999501 -0.0028507 -0.26616818] [-0.00149885 0.00284865 0.99999482 0.03764774] [ 0. 0. 0. 1. ]] SLAMing on 21.581966746 meters 0.2568937244994195 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.27, Z:0.04 [[ 0.999998 0.00138507 0.00144297 0.05890701] [-0.00138136 0.99999576 -0.0025649 -0.26808121] [-0.00144652 0.0025629 0.99999567 0.03731395] [ 0. 0. 0. 1. ]] SLAMing on 21.611966745999997 meters 0.2558074870500504 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:0.04 [[ 0.99999096 -0.00391419 -0.00165952 0.03228482] [ 0.00392015 0.99998584 0.00360003 -0.26978956] [ 0.0016454 -0.0036065 0.99999214 0.04460405] [ 0. 0. 0. 1. ]] SLAMing on 21.641966745999998 meters 0.251116823620677 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:0.04 [[ 0.99999104 -0.00395904 -0.00150063 0.03214891] [ 0.00396433 0.99998588 0.00353904 -0.26941749] [ 0.00148659 -0.00354495 0.99999261 0.0439731 ] [ 0. 0. 0. 1. ]] SLAMing on 21.671966746 meters 0.2566159359028319 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.04 [[ 9.99993573e-01 3.56452527e-03 3.84802219e-04 5.47458022e-02] [-3.56422031e-03 9.99993336e-01 -7.90311003e-04 -2.69174087e-01] [-3.87616738e-04 7.88934403e-04 9.99999614e-01 4.22491879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.701966745999997 meters 0.2564294666818461 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.04 [[ 9.99993256e-01 3.65121838e-03 3.95387012e-04 5.46388797e-02] [-3.65101031e-03 9.99993197e-01 -5.25695659e-04 -2.70674821e-01] [-3.97303752e-04 5.24248552e-04 9.99999784e-01 4.23887598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.731966745999998 meters 0.25558836052235046 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.04 [[ 9.99992705e-01 3.79885754e-03 3.97170255e-04 5.44115419e-02] [-3.79880661e-03 9.99992776e-01 -1.28922297e-04 -2.72871088e-01] [-3.97657143e-04 1.27412584e-04 9.99999913e-01 4.27748328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.761966746 meters 0.2559320397297481 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.04 [[ 9.99992938e-01 3.74043145e-03 3.64763404e-04 5.47120845e-02] [-3.74036670e-03 9.99992989e-01 -1.78040545e-04 -2.72949978e-01] [-3.65426795e-04 1.76674939e-04 9.99999918e-01 4.24504857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.791966745999996 meters 0.25474518100976185 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:0.04 [[ 9.99993296e-01 -3.56302358e-03 -8.43987072e-04 3.10805864e-02] [ 3.56658071e-03 9.99984603e-01 4.25133706e-03 -2.70976486e-01] [ 8.28826463e-04 -4.25431871e-03 9.99990607e-01 4.43054747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.821966745999998 meters 0.2566225059713887 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.04 [[ 9.99987224e-01 4.33722826e-03 2.59603466e-03 5.29670991e-02] [-4.33856100e-03 9.99990459e-01 5.07967236e-04 -2.68468041e-01] [-2.59380673e-03 -5.19223802e-04 9.99996501e-01 4.13747849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.851966746 meters 0.2567176302852961 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:0.04 [[ 9.99994853e-01 -3.19231085e-03 3.20888817e-04 2.87983056e-02] [ 3.19084831e-03 9.99984966e-01 4.45939026e-03 -2.66317727e-01] [-3.35119752e-04 -4.45834340e-03 9.99990005e-01 4.49253240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.881966745999996 meters 0.2559569227149125 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.05 [[ 9.99996795e-01 2.44325244e-03 -6.63168619e-04 4.80031321e-02] [-2.44436561e-03 9.99995596e-01 -1.68296394e-03 -2.65846849e-01] [ 6.59053793e-04 1.68457958e-03 9.99998364e-01 4.96164006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.911966745999997 meters 0.2516319285464978 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.05 [[ 9.99996638e-01 2.46981280e-03 -7.89511662e-04 4.83006074e-02] [-2.47093396e-03 9.99995936e-01 -1.42226153e-03 -2.67809145e-01] [ 7.85995734e-04 1.42420758e-03 9.99998677e-01 4.98707377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.941966746 meters 0.2516319285464978 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.05 [[ 9.99996638e-01 2.46981280e-03 -7.89511662e-04 4.83006074e-02] [-2.47093396e-03 9.99995936e-01 -1.42226153e-03 -2.67809145e-01] [ 7.85995734e-04 1.42420758e-03 9.99998677e-01 4.98707377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.971966746 meters 0.25651019118602997 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.27, Z:0.06 [[ 0.99998559 -0.00384213 -0.00375035 0.02159705] [ 0.00385634 0.99998538 0.00379028 -0.27106274] [ 0.00373573 -0.00380469 0.99998578 0.0568088 ] [ 0. 0. 0. 1. ]] SLAMing on 22.001966745999997 meters 0.251490096007253 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.05 [[ 9.99996337e-01 2.67766197e-03 -3.95254743e-04 4.53131257e-02] [-2.67818416e-03 9.99995534e-01 -1.32659599e-03 -2.68756198e-01] [ 3.91700802e-04 1.32764970e-03 9.99999042e-01 5.23320699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.031966746 meters 0.25627948439019826 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.05 [[ 9.99996335e-01 2.68923123e-03 -3.12640886e-04 4.48232191e-02] [-2.68971459e-03 9.99995172e-01 -1.55604780e-03 -2.66834754e-01] [ 3.08454804e-04 1.55688302e-03 9.99998740e-01 5.26502214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.061966746 meters 0.25221872346053004 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.05 [[ 9.99996657e-01 2.56572078e-03 -3.21739932e-04 4.51483033e-02] [-2.56630226e-03 9.99995051e-01 -1.82011159e-03 -2.65494585e-01] [ 3.17068441e-04 1.82093119e-03 9.99998292e-01 5.21022158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.091966745999997 meters 0.2562131007624563 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.05 [[ 9.99996581e-01 2.57842115e-03 -4.36005392e-04 4.54131375e-02] [-2.57914259e-03 9.99995292e-01 -1.66226231e-03 -2.66647891e-01] [ 4.31717327e-04 1.66338115e-03 9.99998523e-01 5.22879670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.121966746 meters 0.2565433497901795 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.27, Z:0.05 [[ 9.99996263e-01 2.70343754e-03 -4.07159747e-04 4.52333033e-02] [-2.70398812e-03 9.99995422e-01 -1.35784033e-03 -2.68229063e-01] [ 4.03487047e-04 1.35893621e-03 9.99998995e-01 5.24730974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.151966746 meters 0.25517267340591565 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.27, Z:0.05 [[ 9.99999377e-01 3.65370101e-04 -1.05450491e-03 -4.91519075e-04] [-3.65415318e-04 9.99999932e-01 -4.26873753e-05 -2.71612019e-01] [ 1.05448925e-03 4.30726810e-05 9.99999443e-01 5.21592190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.181966745999997 meters 0.25642771428024247 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.05 [[ 9.99998630e-01 1.64095379e-03 -2.15388520e-04 4.34643900e-02] [-1.64144846e-03 9.99995969e-01 -2.31694487e-03 -2.69724938e-01] [ 2.11585652e-04 2.31729524e-03 9.99997293e-01 5.43134430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.211966745999998 meters 0.2561695694447632 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.05 [[ 9.99998526e-01 1.71597880e-03 5.57941769e-05 4.24929334e-02] [-1.71582961e-03 9.99995220e-01 -2.57223293e-03 -2.67181496e-01] [-6.02078073e-05 2.57213341e-03 9.99996690e-01 5.45623732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.241966746 meters 0.25698298666546593 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.27, Z:0.05 [[ 0.99998607 -0.00233343 0.00473451 0.0660608 ] [ 0.00232622 0.99999613 0.00152884 -0.26686725] [-0.00473806 -0.0015178 0.99998762 0.0512859 ] [ 0. 0. 0. 1. ]] SLAMing on 22.271966745999997 meters 0.2560042287950422 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997562e-01 2.20637762e-03 -8.76806685e-05 4.15137516e-02] [-2.20653603e-03 9.99995855e-01 -1.84961281e-03 -2.66235774e-01] [ 8.35993608e-05 1.84980177e-03 9.99998286e-01 5.54720919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.301966745999998 meters 0.25596214189821764 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997162e-01 2.38198825e-03 -3.78689653e-05 4.10210782e-02] [-2.38204064e-03 9.99996112e-01 -1.44954165e-03 -2.68265293e-01] [ 3.44160268e-05 1.44962775e-03 9.99998949e-01 5.60817205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.331966746 meters 0.2564234854030369 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997183e-01 2.37092775e-03 -1.14760290e-04 4.14595639e-02] [-2.37108015e-03 9.99996282e-01 -1.34663885e-03 -2.69132309e-01] [ 1.11567080e-04 1.34690716e-03 9.99999087e-01 5.57397382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.361966745999997 meters 0.25601956792513986 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997260e-01 2.34058111e-03 -2.61005827e-05 4.13188496e-02] [-2.34061873e-03 9.99996061e-01 -1.54900461e-03 -2.67627696e-01] [ 2.24749089e-05 1.54906146e-03 9.99998800e-01 5.54758207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.391966745999998 meters 0.25764658412665875 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.05 [[ 9.99997549e-01 2.20916564e-03 -1.45338189e-04 4.19717508e-02] [-2.20942712e-03 9.99995895e-01 -1.82426208e-03 -2.66227454e-01] [ 1.41307495e-04 1.82457872e-03 9.99998325e-01 5.48917606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.421966746 meters 0.25704539880030697 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.05 [[ 9.99997526e-01 2.22401324e-03 -2.80740106e-05 4.15228354e-02] [-2.22406195e-03 9.99995770e-01 -1.87439869e-03 -2.65685116e-01] [ 2.39052043e-05 1.87445649e-03 9.99998243e-01 5.49455483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.451966745999997 meters 0.2574416011103579 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997395e-01 2.28107808e-03 -8.69654385e-05 4.16078024e-02] [-2.28122035e-03 9.99995999e-01 -1.67252107e-03 -2.66797527e-01] [ 8.31499395e-05 1.67271510e-03 9.99998598e-01 5.51348336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.481966745999998 meters 0.2575607041176233 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997171e-01 2.37879398e-03 -1.64979523e-05 4.11809511e-02] [-2.37881644e-03 9.99995999e-01 -1.53079754e-03 -2.67413056e-01] [ 1.28564343e-05 1.53083246e-03 9.99998828e-01 5.55209470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.511966746 meters 0.25071064864853354 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997142e-01 2.38743095e-03 -1.23372376e-04 4.15518897e-02] [-2.38760187e-03 9.99996164e-01 -1.40435705e-03 -2.68427746e-01] [ 1.20019097e-04 1.40464760e-03 9.99999006e-01 5.55479438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.541966745999996 meters 0.2567317224588022 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997014e-01 2.43668486e-03 -1.84780371e-04 4.14976573e-02] [-2.43693094e-03 9.99996128e-01 -1.34343417e-03 -2.68707834e-01] [ 1.81506129e-04 1.34388046e-03 9.99999081e-01 5.59425005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.571966745999998 meters 0.2531063830707146 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.27, Z:0.05 [[ 0.99998962 -0.00200309 0.00409296 0.06508912] [ 0.00199275 0.99999482 0.00252836 -0.26839628] [-0.004098 -0.00252018 0.99998843 0.05329851] [ 0. 0. 0. 1. ]] SLAMing on 22.601966746 meters 0.25749356979755567 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997611e-01 1.95097104e-03 -9.85478824e-04 3.81870644e-02] [-1.95228115e-03 9.99997210e-01 -1.33020537e-03 -2.65003809e-01] [ 9.82880882e-04 1.33212612e-03 9.99998630e-01 6.05442032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.631966745999996 meters 0.25679397312079444 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997462e-01 2.07303448e-03 -8.82073875e-04 3.76077070e-02] [-2.07397101e-03 9.99997285e-01 -1.06214341e-03 -2.66174569e-01] [ 8.79869620e-04 1.06397011e-03 9.99999047e-01 6.08718407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.661966745999997 meters 0.2573489577715859 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997405e-01 2.06372842e-03 -9.65361766e-04 3.80593408e-02] [-2.06452587e-03 9.99997528e-01 -8.25795104e-04 -2.68110971e-01] [ 9.63655163e-04 8.27785975e-04 9.99999193e-01 6.05257891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.691966746 meters 0.25682932342136255 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997389e-01 2.07895231e-03 -9.49128657e-04 3.79006229e-02] [-2.07979470e-03 9.99997443e-01 -8.87412699e-04 -2.67518464e-01] [ 9.47281341e-04 8.89384375e-04 9.99999156e-01 6.06980085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.721966746 meters 0.25652141372738413 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997309e-01 2.18248932e-03 -7.86380832e-04 3.69745216e-02] [-2.18331250e-03 9.99997068e-01 -1.04746146e-03 -2.65559158e-01] [ 7.84092453e-04 1.04917556e-03 9.99999142e-01 6.14188838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.751966745999997 meters 0.2565974638778266 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99997301e-01 2.22068843e-03 -6.82661912e-04 3.63651859e-02] [-2.22141622e-03 9.99996963e-01 -1.06720018e-03 -2.65006771e-01] [ 6.80289920e-04 1.06871377e-03 9.99999198e-01 6.18051003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.781966746 meters 0.25671814809485816 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.27, Z:0.06 [[ 0.99998512 -0.00358729 0.00410979 0.05986605] [ 0.00358114 0.99999246 0.00150429 -0.26840125] [-0.00411515 -0.00148955 0.99999042 0.058477 ] [ 0. 0. 0. 1. ]] SLAMing on 22.811966746 meters 0.2517255903062334 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.27, Z:0.06 [[ 0.99998564 -0.0035767 0.00399102 0.06011415] [ 0.00356946 0.99999198 0.00181881 -0.27094075] [-0.00399749 -0.00180453 0.99999038 0.05875596] [ 0. 0. 0. 1. ]] SLAMing on 22.841966745999997 meters 0.2563892388339257 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99999849e-01 5.27287649e-04 -1.51839834e-04 3.58979105e-02] [-5.27610033e-04 9.99997590e-01 -2.13102948e-03 -2.73146937e-01] [ 1.50715802e-04 2.13110927e-03 9.99997718e-01 6.21800819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.871966746 meters 0.2568083076161542 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.27, Z:0.06 [[ 9.99999815e-01 5.88466520e-04 -1.52170971e-04 3.55677202e-02] [-5.88795098e-04 9.99997476e-01 -2.16831963e-03 -2.72534163e-01] [ 1.50894604e-04 2.16840883e-03 9.99997638e-01 6.26860280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.901966746 meters 0.25142672704060415 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.27, Z:0.06 [[ 0.99998662 -0.00359075 0.00372467 0.06002839] [ 0.00358411 0.99999198 0.00178584 -0.27028866] [-0.00373105 -0.00177246 0.99999147 0.05922467] [ 0. 0. 0. 1. ]] SLAMing on 22.931966745999997 meters 0.2539329722887112 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.27, Z:0.05 [[ 0.99996696 0.00334594 0.00740873 0.08333557] [-0.00332547 0.99999062 -0.00277341 -0.2686559 ] [-0.00741794 0.00274868 0.99996871 0.05406268] [ 0. 0. 0. 1. ]] SLAMing on 22.961966745999998 meters 0.25363989842915824 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.27, Z:0.06 [[ 0.99998584 -0.00369946 0.00382413 0.06017306] [ 0.00369253 0.99999153 0.00181732 -0.27017943] [-0.00383082 -0.00180317 0.99999104 0.05871436] [ 0. 0. 0. 1. ]] SLAMing on 22.991966746 meters 0.25219235028566606 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.27, Z:0.06 [[ 0.99998617 -0.00357657 0.00385594 0.05975337] [ 0.00356845 0.99999141 0.00211032 -0.27172726] [-0.00386346 -0.00209653 0.99999034 0.05924936] [ 0. 0. 0. 1. ]] SLAMing on 23.021966745999997 meters 0.2534427961773997 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.27, Z:0.06 [[ 0.99998747 0.00289769 0.00408167 0.08183982] [-0.00288491 0.99999093 -0.0031329 -0.27494012] [-0.00409071 0.00312108 0.99998676 0.0598382 ] [ 0. 0. 0. 1. ]] SLAMing on 23.051966745999998 meters 0.2520592959135765 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.28, Z:0.06 [[ 9.99992226e-01 -3.93401215e-03 2.67283444e-04 5.93931365e-02] [ 3.93357817e-03 9.99990975e-01 1.60526352e-03 -2.76981135e-01] [-2.73596158e-04 -1.60419966e-03 9.99998676e-01 6.42794686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.081966746 meters 0.25756727856360173 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.28, Z:0.06 [[ 9.99992058e-01 -3.97911870e-03 2.25025906e-04 5.96762789e-02] [ 3.97876738e-03 9.99990898e-01 1.54071657e-03 -2.76640719e-01] [-2.31154552e-04 -1.53980901e-03 9.99998788e-01 6.39682769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.111966745999997 meters 0.25195245515673026 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.27, Z:0.07 [[ 9.99988348e-01 1.54127117e-03 -4.57477060e-03 3.45003953e-02] [-1.54549964e-03 9.99998382e-01 -9.20911943e-04 -2.74046725e-01] [ 4.57334382e-03 9.27971519e-04 9.99989112e-01 6.88239479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.141966745999998 meters 0.2542931651896646 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.28, Z:0.06 [[ 9.99993303e-01 -3.62274126e-03 5.19121978e-04 5.98522458e-02] [ 3.62170522e-03 9.99991475e-01 1.98298456e-03 -2.76962012e-01] [-5.26301393e-04 -1.98109117e-03 9.99997899e-01 6.33871541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.171966746 meters 0.25177200048706516 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99991619e-01 -1.88101690e-04 -4.08986277e-03 3.49740939e-02] [ 1.78549263e-04 9.99997256e-01 -2.33587481e-03 -2.78460244e-01] [ 4.09029093e-03 2.33512499e-03 9.99988908e-01 6.79998508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.201966745999997 meters 0.25669519622380804 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99991781e-01 -3.66428263e-05 -4.05415889e-03 3.46507965e-02] [ 2.87629339e-05 9.99998111e-01 -1.94369778e-03 -2.80390805e-01] [ 4.05422246e-03 1.94356519e-03 9.99989893e-01 6.82735238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.231966745999998 meters 0.2531295850936982 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.28, Z:0.07 [[ 9.99991611e-01 -9.74878010e-05 -4.09503165e-03 3.50374037e-02] [ 8.91933566e-05 9.99997944e-01 -2.02562348e-03 -2.79936820e-01] [ 4.09522071e-03 2.02524123e-03 9.99989564e-01 6.77816046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.261966746 meters 0.2516875808669087 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99992182e-01 -1.77956719e-05 -3.95409817e-03 3.43628448e-02] [ 1.00199678e-05 9.99998066e-01 -1.96650353e-03 -2.79656300e-01] [ 3.95412552e-03 1.96644854e-03 9.99990249e-01 6.80932838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.291966745999996 meters 0.2543749368648703 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99992134e-01 -1.03273367e-04 -3.96504436e-03 3.47717231e-02] [ 9.51111413e-05 9.99997876e-01 -2.05867935e-03 -2.79309115e-01] [ 3.96524855e-03 2.05828604e-03 9.99990020e-01 6.74521474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.321966745999998 meters 0.2531937636861401 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99992270e-01 1.79120955e-05 -3.93182240e-03 3.42995574e-02] [-2.53784873e-05 9.99998197e-01 -1.89892300e-03 -2.79832417e-01] [ 3.93178129e-03 1.89900810e-03 9.99990467e-01 6.80695451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.351966746 meters 0.2574061530084148 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99992452e-01 1.85419770e-04 -3.88089971e-03 3.37962976e-02] [-1.91410660e-04 9.99998791e-01 -1.54337148e-03 -2.81522366e-01] [ 3.88060885e-03 1.54410268e-03 9.99991278e-01 6.85955261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.381966745999996 meters 0.2568706520178802 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99992404e-01 4.04705651e-04 -3.87664557e-03 3.34693642e-02] [-4.09319660e-04 9.99999209e-01 -1.18948708e-03 -2.83153884e-01] [ 3.87616111e-03 1.19106483e-03 9.99991778e-01 6.92863970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.411966745999997 meters 0.25245995411244326 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99992352e-01 3.75041681e-04 -3.89286097e-03 3.36625490e-02] [-3.79827852e-04 9.99999173e-01 -1.22880750e-03 -2.83133582e-01] [ 3.89239690e-03 1.23027672e-03 9.99991668e-01 6.91253472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.441966746 meters 0.25247201132686736 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99992539e-01 3.70843630e-04 -3.84506336e-03 3.35995965e-02] [-3.76716542e-04 9.99998764e-01 -1.52677849e-03 -2.80994260e-01] [ 3.84449241e-03 1.52821559e-03 9.99991442e-01 6.89950375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.471966746 meters 0.25296077724134075 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99992638e-01 3.75792096e-04 -3.81884324e-03 3.34259518e-02] [-3.82436318e-04 9.99998414e-01 -1.73927090e-03 -2.79374675e-01] [ 3.81818358e-03 1.74071856e-03 9.99991196e-01 6.91547637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.501966745999997 meters 0.25540151412441725 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99987213e-01 -2.22491718e-04 -5.05208979e-03 -9.97392775e-03] [ 2.28260203e-04 9.99999323e-01 1.14125385e-03 -2.82340367e-01] [ 5.05183244e-03 -1.14239245e-03 9.99986587e-01 6.67956589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.531966746 meters 0.25344556380490635 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99994382e-01 9.05899997e-04 -3.22733387e-03 3.01102545e-02] [-9.09395876e-04 9.99999001e-01 -1.08190689e-03 -2.81870376e-01] [ 3.22635054e-03 1.08483574e-03 9.99994207e-01 7.15749899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.561966746 meters 0.25341712688404394 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99994143e-01 8.44121020e-04 -3.31675527e-03 3.05951937e-02] [-8.48134575e-04 9.99998910e-01 -1.20886467e-03 -2.81472694e-01] [ 3.31573123e-03 1.21167064e-03 9.99993769e-01 7.13191097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.591966745999997 meters 0.25439049715874096 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99994337e-01 8.84879440e-04 -3.24707048e-03 3.02010479e-02] [-8.89000846e-04 9.99998801e-01 -1.26804541e-03 -2.80768220e-01] [ 3.24594452e-03 1.27092488e-03 9.99993924e-01 7.15935061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.621966746 meters 0.25695572681293477 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99990801e-01 2.20456401e-04 -4.28356069e-03 -1.41891556e-02] [-2.14077115e-04 9.99998868e-01 1.48964976e-03 -2.81570252e-01] [ 4.28388424e-03 -1.48871905e-03 9.99989716e-01 7.00989667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.651966746 meters 0.25250831666423085 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99990345e-01 1.46617432e-04 -4.39177469e-03 -1.37694266e-02] [-1.39826183e-04 9.99998794e-01 1.54662342e-03 -2.82604029e-01] [ 4.39199616e-03 -1.54599440e-03 9.99989160e-01 7.00132659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.681966745999997 meters 0.2534677771998089 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99989602e-01 1.16040457e-04 -4.55886124e-03 -1.30312508e-02] [-1.08456135e-04 9.99998610e-01 1.66385604e-03 -2.83781206e-01] [ 4.55904798e-03 -1.66334430e-03 9.99988224e-01 6.96182777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.711966745999998 meters 0.2532687967129969 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99989883e-01 1.21370453e-04 -4.49656429e-03 -1.32149460e-02] [-1.14055597e-04 9.99998670e-01 1.62698629e-03 -2.83496772e-01] [ 4.49675577e-03 -1.62645698e-03 9.99988567e-01 6.94954755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.741966746 meters 0.251773815337855 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99989782e-01 2.21643179e-04 -4.51513983e-03 -1.33265575e-02] [-2.12977796e-04 9.99998135e-01 1.91957409e-03 -2.85091063e-01] [ 4.51555686e-03 -1.91859285e-03 9.99987964e-01 6.97254236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.771966745999997 meters 0.2563232742740424 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99990090e-01 2.84000447e-04 -4.44277988e-03 -1.37892825e-02] [-2.75362823e-04 9.99998071e-01 1.94468449e-03 -2.84694915e-01] [ 4.44332360e-03 -1.94344184e-03 9.99988240e-01 6.99836423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.801966745999998 meters 0.2558021481064003 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99990645e-01 2.65635226e-04 -4.31734393e-03 -1.41338458e-02] [-2.58066737e-04 9.99998429e-01 1.75350537e-03 -2.83149605e-01] [ 4.31780294e-03 -1.75237480e-03 9.99989143e-01 6.97921232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.831966746 meters 0.2558021481064003 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99990645e-01 2.65635226e-04 -4.31734393e-03 -1.41338458e-02] [-2.58066737e-04 9.99998429e-01 1.75350537e-03 -2.83149605e-01] [ 4.31780294e-03 -1.75237480e-03 9.99989143e-01 6.97921232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.861966745999997 meters 0.2565689100974018 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99995614e-01 5.36017106e-04 -2.91289392e-03 2.88323787e-02] [-5.39659326e-04 9.99999073e-01 -1.24973654e-03 -2.82282480e-01] [ 2.91222135e-03 1.25130303e-03 9.99994977e-01 7.19350868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.891966745999998 meters 0.2527775803382459 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:0.07 [[ 9.99995410e-01 4.95390167e-04 -2.98916949e-03 2.90933874e-02] [-4.98705552e-04 9.99999261e-01 -1.10848878e-03 -2.83627520e-01] [ 2.98861815e-03 1.10997441e-03 9.99994918e-01 7.19012317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.921966746 meters 0.2536463233464229 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.29, Z:0.07 [[ 9.99995252e-01 6.78690352e-04 -3.00603553e-03 2.89279805e-02] [-6.80617556e-04 9.99999563e-01 -6.40135063e-04 -2.86127621e-01] [ 3.00559976e-03 6.42177984e-04 9.99995277e-01 7.21241638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.951966745999997 meters 0.25571059413221514 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99989315e-01 -2.81102617e-04 -4.61429005e-03 -1.35461775e-02] [ 2.88658462e-04 9.99998619e-01 1.63690367e-03 -2.86982356e-01] [ 4.61382353e-03 -1.63821813e-03 9.99988014e-01 6.92650679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.981966745999998 meters 0.256066089885786 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99988842e-01 -3.47135316e-04 -4.71120306e-03 -1.28629949e-02] [ 3.54587515e-04 9.99998687e-01 1.58106064e-03 -2.86761128e-01] [ 4.71064804e-03 -1.58271353e-03 9.99987652e-01 6.85022916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.011966746 meters 0.2516536954014617 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99988649e-01 -5.74620605e-04 -4.72983454e-03 -1.23930973e-02] [ 5.79805264e-04 9.99999233e-01 1.09486246e-03 -2.84215086e-01] [ 4.72920178e-03 -1.09759241e-03 9.99988215e-01 6.76894936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.041966745999996 meters 0.2514630358777279 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.28, Z:0.07 [[ 9.99988619e-01 -6.29413006e-04 -4.72932346e-03 -1.21665383e-02] [ 6.34765774e-04 9.99999160e-01 1.13040965e-03 -2.84863962e-01] [ 4.72860799e-03 -1.13339880e-03 9.99988178e-01 6.73729583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.071966745999998 meters 0.25221972810998955 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99988413e-01 -4.50888408e-04 -4.79279609e-03 -1.24400162e-02] [ 4.58329631e-04 9.99998691e-01 1.55159991e-03 -2.87098545e-01] [ 4.79209022e-03 -1.55377861e-03 9.99987311e-01 6.81281424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.101966746 meters 0.251320660954972 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99989019e-01 -3.27168972e-04 -4.67482685e-03 -1.30195773e-02] [ 3.35626840e-04 9.99998308e-01 1.80856673e-03 -2.88504507e-01] [ 4.67422723e-03 -1.81011587e-03 9.99987437e-01 6.85882990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.131966745999996 meters 0.25253450631437985 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99988931e-01 -3.75413687e-04 -4.69015802e-03 -1.29470926e-02] [ 3.83552152e-04 9.99998422e-01 1.73444298e-03 -2.88281805e-01] [ 4.68949949e-03 -1.73622270e-03 9.99987497e-01 6.85850248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.161966745999997 meters 0.25611447400364995 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99989711e-01 -2.33263063e-04 -4.53019989e-03 -1.38328015e-02] [ 2.41605806e-04 9.99998276e-01 1.84112400e-03 -2.88141558e-01] [ 4.52976261e-03 -1.84219958e-03 9.99988044e-01 6.91975147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.191966746 meters 0.25651697679759855 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99990346e-01 -1.94512420e-04 -4.38970914e-03 -1.44825143e-02] [ 2.02664769e-04 9.99998256e-01 1.85678172e-03 -2.87971188e-01] [ 4.38934032e-03 -1.85765343e-03 9.99988641e-01 6.95705124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.221966746 meters 0.2503342508446666 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.29, Z:0.07 [[ 0.99998493 -0.00182575 -0.00517794 -0.06084731] [ 0.00184499 0.99999141 0.00371249 -0.28872171] [ 0.00517112 -0.00372199 0.9999797 0.07007094] [ 0. 0. 0. 1. ]] SLAMing on 24.251966745999997 meters 0.2534163869670428 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.29, Z:0.07 [[ 9.99989994e-01 -1.55893620e-03 -4.19300814e-03 -1.59702576e-02] [ 1.56069349e-03 9.99998696e-01 4.15858616e-04 -2.87469611e-01] [ 4.19235437e-03 -4.22398455e-04 9.99991123e-01 7.08878603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.281966746 meters 0.2551568852973161 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.29, Z:0.06 [[ 9.99991575e-01 4.07804601e-03 -4.69096371e-04 8.31001276e-03] [-4.08049271e-03 9.99977423e-01 -5.33874891e-03 -2.86451320e-01] [ 4.47314116e-04 5.34061807e-03 9.99985639e-01 6.49076710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.311966746 meters 0.2512887253839002 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.29, Z:0.06 [[ 0.99999269 0.00338253 -0.00178121 -0.03604823] [-0.00338689 0.99999126 -0.00245009 -0.28816691] [ 0.00177291 0.0024561 0.99999541 0.0641668 ] [ 0. 0. 0. 1. ]] SLAMing on 24.341966745999997 meters 0.25217726567368337 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99994768e-01 -1.52801228e-03 2.85110080e-03 -1.19000278e-02] [ 1.52626844e-03 9.99998647e-01 6.13714309e-04 -2.87958203e-01] [-2.85203470e-03 -6.09359553e-04 9.99995747e-01 6.04484109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.371966746 meters 0.2525714238265611 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99994792e-01 -1.60141238e-03 2.80192490e-03 -1.14476857e-02] [ 1.60002264e-03 9.99998596e-01 4.98168220e-04 -2.87560482e-01] [-2.80271874e-03 -4.93682482e-04 9.99995951e-01 5.99983328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.401966746 meters 0.255214343531093 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995180e-01 -1.46268442e-03 2.73868166e-03 -1.15835768e-02] [ 1.46043358e-03 9.99998594e-01 8.23690123e-04 -2.89386661e-01] [-2.73988261e-03 -8.19686490e-04 9.99995911e-01 6.06058381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.431966745999997 meters 0.2534593453301446 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995115e-01 -1.39981863e-03 2.79485959e-03 -1.19025824e-02] [ 1.39767089e-03 9.99998727e-01 7.70266408e-04 -2.88680877e-01] [-2.79593426e-03 -7.66356351e-04 9.99995798e-01 6.08846865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.461966745999998 meters 0.2566722097675292 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995067e-01 -1.39474515e-03 2.81443251e-03 -1.19582438e-02] [ 1.39259911e-03 9.99998738e-01 7.64327895e-04 -2.88631070e-01] [-2.81549500e-03 -7.60404749e-04 9.99995747e-01 6.09196875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.491966746 meters 0.2528959079774487 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995257e-01 -1.50282924e-03 2.68847480e-03 -1.12634488e-02] [ 1.50110524e-03 9.99998667e-01 6.43156408e-04 -2.88328855e-01] [-2.68943777e-03 -6.39117674e-04 9.99996179e-01 6.03745916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.521966745999997 meters 0.25188781202660615 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995401e-01 -1.51683551e-03 2.62621765e-03 -1.09893631e-02] [ 1.51539856e-03 9.99998701e-01 5.49060470e-04 -2.87765833e-01] [-2.62704707e-03 -5.45078178e-04 9.99996401e-01 6.02497845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.551966745999998 meters 0.25274539367540094 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995461e-01 -1.58296094e-03 2.56380838e-03 -1.05866312e-02] [ 1.58147212e-03 9.99998580e-01 5.82629097e-04 -2.88482064e-01] [-2.56472702e-03 -5.78571860e-04 9.99996544e-01 5.99288260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.581966746 meters 0.25220529803011255 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995233e-01 -1.59352273e-03 2.64491134e-03 -1.08177451e-02] [ 1.59259932e-03 9.99998670e-01 3.51196450e-04 -2.86742911e-01] [-2.64546746e-03 -3.46982492e-04 9.99996441e-01 5.98867602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.611966745999997 meters 0.2561031082634527 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995490e-01 -1.45795668e-03 2.62570914e-03 -1.08900148e-02] [ 1.45638354e-03 9.99998759e-01 6.00941169e-04 -2.87970393e-01] [-2.62658203e-03 -5.97114419e-04 9.99996372e-01 6.01674257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.641966745999998 meters 0.2536072708927427 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995740e-01 -1.40076670e-03 2.56069018e-03 -1.06868333e-02] [ 1.39833801e-03 9.99998571e-01 9.49997316e-04 -2.90591519e-01] [-2.56201725e-03 -9.46412559e-04 9.99996270e-01 6.02510939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.671966746 meters 0.25209875631124756 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995743e-01 -1.29698175e-03 2.61361302e-03 -1.10615761e-02] [ 1.29444061e-03 9.99998688e-01 9.73726066e-04 -2.90091560e-01] [-2.61487249e-03 -9.70338754e-04 9.99996110e-01 6.06431362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.701966745999997 meters 0.2518449850899737 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995661e-01 -1.27998507e-03 2.65314436e-03 -1.13149564e-02] [ 1.27748533e-03 9.99998739e-01 9.43658355e-04 -2.89785410e-01] [-2.65434888e-03 -9.40264907e-04 9.99996035e-01 6.08458789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.731966745999998 meters 0.25340467871096 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995419e-01 -1.41849510e-03 2.67384663e-03 -1.10986292e-02] [ 1.41670135e-03 9.99998770e-01 6.72626939e-04 -2.88439982e-01] [-2.67479746e-03 -6.68835816e-04 9.99996199e-01 6.03227519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.761966746 meters 0.25200199964234754 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995456e-01 -1.36168289e-03 2.68948216e-03 -1.14343831e-02] [ 1.35973904e-03 9.99998813e-01 7.24457956e-04 -2.88406551e-01] [-2.69046545e-03 -7.20797671e-04 9.99996121e-01 6.07683768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.791966745999996 meters 0.2523078977323039 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995367e-01 -1.44004807e-03 2.68184223e-03 -1.12071728e-02] [ 1.43839078e-03 9.99998773e-01 6.19793706e-04 -2.88113367e-01] [-2.68273147e-03 -6.15933297e-04 9.99996212e-01 6.04262296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.821966745999998 meters 0.2571454066014955 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995392e-01 -1.41484612e-03 2.68586682e-03 -1.14456287e-02] [ 1.41321317e-03 9.99998815e-01 6.09780083e-04 -2.87878227e-01] [-2.68672638e-03 -6.05981571e-04 9.99996207e-01 6.07717892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.851966746 meters 0.2571271957388856 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995658e-01 -1.39411658e-03 2.59638084e-03 -1.10535844e-02] [ 1.39184897e-03 9.99998649e-01 8.74975049e-04 -2.89806626e-01] [-2.59759715e-03 -8.71357479e-04 9.99996247e-01 6.06331063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.881966745999996 meters 0.2548968099050923 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99995687e-01 -1.37505692e-03 2.59505434e-03 -1.12697733e-02] [ 1.37280354e-03 9.99998679e-01 8.69916491e-04 -2.89449172e-01] [-2.59624710e-03 -8.66350239e-04 9.99996254e-01 6.09350058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.911966745999997 meters 0.25736960333974335 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 0.99999581 -0.00125307 0.0026111 -0.01167406] [ 0.00125024 0.99999863 0.00108257 -0.29038349] [-0.00261246 -0.00107931 0.99999601 0.0615478 ] [ 0. 0. 0. 1. ]] SLAMing on 24.941966746 meters 0.25186806874477025 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 0.99999575 -0.00121946 0.00264801 -0.01185735] [ 0.00121628 0.99999854 0.00120397 -0.29107707] [-0.00264947 -0.00120074 0.99999577 0.06164792] [ 0. 0. 0. 1. ]] SLAMing on 24.971966746 meters 0.2578073975449519 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 0.9999958 -0.00129266 0.00259516 -0.0115133 ] [ 0.00128964 0.99999849 0.00116426 -0.29119549] [-0.00259667 -0.00116091 0.99999595 0.0613315 ] [ 0. 0. 0. 1. ]] SLAMing on 25.001966745999997 meters 0.2540218348675714 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 0.99999611 -0.0011274 0.00255026 -0.01161235] [ 0.0011232 0.99999802 0.00164565 -0.29385273] [-0.00255211 -0.00164278 0.99999539 0.06169449] [ 0. 0. 0. 1. ]] SLAMing on 25.031966746 meters 0.25659033701347583 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.06 [[ 0.99999635 -0.00106457 0.00248198 -0.01154159] [ 0.00105975 0.99999755 0.00194234 -0.29568001] [-0.00248404 -0.0019397 0.99999503 0.06186236] [ 0. 0. 0. 1. ]] SLAMing on 25.061966746 meters 0.25655374805458775 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 0.99999651 -0.00113767 0.00238389 -0.01116901] [ 0.00113356 0.99999787 0.00172735 -0.2945626 ] [-0.00238585 -0.00172464 0.99999567 0.06175388] [ 0. 0. 0. 1. ]] SLAMing on 25.091966745999997 meters 0.2562244438805195 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.29, Z:0.07 [[ 0.99998769 0.00400492 -0.00292932 -0.03455523] [-0.00400854 0.99999121 -0.00123275 -0.29040319] [ 0.00292436 0.00124448 0.99999495 0.06564053] [ 0. 0. 0. 1. ]] SLAMing on 25.121966746 meters 0.2523140759509755 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 0.99999708 -0.00149454 0.00190103 -0.00865153] [ 0.00149249 0.9999983 0.00108176 -0.29246251] [-0.00190264 -0.00107892 0.99999761 0.05996996] [ 0. 0. 0. 1. ]] SLAMing on 25.151966746 meters 0.250759275971856 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 0.99999722 -0.00134358 0.00193667 -0.00895243] [ 0.00134078 0.99999806 0.00144615 -0.29438563] [-0.00193861 -0.00144355 0.99999708 0.0602473 ] [ 0. 0. 0. 1. ]] SLAMing on 25.181966745999997 meters 0.251890100981375 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 0.99999721 -0.00138363 0.00191419 -0.00870863] [ 0.00138084 0.99999798 0.00145911 -0.29477771] [-0.00191621 -0.00145646 0.9999971 0.0599643 ] [ 0. 0. 0. 1. ]] SLAMing on 25.211966745999998 meters 0.25669187201929605 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.06 [[ 0.99999747 -0.00120777 0.00189712 -0.00906849] [ 0.00120417 0.99999748 0.00189385 -0.29708268] [-0.0018994 -0.00189156 0.99999641 0.06065971] [ 0. 0. 0. 1. ]] SLAMing on 25.241966746 meters 0.2562862824946107 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.06 [[ 0.99999739 -0.00129018 0.00188328 -0.0088899 ] [ 0.00128706 0.9999978 0.00165839 -0.29576616] [-0.00188541 -0.00165597 0.99999685 0.060433 ] [ 0. 0. 0. 1. ]] SLAMing on 25.271966745999997 meters 0.25011914633937804 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.29, Z:0.06 [[ 0.99998714 0.00356986 -0.00360113 -0.03254547] [-0.00357431 0.99999286 -0.00122832 -0.29476983] [ 0.00359672 0.00124118 0.99999276 0.06486949] [ 0. 0. 0. 1. ]] SLAMing on 25.301966745999998 meters 0.2505438423113553 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.29, Z:0.06 [[ 0.99998703 0.00338873 -0.00380262 -0.03127807] [-0.00339403 0.99999328 -0.00138725 -0.29464633] [ 0.00379789 0.00140013 0.99999181 0.06370928] [ 0. 0. 0. 1. ]] SLAMing on 25.331966746 meters 0.2558121999477907 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.06 [[ 9.99998817e-01 -1.53286270e-03 1.28679254e-04 -5.96686350e-03] [ 1.53261931e-03 9.99997076e-01 1.87071151e-03 -2.94081418e-01] [-1.31546422e-04 -1.87051208e-03 9.99998242e-01 5.92702433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.361966745999997 meters 0.2548537884498224 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.29, Z:0.06 [[ 0.99998648 0.00314723 -0.00413824 -0.03050057] [-0.00315407 0.99999367 -0.00164722 -0.29351775] [ 0.00413303 0.00166025 0.99999008 0.06310971] [ 0. 0. 0. 1. ]] SLAMing on 25.391966745999998 meters 0.251085566631195 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.06 [[ 0.99999841 -0.0014122 0.0010912 -0.00793644] [ 0.00141019 0.99999731 0.00184185 -0.2952948 ] [-0.0010938 -0.00184031 0.99999771 0.06015592] [ 0. 0. 0. 1. ]] SLAMing on 25.421966746 meters 0.25502973800154816 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.06 [[ 0.99999849 -0.00125777 0.00119623 -0.00863518] [ 0.00125522 0.99999695 0.00212892 -0.29647816] [-0.00119891 -0.00212741 0.99999702 0.06082038] [ 0. 0. 0. 1. ]] SLAMing on 25.451966745999997 meters 0.2515959226265389 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.06 [[ 0.99999846 -0.0013076 0.00117253 -0.00848145] [ 0.0013052 0.99999705 0.00204951 -0.29622499] [-0.00117521 -0.00204797 0.99999721 0.06075134] [ 0. 0. 0. 1. ]] SLAMing on 25.481966745999998 meters 0.25576021953100303 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.06 [[ 0.99999863 -0.00113754 0.00120486 -0.00916173] [ 0.00113484 0.99999685 0.00223721 -0.29666652] [-0.0012074 -0.00223584 0.99999677 0.06183117] [ 0. 0. 0. 1. ]] SLAMing on 25.511966746 meters 0.2517821771868697 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.30, Z:0.06 [[ 0.9999789 0.00517888 0.00392143 0.01570144] [-0.00516627 0.99998148 -0.00321817 -0.29571349] [-0.00393803 0.00319785 0.99998713 0.05690713] [ 0. 0. 0. 1. ]] SLAMing on 25.541966745999996 meters 0.2554964677264211 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.30, Z:0.06 [[ 0.9999891 0.00360815 0.00296343 -0.02958215] [-0.00360512 0.99999298 -0.00102501 -0.2975017 ] [-0.00296711 0.00101431 0.99999508 0.05713265] [ 0. 0. 0. 1. ]] SLAMing on 25.571966745999998 meters 0.2566106586331999 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.05 [[ 0.99996729 -0.00135202 0.00797423 -0.00581119] [ 0.00133756 0.99999745 0.00181848 -0.29694413] [-0.00797667 -0.00180775 0.99996655 0.05300796] [ 0. 0. 0. 1. ]] SLAMing on 25.601966746 meters 0.25658368268106624 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.05 [[ 0.99996767 -0.00134735 0.00792782 -0.00592821] [ 0.00133276 0.99999741 0.0018456 -0.29704785] [-0.00793029 -0.00183498 0.99996687 0.0533878 ] [ 0. 0. 0. 1. ]] SLAMing on 25.631966745999996 meters 0.25194806511236734 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.29, Z:0.06 [[ 0.99999623 0.00193693 0.00194867 -0.02833574] [-0.00193192 0.99999484 -0.00256769 -0.29445058] [-0.00195364 0.00256391 0.9999948 0.05791407] [ 0. 0. 0. 1. ]] SLAMing on 25.661966745999997 meters 0.25599408739267293 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.29, Z:0.06 [[ 0.99998825 0.00348493 0.00337016 0.01422036] [-0.00346945 0.99998346 -0.00458816 -0.29398988] [-0.0033861 0.00457642 0.9999838 0.06032364] [ 0. 0. 0. 1. ]] SLAMing on 25.691966746 meters 0.2558207843366527 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.30, Z:0.07 [[ 0.99999194 -0.00377415 0.00136639 -0.0582361 ] [ 0.00377007 0.99998846 0.0029767 -0.29549932] [-0.00137761 -0.00297153 0.99999464 0.06742726] [ 0. 0. 0. 1. ]] SLAMing on 25.721966745999996 meters 0.25246541621544943 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99994315e-01 -2.55048397e-03 2.20554776e-03 -1.46723738e-02] [ 2.55005360e-03 9.99996729e-01 1.97923295e-04 -2.92965363e-01] [-2.20604534e-03 -1.92297905e-04 9.99997548e-01 6.96773311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.751966745999997 meters 0.25246541621544943 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99994315e-01 -2.55048397e-03 2.20554776e-03 -1.46723738e-02] [ 2.55005360e-03 9.99996729e-01 1.97923295e-04 -2.92965363e-01] [-2.20604534e-03 -1.92297905e-04 9.99997548e-01 6.96773311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.781966746 meters 0.25685491502743635 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99994582e-01 -2.47568421e-03 2.16965615e-03 -1.46819457e-02] [ 2.47503004e-03 9.99996891e-01 3.04139380e-04 -2.93380797e-01] [-2.17040235e-03 -2.98767768e-04 9.99997600e-01 6.98858953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.811966746 meters 0.25712814823279423 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99994566e-01 -2.53639413e-03 2.10601616e-03 -1.42550429e-02] [ 2.53585093e-03 9.99996751e-01 2.60559542e-04 -2.93490907e-01] [-2.10667020e-03 -2.55217583e-04 9.99997748e-01 6.95528773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.841966745999997 meters 0.2541012794639058 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.29, Z:0.07 [[ 0.9999927 0.00255042 -0.0028468 -0.03734784] [-0.00255818 0.99999301 -0.00272636 -0.29253204] [ 0.00283982 0.00273362 0.99999223 0.07272646] [ 0. 0. 0. 1. ]] SLAMing on 25.871966746 meters 0.25729448769140234 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.29, Z:0.07 [[ 0.99999229 0.00270014 -0.00285165 -0.03775021] [-0.00270723 0.99999324 -0.00248623 -0.29345239] [ 0.00284491 0.00249393 0.99999284 0.07343281] [ 0. 0. 0. 1. ]] SLAMing on 25.901966746 meters 0.25578852500270294 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.29, Z:0.07 [[ 0.99999222 0.00281829 -0.00276056 -0.03836025] [-0.00282462 0.99999339 -0.00229074 -0.29411045] [ 0.00275409 0.00229852 0.99999357 0.07396411] [ 0. 0. 0. 1. ]] SLAMing on 25.931966745999997 meters 0.2558291243441686 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.07 [[ 0.99999216 0.00293107 -0.00266412 -0.03877069] [-0.00293641 0.99999368 -0.00200263 -0.29559594] [ 0.00265824 0.00201043 0.99999445 0.07405994] [ 0. 0. 0. 1. ]] SLAMing on 25.961966745999998 meters 0.2524953210428931 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.07 [[ 9.99994016e-01 -2.05649440e-03 2.78179916e-03 -1.48078719e-02] [ 2.05415097e-03 9.99997533e-01 8.45010593e-04 -2.97823013e-01] [-2.78353005e-03 -8.39291301e-04 9.99995774e-01 6.94150768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.991966746 meters 0.253968904229227 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99993977e-01 -2.07105883e-03 2.78501732e-03 -1.50018136e-02] [ 2.06888558e-03 9.99997553e-01 7.82990421e-04 -2.97381849e-01] [-2.78663212e-03 -7.77223823e-04 9.99995815e-01 6.97242000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.021966745999997 meters 0.25313276724000766 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99993626e-01 -2.12589869e-03 2.86856047e-03 -1.52083778e-02] [ 2.12436644e-03 9.99997599e-01 5.37092521e-04 -2.95744153e-01] [-2.86969538e-03 -5.30995223e-04 9.99995741e-01 6.95373610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.051966745999998 meters 0.25404397548179963 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99993739e-01 -2.11047739e-03 2.84046180e-03 -1.52920250e-02] [ 2.10875678e-03 9.99997591e-01 6.08607075e-04 -2.96270405e-01] [-2.84173941e-03 -6.02613421e-04 9.99995781e-01 6.99209936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.081966746 meters 0.2562683558510731 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.08 [[ 0.99999322 0.00311494 -0.00196492 -0.04074102] [-0.00311886 0.99999314 -0.00199854 -0.29555989] [ 0.00195868 0.00200465 0.99999607 0.07521144] [ 0. 0. 0. 1. ]] SLAMing on 26.111966745999997 meters 0.25171075596249665 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.08 [[ 0.99999303 0.00310901 -0.00206843 -0.04034434] [-0.00311303 0.99999326 -0.00194484 -0.29604055] [ 0.00206237 0.00195126 0.99999597 0.07514761] [ 0. 0. 0. 1. ]] SLAMing on 26.141966745999998 meters 0.2521593336672108 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.29, Z:0.07 [[ 0.99999327 0.00299462 -0.00212103 -0.04001217] [-0.0029994 0.99999296 -0.00225647 -0.29452912] [ 0.00211425 0.00226281 0.9999952 0.07491248] [ 0. 0. 0. 1. ]] SLAMing on 26.171966746 meters 0.25634515615710124 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.29, Z:0.07 [[ 0.99999334 0.00301304 -0.00205836 -0.04022189] [-0.00301794 0.99999261 -0.00238105 -0.2934236 ] [ 0.00205117 0.00238724 0.99999505 0.07491296] [ 0. 0. 0. 1. ]] SLAMing on 26.201966745999997 meters 0.25472763030791834 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99992663e-01 2.30581602e-03 -3.05903017e-03 -8.41775266e-02] [-2.30402103e-03 9.99997172e-01 5.90178024e-04 -2.95403685e-01] [ 3.06038236e-03 -5.83125624e-04 9.99995147e-01 7.33576839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.231966745999998 meters 0.25655115072794726 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99997682e-01 -1.98022535e-03 -8.45800262e-04 -1.17323693e-02] [ 1.97956398e-03 9.99997735e-01 -7.82065971e-04 -2.93472711e-01] [ 8.47347013e-04 7.80389843e-04 9.99999336e-01 6.87128599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.261966746 meters 0.2574339902051683 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.07 [[ 9.99998066e-01 -1.79129593e-03 -8.11342085e-04 -1.21350349e-02] [ 1.79109733e-03 9.99998366e-01 -2.45439710e-04 -2.96468696e-01] [ 8.11780414e-04 2.43986043e-04 9.99999641e-01 6.92212031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.291966745999996 meters 0.2572541199672789 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.07 [[ 9.99998246e-01 -1.72207798e-03 -7.36220359e-04 -1.25385638e-02] [ 1.72193438e-03 9.99998498e-01 -1.95636016e-04 -2.96529123e-01] [ 7.36556154e-04 1.94367950e-04 9.99999710e-01 6.94740481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.321966745999998 meters 0.2565444024895038 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.07 [[ 9.99998204e-01 -1.76133167e-03 -6.99945547e-04 -1.26042921e-02] [ 1.76104190e-03 9.99998364e-01 -4.14387137e-04 -2.95044077e-01] [ 7.00674275e-04 4.13153760e-04 9.99999669e-01 6.93321914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.351966746 meters 0.2559547030831887 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.29, Z:0.07 [[ 9.99998318e-01 -1.71493006e-03 -6.50917381e-04 -1.27987188e-02] [ 1.71468416e-03 9.99998458e-01 -3.78134527e-04 -2.94983404e-01] [ 6.51564852e-04 3.77017773e-04 9.99999717e-01 6.93619533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.381966745999996 meters 0.2555906241173228 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.07 [[ 0.99998137 0.00315245 -0.00522677 -0.03650816] [-0.00317084 0.99998879 -0.00351523 -0.29517084] [ 0.00521563 0.00353174 0.99998016 0.07280103] [ 0. 0. 0. 1. ]] SLAMing on 26.411966745999997 meters 0.2565018446129596 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.07 [[ 9.99998089e-01 -1.95493286e-03 1.66026064e-05 -1.47373042e-02] [ 1.95494054e-03 9.99997976e-01 -4.75777055e-04 -2.96654480e-01] [-1.56724606e-05 4.75808603e-04 9.99999887e-01 7.02181559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.441966746 meters 0.2567348918786266 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.07 [[ 9.99997949e-01 -2.02547474e-03 5.24080115e-06 -1.46381953e-02] [ 2.02547715e-03 9.99997819e-01 -5.09222291e-04 -2.96665656e-01] [-4.20937283e-06 5.09231861e-04 9.99999870e-01 7.01035126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.471966745999996 meters 0.25707197587877 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.07 [[ 9.99997834e-01 -2.08122414e-03 -5.11837500e-06 -1.43643832e-02] [ 2.08122118e-03 9.99997698e-01 -5.21540440e-04 -2.96753271e-01] [ 6.20380577e-06 5.21528658e-04 9.99999864e-01 6.95999338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.501966745999997 meters 0.2522554016209011 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.07 [[ 9.99997837e-01 -2.07851466e-03 7.19567636e-05 -1.46286617e-02] [ 2.07855375e-03 9.99997690e-01 -5.47497478e-04 -2.96425296e-01] [-7.08186159e-05 5.47645860e-04 9.99999848e-01 6.95072890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.531966746 meters 0.2530470781293783 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998186e-01 -1.89586093e-03 1.81962476e-04 -1.53769513e-02] [ 1.89589789e-03 9.99998182e-01 -2.03139867e-04 -2.97946055e-01] [-1.81577021e-04 2.03484481e-04 9.99999963e-01 7.02578961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.561966746 meters 0.2566906383345044 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998353e-01 -1.80396325e-03 1.98416845e-04 -1.56148839e-02] [ 1.80396045e-03 9.99998373e-01 1.43055435e-05 -2.99046751e-01] [-1.98442329e-04 -1.39475838e-05 9.99999980e-01 7.05822831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.591966745999997 meters 0.25646157643137346 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998466e-01 -1.74184891e-03 1.83190534e-04 -1.56568838e-02] [ 1.74183709e-03 9.99998481e-01 6.46920520e-05 -2.99144528e-01] [-1.83302939e-04 -6.43728647e-05 9.99999981e-01 7.07069498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.621966746 meters 0.25712871541244003 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998384e-01 -1.79086760e-03 1.60576302e-04 -1.53286702e-02] [ 1.79085428e-03 9.99998393e-01 8.30470899e-05 -2.99561979e-01] [-1.60724770e-04 -8.27593869e-05 9.99999984e-01 7.03038481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.651966746 meters 0.2525709577331821 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998352e-01 -1.81432466e-03 6.38437816e-05 -1.50612554e-02] [ 1.81431702e-03 9.99998347e-01 1.19480583e-04 -2.99942765e-01] [-6.40604526e-05 -1.19364553e-04 9.99999991e-01 7.03387998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.681966745999997 meters 0.2567676624087661 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998497e-01 -1.72537742e-03 1.70963422e-04 -1.55305553e-02] [ 1.72534252e-03 9.99998491e-01 2.04066273e-04 -3.00055882e-01] [-1.71315255e-04 -2.03770996e-04 9.99999965e-01 7.04901377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.711966745999998 meters 0.25610685161003244 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998604e-01 -1.65618389e-03 2.20758650e-04 -1.57599751e-02] [ 1.65610642e-03 9.99998567e-01 3.50642524e-04 -3.00650408e-01] [-2.21339062e-04 -3.50276435e-04 9.99999914e-01 7.05791894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.741966746 meters 0.25453077726348017 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.08 [[ 0.99998141 0.00347762 -0.00500884 -0.04130754] [-0.00348839 0.99999162 -0.00214432 -0.29749895] [ 0.00500134 0.00216175 0.99998516 0.0763087 ] [ 0. 0. 0. 1. ]] SLAMing on 26.771966745999997 meters 0.2571959939365542 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998577e-01 -1.68712408e-03 -1.03886719e-06 -1.54633470e-02] [ 1.68712436e-03 9.99998503e-01 3.83513381e-04 -2.99807698e-01] [ 3.91830976e-07 -3.83514588e-04 9.99999926e-01 7.06741094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.801966745999998 meters 0.25733831923439765 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998648e-01 -1.64404844e-03 -2.36926166e-05 -1.54182528e-02] [ 1.64405968e-03 9.99998532e-01 4.82458994e-04 -3.00233767e-01] [ 2.28993959e-05 -4.82497294e-04 9.99999883e-01 7.05750243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.831966746 meters 0.25607968900223754 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998840e-01 -1.52317099e-03 1.04794472e-05 -1.58392743e-02] [ 1.52316376e-03 9.99998623e-01 6.58474310e-04 -3.00818629e-01] [-1.14824017e-05 -6.58457584e-04 9.99999783e-01 7.11104852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.861966745999997 meters 0.25622970497105174 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998746e-01 -1.57772187e-03 1.38485763e-04 -1.61050640e-02] [ 1.57767056e-03 9.99998687e-01 3.69864164e-04 -2.99016162e-01] [-1.39069124e-04 -3.69645215e-04 9.99999922e-01 7.08469703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.891966745999998 meters 0.2565081625066047 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998851e-01 -1.50127467e-03 2.08893442e-04 -1.64391321e-02] [ 1.50116854e-03 9.99998745e-01 5.07288746e-04 -2.99666200e-01] [-2.09654759e-04 -5.06974579e-04 9.99999850e-01 7.11139565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.921966746 meters 0.2575074183770698 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998731e-01 -1.58493120e-03 1.59717621e-04 -1.60131630e-02] [ 1.58486257e-03 9.99998652e-01 4.28908606e-04 -2.99611719e-01] [-1.60397196e-04 -4.28654931e-04 9.99999895e-01 7.06442326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.951966745999997 meters 0.25687714267427686 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998763e-01 -1.57243263e-03 2.28088857e-05 -1.56243608e-02] [ 1.57242240e-03 9.99998666e-01 4.42096774e-04 -2.99718970e-01] [-2.35040226e-05 -4.42060362e-04 9.99999902e-01 7.07275781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.981966745999998 meters 0.2569523825517043 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998779e-01 -1.56258257e-03 -3.15157345e-05 -1.54130786e-02] [ 1.56259834e-03 9.99998651e-01 5.06875159e-04 -3.00302664e-01] [ 3.07236577e-05 -5.06923786e-04 9.99999871e-01 7.06450840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.011966746 meters 0.2580459581918675 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.30, Z:0.07 [[ 9.99998585e-01 -1.67990824e-03 -8.70218778e-05 -1.48269996e-02] [ 1.67993354e-03 9.99998546e-01 2.91385970e-04 -2.99464011e-01] [ 8.65322496e-05 -2.91531749e-04 9.99999954e-01 6.99272625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.041966745999996 meters 0.2565064575895072 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.30, Z:0.07 [[ 9.99998661e-01 -1.63603039e-03 -2.74560605e-05 -1.52404149e-02] [ 1.63603888e-03 9.99998613e-01 3.12367902e-04 -2.99243317e-01] [ 2.69449790e-05 -3.12412403e-04 9.99999951e-01 7.02493580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.071966745999998 meters 0.2553577705903603 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.30, Z:0.07 [[ 0.99999644 -0.00244804 -0.00106475 -0.05950659] [ 0.00245141 0.99999194 0.00318114 -0.30074317] [ 0.00105695 -0.00318374 0.99999437 0.06910155] [ 0. 0. 0. 1. ]] SLAMing on 27.101966746 meters 0.2564743168414283 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.30, Z:0.06 [[ 0.99999386 0.00305575 0.00171349 -0.03419843] [-0.00305069 0.99999101 -0.00294602 -0.29988926] [-0.00172248 0.00294077 0.99999419 0.063571 ] [ 0. 0. 0. 1. ]] SLAMing on 27.131966745999996 meters 0.2558528996905157 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.30, Z:0.07 [[ 0.99999445 -0.0031614 -0.00105031 -0.05870797] [ 0.00316406 0.99999175 0.00254896 -0.30042561] [ 0.00104224 -0.00255227 0.9999962 0.0685689 ] [ 0. 0. 0. 1. ]] SLAMing on 27.161966745999997 meters 0.2574488537247069 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.07 [[ 0.99999039 0.00402676 0.00173272 -0.03670381] [-0.00402314 0.99998973 -0.00208788 -0.30069906] [-0.00174111 0.00208088 0.99999632 0.06626159] [ 0. 0. 0. 1. ]] SLAMing on 27.191966746 meters 0.25756500409391875 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.07 [[ 0.99999059 0.00402392 0.00162198 -0.03635012] [-0.00402064 0.99998988 -0.00201819 -0.30129493] [-0.00163009 0.00201165 0.99999665 0.06629513] [ 0. 0. 0. 1. ]] SLAMing on 27.221966745999996 meters 0.25752993743610264 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.07 [[ 0.99999038 0.00404602 0.00169466 -0.03671975] [-0.00404249 0.99998965 -0.0020858 -0.30058383] [-0.00170308 0.00207893 0.99999639 0.06654846] [ 0. 0. 0. 1. ]] SLAMing on 27.251966745999997 meters 0.2571424162182226 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.07 [[ 0.99999061 0.00403243 0.00158873 -0.03640919] [-0.0040292 0.99998982 -0.00203171 -0.30104636] [-0.0015969 0.00202529 0.99999667 0.0665469 ] [ 0. 0. 0. 1. ]] SLAMing on 27.281966746 meters 0.2556358064293341 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.30, Z:0.07 [[ 0.99999029 0.0040709 0.00168707 -0.03675861] [-0.00406762 0.99998984 -0.00194054 -0.30140723] [-0.00169495 0.00193366 0.99999669 0.06646007] [ 0. 0. 0. 1. ]] SLAMing on 27.311966746 meters 0.25467703417394005 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.06 [[ 9.99995433e-01 2.98578925e-03 4.67720955e-04 -7.97872474e-02] [-2.98613303e-03 9.99995271e-01 7.36059865e-04 -3.02960750e-01] [-4.65521023e-04 -7.37453181e-04 9.99999620e-01 6.48167790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.341966745999997 meters 0.2559815119900679 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.30, Z:0.06 [[ 0.99998306 -0.00299221 0.00499275 -0.05554226] [ 0.00297849 0.99999177 0.00275334 -0.30251657] [-0.00500094 -0.00273842 0.99998375 0.06072476] [ 0. 0. 0. 1. ]] SLAMing on 27.371966746 meters 0.257158962961957 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.30, Z:0.06 [[ 0.9999832 -0.00306898 0.00491833 -0.05520582] [ 0.00305608 0.99999188 0.00262864 -0.30204255] [-0.00492636 -0.00261356 0.99998445 0.06052108] [ 0. 0. 0. 1. ]] SLAMing on 27.401966746 meters 0.2571066559239059 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.06 [[ 9.99997966e-01 2.00231175e-03 -2.44074080e-04 -7.70593359e-02] [-2.00237897e-03 9.99997957e-01 -2.75466172e-04 -3.01110397e-01] [ 2.43522013e-04 2.75954340e-04 9.99999932e-01 6.27103604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.431966745999997 meters 0.2581675498948476 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.30, Z:0.06 [[ 9.99980878e-01 -5.16992274e-03 3.39352678e-03 -5.57032600e-02] [ 5.16676361e-03 9.99986211e-01 9.39037296e-04 -2.98821571e-01] [-3.39833474e-03 -9.21485789e-04 9.99993801e-01 6.24945677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.461966745999998 meters 0.25572187144161845 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99998452e-01 -3.20499456e-04 -1.73002693e-03 -7.97731097e-02] [ 3.17159783e-04 9.99998087e-01 -1.93034630e-03 -2.98485281e-01] [ 1.73064230e-03 1.92979461e-03 9.99996640e-01 6.68739323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.491966746 meters 0.2516550550672462 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99998346e-01 -2.92646163e-04 -1.79491972e-03 -7.96480033e-02] [ 2.89497083e-04 9.99998419e-01 -1.75444969e-03 -2.99660670e-01] [ 1.79543031e-03 1.75392717e-03 9.99996850e-01 6.70483687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.521966745999997 meters 0.2570947464734253 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99998446e-01 -2.40622491e-04 -1.74645393e-03 -7.98300115e-02] [ 2.37633970e-04 9.99998508e-01 -1.71119994e-03 -2.99633693e-01] [ 1.74686308e-03 1.71078227e-03 9.99997011e-01 6.70840296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.551966745999998 meters 0.25769949868101294 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99998370e-01 -2.58150882e-04 -1.78695769e-03 -7.97570318e-02] [ 2.55087214e-04 9.99998498e-01 -1.71447608e-03 -2.99723758e-01] [ 1.78739759e-03 1.71401745e-03 9.99996934e-01 6.72182759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.581966746 meters 0.2552928662764497 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 0.99999669 -0.00115008 -0.00230149 -0.12519702] [ 0.00115298 0.99999854 0.00125892 -0.3018792 ] [ 0.00230004 -0.00126157 0.99999656 0.06648235] [ 0. 0. 0. 1. ]] SLAMing on 27.611966745999997 meters 0.25657366615449967 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999523e-01 -5.27671122e-04 -8.21892234e-04 -8.36824173e-02] [ 5.26296749e-04 9.99998465e-01 -1.67152538e-03 -3.00721168e-01] [ 8.22772987e-04 1.67109202e-03 9.99998265e-01 6.98322268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.641966745999998 meters 0.25657366615449967 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999523e-01 -5.27671122e-04 -8.21892234e-04 -8.36824173e-02] [ 5.26296749e-04 9.99998465e-01 -1.67152538e-03 -3.00721168e-01] [ 8.22772987e-04 1.67109202e-03 9.99998265e-01 6.98322268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.671966746 meters 0.2564273902350691 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999521e-01 -4.20776847e-04 -8.83239141e-04 -8.37889704e-02] [ 4.19444531e-04 9.99998775e-01 -1.50808713e-03 -3.01463160e-01] [ 8.83872627e-04 1.50771594e-03 9.99998473e-01 7.04274540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.701966745999997 meters 0.25757619059749814 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999422e-01 -4.46781859e-04 -9.77773124e-04 -8.35038428e-02] [ 4.45239758e-04 9.99998658e-01 -1.57680567e-03 -3.01250271e-01] [ 9.78476299e-04 1.57636942e-03 9.99998279e-01 7.05097153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.731966745999998 meters 0.25712098951476 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999491e-01 -4.30366348e-04 -9.12491981e-04 -8.37046861e-02] [ 4.28871865e-04 9.99998568e-01 -1.63736707e-03 -3.00784444e-01] [ 9.13195341e-04 1.63697490e-03 9.99998243e-01 7.05318564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.761966746 meters 0.25638639360154336 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999531e-01 -4.08703498e-04 -8.77732850e-04 -8.38130733e-02] [ 4.07199961e-04 9.99998451e-01 -1.71247432e-03 -3.00145449e-01] [ 8.78431384e-04 1.71211610e-03 9.99998149e-01 7.05027868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.791966745999996 meters 0.2560823994990881 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999628e-01 -3.76603192e-04 -7.75695474e-04 -8.42587686e-02] [ 3.75282894e-04 9.99998482e-01 -1.70152547e-03 -2.99972291e-01] [ 7.76335097e-04 1.70123373e-03 9.99998252e-01 7.06704045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.821966745999998 meters 0.2567171466220957 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999508e-01 -4.63873794e-04 -8.77371761e-04 -8.37518926e-02] [ 4.62244143e-04 9.99998169e-01 -1.85671519e-03 -2.99317837e-01] [ 8.78231437e-04 1.85630871e-03 9.99997891e-01 7.03045514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.851966746 meters 0.25619903155103657 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999645e-01 -3.18032859e-04 -7.80261930e-04 -8.43795545e-02] [ 3.16838749e-04 9.99998779e-01 -1.53004402e-03 -3.00763468e-01] [ 7.80747582e-04 1.52979626e-03 9.99998525e-01 7.07806653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.881966745999996 meters 0.25555750468764604 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999709e-01 -2.66180445e-04 -7.14255281e-04 -8.47086103e-02] [ 2.65084315e-04 9.99998788e-01 -1.53430387e-03 -3.00412108e-01] [ 7.14662816e-04 1.53411408e-03 9.99998568e-01 7.09417645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.911966745999997 meters 0.2575296837940174 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999566e-01 -3.44704949e-04 -8.65624589e-04 -8.40522835e-02] [ 3.43248385e-04 9.99998526e-01 -1.68225936e-03 -2.99955528e-01] [ 8.66203196e-04 1.68196151e-03 9.99998210e-01 7.07409041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.941966746 meters 0.25815605098710487 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999517e-01 -4.15893239e-04 -8.90477232e-04 -8.37564681e-02] [ 4.14334820e-04 9.99998384e-01 -1.74956349e-03 -2.99943875e-01] [ 8.91203425e-04 1.74919369e-03 9.99998073e-01 7.03921483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.971966745999996 meters 0.2576325810516446 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999560e-01 -2.94048477e-04 -8.91342798e-04 -8.42031719e-02] [ 2.92657441e-04 9.99998740e-01 -1.56033694e-03 -3.00592383e-01] [ 8.91800489e-04 1.56007540e-03 9.99998385e-01 7.12080976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.001966745999997 meters 0.25642217905907394 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 0.99999806 -0.00113245 -0.00161178 -0.12836236] [ 0.00113486 0.99999824 0.00149348 -0.30332623] [ 0.00161009 -0.0014953 0.99999759 0.06964903] [ 0. 0. 0. 1. ]] SLAMing on 28.031966746 meters 0.255593554232374 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 0.9999982 -0.00111147 -0.00153841 -0.12871926] [ 0.00111371 0.99999832 0.00145811 -0.30295659] [ 0.00153678 -0.00145982 0.99999775 0.06983443] [ 0. 0. 0. 1. ]] SLAMing on 28.061966746 meters 0.2554662391251972 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 0.99999829 -0.00106779 -0.00151208 -0.12880822] [ 0.00107003 0.99999832 0.00148604 -0.30291774] [ 0.00151049 -0.00148766 0.99999775 0.06977283] [ 0. 0. 0. 1. ]] SLAMing on 28.091966745999997 meters 0.252590018440188 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999448e-01 3.12030355e-04 -1.00286574e-03 -8.40009055e-02] [-3.13182743e-04 9.99999291e-01 -1.14914325e-03 -2.99578151e-01] [ 1.00250646e-03 1.14945669e-03 9.99998837e-01 7.10559619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.121966746 meters 0.2564604068868203 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 9.99997494e-01 -7.88566369e-04 -2.09524771e-03 -1.27171616e-01] [ 7.91889155e-04 9.99998430e-01 1.58551166e-03 -3.02136037e-01] [ 2.09399414e-03 -1.58716689e-03 9.99996548e-01 6.90575508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.151966746 meters 0.2560031322707154 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 9.99997596e-01 -7.67203476e-04 -2.05419317e-03 -1.27242701e-01] [ 7.70449802e-04 9.99998455e-01 1.58001666e-03 -3.01932365e-01] [ 2.05297780e-03 -1.58159551e-03 9.99996642e-01 6.88592801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.181966745999997 meters 0.2568821913303652 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999345e-01 -7.87240963e-05 -1.14170863e-03 -8.33281116e-02] [ 7.68997010e-05 9.99998720e-01 -1.59790761e-03 -2.98723692e-01] [ 1.14183297e-03 1.59781877e-03 9.99998072e-01 7.03152201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.211966745999998 meters 0.2570521110068687 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.30, Z:0.07 [[ 9.99999384e-01 4.22308084e-05 -1.10905504e-03 -8.37597871e-02] [-4.38050775e-05 9.99998992e-01 -1.41948294e-03 -2.99321949e-01] [ 1.10899397e-03 1.41953065e-03 9.99998378e-01 7.08516488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.241966746 meters 0.25550206059668923 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 9.99998114e-01 -7.39860587e-04 -1.79563574e-03 -1.28318156e-01] [ 7.43058336e-04 9.99998138e-01 1.78083151e-03 -3.02358631e-01] [ 1.79431483e-03 -1.78216241e-03 9.99996802e-01 6.96257990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.271966745999997 meters 0.2570899761096573 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 9.99997989e-01 -8.43636246e-04 -1.81933520e-03 -1.28184908e-01] [ 8.46508894e-04 9.99998395e-01 1.57876282e-03 -3.01472147e-01] [ 1.81800038e-03 -1.58029973e-03 9.99997099e-01 6.95808125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.301966745999998 meters 0.25500360705606434 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:0.07 [[ 0.99997385 0.00403365 -0.00600305 -0.15393971] [-0.00404243 0.99999077 -0.00145214 -0.30055443] [ 0.00599713 0.00147637 0.99998093 0.07385911] [ 0. 0. 0. 1. ]] SLAMing on 28.331966746 meters 0.2579046577535762 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 9.99999234e-01 -8.70899179e-04 -8.79025260e-04 -1.30215846e-01] [ 8.72080785e-04 9.99998716e-01 1.34473510e-03 -3.00573857e-01] [ 8.77853003e-04 -1.34550065e-03 9.99998710e-01 7.00576808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.361966745999997 meters 0.2569633653104297 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 9.99999347e-01 -8.73638407e-04 -7.36327394e-04 -1.30753395e-01] [ 8.74540283e-04 9.99998867e-01 1.22539977e-03 -2.99736167e-01] [ 7.35256003e-04 -1.22604291e-03 9.99998978e-01 7.01811285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.391966745999998 meters 0.6465991481246082 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 9.99999239e-01 -9.10275376e-04 -8.32842931e-04 -1.30420005e-01] [ 9.11262392e-04 9.99998882e-01 1.18550492e-03 -2.99730090e-01] [ 8.31762864e-04 -1.18626296e-03 9.99998950e-01 7.02548399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.421966746 meters 0.25798578515554593 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 9.99999264e-01 -8.59655400e-04 -8.56665469e-04 -1.30519693e-01] [ 8.60660231e-04 9.99998941e-01 1.17327821e-03 -2.99330466e-01] [ 8.55655947e-04 -1.17401464e-03 9.99998945e-01 7.05252391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.451966745999997 meters 0.25870702763992387 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.07 [[ 9.99999235e-01 -8.83547174e-04 -8.65240195e-04 -1.30424204e-01] [ 8.84536758e-04 9.99998954e-01 1.14399624e-03 -2.99384491e-01] [ 8.64228516e-04 -1.14476070e-03 9.99998971e-01 7.05030251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.481966745999998 meters 0.25708340886097425 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.30, Z:0.07 [[ 0.99999579 -0.00238706 -0.00165146 -0.1757133 ] [ 0.00239236 0.99999197 0.00321391 -0.30062749] [ 0.00164377 -0.00321785 0.99999347 0.07018298] [ 0. 0. 0. 1. ]] SLAMing on 28.511966746 meters 0.25747658245338556 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:0.07 [[ 0.99998632 0.00512449 0.0010462 -0.15486445] [-0.00512325 0.99998617 -0.00118798 -0.30042885] [-0.00105227 0.0011826 0.99999875 0.06917202] [ 0. 0. 0. 1. ]] SLAMing on 28.541966745999996 meters 0.2586982708629242 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:0.07 [[ 9.99986804e-01 5.04661084e-03 9.60570997e-04 -1.54486838e-01] [-5.04532802e-03 9.99986383e-01 -1.33324781e-03 -2.99864578e-01] [-9.67286300e-04 1.32838382e-03 9.99998650e-01 6.90545454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.571966745999998 meters 0.2572542861418279 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:0.07 [[ 9.99987065e-01 5.00252068e-03 9.19468988e-04 -1.54194829e-01] [-5.00121539e-03 9.99986491e-01 -1.41647488e-03 -2.99601784e-01] [-9.26542512e-04 1.41185810e-03 9.99998574e-01 6.87781143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.601966746 meters 0.25727467131247683 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:0.06 [[ 0.9999894 -0.00209066 0.00410274 -0.17215184] [ 0.00208212 0.99999566 0.00208615 -0.2981049 ] [-0.00410708 -0.00207759 0.99998941 0.06156426] [ 0. 0. 0. 1. ]] SLAMing on 28.631966745999996 meters 0.25980499954662967 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.30, Z:0.06 [[ 9.99986277e-01 -8.71470238e-04 5.16585911e-03 -1.28632525e-01] [ 8.72926604e-04 9.99999580e-01 -2.79673216e-04 -2.96178868e-01] [-5.16561321e-03 2.84178794e-04 9.99986618e-01 6.31127613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.661966745999997 meters 0.25572451644767863 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.30, Z:0.07 [[ 9.99995018e-01 2.10046467e-03 2.35632339e-03 -1.98715452e-01] [-2.09961904e-03 9.99997731e-01 -3.61292332e-04 -2.98654973e-01] [-2.35707692e-03 3.56343151e-04 9.99997159e-01 6.68353237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.691966746 meters 0.257384145433861 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:0.06 [[ 0.99997159 -0.00349095 0.00668099 -0.1735789 ] [ 0.00347838 0.99999216 0.00189302 -0.29812082] [-0.00668755 -0.00186973 0.99997589 0.06255661] [ 0. 0. 0. 1. ]] SLAMing on 28.721966745999996 meters 0.257380501118472 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:0.06 [[ 0.99997176 -0.00340128 0.00670088 -0.17384917] [ 0.00338732 0.99999207 0.00209476 -0.29904164] [-0.00670795 -0.00207201 0.99997535 0.06291789] [ 0. 0. 0. 1. ]] SLAMing on 28.751966745999997 meters 0.25634036233951846 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.30, Z:0.07 [[ 9.99998413e-01 1.32232799e-03 1.19372690e-03 -1.95945148e-01] [-1.32121408e-03 9.99998692e-01 -9.33441485e-04 -2.97910067e-01] [-1.19495965e-03 9.31862835e-04 9.99998852e-01 6.57843235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.781966746 meters 0.2568827085669616 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:0.06 [[ 0.99997485 -0.00417344 0.00573442 -0.17038246] [ 0.00416427 0.99999003 0.00161065 -0.30005848] [-0.00574108 -0.00158673 0.99998226 0.06080287] [ 0. 0. 0. 1. ]] SLAMing on 28.811966745999996 meters 0.2580826134033226 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:0.06 [[ 0.99996956 0.00292465 0.00723366 -0.14831997] [-0.00290124 0.99999053 -0.00324362 -0.30161071] [-0.00724308 0.00322254 0.99996858 0.05983553] [ 0. 0. 0. 1. ]] SLAMing on 28.841966745999997 meters 0.25729780141091035 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:0.07 [[ 0.99998777 -0.00328962 0.00369193 -0.17363118] [ 0.00328175 0.99999234 0.0021335 -0.30439409] [-0.00369892 -0.00212136 0.99999091 0.06661798] [ 0. 0. 0. 1. ]] SLAMing on 28.871966746 meters 0.25758300922521543 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:0.07 [[ 0.99998771 -0.0033502 0.00365391 -0.17341186] [ 0.00334302 0.99999247 0.00196874 -0.30354142] [-0.00366047 -0.0019565 0.99999139 0.06641696] [ 0. 0. 0. 1. ]] SLAMing on 28.901966746 meters 0.25717112741272885 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.30, Z:0.07 [[ 9.99997590e-01 2.05803144e-03 -7.64826880e-04 -1.97474912e-01] [-2.05863620e-03 9.99997568e-01 -7.90777583e-04 -3.01388835e-01] [ 7.63197575e-04 7.92350177e-04 9.99999395e-01 6.96483540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.931966745999997 meters 0.25682455625860173 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.30, Z:0.07 [[ 9.99997464e-01 2.11282789e-03 -7.79485602e-04 -1.97628595e-01] [-2.11340334e-03 9.99997494e-01 -7.38157441e-04 -3.01443200e-01] [ 7.77924050e-04 7.39802937e-04 9.99999424e-01 6.99561454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.961966745999998 meters 0.2526597949192774 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:0.07 [[ 0.99999026 -0.00286024 0.00336012 -0.1723919 ] [ 0.00285262 0.99999335 0.00227007 -0.30096087] [-0.00336659 -0.00226046 0.99999178 0.06583649] [ 0. 0. 0. 1. ]] SLAMing on 28.991966746 meters 0.25721674642732517 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.30, Z:0.07 [[ 9.99996201e-01 2.27281335e-03 -1.55978700e-03 -1.96206822e-01] [-2.27380662e-03 9.99997213e-01 -6.35320910e-04 -2.98364281e-01] [ 1.55833869e-03 6.38865150e-04 9.99998582e-01 6.93523107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.021966745999997 meters 0.25775056228208143 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.30, Z:0.07 [[ 9.99996116e-01 2.25479603e-03 -1.63821769e-03 -1.95961704e-01] [-2.25588322e-03 9.99997236e-01 -6.62094647e-04 -2.98219807e-01] [ 1.63672028e-03 6.65787703e-04 9.99998439e-01 6.93165748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.051966745999998 meters 0.25706090436399776 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.30, Z:0.07 [[ 9.99996051e-01 2.32820135e-03 -1.57409812e-03 -1.96412906e-01] [-2.32897752e-03 9.99997167e-01 -4.91432814e-04 -2.99141310e-01] [ 1.57294950e-03 4.95096912e-04 9.99998640e-01 6.98349384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.081966746 meters 0.25691903805047916 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.30, Z:0.08 [[ 0.99998004 -0.00420562 -0.00471499 -0.22096826] [ 0.00422707 0.99998072 0.00454894 -0.30086303] [ 0.00469577 -0.00456878 0.99997854 0.07513987] [ 0. 0. 0. 1. ]] SLAMing on 29.111966745999997 meters 0.2566230519174434 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.30, Z:0.08 [[ 9.99989283e-01 2.86783347e-03 -3.63438852e-03 -1.99514861e-01] [-2.86876833e-03 9.99995853e-01 -2.52038513e-04 -3.02478643e-01] [ 3.63365065e-03 2.62462030e-04 9.99993364e-01 7.52880297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.141966745999998 meters 0.2568880496503415 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.30, Z:0.08 [[ 9.99988944e-01 3.03310517e-03 -3.59331763e-03 -2.00002994e-01] [-3.03267065e-03 9.99995393e-01 1.26367998e-04 -3.04263078e-01] [ 3.59368436e-03 -1.15469252e-04 9.99993536e-01 7.58821151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.171966746 meters 0.2580810451703748 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.30, Z:0.08 [[ 0.99999036 0.00340689 -0.00276854 -0.15546837] [-0.00341554 0.99998928 -0.00312722 -0.30312909] [ 0.00275786 0.00313664 0.99999128 0.07678909] [ 0. 0. 0. 1. ]] SLAMing on 29.201966745999997 meters 0.2566093486897871 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 9.99990373e-01 2.00967224e-03 -3.90076953e-03 -1.98785196e-01] [-2.01282396e-03 9.99997651e-01 -8.04216499e-04 -3.05344143e-01] [ 3.89914416e-03 8.12060319e-04 9.99992069e-01 7.46258204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.231966745999998 meters 0.2528596835485568 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:0.08 [[ 0.99999168 0.00269548 -0.00306052 -0.15432306] [-0.00270688 0.99998938 -0.00372907 -0.3039339 ] [ 0.00305044 0.00373732 0.99998836 0.07588467] [ 0. 0. 0. 1. ]] SLAMing on 29.261966746 meters 0.253998860901812 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:0.08 [[ 0.99999177 0.00274692 -0.00298478 -0.1546475 ] [-0.00275794 0.99998937 -0.00369377 -0.3037647 ] [ 0.0029746 0.00370197 0.99998872 0.07591257] [ 0. 0. 0. 1. ]] SLAMing on 29.291966745999996 meters 0.2527214289433245 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:0.08 [[ 0.99999196 0.00273389 -0.00293228 -0.15476503] [-0.00274467 0.99998947 -0.00367894 -0.30389902] [ 0.0029222 0.00368696 0.99998893 0.0758605 ] [ 0. 0. 0. 1. ]] SLAMing on 29.321966745999998 meters 0.2529875022563658 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.30, Z:0.08 [[ 0.99999194 0.00276238 -0.00291466 -0.1550233 ] [-0.00277316 0.99998932 -0.00369843 -0.30350518] [ 0.00290441 0.00370648 0.99998891 0.07617957] [ 0. 0. 0. 1. ]] SLAMing on 29.351966746 meters 0.2517083941102212 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.30, Z:0.08 [[ 0.99999207 0.00282064 -0.00281218 -0.15559489] [-0.00283115 0.999989 -0.00373945 -0.30290599] [ 0.0028016 0.00374738 0.99998905 0.07666047] [ 0. 0. 0. 1. ]] SLAMing on 29.381966745999996 meters 0.2578161287665741 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.30, Z:0.08 [[ 0.99999208 0.00284766 -0.00277894 -0.15579065] [-0.00285826 0.99998862 -0.00381863 -0.30213533] [ 0.00276803 0.00382655 0.99998885 0.076776 ] [ 0. 0. 0. 1. ]] SLAMing on 29.411966745999997 meters 0.25627280598707824 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.30, Z:0.08 [[ 0.99998157 -0.00304393 -0.00525287 -0.18139546] [ 0.00305434 0.99999339 0.00197451 -0.3033155 ] [ 0.00524682 -0.00199052 0.99998425 0.08206426] [ 0. 0. 0. 1. ]] SLAMing on 29.441966746 meters 0.2581151461553267 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.30, Z:0.08 [[ 9.99990625e-01 -2.27689413e-03 -3.68320823e-03 -1.39465628e-01] [ 2.27460246e-03 9.99997217e-01 -6.26262455e-04 -3.02408821e-01] [ 3.68462391e-03 6.17878750e-04 9.99993021e-01 8.48525960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.471966745999996 meters 0.2553563305002822 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.08 [[ 0.99998406 -0.0033137 -0.00457217 -0.18349974] [ 0.0033236 0.99999214 0.00216024 -0.30541367] [ 0.00456498 -0.0021754 0.99998721 0.0835031 ] [ 0. 0. 0. 1. ]] SLAMing on 29.501966745999997 meters 0.2578515146758141 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.31, Z:0.08 [[ 0.9999967 0.00217512 -0.00137025 -0.15807007] [-0.00218031 0.99999041 -0.00379698 -0.3050998 ] [ 0.00136198 0.00379996 0.99999185 0.07768918] [ 0. 0. 0. 1. ]] SLAMing on 29.531966746 meters 0.25794281040362427 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.07 [[ 0.99999405 -0.00271934 0.00212466 -0.17729398] [ 0.00271492 0.99999415 0.00208071 -0.30720004] [-0.00213031 -0.00207493 0.99999558 0.07163715] [ 0. 0. 0. 1. ]] SLAMing on 29.561966745999996 meters 0.25794281040362427 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.07 [[ 0.99999405 -0.00271934 0.00212466 -0.17729398] [ 0.00271492 0.99999415 0.00208071 -0.30720004] [-0.00213031 -0.00207493 0.99999558 0.07163715] [ 0. 0. 0. 1. ]] SLAMing on 29.591966745999997 meters 0.25706438309213026 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.07 [[ 0.99999417 -0.00264373 0.00216154 -0.17770254] [ 0.00263922 0.99999434 0.00208597 -0.30683479] [-0.00216704 -0.00208026 0.99999549 0.07222416] [ 0. 0. 0. 1. ]] SLAMing on 29.621966746 meters 0.25874113087680717 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.31, Z:0.07 [[ 0.99998032 0.00432315 0.00454634 -0.15503408] [-0.00431024 0.99998666 -0.00284627 -0.30693333] [-0.00455859 0.00282662 0.99998561 0.0695904 ] [ 0. 0. 0. 1. ]] SLAMing on 29.651966746 meters 0.25253042350735244 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:0.07 [[ 0.99998049 0.00433939 0.00449385 -0.15485217] [-0.00432736 0.99998704 -0.00268345 -0.30798897] [-0.00450544 0.00266395 0.9999863 0.06954869] [ 0. 0. 0. 1. ]] SLAMing on 29.681966745999997 meters 0.25774857220799513 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:0.07 [[ 0.99998073 0.00434374 0.0044362 -0.15466757] [-0.00433203 0.99998711 -0.00264759 -0.30825421] [-0.00444764 0.00262832 0.99998666 0.0695517 ] [ 0. 0. 0. 1. ]] SLAMing on 29.711966745999998 meters 0.258529418700448 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:0.07 [[ 0.99998122 0.00432881 0.00433876 -0.15432245] [-0.00431795 0.99998753 -0.00250891 -0.30938883] [-0.00434957 0.00249012 0.99998744 0.06946198] [ 0. 0. 0. 1. ]] SLAMing on 29.741966746 meters 0.25331235135511704 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:0.07 [[ 0.99998172 0.00430304 0.00424823 -0.15395518] [-0.00429261 0.99998775 -0.00246241 -0.30983392] [-0.00425878 0.00244413 0.99998794 0.06924798] [ 0. 0. 0. 1. ]] SLAMing on 29.771966745999997 meters 0.25653936534783844 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 9.99989177e-01 3.29513645e-03 3.28435569e-03 -1.98007709e-01] [-3.29606532e-03 9.99994529e-01 2.77445069e-04 -3.10774967e-01] [-3.28342351e-03 -2.88267517e-04 9.99994568e-01 6.81097664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.801966745999998 meters 0.25685163765383645 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 9.99989589e-01 3.18474800e-03 3.26800365e-03 -1.97634808e-01] [-3.18499110e-03 9.99994926e-01 6.91860131e-05 -3.09803208e-01] [-3.26776673e-03 -7.95938554e-05 9.99994658e-01 6.74561226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.831966746 meters 0.25738205726385505 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.31, Z:0.07 [[ 9.99993338e-01 -3.61144032e-03 -5.30408407e-04 -2.21477932e-01] [ 3.61389041e-03 9.99982456e-01 4.69330210e-03 -3.10845844e-01] [ 5.13449521e-04 -4.69518767e-03 9.99988846e-01 7.30507628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.861966745999997 meters 0.257054069685524 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 9.99994976e-01 2.40128800e-03 2.06903430e-03 -1.97079433e-01] [-2.39929906e-03 9.99996658e-01 -9.63234040e-04 -3.10517686e-01] [-2.07134038e-03 9.58264969e-04 9.99997396e-01 6.87250740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.891966745999998 meters 0.25702945661783483 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 9.99995343e-01 2.38197244e-03 1.90770253e-03 -1.96498370e-01] [-2.38043385e-03 9.99996840e-01 -8.08381878e-04 -3.11870571e-01] [-1.90962205e-03 8.03836954e-04 9.99997854e-01 6.85671048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.921966746 meters 0.2586319962937393 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 9.99995566e-01 2.32447090e-03 1.86146591e-03 -1.96181575e-01] [-2.32286719e-03 9.99996930e-01 -8.63231081e-04 -3.11819315e-01] [-1.86346675e-03 8.58903316e-04 9.99997895e-01 6.82924220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.951966745999997 meters 0.2573679066636482 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.31, Z:0.07 [[ 0.99999134 -0.0038363 -0.00161124 -0.22103941] [ 0.00384331 0.99998306 0.00437089 -0.3124342 ] [ 0.00159444 -0.00437704 0.99998915 0.07456306] [ 0. 0. 0. 1. ]] SLAMing on 29.981966745999998 meters 0.2573568579951244 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.31, Z:0.07 [[ 0.9999911 -0.00388377 -0.00164626 -0.22074887] [ 0.00389069 0.99998353 0.00421933 -0.31162969] [ 0.00162984 -0.0042257 0.99998974 0.07418034] [ 0. 0. 0. 1. ]] SLAMing on 30.011966746 meters 0.25619228806135746 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.31, Z:0.08 [[ 0.999979 0.00129596 -0.00635029 -0.24646849] [-0.00128589 0.99999791 0.00158943 -0.30936198] [ 0.00635234 -0.00158123 0.99997857 0.07920944] [ 0. 0. 0. 1. ]] SLAMing on 30.041966745999996 meters 0.2525509566242748 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.08 [[ 0.99998515 0.001946 -0.00509104 -0.20404793] [-0.00195326 0.99999708 -0.00142179 -0.30794568] [ 0.00508826 0.00143172 0.99998603 0.08169102] [ 0. 0. 0. 1. ]] SLAMing on 30.071966745999998 meters 0.2581479815889736 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.08 [[ 0.99998533 0.00198636 -0.00503975 -0.20420119] [-0.00199301 0.99999715 -0.00131524 -0.30844133] [ 0.00503712 0.00132526 0.99998644 0.08164776] [ 0. 0. 0. 1. ]] SLAMing on 30.101966746 meters 0.25074133261576614 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.08 [[ 0.99998489 0.0020449 -0.00510251 -0.20401156] [-0.00205099 0.99999719 -0.00118733 -0.30904398] [ 0.00510007 0.00119778 0.99998628 0.08155542] [ 0. 0. 0. 1. ]] SLAMing on 30.131966745999996 meters 0.2522050343651296 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.08 [[ 0.99998509 0.00199034 -0.00508605 -0.20393206] [-0.00199686 0.99999719 -0.00127675 -0.30873837] [ 0.00508349 0.00128688 0.99998625 0.0813992 ] [ 0. 0. 0. 1. ]] SLAMing on 30.161966745999997 meters 0.2565943757404177 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.31, Z:0.08 [[ 9.99981142e-01 6.60158477e-04 -6.10571236e-03 -2.46561405e-01] [-6.53645841e-04 9.99999215e-01 1.06858036e-03 -3.10458315e-01] [ 6.10641301e-03 -1.06456924e-03 9.99980789e-01 7.85318479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.191966746 meters 0.25786424987089224 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.08 [[ 0.99998669 0.00139494 -0.00496687 -0.20345473] [-0.00140362 0.9999975 -0.0017435 -0.30955037] [ 0.00496442 0.00175045 0.99998615 0.08058049] [ 0. 0. 0. 1. ]] SLAMing on 30.221966745999996 meters 0.25731391606835285 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.08 [[ 0.99998636 0.00145579 -0.00501592 -0.20340133] [-0.00146403 0.99999759 -0.00163862 -0.31004043] [ 0.00501352 0.00164594 0.99998608 0.08071359] [ 0. 0. 0. 1. ]] SLAMing on 30.251966745999997 meters 0.2567772747085128 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.08 [[ 0.99998648 0.00153404 -0.0049681 -0.20369383] [-0.00154144 0.99999771 -0.00148599 -0.31068867] [ 0.00496581 0.00149363 0.99998655 0.08093449] [ 0. 0. 0. 1. ]] SLAMing on 30.281966746 meters 0.2548582309803977 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.08 [[ 0.99998654 0.00164145 -0.00492106 -0.20403941] [-0.00164787 0.9999978 -0.00130127 -0.31137517] [ 0.00491892 0.00130936 0.99998704 0.08129478] [ 0. 0. 0. 1. ]] SLAMing on 30.311966745999996 meters 0.2567828123653133 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.08 [[ 9.99994770e-01 -3.20582303e-03 4.26812194e-04 -1.79715336e-01] [ 3.20518721e-03 9.99993765e-01 1.48215044e-03 -3.13048907e-01] [-4.31561044e-04 -1.48077468e-03 9.99998811e-01 7.65728582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.341966745999997 meters 0.2564955619758424 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.08 [[ 9.99994724e-01 -3.21579016e-03 4.58358150e-04 -1.79821790e-01] [ 3.21518915e-03 9.99993978e-01 1.30597691e-03 -3.11849999e-01] [-4.62555138e-04 -1.30449631e-03 9.99999042e-01 7.65663750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.371966746 meters 0.25771757753626773 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.08 [[ 9.99994453e-01 -3.29706110e-03 4.72446418e-04 -1.79666957e-01] [ 3.29652706e-03 9.99993932e-01 1.12673508e-03 -3.10992213e-01] [-4.76158466e-04 -1.12517140e-03 9.99999254e-01 7.61715775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.401966746 meters 0.25548286516839763 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.31, Z:0.08 [[ 9.99990216e-01 -4.40982058e-03 -3.49442090e-04 -2.24169418e-01] [ 4.41111371e-03 9.99983087e-01 3.79046631e-03 -3.13995045e-01] [ 3.32720903e-04 -3.79197066e-03 9.99992755e-01 7.52625258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.431966745999997 meters 0.25454044623958566 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.08 [[ 9.99993727e-01 -3.51414979e-03 4.42930462e-04 -1.80096816e-01] [ 3.51370932e-03 9.99993336e-01 9.91326455e-04 -3.12937504e-01] [-4.46411179e-04 -9.89763907e-04 9.99999411e-01 7.70567120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.461966745999998 meters 0.2528722941518833 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.08 [[ 9.99993885e-01 -3.47189671e-03 4.19052322e-04 -1.80113742e-01] [ 3.47142746e-03 9.99993353e-01 1.11537631e-03 -3.13647111e-01] [-4.22922008e-04 -1.11391478e-03 9.99999290e-01 7.72304860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.491966746 meters 0.25579080513323954 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.32, Z:0.08 [[ 9.99991670e-01 -4.07673074e-03 -2.02440195e-04 -2.25033522e-01] [ 4.07760708e-03 9.99981400e-01 4.53563615e-03 -3.16679916e-01] [ 1.83945862e-04 -4.53642383e-03 9.99989693e-01 7.65943969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.521966745999997 meters 0.25748094988075443 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 0.99999378 0.00179476 0.00303643 -0.19913485] [-0.00179132 0.99999775 -0.00113593 -0.31436779] [-0.00303846 0.00113049 0.99999474 0.0699679 ] [ 0. 0. 0. 1. ]] SLAMing on 30.551966745999998 meters 0.2522902982786761 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 0.99999364 0.00180192 0.00307721 -0.19935938] [-0.00179818 0.99999764 -0.00121669 -0.31380948] [-0.0030794 0.00121115 0.99999453 0.07011108] [ 0. 0. 0. 1. ]] SLAMing on 30.581966746 meters 0.2566417096142137 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 0.99999369 0.00183499 0.00304247 -0.19917877] [-0.00183162 0.99999771 -0.00110924 -0.31438474] [-0.0030445 0.00110366 0.99999476 0.0699225 ] [ 0. 0. 0. 1. ]] SLAMing on 30.611966745999997 meters 0.2572384276655415 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99993860e-01 1.89788663e-03 2.94576693e-03 -1.99107719e-01] [-1.89556879e-03 9.99997892e-01 -7.89429010e-04 -3.16335280e-01] [-2.94725897e-03 7.83840259e-04 9.99995350e-01 7.03426603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.641966745999998 meters 0.2516201496447197 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99993958e-01 1.93321310e-03 2.88922992e-03 -1.98999585e-01] [-1.93150354e-03 9.99997958e-01 -5.94373723e-04 -3.17536824e-01] [-2.89037308e-03 5.88789574e-04 9.99995650e-01 7.04816363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.671966746 meters 0.2542352564654937 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99993989e-01 1.89207853e-03 2.90549402e-03 -1.99032719e-01] [-1.89004276e-03 9.99997967e-01 -7.03246765e-04 -3.17018775e-01] [-2.90681871e-03 6.97751029e-04 9.99995532e-01 7.05344109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.701966745999997 meters 0.2564849643489044 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:0.07 [[ 0.99999784 0.00138598 0.00154814 -0.24204867] [-0.0013892 0.99999687 0.00208007 -0.31545364] [-0.00154525 -0.00208222 0.99999664 0.06883423] [ 0. 0. 0. 1. ]] SLAMing on 30.731966745999998 meters 0.2528928497469032 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.31, Z:0.07 [[ 9.99994195e-01 2.31121694e-03 2.50375861e-03 -1.98635605e-01] [-2.30907246e-03 9.99996965e-01 -8.59058616e-04 -3.13470803e-01] [-2.50573648e-03 8.53272269e-04 9.99996497e-01 7.05839977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.761966746 meters 0.2560200745995521 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:0.07 [[ 9.99998104e-01 -1.15864656e-03 1.56516601e-03 -2.42340334e-01] [ 1.15953754e-03 9.99999166e-01 -5.68469297e-04 -3.15778896e-01] [-1.56450605e-03 5.70283088e-04 9.99998614e-01 6.90237762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.791966745999996 meters 0.25785933059574156 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996535e-01 -4.77096328e-04 2.58897340e-03 -1.99280159e-01] [ 4.85756311e-04 9.99994286e-01 -3.34535140e-03 -3.15083101e-01] [-2.58736255e-03 3.34659741e-03 9.99991053e-01 7.12923932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.821966745999998 meters 0.25235599361541217 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996645e-01 -5.02597050e-04 2.54105198e-03 -1.98946841e-01] [ 5.10951150e-04 9.99994464e-01 -3.28807458e-03 -3.15639704e-01] [-2.53938533e-03 3.28936190e-03 9.99991366e-01 7.08604946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.851966746 meters 0.25786307903685307 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996420e-01 -4.36464289e-04 2.64003786e-03 -1.99458491e-01] [ 4.45070117e-04 9.99994587e-01 -3.26002814e-03 -3.15392479e-01] [-2.63860069e-03 3.26119147e-03 9.99991201e-01 7.11799596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.881966745999996 meters 0.25633050182240685 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:0.07 [[ 9.99997944e-01 -7.41538251e-04 1.88745925e-03 -2.43875213e-01] [ 7.40689938e-04 9.99999624e-01 4.50106263e-04 -3.18422795e-01] [-1.88779231e-03 -4.48707316e-04 9.99998117e-01 7.02389242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.911966745999997 meters 0.25675779055820247 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:0.07 [[ 9.99997914e-01 -6.83501661e-04 1.92471544e-03 -2.44015942e-01] [ 6.82416110e-04 9.99999608e-01 5.64606145e-04 -3.18798827e-01] [-1.92510059e-03 -5.63291511e-04 9.99997988e-01 7.01301276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.941966746 meters 0.2560853017399735 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:0.07 [[ 9.99998077e-01 -7.52620216e-04 1.81080625e-03 -2.43382246e-01] [ 7.51615616e-04 9.99999563e-01 5.55397126e-04 -3.19139545e-01] [-1.81122347e-03 -5.54035028e-04 9.99998206e-01 6.95981698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.971966745999996 meters 0.255695338486083 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:0.07 [[ 9.99998084e-01 -6.80533944e-04 1.83550179e-03 -2.43577984e-01] [ 6.79326415e-04 9.99999553e-01 6.58417323e-04 -3.19491905e-01] [-1.83594905e-03 -6.57169156e-04 9.99998099e-01 6.98098135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.001966745999997 meters 0.2570290427980041 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996725e-01 3.78228598e-04 2.53114628e-03 -1.99508115e-01] [-3.73241856e-04 9.99997989e-01 -1.97033417e-03 -3.19380418e-01] [-2.53188643e-03 1.96938299e-03 9.99994856e-01 7.14683289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.031966746 meters 0.2574220339687729 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996423e-01 4.83148657e-04 2.63052116e-03 -2.00201824e-01] [-4.78304798e-04 9.99998190e-01 -1.84172423e-03 -3.19744396e-01] [-2.63140622e-03 1.84045945e-03 9.99994844e-01 7.22046953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.061966745999996 meters 0.2524090087682264 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996510e-01 3.70927348e-04 2.61561471e-03 -1.99883200e-01] [-3.65484043e-04 9.99997767e-01 -2.08125175e-03 -3.18652710e-01] [-2.61638087e-03 2.08028852e-03 9.99994413e-01 7.17897577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.091966745999997 meters 0.25137042182110886 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996417e-01 4.91191052e-04 2.63129731e-03 -2.00150044e-01] [-4.86390653e-04 9.99998217e-01 -1.82467626e-03 -3.19832102e-01] [-2.63218888e-03 1.82338989e-03 9.99994873e-01 7.21662172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.121966746 meters 0.25524503804656334 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:0.07 [[ 9.99999102e-01 -1.27546992e-04 1.33432957e-03 -2.43130627e-01] [ 1.26085672e-04 9.99999392e-01 1.09519842e-03 -3.20496448e-01] [-1.33446845e-03 -1.09502919e-03 9.99998510e-01 7.05862897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.151966746 meters 0.251735903682893 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99997154e-01 3.76755148e-04 2.35589787e-03 -2.00773776e-01] [-3.71826361e-04 9.99997742e-01 -2.09219350e-03 -3.19999910e-01] [-2.35668079e-03 2.09131156e-03 9.99995036e-01 7.35557220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.181966745999997 meters 0.2579988196734567 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996978e-01 3.64084309e-04 2.43115350e-03 -2.00958688e-01] [-3.58761871e-04 9.99997539e-01 -2.18934141e-03 -3.19473006e-01] [-2.43194462e-03 2.18846259e-03 9.99994648e-01 7.34972227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.211966745999998 meters 0.2569031544259713 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.32, Z:0.08 [[ 9.99986459e-01 -5.14330589e-03 -7.92031259e-04 -2.26528113e-01] [ 5.14631635e-03 9.99979358e-01 3.84700436e-03 -3.21236911e-01] [ 7.72228589e-04 -3.85102831e-03 9.99992287e-01 8.00383669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.241966746 meters 0.25761956678842607 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99998335e-01 7.50514022e-04 1.66360847e-03 -2.01277449e-01] [-7.47278768e-04 9.99997830e-01 -1.94448998e-03 -3.20687910e-01] [-1.66506423e-03 1.94324356e-03 9.99996726e-01 7.48779873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.271966745999997 meters 0.25668050277100846 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.08 [[ 9.99998138e-01 7.83137633e-04 1.76360945e-03 -2.01768759e-01] [-7.79596164e-04 9.99997680e-01 -2.00787311e-03 -3.20069251e-01] [-1.76517780e-03 2.00649447e-03 9.99996429e-01 7.52367851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.301966745999998 meters 0.25881152149645603 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.07 [[ 0.99996819 -0.00349107 0.00717135 -0.17773772] [ 0.00348197 0.99999312 0.00128028 -0.32227971] [-0.00717577 -0.00125527 0.99997347 0.07078148] [ 0. 0. 0. 1. ]] SLAMing on 31.331966746 meters 0.25734926223029736 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.08 [[ 0.99999732 0.00138393 0.0018546 -0.20198679] [-0.00138142 0.99999813 -0.00135649 -0.32101558] [-0.00185648 0.00135393 0.99999736 0.07557948] [ 0. 0. 0. 1. ]] SLAMing on 31.361966745999997 meters 0.25415234290749744 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.32, Z:0.08 [[ 0.99999396 0.00245862 0.00245557 -0.15668836] [-0.0024484 0.99998837 -0.004156 -0.31906198] [-0.00246576 0.00414996 0.99998835 0.07559447] [ 0. 0. 0. 1. ]] SLAMing on 31.391966745999998 meters 0.2568399210507408 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99997096e-01 1.81370984e-03 1.58672470e-03 -2.00952201e-01] [-1.81222442e-03 9.99997919e-01 -9.37091431e-04 -3.20193963e-01] [-1.58842101e-03 9.34213209e-04 9.99998302e-01 7.46718556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.421966746 meters 0.2507979182407171 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996809e-01 1.89958215e-03 1.66530472e-03 -2.01381164e-01] [-1.89832014e-03 9.99997910e-01 -7.59075943e-04 -3.20852377e-01] [-1.66674317e-03 7.55912240e-04 9.99998325e-01 7.48829895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.451966745999997 meters 0.2507979182407171 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996809e-01 1.89958215e-03 1.66530472e-03 -2.01381164e-01] [-1.89832014e-03 9.99997910e-01 -7.59075943e-04 -3.20852377e-01] [-1.66674317e-03 7.55912240e-04 9.99998325e-01 7.48829895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.481966745999998 meters 0.25265986943318747 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.32, Z:0.08 [[ 0.99999368 0.00256575 0.00246145 -0.15751377] [-0.00255626 0.99998932 -0.00385145 -0.3194475 ] [-0.0024713 0.00384513 0.99998955 0.07637663] [ 0. 0. 0. 1. ]] SLAMing on 31.511966746 meters 0.2532926217966848 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.32, Z:0.08 [[ 0.9999937 0.00251754 0.00250328 -0.15762073] [-0.00250774 0.99998921 -0.00391124 -0.31915566] [-0.0025131 0.00390494 0.99998922 0.07632085] [ 0. 0. 0. 1. ]] SLAMing on 31.541966745999996 meters 0.25746928612278114 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99995386e-01 -2.98438797e-03 -5.67126734e-04 -1.82516428e-01] [ 2.98565415e-03 9.99993023e-01 2.24505211e-03 -3.20444540e-01] [ 5.60422670e-04 -2.24673499e-03 9.99997319e-01 8.20443813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.571966745999998 meters 0.2535168748381959 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99994981e-01 -3.12299609e-03 -5.33481529e-04 -1.82275223e-01] [ 3.12403603e-03 9.99993200e-01 1.95975411e-03 -3.19038905e-01] [ 5.27357597e-04 -1.96141089e-03 9.99997937e-01 8.14111630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.601966746 meters 0.2570159387572907 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99995340e-01 -2.99944669e-03 -5.68206372e-04 -1.82382736e-01] [ 3.00070679e-03 9.99993011e-01 2.22996364e-03 -3.20278786e-01] [ 5.61513744e-04 -2.23165827e-03 9.99997352e-01 8.17562305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.631966745999996 meters 0.2576912718788174 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99995330e-01 -3.00268773e-03 -5.69863617e-04 -1.82294879e-01] [ 3.00398899e-03 9.99992851e-01 2.29649810e-03 -3.20845586e-01] [ 5.62963876e-04 -2.29819924e-03 9.99997201e-01 8.15767517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.661966745999997 meters 0.2563904788093635 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99995541e-01 -2.92565780e-03 -5.99117621e-04 -1.82334911e-01] [ 2.92715755e-03 9.99992546e-01 2.51788514e-03 -3.21959398e-01] [ 5.91746685e-04 -2.51962763e-03 9.99996651e-01 8.16797334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.691966746 meters 0.2566297941209679 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99995311e-01 -2.98518461e-03 -6.82531245e-04 -1.81823559e-01] [ 2.98692565e-03 9.99992251e-01 2.56423579e-03 -3.22592971e-01] [ 6.74871239e-04 -2.56626244e-03 9.99996479e-01 8.11662761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.721966745999996 meters 0.2576514160962692 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99994965e-01 -3.08871812e-03 -7.27544065e-04 -1.81385614e-01] [ 3.09046139e-03 9.99992327e-01 2.40728064e-03 -3.22027771e-01] [ 7.20103072e-04 -2.40951697e-03 9.99996838e-01 8.06128377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.751966745999997 meters 0.25761759375730564 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99994849e-01 -3.12114304e-03 -7.48319719e-04 -1.81155394e-01] [ 3.12292217e-03 9.99992272e-01 2.38823202e-03 -3.22273143e-01] [ 7.40859922e-04 -2.39055666e-03 9.99996868e-01 8.03613430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.781966746 meters 0.25574809294531214 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.32, Z:0.08 [[ 0.99999083 -0.00380189 -0.00197025 -0.22423128] [ 0.00381273 0.99997746 0.00552587 -0.32495229] [ 0.00194919 -0.00553333 0.99998279 0.07872291] [ 0. 0. 0. 1. ]] SLAMing on 31.811966745999996 meters 0.25683912185172314 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99994058e-01 3.09338322e-03 1.52170255e-03 -1.99542267e-01] [-3.09449645e-03 9.99994946e-01 7.29755136e-04 -3.21677236e-01] [-1.51943745e-03 -7.34459703e-04 9.99998576e-01 7.22413491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.841966745999997 meters 0.2573672025036443 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.32, Z:0.07 [[ 9.99989382e-01 -4.59578077e-03 -3.38456040e-04 -2.21640401e-01] [ 4.59742305e-03 9.99976817e-01 5.02281242e-03 -3.21344776e-01] [ 3.15364448e-04 -5.02431511e-03 9.99987328e-01 7.40788539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.871966746 meters 0.2525809269715914 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996429e-01 8.74634814e-04 2.52535970e-03 -1.96086586e-01] [-8.71861970e-04 9.99999016e-01 -1.09889169e-03 -3.20503019e-01] [-2.52631834e-03 1.09668600e-03 9.99996207e-01 6.78538938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.901966746 meters 0.25648441675664907 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996357e-01 9.09575017e-04 2.54127863e-03 -1.96241814e-01] [-9.06809481e-04 9.99998996e-01 -1.08918645e-03 -3.20411189e-01] [-2.54226677e-03 1.08687803e-03 9.99996178e-01 6.80373024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.931966745999997 meters 0.25604353093243326 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99996112e-01 1.03732867e-03 2.58833227e-03 -1.96668535e-01] [-1.03513716e-03 9.99999105e-01 -8.47886311e-04 -3.21363158e-01] [-2.58920949e-03 8.45203736e-04 9.99996291e-01 6.85104839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.961966745999998 meters 0.2563952150991947 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.32, Z:0.07 [[ 9.99988950e-01 -4.65035039e-03 -6.89148201e-04 -2.21698292e-01] [ 4.65375401e-03 9.99976559e-01 5.02244729e-03 -3.22999641e-01] [ 6.65775906e-04 -5.02559892e-03 9.99987150e-01 7.44015515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.991966746 meters 0.2579441894538142 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99991961e-01 -3.99716222e-03 3.17393295e-04 -1.78394418e-01] [ 3.99661115e-03 9.99990537e-01 1.71826839e-03 -3.20180579e-01] [-3.24258490e-04 -1.71698607e-03 9.99998473e-01 7.61932632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.021966746 meters 0.2523094877756322 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99992271e-01 -3.90691702e-03 4.40645091e-04 -1.78916577e-01] [ 3.90609360e-03 9.99990652e-01 1.85429804e-03 -3.20586180e-01] [-4.47885560e-04 -1.85256251e-03 9.99998184e-01 7.63750359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.051966746 meters 0.2521905785259312 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99992716e-01 -3.78693443e-03 4.75836904e-04 -1.79318688e-01] [ 3.78592659e-03 9.99990625e-01 2.10136577e-03 -3.21694025e-01] [-4.83790178e-04 -2.09954898e-03 9.99997679e-01 7.69283528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.081966746 meters 0.25495780657769473 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.08 [[ 9.99989030e-01 9.72265733e-04 -4.58199794e-03 -2.03517757e-01] [-9.75492756e-04 9.99999278e-01 -7.02100702e-04 -3.21587529e-01] [ 4.58131200e-03 7.06562706e-04 9.99989256e-01 8.10755475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.111966746 meters 0.256586835641447 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.08 [[ 9.99994091e-01 -3.35449059e-03 7.51272539e-04 -1.79864583e-01] [ 3.35250078e-03 9.99990910e-01 2.63436887e-03 -3.23282525e-01] [-7.60102675e-04 -2.63183466e-03 9.99996248e-01 7.69212302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.141966745999994 meters 0.2573256912889562 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.33, Z:0.08 [[ 9.99984544e-01 4.90751726e-03 2.61313006e-03 -1.57955398e-01] [-4.90501403e-03 9.99987506e-01 -9.63490370e-04 -3.25007539e-01] [-2.61782575e-03 9.50658039e-04 9.99996122e-01 7.52652450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.171966745999995 meters 0.2521410154432548 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.32, Z:0.07 [[ 0.99998518 0.00479223 0.00258473 -0.15757187] [-0.00478929 0.99998788 -0.00114429 -0.32428558] [-0.00259019 0.00113189 0.999996 0.07465923] [ 0. 0. 0. 1. ]] SLAMing on 32.201966746 meters 0.25520101395842026 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99993631e-01 3.15928749e-03 1.66047793e-03 -2.01542806e-01] [-3.16091534e-03 9.99994525e-01 9.78642493e-04 -3.25238625e-01] [-1.65737703e-03 -9.83884890e-04 9.99998143e-01 7.31637461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.231966746 meters 0.25663360177177047 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.33, Z:0.07 [[ 0.99997775 -0.00265111 0.00612215 -0.17671339] [ 0.00263186 0.99999157 0.00315031 -0.32589798] [-0.00613045 -0.00313413 0.9999763 0.06880886] [ 0. 0. 0. 1. ]] SLAMing on 32.261966746 meters 0.252501000131404 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.33, Z:0.07 [[ 0.99997831 -0.00261896 0.00604318 -0.1765849 ] [ 0.00259827 0.99999074 0.00342958 -0.3276413 ] [-0.0060521 -0.0034138 0.99997586 0.06897605] [ 0. 0. 0. 1. ]] SLAMing on 32.291966746 meters 0.25502888132073326 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99999228e-01 8.72133141e-04 8.84708923e-04 -2.02180768e-01] [-8.71595455e-04 9.99999435e-01 -6.07957778e-04 -3.25806842e-01] [-8.85238644e-04 6.07186201e-04 9.99999424e-01 7.48372249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.321966746 meters 0.25705694220690894 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99999358e-01 8.33310665e-04 7.67779580e-04 -2.01713699e-01] [-8.32856912e-04 9.99999478e-01 -5.91124510e-04 -3.26142258e-01] [-7.68271770e-04 5.90484680e-04 9.99999531e-01 7.46487306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.351966745999995 meters 0.2582764668766939 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.33, Z:0.07 [[ 0.99997613 -0.00447403 0.00526569 -0.17767981] [ 0.00446208 0.99998745 0.00227823 -0.32816156] [-0.00527582 -0.00225468 0.99998354 0.07138211] [ 0. 0. 0. 1. ]] SLAMing on 32.381966745999996 meters 0.2565621228713749 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99999376e-01 9.57312739e-04 5.75453608e-04 -2.00399389e-01] [-9.57193115e-04 9.99999520e-01 -2.08118552e-04 -3.28936809e-01] [-5.75652566e-04 2.07567602e-04 9.99999813e-01 7.41400464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.411966746 meters 0.25633185985790197 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99999228e-01 1.05755105e-03 6.52728131e-04 -2.00852994e-01] [-1.05753350e-03 9.99999440e-01 -2.72317643e-05 -3.29635879e-01] [-6.52756565e-04 2.65414614e-05 9.99999787e-01 7.45284195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.441966746 meters 0.2567439028973234 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99999302e-01 1.00308512e-03 6.24618096e-04 -2.00662796e-01] [-1.00301571e-03 9.99999491e-01 -1.11429730e-04 -3.29346735e-01] [-6.24729552e-04 1.10803150e-04 9.99999799e-01 7.43807874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.471966746 meters 0.2575952987653578 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99999154e-01 1.08432355e-03 7.18726022e-04 -2.01106813e-01] [-1.08431597e-03 9.99999412e-01 -1.09391203e-05 -3.29507788e-01] [-7.18737461e-04 1.01597850e-05 9.99999742e-01 7.45659659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.501966746 meters 0.25752324189821807 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.33, Z:0.07 [[ 0.99997774 -0.00433739 0.00507094 -0.17646927] [ 0.00432398 0.99998713 0.00265276 -0.33020004] [-0.00508238 -0.00263077 0.99998362 0.07068178] [ 0. 0. 0. 1. ]] SLAMing on 32.531966745999995 meters 0.25521334491694275 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.08 [[ 9.99999710e-01 6.89462511e-04 3.23785393e-04 -2.02227058e-01] [-6.89478140e-04 9.99999761e-01 4.81629294e-05 -3.29197200e-01] [-3.23752109e-04 -4.83861584e-05 9.99999946e-01 7.61674011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.561966745999996 meters 0.2558159124711274 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.33, Z:0.07 [[ 9.99991977e-01 -3.09377629e-03 2.54443097e-03 -1.32520574e-01] [ 3.09563961e-03 9.99994943e-01 -7.28699968e-04 -3.29303845e-01] [-2.54216367e-03 7.36570763e-04 9.99996497e-01 7.36821696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.591966746 meters 0.25244378108064863 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.33, Z:0.08 [[ 0.99999489 0.0024882 -0.00200661 -0.1572917 ] [-0.00249429 0.99999226 -0.00304119 -0.3294631 ] [ 0.00199903 0.00304617 0.99999336 0.07813 ] [ 0. 0. 0. 1. ]] SLAMing on 32.621966746 meters 0.25568529671919066 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.08 [[ 9.99992257e-01 2.08739677e-03 -3.33584815e-03 -2.00357725e-01] [-2.08699145e-03 9.99997814e-01 1.24980020e-04 -3.30642203e-01] [ 3.33610174e-03 -1.18017166e-04 9.99994428e-01 7.64409509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.651966746 meters 0.2530330486841258 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.33, Z:0.07 [[ 0.99999447 -0.00293595 0.001561 -0.17536033] [ 0.00293167 0.99999195 0.00273957 -0.33211198] [-0.00156903 -0.00273498 0.99999503 0.07154049] [ 0. 0. 0. 1. ]] SLAMing on 32.681966746 meters 0.2569591290199471 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.33, Z:0.07 [[ 0.9999945 -0.00291856 0.00157385 -0.17545261] [ 0.00291442 0.9999923 0.0026263 -0.33130039] [-0.0015815 -0.0026217 0.99999531 0.07167562] [ 0. 0. 0. 1. ]] SLAMing on 32.711966745999995 meters 0.2527554108878601 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.07 [[ 0.99998303 0.00395572 0.00427592 -0.15084825] [-0.00394556 0.99998938 -0.00237987 -0.33020467] [-0.00428529 0.00236296 0.99998803 0.06659863] [ 0. 0. 0. 1. ]] SLAMing on 32.741966745999996 meters 0.25792576639532505 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.07 [[ 0.99999256 -0.00351439 0.00158839 -0.17281098] [ 0.00351113 0.99999173 0.00205328 -0.33001023] [-0.00159559 -0.00204769 0.99999663 0.06945381] [ 0. 0. 0. 1. ]] SLAMing on 32.771966746 meters 0.2572078852897822 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.07 [[ 0.99999282 -0.0034944 0.00146422 -0.17243131] [ 0.00349121 0.99999154 0.00217291 -0.33084239] [-0.0014718 -0.00216778 0.99999657 0.06945335] [ 0. 0. 0. 1. ]] SLAMing on 32.801966746 meters 0.2577814302195815 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.07 [[ 0.9999928 -0.00351505 0.00142768 -0.17223063] [ 0.00351193 0.99999145 0.00218471 -0.33108761] [-0.00143534 -0.00217968 0.99999659 0.06938348] [ 0. 0. 0. 1. ]] SLAMing on 32.831966746 meters 0.25352084237996525 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.07 [[ 0.99999283 -0.00355547 0.00130041 -0.17186769] [ 0.00355266 0.99999136 0.00215894 -0.33125756] [-0.00130807 -0.00215431 0.99999682 0.06945194] [ 0. 0. 0. 1. ]] SLAMing on 32.861966746 meters 0.2527332107621486 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.07 [[ 0.9999929 -0.00355268 0.00125459 -0.17168954] [ 0.00355002 0.99999147 0.00211032 -0.33102788] [-0.00126208 -0.00210585 0.99999699 0.06939359] [ 0. 0. 0. 1. ]] SLAMing on 32.891966745999994 meters 0.2583493550944689 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99991195e-01 1.95614194e-03 -3.71258591e-03 -1.97173640e-01] [-1.95663045e-03 9.99998078e-01 -1.27954331e-04 -3.28821790e-01] [ 3.71232847e-03 1.35217363e-04 9.99993100e-01 7.45883285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.921966745999995 meters 0.2557088250627227 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99991739e-01 1.91260096e-03 -3.58676132e-03 -1.97401731e-01] [-1.91402306e-03 9.99998091e-01 -3.93094029e-04 -3.27173833e-01] [ 3.58600264e-03 3.99955925e-04 9.99993490e-01 7.43664429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.951966746 meters 0.2574698835827433 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99991568e-01 1.81948429e-03 -3.68155113e-03 -1.96892238e-01] [-1.82173401e-03 9.99998156e-01 -6.07818298e-04 -3.26245496e-01] [ 3.68043843e-03 6.14519979e-04 9.99993038e-01 7.40266638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.981966746 meters 0.2568465717720785 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99991374e-01 1.76727855e-03 -3.75880246e-03 -1.96512551e-01] [-1.76986365e-03 9.99998199e-01 -6.84529892e-04 -3.26053207e-01] [ 3.75758594e-03 6.91176555e-04 9.99992701e-01 7.37440469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.011966746 meters 0.25764012031382755 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.33, Z:0.07 [[ 9.99991262e-01 1.67896612e-03 -3.82856471e-03 -1.96051722e-01] [-1.68218916e-03 9.99998233e-01 -8.38775054e-04 -3.25475523e-01] [ 3.82714967e-03 8.45208095e-04 9.99992319e-01 7.33165300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.041966746 meters 0.2595155903805234 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.07 [[ 0.99999571 -0.0025622 0.0014174 -0.17198331] [ 0.00255851 0.99999334 0.00260356 -0.32623815] [-0.00142406 -0.00259993 0.99999561 0.06855566] [ 0. 0. 0. 1. ]] SLAMing on 33.071966746 meters 0.25793120830906346 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.07 [[ 9.99993307e-01 6.96874853e-04 -3.59168116e-03 -1.98257713e-01] [-7.03079282e-04 9.99998262e-01 -1.72647140e-03 -3.24388421e-01] [ 3.59047178e-03 1.72898508e-03 9.99992060e-01 7.49213025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.101966745999995 meters 0.2576404945604735 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.08 [[ 9.99993588e-01 7.92302026e-04 -3.49224631e-03 -1.98756286e-01] [-7.97883096e-04 9.99998406e-01 -1.59702834e-03 -3.24732999e-01] [ 3.49097541e-03 1.59980450e-03 9.99992627e-01 7.51627778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.131966745999996 meters 0.25688595862230984 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.08 [[ 9.99993941e-01 8.24962119e-04 -3.38186079e-03 -1.99140139e-01] [-8.30498625e-04 9.99998317e-01 -1.63604112e-03 -3.24236291e-01] [ 3.38050543e-03 1.63883984e-03 9.99992943e-01 7.51917539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.161966746 meters 0.256325426443941 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:0.07 [[ 9.99996708e-01 -2.46618189e-03 -7.07815541e-04 -1.27902518e-01] [ 2.46467546e-03 9.99994713e-01 -2.12132243e-03 -3.22338484e-01] [ 7.13043366e-04 2.11957091e-03 9.99997499e-01 7.09947462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.191966746 meters 0.25697431260856957 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.07 [[ 9.99988004e-01 -4.53805827e-03 -1.84307357e-03 -1.71003810e-01] [ 4.53798827e-03 9.99989702e-01 -4.21572422e-05 -3.25768742e-01] [ 1.84324590e-03 3.37928903e-05 9.99998301e-01 6.92897239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.221966746 meters 0.2558731346519644 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.07 [[ 9.99988631e-01 -4.41974040e-03 -1.78991346e-03 -1.71428159e-01] [ 4.42016862e-03 9.99990203e-01 2.35350414e-04 -3.27037194e-01] [ 1.78885574e-03 -2.43259458e-04 9.99998370e-01 6.96900425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.251966746 meters 0.25691803859275814 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.06 [[ 9.99997131e-01 2.39550198e-03 -9.33607710e-06 -1.45792270e-01] [-2.39551937e-03 9.99985994e-01 -4.71942817e-03 -3.28251820e-01] [-1.96945320e-06 4.71943699e-03 9.99988863e-01 6.47381419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.281966745999995 meters 0.2566064826079653 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.06 [[ 9.99997041e-01 2.43247748e-03 1.52694497e-05 -1.45948229e-01] [-2.43237927e-03 9.99986070e-01 -4.68446135e-03 -3.28188540e-01] [-2.66640837e-05 4.68441035e-03 9.99989028e-01 6.48047478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.311966745999996 meters 0.25666986375088807 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.07 [[ 0.99999039 -0.00329302 -0.00289395 -0.17138181] [ 0.00329686 0.99999369 0.00132197 -0.32948443] [ 0.00288958 -0.0013315 0.99999494 0.07060127] [ 0. 0. 0. 1. ]] SLAMing on 33.341966746 meters 0.25709718362679496 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.07 [[ 9.99994035e-01 3.42632436e-03 4.37244596e-04 -1.47934140e-01] [-3.42474803e-03 9.99987812e-01 -3.55637106e-03 -3.29644264e-01] [-4.49424548e-04 3.55485239e-03 9.99993581e-01 6.58088978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.371966746 meters 0.25709718362679496 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.07 [[ 9.99994035e-01 3.42632436e-03 4.37244596e-04 -1.47934140e-01] [-3.42474803e-03 9.99987812e-01 -3.55637106e-03 -3.29644264e-01] [-4.49424548e-04 3.55485239e-03 9.99993581e-01 6.58088978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.401966746 meters 0.25571484268318134 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.07 [[ 9.99993838e-01 3.47604561e-03 4.90712834e-04 -1.48202851e-01] [-3.47431102e-03 9.99987866e-01 -3.49250881e-03 -3.29753531e-01] [-5.02847000e-04 3.49078240e-03 9.99993781e-01 6.59060049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.431966746 meters 0.2568673993152344 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99985217e-01 -1.63698751e-03 5.18526923e-03 -1.24936137e-01] [ 1.64015269e-03 9.99998471e-01 -6.06224615e-04 -3.30349509e-01] [-5.18426892e-03 6.14720286e-04 9.99986373e-01 6.26653902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.461966745999995 meters 0.25579718156811354 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.07 [[ 9.99994711e-01 3.24974875e-03 -1.28359452e-04 -1.49161473e-01] [-3.25015474e-03 9.99989271e-01 -3.30064271e-03 -3.28804293e-01] [ 1.17631815e-04 3.30104244e-03 9.99994545e-01 6.75447938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.491966745999996 meters 0.2557265666819298 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.07 [[ 9.99994624e-01 3.27790094e-03 -8.43850904e-05 -1.49371742e-01] [-3.27815941e-03 9.99989278e-01 -3.27069531e-03 -3.28790346e-01] [ 7.36631704e-05 3.27095435e-03 9.99994648e-01 6.75788339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.521966746 meters 0.25704848260260793 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99991961e-01 -1.73295120e-03 3.61586919e-03 -1.23135930e-01] [ 1.73409662e-03 9.99998447e-01 -3.13664225e-04 -3.28711041e-01] [-3.61532001e-03 3.19931970e-04 9.99993414e-01 6.29953094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.551966746 meters 0.2567430505618469 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99991685e-01 -1.74798086e-03 3.68431664e-03 -1.23228564e-01] [ 1.74973259e-03 9.99998358e-01 -4.72286453e-04 -3.27521813e-01] [-3.68348504e-03 4.78729095e-04 9.99993101e-01 6.27037401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.581966746 meters 0.2572291163842348 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99991822e-01 -1.89974362e-03 3.57037971e-03 -1.22383088e-01] [ 1.90232414e-03 9.99997932e-01 -7.19498586e-04 -3.26664411e-01] [-3.56900546e-03 7.26284721e-04 9.99993367e-01 6.18148150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.611966746 meters 0.25537730663194 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.06 [[ 0.99999202 -0.00302196 0.00261333 -0.16641962] [ 0.00301653 0.99999328 0.00208147 -0.32904176] [-0.0026196 -0.00207357 0.99999442 0.06079084] [ 0. 0. 0. 1. ]] SLAMing on 33.641966745999994 meters 0.2576423164368491 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99993170e-01 -1.73507118e-03 3.26336793e-03 -1.21694770e-01] [ 1.73690521e-03 9.99998335e-01 -5.59255513e-04 -3.28428121e-01] [-3.26239215e-03 5.64919854e-04 9.99994519e-01 6.19262243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.671966745999995 meters 0.25714955193257494 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99993130e-01 -1.63141517e-03 3.32832497e-03 -1.22171403e-01] [ 1.63299782e-03 9.99998555e-01 -4.72846043e-04 -3.28549911e-01] [-3.32754876e-03 4.78277942e-04 9.99994349e-01 6.25483935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.701966746 meters 0.25754489655944623 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99993409e-01 -1.68310525e-03 3.21714272e-03 -1.21502564e-01] [ 1.68455130e-03 9.99998481e-01 -4.46827034e-04 -3.29228387e-01] [-3.21638578e-03 4.52243531e-04 9.99994725e-01 6.20673679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.731966746 meters 0.25487671166456505 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.33, Z:0.06 [[ 0.99999317 -0.00320525 0.00183908 -0.16407741] [ 0.00320176 0.99999308 0.00189554 -0.33166232] [-0.00184515 -0.00188964 0.99999651 0.0599197 ] [ 0. 0. 0. 1. ]] SLAMing on 33.761966746 meters 0.2572855212199359 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99993283e-01 -2.06834895e-03 3.02576266e-03 -1.21252108e-01] [ 2.07077831e-03 9.99997536e-01 -7.99980097e-04 -3.30477466e-01] [-3.02410057e-03 8.06240407e-04 9.99995102e-01 6.20563548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.791966746 meters 0.25797510316697053 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99993527e-01 -1.92723351e-03 3.03828164e-03 -1.21590226e-01] [ 1.92871116e-03 9.99998023e-01 -4.83491220e-04 -3.32046789e-01] [-3.03734383e-03 4.89348058e-04 9.99995268e-01 6.25586519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.821966746 meters 0.25597839625983654 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.07 [[ 0.99999285 0.00332824 -0.00179588 -0.14679783] [-0.00333337 0.99999035 -0.00286262 -0.33173202] [ 0.00178634 0.00286859 0.99999429 0.06786379] [ 0. 0. 0. 1. ]] SLAMing on 33.851966745999995 meters 0.25681956367262526 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.07 [[ 0.99999312 0.00329705 -0.00169954 -0.14684898] [-0.00330215 0.99999004 -0.00300195 -0.33068854] [ 0.00168962 0.00300754 0.99999405 0.06734213] [ 0. 0. 0. 1. ]] SLAMing on 33.881966745999996 meters 0.2562161481298541 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.07 [[ 0.99999337 0.00324152 -0.00166005 -0.14688495] [-0.00324681 0.99998964 -0.00318987 -0.32951135] [ 0.00164969 0.00319524 0.99999353 0.06713486] [ 0. 0. 0. 1. ]] SLAMing on 33.911966746 meters 0.2576488456620794 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.06 [[ 9.99994730e-01 -2.15167316e-04 3.23929728e-03 -1.22090306e-01] [ 2.11422317e-04 9.99999309e-01 1.15641282e-03 -3.30507960e-01] [-3.23954387e-03 -1.15572186e-03 9.99994085e-01 6.21287239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.941966746 meters 0.25560884215381513 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.33, Z:0.06 [[ 0.99999732 -0.00126971 0.00193639 -0.16534981] [ 0.00126221 0.99999172 0.00386976 -0.33124938] [-0.00194129 -0.00386731 0.99999064 0.06053839] [ 0. 0. 0. 1. ]] SLAMing on 33.971966746 meters 0.2579324875502387 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.05 [[ 0.99997693 0.00428127 0.00527414 -0.14003274] [-0.00426964 0.99998844 -0.00221357 -0.32928521] [-0.00528355 0.002191 0.99998364 0.05397646] [ 0. 0. 0. 1. ]] SLAMing on 34.001966746 meters 0.2568380802836112 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.05 [[ 0.99997776 0.00425674 0.00513453 -0.13953659] [-0.00424585 0.99998872 -0.00213029 -0.33004968] [-0.00514354 0.00210845 0.99998455 0.05384774] [ 0. 0. 0. 1. ]] SLAMing on 34.031966745999995 meters 0.25745050583608353 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.05 [[ 0.99997834 0.00416133 0.00509906 -0.13926447] [-0.00414933 0.9999886 -0.00236092 -0.32893726] [-0.00510882 0.00233972 0.99998421 0.05360497] [ 0. 0. 0. 1. ]] SLAMing on 34.061966745999996 meters 0.25695433341491036 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.05 [[ 0.99997791 0.00417869 0.00516862 -0.13956524] [-0.00416616 0.99998836 -0.0024339 -0.32830354] [-0.00517873 0.00241232 0.99998368 0.0536976 ] [ 0. 0. 0. 1. ]] SLAMing on 34.091966746 meters 0.2572167864308229 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.05 [[ 0.99997648 0.004335 0.00531411 -0.14050906] [-0.00432336 0.99998824 -0.00219924 -0.328994 ] [-0.00532359 0.00217621 0.99998346 0.05454547] [ 0. 0. 0. 1. ]] SLAMing on 34.121966746 meters 0.2567109319188744 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.05 [[ 0.9999764 0.00435417 0.00531502 -0.14062432] [-0.00434385 0.99998866 -0.00195335 -0.33060359] [-0.00532347 0.00193021 0.99998397 0.05474991] [ 0. 0. 0. 1. ]] SLAMing on 34.151966746 meters 0.25270205536738294 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 9.99950941e-01 -1.44569315e-03 9.79924279e-03 -1.16637632e-01] [ 1.44197671e-03 9.99998886e-01 3.86312210e-04 -3.32395730e-01] [-9.79979036e-03 -3.72162978e-04 9.99951912e-01 5.10267408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.181966746 meters 0.2568384954018874 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.34, Z:0.05 [[ 0.99994888 -0.00432874 0.00913786 -0.16151054] [ 0.00431293 0.99998917 0.0017499 -0.33608987] [-0.00914534 -0.0017104 0.99995672 0.05093341] [ 0. 0. 0. 1. ]] SLAMing on 34.211966745999995 meters 0.25723599149163995 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.34, Z:0.05 [[ 0.99994862 -0.00436163 0.00915018 -0.16139877] [ 0.00434618 0.9999891 0.00170724 -0.33604632] [-0.00915753 -0.00166738 0.99995668 0.05069602] [ 0. 0. 0. 1. ]] SLAMing on 34.241966745999996 meters 0.2564301328858056 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.34, Z:0.05 [[ 0.99994868 -0.00432891 0.00915984 -0.16156588] [ 0.00431367 0.99998928 0.00168343 -0.33559461] [-0.00916703 -0.00164383 0.99995663 0.05088976] [ 0. 0. 0. 1. ]] SLAMing on 34.271966746 meters 0.2575070997295991 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 9.99947339e-01 -2.72549642e-03 9.89394402e-03 -1.17313085e-01] [ 2.73265597e-03 9.99996014e-01 -7.10183288e-04 -3.34625861e-01] [-9.89196898e-03 7.37182634e-04 9.99950802e-01 5.21956618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.301966746 meters 0.25712172490008517 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 9.99947301e-01 -2.68719368e-03 9.90825264e-03 -1.17450900e-01] [ 2.69437668e-03 9.99996117e-01 -7.11673899e-04 -3.34421691e-01] [-9.90630176e-03 7.38332960e-04 9.99950659e-01 5.23843073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.331966746 meters 0.25740510730909116 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 0.99994667 -0.00270174 0.00996743 -0.11750861] [ 0.00271185 0.99999582 -0.0010006 -0.33265941] [-0.00996468 0.00102758 0.99994982 0.05225477] [ 0. 0. 0. 1. ]] SLAMing on 34.361966746 meters 0.2577129094330082 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 0.99994599 -0.00267909 0.01004191 -0.11776596] [ 0.00269034 0.99999577 -0.00110742 -0.33179117] [-0.0100389 0.00113438 0.99994897 0.05228543] [ 0. 0. 0. 1. ]] SLAMing on 34.391966745999994 meters 0.25920844571424906 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 0.99994748 -0.00281146 0.00985515 -0.11687461] [ 0.00282543 0.99999502 -0.00140469 -0.33055691] [-0.00985115 0.00143246 0.99995045 0.05182851] [ 0. 0. 0. 1. ]] SLAMing on 34.421966745999995 meters 0.2584925586029592 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 0.99994679 -0.00281747 0.00992358 -0.11699608] [ 0.00283215 0.99999492 -0.00146556 -0.33014132] [-0.0099194 0.00149359 0.99994969 0.05158258] [ 0. 0. 0. 1. ]] SLAMing on 34.451966746 meters 0.25716401685214996 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 0.9999466 -0.00268811 0.00997822 -0.11747511] [ 0.00270058 0.99999559 -0.00123661 -0.33100565] [-0.00997485 0.00126349 0.99994945 0.05204265] [ 0. 0. 0. 1. ]] SLAMing on 34.481966746 meters 0.2520802175277066 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 0.99994641 -0.00270385 0.00999352 -0.1175658 ] [ 0.0027177 0.99999536 -0.00137282 -0.33013233] [-0.00998976 0.0013999 0.99994912 0.05211273] [ 0. 0. 0. 1. ]] SLAMing on 34.511966746 meters 0.25714210728017217 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 0.99994582 -0.00267908 0.01005922 -0.11787787] [ 0.00269338 0.99999538 -0.00140867 -0.32970305] [-0.0100554 0.00143569 0.99994841 0.05230895] [ 0. 0. 0. 1. ]] SLAMing on 34.541966746 meters 0.25769267337954005 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 0.99994627 -0.00267535 0.01001487 -0.11765343] [ 0.00268849 0.99999554 -0.00129915 -0.3304488 ] [-0.01001135 0.001326 0.99994901 0.05208003] [ 0. 0. 0. 1. ]] SLAMing on 34.571966746 meters 0.258851803849771 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.05 [[ 0.99994709 -0.002755 0.00991117 -0.11720774] [ 0.00276901 0.99999519 -0.0014 -0.33020849] [-0.00990726 0.00142737 0.9999499 0.0518673 ] [ 0. 0. 0. 1. ]] SLAMing on 34.601966745999995 meters 0.25686721104214255 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.06 [[ 0.99998683 0.00156013 0.00488834 -0.1409933 ] [-0.00153716 0.99998778 -0.00469899 -0.33090151] [-0.00489561 0.00469142 0.99997701 0.0562101 ] [ 0. 0. 0. 1. ]] SLAMing on 34.631966745999996 meters 0.2569569275610064 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.06 [[ 0.99998697 0.00158537 0.00485206 -0.1410011 ] [-0.00156358 0.99998869 -0.00449158 -0.33213291] [-0.00485913 0.00448393 0.99997814 0.05632014] [ 0. 0. 0. 1. ]] SLAMing on 34.661966746 meters 0.2534278358533344 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.06 [[ 0.99998706 0.00164348 0.00481472 -0.14110607] [-0.00162262 0.99998929 -0.00433401 -0.33291838] [-0.00482179 0.00432615 0.99997902 0.05669419] [ 0. 0. 0. 1. ]] SLAMing on 34.691966746 meters 0.25810365117621065 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.06 [[ 0.99998676 0.0017705 0.00483125 -0.14143417] [-0.00175126 0.99999053 -0.00398352 -0.33464849] [-0.00483826 0.003975 0.9999804 0.05704494] [ 0. 0. 0. 1. ]] SLAMing on 34.721966746 meters 0.25108469007115686 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.06 [[ 0.9999865 0.00182256 0.0048654 -0.1417404 ] [-0.00180325 0.99999049 -0.0039714 -0.3343852 ] [-0.00487259 0.00396258 0.99998028 0.05731249] [ 0. 0. 0. 1. ]] SLAMing on 34.751966746 meters 0.2516968497054939 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.06 [[ 0.99998683 0.00176529 0.00481871 -0.14145989] [-0.00174596 0.99999042 -0.0040131 -0.33444634] [-0.00482574 0.00400463 0.99998034 0.05704329] [ 0. 0. 0. 1. ]] SLAMing on 34.781966745999995 meters 0.25754544751139435 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.06 [[ 0.99998661 0.00184924 0.00483272 -0.14165194] [-0.00183096 0.99999117 -0.00378283 -0.33549724] [-0.00483968 0.00377393 0.99998117 0.05719569] [ 0. 0. 0. 1. ]] SLAMing on 34.811966745999996 meters 0.25641099921765315 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.06 [[ 0.99998653 0.00192348 0.00482065 -0.14179131] [-0.00190594 0.99999156 -0.00363929 -0.33612747] [-0.00482761 0.00363006 0.99998176 0.05740414] [ 0. 0. 0. 1. ]] SLAMing on 34.841966746 meters 0.2560967120673427 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.34, Z:0.06 [[ 0.99999157 -0.00383668 0.0014601 -0.16548383] [ 0.0038332 0.99998983 0.00237474 -0.33801624] [-0.00146919 -0.00236913 0.99999611 0.0625079 ] [ 0. 0. 0. 1. ]] SLAMing on 34.871966746 meters 0.25808103349576156 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99996653e-01 -1.64627759e-03 1.99584702e-03 -1.19247280e-01] [ 1.64508282e-03 9.99998467e-01 6.00120241e-04 -3.36744117e-01] [-1.99683192e-03 -5.96834899e-04 9.99997828e-01 6.18372792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.901966746 meters 0.25675115527832926 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.07 [[ 0.99999071 0.00308721 -0.00300878 -0.14369871] [-0.0030944 0.99999236 -0.00238806 -0.3354739 ] [ 0.00300139 0.00239735 0.99999262 0.06620253] [ 0. 0. 0. 1. ]] SLAMing on 34.931966746 meters 0.2562227542207843 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.07 [[ 0.99999038 0.0031771 -0.00302541 -0.14384554] [-0.00318383 0.99999246 -0.0022227 -0.33613233] [ 0.00301833 0.00223231 0.99999295 0.0664929 ] [ 0. 0. 0. 1. ]] SLAMing on 34.961966745999995 meters 0.25571010644278974 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.07 [[ 0.99999028 0.00324834 -0.0029804 -0.14399719] [-0.00325459 0.99999251 -0.00209405 -0.33661561] [ 0.00297358 0.00210373 0.99999337 0.06647848] [ 0. 0. 0. 1. ]] SLAMing on 34.991966745999996 meters 0.25539755287206856 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.07 [[ 0.99999003 0.00331678 -0.00299112 -0.14412933] [-0.00332264 0.99999256 -0.00195789 -0.3371608 ] [ 0.0029846 0.0019678 0.99999361 0.06668319] [ 0. 0. 0. 1. ]] SLAMing on 35.021966746 meters 0.2562783088418849 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99995471e-01 -2.11127623e-03 2.14497424e-03 -1.19314209e-01] [ 2.11066475e-03 9.99997731e-01 2.87299932e-04 -3.39237091e-01] [-2.14557595e-03 -2.82771310e-04 9.99997658e-01 6.14182561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.051966746 meters 0.2553843199061763 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.07 [[ 0.99999203 0.00283737 -0.00280839 -0.14363056] [-0.0028442 0.999993 -0.00242925 -0.33851115] [ 0.00280147 0.00243721 0.99999311 0.06579728] [ 0. 0. 0. 1. ]] SLAMing on 35.081966746 meters 0.25487565201874995 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.07 [[ 0.99999206 0.00285124 -0.00278459 -0.14368894] [-0.00285762 0.99999329 -0.00229144 -0.33930586] [ 0.00277803 0.00229938 0.9999935 0.0657464 ] [ 0. 0. 0. 1. ]] SLAMing on 35.111966746 meters 0.2565505079698735 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99996911e-01 -2.05562479e-03 1.39751538e-03 -1.19307930e-01] [ 2.05459753e-03 9.99997618e-01 7.36098026e-04 -3.38891543e-01] [-1.39902519e-03 -7.33224420e-04 9.99998753e-01 6.20082659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.141966745999994 meters 0.2557834057317736 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99996884e-01 -2.11355659e-03 1.32861888e-03 -1.18879976e-01] [ 2.11283896e-03 9.99997621e-01 5.41304320e-04 -3.37795673e-01] [-1.32975979e-03 -5.38495476e-04 9.99998971e-01 6.15312527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.171966745999995 meters 0.25618600767778715 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99996779e-01 -2.23004461e-03 1.21226743e-03 -1.18018273e-01] [ 2.22961753e-03 9.99997452e-01 3.53537328e-04 -3.37154699e-01] [-1.21305275e-03 -3.50833297e-04 9.99999203e-01 6.05656262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.201966746 meters 0.2565108155192991 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99996843e-01 -2.22310651e-03 1.17132282e-03 -1.17800803e-01] [ 2.22282557e-03 9.99997500e-01 2.41101220e-04 -3.36458838e-01] [-1.17185589e-03 -2.38496812e-04 9.99999285e-01 6.04239144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.231966746 meters 0.2558412778660163 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99996871e-01 -2.23499261e-03 1.12368019e-03 -1.17594817e-01] [ 2.23484068e-03 9.99997493e-01 1.36446609e-04 -3.35868402e-01] [-1.12398234e-03 -1.33934936e-04 9.99999359e-01 6.03575787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.261966746 meters 0.2558412778660163 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99996871e-01 -2.23499261e-03 1.12368019e-03 -1.17594817e-01] [ 2.23484068e-03 9.99997493e-01 1.36446609e-04 -3.35868402e-01] [-1.12398234e-03 -1.33934936e-04 9.99999359e-01 6.03575787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.291966746 meters 0.2549114413447052 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99996962e-01 -2.22493289e-03 1.06137507e-03 -1.17347145e-01] [ 2.22479516e-03 9.99997517e-01 1.30925769e-04 -3.35767758e-01] [-1.06166374e-03 -1.28564029e-04 9.99999428e-01 6.01906056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.321966745999994 meters 0.25622255647734576 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.33, Z:0.06 [[ 9.99997587e-01 -9.84443461e-04 1.96398970e-03 -7.35315770e-02] [ 9.89566142e-04 9.99996107e-01 -2.60903847e-03 -3.34509513e-01] [-1.96141360e-03 2.61097567e-03 9.99994668e-01 6.12062793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.351966745999995 meters 0.2556360066843988 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99997999e-01 -1.91878082e-03 5.66602120e-04 -1.16097360e-01] [ 1.91845822e-03 9.99997998e-01 5.69345995e-04 -3.38170714e-01] [-5.67693436e-04 -5.68257853e-04 9.99999677e-01 5.94483482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.381966745999996 meters 0.2566071150111072 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99997855e-01 -2.01596805e-03 4.76005822e-04 -1.15552154e-01] [ 2.01576106e-03 9.99997874e-01 4.34922887e-04 -3.37779757e-01] [-4.76881601e-04 -4.33962440e-04 9.99999792e-01 5.89537787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.411966746 meters 0.25562107044552523 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99997870e-01 -2.00359718e-03 4.96442453e-04 -1.15559740e-01] [ 2.00336534e-03 9.99997884e-01 4.67047749e-04 -3.37929552e-01] [-4.97377178e-04 -4.66052198e-04 9.99999768e-01 5.88019404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.441966746 meters 0.2551101048548945 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.34, Z:0.06 [[ 9.99997853e-01 -2.01564411e-03 4.80593565e-04 -1.15357967e-01] [ 2.01542632e-03 9.99997866e-01 4.53221029e-04 -3.37790475e-01] [-4.81506072e-04 -4.52251455e-04 9.99999782e-01 5.83189334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.471966746 meters 0.2557950018284074 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:0.06 [[ 9.99997666e-01 -2.11771512e-03 4.28323815e-04 -1.14877831e-01] [ 2.11760152e-03 9.99997723e-01 2.65499327e-04 -3.36992386e-01] [-4.28885092e-04 -2.64591689e-04 9.99999873e-01 5.77192174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.501966746 meters 0.255648057118181 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:0.06 [[ 9.99997505e-01 -2.19294256e-03 4.24608186e-04 -1.14526714e-01] [ 2.19287497e-03 9.99997583e-01 1.59585728e-04 -3.36691071e-01] [-4.24957122e-04 -1.58654217e-04 9.99999897e-01 5.70416626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.531966745999995 meters 0.2549018722046681 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.06 [[ 0.99998072 0.00461082 -0.00415932 -0.13534826] [-0.00461612 0.99998854 -0.00126771 -0.33676998] [ 0.00415343 0.00128688 0.99999055 0.05780718] [ 0. 0. 0. 1. ]] SLAMing on 35.561966745999996 meters 0.25418529618543906 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.34, Z:0.06 [[ 0.99998105 0.0045902 -0.00410146 -0.13541319] [-0.00459615 0.9999884 -0.00144189 -0.33571373] [ 0.00409479 0.00146071 0.99999055 0.05762378] [ 0. 0. 0. 1. ]] SLAMing on 35.591966746 meters 0.25529564103802443 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:0.05 [[ 9.99999215e-01 -1.18808820e-03 3.98732089e-04 -1.09764454e-01] [ 1.18789001e-03 9.99999171e-01 4.96921170e-04 -3.35613378e-01] [-3.99322145e-04 -4.96447130e-04 9.99999797e-01 5.20388856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.621966746 meters 0.2555571818767665 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:0.05 [[ 9.99999109e-01 -1.28950104e-03 3.44009939e-04 -1.09275263e-01] [ 1.28936399e-03 9.99999089e-01 3.98303697e-04 -3.35445848e-01] [-3.44523239e-04 -3.97859788e-04 9.99999862e-01 5.14660064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.651966746 meters 0.2547451323736375 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:0.05 [[ 9.99999193e-01 -1.22937182e-03 3.19015106e-04 -1.09325051e-01] [ 1.22915494e-03 9.99999014e-01 6.79145260e-04 -3.36956873e-01] [-3.19849713e-04 -6.78752593e-04 9.99999718e-01 5.15358161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.681966746 meters 0.25395438373643314 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:0.05 [[ 9.99999294e-01 -1.12095808e-03 3.93149499e-04 -1.09800958e-01] [ 1.12060602e-03 9.99998972e-01 8.94573545e-04 -3.37776123e-01] [-3.94151874e-04 -8.94132349e-04 9.99999523e-01 5.18513334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.711966745999995 meters 0.2550713956590444 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.34, Z:0.05 [[ 9.99999168e-01 -1.22937762e-03 3.90052861e-04 -1.09455513e-01] [ 1.22907548e-03 9.99998945e-01 7.73903108e-04 -3.37427189e-01] [-3.91003868e-04 -7.73423060e-04 9.99999624e-01 5.11787453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.741966745999996 meters 0.25404199471588523 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.34, Z:0.05 [[ 9.99997643e-01 -2.07492413e-03 -6.39463255e-04 -1.54415427e-01] [ 2.07728209e-03 9.99990964e-01 3.70907273e-03 -3.38483721e-01] [ 6.31761432e-04 -3.71039233e-03 9.99992917e-01 5.07786376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.771966746 meters 0.2545399146350033 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.34, Z:0.05 [[ 0.99998836 0.003922 0.00280873 -0.13024178] [-0.00391583 0.99998991 -0.00220152 -0.33548946] [-0.00281734 0.0021905 0.99999363 0.04533598] [ 0. 0. 0. 1. ]] SLAMing on 35.801966746 meters 0.25404800550294776 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.05 [[ 0.99999376 -0.00331029 0.00123094 -0.15343768] [ 0.00330728 0.99999156 0.00243944 -0.33337838] [-0.00123901 -0.00243536 0.99999627 0.04825176] [ 0. 0. 0. 1. ]] SLAMing on 35.831966746 meters 0.2552429397198026 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.05 [[ 0.99999377 -0.0032421 0.00139594 -0.15416345] [ 0.00323861 0.99999164 0.00249638 -0.33344524] [-0.00140402 -0.00249185 0.99999591 0.04871745] [ 0. 0. 0. 1. ]] SLAMing on 35.861966746 meters 0.2536773291683758 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.05 [[ 0.99999394 -0.00316754 0.00144568 -0.15453697] [ 0.00316364 0.99999138 0.00269089 -0.33441088] [-0.00145419 -0.0026863 0.99999533 0.04907514] [ 0. 0. 0. 1. ]] SLAMing on 35.891966745999994 meters 0.255871043864351 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.05 [[ 9.99995127e-01 -1.95174209e-03 2.43639634e-03 -1.10342575e-01] [ 1.95171194e-03 9.99998095e-01 1.47533866e-05 -3.32844414e-01] [-2.43642049e-03 -9.99817094e-06 9.99997032e-01 4.97483622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.921966745999995 meters 0.25503793473453784 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.05 [[ 9.99995093e-01 -1.84827680e-03 2.52934553e-03 -1.10955007e-01] [ 1.84779833e-03 9.99998274e-01 1.91490023e-04 -3.33349908e-01] [-2.52969510e-03 -1.86815363e-04 9.99996783e-01 5.02349726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.951966746 meters 0.25439931441419167 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.33, Z:0.06 [[ 0.99999261 0.00322041 -0.0020996 -0.13672656] [-0.00322556 0.99999178 -0.00245708 -0.33333156] [ 0.00209167 0.00246384 0.99999478 0.05579701] [ 0. 0. 0. 1. ]] SLAMing on 35.981966746 meters 0.2553871760287948 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.05 [[ 9.99994240e-01 -1.91614696e-03 2.80134542e-03 -1.13101692e-01] [ 1.91554948e-03 9.99998142e-01 2.15949588e-04 -3.33972095e-01] [-2.80175400e-03 -2.10582228e-04 9.99996053e-01 5.20664319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.011966746 meters 0.25599057919836615 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.05 [[ 9.99994194e-01 -2.01069447e-03 2.75137223e-03 -1.12648767e-01] [ 2.01068489e-03 9.99997979e-01 6.24587958e-06 -3.33142651e-01] [-2.75137923e-03 -7.13700728e-07 9.99996215e-01 5.16525026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.041966746 meters 0.2562976073423063 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.05 [[ 9.99994123e-01 -2.00907775e-03 2.77814784e-03 -1.12743230e-01] [ 2.00956134e-03 9.99997966e-01 -1.71290580e-04 -3.31905140e-01] [-2.77779805e-03 1.76872431e-04 9.99996126e-01 5.16816324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.071966745999994 meters 0.2550764427552539 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.33, Z:0.05 [[ 0.99998716 0.00468469 -0.00193057 -0.13406383] [-0.00468796 0.99998758 -0.00169206 -0.33206449] [ 0.00192262 0.00170109 0.9999967 0.05349596] [ 0. 0. 0. 1. ]] SLAMing on 36.101966745999995 meters 0.25564774498370124 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.33, Z:0.05 [[ 9.99996838e-01 -1.22206332e-03 2.19780478e-03 -1.07930392e-01] [ 1.22141094e-03 9.99999210e-01 2.98150173e-04 -3.32152416e-01] [-2.19816740e-03 -2.95464808e-04 9.99997540e-01 4.79164138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.131966745999996 meters 0.2549594963035001 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.05 [[ 9.99996140e-01 -2.71535608e-03 5.89114639e-04 -1.50432663e-01] [ 2.71374008e-03 9.99992600e-01 2.72677497e-03 -3.34636500e-01] [-5.96514445e-04 -2.72516575e-03 9.99996109e-01 4.61351443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.161966746 meters 0.25527732611975706 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.33, Z:0.04 [[ 0.99999004 0.00336437 0.00293295 -0.12357085] [-0.00335513 0.99998942 -0.00314737 -0.33179618] [-0.00294351 0.0031375 0.99999075 0.03938441] [ 0. 0. 0. 1. ]] SLAMing on 36.191966746 meters 0.2545698484227462 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.04 [[ 9.99996323e-01 -2.65558874e-03 -5.48915951e-04 -1.48197656e-01] [ 2.65684826e-03 9.99993810e-01 2.30669993e-03 -3.31615779e-01] [ 5.42786907e-04 -2.30814983e-03 9.99997189e-01 4.49236574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.221966746 meters 0.25422620020437914 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.33, Z:0.04 [[ 9.99996099e-01 -2.74451639e-03 -5.18776485e-04 -1.48032727e-01] [ 2.74556862e-03 9.99994153e-01 2.03857048e-03 -3.30204819e-01] [ 5.13178562e-04 -2.03998686e-03 9.99997788e-01 4.43716461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.251966746 meters 0.2558257650556828 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.33, Z:0.04 [[ 9.99999784e-01 -6.56146757e-04 -4.76145290e-05 -1.00615717e-01] [ 6.56143376e-04 9.99999782e-01 -7.09878372e-05 -3.26897441e-01] [ 4.76610971e-05 7.09565799e-05 9.99999996e-01 4.26058616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.281966745999995 meters 0.25481019704800606 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.33, Z:0.04 [[ 9.99999757e-01 -6.93809136e-04 6.47239339e-05 -1.00914513e-01] [ 6.93828300e-04 9.99999715e-01 -2.96535194e-04 -3.25248856e-01] [-6.45181766e-05 2.96580030e-04 9.99999954e-01 4.24103077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.311966745999996 meters 0.2546329553754591 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.32, Z:0.04 [[ 9.99999725e-01 -7.12042071e-04 2.09398824e-04 -1.01351618e-01] [ 7.12133929e-04 9.99999650e-01 -4.38928610e-04 -3.24153943e-01] [-2.09086215e-04 4.39077609e-04 9.99999882e-01 4.22374452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.341966746 meters 0.25483837596485825 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.32, Z:0.04 [[ 9.99999671e-01 -7.87189195e-04 1.96152061e-04 -1.01410981e-01] [ 7.87333267e-04 9.99999420e-01 -7.35500505e-04 -3.22304572e-01] [-1.95572969e-04 7.35654700e-04 9.99999710e-01 4.23451387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.371966746 meters 0.2538141185773086 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:0.05 [[ 0.99998089 0.00466613 -0.00405527 -0.12850799] [-0.00467899 0.99998404 -0.00316792 -0.31969498] [ 0.00404043 0.00318684 0.99998676 0.04828545] [ 0. 0. 0. 1. ]] SLAMing on 36.401966746 meters 0.25515799165909026 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.32, Z:0.04 [[ 9.99999763e-01 1.53692906e-04 6.70410701e-04 -1.03703679e-01] [-1.53789239e-04 9.99999978e-01 1.43644053e-04 -3.18544287e-01] [-6.70388609e-04 -1.43747121e-04 9.99999765e-01 4.35746880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.431966746 meters 0.25434890029117563 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.32, Z:0.04 [[ 9.99999660e-01 1.80190396e-04 8.04676544e-04 -1.04281896e-01] [-1.80288541e-04 9.99999976e-01 1.21896987e-04 -3.18041943e-01] [-8.04654560e-04 -1.22042020e-04 9.99999669e-01 4.37044016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.461966745999995 meters 0.25291732855316074 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:0.05 [[ 0.99998051 0.00498578 -0.00375894 -0.1305975 ] [-0.00499689 0.99998316 -0.00294982 -0.31554672] [ 0.00374417 0.00296854 0.99998858 0.0495928 ] [ 0. 0. 0. 1. ]] SLAMing on 36.491966745999996 meters 0.2530687614331408 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:0.05 [[ 0.99998072 0.00493986 -0.00376308 -0.13035022] [-0.00495117 0.99998323 -0.00300387 -0.31534161] [ 0.00374818 0.00302244 0.99998841 0.04910755] [ 0. 0. 0. 1. ]] SLAMing on 36.521966746 meters 0.2530153375205734 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.31, Z:0.05 [[ 0.99998106 0.00491084 -0.00370886 -0.13054088] [-0.00492269 0.99998279 -0.00319117 -0.31414935] [ 0.00369313 0.00320937 0.99998803 0.04911749] [ 0. 0. 0. 1. ]] SLAMing on 36.551966746 meters 0.2533947229026773 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.31, Z:0.05 [[ 0.99998156 0.00487273 -0.00362465 -0.13075236] [-0.00488529 0.99998206 -0.00346495 -0.31233937] [ 0.0036077 0.00348259 0.99998743 0.04899401] [ 0. 0. 0. 1. ]] SLAMing on 36.581966746 meters 0.2543170855836624 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.31, Z:0.04 [[ 9.99999216e-01 5.02218431e-04 1.14750370e-03 -1.05385082e-01] [-5.02062389e-04 9.99999865e-01 -1.36267750e-04 -3.12244670e-01] [-1.14757199e-03 1.35691525e-04 9.99999332e-01 4.38646358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.611966746 meters 0.249837266174168 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.31, Z:0.04 [[ 9.99999199e-01 5.10020731e-04 1.15851342e-03 -1.05530963e-01] [-5.09651213e-04 9.99999819e-01 -3.19231480e-04 -3.11039657e-01] [-1.15867602e-03 3.18640787e-04 9.99999278e-01 4.40631363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.641966745999994 meters 0.25307592810618584 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.31, Z:0.05 [[ 0.99997813 0.00533619 -0.00390747 -0.13029186] [-0.00534994 0.9999795 -0.00351756 -0.30875321] [ 0.00388862 0.00353839 0.99998618 0.04932913] [ 0. 0. 0. 1. ]] SLAMing on 36.671966745999995 meters 0.2525613671880454 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.31, Z:0.05 [[ 0.99997851 0.00529683 -0.00386204 -0.13022762] [-0.00531109 0.99997909 -0.00368999 -0.30791504] [ 0.00384241 0.00371042 0.99998573 0.04905768] [ 0. 0. 0. 1. ]] SLAMing on 36.701966746 meters 0.254879606194406 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:0.04 [[ 9.99999433e-01 1.68381217e-04 1.05149174e-03 -1.04543965e-01] [-1.67225099e-04 9.99999382e-01 -1.09949431e-03 -3.08506969e-01] [-1.05167622e-03 1.09931785e-03 9.99998843e-01 4.30591083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.731966746 meters 0.2561338387740598 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:0.04 [[ 9.99999472e-01 6.66846853e-05 1.02537941e-03 -1.04305636e-01] [-6.53504132e-05 9.99999151e-01 -1.30122562e-03 -3.07636269e-01] [-1.02546531e-03 1.30115793e-03 9.99998628e-01 4.27673211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.761966746 meters 0.2540084151716093 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:0.04 [[ 9.99999485e-01 -9.53013501e-04 3.49811814e-04 -1.49953367e-01] [ 9.52502872e-04 9.99998485e-01 1.45700046e-03 -3.08047422e-01] [-3.51199826e-04 -1.45666651e-03 9.99998877e-01 4.27630662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.791966746 meters 0.255108699975098 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.31, Z:0.04 [[ 9.99999186e-01 -4.84794181e-04 1.18055014e-03 -1.05682396e-01] [ 4.86960283e-04 9.99998197e-01 -1.83522863e-03 -3.06267412e-01] [-1.17965831e-03 1.83580202e-03 9.99997619e-01 4.40549625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.821966745999994 meters 0.25324805588724214 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:0.04 [[ 9.99998683e-01 -1.59699156e-03 2.89035441e-04 -1.50616557e-01] [ 1.59680089e-03 9.99998508e-01 6.58687055e-04 -3.07263761e-01] [-2.90086927e-04 -6.58224656e-04 9.99999741e-01 4.31714976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.851966745999995 meters 0.2555320165488801 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.31, Z:0.05 [[ 9.99998730e-01 4.50166773e-04 1.52885427e-03 -1.07732512e-01] [-4.48501999e-04 9.99999306e-01 -1.08907091e-03 -3.05115367e-01] [-1.52934348e-03 1.08838383e-03 9.99998238e-01 4.54045755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.881966745999996 meters 0.25474205735388855 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.30, Z:0.05 [[ 9.99998535e-01 6.16613059e-04 1.59701784e-03 -1.08465456e-01] [-6.14933418e-04 9.99999258e-01 -1.05201304e-03 -3.04822083e-01] [-1.59766534e-03 1.05102944e-03 9.99998171e-01 4.66152879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.911966746 meters 0.2553984262712745 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.31, Z:0.05 [[ 9.99998303e-01 7.76132822e-04 1.67084223e-03 -1.09010580e-01] [-7.74574282e-04 9.99999265e-01 -9.33232249e-04 -3.05150404e-01] [-1.67156531e-03 9.31936474e-04 9.99998169e-01 4.74202360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.941966746 meters 0.25682042586311205 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.31, Z:0.05 [[ 9.99998551e-01 8.15908655e-04 1.49405847e-03 -1.08682241e-01] [-8.14691915e-04 9.99999336e-01 -8.14813670e-04 -3.06144489e-01] [-1.49472229e-03 8.13595292e-04 9.99998552e-01 4.80206066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.971966746 meters 0.2572755464709594 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.31, Z:0.05 [[ 9.99998591e-01 8.26448909e-04 1.46082202e-03 -1.08572086e-01] [-8.25477261e-04 9.99999438e-01 -6.65615312e-04 -3.07242856e-01] [-1.46137129e-03 6.64408499e-04 9.99998711e-01 4.81333750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.001966746 meters 0.25592136907743396 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.31, Z:0.05 [[ 9.99998606e-01 -1.36145954e-03 9.66508430e-04 -1.55014106e-01] [ 1.36028587e-03 9.99998338e-01 1.21395194e-03 -3.10966861e-01] [-9.68159570e-04 -1.21263552e-03 9.99998796e-01 4.89725499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.031966745999995 meters 0.2569363830995298 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.31, Z:0.05 [[ 9.99998635e-01 -1.35150867e-03 9.50503335e-04 -1.55020031e-01] [ 1.35017181e-03 9.99998101e-01 1.40571277e-03 -3.12311418e-01] [-9.52401363e-04 -1.40442751e-03 9.99998560e-01 4.90402335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.061966745999996 meters 0.2543709760311766 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.05 [[ 0.99998788 0.00258004 -0.00419314 -0.18012815] [-0.00258875 0.9999945 -0.0020722 -0.3123095 ] [ 0.00418777 0.00208303 0.99998906 0.05437121] [ 0. 0. 0. 1. ]] SLAMing on 37.091966746 meters 0.25524237283021045 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:0.05 [[ 0.99998741 0.00252546 -0.00433636 -0.17981542] [-0.00253325 0.99999519 -0.00179178 -0.31446849] [ 0.00433181 0.00180274 0.99998899 0.05447846] [ 0. 0. 0. 1. ]] SLAMing on 37.121966746 meters 0.25578715340368186 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.32, Z:0.05 [[ 9.99995195e-01 -2.92027989e-03 1.04020975e-03 -1.57064260e-01] [ 2.91935917e-03 9.99995347e-01 8.85559462e-04 -3.17850297e-01] [-1.04279099e-03 -8.82518461e-04 9.99999067e-01 5.09984600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.151966746 meters 0.2556373011686061 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.32, Z:0.05 [[ 0.99999566 -0.00272443 0.00111881 -0.15768424] [ 0.00272293 0.99999539 0.00134086 -0.31980305] [-0.00112246 -0.00133781 0.99999848 0.05145508] [ 0. 0. 0. 1. ]] SLAMing on 37.181966746 meters 0.2556373011686061 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.32, Z:0.05 [[ 0.99999566 -0.00272443 0.00111881 -0.15768424] [ 0.00272293 0.99999539 0.00134086 -0.31980305] [-0.00112246 -0.00133781 0.99999848 0.05145508] [ 0. 0. 0. 1. ]] SLAMing on 37.211966745999995 meters 0.2548359582929675 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.05 [[ 0.99999102 0.0024871 -0.00343058 -0.18139573] [-0.00249221 0.99999579 -0.00148549 -0.31900545] [ 0.00342687 0.00149403 0.99999301 0.05486273] [ 0. 0. 0. 1. ]] SLAMing on 37.241966745999996 meters 0.25514809113326853 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.06 [[ 0.99999056 0.00266522 -0.00343246 -0.18176225] [-0.00266874 0.99999592 -0.00102113 -0.32120825] [ 0.00342973 0.00103028 0.99999359 0.05542123] [ 0. 0. 0. 1. ]] SLAMing on 37.271966746 meters 0.25300546590465217 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.32, Z:0.06 [[ 0.99997445 -0.00402626 -0.00590639 -0.2061829 ] [ 0.00405053 0.99998338 0.00410289 -0.32172889] [ 0.00588977 -0.00412671 0.99997414 0.05961746] [ 0. 0. 0. 1. ]] SLAMing on 37.301966746 meters 0.25382231880429545 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.32, Z:0.06 [[ 0.99997451 -0.00407059 -0.00586566 -0.2061807 ] [ 0.00409415 0.99998358 0.00401072 -0.32127855] [ 0.00584924 -0.00403463 0.99997475 0.0593562 ] [ 0. 0. 0. 1. ]] SLAMing on 37.331966746 meters 0.25542599310433206 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.05 [[ 0.99999417 0.00239652 -0.00243233 -0.18222032] [-0.00239927 0.99999649 -0.00112651 -0.3193451 ] [ 0.00242962 0.00113234 0.99999641 0.05406039] [ 0. 0. 0. 1. ]] SLAMing on 37.361966746 meters 0.25550621516069 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.05 [[ 0.99999416 0.00228932 -0.00253685 -0.18168889] [-0.00229262 0.99999653 -0.00129692 -0.31864579] [ 0.00253387 0.00130273 0.99999594 0.05354463] [ 0. 0. 0. 1. ]] SLAMing on 37.391966745999994 meters 0.2555204393146683 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.05 [[ 0.99999411 0.00228078 -0.00256649 -0.18145426] [-0.00228379 0.99999671 -0.00117059 -0.31966717] [ 0.00256381 0.00117645 0.99999602 0.05326081] [ 0. 0. 0. 1. ]] SLAMing on 37.421966745999995 meters 0.2541309825175321 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.32, Z:0.06 [[ 0.99997465 -0.00413365 -0.00579842 -0.20718326] [ 0.00415689 0.99998335 0.00400307 -0.32182495] [ 0.00578178 -0.00402707 0.99997518 0.05963963] [ 0. 0. 0. 1. ]] SLAMing on 37.451966746 meters 0.2550574467371493 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.05 [[ 0.99999549 0.00200891 -0.0022339 -0.18264646] [-0.00201218 0.99999691 -0.00146076 -0.31988894] [ 0.00223096 0.00146524 0.99999644 0.05342907] [ 0. 0. 0. 1. ]] SLAMing on 37.481966746 meters 0.25549388078558166 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.32, Z:0.05 [[ 0.99999537 0.00194728 -0.00233711 -0.18217093] [-0.00195088 0.99999691 -0.00153984 -0.31965654] [ 0.00233411 0.00154439 0.99999608 0.05312646] [ 0. 0. 0. 1. ]] SLAMing on 37.511966746 meters 0.2540358034402351 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.32, Z:0.05 [[ 9.99995003e-01 6.91527522e-04 -3.08471790e-03 -2.26858924e-01] [-6.87941030e-04 9.99999086e-01 1.16357419e-03 -3.21906050e-01] [ 3.08551973e-03 -1.16144627e-03 9.99994565e-01 5.21417989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.541966746 meters 0.2550130163966926 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.05 [[ 0.99998777 -0.00436788 0.00232188 -0.2024575 ] [ 0.00435922 0.99998358 0.00372092 -0.32311461] [-0.0023381 -0.00371075 0.99999038 0.046858 ] [ 0. 0. 0. 1. ]] SLAMing on 37.571966745999994 meters 0.25553904006793726 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.05 [[ 0.99998737 -0.00447569 0.00228765 -0.20214871] [ 0.00446778 0.99998405 0.00345475 -0.32185353] [-0.00230307 -0.00344448 0.99999142 0.04651664] [ 0. 0. 0. 1. ]] SLAMing on 37.601966745999995 meters 0.25584075454823124 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.05 [[ 0.9999869 -0.00444058 0.00254644 -0.20313309] [ 0.00443226 0.99998485 0.00326283 -0.32014861] [-0.00256089 -0.0032515 0.99999143 0.04670905] [ 0. 0. 0. 1. ]] SLAMing on 37.631966745999996 meters 0.25484303770775907 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:0.05 [[ 0.99998659 -0.00441355 0.00271031 -0.20402379] [ 0.00440514 0.99998549 0.00310193 -0.31873956] [-0.00272396 -0.00308995 0.99999152 0.04740317] [ 0. 0. 0. 1. ]] SLAMing on 37.661966746 meters 0.2545549769590716 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.32, Z:0.05 [[ 9.99997414e-01 1.14858677e-03 -1.96302216e-03 -2.28531029e-01] [-1.14707416e-03 9.99999044e-01 7.71507361e-04 -3.17580960e-01] [ 1.96390643e-03 -7.69253634e-04 9.99997776e-01 5.18479238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.691966746 meters 0.25493200671651345 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.32, Z:0.05 [[ 9.99997497e-01 1.13110098e-03 -1.93031438e-03 -2.28626965e-01] [-1.12956142e-03 9.99999043e-01 7.98473395e-04 -3.17716868e-01] [ 1.93121569e-03 -7.96290988e-04 9.99997818e-01 5.17613131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.721966746 meters 0.2555344475003135 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.32, Z:0.05 [[ 0.99999741 0.00118696 -0.00194414 -0.22880657] [-0.00118484 0.99999871 0.00108859 -0.31932153] [ 0.00194543 -0.00108629 0.99999752 0.05208169] [ 0. 0. 0. 1. ]] SLAMing on 37.751966746 meters 0.2555707093009978 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.32, Z:0.05 [[ 0.99999738 0.00134682 -0.00185036 -0.22957851] [-0.00134413 0.99999804 0.00145605 -0.32102163] [ 0.00185232 -0.00145356 0.99999723 0.05292957] [ 0. 0. 0. 1. ]] SLAMing on 37.781966745999995 meters 0.2544338096645415 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.32, Z:0.05 [[ 9.99997044e-01 -9.99493566e-04 -2.21645474e-03 -2.76359981e-01] [ 1.00608477e-03 9.99995070e-01 2.97464049e-03 -3.22733497e-01] [ 2.21347068e-03 -2.97686164e-03 9.99993119e-01 5.36609547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.811966745999996 meters 0.255615765423412 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.32, Z:0.06 [[ 9.99999355e-01 -2.78047110e-04 -1.10123104e-03 -2.33380449e-01] [ 2.78168779e-04 9.99999955e-01 1.10332869e-04 -3.22487680e-01] [ 1.10120032e-03 -1.10639126e-04 9.99999388e-01 5.63923832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.841966746 meters 0.2561738460620765 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.32, Z:0.06 [[ 9.99999292e-01 -1.72809597e-04 -1.17740129e-03 -2.33306178e-01] [ 1.73363157e-04 9.99999874e-01 4.70068624e-04 -3.24679229e-01] [ 1.17731991e-03 -4.70272409e-04 9.99999196e-01 5.68251765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.871966746 meters 0.2568133437464284 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.33, Z:0.06 [[ 9.99999128e-01 -4.41488894e-05 -1.32024016e-03 -2.33248293e-01] [ 4.52779213e-05 9.99999633e-01 8.55153955e-04 -3.26884039e-01] [ 1.32020192e-03 -8.55212986e-04 9.99998763e-01 5.76644273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.901966746 meters 0.25659212031720013 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.33, Z:0.06 [[ 9.99999027e-01 5.43577960e-05 -1.39423484e-03 -2.33247337e-01] [-5.27625447e-05 9.99999344e-01 1.14418817e-03 -3.28626309e-01] [ 1.39429613e-03 -1.14411349e-03 9.99998373e-01 5.82433629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.931966746 meters 0.25457706285277837 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.33, Z:0.06 [[ 9.99997101e-01 -5.51143434e-04 -2.34398910e-03 -2.78124824e-01] [ 5.61648915e-04 9.99989791e-01 4.48358708e-03 -3.31879494e-01] [ 2.34149407e-03 -4.48489058e-03 9.99987201e-01 5.79634311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.961966745999995 meters 0.25595090914605123 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.33, Z:0.05 [[ 9.99983564e-01 5.72995528e-03 2.00111829e-04 -2.52543119e-01] [-5.72976587e-03 9.99983148e-01 -9.34581708e-04 -3.31905166e-01] [-2.05463568e-04 9.33419753e-04 9.99999543e-01 5.25764593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.991966745999996 meters 0.25493684552901313 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.33, Z:0.05 [[ 9.99983817e-01 5.68859739e-03 7.02923334e-05 -2.52050307e-01] [-5.68852372e-03 9.99983313e-01 -1.00725884e-03 -3.31857002e-01] [-7.60210505e-05 1.00684268e-03 9.99999490e-01 5.25383093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.021966746 meters 0.2566634626143192 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.33, Z:0.05 [[ 9.99983899e-01 5.67467158e-03 -2.12461942e-05 -2.51628572e-01] [-5.67468952e-03 9.99983428e-01 -9.70545214e-04 -3.32248092e-01] [ 1.57383167e-05 9.70650152e-04 9.99999529e-01 5.23887958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.051966746 meters 0.25574928026102267 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99990899e-01 3.85883054e-03 -1.81952436e-03 -2.93435069e-01] [-3.85776470e-03 9.99992385e-01 5.88927888e-04 -3.33449726e-01] [ 1.82178308e-03 -5.81903232e-04 9.99998171e-01 5.03778396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.081966746 meters 0.2556978220729731 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99991045e-01 3.77647380e-03 -1.91003586e-03 -2.92802650e-01] [-3.77556326e-03 9.99992757e-01 4.80093207e-04 -3.33154188e-01] [ 1.91183508e-03 -4.72877447e-04 9.99998061e-01 4.97417395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.111966746 meters 0.2564096706051678 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.33, Z:0.05 [[ 0.99999436 -0.00168852 0.00290442 -0.2695378 ] [ 0.00168004 0.99999433 0.00291924 -0.33326577] [-0.00290934 -0.00291435 0.99999152 0.04645146] [ 0. 0. 0. 1. ]] SLAMing on 38.141966745999994 meters 0.2555337588969855 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99994012e-01 2.81156626e-03 -2.01764674e-03 -2.92018520e-01] [-2.81253401e-03 9.99995931e-01 -4.76964799e-04 -3.33138391e-01] [ 2.01629751e-03 4.82636643e-04 9.99997851e-01 4.88908615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.171966745999995 meters 0.2550748800516221 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99993836e-01 2.89169163e-03 -1.99153351e-03 -2.92334927e-01] [-2.89205277e-03 9.99995802e-01 -1.78481346e-04 -3.34707768e-01] [ 1.99100904e-03 1.84239866e-04 9.99998001e-01 4.92550201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.201966746 meters 0.25649553167109346 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.33, Z:0.05 [[ 9.99993291e-01 3.63580712e-03 -4.45523537e-04 -2.49342137e-01] [-3.63711299e-03 9.99988986e-01 -2.96619697e-03 -3.33761156e-01] [ 4.34734110e-04 2.96779749e-03 9.99995502e-01 5.04728135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.231966746 meters 0.2566319424166146 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.33, Z:0.05 [[ 9.99986952e-01 -4.59211489e-03 -2.23812020e-03 -2.71453403e-01] [ 4.59410773e-03 9.99989054e-01 8.86079736e-04 -3.33019929e-01] [ 2.23402672e-03 -8.96350339e-04 9.99997103e-01 5.15165587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.261966746 meters 0.2562907384101705 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.33, Z:0.05 [[ 0.99998745 -0.00454891 -0.00210001 -0.27190831] [ 0.00455109 0.99998911 0.00103106 -0.33362307] [ 0.0020953 -0.0010406 0.99999726 0.05146111] [ 0. 0. 0. 1. ]] SLAMing on 38.291966746 meters 0.25448945273555235 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.33, Z:0.06 [[ 9.99972418e-01 -6.01713494e-04 -7.40277921e-03 -2.96008950e-01] [ 5.83777104e-04 9.99996890e-01 -2.42484887e-03 -3.32698437e-01] [ 7.40421525e-03 2.42046041e-03 9.99969659e-01 5.55708090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.321966745999994 meters 0.2559244030199603 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.33, Z:0.06 [[ 9.99972600e-01 -6.21628044e-04 -7.37654594e-03 -2.96192665e-01] [ 6.03784904e-04 9.99996887e-01 -2.42088222e-03 -3.32699737e-01] [ 7.37802787e-03 2.41636204e-03 9.99969862e-01 5.56828676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.351966745999995 meters 0.2557400525720723 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.33, Z:0.06 [[ 9.99973028e-01 -5.61995714e-04 -7.32304737e-03 -2.96455595e-01] [ 5.44929488e-04 9.99997132e-01 -2.33226842e-03 -3.32988643e-01] [ 7.32433709e-03 2.32821497e-03 9.99970466e-01 5.57947831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.381966745999996 meters 0.2550444137266807 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.33, Z:0.06 [[ 9.99973533e-01 -4.79995165e-04 -7.25962250e-03 -2.96665396e-01] [ 4.64957000e-04 9.99997743e-01 -2.07302619e-03 -3.34197060e-01] [ 7.26060116e-03 2.06959591e-03 9.99971500e-01 5.56336158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.411966746 meters 0.25314882593784305 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.34, Z:0.05 [[ 9.99960800e-01 -1.50993192e-03 -8.72463231e-03 -3.38518709e-01] [ 1.51585781e-03 9.99998625e-01 6.72640709e-04 -3.36349274e-01] [ 8.72360468e-03 -6.85839643e-04 9.99961713e-01 5.24118383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.441966746 meters 0.2547863462780653 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.34, Z:0.05 [[ 0.99998427 -0.0047767 -0.00293837 -0.31563212] [ 0.00479153 0.99997573 0.0050583 -0.33953706] [ 0.00291414 -0.0050723 0.99998289 0.0482928 ] [ 0. 0. 0. 1. ]] SLAMing on 38.471966746 meters 0.25296389503185 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.34, Z:0.05 [[ 9.99968139e-01 2.25438529e-04 -7.97940230e-03 -3.38777848e-01] [-2.08173861e-04 9.99997636e-01 2.16441883e-03 -3.38330437e-01] [ 7.97987138e-03 -2.16268877e-03 9.99965822e-01 5.13304635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.501966746 meters 0.25355892016727727 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.34, Z:0.05 [[ 9.99967065e-01 7.65868918e-05 -8.11554989e-03 -3.37906017e-01] [-6.15451540e-05 9.99998280e-01 1.85368007e-03 -3.37038779e-01] [ 8.11567790e-03 -1.85311955e-03 9.99965350e-01 5.06836334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.531966745999995 meters 0.25338792605921434 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.34, Z:0.05 [[ 9.99967542e-01 1.70623930e-04 -8.05512629e-03 -3.38123066e-01] [-1.54592155e-04 9.99998006e-01 1.99083818e-03 -3.37609112e-01] [ 8.05544992e-03 -1.98952831e-03 9.99965575e-01 5.07106619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.561966745999996 meters 0.2560410308419816 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.34, Z:0.05 [[ 9.99970945e-01 7.20044257e-04 -7.58882848e-03 -2.92681854e-01] [-7.31821054e-04 9.99998532e-01 -1.54919701e-03 -3.36811051e-01] [ 7.58770185e-03 1.55470566e-03 9.99970004e-01 5.17150666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.591966746 meters 0.2544259935134902 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.34, Z:0.05 [[ 9.99970653e-01 8.63846103e-04 -7.61222765e-03 -2.92862822e-01] [-8.73720557e-04 9.99998781e-01 -1.29395325e-03 -3.38098583e-01] [ 7.61110060e-03 1.30056624e-03 9.99970189e-01 5.23116873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.621966746 meters 0.2550567563416748 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.34, Z:0.05 [[ 9.99970500e-01 9.17403684e-04 -7.62611577e-03 -2.92853900e-01] [-9.27056304e-04 9.99998774e-01 -1.26229354e-03 -3.38151641e-01] [ 7.62494839e-03 1.26932614e-03 9.99970124e-01 5.24135610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.651966746 meters 0.25528172548072403 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.34, Z:0.05 [[ 9.99969806e-01 7.94529430e-04 -7.73012753e-03 -2.92057039e-01] [-8.07111618e-04 9.99998354e-01 -1.62469837e-03 -3.36491168e-01] [ 7.72882394e-03 1.63088839e-03 9.99968802e-01 5.17107069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.681966746 meters 0.25511697419548485 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.34, Z:0.05 [[ 9.99969745e-01 7.78316997e-04 -7.73968784e-03 -2.91656418e-01] [-7.92040800e-04 9.99998119e-01 -1.77026568e-03 -3.35622117e-01] [ 7.73829545e-03 1.77634227e-03 9.99968481e-01 5.10786133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.711966745999995 meters 0.2538760245274092 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.34, Z:0.05 [[ 9.99968827e-01 7.32928587e-04 -7.86179502e-03 -2.90987827e-01] [-7.47899953e-04 9.99997912e-01 -1.90154825e-03 -3.35045161e-01] [ 7.86038491e-03 1.90736881e-03 9.99967288e-01 5.05692108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.741966745999996 meters 0.25467790615720526 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.34, Z:0.05 [[ 9.99968837e-01 7.52932257e-04 -7.85866454e-03 -2.90869295e-01] [-7.67741181e-04 9.99997935e-01 -1.88156048e-03 -3.35121810e-01] [ 7.85723162e-03 1.88753527e-03 9.99967350e-01 5.02484847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.771966746 meters 0.25489246335790505 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99967802e-01 6.16639079e-04 -8.00094347e-03 -2.89998847e-01] [-6.33380161e-04 9.99997615e-01 -2.09002331e-03 -3.34454831e-01] [ 7.99963560e-03 2.09502365e-03 9.99965808e-01 4.95384096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.801966746 meters 0.2544184303053392 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99968159e-01 6.31144728e-04 -7.95506354e-03 -2.90028408e-01] [-6.47650960e-04 9.99997643e-01 -2.07252869e-03 -3.34526093e-01] [ 7.95373672e-03 2.07761481e-03 9.99966210e-01 4.92801113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.831966746 meters 0.2549281125021762 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99968607e-01 5.57785582e-04 -7.90400974e-03 -2.89877540e-01] [-5.74945922e-04 9.99997482e-01 -2.16898721e-03 -3.34094881e-01] [ 7.90278001e-03 2.17346349e-03 9.99966410e-01 4.85300231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.861966746 meters 0.2545859149266466 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99968950e-01 4.53573662e-04 -7.86721147e-03 -2.89546962e-01] [-4.71546282e-04 9.99997283e-01 -2.28279246e-03 -3.33732906e-01] [ 7.86615468e-03 2.28643133e-03 9.99966447e-01 4.76643681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.891966745999994 meters 0.2533274964193266 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99969895e-01 4.81782726e-04 -7.74452724e-03 -2.89898682e-01] [-4.99708093e-04 9.99997201e-01 -2.31281667e-03 -3.33166575e-01] [ 7.74339129e-03 2.31661704e-03 9.99967336e-01 4.74374202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.921966745999995 meters 0.2528865579507292 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99970148e-01 3.94097216e-04 -7.71677244e-03 -2.89670970e-01] [-4.13603160e-04 9.99996723e-01 -2.52630080e-03 -3.31997785e-01] [ 7.71575154e-03 2.52941706e-03 9.99967034e-01 4.67519910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.951966746 meters 0.2538518860620036 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.33, Z:0.04 [[ 0.99999344 -0.00291851 -0.0021436 -0.26606253] [ 0.00292247 0.99999403 0.00184588 -0.33397906] [ 0.0021382 -0.00185213 0.999996 0.04183143] [ 0. 0. 0. 1. ]] SLAMing on 38.981966746 meters 0.25231189127616005 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.34, Z:0.04 [[ 0.99998567 -0.00442951 -0.00300802 -0.31095611] [ 0.00444288 0.99998021 0.00445382 -0.33718052] [ 0.00298823 -0.00446712 0.99998556 0.04129022] [ 0. 0. 0. 1. ]] SLAMing on 39.011966746 meters 0.2536076554224051 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.34, Z:0.03 [[ 9.99999802e-01 6.16173345e-04 1.29125281e-04 -2.83522866e-01] [-6.15909817e-04 9.99997748e-01 -2.03106974e-03 -3.35755977e-01] [-1.30376481e-04 2.03098981e-03 9.99997929e-01 3.29785286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.041966746 meters 0.25281482180001935 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.33, Z:0.03 [[ 9.99999791e-01 5.81023180e-04 2.84938312e-04 -2.83854958e-01] [-5.80396300e-04 9.99997422e-01 -2.19522299e-03 -3.34763509e-01] [-2.86213053e-04 2.19505715e-03 9.99997550e-01 3.26649477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.071966745999994 meters 0.25281482180001935 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.33, Z:0.03 [[ 9.99999791e-01 5.81023180e-04 2.84938312e-04 -2.83854958e-01] [-5.80396300e-04 9.99997422e-01 -2.19522299e-03 -3.34763509e-01] [-2.86213053e-04 2.19505715e-03 9.99997550e-01 3.26649477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.101966745999995 meters 0.25156303278297937 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.34, Z:0.04 [[ 0.99998317 -0.00497752 -0.00298082 -0.30911417] [ 0.00498876 0.99998044 0.00377272 -0.33547549] [ 0.00296199 -0.00378753 0.99998844 0.0385253 ] [ 0. 0. 0. 1. ]] SLAMing on 39.131966745999996 meters 0.2516357416493041 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99976357e-01 -1.25789889e-05 -6.87640874e-03 -2.94107232e-01] [ 5.27892451e-06 9.99999436e-01 -1.06162713e-03 -3.30053322e-01] [ 6.87641822e-03 1.06156573e-03 9.99975794e-01 4.77456640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.161966746 meters 0.2524572473283569 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.33, Z:0.05 [[ 9.99975737e-01 -2.48227192e-04 -6.96166067e-03 -2.93342847e-01] [ 2.37118604e-04 9.99998698e-01 -1.59646075e-03 -3.27621086e-01] [ 6.96204789e-03 1.59477128e-03 9.99974493e-01 4.68978134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.191966746 meters 0.2533177245357483 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.33, Z:0.04 [[ 0.99999218 -0.003663 -0.00149199 -0.2684916 ] [ 0.0036666 0.99999035 0.00241978 -0.32853355] [ 0.00148311 -0.00242523 0.99999596 0.04082039] [ 0. 0. 0. 1. ]] SLAMing on 39.221966746 meters 0.2525023580156188 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.33, Z:0.04 [[ 0.99999196 -0.00374908 -0.00142126 -0.2684324 ] [ 0.00375196 0.9999909 0.00203231 -0.32622072] [ 0.00141362 -0.00203763 0.99999692 0.04024473] [ 0. 0. 0. 1. ]] SLAMing on 39.251966746 meters 0.2520294629839086 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.32, Z:0.04 [[ 0.99999164 -0.00383803 -0.00140883 -0.2682787 ] [ 0.00384051 0.99999108 0.0017606 -0.32486826] [ 0.00140206 -0.001766 0.99999746 0.03987606] [ 0. 0. 0. 1. ]] SLAMing on 39.281966745999995 meters 0.25164577527924176 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.32, Z:0.04 [[ 0.99999062 -0.00406276 -0.00149988 -0.26749368] [ 0.00406468 0.99999092 0.00127764 -0.32277257] [ 0.00149468 -0.00128372 0.99999806 0.03898346] [ 0. 0. 0. 1. ]] SLAMing on 39.311966745999996 meters 0.2541994406928222 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:0.03 [[ 0.99999447 0.00232374 0.0023798 -0.24228098] [-0.00231403 0.99998901 -0.00407785 -0.31872101] [-0.00238925 0.00407233 0.99998885 0.03148204] [ 0. 0. 0. 1. ]] SLAMing on 39.341966746 meters 0.25340867806307804 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.32, Z:0.03 [[ 0.99999418 0.00224573 0.00256931 -0.24299763] [-0.00223387 0.99998688 -0.00460907 -0.31537633] [-0.00257962 0.00460331 0.99998608 0.03179468] [ 0. 0. 0. 1. ]] SLAMing on 39.371966746 meters 0.25202350433278337 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.31, Z:0.03 [[ 9.99993104e-01 3.11328526e-03 2.02462072e-03 -2.90601562e-01] [-3.11240547e-03 9.99995061e-01 -4.37551489e-04 -3.13295718e-01] [-2.02597294e-03 4.31247031e-04 9.99997855e-01 3.30608073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.401966746 meters 0.2516483723351164 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.31, Z:0.03 [[ 0.99999327 0.00301839 0.00208653 -0.2908751 ] [-0.00301628 0.99999494 -0.00101266 -0.30995088] [-0.00208958 0.00100636 0.99999731 0.03339358] [ 0. 0. 0. 1. ]] SLAMing on 39.431966746 meters 0.2537155067156938 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.30, Z:0.03 [[ 0.99998862 0.0037174 0.00299177 -0.24614512] [-0.00370315 0.99998184 -0.00475374 -0.30362941] [-0.00300938 0.00474261 0.99998423 0.03356848] [ 0. 0. 0. 1. ]] SLAMing on 39.461966745999995 meters 0.2520143404964849 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.30, Z:0.04 [[ 9.99999786e-01 -6.18491600e-04 -2.11793496e-04 -2.74439453e-01] [ 6.18928584e-04 9.99997667e-01 2.06944196e-03 -3.02574066e-01] [ 2.10513070e-04 -2.06957260e-03 9.99997836e-01 4.26617537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.491966745999996 meters 0.25574412553555476 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.30, Z:0.04 [[ 9.99996947e-01 2.42545830e-03 4.72438648e-04 -2.28577808e-01] [-2.42573768e-03 9.99996883e-01 5.91682556e-04 -2.95617360e-01] [-4.71002074e-04 -5.92826762e-04 9.99999713e-01 4.21083109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.521966746 meters 0.2527712234778901 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.29, Z:0.04 [[ 9.99999566e-01 8.20275537e-04 -4.41638864e-04 -2.75428127e-01] [-8.19302962e-04 9.99997249e-01 2.19789252e-03 -2.94213401e-01] [ 4.43440526e-04 -2.19752973e-03 9.99997487e-01 4.30483107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.551966746 meters 0.25516501605042474 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.29, Z:0.04 [[ 9.99999820e-01 4.91758818e-04 -3.42967688e-04 -2.75473901e-01] [-4.91385774e-04 9.99999289e-01 1.08692941e-03 -2.88272589e-01] [ 3.43501951e-04 -1.08676069e-03 9.99999350e-01 4.27347806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.581966746 meters 0.2548425897469993 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.29, Z:0.04 [[ 9.99999908e-01 3.07745485e-04 -2.98559903e-04 -2.75313436e-01] [-3.07565429e-04 9.99999771e-01 6.02939659e-04 -2.85945069e-01] [ 2.98745386e-04 -6.02847777e-04 9.99999774e-01 4.23128590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.611966746 meters 0.2570128336714816 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.28, Z:0.04 [[ 0.99999703 -0.00134957 -0.0020309 -0.31819631] [ 0.00135244 0.99999809 0.00141025 -0.28116934] [ 0.00202899 -0.001413 0.99999694 0.03992119] [ 0. 0. 0. 1. ]] SLAMing on 39.641966745999994 meters 0.2545772784553858 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.28, Z:0.04 [[ 9.99997301e-01 -1.42866033e-03 -1.83216691e-03 -3.19020516e-01] [ 1.42993461e-03 9.99998737e-01 6.94382307e-04 -2.76605900e-01] [ 1.83117256e-03 -6.97000312e-04 9.99998080e-01 4.04307948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.671966745999995 meters 0.25760398229500026 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.27, Z:0.04 [[ 9.99997034e-01 -1.71209215e-03 -1.73218815e-03 -3.19104016e-01] [ 1.71164182e-03 9.99998501e-01 -2.61424405e-04 -2.71317689e-01] [ 1.73263314e-03 2.58458744e-04 9.99998466e-01 4.00286152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.701966746 meters 0.25469919438604866 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.27, Z:0.04 [[ 0.99999281 -0.00180794 -0.00333448 -0.36259386] [ 0.00181551 0.99999577 0.00227067 -0.26803411] [ 0.00333036 -0.0022767 0.99999186 0.03794993] [ 0. 0. 0. 1. ]] SLAMing on 39.731966746 meters 0.2540356044788191 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.26, Z:0.04 [[ 0.99999336 -0.0020319 -0.00302398 -0.36314303] [ 0.00203577 0.99999711 0.00127524 -0.26212997] [ 0.00302138 -0.00128139 0.99999461 0.03740269] [ 0. 0. 0. 1. ]] SLAMing on 39.761966746 meters 0.25835540965806114 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.25, Z:0.03 [[ 0.99999164 0.00393113 0.00112684 -0.3387458 ] [-0.00392588 0.99998159 -0.00462655 -0.25436249] [-0.00114501 0.00462209 0.99998866 0.03110768] [ 0. 0. 0. 1. ]] SLAMing on 39.791966746 meters 0.25841503475068567 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.25, Z:0.03 [[ 0.99999226 0.00372142 0.00128058 -0.33922553] [-0.00371432 0.99997797 -0.00550187 -0.24944702] [-0.00130103 0.00549708 0.99998404 0.03122664] [ 0. 0. 0. 1. ]] SLAMing on 39.821966745999994 meters 0.25841159656387924 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.24, Z:0.03 [[ 0.99999321 0.00343362 0.00133775 -0.33912765] [-0.00342492 0.99997331 -0.00645293 -0.24438818] [-0.00135987 0.0064483 0.99997828 0.03089053] [ 0. 0. 0. 1. ]] SLAMing on 39.851966745999995 meters 0.2584189467207133 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.24, Z:0.03 [[ 9.99997005e-01 -2.00407004e-03 1.40512261e-03 -3.60210632e-01] [ 2.00486702e-03 9.99997830e-01 -5.66016056e-04 -2.38457374e-01] [-1.40398523e-03 5.68831445e-04 9.99998853e-01 2.83399335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.881966745999996 meters 0.2590109792987445 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:0.03 [[ 0.9999968 0.00133726 0.00214584 -0.31539443] [-0.00133402 0.99999797 -0.00150978 -0.23001528] [-0.00214786 0.00150691 0.99999656 0.02956403] [ 0. 0. 0. 1. ]] SLAMing on 39.911966746 meters 0.2587914650829151 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:0.03 [[ 0.99999693 0.00112617 0.00220609 -0.31550178] [-0.00112085 0.99999647 -0.00240994 -0.22509492] [-0.00220879 0.00240746 0.99999466 0.0295307 ] [ 0. 0. 0. 1. ]] SLAMing on 39.941966746 meters 0.25890195040323405 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.22, Z:0.03 [[ 9.99996522e-01 9.81530424e-04 2.44812737e-03 -3.16396362e-01] [-9.73320622e-04 9.99993907e-01 -3.35244295e-03 -2.19249368e-01] [-2.45140298e-03 3.35004848e-03 9.99991384e-01 2.98654176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.971966746 meters 0.2581170104466508 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.21, Z:0.03 [[ 9.99984296e-01 4.99389184e-03 2.54356267e-03 -3.16513000e-01] [-4.99402462e-03 9.99987529e-01 4.58532014e-05 -2.14651084e-01] [-2.54330196e-03 -5.85550959e-05 9.99996764e-01 2.97308192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.001966746 meters 0.2594818987387907 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.21, Z:0.03 [[ 0.9999861 0.00456231 0.00264205 -0.31633769] [-0.00455839 0.99998851 -0.00148502 -0.20668828] [-0.0026488 0.00147295 0.99999541 0.02897354] [ 0. 0. 0. 1. ]] SLAMing on 40.031966745999995 meters 0.25960996109299683 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:0.03 [[ 0.99998826 0.00405332 0.0026547 -0.31600706] [-0.00404496 0.99998687 -0.00314498 -0.19844107] [-0.00266741 0.00313421 0.99999153 0.02833332] [ 0. 0. 0. 1. ]] SLAMing on 40.061966745999996 meters 0.25977608073028574 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.20, Z:0.03 [[ 0.99998827 0.00396502 0.0027803 -0.31634342] [-0.00395483 0.99998548 -0.0036593 -0.19544985] [-0.00279477 0.00364826 0.99998944 0.02822815] [ 0. 0. 0. 1. ]] SLAMing on 40.091966746 meters 0.2522325583199434 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.19, Z:0.03 [[ 0.99998806 0.00374892 0.00313607 -0.31729154] [-0.00373274 0.99997978 -0.00514834 -0.18664853] [-0.0031553 0.00513657 0.99998183 0.02803244] [ 0. 0. 0. 1. ]] SLAMing on 40.121966746 meters 0.25233864468812994 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.18, Z:0.03 [[ 0.99996618 0.00758701 0.00317541 -0.31710721] [-0.00757996 0.99996879 -0.00222587 -0.17965468] [-0.0031922 0.00220172 0.99999248 0.02771577] [ 0. 0. 0. 1. ]] SLAMing on 40.151966746 meters 0.26193981776120784 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.17, Z:0.03 [[ 0.99996892 0.00711124 0.00340569 -0.31732193] [-0.00709748 0.99996667 -0.00403663 -0.17016428] [-0.00343428 0.00401234 0.99998605 0.02685825] [ 0. 0. 0. 1. ]] SLAMing on 40.181966746 meters 0.2642443137470254 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.16, Z:0.03 [[ 0.99997125 0.00667314 0.00359982 -0.3176399 ] [-0.00665249 0.99996152 -0.00571781 -0.16124348] [-0.00363784 0.0056937 0.99997717 0.02635422] [ 0. 0. 0. 1. ]] SLAMing on 40.211966745999995 meters 0.25402879707772386 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:0.03 [[ 0.99999256 -0.00362414 0.00131978 -0.31759367] [ 0.00362217 0.99999233 0.00149137 -0.15267622] [-0.00132517 -0.00148658 0.99999802 0.0283364 ] [ 0. 0. 0. 1. ]] SLAMing on 40.241966745999996 meters 0.25445657886638784 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:0.03 [[ 9.99990942e-01 -3.92786257e-03 1.63933583e-03 -3.18384150e-01] [ 3.92791497e-03 9.99992285e-01 -2.87431887e-05 -1.44006479e-01] [-1.63921028e-03 3.51821001e-05 9.99998656e-01 2.79795257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.271966746 meters 0.2548255537325815 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:0.03 [[ 9.99998565e-01 -1.46412639e-04 1.68755495e-03 -3.18287590e-01] [ 1.41708280e-04 9.99996105e-01 2.78746018e-03 -1.36719614e-01] [-1.68795650e-03 -2.78721705e-03 9.99994691e-01 2.73541270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.301966746 meters 0.2725300920178774 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.13, Z:0.03 [[ 9.99998058e-01 -7.54734459e-04 1.82051918e-03 -3.18123206e-01] [ 7.53301250e-04 9.99999406e-01 7.87810069e-04 -1.26620019e-01] [-1.82111268e-03 -7.86437139e-04 9.99998033e-01 2.60276529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.331966746 meters 0.26310416162857575 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.12, Z:0.02 [[ 9.99999675e-01 -4.15509645e-04 6.91136252e-04 -3.64267807e-01] [ 4.13892569e-04 9.99997181e-01 2.33823465e-03 -1.20794111e-01] [-6.92105862e-04 -2.33794783e-03 9.99997027e-01 2.49132289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.361966746 meters 0.25434638090631206 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.11, Z:0.02 [[ 9.99999073e-01 -8.54105365e-04 1.06031160e-03 -3.65261859e-01] [ 8.53492333e-04 9.99999468e-01 5.78480122e-04 -1.11192820e-01] [-1.06080512e-03 -5.77574618e-04 9.99999271e-01 2.46385132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.391966745999994 meters 0.25658499930068945 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.10, Z:0.02 [[ 0.999997 0.00204073 0.00135661 -0.31890809] [-0.0020391 0.9999972 -0.00120343 -0.09533948] [-0.00135906 0.00120066 0.99999836 0.02450528] [ 0. 0. 0. 1. ]] SLAMing on 40.421966745999995 meters 0.2559847229064661 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.09, Z:0.02 [[ 0.99999693 0.00172118 0.00177978 -0.32013491] [-0.00171638 0.99999489 -0.00269848 -0.08671378] [-0.00178441 0.00269542 0.99999478 0.02419027] [ 0. 0. 0. 1. ]] SLAMing on 40.451966746 meters 0.2599903904094886 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.07, Z:0.02 [[ 0.99998422 0.00501748 0.00252639 -0.27459495] [-0.00500783 0.9999802 -0.0038113 -0.07046175] [-0.00254546 0.00379858 0.99998955 0.02425872] [ 0. 0. 0. 1. ]] SLAMing on 40.481966746 meters 0.2562730347797989 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.06, Z:0.02 [[ 0.99998585 0.00520702 0.00108608 -0.31949841] [-0.00520413 0.99998295 -0.00264809 -0.064917 ] [-0.00109985 0.0026424 0.9999959 0.02181024] [ 0. 0. 0. 1. ]] SLAMing on 40.511966746 meters 0.257310019179459 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.02 [[ 9.99996577e-01 3.74831310e-04 2.58954867e-03 -2.94700848e-01] [-3.76234022e-04 9.99999783e-01 5.41216137e-04 -5.21603439e-02] [-2.58934525e-03 -5.42188560e-04 9.99996501e-01 2.00360674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.541966746 meters 0.254590784071295 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.05, Z:0.02 [[ 9.99998234e-01 -7.90462015e-04 1.70507580e-03 -3.41612474e-01] [ 7.88903748e-04 9.99999271e-01 9.14378074e-04 -5.17378070e-02] [-1.70579734e-03 -9.13031318e-04 9.99998128e-01 1.89222848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.571966745999994 meters 0.2569988854171936 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.05, Z:0.02 [[ 0.99999366 0.0030522 0.00183538 -0.34188027] [-0.00305943 0.99998753 0.00394609 -0.04564048] [-0.00182331 -0.00395168 0.99999053 0.01864712] [ 0. 0. 0. 1. ]] SLAMing on 40.601966745999995 meters 0.2583097310399043 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.03, Z:0.02 [[ 9.99996603e-01 1.83781867e-03 1.84825161e-03 -3.41386654e-01] [-1.83920032e-03 9.99998030e-01 7.46120774e-04 -2.95790940e-02] [-1.84687674e-03 -7.49517545e-04 9.99998014e-01 1.72406180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.631966745999996 meters 0.25791626498082026 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.02, Z:0.02 [[ 0.99999688 0.00126254 0.002157 -0.34230006] [-0.0012601 0.99999856 -0.00113384 -0.01956534] [-0.00215843 0.00113112 0.99999703 0.01680242] [ 0. 0. 0. 1. ]] SLAMing on 40.661966746 meters 0.25736861996303984 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.01, Z:0.02 [[ 0.99999672 0.00102809 0.00234746 -0.34315792] [-0.00102347 0.99999753 -0.00197091 -0.014855 ] [-0.00234948 0.0019685 0.9999953 0.01709678] [ 0. 0. 0. 1. ]] SLAMing on 40.691966746 meters 0.25725706643327717 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.01, Z:0.02 [[ 9.99996566e-01 5.25429107e-04 2.56734793e-03 -3.43896411e-01] [-5.15941003e-04 9.99993041e-01 -3.69494834e-03 -5.49153837e-03] [-2.56927150e-03 3.69361105e-03 9.99989878e-01 1.69939139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.721966746 meters 0.26063077004005264 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.01, Z:0.02 [[ 0.99998806 0.00357931 0.00332684 -0.29743675] [-0.00356478 0.99998413 -0.00436308 0.01131469] [-0.0033424 0.00435117 0.99998495 0.01647532] [ 0. 0. 0. 1. ]] SLAMing on 40.751966746 meters 0.2579653242850492 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.02, Z:0.02 [[ 9.99999440e-01 -1.00729464e-03 3.25940663e-04 -3.25273812e-01] [ 1.00706539e-03 9.99999246e-01 7.02739559e-04 1.77625017e-02] [-3.26648283e-04 -7.02410922e-04 9.99999700e-01 2.20560025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.781966745999995 meters 0.26164360234459993 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.03, Z:0.03 [[ 9.99997084e-01 1.04044134e-03 2.17941936e-03 -2.83677926e-01] [-1.03975667e-03 9.99999410e-01 -3.15264035e-04 3.35345687e-02] [-2.17974609e-03 3.12997050e-04 9.99997575e-01 2.54916361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.811966745999996 meters 0.2608842451319783 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.04, Z:0.03 [[ 9.99996947e-01 4.85529110e-04 2.42295663e-03 -2.84604513e-01] [-4.80463737e-04 9.99997699e-01 -2.09071949e-03 4.32783236e-02] [-2.42396616e-03 2.08954896e-03 9.99994879e-01 2.53792579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.841966746 meters 0.2593747375060023 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.05, Z:0.02 [[ 9.99999422e-01 8.64168116e-04 6.39448645e-04 -3.27687472e-01] [-8.63070324e-04 9.99998157e-01 -1.71506867e-03 5.03794463e-02] [-6.40929574e-04 1.71451579e-03 9.99998325e-01 2.10657731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.871966746 meters 0.2582892393369969 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.06, Z:0.02 [[ 9.99999680e-01 2.42969075e-04 7.62706349e-04 -3.28011192e-01] [-2.40201470e-04 9.99993395e-01 -3.62666179e-03 6.04733612e-02] [-7.63582477e-04 3.62647742e-03 9.99993133e-01 2.04839570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.901966746 meters 0.26109166884779117 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.07, Z:0.01 [[ 0.9999892 -0.0029775 0.00356811 -0.29947347] [ 0.00297284 0.99999472 0.00131031 0.07145762] [-0.003572 -0.00129969 0.99999278 0.01373446] [ 0. 0. 0. 1. ]] SLAMing on 40.931966746 meters 0.2577056878423032 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.08, Z:0.01 [[ 0.99999211 -0.00278728 0.00283144 -0.34810448] [ 0.00278373 0.99999533 0.0012588 0.07846471] [-0.00283493 -0.00125091 0.9999952 0.01330547] [ 0. 0. 0. 1. ]] SLAMing on 40.961966745999995 meters 0.25693851979614285 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.09, Z:0.01 [[ 9.99989994e-01 -3.32194243e-03 2.99625518e-03 -3.48681714e-01] [ 3.32357190e-03 9.99994332e-01 -5.39018442e-04 8.81621135e-02] [-2.99444761e-03 5.48971317e-04 9.99995366e-01 1.30411819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.991966745999996 meters 0.25693851979614285 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.09, Z:0.01 [[ 9.99989994e-01 -3.32194243e-03 2.99625518e-03 -3.48681714e-01] [ 3.32357190e-03 9.99994332e-01 -5.39018442e-04 8.81621135e-02] [-2.99444761e-03 5.48971317e-04 9.99995366e-01 1.30411819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.021966746 meters 0.2600994463987871 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.10, Z:0.01 [[ 9.99990350e-01 -1.20265835e-03 4.22541223e-03 -3.02953325e-01] [ 1.20416972e-03 9.99999212e-01 -3.55161132e-04 9.90591950e-02] [-4.22498177e-03 3.60245819e-04 9.99991010e-01 1.40812404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.051966746 meters 0.25619481185295945 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:0.01 [[ 9.99994793e-01 -1.05879882e-03 3.04832322e-03 -3.48834950e-01] [ 1.06006871e-03 9.99999352e-01 -4.15002424e-04 1.05186940e-01] [-3.04788184e-03 4.18231695e-04 9.99995268e-01 1.15645275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.081966746 meters 0.2579060836352129 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.12, Z:0.01 [[ 9.99990130e-01 5.40745460e-04 4.40991114e-03 -3.03943289e-01] [-5.34739627e-04 9.99998928e-01 -1.36295972e-03 1.24277145e-01] [-4.41064343e-03 1.36058812e-03 9.99989347e-01 1.16794607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.111966746 meters 0.2582632420007722 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.13, Z:0.01 [[ 9.99990458e-01 3.26356204e-04 4.35641713e-03 -3.03709217e-01] [-3.17793606e-04 9.99998017e-01 -1.96606144e-03 1.27461651e-01] [-4.35705013e-03 1.96465824e-03 9.99988578e-01 1.15334061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.141966745999994 meters 0.256970439788215 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.13, Z:0.01 [[ 9.99989964e-01 -6.56151872e-05 4.47974166e-03 -3.04437357e-01] [ 7.89119766e-05 9.99995592e-01 -2.96809228e-03 1.32464373e-01] [-4.47952716e-03 2.96841599e-03 9.99985561e-01 1.19057686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.171966745999995 meters 0.25762948264921154 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.14, Z:0.01 [[ 9.99989324e-01 -2.90208599e-04 4.61168097e-03 -3.05288872e-01] [ 3.06736129e-04 9.99993532e-01 -3.58353746e-03 1.35654994e-01] [-4.61061117e-03 3.58491377e-03 9.99982945e-01 1.25794519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.201966746 meters 0.2571520435819303 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.14, Z:0.01 [[ 9.99989812e-01 -5.38158748e-04 4.48179626e-03 -3.04705646e-01] [ 5.57154984e-04 9.99990863e-01 -4.23836238e-03 1.38989500e-01] [-4.47947440e-03 4.24081626e-03 9.99980975e-01 1.20780475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.231966746 meters 0.25571560072677096 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.14, Z:0.01 [[ 0.99998961 -0.00115237 0.00440987 -0.30467127] [ 0.00117557 0.99998546 -0.00526213 0.14315643] [-0.00440374 0.00526726 0.99997643 0.01225957] [ 0. 0. 0. 1. ]] SLAMing on 41.261966746 meters 0.2562589848188516 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.14, Z:0.01 [[ 0.99998963 -0.00117524 0.00440082 -0.30480664] [ 0.00119866 0.99998512 -0.00532286 0.14350679] [-0.0043945 0.00532808 0.99997615 0.01250978] [ 0. 0. 0. 1. ]] SLAMing on 41.291966746 meters 0.25485057242988496 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.15, Z:0.01 [[ 0.99999018 -0.0015724 0.00414328 -0.30409977] [ 0.00159685 0.99998129 -0.00590465 0.14564971] [-0.00413392 0.00591121 0.99997398 0.01253639] [ 0. 0. 0. 1. ]] SLAMing on 41.321966745999994 meters 0.2549313126381728 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.15, Z:0.01 [[ 0.99998978 -0.00178663 0.00415375 -0.30413775] [ 0.0018124 0.99997908 -0.00620858 0.14696269] [-0.00414257 0.00621604 0.9999721 0.01246499] [ 0. 0. 0. 1. ]] SLAMing on 41.351966745999995 meters 0.2519403155025578 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.15, Z:0.02 [[ 9.99940852e-01 -1.08468711e-02 7.98736205e-04 -3.30371263e-01] [ 1.08508407e-02 9.99927889e-01 -5.14556916e-03 1.47314207e-01] [-7.42865282e-04 5.15393177e-03 9.99986442e-01 1.71389620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.381966745999996 meters 0.25481890219681236 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.15, Z:0.02 [[ 0.99999812 -0.00124787 0.00148662 -0.30675068] [ 0.00125708 0.99997994 -0.00620863 0.14691434] [-0.00147884 0.00621049 0.99997962 0.01741679] [ 0. 0. 0. 1. ]] SLAMing on 41.411966746 meters 0.25371660028022214 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.15, Z:0.02 [[ 0.99999808 -0.00147884 0.00128306 -0.3059119 ] [ 0.00148716 0.9999777 -0.00651017 0.14820419] [-0.0012734 0.00651206 0.99997799 0.01691969] [ 0. 0. 0. 1. ]] SLAMing on 41.441966746 meters 0.25416399550397495 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.15, Z:0.02 [[ 0.99999744 -0.00187089 0.00127336 -0.30573307] [ 0.00187934 0.99997602 -0.00666539 0.14764571] [-0.00126086 0.00666776 0.99997698 0.01648047] [ 0. 0. 0. 1. ]] SLAMing on 41.471966746 meters 0.2566981514481725 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.15, Z:0.02 [[ 0.99998576 -0.00440064 0.00301903 -0.26266375] [ 0.00442715 0.9999512 -0.00883126 0.14913935] [-0.00298002 0.0088445 0.99995645 0.0193546 ] [ 0. 0. 0. 1. ]] SLAMing on 41.501966746 meters 0.2580219046181441 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.15, Z:0.02 [[ 0.99999388 -0.00121355 0.00328283 -0.26393487] [ 0.00123119 0.9999848 -0.0053743 0.14831827] [-0.00327626 0.00537831 0.99998017 0.02008856] [ 0. 0. 0. 1. ]] SLAMing on 41.531966745999995 meters 0.2568594262285511 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:0.02 [[ 0.99990489 -0.01237907 0.00608 -0.2392766 ] [ 0.01241567 0.99990481 -0.00601921 0.14972543] [-0.00600491 0.00609412 0.9999634 0.01758519] [ 0. 0. 0. 1. ]] SLAMing on 41.561966745999996 meters 0.25602489538835527 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:0.02 [[ 0.99993713 -0.00934382 0.00619877 -0.23952994] [ 0.00936063 0.99995257 -0.00268957 0.14894646] [-0.00617335 0.00274743 0.99997717 0.01700869] [ 0. 0. 0. 1. ]] SLAMing on 41.591966746 meters 0.2574828071341012 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.14, Z:0.02 [[ 0.99996882 -0.00349928 0.00707891 -0.21568436] [ 0.00354717 0.99997083 -0.00676443 0.14476335] [-0.00705504 0.00678933 0.99995206 0.01596652] [ 0. 0. 0. 1. ]] SLAMing on 41.621966746 meters 0.25598805471183345 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:0.02 [[ 0.99987992 -0.01475804 0.00472695 -0.2402068 ] [ 0.01479323 0.99986247 -0.00749722 0.14714735] [-0.00461565 0.00756624 0.99996072 0.01790757] [ 0. 0. 0. 1. ]] SLAMing on 41.651966746 meters 0.25758091325903726 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:0.02 [[ 0.99991925 -0.01165859 0.0050576 -0.24131094] [ 0.01167902 0.99992368 -0.00402845 0.14573323] [-0.00501025 0.00408719 0.9999791 0.01749497] [ 0. 0. 0. 1. ]] SLAMing on 41.681966746 meters 0.2579253330099765 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.14, Z:0.02 [[ 9.99947444e-01 -8.58078186e-03 5.61061342e-03 -2.43431463e-01] [ 8.58421716e-03 9.99962982e-01 -5.88491650e-04 1.44350116e-01] [-5.60535600e-03 6.36623446e-04 9.99984087e-01 1.78338785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.711966745999995 meters 0.6250807755159026 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.14, Z:0.02 [[ 0.99996672 -0.00556904 0.00596118 -0.24443368] [ 0.00555137 0.99998016 0.00297707 0.14206628] [-0.00597764 -0.00294388 0.9999778 0.01710862] [ 0. 0. 0. 1. ]] SLAMing on 41.741966745999996 meters 0.25619841836293317 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.15, Z:0.02 [[ 0.99998401 -0.0055417 -0.00112407 -0.26738854] [ 0.00553668 0.99997489 -0.00442349 0.14693521] [ 0.00114856 0.0044172 0.99998958 0.02398118] [ 0. 0. 0. 1. ]] SLAMing on 41.771966746 meters 0.2589078464461328 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.14, Z:0.02 [[ 9.99997072e-01 4.07049649e-05 2.41975176e-03 -2.44039389e-01] [-2.13722748e-05 9.99968087e-01 -7.98902351e-03 1.40210060e-01] [-2.41999973e-03 7.98894840e-03 9.99965160e-01 1.89849163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.801966746 meters 0.25682805007494525 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.14, Z:0.02 [[ 9.99994528e-01 -7.54373990e-04 3.22103115e-03 -2.46684782e-01] [ 7.80808320e-04 9.99965964e-01 -8.21343592e-03 1.37820460e-01] [-3.21472552e-03 8.21590598e-03 9.99961081e-01 1.88801052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.831966746 meters 0.2609137779364883 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.13, Z:0.03 [[ 0.99998378 -0.00532837 -0.00201188 -0.23001462] [ 0.00531739 0.99997117 -0.00542145 0.1296612 ] [ 0.00204071 0.00541067 0.99998328 0.02578455] [ 0. 0. 0. 1. ]] SLAMing on 41.861966746 meters 0.25813233208571223 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.13, Z:0.03 [[ 0.99983485 -0.01783171 -0.00350714 -0.25751625] [ 0.01780554 0.99981442 -0.00735509 0.13217672] [ 0.00363764 0.00729143 0.9999668 0.02876829] [ 0. 0. 0. 1. ]] SLAMing on 41.891966745999994 meters 0.2618854414937916 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.12, Z:0.03 [[ 0.99991575 -0.01286102 -0.00175477 -0.23596346] [ 0.01284029 0.99985316 -0.01134874 0.1205522 ] [ 0.00190047 0.01132525 0.99993406 0.02624148] [ 0. 0. 0. 1. ]] SLAMing on 41.921966745999995 meters 0.2598067798878518 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.12, Z:0.03 [[ 9.99906803e-01 -1.36311303e-02 -7.60439964e-04 -2.39317761e-01] [ 1.36216060e-02 9.99842553e-01 -1.13719120e-02 1.17112733e-01] [ 9.15332250e-04 1.13604938e-02 9.99935049e-01 2.59007571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.951966746 meters 0.2598399064398122 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.11, Z:0.03 [[ 9.99902087e-01 -1.39930358e-02 -1.04858055e-04 -2.41398761e-01] [ 1.39909697e-02 9.99838787e-01 -1.12540370e-02 1.14893550e-01] [ 2.62319293e-04 1.12514680e-02 9.99936666e-01 2.54691917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.981966746 meters 0.2593109629389264 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.11, Z:0.02 [[ 9.99828368e-01 -1.85001395e-02 9.89507173e-04 -2.44479977e-01] [ 1.85121445e-02 9.99731412e-01 -1.39428768e-02 1.05866769e-01] [-7.31296237e-04 1.39588017e-02 9.99902304e-01 2.34506723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.011966746 meters 0.2582236898103838 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.10, Z:0.02 [[ 0.99973107 -0.02312165 0.00178018 -0.24642587] [ 0.02314927 0.99957904 -0.0174885 0.10053425] [-0.00137506 0.01752501 0.99984548 0.02201154] [ 0. 0. 0. 1. ]] SLAMing on 42.041966746 meters 0.25905176231157273 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.09, Z:0.02 [[ 0.9997099 -0.02385896 0.00329527 -0.25099077] [ 0.0239113 0.99957153 -0.01688208 0.09349849] [-0.00289107 0.01695597 0.99985206 0.02010057] [ 0. 0. 0. 1. ]] SLAMing on 42.071966745999994 meters 0.27188696498445136 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.09, Z:0.02 [[ 0.99958199 -0.02859443 0.00426578 -0.25377797] [ 0.02867574 0.99938055 -0.0204012 0.08734975] [-0.00367977 0.02051499 0.99978277 0.0187695 ] [ 0. 0. 0. 1. ]] SLAMing on 42.101966745999995 meters 0.27231724860452616 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.08, Z:0.02 [[ 9.99557923e-01 -2.97309083e-02 1.80483573e-04 -2.39561354e-01] [ 2.97262640e-02 9.99251505e-01 -2.47543572e-02 7.93013399e-02] [ 5.55621042e-04 2.47487789e-02 9.99693548e-01 2.28396502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.131966745999996 meters 0.26205557704625354 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.07, Z:0.02 [[ 9.99693374e-01 -2.47620019e-02 2.70720887e-05 -2.67950266e-01] [ 2.47523052e-02 9.99270085e-01 -2.90967294e-02 7.31110068e-02] [ 6.93440942e-04 2.90884777e-02 9.99576600e-01 2.19100101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.161966746 meters 0.2634620792305347 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.07, Z:0.02 [[ 0.99966261 -0.02589851 0.0019813 -0.27449518] [ 0.02594486 0.99924849 -0.02879775 0.0654717 ] [-0.00123399 0.02883944 0.9995833 0.0202369 ] [ 0. 0. 0. 1. ]] SLAMing on 42.191966746 meters 0.2633746704195073 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.06, Z:0.02 [[ 0.99953377 -0.03036033 0.00323845 -0.27814696] [ 0.03044776 0.99903472 -0.03166324 0.05722982] [-0.00227402 0.03174708 0.99949335 0.01809163] [ 0. 0. 0. 1. ]] SLAMing on 42.221966746 meters 0.2617047419554574 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.05, Z:0.02 [[ 0.99937858 -0.03490807 0.00488689 -0.2829743 ] [ 0.03505646 0.99878724 -0.03457003 0.04862515] [-0.00367419 0.03471987 0.99939033 0.01558653] [ 0. 0. 0. 1. ]] SLAMing on 42.251966745999994 meters 0.26328401503719734 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.04, Z:0.01 [[ 0.99919298 -0.039578 0.00685342 -0.2885321 ] [ 0.03980781 0.99850406 -0.0374831 0.03970055] [-0.00535967 0.03772567 0.99927376 0.01236423] [ 0. 0. 0. 1. ]] SLAMing on 42.281966745999995 meters 0.2659269317381919 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.03, Z:0.01 [[ 0.99899764 -0.0439868 0.00829946 -0.29278905] [ 0.04428556 0.99821301 -0.04011941 0.03086024] [-0.0065199 0.04044674 0.99916042 0.00981223] [ 0. 0. 0. 1. ]] SLAMing on 42.311966745999996 meters 0.26957764492009706 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.02, Z:0.01 [[ 0.99878114 -0.04832784 0.0100323 -0.29787437] [ 0.04871287 0.99790618 -0.04254771 0.02111424] [-0.00795506 0.04298455 0.99904407 0.00705729] [ 0. 0. 0. 1. ]] SLAMing on 42.341966746 meters 0.27504956306953277 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.01, Z:0.01 [[ 0.99904802 -0.04262756 0.009271 -0.32849975] [ 0.04300618 0.9980414 -0.04542944 0.01360893] [-0.0073163 0.0457849 0.99892453 0.00641864] [ 0. 0. 0. 1. ]] SLAMing on 42.371966746 meters 0.27844906632153943 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.01, Z:-0.00 [[ 0.99871724 -0.0496368 0.01000341 -0.327172 ] [ 0.05006308 0.99758292 -0.04818722 -0.00664121] [-0.00758738 0.04862621 0.99878823 -0.00216291] [ 0. 0. 0. 1. ]] SLAMing on 42.401966746 meters 0.29154814904802795 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.00, Z:-0.01 [[ 9.98048037e-01 -6.20543958e-02 7.02615813e-03 -3.64721730e-01] [ 6.23562864e-02 9.96399587e-01 -5.74417636e-02 -2.69696939e-04] [-3.43634712e-03 5.77677646e-02 9.98324134e-01 -5.34962618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.431966746 meters 0.3020343597747025 Centerline is valid? [False, False] Translation: X:-0.40, Y:0.01, Z:-0.01 [[ 0.99705395 -0.07664334 0.00303603 -0.39747296] [ 0.07666971 0.99466045 -0.06908214 0.01286472] [ 0.00227486 0.0691114 0.99760636 -0.00929371] [ 0. 0. 0. 1. ]] SLAMing on 42.461966745999995 meters 0.3188993963431855 Centerline is valid? [False, False] Translation: X:-0.42, Y:0.03, Z:-0.01 [[ 0.99746904 -0.07104125 -0.00294097 -0.42215463] [ 0.07063973 0.99484397 -0.07277028 0.02506034] [ 0.0080955 0.07237835 0.99734439 -0.00509198] [ 0. 0. 0. 1. ]] SLAMing on 42.491966745999996 meters 0.3216015650227565 Centerline is valid? [False, False] Translation: X:-0.40, Y:0.01, Z:-0.01 [[ 0.99832323 -0.05784616 -0.00213479 -0.40191908] [ 0.05756864 0.9960362 -0.06780671 0.0086626 ] [ 0.00604869 0.06757011 0.99769619 -0.00668937] [ 0. 0. 0. 1. ]] SLAMing on 42.521966746 meters 0.29024792376460135 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.01, Z:0.00 [[ 0.99932661 -0.03624453 -0.00571542 -0.38375871] [ 0.03586352 0.99775103 -0.05662757 -0.01037898] [ 0.007755 0.05638446 0.99837901 0.00167048] [ 0. 0. 0. 1. ]] SLAMing on 42.551966746 meters 0.2850180921164189 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.02, Z:0.00 [[ 0.99998194 0.00391508 -0.00456042 -0.38643851] [-0.00415281 0.99856757 -0.05334381 -0.0220017 ] [ 0.00434504 0.05336178 0.99856579 0.0019428 ] [ 0. 0. 0. 1. ]] SLAMing on 42.581966746 meters 0.2700214360236507 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.02, Z:-0.00 [[ 9.98575062e-01 5.33561136e-02 -9.84732722e-04 -4.01666073e-01] [-5.33393128e-02 9.97346028e-01 -4.95562208e-02 -2.01308608e-02] [-1.66200808e-03 4.95381312e-02 9.98770850e-01 -4.72615635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.611966746 meters 0.26353615604530006 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.02, Z:-0.01 [[ 0.99492578 0.10057929 0.0025486 -0.39697726] [-0.10038175 0.99404574 -0.04238589 -0.01943451] [-0.00679656 0.04191498 0.99909806 -0.00674077] [ 0. 0. 0. 1. ]] SLAMing on 42.641966745999994 meters 0.26759819036053506 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.02, Z:-0.00 [[ 0.99012371 0.14016106 0.00314845 -0.39007653] [-0.13993736 0.9894095 -0.03855369 -0.01867 ] [-0.00851883 0.03773233 0.99925157 -0.00320683] [ 0. 0. 0. 1. ]] SLAMing on 42.671966745999995 meters 0.2643989182745681 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.02, Z:-0.00 [[ 9.89437218e-01 1.44943036e-01 2.34692428e-03 -3.85969653e-01] [-1.44774157e-01 9.88849347e-01 -3.48914389e-02 -1.51216178e-02] [-7.37802563e-03 3.41831143e-02 9.99388353e-01 -5.21128647e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.701966746 meters 0.2604076639520612 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.01, Z:0.00 [[ 0.98165756 0.19064782 -0.00135581 -0.40801303] [-0.19057202 0.98101083 -0.03605643 -0.01039731] [-0.00554402 0.03565345 0.99934884 0.00254027] [ 0. 0. 0. 1. ]] SLAMing on 42.731966746 meters 0.2611547588617923 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.02, Z:0.00 [[ 9.80732244e-01 1.95355226e-01 -7.75485927e-04 -4.09609112e-01] [-1.95277953e-01 9.80216122e-01 -3.22935853e-02 -1.66757370e-02] [-5.54857686e-03 3.18227957e-02 9.99478125e-01 3.08570471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.761966746 meters 0.2634362275319121 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.01, Z:0.01 [[ 0.98222816 0.18767634 -0.00232912 -0.43195781] [-0.18766105 0.98177603 -0.02998593 -0.01202811] [-0.00334097 0.02989011 0.99954761 0.00870031] [ 0. 0. 0. 1. ]] SLAMing on 42.791966746 meters 0.26218323487431416 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.01 [[ 0.98492562 0.17285422 -0.00655312 -0.44113915] [-0.1729744 0.98445338 -0.03051889 -0.01372041] [ 0.00117592 0.03119236 0.99951271 0.01159125] [ 0. 0. 0. 1. ]] SLAMing on 42.821966745999994 meters 0.25897239408488376 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.01, Z:0.02 [[ 0.98738708 0.15793161 -0.0111514 -0.48721306] [-0.15819205 0.98699278 -0.0286447 -0.00576811] [ 0.00648245 0.03004747 0.99952745 0.01972586] [ 0. 0. 0. 1. ]] SLAMing on 42.851966745999995 meters 0.2632023608491362 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.02 [[ 0.9893476 0.14496534 -0.0132811 -0.50405744] [-0.14529315 0.98898006 -0.02843142 -0.01165192] [ 0.00901317 0.03005821 0.99950751 0.01918673] [ 0. 0. 0. 1. ]] SLAMing on 42.881966745999996 meters 0.2632023608491362 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.02 [[ 0.99215255 0.12437098 -0.01285209 -0.51428715] [-0.12467285 0.99185146 -0.02621745 -0.00784644] [ 0.00948667 0.02761401 0.99957364 0.02111912] [ 0. 0. 0. 1. ]] SLAMing on 42.911966746 meters 0.2600516037414688 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.02, Z:0.02 [[ 0.99365263 0.11125614 -0.01662917 -0.51995677] [-0.11160084 0.993521 -0.02147747 -0.02031344] [ 0.01413193 0.02319697 0.99963103 0.02398362] [ 0. 0. 0. 1. ]] SLAMing on 42.941966746 meters 0.25769122686552576 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.02, Z:0.03 [[ 0.99471841 0.10109693 -0.01773983 -0.54650443] [-0.10144102 0.99464639 -0.01970455 -0.02358188] [ 0.01565279 0.02140003 0.99964845 0.02791187] [ 0. 0. 0. 1. ]] SLAMing on 42.971966746 meters 0.2601983795869543 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.03, Z:0.03 [[ 0.99595704 0.08784287 -0.01879372 -0.56991082] [-0.08822576 0.9958871 -0.0206179 -0.02819705] [ 0.01690528 0.02219263 0.99961077 0.02904722] [ 0. 0. 0. 1. ]] SLAMing on 43.001966745999994 meters 0.2681521827889266 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.04, Z:0.03 [[ 0.99672347 0.077674 -0.02256287 -0.59432889] [-0.07810452 0.99676657 -0.01887005 -0.03577073] [ 0.0210242 0.02057048 0.99956733 0.0336754 ] [ 0. 0. 0. 1. ]] SLAMing on 43.031966745999995 meters 0.27177693947626036 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.05, Z:0.03 [[ 0.99791861 0.06150504 -0.0193799 -0.59011926] [-0.06180942 0.99796732 -0.01551877 -0.04945156] [ 0.01838602 0.01668433 0.99969175 0.02914644] [ 0. 0. 0. 1. ]] SLAMing on 43.061966745999996 meters 0.26949091325801794 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.06, Z:0.03 [[ 0.99838036 0.05227858 -0.02244129 -0.6140087 ] [-0.05256519 0.99854079 -0.01237698 -0.0595232 ] [ 0.02176149 0.01353656 0.99967155 0.03234421] [ 0. 0. 0. 1. ]] SLAMing on 43.091966746 meters 0.25990419027783856 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.07, Z:0.04 [[ 0.99913773 0.03540683 -0.02168281 -0.61711851] [-0.03560904 0.99932517 -0.00901164 -0.07311412] [ 0.0213491 0.00977597 0.99972429 0.03620195] [ 0. 0. 0. 1. ]] SLAMing on 43.121966746 meters 0.25869500509401777 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.09, Z:0.04 [[ 0.99932469 0.02649182 -0.02546259 -0.64326462] [-0.02664769 0.99962805 -0.00580163 -0.08596509] [ 0.02529942 0.00647624 0.99965894 0.0427455 ] [ 0. 0. 0. 1. ]] SLAMing on 43.151966746 meters 0.2653539988071136 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.10, Z:0.04 [[ 0.99963565 0.01378458 -0.02320691 -0.64445523] [-0.01375521 0.99990438 0.00142466 -0.10220766] [ 0.02322432 -0.00110493 0.99972967 0.04364417] [ 0. 0. 0. 1. ]] SLAMing on 43.181966746 meters 0.27349822360442966 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.13, Z:0.04 [[ 0.99986438 0.01037111 -0.01279267 -0.63088256] [-0.01031572 0.99993716 0.00438868 -0.12655089] [ 0.01283738 -0.00425612 0.99990854 0.03537189] [ 0. 0. 0. 1. ]] SLAMing on 43.211966745999995 meters 0.3118458715561868 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.14, Z:0.03 [[ 9.99894849e-01 4.68468481e-03 -1.37238954e-02 -6.28182564e-01] [-4.68106425e-03 9.99989000e-01 2.95925736e-04 -1.41993080e-01] [ 1.37251308e-02 -2.31652183e-04 9.99905779e-01 3.48740050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.241966745999996 meters 0.2650067904181787 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.15, Z:0.04 [[ 0.99990572 0.00159248 -0.01363887 -0.63040098] [-0.00161409 0.99999746 -0.0015736 -0.15207189] [ 0.01363632 0.00159546 0.99990575 0.03719098] [ 0. 0. 0. 1. ]] SLAMing on 43.271966746 meters 0.30845853215137053 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.17, Z:0.03 [[ 0.99999302 0.00119296 -0.00354062 -0.61710232] [-0.00117592 0.99998774 0.00481044 -0.17391599] [ 0.00354632 -0.00480625 0.99998216 0.03043371] [ 0. 0. 0. 1. ]] SLAMing on 43.301966746 meters 0.3018338537574398 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.20, Z:0.03 [[ 9.99972367e-01 5.87959972e-03 -4.54919468e-03 -5.93794360e-01] [-5.88066301e-03 9.99982684e-01 -2.20390474e-04 -2.00382067e-01] [ 4.54782010e-03 2.47136665e-04 9.99989628e-01 2.96957988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.331966746 meters 0.2689805214352038 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:0.03 [[ 0.99996862 0.00637353 -0.00470567 -0.59406381] [-0.00636836 0.9999791 0.00111197 -0.2074956 ] [ 0.00471266 -0.00108197 0.99998831 0.03064677] [ 0. 0. 0. 1. ]] SLAMing on 43.361966746 meters 0.29721472622737105 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.22, Z:0.03 [[ 9.99972426e-01 4.90453231e-03 -5.57614460e-03 -5.90410047e-01] [-4.90174018e-03 9.99987854e-01 5.14284384e-04 -2.17348753e-01] [ 5.57859920e-03 -4.86937391e-04 9.99984321e-01 2.90563508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.391966745999994 meters 0.28875252207864943 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.23, Z:0.04 [[ 0.99995111 0.00248953 -0.00956976 -0.61444711] [-0.00239393 0.99994726 0.00998776 -0.22570607] [ 0.00959412 -0.00996437 0.99990433 0.03586667] [ 0. 0. 0. 1. ]] SLAMing on 43.421966745999995 meters 0.26832878035353674 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.24, Z:0.03 [[ 0.99992925 0.00804518 -0.00876144 -0.58849049] [-0.0080048 0.99995722 0.00463377 -0.23929138] [ 0.00879834 -0.00456331 0.99995088 0.0326731 ] [ 0. 0. 0. 1. ]] SLAMing on 43.451966746 meters 0.2599624563386746 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.25, Z:0.03 [[ 0.9999423 0.00572603 -0.00908844 -0.58900003] [-0.00569673 0.9999785 0.00324694 -0.24990053] [ 0.00910684 -0.00319498 0.99995343 0.03467436] [ 0. 0. 0. 1. ]] SLAMing on 43.481966746 meters 0.25900132525790376 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.26, Z:0.04 [[ 0.99991434 0.00181939 -0.01296152 -0.61116063] [-0.00167362 0.99993534 0.01124788 -0.25535353] [ 0.01298115 -0.01122522 0.99985273 0.03974283] [ 0. 0. 0. 1. ]] SLAMing on 43.511966746 meters 0.26051156212739385 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.26, Z:0.04 [[ 0.99987026 0.01127144 -0.01150689 -0.58499083] [-0.01116129 0.9998917 0.00959251 -0.2644682 ] [ 0.01161376 -0.00946283 0.99988778 0.03616089] [ 0. 0. 0. 1. ]] SLAMing on 43.541966746 meters 0.2615635871154204 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.27, Z:0.04 [[ 0.99989963 0.00776482 -0.01185096 -0.58468531] [-0.00768893 0.99994973 0.00643582 -0.26839257] [ 0.01190033 -0.00634405 0.99990906 0.03743009] [ 0. 0. 0. 1. ]] SLAMing on 43.571966745999994 meters 0.25673484146064385 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.27, Z:0.04 [[ 0.99989537 0.008062 -0.01201041 -0.58473864] [-0.00797837 0.99994371 0.00699487 -0.27106479] [ 0.01206613 -0.00689832 0.99990341 0.03852402] [ 0. 0. 0. 1. ]] SLAMing on 43.601966745999995 meters 0.25433954433814543 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.28, Z:0.03 [[ 0.99994176 0.00842324 -0.0067469 -0.60222724] [-0.00839531 0.99995612 0.00415694 -0.27704131] [ 0.00678162 -0.00410006 0.9999686 0.03452859] [ 0. 0. 0. 1. ]] SLAMing on 43.631966745999996 meters 0.25525865118510876 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.28, Z:0.04 [[ 0.99992375 0.01085532 -0.00588673 -0.55865193] [-0.01083943 0.99993754 0.00272478 -0.28241492] [ 0.00591594 -0.00266076 0.99997896 0.03577659] [ 0. 0. 0. 1. ]] SLAMing on 43.661966746 meters 0.2566144192433007 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.29, Z:0.03 [[ 9.99948407e-01 1.01553874e-02 2.27796882e-04 -5.35342189e-01] [-1.01570481e-02 9.99906456e-01 9.16046195e-03 -2.88770608e-01] [-1.34747533e-04 -9.16230307e-03 9.99958016e-01 3.04642493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.691966746 meters 0.25706644330420947 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.29, Z:0.03 [[ 9.99940547e-01 1.09036543e-02 -1.10559731e-04 -5.34281337e-01] [-1.09020296e-02 9.99891747e-01 9.88128838e-03 -2.89964786e-01] [ 2.18289915e-04 -9.87949558e-03 9.99951173e-01 3.05546437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.721966746 meters 0.25634329361583735 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:0.03 [[ 0.99996672 0.00773975 -0.00258026 -0.5745231 ] [-0.00771433 0.999923 0.00972076 -0.29026345] [ 0.0026553 -0.00970053 0.99994942 0.02990968] [ 0. 0. 0. 1. ]] SLAMing on 43.751966745999994 meters 0.2590010814499001 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.29, Z:0.03 [[ 0.9998188 0.01895233 -0.00177976 -0.5486813 ] [-0.01893649 0.99978428 0.0085326 -0.29394047] [ 0.00194109 -0.00849735 0.99996201 0.02756874] [ 0. 0. 0. 1. ]] SLAMing on 43.781966745999995 meters 0.2623687848768151 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:0.03 [[ 0.99992929 0.01168569 -0.00220666 -0.57005677] [-0.01165535 0.99984367 0.01329609 -0.29027567] [ 0.00236169 -0.01326943 0.99990917 0.02854653] [ 0. 0. 0. 1. ]] SLAMing on 43.811966745999996 meters 0.26890690354143904 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:0.03 [[ 0.9999179 0.01256346 -0.00252073 -0.56890992] [-0.01252751 0.99982621 0.01380599 -0.28931661] [ 0.00269375 -0.01377328 0.99990152 0.02811431] [ 0. 0. 0. 1. ]] SLAMing on 43.841966746 meters 0.2720810850326048 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:0.03 [[ 0.99995412 0.00918339 -0.00272572 -0.56862496] [-0.00915587 0.99990867 0.00994102 -0.28794977] [ 0.00281677 -0.00991561 0.99994687 0.02838796] [ 0. 0. 0. 1. ]] SLAMing on 43.871966746 meters 0.2573603405642902 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.28, Z:0.03 [[ 0.99994915 0.0097073 -0.0027317 -0.56936742] [-0.00968017 0.99990535 0.00977665 -0.28484429] [ 0.00282635 -0.00974971 0.99994848 0.02957823] [ 0. 0. 0. 1. ]] SLAMing on 43.901966746 meters 0.25709405522464307 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.28, Z:0.03 [[ 0.99989344 0.01437791 -0.00252762 -0.57032746] [-0.01434203 0.99980352 0.01368336 -0.28063171] [ 0.00272386 -0.01364565 0.99990318 0.03046018] [ 0. 0. 0. 1. ]] SLAMing on 43.931966746 meters 0.2597303271970133 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.28, Z:0.03 [[ 0.99993477 0.01110694 -0.00266208 -0.56930567] [-0.01108084 0.99989229 0.00962452 -0.27755168] [ 0.00276869 -0.00959439 0.99995014 0.02858716] [ 0. 0. 0. 1. ]] SLAMing on 43.961966745999995 meters 0.2757973291282016 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.27, Z:0.03 [[ 0.99996604 0.00766277 -0.00303247 -0.56846943] [-0.00764688 0.99995714 0.0052194 -0.27333547] [ 0.00307233 -0.00519603 0.99998178 0.0283355 ] [ 0. 0. 0. 1. ]] SLAMing on 43.991966745999996 meters 0.2659625613886936 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.27, Z:0.03 [[ 9.99994651e-01 4.00713393e-04 -3.24605303e-03 -5.91973905e-01] [-3.68298426e-04 9.99950127e-01 9.98041372e-03 -2.68057120e-01] [ 3.24989042e-03 -9.97916483e-03 9.99944926e-01 2.95794599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.021966746 meters 0.2732613111758573 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.26, Z:0.03 [[ 9.99843434e-01 1.76852423e-02 5.82014139e-04 -5.70941135e-01] [-1.76918903e-02 9.99735346e-01 1.47049331e-02 -2.64774339e-01] [-3.21799803e-04 -1.47129277e-02 9.99891707e-01 2.77239416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.051966746 meters 0.27542730737916066 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.26, Z:0.03 [[ 9.99981717e-01 6.04663866e-03 -6.35639359e-05 -5.93103476e-01] [-6.04498976e-03 9.99867742e-01 1.50982409e-02 -2.60752850e-01] [ 1.54849136e-04 -1.50975806e-02 9.99886013e-01 2.83866419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.081966746 meters 0.2625432668878993 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.26, Z:0.03 [[ 9.99996886e-01 2.48804412e-03 1.94354565e-04 -5.94134772e-01] [-2.48996447e-03 9.99940722e-01 1.05996039e-02 -2.55704387e-01] [-1.67970762e-04 -1.06000549e-02 9.99943804e-01 2.77851718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.111966746 meters 0.2835971386456284 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.25, Z:0.02 [[ 0.99982071 0.01851755 0.00395688 -0.57164112] [-0.01857152 0.99972855 0.01406866 -0.25092966] [-0.00369528 -0.01413962 0.9998932 0.0244881 ] [ 0. 0. 0. 1. ]] SLAMing on 44.141966745999994 meters 0.28904423357775105 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.25, Z:0.02 [[ 0.99980871 0.01907269 0.00433239 -0.57278179] [-0.0191333 0.9997131 0.01440932 -0.2503896 ] [-0.00405632 -0.01448946 0.99988679 0.02435602] [ 0. 0. 0. 1. ]] SLAMing on 44.171966745999995 meters 0.2944633433228652 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.25, Z:0.02 [[ 0.99987027 0.01551625 0.0043231 -0.5729622 ] [-0.01556002 0.99982606 0.01028314 -0.24824 ] [-0.00416279 -0.01034907 0.99993778 0.02380071] [ 0. 0. 0. 1. ]] SLAMing on 44.201966746 meters 0.2790108725748505 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.25, Z:0.03 [[ 9.99966485e-01 8.16879282e-03 5.47619511e-04 -5.93791304e-01] [-8.17589888e-03 9.99860650e-01 1.45545695e-02 -2.46293991e-01] [-4.28649938e-04 -1.45585590e-02 9.99893927e-01 2.66118777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.231966746 meters 0.7416673183680688 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.26, Z:0.03 [[ 0.99996403 0.00815678 -0.00232414 -0.63442721] [-0.00811249 0.99979654 0.01846778 -0.25540216] [ 0.00247431 -0.01844826 0.99982675 0.02711041] [ 0. 0. 0. 1. ]] SLAMing on 44.261966746 meters 0.28351233153498856 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.23, Z:0.02 [[ 9.99965909e-01 8.25367140e-03 2.38652258e-04 -5.72976673e-01] [-8.25660357e-03 9.99809073e-01 1.77100442e-02 -2.31049907e-01] [-9.24338073e-05 -1.77114109e-02 9.99843136e-01 2.41311290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.291966746 meters 0.28827570438933586 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.23, Z:0.02 [[ 9.99963148e-01 8.57722056e-03 3.64771185e-04 -5.73984068e-01] [-8.58226483e-03 9.99812143e-01 1.73788284e-02 -2.27593172e-01] [-2.15640615e-04 -1.73813186e-02 9.99848910e-01 2.43751911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.321966745999994 meters 0.2819368009368851 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.22, Z:0.02 [[ 9.99956809e-01 9.24706963e-03 9.33923141e-04 -5.75564494e-01] [-9.26188492e-03 9.99806573e-01 1.73503472e-02 -2.22938584e-01] [-7.73302626e-04 -1.73582477e-02 9.99849035e-01 2.28866340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.351966745999995 meters 0.27973262107736246 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.23, Z:0.03 [[ 0.99983888 0.01791491 -0.00112824 -0.59893781] [-0.01789296 0.9996931 0.01713318 -0.23244468] [ 0.00143483 -0.01711024 0.99985258 0.02620366] [ 0. 0. 0. 1. ]] SLAMing on 44.381966745999996 meters 0.28205670950244754 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.20, Z:0.02 [[ 0.99982443 0.01864753 0.00183629 -0.54224715] [-0.01867564 0.99968594 0.01671025 -0.20397434] [-0.00152411 -0.01674161 0.99985869 0.02486155] [ 0. 0. 0. 1. ]] SLAMing on 44.411966746 meters 0.27305348149659775 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.20, Z:0.03 [[ 0.9997296 0.02312047 0.00248253 -0.54521122] [-0.02316731 0.99951362 0.02087603 -0.20148072] [-0.00199866 -0.0209279 0.99977899 0.0265574 ] [ 0. 0. 0. 1. ]] SLAMing on 44.441966746 meters 0.27715989668194924 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.20, Z:0.03 [[ 9.99882638e-01 1.53199994e-02 8.52250237e-05 -5.67445712e-01] [-1.53172934e-02 9.99566058e-01 2.51609893e-02 -1.97419991e-01] [ 3.00278300e-04 -2.51593418e-02 9.99683409e-01 2.76687230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.471966746 meters 0.27521829304902734 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.19, Z:0.02 [[ 9.99887258e-01 1.50148867e-02 -1.53553808e-04 -5.65808855e-01] [-1.50073226e-02 9.99620006e-01 2.31219498e-02 -1.87398526e-01] [ 5.00668914e-04 -2.31170386e-02 9.99732640e-01 2.37906120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.501966745999994 meters 0.2847033798451854 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.18, Z:0.02 [[ 9.99825253e-01 1.86874256e-02 -4.92904360e-04 -5.62595173e-01] [-1.86690011e-02 9.99506180e-01 2.52757772e-02 -1.78290161e-01] [ 9.65000159e-04 -2.52621583e-02 9.99680395e-01 1.85306409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.531966745999995 meters 0.27873571898632515 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.17, Z:0.02 [[ 9.99816205e-01 1.91707618e-02 1.94280426e-04 -5.64048070e-01] [-1.91695758e-02 9.99499200e-01 2.51769079e-02 -1.74422707e-01] [ 2.88477373e-04 -2.51760047e-02 9.99682993e-01 1.63501377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.561966745999996 meters 0.2718812539706067 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.18, Z:0.02 [[ 9.99888582e-01 1.49266773e-02 -1.36344671e-04 -5.63063925e-01] [-1.49205104e-02 9.99667552e-01 2.10276885e-02 -1.76448533e-01] [ 4.50172864e-04 -2.10233113e-02 9.99778884e-01 1.66421033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.591966746 meters 0.27647148119696796 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.18, Z:0.02 [[ 9.99997606e-01 2.18775908e-03 2.91885775e-05 -5.63851888e-01] [-2.18793007e-03 9.99959890e-01 8.68508289e-03 -1.78836145e-01] [-1.01865378e-05 -8.68512597e-03 9.99962284e-01 1.65353733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.621966746 meters 0.2876090786735243 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.19, Z:0.02 [[ 9.99995918e-01 -2.74021900e-03 -8.09088379e-04 -5.62070839e-01] [ 2.74402482e-03 9.99984997e-01 4.74080518e-03 -1.86323394e-01] [ 7.96085396e-04 -4.74300599e-03 9.99988435e-01 1.96582758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.651966746 meters 0.2858149580654113 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.20, Z:0.02 [[ 9.99989374e-01 -4.59195417e-03 4.06829513e-04 -5.65585566e-01] [ 4.58943853e-03 9.99971573e-01 5.98254522e-03 -2.03529656e-01] [-4.34289522e-04 -5.98061453e-03 9.99982022e-01 2.21047712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.681966746 meters 0.2848661263203285 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.21, Z:0.02 [[ 9.99988548e-01 -4.76645861e-03 4.28901189e-04 -5.64805621e-01] [ 4.76289780e-03 9.99957040e-01 7.95192621e-03 -2.14528289e-01] [-4.66785291e-04 -7.94979234e-03 9.99968291e-01 2.37637977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.711966745999995 meters 0.28013512803795104 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.24, Z:0.03 [[ 0.99986216 -0.01644842 -0.00225925 -0.60190625] [ 0.01645849 0.99985438 0.00451068 -0.23867266] [ 0.00218473 -0.00454724 0.99998727 0.02521216] [ 0. 0. 0. 1. ]] SLAMing on 44.741966745999996 meters 0.2803508048566577 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.25, Z:0.03 [[ 9.99929115e-01 -1.18740799e-02 -8.78701866e-04 -5.80339267e-01] [ 1.18720346e-02 9.99926886e-01 -2.29732310e-03 -2.46678439e-01] [ 9.05916218e-04 2.28672827e-03 9.99996975e-01 2.63106918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.771966746 meters 0.27830408139529333 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.25, Z:0.03 [[ 0.99998729 -0.00458957 0.00208573 -0.56010937] [ 0.00460145 0.99997301 -0.00572817 -0.25412561] [-0.00205938 0.00573769 0.99998142 0.02598381] [ 0. 0. 0. 1. ]] SLAMing on 44.801966746 meters 0.27830408139529333 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.26, Z:0.03 [[ 9.99998703e-01 -1.71995863e-04 1.60109879e-03 -5.58696218e-01] [ 1.73590239e-04 9.99999489e-01 -9.95715392e-04 -2.56667598e-01] [-1.60092671e-03 9.95992036e-04 9.99998223e-01 2.68622341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.831966746 meters 0.2579274729123407 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.27, Z:0.03 [[ 9.99975438e-01 -7.00879064e-03 3.18451750e-05 -6.00187072e-01] [ 7.00881041e-03 9.99975213e-01 -6.70174314e-04 -2.72270270e-01] [-2.71472743e-05 6.70381050e-04 9.99999775e-01 2.78472680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.861966746 meters 0.26897310907960437 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.27, Z:0.02 [[ 0.99998023 -0.00526924 0.00343255 -0.55910712] [ 0.00527741 0.99998325 -0.0023759 -0.26533913] [-0.00341997 0.00239397 0.99999129 0.02462177] [ 0. 0. 0. 1. ]] SLAMing on 44.891966745999994 meters 0.26849356397616786 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.27, Z:0.02 [[ 0.9999766 -0.00551003 0.0040553 -0.56057592] [ 0.00551744 0.99998312 -0.00181925 -0.26825523] [-0.00404521 0.00184158 0.99999012 0.02411202] [ 0. 0. 0. 1. ]] SLAMing on 44.921966745999995 meters 0.2585829983781694 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.27, Z:0.02 [[ 0.9999416 -0.00986594 0.00441093 -0.56113881] [ 0.00989052 0.99993549 -0.005586 -0.27068886] [-0.00435553 0.0056293 0.99997467 0.0234501 ] [ 0. 0. 0. 1. ]] SLAMing on 44.951966746 meters 0.27620666628835583 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:0.02 [[ 0.99988318 -0.01319621 0.00771329 -0.52074302] [ 0.01329028 0.99983634 -0.01227423 -0.26444964] [-0.00755005 0.01237531 0.99989492 0.02148139] [ 0. 0. 0. 1. ]] SLAMing on 44.981966746 meters 0.26076376185349204 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.27, Z:0.02 [[ 0.99977204 -0.02061397 0.00556148 -0.56004845] [ 0.02068988 0.99968853 -0.01395631 -0.27420699] [-0.00527205 0.01406819 0.99988714 0.01947662] [ 0. 0. 0. 1. ]] SLAMing on 45.011966746 meters 0.26156120815557077 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.28, Z:0.02 [[ 0.99994018 -0.00944116 0.00552279 -0.53752562] [ 0.00952375 0.99984027 -0.01512423 -0.2768547 ] [-0.00537912 0.01517592 0.99987037 0.01893428] [ 0. 0. 0. 1. ]] SLAMing on 45.041966746 meters 0.2580128599477947 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.28, Z:0.02 [[ 0.9998774 -0.01502561 0.00440749 -0.58056074] [ 0.01509001 0.9997742 -0.0149615 -0.2844957 ] [-0.00418169 0.01502618 0.99987836 0.018364 ] [ 0. 0. 0. 1. ]] SLAMing on 45.071966745999994 meters 0.2558810733151813 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.29, Z:0.02 [[ 0.99992112 -0.01173152 0.00448525 -0.58118482] [ 0.01178091 0.99986844 -0.01114961 -0.28643064] [-0.00435386 0.01120157 0.99992778 0.01918184] [ 0. 0. 0. 1. ]] SLAMing on 45.101966745999995 meters 0.2574374337621257 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.29, Z:0.02 [[ 0.9999134 -0.01232639 0.00460957 -0.58160152] [ 0.01237755 0.99986021 -0.01124085 -0.28843154] [-0.00447037 0.01129694 0.99992619 0.01939006] [ 0. 0. 0. 1. ]] SLAMing on 45.131966745999996 meters 0.2727227501165355 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.29, Z:0.02 [[ 0.99990566 -0.01293075 0.00463245 -0.58168798] [ 0.0129827 0.99985113 -0.01136505 -0.29052864] [-0.0044848 0.01142412 0.99992469 0.01956741] [ 0. 0. 0. 1. ]] SLAMing on 45.161966746 meters 0.2714232996398915 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.30, Z:0.02 [[ 0.99995675 -0.00900089 0.00234069 -0.60551171] [ 0.00903569 0.99984199 -0.01530834 -0.29564745] [-0.00220253 0.01532883 0.99988008 0.02116341] [ 0. 0. 0. 1. ]] SLAMing on 45.191966746 meters 0.2671628108029235 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.29, Z:0.02 [[ 0.99995094 -0.00862347 0.00487423 -0.56500713] [ 0.00871121 0.99979502 -0.01827643 -0.29271366] [-0.00471562 0.01831799 0.99982109 0.0211905 ] [ 0. 0. 0. 1. ]] SLAMing on 45.221966746 meters 0.2610632742228131 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.30, Z:0.02 [[ 0.99990152 -0.01337139 0.00426196 -0.60965611] [ 0.01344586 0.99974844 -0.01795175 -0.29661713] [-0.00402085 0.01800729 0.99982977 0.02067382] [ 0. 0. 0. 1. ]] SLAMing on 45.251966745999994 meters 0.26203489339031366 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.29, Z:0.02 [[ 0.99978355 -0.01961637 0.00693143 -0.5398428 ] [ 0.01975562 0.99959204 -0.02062696 -0.28969283] [-0.00652397 0.02075943 0.99976321 0.01598463] [ 0. 0. 0. 1. ]] SLAMing on 45.281966745999995 meters 0.25858997289190483 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.30, Z:0.02 [[ 0.99991938 -0.01170004 0.00493417 -0.56454091] [ 0.01179932 0.99971824 -0.02059646 -0.29527652] [-0.0046918 0.02065302 0.99977569 0.01845808] [ 0. 0. 0. 1. ]] SLAMing on 45.311966745999996 meters 0.25453654203642273 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.29, Z:0.02 [[ 0.99972535 -0.02137233 0.00961542 -0.54233381] [ 0.02157677 0.99953197 -0.02168586 -0.29423744] [-0.00914745 0.02188737 0.99971859 0.01529388] [ 0. 0. 0. 1. ]] SLAMing on 45.341966746 meters 0.2556343306915332 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.30, Z:0.02 [[ 0.99976533 -0.02040409 0.00727712 -0.61221471] [ 0.02056385 0.99953307 -0.02260013 -0.29637836] [-0.00681259 0.02274447 0.9997181 0.0197162 ] [ 0. 0. 0. 1. ]] SLAMing on 45.371966746 meters 0.25676576546944335 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.30, Z:0.02 [[ 0.99981127 -0.01708012 0.0092573 -0.57087987] [ 0.01728409 0.99959922 -0.02242005 -0.29570229] [-0.00887065 0.02257583 0.99970578 0.02022014] [ 0. 0. 0. 1. ]] SLAMing on 45.401966746 meters 0.25551217409997923 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.29, Z:0.02 [[ 0.99992986 -0.01102843 0.00431871 -0.59476687] [ 0.01112869 0.99965184 -0.02392377 -0.29443315] [-0.00405337 0.02397016 0.99970446 0.02437214] [ 0. 0. 0. 1. ]] SLAMing on 45.431966746 meters 0.25663068802093914 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.30, Z:0.02 [[ 0.9999587 -0.00787843 0.00453098 -0.59558031] [ 0.007969 0.99976156 -0.02033016 -0.29630992] [-0.00436973 0.02036543 0.99978305 0.02477433] [ 0. 0. 0. 1. ]] SLAMing on 45.461966745999995 meters 0.25644878702511675 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.30, Z:0.03 [[ 0.99995729 -0.00818287 0.00429538 -0.59534321] [ 0.00826735 0.99976514 -0.02003275 -0.30022962] [-0.00413045 0.0200674 0.9997901 0.02528932] [ 0. 0. 0. 1. ]] SLAMing on 45.491966745999996 meters 0.2559869191860726 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.30, Z:0.03 [[ 0.99988343 -0.01520381 0.00140709 -0.62078087] [ 0.01522335 0.99976989 -0.01511352 -0.30117873] [-0.00117698 0.01513318 0.99988479 0.03105039] [ 0. 0. 0. 1. ]] SLAMing on 45.521966746 meters 0.25467374872484383 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.30, Z:0.03 [[ 9.99907542e-01 -1.35770555e-02 7.55280157e-04 -6.65926830e-01] [ 1.35835928e-02 9.99863038e-01 -9.45467993e-03 -3.00218755e-01] [-6.26809999e-04 9.46406519e-03 9.99955018e-01 3.01762576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.551966746 meters 0.2568878865823759 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.30, Z:0.03 [[ 0.99994815 -0.00988883 0.00243091 -0.62408582] [ 0.00991062 0.99990929 -0.00912038 -0.30103672] [-0.0023405 0.009144 0.99995545 0.03216561] [ 0. 0. 0. 1. ]] SLAMing on 45.581966746 meters 0.2572135668448317 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.31, Z:0.03 [[ 0.99998005 -0.00602146 0.0019098 -0.6226865 ] [ 0.00602978 0.99997222 -0.00438168 -0.30796596] [-0.00188337 0.0043931 0.99998858 0.03225357] [ 0. 0. 0. 1. ]] SLAMing on 45.611966746 meters 0.2546436868125039 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.04 [[ 9.99994357e-01 -3.30134695e-03 -6.22625827e-04 -6.93482971e-01] [ 3.29839388e-03 9.99983582e-01 -4.68576947e-03 -3.08316703e-01] [ 6.38084956e-04 4.68368936e-03 9.99988828e-01 3.59030374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.641966745999994 meters 0.25842094919284947 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.31, Z:0.03 [[ 0.99999083 -0.00386959 0.00183276 -0.62258486] [ 0.00387472 0.99998856 -0.00280359 -0.30721003] [-0.00182189 0.00281066 0.99999439 0.03187685] [ 0. 0. 0. 1. ]] SLAMing on 45.671966745999995 meters 0.255978982827986 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.31, Z:0.03 [[ 9.99996092e-01 -2.68393650e-03 7.82309585e-04 -6.66791150e-01] [ 2.68216479e-03 9.99993856e-01 2.25703149e-03 -3.08673680e-01] [-7.88362508e-04 -2.25492439e-03 9.99997147e-01 3.11161524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.701966746 meters 0.25603848012379343 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.31, Z:0.03 [[ 9.99997079e-01 -1.81559001e-03 1.59574973e-03 -6.23060787e-01] [ 1.81710310e-03 9.99997900e-01 -9.47262012e-04 -3.10592374e-01] [-1.59402654e-03 9.50158886e-04 9.99998278e-01 3.30503815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.731966746 meters 0.25365318245110996 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.31, Z:0.04 [[ 9.99995653e-01 5.02439882e-05 2.94798634e-03 -5.81492480e-01] [-4.06699966e-05 9.99994726e-01 -3.24760780e-03 -3.12721456e-01] [-2.94813397e-03 3.24747379e-03 9.99990381e-01 3.61034701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.761966746 meters 0.25701802446061034 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.31, Z:0.04 [[ 0.99999226 0.0011344 0.00376862 -0.58591561] [-0.00112513 0.99999634 -0.00245971 -0.31200416] [-0.0037714 0.00245545 0.99998987 0.03907533] [ 0. 0. 0. 1. ]] SLAMing on 45.791966746 meters 0.25735006267716365 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.31, Z:0.04 [[ 0.99999039 0.00152615 0.00410987 -0.58716336] [-0.00151545 0.99999546 -0.00260416 -0.30897486] [-0.00411383 0.0025979 0.99998816 0.03979969] [ 0. 0. 0. 1. ]] SLAMing on 45.821966745999994 meters 0.25598152364350846 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.31, Z:0.04 [[ 9.99996694e-01 1.30929768e-03 2.21318659e-03 -6.29940941e-01] [-1.31120364e-03 9.99998771e-01 8.59949446e-04 -3.11856517e-01] [-2.21205794e-03 -8.62848542e-04 9.99997181e-01 3.99786024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.851966745999995 meters 0.2565437006961831 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.31, Z:0.04 [[ 9.99997401e-01 1.34225864e-03 1.84318227e-03 -6.28835443e-01] [-1.34393212e-03 9.99998686e-01 9.06988732e-04 -3.12673291e-01] [-1.84196243e-03 -9.09463486e-04 9.99997890e-01 4.03175342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.881966745999996 meters 0.2593682532421061 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.31, Z:0.04 [[ 0.99999175 0.00306004 0.00267284 -0.58534893] [-0.00305395 0.99999274 -0.00227941 -0.30939331] [-0.0026798 0.00227123 0.99999383 0.04155787] [ 0. 0. 0. 1. ]] SLAMing on 45.911966746 meters 0.25900589977609156 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.31, Z:0.04 [[ 0.99998934 0.00342827 0.00309449 -0.58704444] [-0.00342155 0.99999178 -0.00217372 -0.30809008] [-0.00310192 0.00216311 0.99999285 0.04232994] [ 0. 0. 0. 1. ]] SLAMing on 45.941966746 meters 0.2600382316844899 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.31, Z:0.04 [[ 9.99994647e-01 2.97168451e-03 1.36945491e-03 -6.29074604e-01] [-2.97302296e-03 9.99995104e-01 9.76368259e-04 -3.08664817e-01] [-1.36654674e-03 -9.80434453e-04 9.99998586e-01 4.08973647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.971966746 meters 0.2607323790266078 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.31, Z:0.04 [[ 0.99998898 0.00407293 0.00233457 -0.58509366] [-0.00406678 0.99998827 -0.00263093 -0.30578845] [-0.00234526 0.0026214 0.99999381 0.04147468] [ 0. 0. 0. 1. ]] SLAMing on 46.001966745999994 meters 0.26236690869308704 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.31, Z:0.04 [[ 0.9999882 0.00423095 0.00238708 -0.58556948] [-0.00422512 0.99998809 -0.00244504 -0.3065523 ] [-0.0023974 0.00243492 0.99999416 0.04216331] [ 0. 0. 0. 1. ]] SLAMing on 46.031966745999995 meters 0.26076147049877907 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.30, Z:0.04 [[ 0.99998779 0.00428009 0.00247186 -0.58568447] [-0.0042735 0.99998731 -0.00266861 -0.30465379] [-0.00248325 0.00265802 0.99999338 0.04187735] [ 0. 0. 0. 1. ]] SLAMing on 46.061966745999996 meters 0.2621191700597638 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.30, Z:0.04 [[ 0.99998788 0.00429999 0.00239707 -0.58548922] [-0.00429346 0.99998708 -0.00271972 -0.30422783] [-0.00240873 0.00270939 0.99999343 0.04199121] [ 0. 0. 0. 1. ]] SLAMing on 46.091966746 meters 0.2563174317298259 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.31, Z:0.04 [[ 9.99967487e-01 -8.38482157e-04 8.02006784e-03 -5.61957436e-01] [ 8.42001176e-04 9.99999551e-01 -4.35410224e-04 -3.07386048e-01] [-8.01969915e-03 4.42148974e-04 9.99967744e-01 3.71139201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.121966746 meters 0.2561249556266327 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.31, Z:0.04 [[ 9.99967507e-01 -8.72093620e-04 8.01395579e-03 -5.61833565e-01] [ 8.77116256e-04 9.99999421e-01 -6.23242982e-04 -3.06276267e-01] [-8.01340763e-03 6.30251903e-04 9.99967694e-01 3.68866476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.151966746 meters 0.2638333828674676 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.30, Z:0.04 [[ 9.99973039e-01 7.11836405e-03 1.80299837e-03 -5.84030681e-01] [-7.11786984e-03 9.99974628e-01 -2.80375153e-04 -3.00906526e-01] [-1.80494844e-03 2.67534086e-04 9.99998335e-01 4.11727617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.181966746 meters 0.261864024983268 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.30, Z:0.04 [[ 0.99999414 0.00287658 0.00185593 -0.58439192] [-0.00286805 0.99998539 -0.00458182 -0.30074198] [-0.00186908 0.00457647 0.99998778 0.04153552] [ 0. 0. 0. 1. ]] SLAMing on 46.211966745999995 meters 0.25853506386902453 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.31, Z:0.04 [[ 9.99997893e-01 -2.00399168e-03 4.45470803e-04 -6.27335574e-01] [ 2.00612763e-03 9.99986240e-01 -4.84724724e-03 -3.06492313e-01] [-4.35750830e-04 4.84813070e-03 9.99988153e-01 4.09807039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.241966745999996 meters 0.2635748344522959 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.31, Z:0.04 [[ 0.99999681 -0.00138659 0.00211315 -0.58580011] [ 0.00140345 0.99996703 -0.00799747 -0.30651215] [-0.002102 0.00800041 0.99996579 0.04357205] [ 0. 0. 0. 1. ]] SLAMing on 46.271966746 meters 0.26455624372093023 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.30, Z:0.04 [[ 0.99999389 0.00274642 0.00216439 -0.58566474] [-0.00273765 0.99998807 -0.00404457 -0.30461579] [-0.00217547 0.00403862 0.99998948 0.04287811] [ 0. 0. 0. 1. ]] SLAMing on 46.301966746 meters 0.2617738103497546 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.30, Z:0.04 [[ 0.99999294 0.00273796 0.00257387 -0.58699521] [-0.00272652 0.99998644 -0.00443668 -0.30079124] [-0.00258598 0.00442963 0.99998685 0.04273035] [ 0. 0. 0. 1. ]] SLAMing on 46.331966746 meters 0.26158670355578406 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.31, Z:0.05 [[ 9.99989613e-01 -4.14326353e-03 -1.89949710e-03 -6.10865914e-01] [ 4.14423014e-03 9.99991285e-01 5.05226783e-04 -3.06302655e-01] [ 1.89738726e-03 -5.13093488e-04 9.99998068e-01 5.00356060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.361966746 meters 0.259314710840212 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.31, Z:0.05 [[ 0.99997518 -0.00240464 -0.00662223 -0.6343071 ] [ 0.00236801 0.99998189 -0.00553364 -0.30779758] [ 0.00663542 0.00551782 0.99996276 0.05389784] [ 0. 0. 0. 1. ]] SLAMing on 46.391966745999994 meters 0.25923698533234424 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.31, Z:0.05 [[ 0.99997454 0.00167152 -0.00693722 -0.63306146] [-0.00168085 0.99999769 -0.00133872 -0.30828221] [ 0.00693497 0.00135035 0.99997504 0.05313698] [ 0. 0. 0. 1. ]] SLAMing on 46.421966745999995 meters 0.2624647621579814 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.31, Z:0.05 [[ 0.99999309 -0.00323523 -0.00183079 -0.60901805] [ 0.00323783 0.99999375 0.00141875 -0.30889397] [ 0.00182619 -0.00142467 0.99999732 0.04863737] [ 0. 0. 0. 1. ]] SLAMing on 46.451966746 meters 0.26104517091307494 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.31, Z:0.05 [[ 0.9999917 -0.00338894 -0.00226142 -0.60769643] [ 0.00339272 0.99999285 0.00167035 -0.31198033] [ 0.00225575 -0.00167801 0.99999605 0.04877548] [ 0. 0. 0. 1. ]] SLAMing on 46.481966746 meters 0.25990591747727687 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.32, Z:0.05 [[ 0.99999162 -0.00330125 -0.00242102 -0.60766796] [ 0.00330668 0.99999201 0.00224501 -0.31582315] [ 0.00241359 -0.002253 0.99999455 0.04964492] [ 0. 0. 0. 1. ]] SLAMing on 46.511966746 meters 0.2578210145131062 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.32, Z:0.05 [[ 9.99992371e-01 -3.56530460e-05 -3.90606549e-03 -6.79349281e-01] [ 4.95737163e-05 9.99993648e-01 3.56382109e-03 -3.17977245e-01] [ 3.90591362e-03 -3.56398754e-03 9.99986021e-01 5.37132207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.541966746 meters 0.257754576714645 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.31, Z:0.05 [[ 9.99993301e-01 -1.45682890e-04 -3.65730131e-03 -6.80404080e-01] [ 1.56974971e-04 9.99995222e-01 3.08744732e-03 -3.14205375e-01] [ 3.65683405e-03 -3.08800074e-03 9.99988546e-01 5.39615653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.571966745999994 meters 0.25894978677676467 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.31, Z:0.06 [[ 9.99999183e-01 2.88350768e-04 -1.24499706e-03 -6.41829076e-01] [-2.88798293e-04 9.99999894e-01 -3.59294099e-04 -3.10713270e-01] [ 1.24489332e-03 3.59653359e-04 9.99999160e-01 5.81076813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.601966745999995 meters 0.25806727695681525 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.06 [[ 9.99991538e-01 -3.69168009e-03 -1.81550818e-03 -6.86870663e-01] [ 3.69202825e-03 9.99993167e-01 1.88453456e-04 -3.13446085e-01] [ 1.81480006e-03 -1.95154768e-04 9.99998334e-01 5.77104890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.631966745999996 meters 0.2584675344489316 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.31, Z:0.06 [[ 9.99996060e-01 2.79040441e-03 3.06401404e-04 -6.64780321e-01] [-2.78870419e-03 9.99981446e-01 -5.41587800e-03 -3.13962985e-01] [-3.21508208e-04 5.41500220e-03 9.99985287e-01 5.51341086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.661966746 meters 0.25917228600774533 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.31, Z:0.05 [[ 9.99996339e-01 2.69319106e-03 2.60863913e-04 -6.64417231e-01] [-2.69171049e-03 9.99981149e-01 -5.51880467e-03 -3.13618237e-01] [-2.75722191e-04 5.51808229e-03 9.99984737e-01 5.45438562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.691966746 meters 0.25917228600774533 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.31, Z:0.05 [[ 9.99996339e-01 2.69319106e-03 2.60863913e-04 -6.64417231e-01] [-2.69171049e-03 9.99981149e-01 -5.51880467e-03 -3.13618237e-01] [-2.75722191e-04 5.51808229e-03 9.99984737e-01 5.45438562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.721966746 meters 0.2581023678859697 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.31, Z:0.05 [[ 9.99996469e-01 2.63805268e-03 3.20016268e-04 -6.64481263e-01] [-2.63617598e-03 9.99980111e-01 -5.72953908e-03 -3.12020749e-01] [-3.35124730e-04 5.72867523e-03 9.99983535e-01 5.40399402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.751966745999994 meters 0.2586224601081141 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.05 [[ 9.99987692e-01 -4.64117491e-03 -1.75354330e-03 -6.85253832e-01] [ 4.63947424e-03 9.99988765e-01 -9.72674694e-04 -3.10158415e-01] [ 1.75803795e-03 9.64527203e-04 9.99997989e-01 5.45659244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.781966745999995 meters 0.25822658415116945 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.31, Z:0.05 [[ 9.99995619e-01 2.95938428e-03 5.56144223e-05 -6.62849222e-01] [-2.95905031e-03 9.99981751e-01 -5.26701879e-03 -3.13775576e-01] [-7.12005399e-05 5.26683115e-03 9.99986128e-01 5.30275099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.811966745999996 meters 0.25913732880386237 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.31, Z:0.05 [[ 9.99995715e-01 2.92679653e-03 -6.46283284e-05 -6.62460065e-01] [-2.92709887e-03 9.99981572e-01 -5.31870318e-03 -3.13788644e-01] [ 4.90603754e-05 5.31886956e-03 9.99985854e-01 5.30284413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.841966746 meters 0.2606881459697363 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.31, Z:0.05 [[ 9.99995830e-01 2.88786982e-03 1.44440082e-05 -6.62613052e-01] [-2.88774285e-03 9.99980002e-01 -5.62638063e-03 -3.11648021e-01] [-3.06919742e-05 5.62631545e-03 9.99984172e-01 5.28452307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.871966746 meters 0.25628831107874783 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.31, Z:0.05 [[ 9.99995697e-01 2.93286156e-03 -6.17580207e-05 -6.62415585e-01] [-2.93316042e-03 9.99980141e-01 -5.57805954e-03 -3.11942371e-01] [ 4.53971178e-05 5.57821668e-03 9.99984441e-01 5.30329020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.901966746 meters 0.2582294734564211 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.32, Z:0.06 [[ 0.99998718 -0.00440636 -0.0024941 -0.73198795] [ 0.00441361 0.99998604 0.00290594 -0.31629998] [ 0.00248127 -0.00291691 0.99999267 0.05860547] [ 0. 0. 0. 1. ]] SLAMing on 46.931966746 meters 0.2601104091907796 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.06 [[ 9.99996918e-01 -2.35950778e-03 -7.73023368e-04 -6.91089384e-01] [ 2.36005017e-03 9.99996969e-01 7.01493016e-04 -3.13027968e-01] [ 7.71365847e-04 -7.03315228e-04 9.99999455e-01 6.17724860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.961966745999995 meters 0.2609278976109234 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.32, Z:0.06 [[ 9.99997840e-01 -1.97936583e-03 -6.34281594e-04 -6.92966517e-01] [ 1.98034132e-03 9.99996852e-01 1.54102478e-03 -3.17310462e-01] [ 6.31229345e-04 -1.54227755e-03 9.99998611e-01 6.44092328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.991966745999996 meters 0.2603150286731601 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.32, Z:0.07 [[ 9.99998065e-01 -1.86592283e-03 -6.23202789e-04 -6.93603396e-01] [ 1.86702538e-03 9.99996685e-01 1.77329459e-03 -3.18386766e-01] [ 6.19891892e-04 -1.77445470e-03 9.99998234e-01 6.56601386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.021966746 meters 0.25632338661542553 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.07 [[ 9.99998027e-01 -1.95563935e-03 -3.48625353e-04 -6.94384818e-01] [ 1.95607852e-03 9.99997288e-01 1.26386519e-03 -3.14919744e-01] [ 3.46152744e-04 -1.26454463e-03 9.99999141e-01 6.54935427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.051966746 meters 0.25528519187717236 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.06 [[ 9.99997805e-01 -2.07344893e-03 -3.02810536e-04 -6.94048133e-01] [ 2.07369267e-03 9.99997524e-01 8.06845893e-04 -3.12021548e-01] [ 3.01136833e-04 -8.07472058e-04 9.99999629e-01 6.44981337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.081966746 meters 0.26073215599569227 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.06 [[ 9.99997662e-01 -2.13816236e-03 -3.21406326e-04 -6.93746899e-01] [ 2.13837238e-03 9.99997499e-01 6.54520571e-04 -3.11333740e-01] [ 3.20006051e-04 -6.55206328e-04 9.99999734e-01 6.40477558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.111966746 meters 0.25630821494962874 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.06 [[ 9.99997354e-01 -2.25376093e-03 -4.61354154e-04 -6.92851834e-01] [ 2.25398182e-03 9.99997345e-01 4.78838011e-04 -3.10927922e-01] [ 4.60273743e-04 -4.79876628e-04 9.99999779e-01 6.32879025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.141966745999994 meters 0.2606031150622961 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.06 [[ 9.99997121e-01 -2.31590490e-03 -6.27366848e-04 -6.92200930e-01] [ 2.31615485e-03 9.99997239e-01 3.97980428e-04 -3.10714638e-01] [ 6.26443431e-04 -3.99432361e-04 9.99999724e-01 6.30874356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.171966745999995 meters 0.2584997593194412 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.31, Z:0.07 [[ 9.99994057e-01 9.05400671e-04 -3.32667253e-03 -7.63243757e-01] [-9.01810531e-04 9.99999010e-01 1.08054010e-03 -3.13650840e-01] [ 3.32764755e-03 -1.07753365e-03 9.99993883e-01 6.73028453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.201966746 meters 0.25636406990176686 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.31, Z:0.06 [[ 9.99997659e-01 -2.03551973e-03 -7.33556001e-04 -6.91129256e-01] [ 2.03587583e-03 9.99997810e-01 4.85023853e-04 -3.11002968e-01] [ 7.32567119e-04 -4.86516146e-04 9.99999613e-01 6.22593369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.231966746 meters 0.25783305832620107 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.31, Z:0.07 [[ 9.99995541e-01 2.62514085e-04 -2.97479537e-03 -7.64480241e-01] [-2.60988861e-04 9.99999834e-01 5.13092283e-04 -3.14281399e-01] [ 2.97492957e-03 -5.12313606e-04 9.99995444e-01 6.84026491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.261966746 meters 0.25831146264637456 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.32, Z:0.07 [[ 9.99995649e-01 3.75362357e-04 -2.92609502e-03 -7.64760327e-01] [-3.72955168e-04 9.99999592e-01 8.23164798e-04 -3.15835616e-01] [ 2.92640281e-03 -8.22069914e-04 9.99995380e-01 6.85974155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.291966746 meters 0.2605141464535003 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.31, Z:0.07 [[ 9.99999621e-01 2.54765958e-04 -8.31998495e-04 -7.25888204e-01] [-2.57416014e-04 9.99994890e-01 -3.18661745e-03 -3.14569051e-01] [ 8.31182402e-04 3.18683041e-03 9.99994577e-01 7.39512635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.321966745999994 meters 0.25962062297436783 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.32, Z:0.07 [[ 9.99999375e-01 -3.07780472e-05 -1.11768749e-03 -7.72053837e-01] [ 3.21182555e-05 9.99999281e-01 1.19909225e-03 -3.18383016e-01] [ 1.11764979e-03 -1.19912740e-03 9.99998656e-01 7.45371397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.351966745999995 meters 0.26096943669650485 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.31, Z:0.08 [[ 0.99999076 0.00417609 0.00102158 -0.73296268] [-0.00417731 0.99999056 0.0011977 -0.31275588] [-0.00101656 -0.00120196 0.99999876 0.07853715] [ 0. 0. 0. 1. ]] SLAMing on 47.381966745999996 meters 0.26173063370808286 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.31, Z:0.08 [[ 0.99998833 -0.00309775 0.00370745 -0.70848447] [ 0.00309071 0.99999341 0.00190357 -0.30702863] [-0.00371332 -0.00189209 0.99999132 0.0755265 ] [ 0. 0. 0. 1. ]] SLAMing on 47.411966746 meters 0.2627013833794646 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.31, Z:0.07 [[ 0.99998847 -0.00311162 0.00365848 -0.70812392] [ 0.00310463 0.99999335 0.00191557 -0.30710941] [-0.00366442 -0.00190419 0.99999147 0.07487999] [ 0. 0. 0. 1. ]] SLAMing on 47.441966746 meters 0.2605649778760161 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.31, Z:0.08 [[ 0.99999689 0.00126672 -0.00214693 -0.73072279] [-0.00126926 0.9999985 -0.00118126 -0.30634617] [ 0.00214543 0.00118398 0.999997 0.07892088] [ 0. 0. 0. 1. ]] SLAMing on 47.471966746 meters 0.2616591311574498 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.30, Z:0.08 [[ 0.99999486 0.00292532 -0.00131491 -0.68509036] [-0.00293034 0.99998836 -0.00383239 -0.30415889] [ 0.00130368 0.00383622 0.99999179 0.07829375] [ 0. 0. 0. 1. ]] SLAMing on 47.501966745999994 meters 0.25829599044742896 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.31, Z:0.08 [[ 0.99997746 -0.00535704 -0.00404667 -0.75405651] [ 0.0053726 0.99997818 0.00384441 -0.30819029] [ 0.00402599 -0.00386606 0.99998442 0.08300665] [ 0. 0. 0. 1. ]] SLAMing on 47.531966745999995 meters 0.26036583415097564 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.31, Z:0.08 [[ 9.99999698e-01 2.83395940e-04 -7.23022168e-04 -7.28421594e-01] [-2.85001080e-04 9.99997493e-01 -2.22090654e-03 -3.06281858e-01] [ 7.22390959e-04 2.22111193e-03 9.99997272e-01 7.60856742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.561966745999996 meters 0.2623814785696822 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.31, Z:0.08 [[ 9.99999679e-01 3.18701327e-04 -7.35205257e-04 -7.28512591e-01] [-3.20236434e-04 9.99997767e-01 -2.08882574e-03 -3.07179060e-01] [ 7.34537904e-04 2.08906050e-03 9.99997548e-01 7.64764489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.591966746 meters 0.2600326515035159 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.31, Z:0.08 [[ 9.99999499e-01 6.56993981e-04 -7.54890963e-04 -7.29264180e-01] [-6.58016184e-04 9.99998866e-01 -1.35465752e-03 -3.11249711e-01] [ 7.54000105e-04 1.35515357e-03 9.99998798e-01 7.80993154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.621966746 meters 0.25749260937451013 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.31, Z:0.08 [[ 9.99997909e-01 -1.66733030e-03 -1.18434587e-03 -7.75772218e-01] [ 1.66798341e-03 9.99998457e-01 5.50676303e-04 -3.13987700e-01] [ 1.18342588e-03 -5.52650621e-04 9.99999147e-01 7.91422445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.651966746 meters 0.2610371133465499 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.31, Z:0.08 [[ 9.99999603e-01 8.51527207e-04 -2.63462787e-04 -7.32685735e-01] [-8.51965355e-04 9.99998247e-01 -1.66741618e-03 -3.08741439e-01] [ 2.62042475e-04 1.66763998e-03 9.99998575e-01 8.07207553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.681966746 meters 0.2614872068777434 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.30, Z:0.08 [[ 9.99991927e-01 -3.87056937e-03 -1.07889421e-03 -7.02673086e-01] [ 3.87160980e-03 9.99992041e-01 9.63935344e-04 -3.03619744e-01] [ 1.07515464e-03 -9.68104620e-04 9.99998953e-01 7.64758964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.711966745999995 meters 0.2609734381537143 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.31, Z:0.07 [[ 0.99998738 -0.00424909 -0.0026802 -0.7441294 ] [ 0.00426114 0.99998076 0.0045072 -0.30530528] [ 0.002661 -0.00451857 0.99998625 0.07306938] [ 0. 0. 0. 1. ]] SLAMing on 47.741966745999996 meters 0.2615122715507219 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:0.07 [[ 9.99991881e-01 4.01253152e-03 -3.69640633e-04 -7.22321971e-01] [-4.01232969e-03 9.99991802e-01 5.45151440e-04 -3.03490947e-01] [ 3.71825040e-04 -5.43663894e-04 9.99999783e-01 7.07121703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.771966746 meters 0.26101017139462923 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:0.07 [[ 9.99992275e-01 3.90394684e-03 -4.57999691e-04 -7.21784232e-01] [-3.90376854e-03 9.99992304e-01 3.89557034e-04 -3.02957215e-01] [ 4.59516977e-04 -3.87766100e-04 9.99999819e-01 7.02500325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.801966746 meters 0.25971374483756327 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.30, Z:0.07 [[ 0.99998523 -0.00436004 -0.00324477 -0.74346101] [ 0.00437344 0.99998188 0.00413562 -0.30345414] [ 0.00322668 -0.00414975 0.99998618 0.07221982] [ 0. 0. 0. 1. ]] SLAMing on 47.831966746 meters 0.2593787101224077 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.30, Z:0.07 [[ 0.99998613 -0.00419991 -0.0031796 -0.74419923] [ 0.00421411 0.99998112 0.00447291 -0.30491925] [ 0.00316076 -0.00448625 0.99998494 0.07309501] [ 0. 0. 0. 1. ]] SLAMing on 47.861966746 meters 0.25951150182360366 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.30, Z:0.07 [[ 0.99998592 -0.00427965 -0.00313797 -0.74422011] [ 0.00429324 0.99998138 0.00433685 -0.30409539] [ 0.00311936 -0.00435027 0.99998567 0.07285526] [ 0. 0. 0. 1. ]] SLAMing on 47.891966745999994 meters 0.2603645510923712 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.30, Z:0.07 [[ 9.99997704e-01 2.00246624e-03 7.62846972e-04 -7.20624701e-01] [-2.00165295e-03 9.99997429e-01 -1.06540738e-03 -3.01307924e-01] [-7.64978454e-04 1.06387798e-03 9.99999141e-01 6.66779844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.921966745999995 meters 0.2581970071636993 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.31, Z:0.07 [[ 9.99999959e-01 -1.55734009e-04 -2.41657242e-04 -7.64862166e-01] [ 1.56003168e-04 9.99999367e-01 1.11418983e-03 -3.05077302e-01] [ 2.41483571e-04 -1.11422748e-03 9.99999350e-01 6.62363601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.951966746 meters 0.2574489262632557 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.31, Z:0.07 [[ 9.99999886e-01 -1.62714422e-04 -4.49030991e-04 -7.64105722e-01] [ 1.63329541e-04 9.99999048e-01 1.37018433e-03 -3.07456191e-01] [ 4.48807615e-04 -1.37025752e-03 9.99998960e-01 6.61857048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.981966746 meters 0.2578022214502315 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.31, Z:0.07 [[ 9.99999729e-01 -1.34937841e-04 -7.24162283e-04 -7.63280508e-01] [ 1.36085954e-04 9.99998734e-01 1.58562104e-03 -3.09340217e-01] [ 7.23947406e-04 -1.58571916e-03 9.99998481e-01 6.64282188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.011966746 meters 0.2588991198022637 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.31, Z:0.07 [[ 9.99999586e-01 9.06538356e-04 -7.54928706e-05 -7.19154628e-01] [-9.06684239e-04 9.99997677e-01 -1.95532113e-03 -3.06460069e-01] [ 7.37201216e-05 1.95538877e-03 9.99998086e-01 6.75005259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.041966746 meters 0.2582053427738238 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.31, Z:0.07 [[ 9.99999337e-01 5.20839409e-04 -1.02672396e-03 -7.63491755e-01] [-5.19176920e-04 9.99998555e-01 1.61881947e-03 -3.07638027e-01] [ 1.02756562e-03 -1.61828535e-03 9.99998163e-01 6.65173608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.071966745999994 meters 0.2574166938440388 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.07 [[ 9.99999444e-01 4.72161340e-04 -9.42711956e-04 -7.63694669e-01] [-4.71069687e-04 9.99999219e-01 1.15787800e-03 -3.04700304e-01] [ 9.43257925e-04 -1.15743327e-03 9.99998885e-01 6.64067320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.101966745999995 meters 0.25836810277031186 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.07 [[ 9.99999701e-01 4.70612663e-04 -6.14379611e-04 -7.64795708e-01] [-4.70176705e-04 9.99999638e-01 7.09540999e-04 -3.01394868e-01] [ 6.14713307e-04 -7.09251920e-04 9.99999560e-01 6.65438927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.131966745999996 meters 0.2595286261324585 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.07 [[ 9.99999776e-01 2.94845182e-04 -6.01624789e-04 -7.64455140e-01] [-2.94639277e-04 9.99999898e-01 3.42308030e-04 -2.99667233e-01] [ 6.01725656e-04 -3.42130691e-04 9.99999760e-01 6.59171461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.161966746 meters 0.2607472574581587 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.07 [[ 9.99999761e-01 1.72993845e-04 -6.70106364e-04 -7.64056513e-01] [-1.72908775e-04 9.99999977e-01 1.27005188e-04 -2.98881088e-01] [ 6.70128319e-04 -1.26889290e-04 9.99999767e-01 6.56017306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.191966746 meters 0.258452508849316 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.07 [[ 9.99999759e-01 2.47455472e-04 -6.48907893e-04 -7.64147333e-01] [-2.47232012e-04 9.99999910e-01 3.44420858e-04 -3.00169829e-01] [ 6.48993063e-04 -3.44260344e-04 9.99999730e-01 6.56203776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.221966746 meters 0.2574123884490363 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.07 [[ 9.99999741e-01 3.10931671e-04 -6.48610491e-04 -7.64237684e-01] [-3.10629469e-04 9.99999843e-01 4.65970397e-04 -3.00563903e-01] [ 6.48755275e-04 -4.65768799e-04 9.99999681e-01 6.55790740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.251966745999994 meters 0.2591120089513408 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999775e-01 1.52109999e-04 -6.52909305e-04 -7.63856285e-01] [-1.52012067e-04 9.99999977e-01 1.50039826e-04 -2.99117678e-01] [ 6.52932113e-04 -1.49940542e-04 9.99999776e-01 6.48426048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.281966745999995 meters 0.2580619101072181 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999816e-01 2.06992910e-04 -5.69965161e-04 -7.64175398e-01] [-2.06858749e-04 9.99999951e-01 2.35433889e-04 -2.99342243e-01] [ 5.70013866e-04 -2.35315943e-04 9.99999810e-01 6.48941384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.311966745999996 meters 0.25794713656619805 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999705e-01 1.70141924e-04 -7.49668656e-04 -7.63549116e-01] [-1.69843231e-04 9.99999906e-01 3.98479015e-04 -3.00841427e-01] [ 7.49736383e-04 -3.98351571e-04 9.99999640e-01 6.47902313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.341966746 meters 0.2584259027751669 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999632e-01 1.33723435e-04 -8.46835061e-04 -7.63054671e-01] [-1.33309916e-04 9.99999872e-01 4.88348853e-04 -3.01795832e-01] [ 8.46900256e-04 -4.88235782e-04 9.99999522e-01 6.44533454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.371966746 meters 0.2595556252470318 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999696e-01 1.42338264e-04 -7.66781525e-04 -7.63326733e-01] [-1.42016259e-04 9.99999902e-01 4.19981457e-04 -3.01138863e-01] [ 7.66841229e-04 -4.19872434e-04 9.99999618e-01 6.44117847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.401966746 meters 0.2569844960730656 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999680e-01 1.70278315e-04 -7.81183925e-04 -7.63266265e-01] [-1.69933270e-04 9.99999888e-01 4.41739857e-04 -3.01154102e-01] [ 7.81259056e-04 -4.41606967e-04 9.99999597e-01 6.43470472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.431966746 meters 0.2561830995735256 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999703e-01 2.48549551e-04 -7.29519676e-04 -7.63637892e-01] [-2.48179366e-04 9.99999840e-01 5.07482295e-04 -3.01265343e-01] [ 7.29645694e-04 -5.07301093e-04 9.99999605e-01 6.47116882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.461966745999995 meters 0.2576305944496226 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.30, Z:0.06 [[ 0.99998434 -0.00349807 0.00436752 -0.73854331] [ 0.00347934 0.99998475 0.00428798 -0.30287438] [-0.00438245 -0.00427272 0.99998127 0.05899072] [ 0. 0. 0. 1. ]] SLAMing on 48.491966745999996 meters 0.25585366328515224 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999175e-01 7.30459937e-04 -1.05641051e-03 -7.63501846e-01] [-7.29532816e-04 9.99999349e-01 8.77733465e-04 -2.99591045e-01] [ 1.05705097e-03 -8.76962055e-04 9.99999057e-01 6.47098198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.521966746 meters 0.2573467769310928 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999326e-01 5.49871096e-04 -1.02259772e-03 -7.63144179e-01] [-5.49445782e-04 9.99999762e-01 4.16149370e-04 -2.97506410e-01] [ 1.02282631e-03 -4.15587228e-04 9.99999391e-01 6.40644511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.551966746 meters 0.2576835281016899 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.30, Z:0.06 [[ 9.99999397e-01 4.89364575e-04 -9.83486463e-04 -7.63193814e-01] [-4.89129642e-04 9.99999852e-01 2.39104054e-04 -2.96720169e-01] [ 9.83603327e-04 -2.38622857e-04 9.99999488e-01 6.40762546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.581966746 meters 0.25562970247951666 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.30, Z:0.06 [[ 0.9999978 -0.00105019 -0.00181644 -0.80754543] [ 0.00105494 0.99999603 0.00261426 -0.29810362] [ 0.00181368 -0.00261617 0.99999493 0.06311386] [ 0. 0. 0. 1. ]] SLAMing on 48.611966746 meters 0.25562970247951666 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.30, Z:0.06 [[ 0.9999978 -0.00105019 -0.00181644 -0.80754543] [ 0.00105494 0.99999603 0.00261426 -0.29810362] [ 0.00181368 -0.00261617 0.99999493 0.06311386] [ 0. 0. 0. 1. ]] SLAMing on 48.641966745999994 meters 0.2567101223604544 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.30, Z:0.06 [[ 0.9999976 -0.00120674 -0.00182981 -0.80713841] [ 0.00121073 0.99999688 0.00218374 -0.29584974] [ 0.00182717 -0.00218595 0.99999594 0.06236852] [ 0. 0. 0. 1. ]] SLAMing on 48.671966745999995 meters 0.2556598053658681 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.29, Z:0.06 [[ 0.99999769 -0.00127131 -0.00173311 -0.80726131] [ 0.00127446 0.99999754 0.00181645 -0.29348644] [ 0.0017308 -0.00181866 0.99999685 0.06205379] [ 0. 0. 0. 1. ]] SLAMing on 48.701966746 meters 0.2568236034634117 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.29, Z:0.06 [[ 0.99999752 -0.00137521 -0.00174949 -0.80694011] [ 0.00137812 0.99999767 0.00166193 -0.29309046] [ 0.0017472 -0.00166433 0.99999709 0.06161833] [ 0. 0. 0. 1. ]] SLAMing on 48.731966746 meters 0.2567095796242899 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.29, Z:0.06 [[ 0.99999764 -0.00128565 -0.00175174 -0.80729519] [ 0.00128903 0.99999731 0.0019303 -0.2945598 ] [ 0.00174926 -0.00193256 0.9999966 0.06229538] [ 0. 0. 0. 1. ]] SLAMing on 48.761966746 meters 0.256021117719699 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.29, Z:0.06 [[ 0.9999976 -0.00134247 -0.0017342 -0.80724848] [ 0.00134578 0.99999727 0.00190978 -0.29465986] [ 0.00173164 -0.00191211 0.99999667 0.06207689] [ 0. 0. 0. 1. ]] SLAMing on 48.791966746 meters 0.25806021405697743 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.29, Z:0.06 [[ 0.99999748 -0.00147266 -0.0016952 -0.8071563 ] [ 0.00147531 0.99999769 0.00156197 -0.29288128] [ 0.0016929 -0.00156446 0.99999734 0.06175012] [ 0. 0. 0. 1. ]] SLAMing on 48.821966745999994 meters 0.2572382490291031 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.29, Z:0.06 [[ 0.99999775 -0.00136509 -0.00162347 -0.80765264] [ 0.00136793 0.99999753 0.00175033 -0.29365246] [ 0.00162108 -0.00175255 0.99999715 0.06226348] [ 0. 0. 0. 1. ]] SLAMing on 48.851966745999995 meters 0.2572909692702461 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.29, Z:0.06 [[ 0.99999757 -0.00147455 -0.00163624 -0.80728263] [ 0.00147724 0.99999756 0.00164311 -0.29350304] [ 0.00163381 -0.00164553 0.99999731 0.06160069] [ 0. 0. 0. 1. ]] SLAMing on 48.881966745999996 meters 0.25544044504568414 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:0.07 [[ 0.9999752 0.00332125 -0.00621078 -0.83297691] [-0.00332915 0.99999366 -0.00126166 -0.29252729] [ 0.00620655 0.00128231 0.99997992 0.06682301] [ 0. 0. 0. 1. ]] SLAMing on 48.911966746 meters 0.25872863896789233 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.29, Z:0.06 [[ 0.99999772 -0.00158105 -0.00143694 -0.80767086] [ 0.00158304 0.99999779 0.00138339 -0.29293065] [ 0.00143475 -0.00138566 0.99999801 0.06182778] [ 0. 0. 0. 1. ]] SLAMing on 48.941966746 meters 0.25663957609752724 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:0.07 [[ 0.99997396 0.00358312 -0.00626493 -0.83165987] [-0.00359221 0.99999251 -0.00144017 -0.29048965] [ 0.00625972 0.00146264 0.99997934 0.06529919] [ 0. 0. 0. 1. ]] SLAMing on 48.971966746 meters 0.25761568304103766 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:0.06 [[ 0.99997486 0.00334643 -0.00625072 -0.83101097] [-0.00335948 0.9999922 -0.00207759 -0.28695295] [ 0.00624372 0.00209854 0.99997831 0.06396445] [ 0. 0. 0. 1. ]] SLAMing on 49.001966745999994 meters 0.254513585965937 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:0.06 [[ 9.99972212e-01 2.49140401e-03 -7.02621164e-03 -8.75180306e-01] [-2.48533115e-03 9.99996531e-01 8.72914050e-04 -2.87125645e-01] [ 7.02836204e-03 -8.55427331e-04 9.99974935e-01 6.18882274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.031966745999995 meters 0.2576824738112667 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.29, Z:0.06 [[ 0.99999281 -0.00348483 -0.00149814 -0.85122615] [ 0.00348867 0.99999061 0.00256903 -0.28930312] [ 0.00148918 -0.00257424 0.99999558 0.05698774] [ 0. 0. 0. 1. ]] SLAMing on 49.061966745999996 meters 0.25521043120446524 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.29, Z:0.06 [[ 9.99980901e-01 -3.02731899e-04 -6.17301369e-03 -8.74627551e-01] [ 2.90422647e-04 9.99997968e-01 -1.99484150e-03 -2.91411578e-01] [ 6.17360505e-03 1.99301062e-03 9.99978957e-01 6.04905154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.091966746 meters 0.2583951019065567 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:0.06 [[ 0.99998838 0.00101704 -0.00471191 -0.83142744] [-0.00103828 0.9999893 -0.00450786 -0.28916792] [ 0.00470728 0.0045127 0.99997874 0.06174867] [ 0. 0. 0. 1. ]] SLAMing on 49.121966746 meters 0.25745255644892334 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:0.06 [[ 9.99988924e-01 9.94848720e-04 -4.60033120e-03 -8.31809078e-01] [-1.01648757e-03 9.99988420e-01 -4.70381568e-03 -2.87570194e-01] [ 4.59559835e-03 4.70843976e-03 9.99978355e-01 6.16643156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.151966746 meters 0.2575073906461727 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:0.06 [[ 9.99988825e-01 9.24334011e-04 -4.63622496e-03 -8.31618361e-01] [-9.46734032e-04 9.99987879e-01 -4.83165629e-03 -2.87075778e-01] [ 4.63170270e-03 4.83599157e-03 9.99977580e-01 6.15867168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.181966746 meters 0.25738558361979713 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:0.06 [[ 0.99998883 0.00108226 -0.00460199 -0.8321569 ] [-0.00110316 0.99998907 -0.00454333 -0.28836042] [ 0.00459702 0.00454835 0.99997909 0.0623045 ] [ 0. 0. 0. 1. ]] SLAMing on 49.211966745999995 meters 0.2584534220437206 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.29, Z:0.06 [[ 0.99998874 0.00119881 -0.00459183 -0.83244954] [-0.00121851 0.99999005 -0.00429044 -0.28955241] [ 0.00458665 0.00429599 0.99998025 0.06269877] [ 0. 0. 0. 1. ]] SLAMing on 49.241966745999996 meters 0.2552026044904988 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:0.06 [[ 9.99983409e-01 1.26300286e-03 -5.62018608e-03 -8.75927631e-01] [-1.26456980e-03 9.99999163e-01 -2.75261085e-04 -2.91150642e-01] [ 5.61983371e-03 2.82363635e-04 9.99984169e-01 6.03687982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.271966746 meters 0.25626709467618547 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:0.06 [[ 9.99983712e-01 1.20188671e-03 -5.57958177e-03 -8.75830591e-01] [-1.20471497e-03 9.99999148e-01 -5.03560874e-04 -2.89826572e-01] [ 5.57897179e-03 5.10274478e-04 9.99984307e-01 5.99082017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.301966746 meters 0.256473862712809 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.29, Z:0.05 [[ 9.99992430e-01 -3.86867267e-03 -4.16020269e-04 -8.50845539e-01] [ 3.86954380e-03 9.99990279e-01 2.11395353e-03 -2.92395717e-01] [ 4.07838031e-04 -2.11554734e-03 9.99997679e-01 5.44829453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.331966746 meters 0.25413099488957297 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:0.06 [[ 9.99987467e-01 1.81733883e-04 -5.00328677e-03 -8.75592420e-01] [-1.89612344e-04 9.99998743e-01 -1.57422774e-03 -2.92668983e-01] [ 5.00299439e-03 1.57515669e-03 9.99986244e-01 5.84610977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.361966746 meters 0.2551299192635782 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.29, Z:0.06 [[ 9.99987551e-01 1.05700496e-04 -4.98858421e-03 -8.75480919e-01] [-1.14332083e-04 9.99998497e-01 -1.73001436e-03 -2.91927998e-01] [ 4.98839385e-03 1.73056318e-03 9.99986060e-01 5.82066844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.391966745999994 meters 0.2568685440096256 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.29, Z:0.05 [[ 9.99996131e-01 -2.77991394e-03 1.04822491e-04 -8.50464344e-01] [ 2.77959188e-03 9.99991766e-01 2.95674451e-03 -2.91256380e-01] [-1.13041123e-04 -2.95644171e-03 9.99995623e-01 5.26502180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.421966745999995 meters 0.2570982964592655 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.29, Z:0.06 [[ 9.99985340e-01 2.54132147e-03 -4.78137153e-03 -8.73312915e-01] [-2.54101601e-03 9.99996769e-01 6.99584036e-05 -2.88880272e-01] [ 4.78153387e-03 -5.78078364e-05 9.99988567e-01 5.55583588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.451966746 meters 0.2569304711434852 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.29, Z:0.06 [[ 9.99984718e-01 2.71740815e-03 -4.81445397e-03 -8.73614792e-01] [-2.71501719e-03 9.99996188e-01 5.03086314e-04 -2.91345779e-01] [ 4.81580270e-03 -4.90007301e-04 9.99988284e-01 5.63583152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.481966746 meters 0.2578154444261928 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.29, Z:0.06 [[ 9.99984149e-01 2.72559829e-03 -4.92674376e-03 -8.73260937e-01] [-2.72212706e-03 9.99996042e-01 7.11137258e-04 -2.93063071e-01] [ 4.92866254e-03 -6.97714763e-04 9.99987611e-01 5.63932669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.511966746 meters 0.25807033574728744 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.29, Z:0.06 [[ 9.99984977e-01 2.47534639e-03 -4.89065093e-03 -8.72804951e-01] [-2.47559946e-03 9.99996935e-01 -4.56920249e-05 -2.88804531e-01] [ 4.89052283e-03 5.77986312e-05 9.99988040e-01 5.54261171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.541966746 meters 0.25384880055960746 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.29, Z:0.05 [[ 0.99997865 0.0020081 -0.00621847 -0.91568416] [-0.00198954 0.99999355 0.00299008 -0.28820992] [ 0.00622443 -0.00297764 0.99997619 0.05280344] [ 0. 0. 0. 1. ]] SLAMing on 49.571966745999994 meters 0.2580033107942137 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.29, Z:0.05 [[ 0.99997879 0.00202006 -0.00619202 -0.91583696] [-0.00200075 0.99999312 0.00312249 -0.28916358] [ 0.00619828 -0.00311004 0.99997595 0.05306631] [ 0. 0. 0. 1. ]] SLAMing on 49.601966745999995 meters 0.2588401152439229 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.29, Z:0.05 [[ 0.99997799 0.00204457 -0.00631134 -0.91555851] [-0.00202287 0.99999203 0.00344186 -0.29164125] [ 0.00631833 -0.00342901 0.99997416 0.05330428] [ 0. 0. 0. 1. ]] SLAMing on 49.631966745999996 meters 0.25662363768637975 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.29, Z:0.05 [[ 0.99997762 0.00214154 -0.00633846 -0.91546949] [-0.0021175 0.99999055 0.00379601 -0.29374024] [ 0.00634653 -0.0037825 0.99997271 0.05313062] [ 0. 0. 0. 1. ]] SLAMing on 49.661966746 meters 0.2591079666145631 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.30, Z:0.05 [[ 9.99999307e-01 -9.98967878e-04 -6.22724475e-04 -8.94000320e-01] [ 1.00422961e-03 9.99963308e-01 8.50727919e-03 -2.95003679e-01] [ 6.14203128e-04 -8.50789866e-03 9.99963619e-01 5.02521795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.691966746 meters 0.2592883031872353 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.29, Z:0.04 [[ 0.99998157 0.00500211 0.00343962 -0.86804231] [-0.00501181 0.99998347 0.00281679 -0.28973905] [-0.00342547 -0.00283398 0.99999012 0.04183396] [ 0. 0. 0. 1. ]] SLAMing on 49.721966746 meters 0.25964821164671653 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.29, Z:0.04 [[ 0.99999763 0.00169149 0.00137019 -0.90896076] [-0.0016951 0.99999509 0.00263742 -0.28724298] [-0.00136573 -0.00263974 0.99999558 0.03847811] [ 0. 0. 0. 1. ]] SLAMing on 49.751966745999994 meters 0.25942763120085593 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.29, Z:0.04 [[ 0.99999757 0.00169252 0.00141169 -0.9090643 ] [-0.00169623 0.9999951 0.00263301 -0.28721218] [-0.00140723 -0.00263539 0.99999554 0.03836357] [ 0. 0. 0. 1. ]] SLAMing on 49.781966745999995 meters 0.2587435502538446 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.29, Z:0.04 [[ 0.99999771 0.00163994 0.00137439 -0.90879109] [-0.00164363 0.99999504 0.00268804 -0.28785733] [-0.00136998 -0.0026903 0.99999544 0.03803203] [ 0. 0. 0. 1. ]] SLAMing on 49.811966745999996 meters 0.2581033105604312 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.29, Z:0.04 [[ 0.99999787 0.00163392 0.00125943 -0.90849867] [-0.0016375 0.99999461 0.00284619 -0.28897761] [-0.00125478 -0.00284824 0.99999516 0.03811152] [ 0. 0. 0. 1. ]] SLAMing on 49.841966746 meters 0.2583629452111211 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.29, Z:0.04 [[ 0.99999784 0.00161108 0.00131503 -0.90870941] [-0.00161479 0.9999947 0.00282614 -0.288978 ] [-0.00131047 -0.00282825 0.99999514 0.03828484] [ 0. 0. 0. 1. ]] SLAMing on 49.871966746 meters 0.252259702032672 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.29, Z:0.04 [[ 0.99999744 0.00176859 0.00141256 -0.90972758] [-0.00177294 0.99999369 0.00307915 -0.28988163] [-0.00140711 -0.00308165 0.99999426 0.03964755] [ 0. 0. 0. 1. ]] SLAMing on 49.901966746 meters 0.25713820363005613 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.29, Z:0.04 [[ 9.99999224e-01 -6.56247736e-04 1.05926328e-03 -9.56544217e-01] [ 6.51492791e-04 9.99989739e-01 4.48303706e-03 -2.90793656e-01] [-1.06219440e-03 -4.48234348e-03 9.99989390e-01 4.01402305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.931966746 meters 0.25731394694033255 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.29, Z:0.04 [[ 0.99999043 0.00353451 0.00257695 -0.93370369] [-0.00352605 0.9999884 -0.00327991 -0.29217352] [-0.00258852 0.00327079 0.9999913 0.03869511] [ 0. 0. 0. 1. ]] SLAMing on 49.961966745999995 meters 0.25931141129207674 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.29, Z:0.04 [[ 0.99999081 0.00350138 0.00247388 -0.93337926] [-0.00349306 0.99998825 -0.00336092 -0.29187248] [-0.00248562 0.00335225 0.99999129 0.03875182] [ 0. 0. 0. 1. ]] SLAMing on 49.991966745999996 meters 0.25757684387993807 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.29, Z:0.04 [[ 9.99990462e-01 4.21407680e-03 1.14768141e-03 -9.76666735e-01] [-4.21492745e-03 9.99990844e-01 7.39782092e-04 -2.90334976e-01] [-1.14455340e-03 -7.44612430e-04 9.99999068e-01 3.71104205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.021966746 meters 0.25958693997547144 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.29, Z:0.04 [[ 0.99998283 0.00555257 0.00187572 -0.93206054] [-0.00554777 0.99998135 -0.00255344 -0.28541593] [-0.00188987 0.00254299 0.99999498 0.03747448] [ 0. 0. 0. 1. ]] SLAMing on 50.051966746 meters 0.26099019151480407 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.29, Z:0.04 [[ 0.99999801 -0.00127586 -0.0015313 -0.95409832] [ 0.00127946 0.99999642 0.00235037 -0.28588122] [ 0.00152829 -0.00235232 0.99999607 0.04125308] [ 0. 0. 0. 1. ]] SLAMing on 50.081966746 meters 0.2587137486662676 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.28, Z:0.04 [[ 0.99999793 -0.00133016 -0.00154127 -0.95382893] [ 0.00133338 0.99999693 0.00208969 -0.28437855] [ 0.00153848 -0.00209174 0.99999663 0.04080588] [ 0. 0. 0. 1. ]] SLAMing on 50.111966746 meters 0.2600813357384889 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.28, Z:0.04 [[ 0.99998253 0.00550101 0.00216129 -0.92985344] [-0.00549473 0.99998069 -0.00290157 -0.28104522] [-0.00217721 0.00288965 0.99999345 0.03511718] [ 0. 0. 0. 1. ]] SLAMing on 50.141966745999994 meters 0.25880243140623876 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.04 [[ 0.99999853 -0.00125794 -0.00116161 -0.95515471] [ 0.0012603 0.99999714 0.00203272 -0.2834507 ] [ 0.00115905 -0.00203418 0.99999726 0.04181583] [ 0. 0. 0. 1. ]] SLAMing on 50.171966745999995 meters 0.25762954855735704 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.29, Z:0.04 [[ 0.9999987 -0.00107823 -0.0012015 -0.95539559] [ 0.0010812 0.99999636 0.00247351 -0.28570889] [ 0.00119883 -0.00247481 0.99999622 0.04246133] [ 0. 0. 0. 1. ]] SLAMing on 50.201966746 meters 0.2579345150177934 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.04 [[ 0.99999868 -0.00112603 -0.00116893 -0.95536651] [ 0.0011287 0.99999676 0.00228229 -0.2846021 ] [ 0.00116636 -0.00228361 0.99999671 0.04213401] [ 0. 0. 0. 1. ]] SLAMing on 50.231966746 meters 0.25761841657367984 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.04 [[ 0.99999862 -0.00120288 -0.00114916 -0.95524796] [ 0.00120517 0.99999728 0.00199479 -0.28297261] [ 0.00114676 -0.00199618 0.99999735 0.04181176] [ 0. 0. 0. 1. ]] SLAMing on 50.261966746 meters 0.2589027283872122 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.28, Z:0.04 [[ 0.99998217 0.00541374 0.0025204 -0.93231364] [-0.00540569 0.9999803 -0.00318898 -0.28067932] [-0.00253762 0.0031753 0.99999174 0.03717392] [ 0. 0. 0. 1. ]] SLAMing on 50.291966746 meters 0.25999283000012546 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.28, Z:0.03 [[ 0.99997322 -0.00189148 0.00706948 -0.91011002] [ 0.00190891 0.99999515 -0.00245952 -0.28087367] [-0.0070648 0.00247295 0.99997199 0.03497721] [ 0. 0. 0. 1. ]] SLAMing on 50.321966745999994 meters 0.259520240254829 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.28, Z:0.04 [[ 0.99997343 -0.00178646 0.00706715 -0.91045278] [ 0.00180275 0.99999573 -0.00229934 -0.28157165] [-0.00706302 0.00231202 0.99997238 0.03564021] [ 0. 0. 0. 1. ]] SLAMing on 50.351966745999995 meters 0.2610713190646319 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.28, Z:0.03 [[ 0.9999727 -0.00191699 0.0071367 -0.9103071 ] [ 0.00193718 0.99999414 -0.00282286 -0.27845696] [-0.00713125 0.00283661 0.99997055 0.03492294] [ 0. 0. 0. 1. ]] SLAMing on 50.381966745999996 meters 0.2618278106696303 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.28, Z:0.04 [[ 0.99999576 0.00253602 0.00143411 -0.93276981] [-0.00252715 0.99997785 -0.00615784 -0.27580801] [-0.00144969 0.00615419 0.99998001 0.03864575] [ 0. 0. 0. 1. ]] SLAMing on 50.411966746 meters 0.25965282532078016 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.04 [[ 9.99993690e-01 -2.53776040e-03 -2.48593892e-03 -9.57013435e-01] [ 2.53880659e-03 9.99996690e-01 4.17777900e-04 -2.78928174e-01] [ 2.48487047e-03 -4.24086582e-04 9.99996823e-01 4.43781054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.441966746 meters 0.25746847524883426 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.04 [[ 9.99994320e-01 -2.41406659e-03 -2.35213972e-03 -9.57744320e-01] [ 2.41569227e-03 9.99996845e-01 6.88550934e-04 -2.80078713e-01] [ 2.35047009e-03 -6.94229069e-04 9.99996997e-01 4.48622261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.471966746 meters 0.26087869061436364 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.28, Z:0.05 [[ 9.99998892e-01 -6.29200071e-04 -1.34934667e-03 -9.13065925e-01] [ 6.27255027e-04 9.99998764e-01 -1.44141066e-03 -2.76432831e-01] [ 1.35025194e-03 1.44056267e-03 9.99998051e-01 4.52329231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.501966745999994 meters 0.26087869061436364 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.28, Z:0.05 [[ 9.99998892e-01 -6.29200071e-04 -1.34934667e-03 -9.13065925e-01] [ 6.27255027e-04 9.99998764e-01 -1.44141066e-03 -2.76432831e-01] [ 1.35025194e-03 1.44056267e-03 9.99998051e-01 4.52329231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.531966745999995 meters 0.26044792352809415 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.28, Z:0.04 [[ 9.99998952e-01 -5.73739616e-04 -1.32918928e-03 -9.13003564e-01] [ 5.72140059e-04 9.99999112e-01 -1.20347613e-03 -2.77525217e-01] [ 1.32987859e-03 1.20271438e-03 9.99998392e-01 4.46852752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.561966745999996 meters 0.2567766658406237 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.04 [[ 9.99993020e-01 -2.86900110e-03 -2.39345105e-03 -9.56884706e-01] [ 2.86974668e-03 9.99995835e-01 3.08131191e-04 -2.80144059e-01] [ 2.39255705e-03 -3.14997639e-04 9.99997088e-01 4.33793574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.591966746 meters 0.26372306620511027 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.27, Z:0.05 [[ 9.99998787e-01 1.30009013e-03 -8.57694446e-04 -9.14627845e-01] [-1.29961328e-03 9.99999001e-01 5.56291240e-04 -2.74595107e-01] [ 8.58416818e-04 -5.55175894e-04 9.99999477e-01 4.50380988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.621966746 meters 0.26243687118136844 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.05 [[ 9.99999069e-01 -7.89966164e-04 -1.11223804e-03 -9.61047067e-01] [ 7.92909276e-04 9.99996179e-01 2.64816777e-03 -2.77714946e-01] [ 1.11014183e-03 -2.64904721e-03 9.99995875e-01 4.51945016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.651966746 meters 0.2635717707324624 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.28, Z:0.05 [[ 9.99999230e-01 -1.23613276e-03 1.05805622e-04 -9.18244893e-01] [ 1.23628237e-03 9.99998219e-01 -1.42580152e-03 -2.76355778e-01] [-1.04042954e-04 1.42593122e-03 9.99998978e-01 4.75784275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68196674599999 meters 0.2642849431564684 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.28, Z:0.05 [[ 9.99999246e-01 -1.22641486e-03 5.43214659e-05 -9.18152543e-01] [ 1.22647543e-03 9.99998610e-01 -1.12954197e-03 -2.78404398e-01] [-5.29361034e-05 1.12960774e-03 9.99999361e-01 4.76540184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.711966745999995 meters 0.2618308459143545 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.05 [[ 0.99999882 -0.00115493 -0.00101341 -0.96176062] [ 0.00115747 0.99999619 0.00250697 -0.27803651] [ 0.00101051 -0.00250814 0.99999634 0.04510721] [ 0. 0. 0. 1. ]] SLAMing on 50.741966745999996 meters 0.2629254095275492 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.04 [[ 9.99998701e-01 -1.26701606e-03 -9.96824032e-04 -9.61647183e-01] [ 1.26930685e-03 9.99996548e-01 2.30081805e-03 -2.77118437e-01] [ 9.93905417e-04 -2.30208033e-03 9.99996856e-01 4.48492580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.771966746 meters 0.2626670200079124 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.05 [[ 0.9999985 -0.00123488 -0.00121481 -0.96105878] [ 0.00123811 0.99999571 0.0026561 -0.27991037] [ 0.00121153 -0.0026576 0.99999573 0.04513978] [ 0. 0. 0. 1. ]] SLAMing on 50.801966746 meters 0.2628145138129163 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:0.04 [[ 0.99999851 -0.00125826 -0.00118316 -0.96116892] [ 0.00126134 0.99999581 0.00260649 -0.27952197] [ 0.00117988 -0.00260798 0.9999959 0.04499808] [ 0. 0. 0. 1. ]] SLAMing on 50.831966746 meters 0.25833818661337 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.28, Z:0.05 [[ 9.99975383e-01 3.63413665e-03 -6.00217210e-03 -9.85181097e-01] [-3.63636079e-03 9.99993324e-01 -3.59685884e-04 -2.78395605e-01] [ 6.00082488e-03 3.81503093e-04 9.99981922e-01 4.89270342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.861966746 meters 0.25930659659242117 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.28, Z:0.05 [[ 9.99975815e-01 3.64158810e-03 -5.92527616e-03 -9.85642346e-01] [-3.64366645e-03 9.99993304e-01 -3.40001567e-04 -2.78366262e-01] [ 5.92399834e-03 3.61583074e-04 9.99982388e-01 4.93353912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.891966745999994 meters 0.2578660603786002 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.28, Z:0.05 [[ 9.99974669e-01 3.76495915e-03 -6.04037362e-03 -9.85585120e-01] [-3.76359150e-03 9.99992889e-01 2.37768163e-04 -2.82015476e-01] [ 6.04122586e-03 -2.15028641e-04 9.99981729e-01 4.99290191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.921966745999995 meters 0.2597881304031234 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.28, Z:0.05 [[ 9.99974092e-01 3.77189765e-03 -6.13090973e-03 -9.85338804e-01] [-3.76954967e-03 9.99992817e-01 3.94484558e-04 -2.83176303e-01] [ 6.13235365e-03 -3.71363569e-04 9.99981128e-01 5.00155150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.951966746 meters 0.25804581246002717 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.05 [[ 0.99997726 0.00236173 -0.00631665 -1.0318692 ] [-0.00234476 0.99999363 0.00269232 -0.28312104] [ 0.00632296 -0.00267744 0.99997643 0.04953325] [ 0. 0. 0. 1. ]] SLAMing on 50.981966746 meters 0.2644401557749052 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.05 [[ 0.99997809 0.00221977 -0.00623602 -1.03193269] [-0.002206 0.99999512 0.00221422 -0.28032704] [ 0.0062409 -0.00220042 0.9999781 0.04916388] [ 0. 0. 0. 1. ]] SLAMing on 51.011966746 meters 0.26434076220164704 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.28, Z:0.04 [[ 0.999996 -0.00156938 -0.0023525 -1.00618981] [ 0.00158459 0.99997777 0.00647754 -0.27922046] [ 0.00234229 -0.00648124 0.99997625 0.04425225] [ 0. 0. 0. 1. ]] SLAMing on 51.041966746 meters 0.26256334316086927 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.05 [[ 0.99997058 0.00135256 -0.00755099 -1.02781081] [-0.00134057 0.99999783 0.001593 -0.28086342] [ 0.00755312 -0.00158283 0.99997022 0.0465615 ] [ 0. 0. 0. 1. ]] SLAMing on 51.071966745999994 meters 0.2616954752448069 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.05 [[ 0.99997027 0.00136892 -0.00758869 -1.02765312] [-0.0013553 0.99999746 0.00180078 -0.28248192] [ 0.00759114 -0.00179044 0.99996958 0.04661236] [ 0. 0. 0. 1. ]] SLAMing on 51.101966745999995 meters 0.26163576659280513 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.28, Z:0.04 [[ 0.99999248 -0.00321667 -0.00216689 -1.00514351] [ 0.00322795 0.99998115 0.00522317 -0.28396594] [ 0.00215005 -0.00523013 0.99998401 0.04310135] [ 0. 0. 0. 1. ]] SLAMing on 51.131966745999996 meters 0.26024784422938013 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.05 [[ 9.99974284e-01 3.09779225e-04 -7.16489454e-03 -1.03207382e+00] [-3.01464381e-04 9.99999280e-01 1.16154857e-03 -2.80035306e-01] [ 7.16524921e-03 -1.15935874e-03 9.99973657e-01 4.94683889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.161966746 meters 0.26281306961895173 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.28, Z:0.05 [[ 9.99987916e-01 9.52698526e-04 -4.82284614e-03 -9.93511790e-01] [-9.59632636e-04 9.99998509e-01 -1.43565324e-03 -2.80090843e-01] [ 4.82147120e-03 1.44026406e-03 9.99987339e-01 5.47934268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.191966746 meters 0.26291114966284174 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.28, Z:0.05 [[ 9.99988186e-01 8.33572182e-04 -4.78886121e-03 -9.93406603e-01] [-8.41885166e-04 9.99998142e-01 -1.73414649e-03 -2.78492962e-01] [ 4.78740677e-03 1.73815767e-03 9.99987030e-01 5.43488109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.221966746 meters 0.26092938972548596 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.28, Z:0.05 [[ 9.99981753e-01 7.35228663e-04 -5.99616207e-03 -1.03625095e+00] [-7.23500098e-04 9.99997821e-01 1.95794673e-03 -2.80696153e-01] [ 5.99758854e-03 -1.95357278e-03 9.99980106e-01 5.15191134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.251966745999994 meters 0.2610418722977098 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.28, Z:0.05 [[ 9.99981005e-01 6.68156864e-04 -6.12728231e-03 -1.03547963e+00] [-6.55977803e-04 9.99997806e-01 1.98947184e-03 -2.81385995e-01] [ 6.12859814e-03 -1.98541468e-03 9.99979249e-01 5.08864125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.281966745999995 meters 0.2596178388840934 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.05 [[ 9.99980093e-01 6.86469891e-04 -6.27229727e-03 -1.03491257e+00] [-6.73725355e-04 9.99997705e-01 2.03376396e-03 -2.81703399e-01] [ 6.27367899e-03 -2.02949767e-03 9.99978261e-01 5.06279798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.311966745999996 meters 0.26597130692890125 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:0.05 [[ 0.99996594 0.00400323 -0.00721693 -0.9832486 ] [-0.00399317 0.99999104 0.00140766 -0.28075811] [ 0.0072225 -0.00137879 0.99997297 0.04717526] [ 0. 0. 0. 1. ]] SLAMing on 51.341966746 meters 0.26137019125400623 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.29, Z:0.05 [[ 9.99977308e-01 6.91270627e-04 -6.70119635e-03 -1.03323179e+00] [-6.74197292e-04 9.99996522e-01 2.54972823e-03 -2.86312724e-01] [ 6.70293560e-03 -2.54515244e-03 9.99974296e-01 5.02751866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.371966746 meters 0.2598090227155853 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.29, Z:0.06 [[ 9.99981423e-01 -2.31959116e-03 -5.63671893e-03 -1.03957593e+00] [ 2.31748892e-03 9.99997243e-01 -3.79456415e-04 -2.89077611e-01] [ 5.63758357e-03 3.66386332e-04 9.99984042e-01 5.57665132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.401966746 meters 0.2615162691072597 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.29, Z:0.06 [[ 9.99981692e-01 -2.27596065e-03 -5.60669840e-03 -1.03953454e+00] [ 2.27366781e-03 9.99997329e-01 -4.15287094e-04 -2.88782163e-01] [ 5.60762861e-03 4.02531722e-04 9.99984196e-01 5.56381533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43196674599999 meters 0.2626572144808008 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.29, Z:0.05 [[ 9.99983279e-01 -2.09171134e-03 -5.39139105e-03 -1.03981684e+00] [ 2.08788192e-03 9.99997564e-01 -7.15814942e-04 -2.85902600e-01] [ 5.39287520e-03 7.04546385e-04 9.99985210e-01 5.48877433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.461966745999995 meters 0.2644220535088755 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.28, Z:0.05 [[ 0.9999559 0.00872931 -0.00346371 -1.01323063] [-0.00873702 0.99995937 -0.0022172 -0.28278585] [ 0.00344422 0.00224736 0.99999154 0.04939155] [ 0. 0. 0. 1. ]] SLAMing on 51.491966745999996 meters 0.26948076815633076 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.28, Z:0.05 [[ 0.99995712 0.0085761 -0.00349357 -1.01232298] [-0.00858633 0.99995886 -0.00292425 -0.27916494] [ 0.00346835 0.00295412 0.99998962 0.04802164] [ 0. 0. 0. 1. ]] SLAMing on 51.521966746 meters 0.26645888025834435 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.28, Z:0.04 [[ 0.99995777 0.00690271 -0.00606758 -1.05086685] [-0.00691157 0.99997508 -0.00144009 -0.28007907] [ 0.00605749 0.00148196 0.99998056 0.04369467] [ 0. 0. 0. 1. ]] SLAMing on 51.551966746 meters 0.2664603124187048 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.28, Z:0.04 [[ 0.99995617 0.00702268 -0.00619243 -1.05081127] [-0.00703031 0.99997455 -0.00121176 -0.28167187] [ 0.00618377 0.00125525 0.99998009 0.04456699] [ 0. 0. 0. 1. ]] SLAMing on 51.581966746 meters 0.26947448344085473 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.04 [[ 9.99991624e-01 4.03352843e-03 -6.94121541e-04 -1.03105521e+00] [-4.03101934e-03 9.99985471e-01 3.57898114e-03 -2.80792971e-01] [ 7.08547378e-04 -3.57615314e-03 9.99993355e-01 4.39533765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.611966746 meters 0.27054383687042444 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.28, Z:0.04 [[ 0.99998779 0.00453407 -0.00196288 -1.07406961] [-0.00451901 0.99996084 0.00760841 -0.28040571] [ 0.0019973 -0.00759945 0.99996913 0.04133049] [ 0. 0. 0. 1. ]] SLAMing on 51.641966745999994 meters 0.27389287951079627 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.04 [[ 0.99998613 0.0050275 -0.0015703 -1.02857283] [-0.00502202 0.99998134 0.00347832 -0.27529738] [ 0.00158776 -0.00347039 0.99999272 0.04192529] [ 0. 0. 0. 1. ]] SLAMing on 51.671966745999995 meters 0.2723451750422154 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.28, Z:0.04 [[ 0.99998845 0.00422098 -0.00229852 -1.02423885] [-0.0042145 0.99998715 0.00281812 -0.2759283 ] [ 0.00231038 -0.0028084 0.99999339 0.03891867] [ 0. 0. 0. 1. ]] SLAMing on 51.701966746 meters 0.2718221281615028 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.27, Z:0.04 [[ 9.99998145e-01 -3.09437845e-05 -1.92568826e-03 -1.02550371e+00] [ 2.73868538e-05 9.99998294e-01 -1.84709478e-03 -2.72343560e-01] [ 1.92574213e-03 1.84703861e-03 9.99996440e-01 3.90335801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.731966746 meters 0.2688094621498329 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.28, Z:0.04 [[ 9.99997546e-01 -1.01338945e-04 -2.21304955e-03 -1.07106694e+00] [ 1.07117146e-04 9.99996586e-01 2.61100545e-03 -2.75568634e-01] [ 2.21277740e-03 -2.61123610e-03 9.99994143e-01 3.76715522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.761966746 meters 0.266893477438221 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.28, Z:0.04 [[ 9.99997245e-01 -1.10254798e-04 -2.34462796e-03 -1.07081876e+00] [ 1.16933335e-04 9.99995936e-01 2.84849572e-03 -2.77441830e-01] [ 2.34430437e-03 -2.84876204e-03 9.99993194e-01 3.80557820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.791966746 meters 0.2679195235922866 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.04 [[ 9.99998804e-01 -1.53666297e-03 -1.77788367e-04 -1.03149476e+00] [ 1.53631526e-03 9.99996939e-01 -1.93963230e-03 -2.78231694e-01] [ 1.80768384e-04 1.93935684e-03 9.99998103e-01 4.29700666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.821966745999994 meters 0.2671589413303988 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.04 [[ 9.99998803e-01 -1.54686125e-03 3.57495923e-05 -1.03195590e+00] [ 1.54693049e-03 9.99996752e-01 -2.02544470e-03 -2.76967477e-01] [-3.26163942e-05 2.02549757e-03 9.99997948e-01 4.22189006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.851966745999995 meters 0.265589704885764 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.04 [[ 9.99998335e-01 1.61156367e-03 -8.55646580e-04 -1.02649251e+00] [-1.61053660e-03 9.99997983e-01 1.19968112e-03 -2.76045071e-01] [ 8.57578217e-04 -1.19830107e-03 9.99998914e-01 3.78191647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.881966745999996 meters 0.2640687901481889 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.28, Z:0.04 [[ 0.99999818 0.00150773 -0.00117171 -1.02519338] [-0.00150614 0.99999795 0.00135447 -0.27787975] [ 0.00117375 -0.0013527 0.9999984 0.03706508] [ 0. 0. 0. 1. ]] SLAMing on 51.911966746 meters 0.26109584780741385 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.28, Z:0.04 [[ 0.99999789 0.00155798 -0.00134099 -1.0248024 ] [-0.00155591 0.99999759 0.00154695 -0.27923725] [ 0.0013434 -0.00154486 0.9999979 0.03736429] [ 0. 0. 0. 1. ]] SLAMing on 51.941966746 meters 0.2621398774999514 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.28, Z:0.04 [[ 0.99999819 0.00135658 -0.00133364 -1.02452183] [-0.00135517 0.99999853 0.00105196 -0.2767909 ] [ 0.00133506 -0.00105015 0.99999856 0.03680223] [ 0. 0. 0. 1. ]] SLAMing on 51.971966746 meters 0.2622239781741742 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:0.04 [[ 9.99998596e-01 1.15012469e-03 -1.21907491e-03 -1.02450329e+00] [-1.14947803e-03 9.99999198e-01 5.31016043e-04 -2.74026425e-01] [ 1.21968467e-03 -5.29613997e-04 9.99999116e-01 3.60688789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.001966745999994 meters 0.26372540134827893 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.28, Z:0.04 [[ 9.99998407e-01 1.06829257e-03 -1.42980785e-03 -1.02353230e+00] [-1.06739541e-03 9.99999233e-01 6.28080184e-04 -2.75568025e-01] [ 1.43047772e-03 -6.26553013e-04 9.99998781e-01 3.57239620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.031966745999995 meters 0.26136077891671367 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.28, Z:0.04 [[ 9.99998389e-01 1.18937364e-03 -1.34466197e-03 -1.02393185e+00] [-1.18814507e-03 9.99998876e-01 9.14098809e-04 -2.76983716e-01] [ 1.34574766e-03 -9.12499683e-04 9.99998678e-01 3.58963221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.061966745999996 meters 0.26098487562159006 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:0.04 [[ 9.99998735e-01 1.20801379e-03 -1.03506705e-03 -1.02496814e+00] [-1.20739503e-03 9.99999092e-01 5.98215793e-04 -2.74270892e-01] [ 1.03578876e-03 -5.96965301e-04 9.99999285e-01 3.58772582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.091966746 meters 0.2602946476837638 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.27, Z:0.04 [[ 9.99999112e-01 1.07450520e-03 -7.88702808e-04 -1.02568784e+00] [-1.07464722e-03 9.99999406e-01 -1.79665083e-04 -2.69158422e-01] [ 7.88509289e-04 1.80512500e-04 9.99999673e-01 3.58040600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.121966746 meters 0.2640843335698324 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.26, Z:0.04 [[ 9.99997965e-01 2.01609004e-03 -7.53198092e-05 -9.81390234e-01] [-2.01635638e-03 9.99991043e-01 -3.72145187e-03 -2.64343011e-01] [ 6.78163525e-05 3.72159616e-03 9.99993073e-01 3.75218841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.151966746 meters 0.264000651661011 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.26, Z:0.04 [[ 9.99997853e-01 2.06550635e-03 -1.68963276e-04 -9.81263066e-01] [-2.06612169e-03 9.99990922e-01 -3.72652413e-03 -2.64679421e-01] [ 1.61264583e-04 3.72686522e-03 9.99993042e-01 3.80358104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18196674599999 meters 0.2619270429709064 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:0.04 [[ 9.99997092e-01 1.59432736e-03 -1.80950689e-03 -1.02375363e+00] [-1.59569419e-03 9.99998442e-01 -7.54165503e-04 -2.65547480e-01] [ 1.80830169e-03 7.57050730e-04 9.99998078e-01 3.56695035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.211966745999995 meters 0.26397620864126525 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.26, Z:0.03 [[ 0.9999845 0.00491446 -0.00261854 -1.0189885 ] [-0.00490789 0.9999848 0.00251129 -0.26370356] [ 0.00263084 -0.0024984 0.99999342 0.03201329] [ 0. 0. 0. 1. ]] SLAMing on 52.241966745999996 meters 0.2655663202269804 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.26, Z:0.03 [[ 0.99998532 0.00473955 -0.00262764 -1.01855335] [-0.00473397 0.99998654 0.00212254 -0.26176446] [ 0.00263766 -0.00211007 0.9999943 0.03128954] [ 0. 0. 0. 1. ]] SLAMing on 52.271966746 meters 0.2624761374911665 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.26, Z:0.03 [[ 9.99996712e-01 5.47163533e-04 -2.50549283e-03 -1.01927378e+00] [-5.52502031e-04 9.99997578e-01 -2.13052153e-03 -2.61815867e-01] [ 2.50432102e-03 2.13189882e-03 9.99994592e-01 3.20667053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.301966746 meters 0.2634738239740759 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.26, Z:0.03 [[ 9.99996387e-01 5.22916656e-04 -2.63688234e-03 -1.01876715e+00] [-5.28419395e-04 9.99997683e-01 -2.08657030e-03 -2.62441024e-01] [ 2.63578513e-03 2.08795614e-03 9.99994347e-01 3.19606881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.331966746 meters 0.2627856634088833 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.26, Z:0.03 [[ 0.99998293 0.00342667 -0.00473218 -1.05859897] [-0.00340682 0.99998539 0.0041965 -0.26013735] [ 0.00474649 -0.00418031 0.99998 0.02698445] [ 0. 0. 0. 1. ]] SLAMing on 52.361966746 meters 0.26028550640989523 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.26, Z:0.03 [[ 0.99997931 0.00288519 -0.00574928 -1.10298903] [-0.00284455 0.999971 0.00706393 -0.26004965] [ 0.00576949 -0.00704743 0.99995852 0.02559981] [ 0. 0. 0. 1. ]] SLAMing on 52.391966745999994 meters 0.2612032848655078 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.26, Z:0.03 [[ 0.99998384 -0.00132573 -0.00552812 -1.10396022] [ 0.00134003 0.99999576 0.00258507 -0.25858328] [ 0.00552467 -0.00259243 0.99998138 0.02640172] [ 0. 0. 0. 1. ]] SLAMing on 52.421966745999995 meters 0.2612032848655078 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.26, Z:0.03 [[ 0.99998384 -0.00132573 -0.00552812 -1.10396022] [ 0.00134003 0.99999576 0.00258507 -0.25858328] [ 0.00552467 -0.00259243 0.99998138 0.02640172] [ 0. 0. 0. 1. ]] SLAMing on 52.451966746 meters 0.2615622941040587 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.26, Z:0.03 [[ 0.99998222 -0.00149887 -0.00577222 -1.10294626] [ 0.00151293 0.9999959 0.00243304 -0.2591853 ] [ 0.00576855 -0.00244173 0.99998038 0.0261677 ] [ 0. 0. 0. 1. ]] SLAMing on 52.481966746 meters 0.2602816983622603 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.26, Z:0.03 [[ 0.99998299 -0.00164779 -0.00559488 -1.10307382] [ 0.00165819 0.99999691 0.00185398 -0.25563962] [ 0.00559181 -0.00186323 0.99998263 0.02513246] [ 0. 0. 0. 1. ]] SLAMing on 52.511966746 meters 0.2606896828400266 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.25, Z:0.02 [[ 0.99998317 -0.00185684 -0.00549709 -1.10296183] [ 0.00186415 0.99999739 0.0013245 -0.25245804] [ 0.00549462 -0.00133473 0.99998401 0.02420321] [ 0. 0. 0. 1. ]] SLAMing on 52.541966746 meters 0.26284680112034975 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.25, Z:0.02 [[ 0.99999361 0.00308496 -0.00180736 -1.07974241] [-0.00309475 0.99998042 -0.00543939 -0.24974703] [ 0.00179054 0.00544495 0.99998357 0.01964584] [ 0. 0. 0. 1. ]] SLAMing on 52.571966745999994 meters 0.259500223801892 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.25, Z:0.02 [[ 0.99998585 -0.00328253 -0.00418596 -1.15012729] [ 0.00329558 0.99998972 0.00311524 -0.25325598] [ 0.00417569 -0.003129 0.99998639 0.02457652] [ 0. 0. 0. 1. ]] SLAMing on 52.601966745999995 meters 0.2604027347408528 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.25, Z:0.02 [[ 0.99998556 -0.00342852 -0.00413879 -1.14983693] [ 0.00343943 0.99999062 0.00263076 -0.2507317 ] [ 0.00412973 -0.00264496 0.99998797 0.02374675] [ 0. 0. 0. 1. ]] SLAMing on 52.631966745999996 meters 0.26234263018205933 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.25, Z:0.02 [[ 9.99991053e-01 -2.28565439e-03 -3.55956424e-03 -1.10407962e+00] [ 2.28404055e-03 9.99997287e-01 -4.57380570e-04 -2.45394026e-01] [ 3.56060000e-03 4.49246289e-04 9.99993560e-01 2.35983717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.661966746 meters 0.2602900529085623 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.25, Z:0.03 [[ 0.99997301 0.00263919 -0.00685684 -1.13175207] [-0.00266275 0.99999058 -0.0034288 -0.24596642] [ 0.00684773 0.00344697 0.99997061 0.02908369] [ 0. 0. 0. 1. ]] SLAMing on 52.691966746 meters 0.2636686862677089 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.25, Z:0.02 [[ 9.99998486e-01 -1.24968733e-03 -1.21094458e-03 -1.10854030e+00] [ 1.25005785e-03 9.99999172e-01 3.05269929e-04 -2.46930086e-01] [ 1.21056209e-03 -3.06783218e-04 9.99999220e-01 2.49681987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.721966746 meters 0.2651126580436828 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.24, Z:0.02 [[ 9.99998671e-01 -1.28893663e-03 -9.97902037e-04 -1.10927507e+00] [ 1.28876626e-03 9.99999155e-01 -1.71352078e-04 -2.43361732e-01] [ 9.98122055e-04 1.70065788e-04 9.99999487e-01 2.49585306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.751966745999994 meters 0.26276844644684466 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.25, Z:0.03 [[ 9.99989947e-01 2.56688397e-03 -3.67644899e-03 -1.18023493e+00] [-2.56617090e-03 9.99996688e-01 1.98660942e-04 -2.45944070e-01] [ 3.67694676e-03 -1.89224548e-04 9.99993222e-01 2.82258928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.781966745999995 meters 0.2640570055364752 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.24, Z:0.03 [[ 9.99990679e-01 2.38667310e-03 -3.59791580e-03 -1.18007285e+00] [-2.38781119e-03 9.99997100e-01 -3.12056719e-04 -2.43451440e-01] [ 3.59716059e-03 3.20644954e-04 9.99993479e-01 2.74827474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.811966745999996 meters 0.2651690418876695 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.24, Z:0.03 [[ 9.99991213e-01 2.19427013e-03 -3.57203007e-03 -1.17983842e+00] [-2.19724378e-03 9.99997243e-01 -8.28770636e-04 -2.40787101e-01] [ 3.57020168e-03 8.36611975e-04 9.99993277e-01 2.68692580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.841966746 meters 0.2633558912188722 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.24, Z:0.03 [[ 9.99990291e-01 4.76362873e-04 -4.38072198e-03 -1.22441870e+00] [-4.73176104e-04 9.99999623e-01 7.28460537e-04 -2.41474019e-01] [ 4.38106733e-03 -7.26380611e-04 9.99990139e-01 2.50374571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.871966746 meters 0.2655226332895982 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.23, Z:0.03 [[ 9.99993688e-01 6.97591865e-04 -3.48400206e-03 -1.18041140e+00] [-7.09064397e-04 9.99994327e-01 -3.29276863e-03 -2.34819384e-01] [ 3.48168529e-03 3.29521823e-03 9.99988510e-01 2.62161014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.901966746 meters 0.2656576455765941 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.24, Z:0.02 [[ 9.99992277e-01 7.17777303e-05 -3.92958872e-03 -1.22556748e+00] [-7.32391779e-05 9.99999928e-01 -3.71765919e-04 -2.36689806e-01] [ 3.92956176e-03 3.72050847e-04 9.99992210e-01 2.45844637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93196674599999 meters 0.262347015473838 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.24, Z:0.02 [[ 0.99998916 -0.00137436 -0.00444796 -1.2708284 ] [ 0.0013824 0.99999742 0.00180437 -0.23921895] [ 0.00444547 -0.0018105 0.99998848 0.02334162] [ 0. 0. 0. 1. ]] SLAMing on 52.961966745999995 meters 0.2648619984256755 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.23, Z:0.02 [[ 9.99990454e-01 4.34541745e-03 -4.58413089e-04 -1.24640807e+00] [-4.34722751e-03 9.99982453e-01 -4.02434070e-03 -2.33457203e-01] [ 4.40917604e-04 4.02629511e-03 9.99991797e-01 1.72698120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.991966745999996 meters 0.2690304097514211 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.23, Z:0.01 [[ 9.99988959e-01 2.81253176e-04 4.69066205e-03 -1.22246916e+00] [-2.78973170e-04 9.99999843e-01 -4.86720635e-04 -2.32753505e-01] [-4.69079821e-03 4.85406692e-04 9.99988880e-01 1.32254658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.021966746 meters 0.26784370624857634 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.23, Z:0.02 [[ 0.99999303 0.00348862 -0.00132707 -1.24515283] [-0.00349532 0.999981 -0.00507743 -0.22874963] [ 0.00130933 0.00508204 0.99998623 0.01756711] [ 0. 0. 0. 1. ]] SLAMing on 53.051966746 meters 0.26978215121945387 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.23, Z:0.01 [[ 9.99997607e-01 -7.52372295e-04 2.05429415e-03 -1.22057483e+00] [ 7.54948130e-04 9.99998930e-01 -1.25339113e-03 -2.25625443e-01] [-2.05334893e-03 1.25493901e-03 9.99997104e-01 1.46297232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.081966746 meters 0.261195916174151 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.23, Z:0.03 [[ 0.9999888 -0.00256423 -0.00397817 -1.31556734] [ 0.00257996 0.99998885 0.00395482 -0.22959508] [ 0.00396799 -0.00396504 0.99998427 0.02550026] [ 0. 0. 0. 1. ]] SLAMing on 53.111966746 meters 0.26019949838666284 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.23, Z:0.03 [[ 0.99998841 -0.00264059 -0.00402628 -1.31530868] [ 0.00265676 0.99998841 0.00401636 -0.23086996] [ 0.00401562 -0.00402702 0.99998383 0.02560084] [ 0. 0. 0. 1. ]] SLAMing on 53.141966745999994 meters 0.26699648884709076 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.22, Z:0.02 [[ 0.99999695 -0.0013345 0.00207796 -1.22111812] [ 0.00133863 0.99999712 -0.00199014 -0.22368912] [-0.0020753 0.00199292 0.99999586 0.01529946] [ 0. 0. 0. 1. ]] SLAMing on 53.171966745999995 meters 0.2611956735916681 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.22, Z:0.02 [[ 9.99990537e-01 3.85035332e-03 -2.02512077e-03 -1.29337790e+00] [-3.85099380e-03 9.99992536e-01 -3.12461264e-04 -2.23265888e-01] [ 2.02390257e-03 3.20257034e-04 9.99997901e-01 2.13486365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.201966746 meters 0.2734043570029373 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.22, Z:0.01 [[ 9.99994893e-01 3.19115297e-03 -1.73495551e-04 -1.21797916e+00] [-3.19072219e-03 9.99991960e-01 2.42893748e-03 -2.16439236e-01] [ 1.81245267e-04 -2.42837150e-03 9.99997035e-01 1.42850006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.231966746 meters 0.26818710598512785 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.22, Z:0.01 [[ 9.99997771e-01 2.07385066e-03 -3.95691620e-04 -1.26559945e+00] [-2.07206889e-03 9.99987946e-01 4.45140164e-03 -2.16409202e-01] [ 4.04918393e-04 -4.45057182e-03 9.99990014e-01 1.47091134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.261966746 meters 0.27708113482776925 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.21, Z:0.02 [[ 9.99999074e-01 -7.07520020e-04 1.16256686e-03 -1.22558931e+00] [ 7.09867420e-04 9.99997708e-01 -2.01998199e-03 -2.12168646e-01] [-1.16113502e-03 2.02080539e-03 9.99997284e-01 2.03726706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.291966746 meters 0.2806620831156573 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.21, Z:0.02 [[ 9.99999163e-01 -6.90740324e-04 1.09404009e-03 -1.22550584e+00] [ 6.92934468e-04 9.99997747e-01 -2.00643555e-03 -2.12341948e-01] [-1.09265170e-03 2.00719197e-03 9.99997389e-01 2.06392252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.321966745999994 meters 0.2822717342837749 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.21, Z:0.02 [[ 9.99999055e-01 -8.05088079e-04 1.11449295e-03 -1.22526033e+00] [ 8.07746520e-04 9.99996825e-01 -2.38694473e-03 -2.10051510e-01] [-1.11256771e-03 2.38784270e-03 9.99996530e-01 1.98166927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.351966745999995 meters 0.28316269283451945 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.20, Z:0.02 [[ 9.99998630e-01 -8.01106129e-04 1.44869337e-03 -1.22613467e+00] [ 8.05451665e-04 9.99995171e-01 -3.00153278e-03 -2.04730570e-01] [-1.44628183e-03 3.00269552e-03 9.99994446e-01 1.94333314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.381966745999996 meters 0.28587724402514486 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.20, Z:0.02 [[ 9.99998188e-01 -8.24043900e-04 1.71602587e-03 -1.22704435e+00] [ 8.30017427e-04 9.99993589e-01 -3.48322577e-03 -2.01208055e-01] [-1.71314454e-03 3.48464379e-03 9.99992461e-01 1.95554388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.411966746 meters 0.28160808997963294 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.21, Z:0.03 [[ 0.99997238 -0.00718513 -0.00190073 -1.25400214] [ 0.0071878 0.99997318 0.00140288 -0.20523056] [ 0.0018906 -0.00141651 0.99999721 0.02782584] [ 0. 0. 0. 1. ]] SLAMing on 53.441966746 meters 0.2714619657638307 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.21, Z:0.03 [[ 9.99976958e-01 -5.18888620e-03 -4.37713519e-03 -1.32821476e+00] [ 5.18696626e-03 9.99986446e-01 -4.49867260e-04 -2.10013826e-01] [ 4.37941017e-03 4.27152841e-04 9.99990319e-01 3.42733646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.471966746 meters 0.28261869453207894 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.20, Z:0.03 [[ 9.99999397e-01 1.02898554e-03 3.84222495e-04 -1.30368983e+00] [-1.02688052e-03 9.99984680e-01 -5.43923791e-03 -2.01248299e-01] [-3.89813506e-04 5.43884007e-03 9.99985133e-01 2.69803243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.501966745999994 meters 0.28326835751037704 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.20, Z:0.03 [[ 9.99988516e-01 -3.63701628e-03 -3.12075131e-03 -1.32770442e+00] [ 3.64019164e-03 9.99992862e-01 1.01242165e-03 -2.01833095e-01] [ 3.11704684e-03 -1.02377015e-03 9.99994618e-01 3.15956608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.531966745999995 meters 0.285940204793703 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.20, Z:0.03 [[ 9.99988400e-01 -3.66527905e-03 -3.12496246e-03 -1.32739438e+00] [ 3.66879213e-03 9.99992644e-01 1.11920889e-03 -2.03015731e-01] [ 3.12083725e-03 -1.13066075e-03 9.99994491e-01 3.10370781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.561966745999996 meters 0.28787665213993 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.20, Z:0.03 [[ 9.99988443e-01 -3.72734359e-03 -3.03662867e-03 -1.32763556e+00] [ 3.72916215e-03 9.99992871e-01 5.93435144e-04 -1.99775826e-01] [ 3.03439509e-03 -6.04752366e-04 9.99995213e-01 3.08091823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.591966746 meters 0.2867379373292516 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.20, Z:0.03 [[ 0.99999706 0.00149668 -0.00190668 -1.3331899 ] [-0.0014865 0.99998468 0.0053326 -0.19676387] [ 0.00191463 -0.00532975 0.99998396 0.03440661] [ 0. 0. 0. 1. ]] SLAMing on 53.621966746 meters 0.30340826010252403 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.19, Z:0.03 [[ 9.99992148e-01 3.80360210e-03 1.11222665e-03 -1.30790638e+00] [-3.79884617e-03 9.99983764e-01 -4.24733900e-03 -1.90252507e-01] [-1.12836378e-03 4.24308047e-03 9.99990361e-01 2.90355274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.651966746 meters 0.30586790059903507 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.20, Z:0.04 [[ 0.99996814 -0.00720883 -0.00342848 -1.3321939 ] [ 0.00719415 0.99996499 -0.00427451 -0.19584915] [ 0.00345917 0.00424971 0.99998499 0.03601103] [ 0. 0. 0. 1. ]] SLAMing on 53.68196674599999 meters 0.318205770717723 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.19, Z:0.04 [[ 9.99990406e-01 -2.91439678e-03 -3.27031794e-03 -1.33277752e+00] [ 2.91354944e-03 9.99995721e-01 -2.63832965e-04 -1.93895523e-01] [ 3.27107286e-03 2.54302201e-04 9.99994618e-01 3.58573254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.711966745999995 meters 0.3213246505507843 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.19, Z:0.04 [[ 9.99994775e-01 1.34306791e-03 -2.94059664e-03 -1.33404321e+00] [-1.33284870e-03 9.99993076e-01 3.47442422e-03 -1.89771643e-01] [ 2.94524267e-03 -3.47048669e-03 9.99989641e-01 3.61408725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.741966745999996 meters 0.3261613593436526 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.19, Z:0.04 [[ 9.99996652e-01 -1.82879444e-03 -1.83096407e-03 -1.33899408e+00] [ 1.82878200e-03 9.99998328e-01 -8.46494620e-06 -1.88570471e-01] [ 1.83097648e-03 5.11648372e-06 9.99998324e-01 3.92943197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.771966746 meters 0.3446002966285047 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.19, Z:0.04 [[ 9.99996227e-01 -1.97326026e-03 -1.91116218e-03 -1.33852155e+00] [ 1.97354833e-03 9.99998041e-01 1.48857160e-04 -1.90994441e-01] [ 1.91086470e-03 -1.52628369e-04 9.99998163e-01 3.90369336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.801966746 meters 0.5210594172749923 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.19, Z:0.04 [[ 9.99996243e-01 -2.05909206e-03 -1.80946448e-03 -1.33853807e+00] [ 2.05851712e-03 9.99997830e-01 -3.19545510e-04 -1.88384491e-01] [ 1.81011853e-03 3.15819496e-04 9.99998312e-01 3.80346519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.831966746 meters 0.3965860704831876 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.19, Z:0.04 [[ 9.99999810e-01 -2.03841705e-04 -5.82000865e-04 -1.34487274e+00] [ 2.04623583e-04 9.99999076e-01 1.34368819e-03 -1.85355905e-01] [ 5.81726428e-04 -1.34380703e-03 9.99998928e-01 4.26776797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.861966746 meters 0.5353992575558002 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.18, Z:0.04 [[ 9.99999929e-01 -2.22248704e-04 -3.05607947e-04 -1.34565210e+00] [ 2.22580988e-04 9.99999384e-01 1.08768410e-03 -1.83745858e-01] [ 3.05366022e-04 -1.08775205e-03 9.99999362e-01 4.26671735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.891966745999994 meters 0.5676588943949687 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.18, Z:0.04 [[ 9.99999983e-01 -1.65324421e-04 -8.11368087e-05 -1.34663707e+00] [ 1.65416391e-04 9.99999342e-01 1.13482313e-03 -1.83822848e-01] [ 8.09491413e-05 -1.13483653e-03 9.99999353e-01 4.37842691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.921966745999995 meters 0.5621887801232205 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.18, Z:0.05 [[ 9.99994751e-01 -3.01570529e-03 1.18444933e-03 -1.35294757e+00] [ 3.01799647e-03 9.99993569e-01 -1.93738710e-03 -1.82839086e-01] [-1.17859912e-03 1.94095159e-03 9.99997422e-01 4.83272182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.951966746 meters 0.5645806813955715 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.18, Z:0.05 [[ 9.99994561e-01 -3.03770825e-03 1.28447086e-03 -1.35316603e+00] [ 3.04054973e-03 9.99992922e-01 -2.21604149e-03 -1.81220227e-01] [-1.27773008e-03 2.21993493e-03 9.99996720e-01 4.80642374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.981966746 meters 0.5594996814920729 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.18, Z:0.05 [[ 9.99995763e-01 -7.83493218e-04 2.80375345e-03 -1.35900566e+00] [ 7.84503906e-04 9.99999628e-01 -3.59394964e-04 -1.76367361e-01] [-2.80347083e-03 3.61592997e-04 9.99996005e-01 5.07650214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.011966746 meters 0.6871599598158662 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.06, Z:0.06 [[ 0.99934167 -0.03124105 -0.01844498 -1.57092085] [ 0.03094553 0.99939147 -0.01609557 -0.05622217] [ 0.0189366 0.01551419 0.99970031 0.05578424] [ 0. 0. 0. 1. ]] SLAMing on 54.041966746 meters 0.5899987932812051 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:0.06 [[ 0.99978486 -0.01096166 -0.01760906 -1.57512082] [ 0.01070603 0.99983688 -0.01454631 -0.05954366] [ 0.01776564 0.01435466 0.99973913 0.0588304 ] [ 0. 0. 0. 1. ]] SLAMing on 54.071966745999994 meters 0.6387819429830757 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.07, Z:0.06 [[ 0.99978842 -0.00951219 -0.01823843 -1.57205234] [ 0.00930544 0.99989186 -0.01138774 -0.07000357] [ 0.01834478 0.01121561 0.99976881 0.05583343] [ 0. 0. 0. 1. ]] SLAMing on 54.101966745999995 meters 0.945450277682985 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.08, Z:0.05 [[ 0.99996116 -0.00781954 -0.0040668 -1.57373061] [ 0.00778209 0.99992791 -0.00914436 -0.07740446] [ 0.00413801 0.00911236 0.99994992 0.04686628] [ 0. 0. 0. 1. ]] SLAMing on 54.131966745999996 meters 0.9428503754889029 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.08, Z:0.05 [[ 0.9999863 -0.00375689 -0.00364368 -1.5748744 ] [ 0.00374282 0.99998554 -0.00386152 -0.08377089] [ 0.00365813 0.00384783 0.99998591 0.0475092 ] [ 0. 0. 0. 1. ]] SLAMing on 54.161966746 meters 0.9470939030686085 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.09, Z:0.05 [[ 0.99998666 -0.0040282 -0.00323211 -1.57611631] [ 0.00401904 0.9999879 -0.00283793 -0.0905243 ] [ 0.0032435 0.0028249 0.99999075 0.04820339] [ 0. 0. 0. 1. ]] SLAMing on 54.191966746 meters 0.5988775225690428 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.10, Z:0.05 [[ 9.99995235e-01 -2.36844645e-04 -3.07803805e-03 -1.57666248e+00] [ 2.43096823e-04 9.99997908e-01 2.03100622e-03 -9.62833847e-02] [ 3.07755057e-03 -2.03174480e-03 9.99993200e-01 4.88031765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.221966746 meters 0.635172670408177 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.10, Z:0.05 [[ 9.99996566e-01 -3.69777914e-04 -2.59434416e-03 -1.57814372e+00] [ 3.78137767e-04 9.99994736e-01 3.22258753e-03 -1.02578863e-01] [ 2.59313886e-03 -3.22355748e-03 9.99991442e-01 4.95727262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.251966745999994 meters 0.6353534906147723 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.05 [[ 9.99996323e-01 -6.11436010e-04 -2.64204900e-03 -1.57795226e+00] [ 6.21706739e-04 9.99992247e-01 3.88833940e-03 -1.06704219e-01] [ 2.63965105e-03 -3.88996768e-03 9.99988950e-01 4.88078675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.281966745999995 meters 0.9276083486302408 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.05 [[ 9.99996543e-01 -7.60385814e-04 -2.51707151e-03 -1.57830194e+00] [ 7.70895090e-04 9.99990980e-01 4.17686582e-03 -1.08384744e-01] [ 2.51387277e-03 -4.17879177e-03 9.99988109e-01 4.82857594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.311966745999996 meters 0.9276083486302408 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.05 [[ 9.99996543e-01 -7.60385814e-04 -2.51707151e-03 -1.57830194e+00] [ 7.70895090e-04 9.99990980e-01 4.17686582e-03 -1.08384744e-01] [ 2.51387277e-03 -4.17879177e-03 9.99988109e-01 4.82857594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.341966746 meters 0.835037353461818 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.05 [[ 9.99996912e-01 -8.33815437e-04 -2.34122993e-03 -1.57879874e+00] [ 8.43587117e-04 9.99990925e-01 4.17585688e-03 -1.08254582e-01] [ 2.33772679e-03 -4.17781902e-03 9.99988540e-01 4.81801611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.371966746 meters 0.5042825691561408 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.05 [[ 9.99997326e-01 -1.01902846e-03 -2.07610647e-03 -1.57944509e+00] [ 1.02776495e-03 9.99990604e-01 4.21140255e-03 -1.09082372e-01] [ 2.07179542e-03 -4.21352504e-03 9.99988977e-01 4.83385872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.401966746 meters 0.5506311090809212 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.05 [[ 9.99997893e-01 -1.04715018e-03 -1.76585850e-03 -1.58028701e+00] [ 1.05421999e-03 9.99991414e-01 4.00744272e-03 -1.07969063e-01] [ 1.76164694e-03 -4.00929588e-03 9.99990411e-01 4.85710439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43196674599999 meters 0.5389891165264046 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.05 [[ 9.99998158e-01 -1.05201949e-03 -1.60534108e-03 -1.58070439e+00] [ 1.05803201e-03 9.99992412e-01 3.74908203e-03 -1.06552784e-01] [ 1.60138479e-03 -3.75077363e-03 9.99991684e-01 4.87671175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.461966745999995 meters 0.5117715739650547 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.10, Z:0.05 [[ 9.99998117e-01 -1.06189973e-03 -1.62447870e-03 -1.58030978e+00] [ 1.06663033e-03 9.99995185e-01 2.91398451e-03 -1.02034863e-01] [ 1.62137652e-03 -2.91571174e-03 9.99994435e-01 4.80446939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.491966745999996 meters 0.5627487528385104 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.10, Z:0.05 [[ 9.99998156e-01 -1.01660653e-03 -1.62944952e-03 -1.57996034e+00] [ 1.01995469e-03 9.99997368e-01 2.05527004e-03 -9.72820329e-02] [ 1.62735583e-03 -2.05692822e-03 9.99996560e-01 4.75548240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.521966746 meters 0.5908964743374628 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.10, Z:0.05 [[ 9.99998058e-01 -1.12924901e-03 -1.61512030e-03 -1.57989233e+00] [ 1.13271384e-03 9.99997056e-01 2.14594396e-03 -9.84601652e-02] [ 1.61269224e-03 -2.14776926e-03 9.99996393e-01 4.74127287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.551966746 meters 0.5555458107618031 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.09, Z:0.05 [[ 9.99998004e-01 -1.05705056e-03 -1.69526804e-03 -1.57943233e+00] [ 1.05949030e-03 9.99998404e-01 1.43889792e-03 -9.46483181e-02] [ 1.69374434e-03 -1.44069117e-03 9.99997528e-01 4.73638185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.581966746 meters 0.5596724238152183 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.09, Z:0.05 [[ 9.99997906e-01 -1.04017491e-03 -1.76222625e-03 -1.57906239e+00] [ 1.04182209e-03 9.99999021e-01 9.34052854e-04 -9.20202262e-02] [ 1.76125295e-03 -9.35886825e-04 9.99998011e-01 4.68925000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.611966746 meters 0.5933037076991654 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.09, Z:0.05 [[ 9.99998475e-01 -8.22474355e-04 -1.54081787e-03 -1.57949270e+00] [ 8.22549741e-04 9.99999661e-01 4.82930833e-05 -8.66058523e-02] [ 1.54077763e-03 -4.95604090e-05 9.99998812e-01 4.71567767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.641966745999994 meters 0.8284408454473446 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.08, Z:0.05 [[ 9.99978341e-01 6.58140471e-03 4.64261037e-05 -1.58479667e+00] [-6.58156195e-03 9.99962394e-01 5.64737721e-03 -7.56160647e-02] [-9.25668286e-06 -5.64756045e-03 9.99984052e-01 5.15696595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.671966745999995 meters 0.8383351692583905 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:0.05 [[ 9.99995699e-01 2.93249740e-03 4.58698711e-05 -1.58495200e+00] [-2.93252020e-03 9.99995573e-01 5.05075327e-04 -6.81828204e-02] [-4.43885359e-05 -5.05207669e-04 9.99999871e-01 5.26023688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.701966746 meters 0.6220274500626979 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.07, Z:0.05 [[ 9.99998957e-01 -1.44329634e-03 5.57662285e-05 -1.58519479e+00] [ 1.44349358e-03 9.99992055e-01 -3.71554748e-03 -6.98335022e-02] [-5.04031494e-05 3.71562410e-03 9.99993096e-01 5.27268299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.731966746 meters 0.9458257962015195 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.07, Z:0.05 [[ 9.99984041e-01 -5.64590584e-03 2.06014517e-04 -1.58576004e+00] [ 5.64737813e-03 9.99951815e-01 -8.02956193e-03 -7.01194898e-02] [-1.60670440e-04 8.03059723e-03 9.99967741e-01 5.30769392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.761966746 meters 0.8391639375516459 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:0.05 [[ 9.99999047e-01 -1.03792918e-03 -9.10330424e-04 -1.62459629e+00] [ 1.03569924e-03 9.99996471e-01 -2.44665734e-03 -6.58575093e-02] [ 9.12866668e-04 2.44571218e-03 9.99996593e-01 4.66986505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.791966746 meters 0.946830496197583 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.06, Z:0.04 [[ 0.99996546 0.00442335 0.00703655 -1.64883935] [-0.00439427 0.99998177 -0.00414187 -0.06052062] [-0.00705474 0.00411081 0.99996667 0.04286543] [ 0. 0. 0. 1. ]] SLAMing on 54.821966745999994 meters 0.9523271135636644 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.06, Z:0.05 [[ 0.99994751 0.00759189 -0.00688004 -1.65136996] [-0.00760932 0.9999679 -0.00251059 -0.06370843] [ 0.00686076 0.00256281 0.99997318 0.04937038] [ 0. 0. 0. 1. ]] SLAMing on 54.851966745999995 meters 1.0725515073945318 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.06, Z:0.05 [[ 0.99994473 0.00837507 -0.00635501 -1.65320163] [-0.00839006 0.99996208 -0.00233469 -0.06032777] [ 0.00633521 0.00238788 0.99997708 0.05049986] [ 0. 0. 0. 1. ]] SLAMing on 54.881966745999996 meters 0.9916076094620462 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.06, Z:0.05 [[ 9.99961653e-01 7.60979485e-03 -4.33393134e-03 -1.70184119e+00] [-7.61198622e-03 9.99970909e-01 -4.89359366e-04 -6.33364660e-02] [ 4.33008133e-03 5.22330427e-04 9.99990489e-01 5.00590231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.911966746 meters 0.9724229824986004 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.07, Z:0.05 [[ 9.99996916e-01 -6.94884187e-05 -2.48250744e-03 -1.70801158e+00] [ 5.37199237e-05 9.99979829e-01 -6.35134412e-03 -7.31868507e-02] [ 2.48289871e-03 6.35119117e-03 9.99976749e-01 5.43947353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.941966746 meters 0.9723088874222291 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:0.06 [[ 0.99998088 0.00525972 -0.00325077 -1.73572161] [-0.00528842 0.99994655 -0.00888393 -0.07806862] [ 0.00320387 0.00890096 0.99995525 0.05616331] [ 0. 0. 0. 1. ]] SLAMing on 54.971966746 meters 0.9626582665232323 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:0.06 [[ 0.99997817 0.006303 -0.0019813 -1.73915414] [-0.00631872 0.99994781 -0.00802779 -0.07776647] [ 0.0019306 0.00804013 0.99996581 0.05687353] [ 0. 0. 0. 1. ]] SLAMing on 55.001966745999994 meters 0.7112262548165893 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:0.06 [[ 9.99939029e-01 1.10052700e-02 -9.07310060e-04 -1.74198663e+00] [-1.10081788e-02 9.99934075e-01 -3.26582099e-03 -7.84767730e-02] [ 8.71309004e-04 3.27560970e-03 9.99994256e-01 5.79922802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.031966745999995 meters 0.6839124846303659 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.08, Z:0.06 [[ 0.99994154 0.00726003 0.00801277 -1.77036454] [-0.00716535 0.99990492 -0.01178199 -0.08160101] [-0.00809755 0.01172389 0.99989848 0.05887696] [ 0. 0. 0. 1. ]] SLAMing on 55.061966745999996 meters 0.6990379270107943 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.09, Z:0.06 [[ 9.99944153e-01 2.69574256e-04 1.05649767e-02 -1.77897892e+00] [-7.93310945e-05 9.99837925e-01 -1.80032485e-02 -8.82594670e-02] [-1.05681176e-02 1.80014049e-02 9.99782108e-01 6.36902758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.091966746 meters 0.6547257192113001 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.09, Z:0.08 [[ 0.9999512 0.00853234 0.0049802 -1.79649035] [-0.00847179 0.99989143 -0.01205623 -0.09089955] [-0.00508253 0.01201345 0.99991492 0.07854813] [ 0. 0. 0. 1. ]] SLAMing on 55.121966746 meters 0.7170867404843907 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.10, Z:0.08 [[ 9.99850179e-01 -9.20081981e-04 1.72850714e-02 -1.82604977e+00] [ 1.11507900e-03 9.99935814e-01 -1.12749904e-02 -1.02413710e-01] [-1.72735880e-02 1.12925754e-02 9.99787028e-01 7.92453844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.151966746 meters 0.6634110375775084 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.11, Z:0.08 [[ 0.99981142 -0.00340173 0.01911968 -1.83225483] [ 0.00364773 0.99991083 -0.01284591 -0.10844206] [-0.01907428 0.01291323 0.99973468 0.08326956] [ 0. 0. 0. 1. ]] SLAMing on 55.18196674599999 meters 0.834025980035037 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.11, Z:0.09 [[ 0.99978389 -0.0021703 0.02067534 -1.83837128] [ 0.00239866 0.99993633 -0.01102657 -0.11276293] [-0.02065009 0.01107378 0.99972543 0.0881761 ] [ 0. 0. 0. 1. ]] SLAMing on 55.211966745999995 meters 0.6907432939026624 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.11, Z:0.09 [[ 9.99759312e-01 -1.51794289e-03 2.18863964e-02 -1.84229740e+00] [ 1.74824068e-03 9.99943270e-01 -1.05071257e-02 -1.13416824e-01] [-2.18692055e-02 1.05428594e-02 9.99705250e-01 8.98793472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.241966745999996 meters 1.074729797013324 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.12, Z:0.09 [[ 9.99603984e-01 4.27102184e-04 2.81370379e-02 -1.86866864e+00] [-4.20905037e-05 9.99906388e-01 -1.36826189e-02 -1.17980928e-01] [-2.81402478e-02 1.36760161e-02 9.99510427e-01 9.32110836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.271966746 meters 1.1087579782030335 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.12, Z:0.10 [[ 9.99552033e-01 2.01650142e-03 2.98607911e-02 -1.87567735e+00] [-1.64523449e-03 9.99921110e-01 -1.24526123e-02 -1.18135875e-01] [-2.98835461e-02 1.23979059e-02 9.99476496e-01 9.77037576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.301966746 meters 0.6629143340941703 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.12, Z:0.10 [[ 0.99947829 0.00749986 0.03141484 -1.88167251] [-0.00728301 0.9999489 -0.00701157 -0.11831796] [-0.03146582 0.00677912 0.99948184 0.10250167] [ 0. 0. 0. 1. ]] SLAMing on 55.331966746 meters 1.7160478590882564 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.12, Z:0.11 [[ 0.99935802 0.00956727 0.03452563 -1.89312143] [-0.00943101 0.99994709 -0.00410717 -0.1229808 ] [-0.03456309 0.00377892 0.99939537 0.11274275] [ 0. 0. 0. 1. ]] SLAMing on 55.361966746 meters Total time of SLAM: 2744.23 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%| | 0/1845 [00:00